基于圆筒攀爬车磁吸附设计的研究

Research on Magnetic Adsorption Design of Wall Climbing Robot for Cylinders

圆筒攀爬车属于工业爬壁机器人的一种,能够在化工容器圆筒体的垂直壁面平稳灵活地移动,综合应用了普通地面移动机器设计与吸附设计。针对圆筒攀爬车的工作环境和自身性质选定吸附设计;在ANSYS MAXWELL14.0软件环境下,建立对应静磁场仿真模型,按对应环境参数设置变量并具体定量分析了现有设计在与壁面保持不同距离时整体所受磁吸附力大小的变化;讨论了吸附装置两种不同磁场布置的性能优劣。在实际工程实验中,检验了理论分析的结果,证实了吸附装置的运行可靠性,并为该型磁吸附装置的调节提供了依据。

The wall-climbing vehicle for cylinders is a kind of wall-climbing robots that are enable to move neatly and steadily on vertical wall of a chemical cylindrical vessel according to the theories of magnetic design and mechanical design.Referring to the working environment and the adsorption device of wall climbing vehicle for cylinders,a numerical model was established to adapt its magnetostatic field simulation in software. The variations of the force with different parameters on distance,which between the device and the wall,was assigned and analyzed quantificational by using Ansys maxwell14.0. An actual experiment was completed to verify the analysis. This passage demonstrated that the magnetic absorption is reliable and provided an adjustment reference to the adsorption device.