关键词: 磁隙式, 磁隙吸附, 磁隙效应, 磁隙形成与调节, 爬壁机器人

Abstract: The core technology of heavy-duty attaching robot, applied in large scale steel surface preparation (ships surface rust removal, large storage tank surface paint removal), is the attaching effect which means attach reliably and move neatly. The traditional attaching robot has two kinds of attaching modes: vacuum sucker mode (invalid for heavy-duty) and magnet crawler mode (inflexible move). The magnetic gap adhesion typed crawler combines two kinds of attaching modes to enhance the attaching ability of robot. The magnet gap mode will separate the magnet from the crawler, and the magnet is installed separately which dose not contact the surface, and the attaching ability can be adjusted though changing the gap. The magnetic gap adhesion typed crawler’s own weight is about 75 kg, and carries dozens meters of ultra-high pressure hoses and vacuum pipes which will be filled with water during work. It is applied in ships surface rust automatic removal and achieves water jet rust removal of steel surface and no re-rust. The design principle, stress analysis, magnet gap effect and industry test are introduced. The application shows that the magnet gap mode attaching robot can achieve heavy-duty work, move neatly, reliable attaching and other requests.

Key words: Crawler, Form and adjust gap, Magnetic gap adhesion, Magnetic gap adhesion typed, Magnetic gap effect