【摘要】 大型运输管道在长期使用时需要定期检测和维护，针对目前常用的人工检修存在劳动强度大和效率低的问题，提出并设计了一种升降轮式永磁吸附管外攀爬机器人。该机器人采用了整体对称设计的一体式升降轮系统和基于Halbach阵列的非接触式磁吸附结构，安装检测装置后能够代替人工进行安全高效的检测。首先，建立了机器人在管道上的力学分析模型，得到机器人在管道上静止和越障时的磁吸附力条件；然后，设计了多行磁柱排布方法，并通过Maxwell仿真分析确定了一种较好的磁路排布方法；最后，使用Adams进行运动仿真并制作了实物样机，验证了机器人在壁面的吸附能力、越障可行性和稳定性。研究提供了一种新的管外攀爬机器人的设计方案，并具有良好的越障能力、管道适应能力和稳定性。更多还原

【Abstract】 Large transportation pipelines need to be regularly inspected and maintained when they are used for a long period of time. In view of the labor-intensive and low-efficiency problems of the commonly used manual inspection, a permanent magnetic adsorption lifting-wheel pipeline climbing robot is proposed and designed. The robot adopts an integrated lifting wheel system with overall symmetrical design and a non-contact magnetic adsorption structure based on Halbach array, and it can replace manual inspection with high safety and efficiency after installing the inspection device. First, the mechanical analysis model of the robot on the pipeline was established to obtain the magnetic adsorption force conditions when the robot is stationary on the pipeline and when it crosses the obstacles. Then, a multi-row magnetic column arrangement method was designed, and a better magnetic circuit arrangement method was determined by Maxwell simulation analysis. Finally, motion simulation using Adams and a physical prototype were fabricated to verify the robot′s adsorption ability on the wall, barrier-crossing feasibility and stability. The study provides a new design scheme for an pipeline climbing robot with good obstacle-crossing ability, pipeline adaptation ability and stability.更多还原