WO2020063759A1 - 爬壁机器人永磁式履带的磁路结构 - Google Patents
爬壁机器人永磁式履带的磁路结构 Download PDFInfo
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- WO2020063759A1 WO2020063759A1 PCT/CN2019/108177 CN2019108177W WO2020063759A1 WO 2020063759 A1 WO2020063759 A1 WO 2020063759A1 CN 2019108177 W CN2019108177 W CN 2019108177W WO 2020063759 A1 WO2020063759 A1 WO 2020063759A1
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- permanent magnet
- magnetic circuit
- circuit structure
- magnetic
- permanent
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/20—Tracks of articulated type, e.g. chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- the invention relates to the field of robots, in particular to a magnetic circuit structure of a permanent magnet crawler of a wall-climbing robot.
- Ship derusting and cleaning is an important business in the shipbuilding industry. It is an indispensable and important part of shipbuilding and ship repair. It is the first step before painting a ship. In addition, the outer wall of the ship is immersed in seawater for a long time and is subject to seawater erosion. Corrosion will inevitably occur. In order to improve the service life of the ship and increase the safety of use, when the outer wall of the ship is rusted to a certain extent, it must be cleaned.
- the crawler of a wall-climbing robot must consider not only the adsorption capacity, that is, the magnetic force, to determine the load capacity, but also the magnetic force must not be too strong to affect the obstacle crossing performance and driving force.
- the present invention provides a magnetic circuit structure of a permanent-magnet crawler of a wall-climbing robot, which is implemented by the following technical solution.
- the magnetic circuit structure of the permanent-magnet crawler of the wall-climbing robot is composed of a plurality of permanent magnet adsorption units and a double-row roller chain.
- the double-row roller chain includes a plurality of curved plates and mounting holes on the curved plates. The unit is mounted on the curved plate of the chain.
- a single permanent magnet adsorption is composed of two permanent magnets, a yoke and a magnetic isolation plate.
- the yoke is adsorbed on one side of the permanent magnet and has a thickness of 6-14 cm.
- the magnetic isolation plate is a magnetic isolation copper plate having a thickness of 2 to 5 cm and disposed between two permanent magnets.
- the permanent magnet is encapsulated and protected by an aluminum frame and a protective sleeve.
- the aluminum frame is disposed on the periphery of the permanent magnet, and the protective sleeve is a nylon protective sleeve having a thickness of 2 to 3 mm.
- the permanent magnet is a RuFeB permanent magnet.
- the permanent magnet is an isosceles trapezoid with a side angle of 82 ° -86 °.
- the invention has the beneficial effects that it not only satisfies the requirements of loading, but also the obstacles and power requirements. Therefore, the track has a strong adsorption force and can bear the weight of the robot and the weight of the equipment attached to the robot without falling off.
- FIG. 1 is a schematic structural diagram of a permanent magnet track of the present invention.
- FIG. 2 is a schematic cross-sectional structure diagram of the permanent magnet adsorption unit of the present invention.
- FIG. 3 is a schematic diagram of a permanent magnet shape according to a preferred embodiment of the present invention.
- FIG. 4 is a schematic diagram of a type B magnetic circuit of the present invention.
- FIG. 5 is a graph showing the relationship between the length of a single permanent magnet and magnetic attraction force in a specific embodiment.
- FIG. 6 is a graph showing the relationship between the width of a single permanent magnet and the magnetic attraction force in a specific embodiment.
- FIG. 7 is a graph showing the relationship between the height of a single permanent magnet and magnetic attraction force in a specific embodiment.
- FIG. 8 is a graph showing the relationship between the height of the yoke and the magnetic attraction force in the specific embodiment.
- FIG. 9 is a comparison diagram of magnetic experiments and simulation results of the permanent magnet adsorption unit in the embodiment of the present invention.
- the permanent magnet track 10 is composed of several permanent magnet adsorption units 20 and a double-row roller chain 30.
- the double-row roller chain is a double-row chain with curved plates and mounting holes.
- the magnetic adsorption unit is installed on the curved plate of the chain to reduce magnetic leakage and make full use of the magnetic energy of the permanent magnet.
- the permanent magnet adsorption unit 10 uses a B-type magnetic circuit, which is composed of two permanent magnets 21, a yoke 22, and a magnetic isolation plate 23.
- the yoke 12 is fixed in the mounting hole of the curved plate of the double-row roller chain by screws and other parts. The screw fixing method can be selected.
- the permanent magnet 21 is magnetically attracted to the yoke 22, and the double-row roller chain is engaged with the teeth of the driving wheel 40 and the driven wheel of the driving structure.
- the permanent magnet is preferably a neodymium-iron-boron permanent magnet, which is a hard and brittle material and is easily corroded.
- the surface of the permanent magnet is protected by a nickel plating layer.
- the permanent magnet adsorption unit continuously attracts and disengages the wall surface during the walking of the wall-climbing robot, and collides with the wall surface.
- the aluminum frame 24 and the protective sleeve 25 are used to protect the aluminum frame 24.
- the periphery of the magnet surrounds the permanent magnet. Due to the ultra-high temperature of the robot, dry friction will occur between the permanent magnet unit and the wall surface when the robot is turning.
- the protective cover needs to be wear-resistant and high-temperature resistant. It is preferable to use a nylon protective cover with a thickness of 2-3mm to protect the iron-iron-boron permanent magnet.
- a nylon protective cover with a thickness of 2-3mm to protect the iron-iron-boron permanent magnet.
- the permanent magnet mechanism has a large enough suction force to ensure that the robot can work.
- the adsorption force between the permanent magnet adsorption unit and the wall of the ship is affected by the shape and size of the permanent magnet and the gap between the permanent magnet and the wall.
- the permanent magnet adsorption unit uses a B-type magnetic circuit.
- the adsorption force between the permanent magnet and the ship's wall surface is affected by the shape and size of the permanent magnet and the gap between the permanent magnet and the wall surface.
- the magnetic isolation plate in the embodiment of the present invention is made of brass. Although brass has a certain magnetic isolation effect, it cannot completely isolate the magnetic field.
- the permanent magnet adsorption unit does not include a magnetic isolation plate.
- two trapezoidal rutile boron permanent magnets with a length, width, and height of 50 ⁇ 20 ⁇ 15mm are used, and the sides are isosceles trapezoids with a base angle of 82 ° -86 °. It is preferably an isosceles trapezoid with an angle of 85 °.
- a magnetically insulated copper plate with a thickness of 3 mm is used between the permanent magnets. The thickness of the yoke is set to 10 mm. The distance between the permanent magnet and the wall is 2.5 mm. The thickness of the wall is 15 mm.
- the magnetic adsorption force of the permanent magnet adsorption unit when magnetically isolated copper is calculated by simulation is between 488.32N and 495.6N.
- the shape and size of each component in the magnetic circuit and the thickness of the permanent magnet protective sleeve will have a great impact on the magnetic adsorption force. Because there are about one hundred permanent magnet adsorption units on the two crawlers, the number is large and the density of the permanent magnets and the yoke is high, which results in the weight of all the permanent magnet adsorption units in the robot accounting for a large proportion of the weight of the robot body. In order to reduce the overall weight of the robot, it is necessary to select a reasonable size for each component in the permanent magnet adsorption unit when the magnetic circuit and packaging form are determined. Generally, the track needs to carry a weight of 200-300KG. Therefore, the size of the permanent magnet and the thickness of the yoke, as well as the distance of the permanent magnet from the wall surface and the avoided thickness should be analyzed.
- the present invention adopts a controlled variable method to study the influence of the size parameters of the main components in the magnetic circuit on the magnetic adsorption force of the permanent magnet adsorption unit, and calculates the influence of a single variable on the magnetic adsorption force using a software platform.
- a B-type magnetic circuit model as shown in Figure 43 is established in the software.
- the gap between the permanent magnet and the ship's wall surface is S0
- the thickness of the ship's wall surface is set to h
- control a single variable to perform magnetic attraction force simulation which is divided into the following cases.
- the relationship curve between the single variable L1 and the magnetic attraction force is obtained through the simulation of Ansoft Maxwell software.
- the length of the permanent magnet is proportional to the magnetic attraction force. When the length reaches a certain value, the increase is slightly slow. Take the rectangular neodymium iron boron N42H as an example. When it exceeds L1> 40mm, the increase will gradually slow down.
- the influence of the width of the single permanent magnet on the magnetic attraction force of the permanent magnet adsorption unit is controlled to be a single variable.
- L1 50mm
- H1 15mm
- H0 10mm
- S0 2.5mm
- H 15mm
- the relationship curve between the single variable W1 and the magnetic attraction force is shown by the simulation of Ansoft Maxwell software.
- the width of the permanent magnet is proportional to the magnetic attraction force.
- H1 15mm
- the magnetic attraction force F of the adsorption unit is about 275N.
- the relationship curve between the single variable H1 and the magnetic attraction force is simulated by Ansoft Maxwell software. As shown in the figure, it is an increasing curve.
- the magnetic attraction force F of the adsorption unit is about 425N.
- the influence of the height of the yoke on the magnetic adsorption force of the permanent magnet adsorption unit is controlled by a single variable H0 of a single permanent magnet.
- L1 50mm
- W1 20mm
- H1 15mm
- S0 2.5mm
- h 15mm.
- the relationship between the single variable H0 and the magnetic attraction force is simulated by Ansoft Maxwell software.
- the structural parameters of the key components in the robot adsorption mechanism are finally determined.
- a magnetic force experiment is needed.
- the test equipment used in the experiment was an Instron-E 10000 universal material testing machine, and the fixing material was a steel plate of Q235.
- the graph of displacement and magnetic attraction force can be measured, as shown in Figure 9.
- the displacement here is the gap between the permanent magnet adsorption unit and the wall.
- the magnetic force test experimental platform for the permanent magnet adsorption unit is built, and the magnetic adsorption of the permanent magnet adsorption unit is measured. Relationship between force and displacement.
- the experimental process was simulated using a magnetic field transient simulation method.
- the parameters of the software system were set according to the actual experimental parameters.
- the relationship between the magnetic adsorption force and displacement of the permanent magnet adsorption unit was calculated by simulation.
- the simulation results are similar to the experimental results. It can be considered that the results simulated by the Ansoft Maxwell system are credible.
- L1 50mm
- W1 20mm
- H1 15mm
- S0 2.5mm
- h 15mm.
- the actual magnetic adsorption force when the permanent magnet adsorption unit that is experimentally tested is in close contact with the wall is 498N.
- the gap between the permanent magnet adsorption unit and the wall surface exceeds 4mm, the magnetic adsorption force has been attenuated to less than half when it is in close contact.
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Abstract
一种爬壁机器人永磁式履带（10）的磁路结构，由永磁吸附单元（20）和双排滚子链条（30）组成，带有弯板和安装孔的双排链条，将永磁吸附单元（20）安装在链条（30）的弯板上，永磁吸附单元（20）选用乙型磁路。永磁式履带（10）既满足载重需要，也满足越障和动力需要，具有较大的吸附力，能承载机器人的重量以及附着在机器人上的设备的重量而不脱落。
Description
本发明涉及机器人领域，特别是涉及一种爬壁机器人永磁式履带的磁路结构。
船舶除锈清洗是船舶工业中的一项重要业务，是造船和修船不可或缺的重要环节，是船舶涂装前的首要步骤，另外由于船舶外壁长期沉浸在海水中，饱受海水的侵蚀，不可避免的发生锈蚀，为提高船舶的使用寿命和增加使用安全性，当船舶外壁锈蚀到一定程度时，必须进行除锈清洗。
目前已出现多种爬壁机器人，用于吸附并在船舶壁面行走，永磁式履带爬壁机器人的研究中普遍存在一个矛盾，提高机器人负载能力就需要增大永磁履带上永磁吸附单元的吸附力，吸附力增大会导致机器人转向时横向摩擦大，驱动力矩就要大，而驱动力矩增大则导致驱动元件体积和重量增大。
因此，爬壁机器人的履带既要考虑到吸附能力，即磁力，决定着载重能力，也要考虑磁力不能太强而影响越障性能以及驱动力。
发明内容
针对上述问题，本发明提供一种爬壁机器人永磁式履带的磁路结构，是通过如下技术方案实现的。
爬壁机器人永磁式履带的磁路结构，由多个永磁吸附单元和双排滚子链条组成，双排滚子链条包括多个弯板及弯板上的安装孔，所述永磁吸附单元安装在链条的弯板上。
进一步地、单个永磁吸附由两块永磁体、轭铁和隔磁板组成。
进一步地、所述轭铁吸附在永磁体的其中一面，厚度为6-14cm。
进一步地、所述隔磁板是设置在两个永磁体之间的厚度为2～5cm的隔磁铜板。
进一步地、所述永磁体的由铝框与保护套封装保护，铝框设置在永磁体四周边缘，保护套为厚度为2～3mm的尼龙保护套。
进一步地、所述永磁体是汝铁硼永磁铁。
进一步地、所述永磁体是侧面的底角为82°-86°的等腰梯形体。
本发明的有益效果是：既满足载重需要，也满足越障和动力需要，因此，履带具有强大的吸附力，能承载机器人的重量以及附着在机器人上的设备的重量而不脱落。
图1是本发明的永磁式履带结构示意图。
图2是本发明的永磁吸附单元的剖面结构示意图。
图3是本发明的较佳实施例的永磁体形状示意图。
图4是本发明的乙型磁路结构示意图。
图5是具体实施例中单块永磁体长度对磁吸附力的关系的曲线图。
图6是具体实施例中单块永磁体宽度与磁吸附力的关系的曲线图。
图7是具体实施例中单块永磁体高度与磁吸附力的关系的曲线图。
图8是具体实施例中轭铁高度与磁吸附力的关系的曲线图。
图9本发明实施例中永磁吸附单元磁力实验与仿真结果对比图。
下面结合实施例和附图，以本发明的具体实施例进行详细说明。
如图1-2所示，永磁式履带10由若干永磁吸附单元20和双排滚子链条30组成，双排滚子链条是带有弯板和安装孔的双排链条，然后将永磁吸附单元安装在链条的弯板上为减小漏磁并能够充分利用永磁体的磁能。
永磁吸附单元10采用乙型磁路，由两块永磁体21、轭铁22和隔磁板23组成，轭铁12通过螺丝等零件固定在双排滚子链条的弯板的安装孔内，可选用螺丝固定的方式，永磁体21通过磁力吸附在轭铁22上，双排滚子链条与驱动结构的主动轮40和从动轮的轮齿咬合联接。
永磁体优选钕铁硼永磁铁，其属于硬脆材料，且易腐蚀，永磁铁表面镀镍层保护。永磁吸附单元在爬壁机器人行走过程中不断的吸合与脱离壁面，与壁面产生碰撞，为避免永磁铁因碰撞而损坏，采用铝框24与保护套25封装保护，铝框24设置在永磁体四周边缘，框住永磁体。由于机器人工作的超高温，在机器人转向时永磁单元与壁面会产生干摩擦，因此需要保护套需要耐磨和耐高温，优选采用2-3mm的壁厚的尼龙保护套保护汝铁硼永磁铁，在装配时，先将两块永磁体套入在保护套25内，然后再用铝框固定在永磁体的四周边缘，最后与轭铁22吸附贴合。
永磁机构足够大的吸附力保证机器人能够工作。永磁吸附单元与船舶壁面间的吸附力受永磁体形状尺寸、以及永磁体与壁面间的间隙 影响。永磁吸附单元采用乙型磁路，与船舶壁面间的吸附力受永磁体形状尺寸、以及永磁体与壁面间的间隙影响。常见乙型磁路中两块永磁体之间会有隔磁板，本发明实施例中的隔磁板采用黄铜，由于黄铜虽然具有一定的隔磁作用，但是并不能完全隔磁。在本发明的另一方案中，永磁吸附单元不包括隔磁板。
如图3示，在本实用新型的实施例中，采用两块长宽高为50×20×15mm的梯形体汝铁硼永磁体，侧面为底角在82°-86°的等腰梯形，优选是85°的等腰梯形，永磁体间采用厚度为3mm的隔磁铜板，设置轭铁厚度为10mm，永磁体与壁面间距离为2.5mm，壁面厚度为15mm。通过仿真计算得出有隔磁铜时永磁吸附单元的磁吸附力为488.32N到495.6N之间。
除磁路结构对永磁吸附单元与船舶壁面间的吸附力有影响外，磁路中各组成部分的形状尺寸以及永磁体保护套厚度都将对磁吸附力有很大影响。由于两条履带上共有百块左右永磁吸附单元，数量大且永磁体与轭铁的密度都较高，导致机器人中全部永磁吸附单元的重量占机器人本体重量的很大比例。为减轻机器人整体重量，需要在磁路和封装形式确定的情况下为永磁吸附单元中的各构件选择合理的尺寸。一般履带需要承载200-300KG的重量，因此，需要结合永磁体的尺寸和轭铁的厚度，以及永磁体距离壁面的距离和避免厚度来进行分析。
结合图4，本发明采用控制变量的方法研究磁路中主要构件的尺寸参数对永磁吸附单元磁吸附力的影响，并利用软件平台计算得出单一变量对磁吸附力的影响。首先在软件中建立如图43所示的乙型磁路模型，其中永磁体与船舶壁面间的间隙为S0，船舶壁面厚度设置为 h，汝铁硼永磁体设置为矩形其长宽高分别用L1、W1、H1表示，轭铁也为矩形其长宽高分别用L0、W0、H0表示，并始终保持L0＝L1和W0＝W1的关系。然后分别控制单一变量来进行磁吸附力仿真，分为以下几种情况。
如图5所示，单块永磁体长度对永磁吸附单元磁吸附力的影响，控制单块永磁体长度L1为单一变量，令W1＝20mm、H1＝15mm，H0＝10mm,S0＝2.5mm，h＝15mm。通过Ansoft Maxwell软件仿真得出单一变量L1与磁吸附力的关系曲线，永磁体的长度和磁铁吸附力成正比，长度达到一定值时，增幅略缓慢，以矩形钕铁硼N42H为例，在长度超过L1>40mm时，增幅渐缓。
如图6所示，单块永磁体宽度对永磁吸附单元磁吸附力的影响，控制单块永磁体宽度W1为单一变量，令L1＝50mm、H1＝15mm，H0＝10mm,S0＝2.5mm，h＝15mm。通过Ansoft Maxwell软件仿真得出单一变量W1与磁吸附力的关系曲线如图所示，永磁体宽度和磁铁吸附力成正比关系。H1＝15mm时，吸附单元的磁吸附力F约为275N。
如图7所示，单块永磁体高度对永磁吸附单元磁吸附力的影响，控制单块永磁体高度H1为单一变量，令L1＝50mm、W1＝20mm，H0＝10mm,S0＝2.5mm，h＝15mm。通过Ansoft Maxwell软件仿真得出单一变量H1与磁吸附力的关系曲线如图所示，为递增曲线，在高度H0＝10mm时，吸附单元的磁吸附力F约为425N。
如图8所示，轭铁高度对永磁吸附单元磁吸附力的影响，控制单块永磁体高度H0为单一变量，令L1＝50mm、W1＝20mm，H1＝15mm,S0＝2.5mm，h＝15mm。通过Ansoft Maxwell软件仿真得出单一变量H0 与磁吸附力的关系曲线如图，轭铁高度在h＝36.25mm时，磁吸附力F达到峰值645N，而令h＝15mm时,磁吸附力F约为500N。
根据上文中仿真结果，最终确定机器人吸附机构中各关键组成件的结构参数。为证明仿真结果的合理性，同时为确定永磁吸附单元实际磁吸附力，需要进行磁力实验。实验使用的测试设备为Instron-E10000万能材料试验机，固定材料为Q235的钢板。可测出位移与磁吸附力的曲线图，如图9所示，此处的位移即为永磁吸附单元与壁面的间隙搭建永磁吸附单元磁力测试实验平台，测量出永磁吸附单元磁吸附力与位移的关系曲线。在Ansoft Maxwell系统中利用磁场瞬态仿真方法模拟该实验过程，软件系统的各项参数按照实验实际参数设置，仿真计算得到永磁吸附单元磁吸附力与位移的关系曲线。仿真结果与实验结果相近，可认为利用Ansoft Maxwell系统仿真出的结果可信。令L1＝50mm、W1＝20mm，H1＝15mm,S0＝2.5mm，h＝15mm，其中通过实验测试的永磁吸附单元与壁面紧密接触时的实际磁吸附力大小为498N，同时可以看出当永磁吸附单元与壁面之间的间隙超过4mm时磁吸附力已经衰减为紧密贴合时的一半以下。
以上所述实施例仅表达了本发明的部分实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变化和改进，这些都属于本发明的保护范围。
Claims (7)
- 爬壁机器人永磁式履带的磁路结构,其特征在于，由永磁吸附单元和双排滚子链条组成，带有弯板和安装孔的双排链条，然后将永磁吸附单元安装在链条的弯板上。
- 根据权利要求1所述的磁路结构，其特征在于，永磁吸附单元选用乙型磁路，乙型磁路由两块永磁体、轭铁和隔磁板组成。
- 根据权利要求2所述的磁路结构，其特征在于，永磁体由铝框与保护套封装保护。
- 根据权利要求2所述的磁路结构，其特征在于，永磁体是汝铁硼永磁铁。
- 根据权利要求2所述的磁路结构，其特征在于，所述永磁体的由铝框与保护套封装保护，铝框设置在永磁体四周边缘，保护套为厚度为2～3mm且耐磨和耐高温的尼龙保护套。
- 根据权利要求2所述的磁路结构，其特征在于，所述永磁体是侧面的底角为82°-86°的等腰梯形体。
- 根据权利要求2所述的磁路结构，其特征在于，所述的乙型磁路，汝铁硼永磁体设置为矩形时，其长宽与同为矩形的轭铁的长宽相同。
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