摘要
在目前的石化行业主要的储存设备就是储罐，这些储罐由于风吹雨晒，以及油品的侵蚀某些部位可能存在缺陷，这些缺陷可能导致严重的安全事故。若采用人工检测则需要花很大精力，并且可能存在漏检等情况，且人工检测还存在一定危险性。爬壁机器人正是由于工业实际需求而设计的，爬壁机器人相比较于人工检测更为自动化，且精确度也比人工检测高，对于缺陷的检测更彻底。
考虑到工业实际环境，该机器人一般检测金属类壁面，所以本次设计选用的吸附方式为磁吸附，行走机构为轮式，检测方式为超声波检测。即总体方案为轮式超声检测具有更高的效率和实用性，在此总体方案上进行爬壁机器人的机械结构设计。
在结构设计上首先设计总体结构，然后选择驱动方式，传动方式并对其进行校核及电机的选型、联轴器的选型。设计完以后依次进行关键部位的强度校核。传动部分首先用SolidWorks三维软件建立三维模型，建立好后保存为中性文件，将中性文件导入ADAMS并用ADAMS进行运动学仿真检查关键部分的运动是否符合预先设定，并将关键部位的运动参数列出并分析实际运动情况与其是否符合。磁吸附部分运用MAXWELL磁力仿真，分析及判断磁力是否能使其稳固地吸附在储罐壁面上。最终实现爬壁机器人结构设计。
关键词：爬壁机器人；结构设计；运动仿真；磁力仿真
Abstract
At present, the main storage equipment in the petrochemical industry is storage tanks, which may have defects due to wind, rain and sun, as well as the erosion of oil products, which may lead to serious safety accidents. If manual detection requires a lot of manpower, and there may be missed detection and so on, in addition, there is still a certain risk of manual detection. The wall climbing robot is designed based on the actual needs of the industry. Compared with the manual detection, the wall climbing robot is more automatic, and the accuracy is also higher than the manual detection, and the defect detection is more thorough.
Considering the actual industrial environment, the robot generally detects the metal wall, so the adsorption mode selected in this design is magnetic adsorption, the walking mechanism is wheeled, and the detection mode is ultrasonic detection. That is to say, the overall scheme is that wheeled ultrasonic testing has higher efficiency and practicability, on the basis of which the mechanical structure of wall climbing robot is designed.
In the structural design, the overall structure is first designed, and then the driving mode and transmission mode are selected and checked, the type of motor and the type of coupling are selected. After the design, the strength of the key parts is checked in turn. In the transmission part, the three-dimensional die is first carried out with SolidWorks three-dimensional software. After the establishment of the type, it is saved as a neutral file, and the neutral file is imported into ADAMS and the kinematic simulation is carried out by ADAMS to check whether the motion of the key part is in accordance with the preset. The motion parameters of the key parts are listed and analyzed whether the actual motion is consistent with it. In the magnetic adsorption part, MAXWELL magnetic force simulation is used to analyze and judge whether the magnetic force can make the wall climbing robot adsorb firmly on the wall. Finally, the structure design of the wall climbing robot is realized.
Key words: wall climbing robot; structure design; motion simulation; magnetic simulation
目录
1 绪论 1
1.1课题研究背景及意义 1
1.2国内外研究现状及发展趋势 1
1.2.1国外研究现状 1
1.2.2国内研究现状 2
1.2.3发展趋势 2
2爬壁机器人总体设计方案 3
2.1吸附方式 3
2.2行走机构 3
2.3检测方式 4
2.4外部结构 5
3零部件结构设计及校核 6
3.1电机的选择 6
3.1.1电机类型和结构形式 6
3.1.2电机容量选择 6
3.1.3电机转速 7
3.2联轴器的选择 7
3.3轴的设计及校核 8
3.3.1轴的材料 8
3.3.2轴的最小直径 8
3.3.3轴的结构设计 10
3.3.4轴的校核计算 13
3.4车板的结构尺寸 17
4 爬壁机器人ADAMS运动学分析 18
4.1 ADAMS运动学分析意义 18
4.2仿真步骤 18
4.3仿真数据及分析 18
4.4仿真动画 24
4.5运动学仿真总结 25
5 磁轮设计及磁力仿真 25
5.1永磁体材料的选择 25
5.2磁轮的选择和设计 26
5.3磁轮的仿真及分析 27
6 总结及展望 28
6.1总结 28
6.2展望 29
参考文献 30
致谢 32
