高压直流巡检机器人磁力悬浮方法

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.%A method of magnetic suspension that the robot is suspended by the amperage force of the energizing coil in the high voltage direct current (HVDC) magnetic field was proposed to solve the problem of slippage and wear of the traveling wheel of the arm-type inspection robot.The magnetic model of magnetic suspension was established and the relationship between magnetic suspension force and physical model parameters was analyzed theoretically.The model of magnetic suspension is simulated by COMSOL software.The results showed that the model can produce the suspension force in accordance with the theoretical calculation under different system parameters.Further,the influence of anti-vibration hammer on magnetic suspension force was also simulated and the results show that the effect of the anti-vibration hammer on the magnetic suspension force was very small.Finally,according to the proposed magnetic suspension model,the minimum magnetic system is designed and experimented.The experimental results showed that the magnetic suspension method proposed is feasible.