Wall-climbing robot and active adhesion control method thereof

A technology of a wall-climbing robot and a control method, applied in the field of robots, can solve the problems of reduced magnetic adhesion force, inability to quickly and accurately adjust the magnetic adhesion force of magnets, surface irregularities, etc.

Active Publication Date: 2019-05-07
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, metal surfaces often have non-modal perturbations such as surface irregularities, rust, welds, etc., that can alter the magnetic adhesion force and thus need to be actively controlled to maintain the force balance required for trajectory tracking
[0005] One way to solve this problem is to discretely control the magnetic adhesion force by varying the distance between the permanent ma

Method used

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  • Wall-climbing robot and active adhesion control method thereof
  • Wall-climbing robot and active adhesion control method thereof
  • Wall-climbing robot and active adhesion control method thereof

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Embodiment

[0059] Embodiment: a kind of wall-climbing robot, as figure 1 As shown, it is characterized in that four wheels are installed on the wall-climbing robot; the four wheels are all magnetic wheels, and each magnetic wheel is composed of an annular rubidium magnet 1, a steel plate 2 and a hub 4, as figure 2 As shown; the ring-shaped rubidium magnet 1 and the steel disc 2 form a nested structure, wherein the ring-shaped rubidium magnet 1 is composed of a ring-shaped rubidium magnet I1-1 and a ring-shaped rubidium magnet II1-2, and the steel disc 2 is Consists of steel disc I2-1 and steel disc II2-2; said steel disc I2-1 and steel disc II2-2 are located between ring-shaped rubidium magnet I1-1 and ring-shaped rubidium magnet II1-2; said wheel hub 4 and ring-shaped The rubidium magnet 1 and the steel plate 2 are connected by a low-permeability screw 3; the hub 4 is outside the ring-shaped rubidium magnet II1-2.

[0060] The ring-shaped neodymium magnet 1, the steel plate 2 and the...

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Abstract

A wall-climbing robot is provided with four magnetic wheels. Each magnetic wheel is composed of an annular rubidium magnet, a steel disc and a hub. Each annular rubidium magnet and the corresponding steel disc form a nested structure, the wall-climbing robot is applied to the active adhesion control field of a flaw detection wall-climbing robot of a large spherical storage tank, a magnetic adhesive force active control strategy is used, a counter-propagation neural network is adopted, and automatic real-time monitoring and magnetic adhesive force control are achieved through an active adhesioncontrol method. The wall-climbing robot is simple in structure, convenient to operate, high in accuracy and high in anti-jamming capability.

Description

(1) Technical field: [0001] The invention relates to the technical field of robots, in particular to a wall-climbing robot and an active adhesion control method thereof. (two) background technology: [0002] The traditional fault detection for the surface of large tanks such as liquefied petroleum gas (LPG—Liquefied Petroleum Gas) spherical storage tanks is still that the inspectors hold the ultrasonic testing equipment in the tank and carry out layer-by-layer detection along the bracket. Labor intensity is high, detection efficiency is low, and safety is poor. In order to reduce the risk of manual detection in the detection process and improve the detection efficiency, the flaw detection wall-climbing robot that can carry detection equipment has been widely used. [0003] Flaw detection wall-climbing robots usually need to be equipped with detection equipment to perform scanning detection on the surface of the spherical tank according to a predetermined path. It needs to h...

Claims

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Application Information

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IPC IPC(8): B62D57/024B60B19/00
Inventor 孙磊王凯刘朝华祁宇明邓三鹏周旺发
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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