永磁吸附爬壁机器人磁力影响因素分析  

Analysis of Magnetic Force Influencing Factors of Permanent Magnet Adsorption Wall-Climbing Robot

作　　者：孙振楠 王运龙[1] 林少川 金朝光[1] SUN Zhen-nan;WANG Yun-long;LIN Shao-chuan;JIN Chao-guang(School of Naval Engineering and Dalian University of Technology,Liaoning Dalian 116024,China)

机构地区：[1]大连理工大学船舶工程学院,辽宁大连116024

出　　处：《机械设计与制造》2024年第4期368-372,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51209034);中央高校基本科研业务费(DLUT17JC30)资助。

摘　　要：磁吸爬壁机器人在运行过程中存在吸附力不足导致倾覆,吸附力过余导致移动受阻等问题。以船体除污爬壁机器人为研究对象,在将吸附装置设计成磁桥结构的基础上,通过理论公式对永磁体磁力影响因素进行推算,并利用Ansys Maxwell软件对吸附装置进行有限元磁力分析,将仿真数据拟合成曲线,通过与实验数据对比,验证了有限元方法的可行性,并总结了永磁体横截面积和厚度、永磁体与船体表面间隙、轭铁厚度、钢板厚度等影响因素在不同区间内对磁力影响的变化规律,为机器人永磁吸附装置选用以及吸附力计算和调整提供依据。In the process of operation,the magnetic suction wall-climbing robot has some problems,such as overturning due to insufficient adsorption force and blocking movement due to excessive adsorption force.On the basis of designing the adsorption de-vice into a magnetic bridge structure,the influence factors of permanent magnet magnetic force are calculated by theoretical for-mula with the hull deconstructing and climbing robot as the research object.The finite element magnetic force analysis of the ad-sorption device is carried out by using ANSYS Maxwell software.The simulation data were fitted into a curve,and the feasibility of the finite element method was verified by comparing with the experimental data,and the variation rules of the influence of such factors as the cross-section area and thickness of permanent magnet,the gap between permanent magnet and hull surface,the thickness of yoke iron and the thickness of steel plate on the magnetic force in different intervals were summarized,which provided the basis for the selection of permanent magnet adsorption device for robot and the calculation and adjustment of the adsorption force.

关 键 词：爬壁机器人 磁桥 吸附力 磁力分析 影响因素 规律 

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]