履带式壁面移动机器人吸附结构优化设计  

Optimization Design of Adsorption Structure of Crawler Wall-Climbing Robot

作　　者：陈广庆[1] 于晓晨[1] 魏军英[1] 王吉岱[1] CHEN Guang-qing;YU Xiao-chen;WEI Jun-ying;WANG Ji-dai(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Shandong Qingdao 266590,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《机械设计与制造》2022年第6期274-277,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(51605475)。

摘　　要：为了提高小型履带式壁面移动机器人的安全性,采用COMSOL软件对履带吸附结构进行优化设计。结合磁路设计原理,设计合理的磁路结构,研究影响该结构吸附性能的主要结构参数;根据各参数的影响效果及影响程度,对关键影响参数进行分析、研究,在保持吸附单元外形尺寸不变的情况下,提高吸附单元的吸附能力,完成永磁吸附单元的尺寸优化;将优化后的吸附单元按照履带吸附机构直线阵列,研究充磁方向、中心距对吸附性能的影响,完成吸附结构的阵列优化。优化后,吸附单元的吸附力提高,同时减少了吸附单元阵列对吸附力的影响。In order to improve the safety of small crawler wall mobile robot,COMSOL is used to optimize the design of crawler adsorption structure. According to the design principle of magnetic circuit,the reasonable magnetic circuit structure is designed,and the main parameters affecting the adsorption performance of the structure are studied.According to the effect and degree of impact,the key influence parameters is studied,and improve the adsorption capacity of the adsorption unit while maintaining the same size of the adsorption unit. The size optimization of the permanent magnet adsorption unit is completed. According to the caterpillar adsorption structure array,the effect of magnetization direction and center distance on adsorption performance was studied,and the array optimization of adsorption structure was completed. After optimization,the adsorption force produced by the adsorption unit is improved,and the effect of the adsorption unit array on the adsorption force is reduced.

关 键 词：COMSOL 有限元 吸附单元 优化 阵列 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]