汽轮发电机检测机器人磁吸附单元设计与优化研究
唐卓全1，张帆1,2，龚适1，左骏红1，陈旭东2，王立闻2，方修洋*,1
（1.西南交通大学 机械工程学院，四川 成都 610031；2.东方电气集团科学技术研究院，四川 成都 611731）
摘要：为提高检测机器人的吸附性能并降低机器人的重量，本研究采用有限元仿真、数值拟合和人工蜂群算法对永磁吸附单元进行了设计与优化。设计了3种不同的磁路，利用Ansoft Maxwell仿真软件分析了不同磁路的吸附性能，结果表明，与传统H形磁路相比Halbach磁路具有更优异的性能，对于Halbach阵列，当永磁体宽度、厚度一定时，随着垂直磁化永磁体长度的增大，磁吸附力先增大后减小。利用人工蜂群算法对磁路进行了参数优化，参数优化后的磁吸附单元体积减小，单位质量磁吸附力增大。基于机器人本体开展功能验证实验，实验结果证明爬壁机器人能在任意工作位置下稳定运行。
关键词：爬壁机器人；磁吸附单元；有限元仿真；参数优化；人工蜂群算法
中图分类号：TP242 文献标志码：A doi：10.3969/j.issn.1006-0316.2024.05.004
文章编号：1006-0316 (2024) 05-0026-09
Design and Optimization of the Magnetic Adsorption Unit for Turbo Generator Inspection Robot
TANG Zhuoquan1，ZHANG Fan1,2，GONG Shi1，ZUO Junhong1，CHEN Xudong2，WANG Liwen2，FANG Xiuyang1
( 1. School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China; 2. Academy of Science and Technology, Dongfang Electric Corporation, Chengdu 611731, China )
Abstract：In order to improve the adsorption performance of the detection robot and reduce the weight of the robot, the permanent magnet adsorption unit is designed and optimized through finite element simulation, numerical fitting and artificial bee colony algorithm in this study. Three different magnetic circuits are designed, and the Ansoft Maxwell simulation software is used to analyze the adsorption properties of different magnetic circuits, which demonstrates that the Halbach magnetic circuit has better performance than traditional H-shaped magnetic circuit. For the Halbach array, when the width and thickness of the permanent magnet are unchanged, the magnetic adsorption force first increases and then decreases with the increase of the length of the vertically magnetized permanent magnet. After the parameter optimization of the magnetic circuit through the artificial bee colony algorithm, the magnetic adsorption unit volume decreases while the magnetic adsorption force per unit mass increases. The functional verification experiments based on the robot body show that the wall-climbing robot can run stably in any working position.
Key words：wall-climbing robot；magnetic adsorption unit；finite element simulation；parameter optimization；artificial bee colony algorithm
———————————————
收稿日期：2023-09-18
基金项目：四川省科技计划（2022JDJQ0019，2022ZYD0029）
作者简介：唐卓全（1999－），男，四川德阳人，硕士研究生，主要研究方向为机械设计制造及其自动化，E-mail：17828171929@163.com。
*通讯作者：方修洋（1984－），男，湖北麻城人，博士，讲师，主要研究方向为机械装备强度设计评估理论及表面工程，E-mail：fangxiuyang@home.swjtu.edu.cn。
（1.西南交通大学 机械工程学院，四川 成都 610031；2.东方电气集团科学技术研究院，四川 成都 611731）
摘要：为提高检测机器人的吸附性能并降低机器人的重量，本研究采用有限元仿真、数值拟合和人工蜂群算法对永磁吸附单元进行了设计与优化。设计了3种不同的磁路，利用Ansoft Maxwell仿真软件分析了不同磁路的吸附性能，结果表明，与传统H形磁路相比Halbach磁路具有更优异的性能，对于Halbach阵列，当永磁体宽度、厚度一定时，随着垂直磁化永磁体长度的增大，磁吸附力先增大后减小。利用人工蜂群算法对磁路进行了参数优化，参数优化后的磁吸附单元体积减小，单位质量磁吸附力增大。基于机器人本体开展功能验证实验，实验结果证明爬壁机器人能在任意工作位置下稳定运行。
关键词：爬壁机器人；磁吸附单元；有限元仿真；参数优化；人工蜂群算法
中图分类号：TP242 文献标志码：A doi：10.3969/j.issn.1006-0316.2024.05.004
文章编号：1006-0316 (2024) 05-0026-09
Design and Optimization of the Magnetic Adsorption Unit for Turbo Generator Inspection Robot
TANG Zhuoquan1，ZHANG Fan1,2，GONG Shi1，ZUO Junhong1，CHEN Xudong2，WANG Liwen2，FANG Xiuyang1
( 1. School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China; 2. Academy of Science and Technology, Dongfang Electric Corporation, Chengdu 611731, China )
Abstract：In order to improve the adsorption performance of the detection robot and reduce the weight of the robot, the permanent magnet adsorption unit is designed and optimized through finite element simulation, numerical fitting and artificial bee colony algorithm in this study. Three different magnetic circuits are designed, and the Ansoft Maxwell simulation software is used to analyze the adsorption properties of different magnetic circuits, which demonstrates that the Halbach magnetic circuit has better performance than traditional H-shaped magnetic circuit. For the Halbach array, when the width and thickness of the permanent magnet are unchanged, the magnetic adsorption force first increases and then decreases with the increase of the length of the vertically magnetized permanent magnet. After the parameter optimization of the magnetic circuit through the artificial bee colony algorithm, the magnetic adsorption unit volume decreases while the magnetic adsorption force per unit mass increases. The functional verification experiments based on the robot body show that the wall-climbing robot can run stably in any working position.
Key words：wall-climbing robot；magnetic adsorption unit；finite element simulation；parameter optimization；artificial bee colony algorithm
———————————————
收稿日期：2023-09-18
基金项目：四川省科技计划（2022JDJQ0019，2022ZYD0029）
作者简介：唐卓全（1999－），男，四川德阳人，硕士研究生，主要研究方向为机械设计制造及其自动化，E-mail：17828171929@163.com。
*通讯作者：方修洋（1984－），男，湖北麻城人，博士，讲师，主要研究方向为机械装备强度设计评估理论及表面工程，E-mail：fangxiuyang@home.swjtu.edu.cn。
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