管道攀爬机器人非接触变磁隙式永磁吸附机构的设计与吸附性能优化

设计了一种能自适应吸附不同直径管道的非接触变磁隙式攀爬机器人。采用矢量磁位法和有限元法建立了吸附机构的磁场分布模型和磁吸附力模型。基于空间力系统的平衡方程建立了机器人的力学模型，得出爬壁机器人需要的最小磁吸附力。基于磁场和磁吸附力的理论模型与Maxwell仿真，通过离散组合法得到了最优磁铁宽度和磁吸附力。通过不同磁场和磁吸附力的对比计算，在最优磁铁宽度为80 mm时，得出近似圆弧机构单位体积的磁吸附力为0.0078 N/mm3，大于矩形磁铁单位体积的磁吸附力0.0047 N/mm3,它产生的磁吸附力满足单个机构所需的最小磁吸附力2100 N的负载要求。最后，通过实验获得了磁吸附机构的磁吸附力特性，证明了磁吸附机构优化设计的可行性。

Design and Adsorption Performance Optimization of Non-contact Variable Magnetic Gap Type Permanent Magnet Absorption Mechanisms of Pipe Climbing Robots

A non-contact variable magnetic gap type climbing robot was designed, which was adaptive adsorb tubes with different diameters. A magnetic field distribution model and magnetic adsorption force model of adsorption mechanisms were established by vector magnetic position method and finite element method. Based on equilibrium equation of space force system, the mechanics model of the robot was established and the minimum magnetic adsorption force was obtained. Based on the theoretical model of magnetic field and magnetic adsorption force and Maxwell simulation, the optimal magnet width and magnetic adsorption force were obtained by discrete combination method. After comparing different magnetic fields and magnetic adsorption forces, when the optimal magnet width is as 80 mm, the magnetic attraction force per unit volume of approximate circular arc mechanisms is as 0.0078 N/mm3, which is larger than 0.0047 N/mm3 of rectangular magnet. The magnetic adsorption force satisfies the load requirements of the minimum magnetic adsorption force of 2100 N. Finally, the magnetic adsorption force characteristics of the magnetic adsorption mechanisms were obtained by experiments. The results prove the feasibility of the optimization design of magnetic adsorption mechanisms.