为满足爬壁机器人在狭窄的发电机定子气隙中能可靠地运行,设计了一种基于Halbach阵列的永磁吸附单元。使用Ansoft Maxwell 软件建立二维磁场模型,采用有限元分析法对新型吸附单元的磁场进行分析,得到了其磁力线与磁感应强度的分布；通过与传统永磁吸附单元磁场的比较,得出新型吸附单元具有永磁磁能利用率高、单边磁场的特点,验证了新型吸附单元在发电机定子气隙中吸附的可靠性；并分析了结构参数的变化对吸附性能的影响,为吸附单元结构设计提供了参考数据。

In order to meet the flexible and reliable operation of the wall climbing robot in the narrow dual magnetic wall, a permanent magnetic adhesion element based on Halbach array was designed. A twodimensional physical model be founded by Ansoft Maxwell software, analyzed by the way of finite element analysis, obtained the distribution of magnetic field and magnetic induction intensity, and analyze the effect of structure par ameters on adsorption properties. By comparing with the traditional permanent magnetic adhesion element of magnetic field, the new permanent magnetic adhesion element with the highly permanent magnet utilization rate and unilateral magnetic field, it could be flexible and reliable walking in generator stator gap. The influence of structural parameters on the adsorption performance was analyzed by using the method of parameter variation. It provided reference data for the design of permanent magnetic adhesion element.

TP 24

上海市自然科学基金项目(15ZR1417300,14ZR1417200)；上海市教委创新基金项目(14YZ157,15ZZ106)