基于Halbach阵列的新型吸附结构设计及其优化  

Design and optimization of novel adsorption structures based on Halbach arrays

作　　者：苏忠富 莫丽[1] 郭振兴 刘傲 SU Zhong-fu;MO Li;GUO Zhen-xing;LIU Ao(School of Mechanical and Electrical Engineering,Southwest Petroleum University,Chengdu 610500,China;Sichuan BOMCO Special Vehicle Manufacture Co.,Ltd.,Guanghan 618300,China)

机构地区：[1]西南石油大学机电工程学院,四川成都610500 [2]四川宝石机械专用车有限公司,四川广汉618300

出　　处：《陕西科技大学学报》2024年第5期149-156,共8页Journal of Shaanxi University of Science & Technology

基　　金：国家重点研发计划项目(2019YFC031230)。

摘　　要：为解决目前爬壁机器人永磁式吸附结构难以改变吸附力大小的问题,提出了一种基于Halbach阵列的新型永磁式吸附结构,该结构由方形永磁体和圆柱形永磁体按一定的充磁方向排列组合而成,通过转动圆柱形永磁体改变充磁方向,从而改变吸附力大小.采用ANSYS Maxwell软件研究了吸附结构各参数(永磁体数量、轭铁厚度、气隙大小)对吸附力和单位吸附力的影响,并对以上参数进行优选;以单位吸附力为目标参数,基于粒子群算法对两种永磁体尺寸进行优化,优化前永磁体体积为219823 mm^(3),吸附力为744 N,永磁利用率为0.00352N/mm^(3),优化后永磁体体积为160027.4 mm^(3),吸附力为819.7 N,永磁利用率为0.00510 N/mm^(3).研究结果表明:吸附结构优化后节省了27.2%所占据的空间,增加了15.1%的总体吸附力,提升了45.5%的永磁利用率,优化后吸附结构的吸附性能有了显著提高,可为永磁式吸附结构的设计及优化提供参考.In order to solve the problem that it is difficult to change the size of the adsorption force in the current permanent magnetic adsorption structure of wall-climbing robots,a new type of permanent magnetic adsorption structure based on the Halbach array is proposed.This structure comprises a combination of square permanent magnets and cylindrical permanent magnets arranged in a specific magnetization direction.By rotating the cylindrical permanent magnet to change the direction of magnetization,thus altering the size of the adsorption force.ANSYS Maxwell software is used to study the effect of each parameter of the adsorption structure(the number of permanent magnets,the thickness of the yoke iron,the size of the air gap)on the adsorption force and the unit adsorption force,and the above parameters are then optimized;with the unit adsorption force as the target parameter,the two kinds of permanent magnets are optimized based on the particle swarm optimization algorithm.The volume of the permanent magnets before optimization is 219823 mm^(3),and the adsorption force is 744 N,and the permanent magnet utilization rate is 0.00352 N/mm^(3).After optimization,the volume of permanent magnet is 160027.4 mm^(3),the adsorption force is 819.7 N,and the permanent magnet utilization rate is 0.00510 N/mm^(3).The study results indicate that the optimization of the adsorption structure saves 27.2%of the occupied space,increases the overall adsorption force by 15.1%,and enhances the permanent magnet utilization rate by 45.5%.The adsorption performance of the optimized adsorption structure is significantly improved,which provides a reference for the design and optimization of permanent magnet adsorption structure.

关 键 词：爬壁机器人 吸附结构 HALBACH阵列 有限元仿真 粒子群算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]