摘要
为满足船舶除锈机器人负载能力与通过性要求,设计了一种履带式永磁吸附装置。对除锈机器人进行了力学分析与吸附装置的材料选型,建立了电磁应力张量方法的有限元模型,将各设计方案的仿真计算结果进行了对比,确定了当吸附单元为四块永磁体均匀竖直放置在轭铁上、相邻永磁体极性相错时满足吸附要求且吸附力最大。采用履带式吸附装置减小了障碍物对吸附力的影响,提高了除锈机器人的通过性与稳定性。
In order to meet the load capacity and passability requirements of ship derusting robots,a crawler-type permanent magnet adsorption device is designed.Firstly,the mechanical analysis of the derusting robot and the material selection of the adsorp⁃tion device are carried out.Secondly,the electromagnetic stress tensor method is used to establish the finite element model.The sim⁃ulation results of every designs are compared.And it is determined that the adsorption unit meet the adsorption requirements and the adsorption force is the largest when four permanent magnets are uniformly placed on the yoke vertically,and the adjacent permanent magnets have the adverse polarities.The use of the crawler-type adsorption device reduces the influence of obstacles on the adsorp⁃tion force and advances the passability and stability of the derusting robot.
作者
王黎明
范圣皓
杨磊
韩力春
WANG Liming;FAN Shenghao;YANG Lei;HAN Lichun(Control Engineering Laboratory,School of Electrical Engineering,Naval University of Engineering,Wuhan 430032;No.92351 Troops of Navy,Sanya 572000)
出处
《舰船电子工程》
2020年第10期173-177,共5页
Ship Electronic Engineering
关键词
船舶除锈机器人
磁吸附装置
履带式
电磁应力张量
ship derusting robot
magnetic adsorption device
crawler-type
electromagnetic stress tensor products
