球罐爬壁打磨机器人结构设计及其吸附力仿真

针对目前球罐壁面打磨工作存在着效率低下、劳动强度大、施工周期长、安全性差等问题，提出了利用爬壁机器 人携带打磨设备进行打磨工作的方案。分析了爬壁打磨机器人功能原理并找出设计中的难点；设计了一种双履带间隙 磁吸附式爬壁打磨机器人机械结构；利用直线型Halbach永磁阵列设计了一款可调间隙式吸附机构，并对其进行ANSYS 有限元仿真，证明了这种吸附结构具有较大的磁能利用率，得到了它与壁面间的相互作用力随间隙垂直距离变化关系曲 线，同时也为确定吸附力大小提供了依据。

Critical Mechanism Design of Automatic Gelatinizing Machine for Fastener

At present. the traditional manual method is still adopted in the spherical tank grinding, which exits lots of problems such as low efficiency, high labor-intensive, long construction period, poor security etc. It put forward a climbing robot bringing grinding equipment to grind the spherical tank. The function principle and the difficulties in the design of the climbing robot for grinding were analyzed, and the mechanical structure of a magnetic gap attraction was designed, which was double tracked climbing robot for grinding. Linear Halbach permanent magnet array was used for designing an adjustable gap type adhesion mechanism. The magnetic flux density diagram and the relationship diagram between gap size and attraction force was obtained by the ANSYS finite element simulation. The adsorption of magnetic energy utilization was large from the simulation. and it provided references to determine the magnetic gap size.