高压直流巡检机器人磁力悬浮方法

发布时间：2018-06-14 15:37

本文选题：高压直流 + 巡检机器人　；参考：《工程科学与技术》2017年06期

【摘要】：针对架空高压直流输电线路轮臂式巡检机器人行走轮打滑及磨损问题,提出了一种基于高压直流磁场的磁力悬浮方法,利用通电线圈在高压直流磁场中所受的安培力使机器人悬浮。通过建立磁悬浮装置物理模型,分析了磁悬浮力与物理模型参数之间的关系;利用COMSOL软件对磁悬浮装置模型进行仿真,将磁悬浮力的仿真结果与理论模型计算值进行比较分析,结果表明模型在不同的系统参数下均能产生符合理论计算的悬浮力;进一步仿真分析防振锤对磁悬浮力的影响,结果表明,防震锤对磁悬浮力影响非常小。最后,根据提出的磁力悬浮模型搭建磁力悬浮最小系统并进行实验,实验结果表明,本文提出的磁力悬浮方法是可行的。
[Abstract]:A magnetic levitation method based on high voltage DC magnetic field is proposed to solve the problem of sliding and wear of walking wheel of wheel-arm inspection robot on overhead HVDC transmission line. The robot is suspended by the ampere force of the current coil in the high voltage DC magnetic field. The relationship between the magnetic suspension force and the parameters of the physical model is analyzed by establishing the physical model of the magnetic suspension device, and the simulation results of the magnetic suspension device model are compared with the calculated values of the theoretical model by using COMSOL software. The results show that the suspension force can be generated in accordance with the theoretical calculation under different system parameters, and the effect of the anti-vibration hammer on the magnetic suspension force is further simulated. The results show that the anti-shock hammer has very little effect on the magnetic suspended buoyancy. Finally, based on the proposed magnetic levitation model, a magnetic levitation minimum system is built and the experimental results show that the proposed magnetic levitation method is feasible.
【作者单位】：湖北工业大学机械工程学院;武汉和越装备技术有限公司;
【基金】：国家自然科学基金面上项目资助(61375092) 2015湖北省科技支撑计划项目资助(2015BAA011)
【分类号】：TP242

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