首页|新型水冷壁机器人设计及其电永磁轮研究

新型水冷壁机器人设计及其电永磁轮研究

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火力发电厂的锅炉水冷壁需要定期检测和清扫,采用水冷壁机器人可以提高检测和清扫的效率.针对水冷壁面复杂的工作环境,研发了一种新型水冷壁机器人.对机器人的结构和工作原理进行了介绍;为了保证机器人在水冷壁面运动灵活且有可靠的吸力,设计了一款电永磁轮;通过Maxwell仿真并结合实验得出了使电永磁轮充/退磁所需的电流激励以及轮子吸力,设计了电永磁轮充/退磁电路;介绍了机器人本体的控制系统,搭建了机器人横向行走实验平台,对机器人运动的协同性和稳定性进行了验证.实验结果表明:机器人内、外腿依次交替吸附并前移,实现了抬腿、迈步、落腿等步态,运动稳定;机器人落腿时磁力产生,抬腿时磁力消失,机器人兼具吸附稳定性和运动灵活性;电永磁轮结构简单,体积小,质量小,耗电少,可提供150 N左右的吸力.研究结果为爬壁机器人在水冷壁清扫和检测中的应用提供了参考.
Design of new water-cooled wall robot and research of its electro permanent magnet wheel
The water-cooled wall of boiler in thermal power plants needs to be inspected and cleaned regularly.Using water-cooled wall robot can improve the efficiency of inspection and cleaning.In view of the complex working environment of water-cooled wall,a new type of water-cooled wall robot was developed.The robot structure and working principle were introduced.In order to ensure the robot to move flexibly and have reliable suction on the water wall,an electric permanent magnet wheel was designed.Through Maxwell simulation and experiment,the current excitation required to magnetize/demagnetize the electric permanent magnet wheel and wheel suction were obtained,and the electric permanent magnet wheel magnetize/demagnetization circuit was designed.The control system of the robot body was introduced,and the experimental platform for lateral walking of the robot was built to verify the cooperation and stability of the robot motion.The experimental results showed that the inner and outer legs of the robot could adsorb and move forward alternately,and realize the gait of lifting,stepping and dropping legs,and the movement was stable.The magnetic force was produced when the robot droped its legs and disappeared when it lifted its legs.The robot had both adsorption stability and movement flexibility.The electric permanent magnet wheel had simple structure,small size,small mass,less power consumption,and could provide about 150 N suction.The research results provide a reference for the application of wall-climbing robot in the cleaning and detection of water-cooled walls.

water-cooled wall robotelectric permanent magnetmagnetic attractionmagnetization/demagnetization circuit

张博洋、冯永利、黄金凤、黄宝旺

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华北理工大学 机械工程学院,河北 唐山 063000

河北省工业机器人产业技术研究院,河北唐山 063000

水冷壁机器人 电永磁 磁吸力 充/退磁电路

河北省省属高等学校基本科研业务费研究项目唐山市机器人机构学理论基础创新团队研究项目河北省创新能力提升计划项目河北省科技重大专项项目

JQN202200521130208D225676144H23261801Z

2024

10.3785/j.issn.1006-754X.2024.03.211

工程设计学报
浙江大学 中国机械工程学会

工程设计学报

CSTPCD北大核心
影响因子：0.694
ISSN：1006-754X
年,卷(期)：2024.31(4)
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