Electromagnetic adsorption type wall-climbing robot with adjustable magnetic force

Abstract

The magnetic-force-adjustable electromagnetic adsorption type wall-climbing robot comprises a main body connecting plate, a left wheel driving module and a right wheel driving module are symmetrically arranged on the left side and the right side of the front side of the main body connecting plate, a universal driven magnetic wheel is arranged on the rear side of the main body connecting plate, and an electric control module is arranged on the lower side of the main body connecting plate; the left wheel driving module and the right wheel driving module each comprise a driving wheel and an electromagnetic adsorption module, the electromagnetic adsorption modules are connected with the electric control module, the number of the electromagnetic adsorption modules is even, the current directions of the adjacent electromagnetic adsorption modules are opposite to generate opposite magnetic poles, and every two adjacent electromagnetic adsorption modules are transversely or longitudinally combined to form a magnet set. And the electric control module changes the magnitude of current according to the gap signal so as to change the electromagnetic adsorption force of the electromagnetic adsorption module. The electromagnetic adsorption module is adopted, during working, the electric control module flexibly changes the electromagnetic adsorption force of the device by changing the magnitude of current according to real-time distance information collected by the infrared distance meter, the larger the distance is, the larger the electromagnetic adsorption force is, and the safety and flexibility of the wall-climbing robot are both considered.

Description

technical field [0001] The invention mainly relates to the technical field of wall-climbing robots, in particular to an electromagnetic adsorption wall-climbing robot with adjustable magnetic force. Background technique [0002] There are many demands for high-altitude operations in industrial production, such as cleaning, descaling and spraying of large ships, inspection, flaw detection and maintenance of thermal power boilers. Using wall-climbing robots instead of manual labor to perform the above-mentioned high-altitude operations can improve work efficiency and safety. [0003] Existing magnetic adsorption wall-climbing robots are mainly divided into permanent magnet adsorption and electromagnetic adsorption. Among them, the permanent magnet adsorption method has a large adsorption force and a simple structure, but the adsorption force of permanent magnet adsorption is mostly not adjustable, resulting in wall-climbing robots with different curvatures. And the wall surfac...

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Problems solved by technology

[0003] Existing magnetic adsorption wall-climbing robots are mainly divided into permanent magnet adsorption and electromagnetic adsorption. Among them, the permanent magnet adsorption method has a large adsorption force and a simple structure, but the adsorption force of permanent magnet adsorption is mostly not adjustable, resulting in wall-climbing robots with different curvatures. There is an adsorption problem on the wall surface of the magnetic permeability

If the magnetic force is too large, the walking resistance is too large, which reduces the walking flexibility of the robot; if the magnetic force is too small, the load capacity is too small, and there is a risk of wall slipping

The electromagnetic adsorption wall-climbing robot has the ability of flexible and controllable adsorption force, but its anti-load capacity is usually small. In order to obtain a larger load capacity, the mass and volume of the wall-climbing robot must increase sharply.

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