爬壁机器人永磁吸附装置的优化设计 optimization of permanent-magnetic adhesion device for wall-climbing robot.pdfVIP

2006 年 11 月 电 工 技 术 学 报 Vol.21 No.11 第21 卷第 11 期 TRANSACTIONS OF CHINA ELECTROTECHNICAL SOCIETY Nov. 2006 爬壁机器人永磁吸附装置的优化设计 100084 摘要 , 6.2mm 2400N , 1.5m 关键词 + 中图分类号 TM153 .1 Optimization of Permanent-Magnetic Adhesion Device for Wall-Climbing Robot Gui Zhongcheng Chen Qiang Sun Zhenguo Zhang Wenzeng Liu Kang Tsinghua University Beijing 100084 China Abstract To satisfy the requirements on loading ability and maneuverability of the wall-climbing robot for hydraulic turbine blade repair, a permanent magnetic device with excellent adhesive ability is designed. To reduce the moving resistance of the robot, the adhesive device is non-contact but sticks to the turbine blade’s surface with a gap. The adhesive device is composed of several sucking units which are arranged and coupled in a special way, and the sucking units are made up of permanent magnets and yokes. A numerical computation model for accurately computing the 3D magnetic field produced by the device is developed by using finite element method. The structural parameters and coupling mode of the adhesive units are analyzed to optimize the design. Experimental results show that the device takes on excellent adhesive ability with small weight, It can provide sucking