Investigation of the conditions of movement of magnetic transport devices on ferromagnetic surfaces of various orientations

Abstract

Every year, more and more enterprises are automated, robotic facilities are produced in tens of thousands. A special niche is occupied by transport devices moving along curved surfaces. Sheathing of ships’ hulls, tanks, towers, gas storage facilities, and similar metal structures is convenient to maintain during operation and repair with magnetic transport devices. The computational schemes and mathematical models of transport devices of magnetic type with wheel propulsors on ferromagnetic surfaces are presented in this paper. Geometric and force parameters affecting movements on horizontal, inclined, and vertical surfaces were investigated. The gravity of the transport device, the reaction of the processing equipment, the traction between the drive wheels of the bogie and the ferromagnetic surface, the normal reaction of the ferromagnetic surface to the drive wheels, the attraction developed by the electromagnet were taken into account. The results obtained will contribute to the introduction of mathematical modeling methods into the practice of designing magnetic transport devices moving on ferromagnetic surfaces.