An adsorption force-adjustable permanent magnet gap adsorption device -based on the principle of internal balance

Abstract

An adsorption force-adjustable permanent magnet gap adsorption device -based on the principle of internal balance comprises an adsorption force adjusting mechanism, a permanent magnet clearance adsorption mechanism and an internal balance spring mechanism. A suction force adjust mechanism is fixedly connected with that robot body, a permanent magnet gap suction mechanism is arrange below the robotbody and is connected with the suction force adjusting mechanism, and an internal balance spring mechanism is fixedly arranged below the robot body and is connected with the permanent magnet gap suction mechanism. The invention overcomes the disadvantage that the adsorption force of the existing permanent magnet adsorption device is not adjustable, and realizes the adjustment of the adsorption force of the permanent magnet adsorption device. Adopting the principle of internal balance, the driving torque required for the adjustment of adsorption force is effectively limited without affecting the adsorption performance of the device.

Description

Technical field [0001] The invention belongs to the field of robotics technology. Background technique [0002] The adsorption device is the core component to realize the stable and safe operation of the wall surface of the wall-climbing robot. The adsorption devices commonly used in existing wall-climbing robots can be divided into negative pressure adsorption and magnetic adsorption according to the adsorption principle. Among them, the permanent magnet adsorption device is operated in a ferromagnetic environment due to its small structure, large adsorption force, and no need to provide energy. The wall-climbing robot is widely used. [0003] The existing permanent magnet adsorption devices mainly include permanent magnet gap type, permanent magnet wheel type and permanent magnet crawler type. These permanent magnet adsorption devices usually do not have the function of adjusting the adsorption force. In order to make the robot have sufficient load capacity to carry the working ...

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Problems solved by technology

[0007] Although this patent application realizes the adjustment of the adsorption force of the magnetic adsorption device through the screw mechanism, in the process of adjusting the adsorption force, the adsorption force acts on the nut, which will generate a large friction force between the nut and the screw rod, and As the adsorption force increases, the friction force will also increase, which will require the drive motor to have a sufficiently large drive torque to overcome the friction force to drive the screw mechanism, resulting in a larger weight and volume of the drive motor, which is not conducive to climbing. The light weight and miniaturization of the wall robot will also increase the energy consumption of the robot and reduce the battery life of the robot

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