磁力爬柱机器人磁吸附力分析与仿真研究  

Design and Magnetic Simulation of Magnetic Adsorption Device for Column Climbing Robot

作　　者：赵童 王战中 孙国翔 Zhao Tong;Wang Zhanzhong;Sun Guoxiang(School of Mechanical Engineering,Shijiazhuang Tiedao University,Shijiazhuang 050043,China)

机构地区：[1]石家庄铁道大学机械工程学院,河北石家庄050043

出　　处：《石家庄铁道大学学报（自然科学版）》2020年第4期69-74,共6页Journal of Shijiazhuang Tiedao University(Natural Science Edition)

摘　　要：为解决磁力吸附爬柱机器人圆柱壁面安全吸附问题,将48块(2 cm×4 cm×1 cm)永磁铁分为9+10+10+10+9、8+9+14+9+8、4+10+20+10+4这3种布局方式,通过Ansoft软件对这3种布局方式每次在相同工作间隙下进行磁力分析,确定最佳布局方式与工作间隙。建立永磁铁块三维模型并考虑圆柱壁面的真实几何形状,完成磁铁块的弧形布局,磁铁块的布局弧形曲率与圆柱壁面曲率相等。充分考虑磁吸附力的方向垂直永磁铁的表面,采用对每块永磁铁分别建立相对坐标系的方法,完成66组仿真实验,并最终确定最佳布局方式为4+10+20+10+4型横排布局和理想工作间隙为2 mm,该结果可用于指导磁力吸附爬柱机器人的制作。In order to solve the problem of safe adsorption on the cylindrical wall of a magnetic adsorption cylindrical climbing robot,48 permanent magnets(2 cm×4 cm×1 cm)were divided into three layouts:9+10+10+10+9,8+9+14+9+8 and 4+10+20+10+4.The magnetic force of the three layouts was analyzed with Ansoft software under the same working clearance to determine the optimal layout and working clearance.The three-dimensional model of permanent magnet block was established and the real geometrical shape of the cylindrical wall was considered.The arc layout of the magnet block was completed,and the arc curvature of the layout of the magnet block was equal to that of the cylindrical wall.Considering the suction direction of the perpendicular permanent magnet surface,66 groups of simulation experiments were completed with the relative coordinate systems established for each permanent magnet.At the end,the optimal layout was determined to be 4+10+20+10+4 transverse layout and the ideal working gap was 2 mm.The result could be used to guide the production of the magnetic adsorption wall climbing robot.

关 键 词：爬柱机器人 磁吸附装置 ANSOFT软件 磁力仿真 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]