防腐爬壁机器人磁轮特性研究及仿真分析

Research and Simulation Analysis on Magnetic Wheel Characteristics of Anti-corrosion Wall-climbing Robot

为了降低石油天然气储罐检测难度并提高储罐检查和除锈作业的自动化程度,本研究设计了一种基于Halbach阵列的永磁吸附式爬壁机器人。通过使用Maxwell软件进行径向充磁和Halbach阵列磁轮的吸附力模拟分析,发现Halbach阵列的磁轮具有稳定性强、过渡平稳的特点。本研究结果为机器人样机的制作奠定了良好的理论基础,将大大降低石油天然气储罐检测的难度,并提高储罐检查和除锈作业的自动化程度。

Based on Halbach array,a permanent magnet adsorption wall climbing robot was designed to reduce the difficulty of oil and gas storage tank inspection.The the automation of storage tank inspection and rust removal operations were also improved by the robot.Halbach array magnetic wheels had strong stability and smooth transition through the motion simulation of radial magnetizing and Halbach array magnetic wheels adsorption force by using Maxwell software.A good theoretical foundation was laid for the production of robot prototypes,which would greatly reduce the difficulty of oil and gas storage tank inspection,hence,improving the automation level of tank inspection and rust removal operations.