水下焊接机器人磁块单元的优化设计

磁路设计是爬壁机器人的关键技术之一,针对一种新型水下移动焊接机器人的柔性履带吸附与张紧问题,提出一种既可增加机器人负载能力,又能实现履带非接触式张紧的新型双磁路磁块单元结构。运用有限元方法,建立了该磁块单元的数值计算模型,研究了永磁体、轭铁及铝块等因素对磁块单元吸附力的影响,分析了磁块单元周围的磁场分布,对其关键结构参数进行了分析和优化设计,使磁块单元能够为机器人提供较强的吸附力与合适的张紧力。通过试验表明,仿真计算结果与实际测试结果基本相符。

Optimization design of magnetic unit for underwater welding robot

As to the wall-climbing robots,the design of magnetic circuit is one of key technologies.In order to solve the problems on adsorption and tension of the flexible track for a new type of underwater mobile welding robot,a new type of magnetic unit with double magnetic circuits is proposed,which can not only increase the load capacity of the robot,but obtain better non-contact tension performance of the robot’s track.A numerical computation model of the magnetic unit is developed by using finite element analysis method.The influence of permanent magnet,yoking iron and aluminium blocks on the magnetic absorbability of the magnetic unit has been discussed.The magnetic field distribution around the magnetic unit is analysed.The critical structural parameters of the magnetic unit are analysed to optimize the design,which makes the magnetic unit can provide the robot with strong adsorption force and appropriate tension force.Experimental results show that the simulation calculation result is basically same as that obtained by actual measuring.