船用移动焊接机器人磁吸附机构研究

履带式移动机器人结构简单，具有较高的运动性能与稳定性，在船舶自动焊接中得到了广泛的应用。为防止履带式移动机构打滑，并使机器人具有在一定坡度的工件上爬行焊接的能力，磁吸附机构的设计和磁吸附力的分析显得尤为重要。本文对磁性材料的选择、磁路系统单元磁路结构的选择进行了分析，完成了船舶焊接时机器人磁吸附的受力分析，完成了磁吸附机构设计，并在此基础上采用ANSOFT公司的MAXWELL软件对磁场力和磁通密度进行了有限元分析，为驱动电机选型提供依据，为机器人稳定性、运动性能和爬坡能力提供了理论保障。

Marine mobile welding robot magnetic adsorption mechanism research

Crawler has been widely used in automatic marine welding as it is of simple structure together with high performances on sport and stability. To avoid skidding crawler mobile mechanism, and the robot has to a certain slope of crawling welding ability of workpiece, the design of magnetic adsorption mechanism and magnetic absorption force analysis is particularly important. After choice of magnetic materials and analyzing magnetic circuit, this paper finished the welding robot magnetic absorption force analysis, and consequently completed the magnetic adsorption mechanism design. On the basis of above work, this paper also utilized MAXWELL software ANSOFT to analyze magnetic force and magnetic flux density. The research work of this paper provide the basis for selection of the drive motor, as the robot stability, exercise performance and provides the theoretical guarantee gradeability.