磁粉探伤爬壁机器人设计与研究

Design and Research of Wall-Climbing Robot for Magnetic Particle Inspection

针对目前钢制管道壁面检测工作主要依靠人工手持探伤设备进行检测的情况,设计四轮驱动磁粉探伤爬壁机器人。对机器人的两种危险状况进行静力学分析,得出永磁轮最小吸附力为250 N。建立永磁轮尺寸优化模型并将它导入有限元分析软件Ansoft Maxwell,优化得到永磁轮轭铁厚度为6 mm、半径为20 mm。对永磁轮进行磁场分析并研究轭铁厚度与半径变化对吸附力的影响;组装机器人样机进行实验。结果表明:所设计的机器人能够沿壁面稳定行走与转向,验证了机器人设计的合理性。

In view of the steel pipeline wall inspection work mainly relies on manual hand-held inspection equipment,a four-wheel drive magnetic particle inspection wall-climbing robot was designed.The static analysis of the robot under two dangerous conditions were carried out,and the minimum adsorption force of the permanent magnet wheel was 250 N.The size optimization model of the permanent magnet wheel was established and it was imported into the finite element analysis software Ansoft Maxwell,and the thickness and radius of the permanent magnet wheel yoke were optimized to be 6 mm and 20 mm.The magnetic field of the permanent magnet wheel was analyzed and the influence of the thickness and radius of the yoke on the adsorption force was studied;a robot prototype was assembled for experiments.The results show that the designed robot can walk and turn stably along the wall,which verifies the rationality of the robot design.