Simulation and experimental verification of permanent magnet adsorption unit for wall-climbing robot

摘要

In order to meet the requirements that wall-climbing robot for ship degusting can adsorb on the hull surface and move flexibly, a new track-type permanent magnetic adsorption device is presented. It is made up of a plurality of permanent magnetic adsorption units and chains, using screws to connect. In this paper, the basic structure of the permanent magnetic adsorption unit is designed and the theoretical model of static magnetic field based on finite element analysis is established. Then, based on the finite element method, we analyze the key structural parameters of the permanent magnetic adsorption unit, obtain its distribution of magnetic induction intensity and magnetic adsorption capacity. According to the results of finite element analysis, we conduct an optimized analysis on the key structure parameters of the permanent magnetic adsorption unit. The analysis shows that the width parameter of the permanent magnet has the greatest influence on the adsorption capacity. Accordingly, the structure size of the adsorption unit is determined and the experimental verification is carried out. The experimental results show that the results of finite element analysis are accurate and reliable, the permanent magnetic adsorption unit we designed can provide sufficiently large adsorption capacity.