Optimization design of magnetic unit for underwater welding robot

As to the wall-climbing robots,the design of magnetic circuit is one of key technologies.In order to solve the problems on adsorption and tension of the flexible track for a new type of underwater mobile welding robot,a new type of magnetic unit with double magnetic circuits is proposed,which can not only increase the load capacity of the robot,but obtain better non-contact tension performance of the robot's track.A numerical computation model of the magnetic unit is developed by using finite element analysis method.The influence of permanent magnet,yoking iron and aluminium blocks on the magnetic absorbability of the magnetic unit has been discussed.The magnetic field distribution around the magnetic unit is analysed.The critical structural parameters of the magnetic unit are analysed to optimize the design,which makes the magnetic unit can provide the robot with strong adsorption force and appropriate tension force.Experimental results show that the simulation calculation result is basically same as that obtained by actual measuring.