Optimization Design and Parameter Analysis of a Wheel with Array Magnets

摘要

At present, a large number of magnetic wall-climbing robots are applied to various magnetically conductive metal facades for detection and anti-corrosion work. Limited by the wall-climbing mechanism and adsorption device, most wall-climbing robots can only climb on smooth walls, and it is difficult to adapt to complex walls. Therefore, by studying the multi-media magnetic circuit conduction mechanism, a permanent magnetic adsorption wheel with a magnet array arrangement was designed in this study and applied to a hinge-type wall-climbing robot. By analyzing the influence of structural parameters on the adsorption performance and optimization design, a magnetic wheel structure with a symmetric structure that can meet a variety of adsorption requirements was obtained. To analyze the mechanical characteristics of the wall-climbing robot under complex facade conditions, we researched the adsorption performance of the designed magnetic wheel in different wall structures. Finally, the adhesion force of the magnetic wheel was verified through experimental measurements, and it was found that the hinged wall-climbing robot could adapt to different structural features and complete wall-transition and obstacle-crossing movements.