Adjustable permanent magnet adsorption device based on pipe climbing robot

Abstract

The invention discloses an adjustable permanent magnet adsorption device based on a pipe climbing robot. The adjustable permanent magnet adsorption device comprises a distance fixing assembly, an adsorption assembly and a lead screw assembly. The distance fixing assembly comprises a magnetic vehicle plate and rolling wheels; the adsorption assembly comprises a permanent magnet module and a magnetfixing device, and the lead screw assembly comprises a lead screw motor, a lead screw connected with the lead screw motor and a lead screw nut. During working, the lead screw motor can rotate in a certain direction, the lead screw is driven to rotate forwards or reversely; when the lead screw rotates, the rotating motion of the lead screw is converted into the opposite or reverse linear motion ofthe two lead screw nuts, then in combination with the force transmission of the connecting rod and the magnet fixing device, the adsorption force is adjustable by adjusting the distance between the permanent magnet module and the pipe wall, meanwhile, a novel magnetic circuit structure is adopted for the permanent magnet module to reduce magnetic flux leakage, and magnetic force line orientation is achieved. The structure design is ingenious and reasonable, it is guaranteed that the adsorption force and the movement flexibility are large enough, meanwhile, electromagnetic interference of electronic components is reduced, and high practical application and popularization value is achieved.

Description

technical field [0001] The invention relates to the field of structural design of an adsorption device for a pipe climbing robot, in particular to an adjustable permanent magnetic adsorption device based on a pipe climbing robot. Background technique [0002] The magnetic adsorption wall climbing robot (pipe climbing robot) is a kind of special robot, which is designed to perform specific operations on the magnetic wall surface, such as welding, grinding, testing, painting, etc. A kind of automatic mechanical device such as, etc., more and more people pay attention to, the permanent magnetic adsorption is widely used in the pipe climbing robot on the metal facade because of its stable adsorption force and large suction force. [0003] For example, in the field of jacket inspection of offshore platforms, the jacket composed of cylindrical rods is currently the most widely used steel structure in offshore oil and gas fields. Structural stability is the primary consideration f...

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Problems solved by technology

[0004] At present, most of the adsorption devices used by wall-climbing robots on the market are fixed magnets. The disadvantage is that they cannot be close to the wall, and the adsorption force cannot be adjusted, so that the effective adsorption force is insufficient.

For example, the invention patent with application publication number [CN 104443096 A] discloses a magnetic adsorption type wall-climbing robot, which uses strong magnetic blocks for magnetic adsorption. Although it can realize the adjustable distance between the strong magnetic block group and the magnetic conduction surface, the Its adjustment is manually adjusted and fixed in advance, but in underwater applications, it is difficult to guarantee the flexibility of the robot's movement, and the traditional magnets have serious magnetic flux leakage, which may cause interference to other electronic components

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