爬壁机器人永磁轮优化设计

闫海涛¹，徐凤辉²，张云^1*

1.山东交通学院轨道交通学院，山东 济南  250357；2.济南吉美乐电源技术有限公司，山东 济南  250104

摘要：为解决爬壁机器人永磁轮体积较大、质量较大、吸附力较小等问题，以减小永磁轮质量并增大吸附力为设计目标，结合轻量化设计方法，对永磁轮两侧的导磁盘进行结构优化设计。采用电磁场仿真软件ANSYS Maxwell对永磁轮进行建模仿真分析，获取磁力线分布情况，通过减少磁力线稀疏区域或对永磁轮吸附铁磁壁面无直接作用区域的导磁材料，增加磁力线密集区域的导磁材料，增大永磁轮的吸附力。通过调整导磁盘的主要结构参数，仿真分析永磁轮与铁磁壁面间吸附力的变化规律，得到吸附力最大时导磁盘的结构参数，对优化后导磁盘的吸附力进行仿真和实物测试验证。结果表明：优化后导磁盘质量为232.54 g，比优化前减小16.24%；优化后永磁轮与铁磁壁面间吸附力仿真结果为487.65 N，比优化前增大20.74%；50次永磁轮拉力测试结果均大于吸附力仿真结果，测试平均拉力为493.83 N，表明优化结构后永磁轮质量和吸附力指标达到设计目标。

关键词：爬壁机器人；永磁轮；导磁盘；结构优化；电磁场仿真

Optimized design of permanent magnetic wheel for wall-climbing robot

YAN Haitao¹, XU Fenghui², ZHANG Yun^1*

1.School of Rail Transportation, Shandong Jiaotong University, Jinan 250357, China；

2.Jinan Jimeile Power Technology Co., Ltd., Jinan 250104, China

Abstract: To address issues such as large volume, heavy weight, and low adsorption force of permanent magnetic wheel in wall-climbing robot, the design aims to reduce the wheel mass and increase adsorption force. Combining lightweight design methods, the magnetic disks on both sides of the permanent magnetic wheel are designed by structural optimization. Electromagnetic field simulation software ANSYS Maxwell is used to model and simulate the permanent magnetic wheel, obtaining the magnetic field line distribution. By reducing the magnetic material in areas with sparse field lines and increasing it in dense areas, the wheel′s adsorption force is enhanced. Through adjusting the main structural parameters of the magnetic disk and simulating the adsorption force changes between the permanent magnetic wheel and ferromagnetic wall surface, the optimal structural parameters for maximum adsorption force are determined. Simulation and physical tests verify the adsorption force of the optimized magnetic disk. Results show that the magnetic disk mass is 232.53 g, reduced by 16.24%; the simulated adsorption force between the permanent magnetic wheel and ferromagnetic wall is 487.65 N, increased by 20.74%; 50 pull tests of the permanent magnetic wheel all exceed the simulated adsorption force, with an average of 493.83 N. The results show that after structural optimization, the mass and adsorption force indicators of the permanent magnet rotor meet the design objectives.

Keywords: wall-climbing robot; permanent magnetic wheel; magnetic disk; structural optimization; electromagnetic field simulation