Analysis of magnetic attraction force characteristics of wall⁃climbing robot magnetic wheels based on Maxwell

ZHANG Wenqiang; BIN Guangfu; XU Guangping; YANG Wenming

doi:10.16578/j.issn.1004.2539.2026.01.007

您当前的位置：

首页 >

文章列表页 >

Analysis of magnetic attraction force characteristics of wall⁃climbing robot magnetic wheels based on Maxwell

Special Topic of Magnetic Transmission | 更新时间：2026-01-23

- Analysis of magnetic attraction force characteristics of wall⁃climbing robot magnetic wheels based on Maxwell
- Journal of Mechanical Transmission Vol. 50, Issue 1, Pages: 50-55(2026)
- 作者机构：
  
  1.北京中安吉泰科技有限公司，北京 100085
  2.湖南科技大学机械设备健康维护湖南省重点实验室，湘潭 411201
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2026.01.007
  CLC： TH122
- Received：24 May 2025，
  
  Published：15 January 2026
- 稿件说明：
移动端阅览
张文强，宾光富，徐光平，等. 基于Maxwell的爬壁机器人磁轮磁吸力特性分析［J］. 机械传动，2026，50（1）：50-55.

ZHANG Wenqiang，BIN Guangfu，XU Guangping，et al. Analysis of magnetic attraction force characteristics of wall-climbing robot magnetic wheels based on Maxwell［J］. Journal of Mechanical Transmission，2026，50（1）：50-55.
张文强，宾光富，徐光平，等. 基于Maxwell的爬壁机器人磁轮磁吸力特性分析［J］. 机械传动，2026，50（1）：50-55. DOI： 10.16578/j.issn.1004.2539.2026.01.007.

ZHANG Wenqiang，BIN Guangfu，XU Guangping，et al. Analysis of magnetic attraction force characteristics of wall-climbing robot magnetic wheels based on Maxwell［J］. Journal of Mechanical Transmission，2026，50（1）：50-55. DOI： 10.16578/j.issn.1004.2539.2026.01.007.

摘要

目的

针对传统磁瓦式磁轮在锅炉爬壁机器人应用中存在的磁场分布不明确、经验公式安全系数冗余、磁铁利用率低及磁轮过重等核心问题，旨在找出磁轮相同体积与质量约束下，N-S交替排布中磁吸力更优的磁瓦排布方案，并明确磁轮压3根与压2根锅炉水冷壁管时的磁场分布差异及磁吸力大小。

方法

以火电锅炉水冷壁检测机器人为例，建立了4种外形尺寸相同但磁铁排布方式不同的磁轮模型；运用Maxwell软件，对4种不同结构形式磁轮在距离火电厂锅炉水冷壁2 mm时的磁吸力进行了仿真分析。

结果

结果表明，磁轮磁瓦拼接处吸附比磁瓦中间处吸附时的磁吸力大5%~20%；在磁瓦中间处吸附时，无论磁轮压3根壁管还是压2根壁管，4块磁瓦排布方式的磁轮磁吸力均最大；磁轮压3根水冷壁管比压2根水冷壁管的磁吸力大10%~20%。

Abstract

Objective

To address the core problems of traditional magnetic tile-type magnetic wheels in the application of boiler wall-climbing robots

such as unclear magnetic field distribution

redundant safety factors of empirical formulas

low magnet utilization rate

and excessive weight

a magnetic tile arrangement scheme was identified with better magnetic attraction in the N-S alternating arrangement under the same volume and mass constraints. The differences in magnetic field distribution and magnetic attraction force magnitude when the magnetic wheel pressed against three versus two boiler water-cooled wall tubes were also clarified.

Methods

Taking a water-cooled wall inspection robot for thermal power plant boilers as an example

four magnetic wheel models with the same external dimensions but different magnet arrangement modes were established. Using Maxwell software

simulation analysis of the magnetic attraction force of these four magnetic wheels with different structures was conducted at a distance of 2 mm from the water-cooled wall tubes.

Results

The results show that the adsorption force of the magnetic wheel on the water-cooled wall tube is 5%-20% greater when adsorbed at the joint of the magnetic tiles than at the middle of the magnetic tiles. When adsorbed at the middle of the magnetic tiles

regardless of whether the magnetic wheel presses against three or two wall tubes

the magnetic wheel with the 4-magnetic-tile arrangement exhibits the maximum attraction. Additionally

the adsorption force when pressing against three water-cooled wall tubes is approximately 10%-20% greater than that when pressing against two tubes.

关键词

Keywords

references

付宜利，李志海 . 爬壁机器人的研究进展［J］. 机械设计， 2008 ， 25 （ 4 ）： 1 - 5 .

FU Yili ， LI Zhihai . Researching headway of wall-climbing robots ［J］. Journal of Machine Design ， 2008 ， 25 （ 4 ）： 1 - 5 .

马涛，李虎，尚飞，等 . 爬壁机器人吸附方式机理及其应用［J］. 机械传动， 2025 ， 49 （ 3 ）： 162 - 176 .

MA Tao ， LI Hu ， SHANG Fei ， et al . Mechanism and application of the adsorption mode for wall-climbing robots ［J］. Journal of Mechanical Transmission ， 2025 ， 49 （ 3 ）： 162 - 176 .

袁夫彩，陆念力，曲秀全 . 水下船体清刷机器人磁吸附机构的设计与研究［J］. 中国机械工程， 2008 ， 19 （ 4 ）： 388 - 391 .

YUAN Fucai ， LU Nianli ， QU Xiuquan . Design and study on magnetic absorbing machine of underwater robot for cleaning hull ［J］. China Mechanical Engineering ， 2008 ， 19 （ 4 ）： 388 - 391 .

赵智浩，陶友瑞，裴佳星，等 . 履带式爬壁机器人磁吸附单元的参数分析与优化［J］. 机械强度， 2023 ， 45 （ 3 ）： 626 - 632 .

ZHAO Zhihao ， TAO Yourui ， PEI Jiaxing ， et al . Parameter analysis and optimization of magnetic adsorption unit for crawler wall-climbing robot ［J］. Journal of Mechanical Strength ， 2023 ， 45 （ 3 ）： 626 - 632 .

塔月月 . 轮式爬壁机器人磁吸附性能及磁力控制研究［D］. 大庆：东北石油大学， 2012 ： 29 - 50 .

TA Yueyue . Magnetic adsorption capability and adsorptive force research of wheeled wall climbing robot ［D］. Daqing ： Northeast Petroleum University ， 2012 ： 29 - 50 .

陈勇，王昌明，包建东 . 新型爬壁机器人磁吸附单元优化设计［J］. 兵工学报， 2012 ， 33 （ 12 ）： 1539 - 1544 .

CHEN Yong ， WANG Changming ， BAO Jiandong . Optimization of a novel magnetic adsorption unit for wall-climbing robot ［J］. Acta Armamentarii ， 2012 ， 33 （ 12 ）： 1539 - 1544 .

孙天圣，刘芳华，江来，等 . 基于Halbach阵列的爬壁机器人永磁吸附模块优化设计［J］. 机械与电子， 2023 ， 41 （ 10 ）： 54 - 59 .

SUN Tiansheng ， LIU Fanghua ， JIANG Lai ， et al . Optimal design of permanent magnet adsorption module based on Halbach array for wall-climbing robot ［J］. Machinery & Electronics ， 2023 ， 41 （ 10 ）： 54 - 59 .

冯玉勇，管殿柱，宋新城，等 . 一种中小型船舶检测爬壁机器人吸附能力研究［J］. 青岛大学学报（工程技术版）， 2023 ， 38 （ 4 ）： 71 - 75 .

FENG Yuyong ， GUAN Dianzhu ， SONG Xincheng ， et al . Research on the adsorption capacity of a wall-climbing robot for detecting small and medium-sized ships ［J］. Journal of Qingdao University （Engineering & Technology Edition）， 2023 ， 38 （ 4 ）： 71 - 75 .

杨怀林，刘春华，陈晓辉，等 . 大型球罐壁面除漆机器人设计与实验研究［J］. 机械传动， 2024 ， 48 （ 1 ）： 151 - 158 .

YANG Huailin ， LIU Chunhua ， CHEN Xiaohui ， et al . Design and experimental study of a large spherical tank wall paint removal robot ［J］. Journal of Mechanical Transmission ， 2024 ， 48 （ 1 ）： 151 - 158 .

张栋，杨培，黄哲轩，等 . 爬壁机器人悬摆式磁吸附机构的设计与优化［J］. 工程设计学报， 2023 ， 30 （ 3 ）： 334 - 341 .

ZHANG Dong ， YANG Pei ， HUANG Zhexuan ， et al . Design and optimization of pendulous magnetic adsorption mechanism for wall-climbing robots ［J］. Chinese Journal of Engineering Design ， 2023 ， 30 （ 3 ）： 334 - 341 .

李浩男，侯宇，蒋怡蔚，等 . 永磁轮式管外攀爬机器人结构设计与力学分析［J］. 机械传动， 2023 ， 47 （ 10 ）： 48 - 54 .

LI Haonan ， HOU Yu ， JIANG Yiwei ， et al . Structural design and mechanical analysis of permanent magnet wheeled climbing robots on an outer wall of pipelines ［J］. Journal of Mechanical Transmission ， 2023 ， 47 （ 10 ）： 48 - 54 .

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design and motion analysis for a bipedal wall-climbing robot

A review of wall obstacle crossing techniques for wall-climbing robots

Mechanism and application of the adsorption mode for wall-climbing robots

Research on Modular Construction of Dynamic Models for Wall-climbing Robots

Design and Experimental Study of a Large Spherical Tank Wall Paint Removal Robot

Related Author

QIN Hanhao

YE Pan

LIU Chunhua

PENG Shuochen

LI Manhong

GAO Chunyan

WANG Zihan

ZHANG Minglu

Related Institution

Facility Design and Instrumentation Institute, China Aerodynamics Research and Development Center

School of Manufacturing Science and Engineering, Southwest University of Science and Technology

School of Mechanical Engineering, Hebei University of Technology

Inner Mongolia Key Laboratory of Intelligent Diagnosis and Control of Mechatronic Systems

Inner Mongolia First Machinery Group Co., Ltd.

⁰