基于磁隙式吸附机构的槽车清洗机器人

给出了一种基于磁隙式吸附机构的槽车清洗机器人机构设计方案,采用磁隙式吸附装置平衡清洗作业过程中高压水枪反向冲击力产生的倾覆扭矩，提高系统稳定性裕度。建立数学模型描述清洗作业力学行为，利用有限元仿真优化磁吸附模块设计参数，计算不同气隙高度下单个磁吸附装置产生的吸附力。根据仿真结果，当采用2块40 mm×40 mm×15 mm与2块80 mm×40 mm×15 mm的永磁铁，磁铁间隙为10 mm，轭铁厚度为9 mm，气隙高度为10 mm时，单个磁吸附装置能够产生693 N的吸附力，槽车清洗机器人能够在20 MPa的清洗水压下稳定地工作。

Tank Car Cleaning Robot Based on Magnetic Gap Adsorption Mechanism

A design scheme of a tank car cleaning robot mechanism based on a magnetic gap adsorption mechanism is given.The magnetic gap adsorption device is used to balance the overturning torque generated by the reverse impact force of the high-pressure water gun during the cleaning operation,and improve the stability margin of the system.This paper establishes a mathematical model to describe the mechanical behavior of cleaning operations,uses finite element simulation to optimize the design parameters of the magnetic adsorption module,and calculates the adsorption force generated by a single magnetic adsorption device under different air gap heights.According to the simulation results,when two permanent magnets of 40 mm×40 mm×15 mm and two permanent magnets of 80 mm×40 mm×15 mm are used,the magnet gap is 10 mm,the yoke thickness is 9 mm,and the air gap height is 10 mm,a single magnetic adsorption device can generate 693 N adsorption force,the tank car cleaning robot can work stably under 20 MPa cleaning water pressure.