Magnetic adsorption force self-adaption adjusting device and method based on spring deformation

Abstract

The invention relates to a magnetic adsorption force self-adaption adjusting device and method based on spring deformation. The magnetic adsorption force self-adaption adjusting device and method based on spring deformation are used for non-contacting type permanently-magnetic wall-climbing bogies. The defect that an existing adsorption force adjusting device cannot achieve self-adaption real-time adjustment is overcome, and direct testing and controlling and adjusting of magnetic adsorption force are achieved. According to the technical scheme, an adsorption mechanism and a lifting mechanism of the self-adaption adjusting device are installed on the lower portion of a chassis of a bogie, the adsorption mechanism is connected through springs, motion paths are stipulated in the interiors of the springs through sliding guiding rods, a lead screw of the lifting mechanism is connected with a nut fixed to a corresponding brass plate, and a displacement sensor is connected to each plate; a moving mechanism is installed on the positions on the two sides and at the bottom of the bogie; and a control feedback system is installed on the upper portion of the chassis of the bogie, detected information is processed by the system and then transmitted to a controller, and obtained signal data are compared. By changing the deformation quantity of the springs, magnetic adsorption force self-adaption adjusting is achieved. The magnetic adsorption force self-adaption adjusting device has the advantage of being flexible in motion and large in loading, and the magnetic adsorption force self-adaption adjusting device can be applied under complex working conditions owing to the fact that magnetic adsorption force is directly adjusted to control adsorption force.

Description

Technical field [0001] The invention relates to an adaptive adjusting device and a method for adjusting the magnetic attraction force based on a spring shape variable, which is widely used in a non-contact permanent magnetic wall climbing trolley. Background technique [0002] The wall-climbing robot is an automated equipment that can perform operations on a vertical wall and has the functions of movement and adsorption. It has good applicability when applied to the defect detection of storage tanks. However, for large storage tanks, the thickness of the tank wall will gradually decrease from the bottom ring to the top ring. At the same time, the tank wall may have uneven wall surface such as pits or bumps. This requires the wall-climbing robot to have (1) The ability to adapt to wall thickness changes autonomously; (2) Absorption matching with movement; (3) Obstacle crossing ability. For wall surfaces of ferromagnetic materials, permanent magnets are usually used as adsorption ...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is: in order to overcome the real-time adjustment that cannot be self-adapted by the existing adsorption force adjustment device, aiming at the requirement of accurate adjustment of the magnetic adsorption force of the wall climbing trolley in the state of variable wall thickness, to directly test and control the adjustment of the magnetic adsorption Based on the principle of spring deformation caused by force, an adaptive adjustment device and method for adjusting magnetic adsorption force based on spring deformation has been developed, which is widely used in complex working conditions

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