Wall-climbing robot permanent magnetism adsorption force adaptive control device and method thereof

Abstract

A wall-climbing robot permanent magnetism adsorption force adaptive control device and a method thereof belong to the petrochemical industry non-destructive testing application field. The adaptive control device comprises a wall-climbing robot and an absorption device, and the absorption device is arranged on the side surface of the wall-climbing robot contacted with a magnetic climbing wall surface. The adaptive control device is characterized by also comprising a permanent magnetism driving device, a permanent magnetism adsorption force detection device, a wall-climbing robot pose monitoring device and a permanent magnetism adsorption force control system, wherein the permanent magnetism adsorption force detection device and the permanent magnetism driving device are connected with the absorption device separately, and the wall-climbing robot pose monitoring device is arranged on the side surface of the wall-climbing robot and is controlled by the permanent magnetism adsorption force control system. The wall-climbing robot permanent magnetism adsorption force adaptive control device and the method thereof can achieve the purposes of being higher in magnetic energy utilization rate, and being able to monitor real-timely and control the permanent magnetism adsorption force accurately.

Description

technical field [0001] The invention discloses a permanent magnet adsorption force self-adaptive control device and a method thereof of a wall-climbing robot, which belong to the application field of petrochemical non-destructive testing. Background technique [0002] In order to realize the non-destructive testing of the surface of large tanks such as oil and gas storage tanks, reduce the risk and cost of manual safety in the testing process, and improve the testing efficiency, non-destructive testing wall-climbing robots have been widely used. Non-destructive testing wall-climbing robots usually carry non-destructive testing equipment to perform scanning or point detection on the surface of the tank according to the detection path. It needs to have fast moving efficiency and reliable adsorption, and can quickly scan the detected area or quickly reach the position to be inspected. . For different detection applications, different tank shapes, and different positions of the...

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Problems solved by technology

[0004] The adsorption force of the permanent magnetic adsorption cannot be adjusted, so the wall-climbing robot must bear the permanent magnetic adsorption force that meets its maximum load state at all times, and cannot be changed in real time according to the state of the wall-climbing robot

Using the Halbach permanent magnet array, if the permanent magnet adsorption force is too large, it will affect the mobile flexibility of the wall-climbing robot; if it is too small, it will cause accidents such as the fall of the wall-climbing robot, resulting in the loss of the wall-climbing robot itself and its affiliated personnel and equipment.

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