Design and Optimization of Permanent Magnetic Adsorption Device for Wall-climbing Robot Based on Halbach Array

The wall-climbing robot for ship's paint removal is adsorbed and walks on steel plate of the ship, which uses ultra high pressure water jet sprayed by nozzles to remove paint and vacuum recovery system recovers sewage and waste residue. This article established the mechanical model of the wall-climbing robot, analyzed sliding and overturning model, and derived adsorption force. To satisfy the requirements on adsorb safety and maneuverability of the wall-climbing robot, a permanent magnetic adsorption device was designed. Finite element simulation was performed on polarization of traditional type and Halbach array. Simulation results showed that the adsorption force provided by Halbach array was much better than that of traditional type. The adsorption force based on Halbach array was measured and compared with the finite element simulation results. The ratio of the adsorption force provided by the permanent magnetic adsorption device to its mass, as the target function, structural parameters of the permanent magnet were optimized, which greatly increased the utilization rate of magnetic energy of the permanent magnet. Walking performance experiment showed that the wall-climbing robot meets the design requirements of reliable adsorption and flexible walking of the robot.