一种新型磁吸附履带式攀附机构的设计与试验

doi:10.3969/j.issn.1001-3881.2023.09.013

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机床与液压 ›› 2023, Vol. 51 ›› Issue (9) : 76-83. DOI: 10.3969/j.issn.1001-3881.2023.09.013

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试验与研究

一种新型磁吸附履带式攀附机构的设计与试验

赵全亮, 刘震宇, 章杰, 苏婷婷, 梁旭, 狄杰建, 何广平

作者信息 +

Design and Experimental Study of a New Magnetic Adsorption Crawler Climbing Mechanism

ZHAO Quanliang, LIU Zhenyu, ZHANG Jie, SU Tingting, LIANG Xu, DI Jiejian, HE Guangping

Author information +

文章历史 +

摘要

针对传统磁吸附攀爬机器人攀附力较小、带载能力差的问题，研究高攀附力/自重比磁吸附履带式攀附机构的设计与制造方法。提出一种新型磁吸附履带结构设计方案，研制攀附机构样机并进行性能测试研究。基于ANSYS有限元分析，对比分析4种Halbach磁铁阵列单元的最佳组合模式，实现了轻量化设计的攀附机构，有效提高了磁铁阵列单元的吸附力与自重比。为了实现磁铁阵列在攀爬机器人系统中的应用，融合链条传动和同步带传动方式，设计一种履带式攀附机构，并将它用于磁吸附攀爬机器人系统，完成了垂直攀爬和倒置攀爬运动，最大吸附力/自重比可达2.54。

Abstract

Aiming at the problem of small climbing force and poor carrying capacity of traditional magnetic adsorption climbing robot,the design and manufacturing method of magnetic adsorption crawler climbing mechanism with high climbing force/weight ratio was studied.A new structural design scheme of magnetic adsorption crawler was proposed,the prototype of climbing mechanism was developed,and the performance was tested.Based on ANSYS finite element analysis,the best combination modes of four Halbach magnet array elements were compared and analyzed,the lightweight design of the attachment mechanism was realized,and the adsorption force and self-weight ratio of the magnet array element were effectively improved.For the purpose of applying the magnet arrays in a climbing robot system,a crawler type climbing mechanism was designed by integrating chain drive and synchronous belt drive.The climbing mechanism was tested through experiments,and it was used in the magnetic adsorption climbing robot system to complete the vertical climbing and inverted climbing.The maximum adsorption force and self-weight ratio of the climbing mechanism is about 2.54.

导出引用

赵全亮, 刘震宇, 章杰, 苏婷婷, 梁旭, 狄杰建, 何广平. 一种新型磁吸附履带式攀附机构的设计与试验[J]. 机床与液压, 2023, 51(9): 76-83 https://doi.org/10.3969/j.issn.1001-3881.2023.09.013

ZHAO Quanliang, LIU Zhenyu, ZHANG Jie, SU Tingting, LIANG Xu, DI Jiejian, HE Guangping. Design and Experimental Study of a New Magnetic Adsorption Crawler Climbing Mechanism[J]. Machine Tool & Hydraulics, 2023, 51(9): 76-83 https://doi.org/10.3969/j.issn.1001-3881.2023.09.013

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