摘要
针对永磁吸附履带式爬壁机器人吸附效率低的问题,设计了基于Halbach阵列的新型永磁吸附单元,并对其吸附特性进行了研究。采用Ansoft Maxwell软件对磁吸附单元进行了有限元模拟仿真,研究了Halbach永磁体阵列在单侧汇聚磁感线的特性,并设计了吸附力实验验证了有限元模拟的准确性;基于传统的Halbach永磁体阵列,在弱磁侧加入轭铁,有效减少了弱磁侧的磁场泄漏;采用Ansoft Maxwell软件中的参数化扫描功能,对吸附模块的关键结构尺寸进行了分析,研究了磁体阵列的宽度、高度、厚度以及轭铁的高度对吸附力和吸附效率的影响;为使吸附效率最大化,在上述分析基础上选取了最优尺寸。研究结果表明:优化后的吸附单元单位重量吸附力提升了60%,达到1413 N/kg,磁吸附效率得到了显著提高,为爬壁机器人的设计优化提供了依据。
Aiming at the problem of low adsorption efficiency of the permanent magnetic tracked wall-climbing robot,a new type of permanent magnet adsorption unit based on Halbach array was designed,and its adsorption characteristics were studied.The finite element simulation of the magnetic adsorption unit was conducted by Ansoft Maxwell software.The characteristics that the magnetic induction lines converge on one side of the Halbach permanent magnet array were studied.An experiment was designed to verify the simulation.Based on traditional Halbach permanent magnet array,a yoke was added on the weak magnetic side to prevent the leaking of magnetic field.The parametric scanning function of Ansoft Maxwell software was used to analyze the key structural dimensions of the adsorption module independently.The influence of the width,height,thickness of the magnet array and the height of the yoke on the adsorption force and efficiency was studied.The optimal sizes were chosen based on the above analysis to maximize the adsorption efficiency.The results indicated that the optimized average adsorption capacity per unit weight increased by 60%to 1413 N/kg,magnetic adsorption efficiency was increased significantly.It provides a basis for the design and optimization of wall climbing robot.
作者
刘峰
钟舜聪
伏喜斌
陈曼
徐宗煌
黄学斌
LIU Feng;ZHONG Shun-cong;FU Xi-bin;CHEN Man;XU Zong-huang;HUANG Xue-bin(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China;Xiamen Special Equipment Inspection Institute,Xiamen 361000,China;School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China)
出处
《机电工程》
CAS
北大核心
2020年第10期1251-1256,共6页
Journal of Mechanical & Electrical Engineering
基金
国家自然科学基金资助项目(51675103)
机械系统与振动国家重点实验室开放课题基金资助(MSV-2018-07)
上海市自然科学基金(18ZR1414200)
福建省科技计划项目(2019I0004)
福建省市场监督管理局科技项目(FJMS2019044)。
