永磁轮式变压器内部检测机器人行走系统设计  

Design of Walking System of Permanent Magnet Wheeled Robot for Transformer Overhaul

作　　者：李雨潭 张传金 张行 付红[1,2] LI Yu-tan;ZHANG Chuan-jin;ZHANG Xing;FU Hong(School of Intelligent Manufacturing Jiangsu Vocational Institute of Architectural Technology,Jiangsu Xuzhou 221116,China;Special Robot Engineering Research Center of Jiangsu,Jiangsu Xuzhou 221116,China)

机构地区：[1]江苏建筑职业技术学院智能制造学院,江苏徐州221116 [2]江苏省特种机器人工程研究中心,江苏徐州221116

出　　处：《机械设计与制造》2023年第2期282-285,共4页Machinery Design & Manufacture

基　　金：江苏省高等学校自然科学研究面上项目资助(19KJB460014)。

摘　　要：为了解决油浸式变压器检修时内部空间狭小人工操作困难的问题,对小型永磁轮式机器人的行走系统进行了研究设计。首先对机器人的工况进行了分析,提出了满足在变压器内表面行走的物理条件,然后对径向和轴向两种充磁方式下圆环形磁铁特性进行了研究,使用ANSYS软件对径向充磁圆环磁铁吸力进行了仿真,探究了磁吸力与磁铁内径、厚度之间的关系,最后基于仿真结果和所提出的行走物理条件设计了机器人磁吸轮。通过样机在模拟变压器内部环境中的试验,证明所设计的基于径向充磁方式的磁吸轮式机器人行走系统在变压器内部具有良好的行走效果。To solve the problem that the internal space is narrow and the manual operation is difficult when the oil-immersed transformer is overhauled,the walking system of a small permanent magnet wheel robot is researched and designed.First,the operating conditions of the robot are analyzed,and the physical conditions for walking on the inner surface of the transformer are proposed.Then,the characteristics of the ring magnet in the radial and axial magnetization modes are studied,and the ANSYS software is used to magnetize the radial direction.The attraction force of the ring magnet was simulated,and the relationship between the magnetic attraction force and the inner diameter and thickness of the magnet was explored.Finally,the robot magnetic attraction wheel was designed based on the simulation results and the proposed surface walking conditions.Through the test of the prototype in the internal environment of the simulated transformer,it is proved that the designed magnetic wheel robot walking system based on the radial magnetization method has a good walking effect inside the transformer.

关 键 词：油浸式变压器 检测机器人 轮式行走系统 径向充磁 ANSYS静磁仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH122