履带式水下清洗机器人设计与永磁吸附优化

Design of Tracked Underwater Cleaning Robot and Optimization of Permanent Magnet Adsorption

为解决内河船体壁面坞内或水下人工清洗附着物费用昂贵且周期长的问题,设计一种履带式水下清洗机器人。通过建立机器人的静力学模型,求解机器人所需静态稳定条件下的最小吸附力,借助Maxwell仿真求解优化限定尺寸下,采用N-S正反充磁和Halbach磁路的成组永磁体最佳性能的尺寸参数。结果表明,优化后Halbach磁路成组的永磁体可以满足油漆层和附着物总厚度不超过10 mm,而N-S正反充磁成组的磁体只能满足总厚度不超过6 mm的安全附壁。制造功能样机实验验证了机器人可以满足10mm以内间距的附壁要求,为下一步机器人的工程性应用奠定基础。

In order to solve the problem of high cost and long cycle for manual cleaning of attachments in dock or underwater on the wall of inland river hull,a tracked underwater cleaning robot was designed.By establishing the static model of the robot,the minimum adsorption force required by the robot under static stable conditions was solved,and the dimensional parameters of the optimal performance of the group of permanent magnets with N-S positive and negative magnetization and Halbach magnetic circuit are solved by Maxwell simulation.The results showed that the optimized Halbach magnetic circuit group of permanent magnets can meet the total thickness of paint layer and attachment not more than 10 mm,while the N-S positive and negative magnetization group of magnets can only meet the total thickness of safety attachment not more than 6 mm.The experiment of manufacturing functional prototype verifies that the robot can meet the wall attachment requirements with a spacing of less than 10 mm,which lays the foundation for the next engineering application of the robot.