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Wall-climbing robot and working method thereof

A wall-climbing robot and robot technology, applied in the field of robotics, can solve problems such as unstable work, robot falling, and robot falling off, and achieve the effect of preventing wall-climbing robots from falling and preventing energy waste

Inactive Publication Date: 2019-07-30
NANJING ROBOTICS RES INST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the fixed magnetic field of the existing magnetic adsorption wall-climbing robot, when the robot is loaded with working tools or other items, if the items are heavy, it may cause the robot to fall off during the climbing process, causing serious consequences. In the no-load state, due to the strong adsorption force on the surface of the magnet and the magnetizer, the robot needs to overcome the resistance of the adsorption when moving, resulting in energy waste and affecting the working time of the robot
[0003] At the same time, since the surface of the climbing magnet is not always smooth, when the climbing surface is smooth, it is enough to maintain a constant current to make the robot adsorb on the magnet to realize the wall-climbing action. When the climbing surface is uneven, The robot may fall and work unstable due to insufficient adsorption force

Method used

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  • Wall-climbing robot and working method thereof

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Experimental program
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Effect test

Embodiment 1

[0036] Such as figure 1 and figure 2 As shown, the present embodiment provides a wall-climbing robot, including:

[0037] The main body 1, the electromagnet 2 arranged at the bottom of the main body, the roller 3 used to drive the main body to move, and the controller 6; the controller is suitable for controlling the electromagnet 2 to be adsorbed on the surface of the magnetic conductor, and controls the rotation of the roller through the roller driving module , so that the wall-climbing robot realizes the wall-climbing action.

[0038] Wherein the controller can adopt a single-chip microcomputer, and the controller is suitable for controlling a current regulating module to change the operating current of the electromagnet. For example, the current regulating module can use a switching tube, and the single-chip microcomputer outputs a PWM signal to control the switching off of the switching tube. The cycle further realizes the adjustment of the working current; the body al...

Embodiment 2

[0052] On the basis of Embodiment 1, Embodiment 2 provides a working method of the wall-climbing robot described in Embodiment 1.

[0053] The working principle and process of each part of the magnetic suction welding robot in this embodiment are discussed in detail in Embodiment 1.

[0054] The invention provides a working method of a wall-climbing robot, comprising the following steps:

[0055] Step S01, when the robot is ready to work, first set the robot on the flat ground, detect the data of the pressure sensor and transmit it to the controller, and the controller calculates the total gravity of the robot after loading the objects based on the data of the pressure sensor and stores it in the memory;

[0056] Wherein, the first database in which the total load matches the electromagnet current is pre-stored in the memory, and the second database in which the distance between the bottom of the body and the surface of the crawling magnetizer matches the electromagnet current...

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Abstract

The invention relates to a wall-climbing robot and a working method thereof. The wall-climbing robot comprises a body, an electromagnet arranged at the bottom of the body, rolling wheels used for driving the body to move, and a controller suitable for controlling the electromagnet to be attracted to the surface of a magnetizer and controlling the rolling wheels to rotate through a rolling wheel driving module, so that the wall-climbing robot can realize wall climbing action. According to the wall-climbing robot, the total load after loading of objects is calculated firstly, then the working current of the electromagnet is determined according to the total load, then a climbing surface is subjected to roughness detection, a distance sensor is selectively started, and therefore the robot works more stably, and energy waste is avoided.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a working method of a magnetic suction wall-climbing robot. Background technique [0002] A wall-climbing robot is an automated robot that can climb and complete tasks on a vertical wall. The wall-climbing robot is also called the mobile robot on the surface of the magnetic conductor. Because the surface operation of the vertical magnetic conductor exceeds the limit of human beings, it is also called the limit operation robot abroad. Due to the fixed magnetic field of the existing magnetic adsorption wall-climbing robot, when the robot is loaded with working tools or other items, if the items are heavy, it may cause the robot to fall off during the climbing process, causing serious consequences. In the no-load state, due to the strong adsorption force on the surface of the magnet and the magnetizer, the robot needs to overcome the resistance of the adsorption when moving, which c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024B23K37/02B25J11/00
CPCB23K37/0294B25J11/005B62D57/024
Inventor 欧卫婷
Owner NANJING ROBOTICS RES INST CO LTD
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