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工程设计学报
工程设计学报  2022, Vol. 29 Issue (1): 41-50    DOI: 10.3785/j.issn.1006-754X.2022.00.007
优化设计     
轮腿式爬壁机器人的永磁吸附装置设计与优化
钟道方, 田颖, 张明路
河北工业大学 机械工程学院， 天津 300401
Design and optimization of permanent magnet adsorption device for wheel-legged wall-climbing robot
ZHONG Dao-fang, TIAN Ying, ZHANG Ming-lu
School of Mechanical Engineering， Hebei University of Technology， Tianjin 300401
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摘要： 目前，我国石油化工储罐的除锈、喷漆和检测等维护作业通常采用人工方式完成，工作效率低且具有危险性。爬壁机器人能够代替人工完成上述维护工作，但其常采用的接触式永磁吸附方式会影响其越障作业。为此，针对具有越障能力的轮腿式爬壁机器人，提出一种提高其永磁吸附装置吸附能力的设计与优化方法。首先，基于轮腿式爬壁机器人的越障原理以及永磁吸附原理，提出了4种非接触式永磁吸附装置设计方案，并利用Ansoft Maxwell软件对永磁吸附装置进行了二维静态磁场仿真分析，获得了其最优结构。然后，通过受力分析确定了影响永磁吸附装置磁吸附力的结构参数。最后，基于控制变量法原理，通过仿真分析了永磁吸附装置和钢制壁面的结构参数对磁吸附力的影响，并确定了各结构参数的最优值。结果表明：当钢制壁面半径为5~7 m时，相邻永磁吸附单元间隙及永磁吸附单元数量对磁吸附力的影响较大；当相邻永磁吸附单元间隙为2~4 mm及永磁吸附单元数量为3~5个时，磁吸附力利用率较高。一定条件下的实验验证了优化结果的准确性，优化后永磁吸附装置磁吸附力的实测值比仿真值平均约高16.45%，其可有效保证轮腿式爬壁机器人在石油化工储罐等的钢制壁面上稳定运动。研究结果可为磁吸附装置的结构设计与优化提供参考。
Abstract: At present, maintenance operations such as derusting, painting and testing of petrochemical storage tanks in my country are usually completed manually, which is inefficient and dangerous. The wall-climbing robot can complete the above maintenance work instead of manual work, but its frequently-used contact permanent magnet adsorption method will affect its obstacle-surmounting operation. Therefore, aiming at the wheel-legged wall-climbing robot with obstacle-surmounting ability, a design and optimization method for improving the adsorption capacity of its permanent magnet adsorption device was proposed. Firstly, based on the principle of obstacle-surmounting and permanent magnet adsorption of the wheel-legged wall-climbing robot, four design schemes of non-contact permanent magnet adsorption device were proposed. The two-dimensional static magnetic field simulation analysis for the permanent magnet adsorption device was carried out by the Ansoft Maxwell software, and its optimal structure was obtained. Then, through force analysis, the structural parameters affecting the magnetic adsorption force of the permanent magnet adsorption device were determined. Finally, based on the principle of control variable method, the influence of structural parameters of permanent magnet adsorption device and steel wall on the magnetic adsorption force was analyzed through simulation, and the optimal value of each structural parameter was determined. The results showed that when the radius of steel wall was 10-14 m, the gap between adjacent permanent magnet adsorption units and the number of permanent magnet adsorption unit had a relatively great influence on the magnetic adsorption force; when the gap between adjacent permanent magnet adsorption units was 2-4 mm and the number of permanent magnet adsorption unit was 3-5, the utilization rate of magnetic adsorption force was relatively high. Experiments under certain conditions had verified the accuracy of optimization results. After optimization,the measured value of the magnetic adsorption force of the permanent magnet adsorption device was about 16.45% higher than the simulated value on average, and the optimized device could effectively ensure the stable movement of the wheel-legged wall-climbing robot on the steel wall of petrochemical storage tanks. The research results can provide reference for the structural design and optimization of the magnetic adsorption device.
收稿日期: 2021-01-19 出版日期: 2022-02-28
CLC:  TH 12  
基金资助: 国家重点研发计划资助项目（2018YFB1309400）；河北省自然科学基金资助项目（E2021202032）；河北省高等学校科学技术研究项目（QN2018090）
通讯作者: 田 颖（1987—），女，河北石家庄人，讲师，博士，从事智能机器人技术及应用研究，E-mail：flyserelo@126.com，https：//orcid.org/0000-0003-2168-474X     E-mail: flyserelo@126.com
作者简介: 钟道方（1996—），男，河北邢台人，硕士生，从事智能机器人技术及应用研究，E-mail：zdf_200@126.com，https：//orcid.org/0000-0002-8272-4998；
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引用本文:

钟道方, 田颖, 张明路. 轮腿式爬壁机器人的永磁吸附装置设计与优化[J]. 工程设计学报, 2022, 29(1): 41-50.

ZHONG Dao-fang, TIAN Ying, ZHANG Ming-lu. Design and optimization of permanent magnet adsorption device for wheel-legged wall-climbing robot[J]. Chinese Journal of Engineering Design, 2022, 29(1): 41-50.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2022.00.007    或    https://www.zjujournals.com/gcsjxb/CN/Y2022/V29/I1/41

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