Design and Optimal Research of a Non-Contact Adjustable Magnetic Adhesion Mechanism for a Wall-Climbing Welding Robot

摘要

Wall-climbing welding robots (WCWRs) can replace workers in manufacturing and maintaining large unstructured equipment, such as ships. The adhesion mechanism is the key component of WCWRs. As it is directly related to the robot's ability in relation to adsorbing, moving flexibly and obstacle-passing. In this paper, a novel non-contact adjustably magnetic adhesion mechanism is proposed. The magnet suckers are mounted under the robot's axils and the sucker and wall are in non-contact. In order to pass obstacles, the sucker and the wheel unit can be pulled up and pushed down by a lifting mechanism. The magnetic adhesion force can be adjusted by changing the height of the gap between the sucker and the wall by the lifting mechanism. In order to increase the adhesion force, the value of the sucker's magnetic energy density (MED) is maximized by optimizing the magnet sucker's structure parameters with a finite element method. Experiments prove that the magnetic adhesion mechanism has enough adhesion force and that the WCWR can complete wall-climbing work within a large unstructured environment.