CN216849534U - Planar Halbach permanent magnet array and wall-climbing robot - Google Patents

Abstract

The utility model provides a plane Halbach permanent magnetism array and wall climbing robot is disclosed. The Halbach permanent magnet array is characterized in that a plurality of groups of magnets arranged in a periodic array are arranged in the length and width directions of the plane Halbach permanent magnet array, each period comprises two first magnets with vertical NS and mutually vertical NS, and a second magnet with horizontal NS arranged between the two first magnets; gaps are formed between the adjacent second magnets in the same direction. The utility model provides a plane Halbach permanent magnetism array, it is big to have magnetic adsorption power, and the magnetic mass is than (the ratio of magnetic adsorption power divided by permanent magnetism array's quality) advantage such as little.

Description

Planar Halbach permanent magnet array and wall-climbing robot

Technical Field

The utility model relates to a magnetism adsorbs technical field, concretely relates to plane Halbach permanent magnet array, wall climbing robot.

Background

The conventional Halbach permanent magnet array generally adopts linear arrays of permanent magnets in the same direction as in fig. 2(a) and 2(b), and is mostly a single-row linear type. The adsorption structure is simple in magnetic circuit and open in volume, a good optimization method is not provided for the adsorption unit with the limited structure size, and the theoretical modeling of the adsorption capacity of the complex magnetic circuit is complicated and has no universality. And the magnetic adsorption force is small, and the magnetic mass ratio (the ratio of the magnetic adsorption force divided by the mass of the permanent magnet array) is large.

SUMMERY OF THE UTILITY MODEL

To the not enough of above-mentioned prior art, the utility model provides a plane Halbach permanent magnet array has that the magnetic attraction is big, and the magnetic substance is than (the magnetic attraction divides the ratio of the quality of permanent magnet array) advantage such as little.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a planar Halbach permanent magnet array is provided with a plurality of groups of magnets arranged in a periodic array in the length and width directions, wherein each period comprises two first magnets with vertical NS and mutually vertical NS, and a second magnet with horizontal NS arranged between the two first magnets; gaps are formed between the adjacent second magnets in the same direction.

Furthermore, the gap is filled with a non-magnetic material.

Further, the relationship between the length or width of the planar Halbach permanent magnet array and the periodicity in the corresponding direction is as follows:

j represents the length or width and k represents the number of cycles in the length direction or the number of cycles in the width direction.

Further, the number of cycles in the length direction N or the number of cycles in the width direction N, a₁And a₂Of (a) is₁，b₁And b₂Of (a) is₂The value relationship between the height h of the planar Halbach permanent magnet array and the height h of the planar Halbach permanent magnet array is shown in the following table:

。

a₁and a₂Respectively showing the length of the first magnet and the length of the second magnet in the longitudinal direction, b₁And b₂The length of the first magnet and the length of the second magnet in the width direction are shown, respectively.

The permanent magnet array component used by the magnetic adsorption component of the wall-climbing robot is the planar Halbach permanent magnet array.

Has the advantages that: the planar Halbach permanent magnet array has the advantages of large magnetic adsorption force, small magnetic mass ratio (the ratio of the magnetic adsorption force to the mass of the permanent magnet array) and the like. The adsorption force of theoretical requirements can be met, and the mass of the permanent magnet array is reduced under the condition of meeting the theoretical magnetic adsorption.

Drawings

Fig. 1(a) and fig. 1(b) are schematic structural diagrams of a planar Halbach permanent magnet array;

fig. 2(a) and 2(b) are schematic structural diagrams of a conventional linear Halbach permanent magnet array;

FIG. 3 is a magnetic circuit fixing member with a rectangular parallelepiped cavity;

FIG. 4 is a schematic view of a motion crawling mechanism of the wall-climbing robot; the magnetic adsorption device comprises a magnetic adsorption component 1, a servo motor 2, a speed reducer 3, a driving wheel 4 and a crawler belt link 5;

fig. 5 is a schematic view of the structure of a magnetic adsorption component of the wall-climbing robot, wherein 1.1 is a housing of a permanent magnet, 1.2 is a chain, and 1.3 is a permanent magnet;

FIG. 6 is a graph of N-L-magnetic attraction;

FIG. 7(a) is h-a₁A graph of magnetic attraction force relationships;

FIG. 7(b) shows h-a₂A graph of magnetic attraction force relationships;

FIG. 8 is a schematic flow chart of the method.

Detailed Description

In the permanent magnet fixing piece in the embodiment, as shown in fig. 3, the length and the width of the space in the fixing piece are 45mm and 20mm respectively, and the height h is between 6mm and 12 mm. The volume of the permanent magnet part arranged in the holder is thus 45mm x 20mm x h.

Fig. 1(b) is a top view of the planar permanent magnet array, where the arrows indicate the internal magnetic field direction of each part of the permanent magnet, where L is 45mm, W is 20mm, 6mm<h<12mm, lambda is the length of a Halbach permanent magnet array of one period, wherein two of the Halbach permanent magnet arrays have the length of a₁NS is a magnet in the vertical direction, and one length is a₂NS of (1) is a magnet in the horizontal direction, N groups of periodic arrays are arranged in the L direction, and N groups of periodic arrays are arranged in the W direction.

Thus, the L and W directions are represented by formula (1) and formula (2):

wherein is introduced a₁And a₂Of a ratio epsilon₁，b₁And b₂Of (a) is₂From the expressions (1) and (2), it can be seen that the parameter values to be analyzed in the L direction are N and ε₁The parameters to be analyzed in the W direction are n and epsilon₂。

Based on the analysis, a two-dimensional simulation model is established by using Maxwell electromagnetic simulation software, and the influence of each parameter on the adsorption force of the permanent magnet assembly is researched by using a control variable method.

In order to calculate the optimal values of N and N and the influence of N and N on the adsorption force under a certain length L and W, h is 10mm, and epsilon₁The influence of N on the adsorption force at the total length L was compared with 1 and N was 0. FIG. 6 is a graph showing the relationship between L and the adsorption force under different conditions of N, and it can be seen from the graph that L is the value when L is<20mm, N is 1 and the maximum adsorption force is 20mm<L<When the thickness is 25mm, the adsorption force is 2, and when the thickness is 25mm<L<When the thickness is 55mm, the adsorption force is maximum when N is 3

TABLE 1L-N relationship table for maximum adsorption force

When L is greater than 55mm, N is 5, and the adsorption force is the largest, which is summarized in table 1. In this design, L is 45mm, so N takes on {1,2,3}, and W is 20mm, so N takes on {1,2 }.

Experimental data found epsilon₁And epsilon₂Is influenced by N and h, and for finding the regularity, ε is studied at different N₁H influence on adsorption force: let N equal to 1, h₁0mm, 2a₁+a₂45 mm; let N equal to 2, h₁0mm, in this case 3a₁+2a₂And (5) establishing a two-dimensional model with h varying between 3mm and 15mm when the thickness is 45 mm. The following relationship can be obtained.

As shown in FIG. 7(a), h-a₁Graph of magnetic attraction relationship, from₁Can be calculated to obtain epsilon₁Table 2 shows the values of h- ε at which the maximum adsorption force was obtained for different N₁The relationship table (2). It can be seen from fig. 7(a) and 7(b) that h is positively correlated with the adsorption force; the density degree of the curve can be obtained, and the influence on the adsorption force is not obvious after h is increased to a certain degree; epsilon₁Is influenced by N and h.

TABLE 2 relationship of ε 1-h at maximum adsorption force

As can be seen from the above description, the parameters affecting the adsorption force are N, N, h, ε₁，ε₂Because 5 influence factors exist, the planar Halbach permanent magnet array is complex in structure, the three-dimensional adsorption force mathematical model is complex, the theoretical mathematical model is complex in calculation and has a large difference with an actual value, and therefore the significant influence of each parameter on the magnetic adsorption force is analyzed in an orthogonal experiment mode.

The experimental materials and the equipment comprise permanent magnetic array fixing pieces and aluminum alloy pieces which are printed in a 3D mode and are made of different h-value resin materials; a Q235 iron plate, N35 rubidium magnets with different lengths, widths and heights; the measuring instrument adopts a pull-off measuring instrument of Nantong magic cube Automation technology Limited.

The orthogonal experiments and indices are as follows:

when N or N is 0, the planar permanent magnet array is converted into a linear permanent magnet array, 0 is introduced as each level of N and N for the purpose of comparing the planar type with the linear type, and the permanent magnet array is degraded into a whole permanent magnet when N and N are both 0.

The experimental indexes are as follows: 1. and 2, the mass of the permanent magnet array is reduced under the condition of meeting the theoretical magnetic adsorption.

The specific value beta of the permanent magnet adsorption force F and the actual volume V of the permanent magnet array is introduced, and the magnetic adsorption capacity under the permanent magnet array in unit volume is measured, so that the indexes of the experiment are F and beta in a double-index orthogonal experiment. The factors and levels are shown in Table 3.

TABLE 3 factor-horizon table

The influence factor of the experiment is 5, the horizontal number is less than or equal to 4, and an orthogonal experiment table L₁₆(4⁵) Meet the experimental requirements, so L is adopted₁₆(4⁵) And (4) an orthogonal experiment table. Orthogonal experiments were performed using the above materials, and a total of 16 sets of results are shown in table 4.

TABLE 4 Experimental protocols and results

TABLE 5 table of range analysis of experimental results

As can be seen from Table 5, although the factors of the two indexes are different, the optimal scheme is A₃E₄D₂C₃B₂Since this scheme is not present in the orthogonal experiment, it needs experimental verification that F144N and β 152 are better than the data of the orthogonal experimental group.

The utility model also provides a method of optimizing adsorption structure magnetic circuit under the finite volume, the method is simple and convenient, promotes adsorption efficiency characterized by: the method comprises the following specific steps:

1) firstly, establishing a magnetic circuit model of a planar Halbach permanent magnet array;

2) determining design parameters of a magnetic circuit;

3) determining the value range of each parameter under a fixed size by using Maxwell software parameterized simulation;

4) determining the primary and secondary influences of each parameter on each index by utilizing an orthogonal experiment, and finally determining a design scheme;

5) verify the magnetic adsorption effect of design.

The method comprises the following steps of determining the value range of each parameter under a fixed size by using Maxwell software parameterized simulation, and specifically comprises the following steps:

1) based on the traditional Halbach permanent magnet array, the height h and epsilon are controlled by using a variable control method₁And (3) parameterizing and simulating the optimal value of N under different lengths L for a fixed value, and drawing a relation table of L and N.

2) Based on the traditional Halbach permanent magnet array, the length L and the length N are controlled to be fixed values by using a variable control method, and the epsilon is simulated in a parameterization mode under different heights h₁The optimum value of (d); changing the value of N, performing simulation again, and drawing h and epsilon under different N₁And (5) a relation table.

3) Selecting a corresponding N value according to the L and N relation table in 1) and the actual length size L, and expanding the selection range to form a value range; according to the actual lengthSelecting a corresponding n value according to the degree size W, and expanding a selection range to form a value range; according to the value ranges of N, N and h, according to h and epsilon in 2)₁Relation table selection epsilon₁And epsilon₂The corresponding value ranges.

The factors of the orthogonal experiment are N, n epsilon₁、ε₁And h. The level of each factor is the range of values to which it corresponds. Orthogonal experiments are carried out by utilizing the factors and the level, the primary and secondary influences of the factors on the total adsorption force of the magnetic circuit of the permanent magnet array under the fixed sizes L and W are determined, and N, n epsilon and epsilon under the optimal scheme are determined₁、ε₁And h, and h.

The optimal scheme of the orthogonal experiment is verified, and whether the total adsorption force under the optimal scheme is the maximum or not is verified by using an experiment and simulation method.

Claims (5)

1. A plane Halbach permanent magnet array is characterized in that a plurality of groups of magnets arranged in a periodic array are arranged in the length and width directions, each period comprises two first magnets with NS in the vertical direction and mutually perpendicular and a second magnet with NS in the horizontal direction, wherein the NS arranged between the two first magnets is arranged in the vertical direction; gaps are formed between the adjacent second magnets in the same direction.

2. The planar Halbach permanent magnet array of claim 1, wherein the voids are filled with a non-magnetically conductive material.

3. The Halbach planar array according to claim 1, wherein the length or width of the Halbach planar array is related to the number of cycles in the corresponding direction by:

j represents a length or a width, and k represents a number of cycles in the length direction or a number of cycles in the width direction.

4. The planar Halbach permanent magnet array of claim 1, wherein the number of cycles N in the length direction or the number of cycles N, a in the width direction₁And a₂Of a ratio epsilon₁，b₁And b₂Of (a) is₂The value relationship between the height h of the planar Halbach permanent magnet array and the height h of the planar Halbach permanent magnet array is shown in the following table:

a₁and a₂Respectively showing the length of the first magnet and the length of the second magnet in the longitudinal direction, b₁And b₂The length of the first magnet and the length of the second magnet in the width direction are shown, respectively.

5. A wall-climbing robot using the planar Halbach permanent magnet array according to claim 1, wherein the permanent magnet array component used by the magnetic adsorption component of the wall-climbing robot is the planar Halbach permanent magnet array.

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