Structural design of permanent-magnetadsorption tracked ship wall-climbing robot

摘要

The structure and working principle of a kind of permanent-magnet adsorption tracked wall-climbing ro-bot used in ship was analyzed in this paper. The robot can complete vertical climbing wall function when perma-nent-magnet adsorption tracked was driven by ac servo motor. In order to improve the load capacity and obstaclesurmounting ability of robot, a new permanent-magnet auxiliary caster adsorption mechanism and driven wheelfloating mechanism were used for the design of structure. In thispaper, the mechanical state of the permanent-mag-netic adsorption tracked climbing mechanism was analyzed. Through the magnetic simulation and experimental a-nalysis of magnetic adsorption system, the adsorption unit structure and electric drive system parameters of thepermanent-magnet tracked wall-climbing robot were reasonably designed.