Design and Experimental Study of Air Cooler Magnetic Adsorption Intelligent Cleaning Robot

The air-cooled unit works in a low humidity environment and the air contains a lot of dust, which is easily adsorbed on the surface of the fins, leading to a reduction in the heat transfer performance of the finned tubes and affecting the efficiency of the unit, so it needs to be cleaned regularly. In this paper, we developed a magnetic adsorption intelligent cleaning robot for the air cooler wall surface. Firstly, the design of each module of the robot is completed according to the environment of the air cooler wall; secondly, COMSOL software is used to simulate the permanent magnets of different sizes and magnetic circuits to complete the magnetic circuit design of the adsorption mechanism and the adjustment of each parameter, and through the simulation and comparison analysis of the four basic magnetic circuits, it is concluded that the maximum permanent magnet utilization rate of type B magnetic circuit is 57.265%, and when the size parameter of the permanent magnet is When the size of permanent magnet is
$\mathbf{150}\mathbf{mm}\times \mathbf{50}\mathbf{mm}\times \mathbf{10}\mathbf{mm}$
and the size of iron yoke is
$\mathbf{430}\mathbf{mm}\times \mathbf{200}\mathbf{mm}\times \mathbf{2}\mathbf{mm}$
, the volume ratio of adsorption force is the largest; finally, the robot's overrunning performance, loading capacity and running speed are tested. The robot can cross a cylindrical obstacle with a diameter of 10mm when going down and a cylindrical obstacle with a diameter of 6mm when going up; the maximum load can reach 16Kg; the maximum moving speed reaches 5.67m/min. The robot can complete the test well and meet the corresponding The robot can complete the test well and meet the corresponding performance requirements, and the experiment verifies the reasonableness of the robot structure design.