Magnetic block design method and magnetic block for a magnetic adsorption wall climbing robot

Abstract

The invention discloses a magnetic block design method for a crawler type magnetic wall-climbing robot. Under the condition that the robot does not slide on the wall surface and overturn, and according to the relation between the equilibrium of forces and the equilibrium of moments, the method infers the minimum attraction Fi1 which needs to be provided by a magnetic block when the robot climbs up and down on the sloped wall surface, and the minimum attraction Fi2 which needs to be provided by the magnetic block when the robot climbs horizontally on the sloped wall surface; by means of the theoretical calculation and analysis of electromagnetism, and in combination with a magnetism recovery curve, the method works out that the attraction of each magnetic attraction unit in each magnetic block on caterpillar bands of the robot is Fa; and when the magnetic block is designed, the magnetic block structure is so adjusted that Fa is larger than or equal to Fi1 and Fi2. The magnetic block designed by the invention can provide enough attraction, so that the robot cannot fall off the sloped wall surface. Moreover, the magnetic block is of a multi-magnetic path structure, so the attracting adaptability of a single magnetic block to non-planar wall surfaces can be enhanced.

Description

technical field [0001] The invention relates to the technical field of design of a magnetic adsorption wall-climbing robot, in particular to a high-efficiency, multi-magnetic-circuit magnetic block for a magnetic adsorption unit of a wall-climbing robot that moves in any direction on the surface of a tall conical steel tower in the field A design method and a magnetic block designed using the method. Background technique [0002] Tall and large tanks are often used in the industrial field, such as oil storage and gas storage tanks in petrochemical or natural gas companies, boilers in power plants and other companies, and fan towers in wind power generation equipment. The geometric shapes of these tanks are characterized by cylindrical, spherical and conical shapes. The tank body often needs maintenance and wall thickness inspection. At present, the traditional manual method is still used. The equipment is generally a ladder, rope or scaffolding, which brings labor intensity...

AI Technical Summary

Problems solved by technology

The tank body often needs maintenance and wall thickness inspection. At present, the traditional manual method is still used. The equipment is generally a ladder, rope or scaffolding, which brings labor intensity, long cycle, low efficiency and poor safety. and other problems, so there is an urgent need for an automated detection or other operations equipment, this equipment should have the characteristics of sticking on the surface of these tanks and moving flexibly

For the general magnetic adsorption wall-climbing robot, since it has to work on such a wall with variable cross-section, and the welding place on the wall is relatively high, it will be difficult to achieve a firm position all the time if it wants to move in any direction. The purpose of firm adsorption

[0003] The wall-climbing robots applied to these tanks generally use magnetic blocks to provide magnetic attraction. Generally speaking, the most direct method for magnetic adsorption wall-climbing robots to absorb magnetic walls is to use permanent magnet adsorption and electromagnetic adsorption. The adsorption method has many mechanisms, complex control, and high energy consumption, but it can realize active control of the magnetic force; the permanent magnet adsorption method has a simple structure and does not require energy consumption, but it cannot control the magnetic force

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