一种管道机器人电磁离合器的设计

Development of an Electromagnetic Clutch for In-pipe Robots

针对管道检测作业安全性问题,研制了一种确保管道机器人可安全退出管道的电磁离合器。该离合器直径Φ42mm,长220mm,动作行程10mm,结构紧凑,可传递较大转矩。详细介绍了电磁离合器机构及其工作原理,分析计算了磁路与线圈发热量,应用拉格朗日-麦克斯韦方程推导出了该机构吸引力关于气隙长度的关系式,并通过有限元仿真软件对理论计算结果进行验证,对挡铁长度进行优化,最终依据理论结果研制了试验样机。

In order to improve the security in pipes inspection for in-pipe robots,the current study developed an electromagnetic clutch,which was aimed to insure the in-pipe robots quitting from pipes where they worked in any conditions. The specific size that is 42mm in diameter and 220mm in length was designed for using in pipes. With this contact structure,it still can transfer a relative large torque and hold a 10mm effective distance. After the structure and work principle of the electromagnetic clutch were introduced,the magnetic circuit was analyzed,and then the heat of coils was calculated. The relationship between the attraction and the air distance was worked out based on the Langrage-Maxwell Equations. To testify the correctness of the theory results obtained above,some simulations were made. The data from the simulation also optimized the length of the stopper. Base on the theory result,a prototype was designed and some related experiments were made.