Freely turning curved surface adaptive magnetic wall-climbing robot and control method

Abstract

The application discloses a free-turning curved-surface adaptive magnetic adsorption wall-climbing robot and a control method, relates to the field of wall-climbing robots, and comprises a frame unit, a front driving mechanism and a rear driving mechanism. The front driving mechanism is used for driving the robot to move in a first direction. The rear driving mechanism is used for driving the robot to move in a second direction. The first direction and the second direction are perpendicular to each other in a horizontal plane. The rear driving mechanism comprises a rear driving motor, an omnidirectional wheel assembly, a central shaft and a suspension-type permanent magnet unit. The suspension-type permanent magnet unit is passively rotatably sleeved on the central shaft through a bearing and can rotate around the central shaft with the change of the curvature of a magnetic guide surface, so that the magnetic force direction always points to the normal direction of a wall surface. The omnidirectional wheel assembly is fixedly connected with the central shaft in a concentric mode. The application can realize in-situ turning without setting an independent turning motor. The rear driving mechanism integrates the functions of turning driving and curved-surface self-adaptive adsorption. The application has a compact structure, can adapt to complex wall surfaces such as curved surfaces, and has stable adsorption and strong passability.

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