爬壁机器人永磁吸附装置的优化设计  

Optimization of Permanent-Magnetic Adhesion Device for Wall-Climbing Robot

作　　者：桂仲成[1] 陈强[1] 孙振国[1] 张文增[1] 刘康[1] 

机构地区：[1]清华大学机械工程系先进成形制造教育部重点实验室,北京100084

出　　处：《电工技术学报》2006年第11期40-46,共7页Transactions of China Electrotechnical Society

基　　金：清华大学博士生科研创新基金(2004);国家自然科学基金(50275083);高校博士点基金(20020003053)资助项目

摘　　要：为满足水轮机叶片修复对爬壁机器人负载能力和运动灵活性的要求,设计了一种具有强吸附能力的永磁吸附装置。吸附装置吸附于水轮机叶片表面时,吸附装置和叶片表面之间有一定的气隙(非接触的),以减小爬壁机器人的运行阻力。非接触吸附装置由多个吸附单元组成,吸附单元之间按照一定方式进行耦合,吸附单元由永磁体和轭铁组成。运用有限元方法,建立吸附装置磁场数值计算模型,对吸附单元关键结构参数及吸附单元间耦合方式进行了分析和优化设计。实验结果表明,该吸附装置在气隙为6.2mm的情况下能提供2400N的吸附力,吸附装置自重小,吸附能力强,适用于曲率半径在1.5m以上的导磁壁面。To satisfy the requirements on loading ability and maneuverability of the wall-climbing robot for hydraulic turbine blade repair, a permanent magnetic device with excellent adhesive ability is designed, To reduce the moving resistance of the robot, the adhesive device is non-contact but sticks to the turbine blade＇s surface with a gap. The adhesive device is composed of several sucking units which are arranged and coupled in a special way, and the sucking units are made up of permanent magnets and yokes. A numerical computation model for accurately computing the 3D magnetic field produced by the device is developed by using finite element method. The structural parameters and coupling mode of the adhesive units are analyzed to optimize the design. Experimental results show that the device takes on excellent adhesive ability with small weight, It can provide sucking force of 2400N with a gap of 6.2mm on the steel plate and can be used on a surface with minimum radius of curvature of 1.5m.

关 键 词：磁场计算 爬壁机器人 非接触吸附 永磁吸附装置 有限元 

分 类 号：TM153.1[电气工程—电工理论与新技术]