摘要
为解决储罐缺陷自动检测机器人爬壁行走稳定差、存在安全隐患等问题,设计了一种永磁吸附储罐爬壁机器人,并对其吸附特性进行了研究。设计了基于永磁体的吸附机构,通过对机器人在工作时失效情况的分析,构建机器人静力学模型,计算获得机器人正常工作时所需的最小磁吸附力。以保证最小磁吸附力作为磁力吸附条件,设计了使用五块永磁体直线Halbach阵列排布的磁吸附单元,研究了永磁体体积、衔铁、气隙长度对吸附力的影响。通过有限元分析最终设计了尺寸为30mm×30mm×30mm的正方体磁块,衔铁尺寸为150mm×54mm×3mm,添加方向为沿Z轴正方向,吸附时额定气隙10mm,最小磁吸附力为493.02N,能够保证机器人吸附的稳定性。
In order to solve the problems such as poor climbing stability and potential safety hazards of automatic tank defect detection robot,a permanent magnet adhesion tank wall climbing robot is designed and its adhesion characteristics are analyzed.The adhesion mechanism based on permanent magnet is designed.The static model of the robot is built through the analysis of the failure of the robot at work,and the minimum magnetic adhesion force required by the robot in normal work is calculated.In order to ensure that the minimum magnetic adhesion force is taken as the magnetic adhesion condition,the magnetic adhesion unit is designed using the linear Halbach array arrangement of five permanent magnets,and the influence of permanent magnet volume,armature and air gap length on the adhesion force is analyzed.Through finite element analysis,a cuboid magnetic block with a volume of 30 mm×30 mm×30 mm is finally designed,the armature size is 150 mm×54 mm×3 mm,the addition direction is positive along the Z axis,the rated air gap is 10 mm during adhesion,and the minimum magnetic adhesion force is 493.02 N,which could ensure the adhesion stability of the robot.
作者
马明月
龚川江
周怀忠
蒋波
龙樟
MA Mingyue;GONG Chuanjiang;ZHOU Huaizhong;JIANG Bo;LONG Zhang(Nanchong Special Equipment Supervision and Inspection Institute,Nanchong 637001,China;School of Mechatronic Engineering,Southwest Petroleum University,Chengdu 610500,China)
出处
《机械》
2025年第6期74-80,共7页
Machinery
基金
2022年南充市科技计划(22YYJCYJ0085)
2023年市校科技战略合作专项(23XNSYSX0061,23XNSYSX0048)。
关键词
磁吸附
爬壁机器人
力学分析
有限元分析
magnetic adhesion
wall-climbing robot
mechanical analysis
finite element analysis
