水冷壁爬壁机器人导向防倾覆装置

Research on Guiding Andanti Overturning Device of Wall-climbing Robot for Water Cooled Wall

针对水冷壁爬壁机器人运动中的倾覆问题,提出了1种导向防倾覆装置。在水冷壁特殊壁面工作情况下,对机器人进行静态受力与稳定性分析,得到其能在壁面不发生下滑和倾覆的安全吸附条件。介绍了永磁间隙式导向防倾覆装置的工作原理。对间隙式永磁导向防倾覆装置磁路结构,采用Halbach永磁直线阵列的磁路设计,并在Ansoft Maxwell软件中对该装置进行了仿真分析和结构优化。现场实验表明,装有间隙式永磁导向防倾覆装置的爬壁机器人运行稳定可靠。

Aiming to solve the problem of overturning in the movement of water cooled wall of wall-climbing robot,a guiding anti overturning device isproposed.The static force and stability of the robot are analyzed under the working condition of the special wall of the water cooled wall,and the safe adsorption conditions of the robot are obtained without falling and overturning on the wall.This paper have introduced the working principle of the permanent magnet gap type guiding and anti overturning device.For the magnetic circuit structure of the gap permanent magnet guide and anti overturning device,the magnetic circuit of Halbach permanent magnet linear array is used in this paper, and the simulation analysis and structure optimization of the device are carried out in the software of Ansoft Maxwell. Field experiments shows that the wall climbing robot equipped with the gap type permanent magnet guide and anti overturning device runs stably and reliably.