Wall-climbing robot and active adhesion control method thereof

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...

AI Technical Summary

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 magnet and the surface. The adhesion force is greatly reduced, so it is impossible to quickly and accurately adjust the magnetic adhesion force of the magnet. In addition, the gap between the wheel and the surface is not the only way to reduce the magnetic adhesion force. Factors such as the magnetic characteristics and surface thickness of the surface material will also decrease. magnetic adhesion

Images