管道攀爬机器人非接触变磁隙式永磁吸附机构的设计与吸附性能优化

doi:10.3969/j.issn.1004-132X.2021.14.004

中国机械工程 ›› 2021, Vol. 32 ›› Issue (14): 1659-1668.DOI: 10.3969/j.issn.1004-132X.2021.14.004

管道攀爬机器人非接触变磁隙式永磁吸附机构的设计与吸附性能优化

郭登辉;陈原

山东大学机电与信息工程学院，威海，264209

出版日期:2021-07-25 发布日期:2021-08-04
通讯作者: 陈原（通信作者）男, 1976年生,教授、博士研究生导师。研究方向为机器人机构学。E-mail: cyzghysy@sdu.edu.cn。
作者简介:郭登辉,男, 1993年生，硕士研究生。研究方向为机器人机构学。E-mail:1422563552@qq. com。
基金资助:
国家自然科学基金（52075293）；
山东省自然科学基金（ZR2019MEE019）；
中央高校基本科研业务费专项资金（2019ZRJC006）

Design and Adsorption Performance Optimization of Non-contact Variable Magnetic Gap Type Permanent Magnet Absorption Mechanisms of Pipe Climbing Robots

GUO Denghui;CHEN Yuan

School of Mechanical，Electrical & Information Engineering，Shandong University，Weihai，Shandong，264209

Online:2021-07-25 Published:2021-08-04

摘要/Abstract

摘要： 设计了一种能自适应吸附不同直径管道的非接触变磁隙式攀爬机器人。采用矢量磁位法和有限元法建立了吸附机构的磁场分布模型和磁吸附力模型。基于空间力系统的平衡方程建立了机器人的力学模型，得出爬壁机器人需要的最小磁吸附力。基于磁场和磁吸附力的理论模型与Maxwell仿真，通过离散组合法得到了最优磁铁宽度和磁吸附力。通过不同磁场和磁吸附力的对比计算，在最优磁铁宽度为80 mm时，得出近似圆弧机构单位体积的磁吸附力为0.0078 N/mm3，大于矩形磁铁单位体积的磁吸附力0.0047 N/mm3,它产生的磁吸附力满足单个机构所需的最小磁吸附力2100 N的负载要求。最后，通过实验获得了磁吸附机构的磁吸附力特性，证明了磁吸附机构优化设计的可行性。

关键词: 非接触变磁吸附, 管道攀爬机器人, 优化分析, 磁感应强度

Abstract: A non-contact variable magnetic gap type climbing robot was designed, which was adaptive adsorb tubes with different diameters. A magnetic field distribution model and magnetic adsorption force model of adsorption mechanisms were established by vector magnetic position method and finite element method. Based on equilibrium equation of space force system, the mechanics model of the robot was established and the minimum magnetic adsorption force was obtained. Based on the theoretical model of magnetic field and magnetic adsorption force and Maxwell simulation, the optimal magnet width and magnetic adsorption force were obtained by discrete combination method. After comparing different magnetic fields and magnetic adsorption forces, when the optimal magnet width is as 80 mm, the magnetic attraction force per unit volume of approximate circular arc mechanisms is as 0.0078 N/mm3, which is larger than 0.0047 N/mm3 of rectangular magnet. The magnetic adsorption force satisfies the load requirements of the minimum magnetic adsorption force of 2100 N. Finally, the magnetic adsorption force characteristics of the magnetic adsorption mechanisms were obtained by experiments. The results prove the feasibility of the optimization design of magnetic adsorption mechanisms.

Key words: non-contact variable magnetic adsorption, pipe climbing robot, optimization analysis, magnetic induction

中图分类号:

TP242

郭登辉, 陈原. 管道攀爬机器人非接触变磁隙式永磁吸附机构的设计与吸附性能优化[J]. 中国机械工程, 2021, 32(14): 1659-1668.

GUO Denghui, CHEN Yuan. Design and Adsorption Performance Optimization of Non-contact Variable Magnetic Gap Type Permanent Magnet Absorption Mechanisms of Pipe Climbing Robots[J]. China Mechanical Engineering, 2021, 32(14): 1659-1668.

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管道攀爬机器人非接触变磁隙式永磁吸附机构的设计与吸附性能优化

Design and Adsorption Performance Optimization of Non-contact Variable Magnetic Gap Type Permanent Magnet Absorption Mechanisms of Pipe Climbing Robots

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