Lightweight and large-load dynamic magnetic adsorption device for climbing robots and control method thereof

Abstract

The present invention belongs to the field of magnetic adsorption devices. In order to solve the problem of poor stability of electromagnetic adsorption robots, a lightweight and large-load dynamic magnetic adsorption device for climbing robots and a control method thereof are provided. The lightweight and large-load dynamic magnetic adsorption device for climbing robots includes a permanent magnet protection mechanism and a magnetic adsorption wheel; the magnetic adsorption wheel is arranged at the end of the climbing actuator of the climbing robot; the magnetic adsorption wheel includes a flexible wheel surface, and the flexible wheel surface is wrapped with a Halbach array electromagnet; the Halbach array electromagnet is used to generate a magnetic field strength when the coil is energized, so that the magnetic adsorption wheel is adsorbed on the steel structure; a magnetic field strength detection module is also arranged on the magnetic adsorption wheel; the magnetic field strength detection module is connected to the control module; the permanent magnet protection mechanism is connected to the control module. It can meet the energy efficiency requirements under high load conditions while achieving more complex task adaptation and environmental perception capabilities.

Description

Technical Field

[0001] The present invention belongs to the field of magnetic adsorption devices, and in particular relates to a lightweight and large-load dynamic magnetic adsorption device for a climbing robot and a control method thereof. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In the existing electromagnetic adsorption robot technology, there are major deficiencies in lightweight, the efficiency and stability of electromagnetic adsorption are affected by environmental factors, the energy density ratio design of the power management system, and the intelligence level of the control system. These limitations limit the flexibility and operating range of the robot, and it is insufficient to meet the energy efficiency requirements under high load conditions, while making it difficult to achieve more complex task adaptation and environmental perception capabilities. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a lightweight and large-load dynamic magnetic adsorption device of a climbing robot and a control method thereof, which can meet the energy efficiency requirements under high-load conditions while achieving more complex task adaptation and environmental perception capabilities.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A first aspect of the present invention provides a lightweight and large-load dynamic magnetic adsorption device for a climbing robot.

[0007] A lightweight and heavy-load dynamic magnetic adsorption device for a climbing robot, comprising: a permanent magnet protection mechanism and a magnetic adsorption wheel;

[0008] The magnetic adsorption wheel is arranged at the end of the climbing actuator of the climbing robot; the magnetic adsorption wheel comprises a flexible wheel surface, and a Halbach array electromagnet is wrapped in the flexible wheel surface; a coil is wound around the Halbach array electromagnet, and the coil is connected to a power module; the Halbach array electromagnet is used to generate a magnetic field strength when the coil is energized, so that the magnetic adsorption wheel is adsorbed on the steel structure; a magnetic field strength detection module is also arranged on the magnetic adsorption wheel; the magnetic field strength detection module is connected to the control module, and is used to detect the magnetic field strength of the Halbach array electromagnet and transmit it to the control module;

[0009] The permanent magnet protection mechanism is arranged inside the climbing robot and is in a non-working state; the permanent magnet protection mechanism is connected to the control module; the control module is used to compare the magnetic field strength of the Halbach array electromagnet transmitted by the magnetic field strength detection module with the preset magnetic field strength threshold to control the permanent magnet protection mechanism to switch to a working state, so that the climbing robot can be adsorbed on the steel structure.

[0010] As an implementation mode, the permanent magnet protection mechanism includes a connection disk, a permanent magnet and a drive module; the upper end of the connection disk is fixedly connected to the inside of the climbing robot, the lower end of the connection disk is connected to the drive module, the drive module is connected to the permanent magnet and the control module, and the drive module is used to drive the permanent magnet to rotate under the action of the control module;

[0011] When the permanent magnet protection mechanism is in a non-working state, the permanent magnet is located on a side away from the steel structure;

[0012] When the permanent magnet protection mechanism is switched to the working state, the driving module is used to drive the permanent magnet to rotate to the side close to the steel structure so as to be adsorbed on the steel structure.

[0013] As an implementation mode, the driving module includes a first steering gear rotating mechanism and a second steering gear rotating mechanism; the first steering gear rotating mechanism and the second steering gear rotating mechanism are both connected to the control module;

[0014] The first steering gear rotating mechanism is fixedly connected to the connecting plate through a first connecting member; the output shaft of the first steering gear rotating mechanism is connected to the second steering gear rotating mechanism through an L-shaped connecting rod; the output shaft of the second steering gear rotating mechanism is connected to the permanent magnet through a second connecting member; the second connecting member includes a connecting plate and connecting rods fixed on both sides; two opposite sides of the permanent magnet are provided with sliding grooves, and two connecting rods are correspondingly clamped in the sliding grooves of the permanent magnet; the output shaft of the second steering gear rotating mechanism is connected to one side of the connecting plate;

[0015] The second servo rotation mechanism is used to drive the second connecting member to rotate under the control of the control module; the first servo rotation mechanism is used to drive the L-shaped connecting rod to rotate under the control of the control module, thereby driving the second servo rotation mechanism and the second connecting member connected to it to rotate together, so that the permanent magnet moves from the side away from the steel structure to the side close to the steel structure.

[0016] As an implementation method, the coils are arranged with staggered magnetic polarity.

[0017] As an implementation mode, the design parameters of the permanent magnet protection mechanism and the magnetic adsorption wheel determine the performance indicators of the lightweight and large-load dynamic magnetic adsorption device of the climbing robot; wherein, the design parameters include geometric characteristics, material distribution characteristics and mechanical characteristics; and the performance indicators include strength and quality.

[0018] As an implementation mode, the optimal design parameters of the permanent magnet protection mechanism and the magnetic adsorption wheel enable the climbing robot's lightweight, large-load dynamic magnetic adsorption device to have the maximum strength and the minimum mass.

[0019] A second aspect of the present invention provides a control method for a lightweight and large-load dynamic magnetic adsorption device of a climbing robot.

[0020] A control method for a lightweight and heavy-load dynamic magnetic adsorption device of a climbing robot, comprising:

[0021] Get the current magnetic field strength of the Halbach array electromagnet and convert it into the current adsorption force;

[0022] According to the current adsorption force, the set target adsorption force and the external load change, the fuzzy rule algorithm is used to dynamically adjust the PWM signal duty cycle to control the output current of the power module and realize closed-loop control of the magnetic field strength.

[0023] Dynamically adjust the duty cycle of PWM signal using fuzzy rule algorithm The expression is:

[0024] ;

[0025] ;

[0026] ; ;

[0027] in, represents the possible value range of the output variable, Represents the membership function of multi-rule fuzzy reasoning; and are adsorption force and load change, respectively; Indicates that the climbing robot is in Fuzzy reasoning membership function under different postures; Indicates the number of posture types of the climbing robot; and Represent the membership functions of adsorption force and load variation, respectively.

[0028] The membership function expression of adsorption force and load change is:

[0029] ;

[0030] ;

[0031] in, It is the corresponding variable parameter of the climbing robot in different postures.

[0032] The postures of the climbing robot include: normal moving state, obstacle crossing state, set angle component switching state, set obstacle passing state and emergency docking state.

[0033] The beneficial effects of the present invention are:

[0034] (1) In order to solve the problems of large power consumption, insufficient load capacity and limited sensing equipment of electromagnetic adsorption climbing robots, the present invention proposes an electromagnetic-permanent magnet combined magnetic adsorption scheme, adopts a Halbach array electromagnet layout, and utilizes magnetic field coupling to enhance the magnetic field coverage and adsorption force. Moreover, when the magnetic field strength does not reach the preset magnetic field strength threshold, the permanent magnet protection mechanism is switched to the working state, so that the climbing robot is adsorbed on the steel structure, achieving the effect of significantly improving the load capacity in the power-on state and automatically locking to prevent falling in the power-off state.

[0035] (2) The present invention dynamically adjusts the PWM signal duty cycle using a fuzzy rule algorithm according to the current adsorption force, the set target adsorption force and the external load changes to control the output current of the power module, thereby achieving closed-loop control of the magnetic field strength. The current of the electromagnet is precisely adjusted to regulate the magnetic field strength and direction, thereby generating a stable and precise directional adsorption force and effectively reducing battery energy consumption.

[0036] (3) The present invention optimizes the design parameters of the permanent magnet protection mechanism and the magnetic adsorption wheel, so that the lightweight and large-load dynamic magnetic adsorption device of the climbing robot has the maximum strength and the minimum mass. On the premise of meeting the strength and stiffness requirements, the lightweight design of the climbing robot is achieved, and finally the load-to-weight ratio of the climbing robot is achieved to be not less than 50%.

[0037] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0039] Figure 1 is a stereoscopic diagram of the electromagnet main wheel of the Halbach array according to an embodiment of the present invention;

[0040] Figure 2 1 is a front view of the electromagnet main wheel of the Halbach array according to an embodiment of the present invention;

[0041] Figure 3 is a three-dimensional diagram of a permanent magnet protection mechanism in a non-working state according to an embodiment of the present invention;

[0042] Figure 4 is a side view of the permanent magnet protection mechanism of the embodiment of the present invention in a non-working state;

[0043] Figure 5is a three-dimensional diagram of a permanent magnet protection mechanism in a working state according to an embodiment of the present invention;

[0044] Figure 6 is a side view of the permanent magnet protection mechanism of the embodiment of the present invention in a working state;

[0045] Figure 7 It is a diagram showing the effect of optimizing the magnetic field distribution according to an embodiment of the present invention.

[0046] Among them, 1. flexible wheel surface; 2. Halbach array electromagnet; 3. connecting plate; 4. permanent magnet; 5. first servo rotation mechanism; 6. second servo rotation mechanism; 7. first connecting piece; 8. L-shaped connecting rod; 9. second connecting piece; 91. connecting plate; 92. connecting rod; 10. slide groove. DETAILED DESCRIPTION

[0047] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0048] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0049] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0050] In an embodiment of the present invention, a lightweight and large-load dynamic magnetic adsorption device for a climbing robot is provided, comprising: a permanent magnet protection mechanism and a magnetic adsorption wheel;

[0051] The magnetic adsorption wheel is arranged at the end of the climbing actuator of the climbing robot; Figure 1 and Figure 2 As shown, the magnetic adsorption wheel includes a flexible wheel surface 1, and a Halbach array electromagnet 2 is wrapped inside the flexible wheel surface 1; a coil is wound outside the Halbach array electromagnet 2, and the coil is connected to a power module; the Halbach array electromagnet 2 is used to generate a magnetic field strength when the coil is energized, so that the magnetic adsorption wheel is adsorbed on the steel structure; a magnetic field strength detection module is also provided on the magnetic adsorption wheel; the magnetic field strength detection module is connected to the control module, and is used to detect the magnetic field strength of the Halbach array electromagnet and transmit it to the control module;

[0052] The permanent magnet protection mechanism is arranged inside the climbing robot and is in a non-working state; the permanent magnet protection mechanism is connected to the control module; the control module is used to compare the magnetic field strength of the Halbach array electromagnet transmitted by the magnetic field strength detection module with the preset magnetic field strength threshold to control the permanent magnet protection mechanism to switch to a working state, so that the climbing robot can be adsorbed on the steel structure.

[0053] The flexible wheel surface here can be made of materials such as rubber.

[0054] In some embodiments, according to Figure 3-Figure 6 As shown, the permanent magnet protection mechanism includes a connection disk 3, a permanent magnet 4 and a driving module; the upper end of the connection disk 3 is fixedly connected to the inside of the climbing robot, the lower end of the connection disk 3 is connected to the driving module, the driving module is connected to the permanent magnet 4 and the control module, and the driving module is used to drive the permanent magnet 4 to rotate under the action of the control module; when the permanent magnet protection mechanism is in a non-working state, the permanent magnet 4 is on a side away from the steel structure; when the permanent magnet protection mechanism is switched to a working state, the driving module is used to drive the permanent magnet 4 to rotate to a side close to the steel structure so as to be adsorbed on the steel structure;

[0055] The driving module includes a first steering gear rotating mechanism 5 and a second steering gear rotating mechanism 6; the first steering gear rotating mechanism 5 and the second steering gear rotating mechanism 6 are both connected to the control module; the first steering gear rotating mechanism 5 is fixedly connected to the connecting disk 3 through a first connecting member 7; the output shaft of the first steering gear rotating mechanism 5 is connected to the second steering gear rotating mechanism 6 through an L-shaped connecting rod 8; the output shaft of the second steering gear rotating mechanism 6 is connected to the permanent magnet 4 through a second connecting member 9; the second connecting member 9 includes a connecting plate 91 and connecting rods 92 fixed on both sides; two opposite sides of the permanent magnet 4 are provided with slide grooves 10, and two connecting rods 92 are correspondingly clamped in the slide grooves 10 of the permanent magnet 4; the output shaft of the second steering gear rotating mechanism 6 is connected to one side of the connecting plate 91;

[0056] The second steering gear rotating mechanism 6 is used to drive the second connecting member 9 to rotate under the control of the control module, thereby driving the permanent magnet 4 to rotate; the first steering gear rotating mechanism 5 is used to drive the L-shaped connecting rod 8 to rotate under the control of the control module, thereby driving the second steering gear rotating mechanism 6 and the second connecting member 9 connected thereto to rotate together, so that the permanent magnet 4 moves from the side away from the steel structure to the side close to the steel structure.

[0057] Among them, when the climbing robot works normally, the permanent magnet protection mechanism is in a non-working state; Figure 3 and Figure 4As shown, the second steering gear rotating mechanism 6 is located at the bottom of the permanent magnet 4, and the second connecting member 9 plays a role in supporting the permanent magnet 4. At this time, the permanent magnet 4 is far away from the steel structure.

[0058] When the climbing inspection robot loses power due to insufficient power or sudden power outage, the permanent magnet protection mechanism switches to the working state, such as Figure 5 and Figure 6 As shown, the control module controls the second steering gear rotating mechanism 6 to drive the second connecting member 9 to rotate, thereby driving the permanent magnet 4 to rotate; the side of the permanent magnet 4 connected to the connecting plate 91 is set as the A side, and the side opposite to the A side is set as the B side; when the B side of the permanent magnet 4 faces outward, the rotation of the second steering gear rotating mechanism 6 is stopped; the control module controls the first steering gear rotating mechanism 5 to drive the L-shaped connecting rod 8 to rotate, thereby driving the second steering gear rotating mechanism 6 and the second connecting member 9 connected thereto to rotate together, and when the B side of the permanent magnet 4 faces downward, the rotation of the first steering gear rotating mechanism 5 is stopped. At this time, due to the gravity of the permanent magnet 4, the connecting rod 92 moves along the two side slots 10 of the permanent magnet 4 until it moves to the end of the slot 10 and stops. It should be noted here that the connecting rod 92 is always set in the slot 10.

[0059] The connection plate and the permanent magnet here can be realized by using the existing structure. The first steering gear rotating mechanism and the second steering gear rotating mechanism can select the corresponding steering gear model according to the specific situation, which will not be described in detail here.

[0060] This embodiment utilizes a permanent magnet protection mechanism to prevent the climbing robot from falling due to weakened adsorption force and a sudden drop in magnetic field strength when the climbing robot is short of power or loses power due to an emergency, thereby improving the operating stability of the climbing robot.

[0061] In other embodiments, the structure of the permanent magnet protection mechanism and the driving module may also be implemented using other existing structures, which will not be described in detail here.

[0062] In this embodiment, the coils are arranged with staggered magnetic polarity, that is, a NSNS coil arrangement is adopted, which ensures that a strong magnetic field is formed on the output side.

[0063] Specifically, the Halbach array significantly enhances the magnetic field on the output side through the specific arrangement of the magnetization direction of the magnets, while effectively shielding the magnetic field on the opposite side. Its theoretical basis is the periodic magnetization vector, and the magnetic field distribution can be described by an exponential relationship, as shown in the following formula: .in, represents the maximum magnetic field strength, is the wave number, and the magnetization period Related, is the spatial coordinate, describing the distribution of the magnetic field in the plane. The effect of optimizing the magnetic field distribution, such as Figure 7 shown.

[0064] In one or more embodiments, the design parameters of the permanent magnet protection mechanism and the magnetic adsorption wheel determine the performance indicators of the lightweight and large-load dynamic magnetic adsorption device of the climbing robot; wherein, the design parameters include geometric characteristics (such as structural complexity, component size, etc.), material distribution characteristics (such as density, elastic modulus, Poisson's ratio, yield strength, etc.) and mechanical characteristics (such as stress concentration coefficient, etc.); the performance indicators include strength and quality.

[0065] Among them, the optimal design parameters of the permanent magnet protection mechanism and the magnetic adsorption wheel make the climbing robot's lightweight and large-load dynamic magnetic adsorption device have the maximum strength and the minimum mass.

[0066] In some specific embodiments, historical optimization data can be collected and key features can be extracted from them, and a prediction model can be trained using a machine learning algorithm to predict the performance of different design schemes of a lightweight and large-load dynamic magnetic adsorption device of a climbing robot. For example, a gradient boosted regression tree (GBRT) is used for performance prediction, with the goal of building an efficient regression model to predict the performance of different design schemes.

[0067] The model training process includes the following steps:

[0068] Normalize historical optimization data and define input features , the output is the performance index. Use principal component analysis to reduce feature dimensions and retain features with a cumulative variance contribution rate of 95%. Use gradient boosted regression tree ,in, For the A basis learner; For the The corresponding weights of the base learners; is the number of base learners; They are structural complexity, elastic modulus and stress concentration factor respectively. Grid search is used to optimize hyperparameters, such as tree depth and learning rate. Finally, ten-fold cross validation is used to evaluate the mean square error of the model.

[0069] In some other embodiments, numerical methods such as finite element analysis (FEA) are also used to perform isotropic analysis on the structure to ensure uniformity and rationality of material distribution.

[0070] The database is constructed to store material properties (density, elastic modulus, Poisson's ratio, yield strength, etc.), geometric and structural information (component dimensions and loading conditions), external environmental conditions (wind loads, temperature changes), and historical optimization data (design solutions, performance). In finite element analysis (FEA), the isotropic performance of the structure is analyzed by building a model, meshing, applying boundary conditions and loads.

[0071] In the specific method of isotropy verification, a directional independence test is first performed by applying uniform loads in different directions to the structure, analyzing the stress-strain response of the material in multiple directions, and calculating the stress deviation ratio: ,in Indicates the maximum stress in different directions; Indicates the minimum stress in different directions; It represents the average value of stress in each direction.

[0072] like ,in As the threshold value, the stress response of the material is considered to meet the isotropic requirement. Then the numerical calculation results are compared with the structure in Load in different directions and calculate the elastic modulus in the corresponding direction , , , verify the consistency of elastic modulus: .in, , , They are Stress in direction; , , They are: Direction of strain.

[0073] like , then the elastic properties of the material in different directions meet the consistency, where is the set threshold. Finally, the stiffness matrix eigenvalue is verified. The stiffness matrix of the material For a symmetric matrix, the stiffness characteristics can be analyzed by eigenvalue analysis: . Calculate the eigenvalues , verify that the following conditions are met: ,in, is the set tolerance value. If it is met, the stiffness matrix behaves consistently in all directions and meets the isotropic requirement.

[0074] In some other embodiments, a dynamically adjusted penalty function is also provided to reflect the performance requirements of the lightweight and large-load dynamic magnetic adsorption device of the climbing robot. The dynamically adjusted penalty function expression is:

[0075] ;in, It is a dynamic adjustment factor that reflects the time-varying demand of the state of the lightweight and large-load dynamic magnetic adsorption device of the current climbing robot; is the state weight coefficient, which is used to dynamically adjust the degree of attention to structural performance at different stages; is the periodic fluctuation term of the state variable, is the fluctuation frequency factor, which is used to enhance the nonlinear sensitivity of the state variable change; To control the variable weight function, the nonlinear amplification of the input variables is used to reflect the impact of external loading on performance evaluation. is the adjustment index; is a comprehensive evaluation function used to characterize the structural state variables With control variables The coupling relationship between them can be obtained through regression fitting of historical data sets; The time window for evaluation is used to limit the calculation scope and ensure real-time performance. The structural state is evaluated through sensor data and dynamically adjusted. and parameters to adapt to the latest needs. Increase when the status is poor or adjust shape to focus more on performance issues; reduce when the status is good or Smooth , to reduce penalty sensitivity.

[0076] In another embodiment, a control method for a lightweight and large-load dynamic magnetic adsorption device of a climbing robot is provided, comprising:

[0077] Step 1: Obtain the current magnetic field strength of the Halbach array electromagnet and convert it into the current adsorption force;

[0078] Step 2: According to the current adsorption force, the set target adsorption force and the external load change, the fuzzy rule algorithm is used to dynamically adjust the PWM signal duty cycle to control the output current of the power module and realize closed-loop control of the magnetic field strength.

[0079] In step 2, the PWM signal duty cycle is dynamically adjusted using a fuzzy rule algorithm. The expression is:

[0080] ;

[0081] ;

[0082] ; ;

[0083] in, represents the possible value range of the output variable, Represents the membership function of multi-rule fuzzy reasoning; and are adsorption force and load change, respectively; Indicates that the climbing robot is in Fuzzy reasoning membership function under different postures; Indicates the number of posture types of the climbing robot; and Represent the membership functions of adsorption force and load variation, respectively.

[0084] Specifically, the membership function expression of adsorption force and load change is:

[0085] ;

[0086] ;

[0087] in, It is the corresponding variable parameter of the climbing robot in different postures.

[0088] The postures of the climbing robot include: normal moving state, obstacle crossing state, set angle component switching state, set obstacle passing state and emergency docking state.

[0089] For example, during normal travel, the adsorption force required is low and stable, and the load variation range is small. Take:

[0090] ;

[0091] In the obstacle crossing state, the adsorption force requirement increases and the load changes greatly, so take:

[0092] ;

[0093] When setting the angle component switching, the adsorption force requirement is high and the load changes dramatically. Take:

[0094] ;

[0095] When setting obstacles to pass (such as vertical climbing or horizontal sharp turns), the adsorption force requirement is extremely high and the load may have extreme values. Take: ;

[0096] In emergency situations (such as extreme tilt), the suction force needs to be maximized and the load fluctuation range is larger. , Represents the robot's own gravity.

[0097] It should be noted here that These four parameters can be set according to actual conditions.

[0098] In this embodiment, the adsorption force can be divided into three ranges, namely low adsorption force, medium adsorption force and high adsorption force; these three ranges are used These two parameters determine that when the adsorption force is less than or equal to When the adsorption force is greater than and less than or equal to When the adsorption force is greater than When the load changes, it is considered to have high adsorption capacity. These two parameters are determined; when the load change amplitude is greater than or equal to and less than When the load changes more than , it is a case of load increase.

[0099] For example, if the suction force is a "low suction force" load and is "increasing", the PWM signal should be adjusted high;

[0100] If the adsorption force is "medium adsorption force" load and is "stable", the PWM signal is maintained at a medium level;

[0101] If the suction force is "high suction force", the PWM signal is adjusted low.

[0102] Then, the fuzzy value of the input variable is converted into the fuzzy value of the PWM signal by using the fuzzy inference system, and the results of multiple rules are combined for reasoning. Finally, through defuzzification, the result of fuzzy inference is converted into the actual PWM duty cycle, so as to adjust the current of the electromagnet and realize the precise control of the magnetic field strength, thereby optimizing the performance and stability of electromagnetic adsorption.

[0103] In this embodiment, the actual duty cycle Adjusting the PWM signal , the formula is: .in, is the PWM signal period, and finally adjusts the duty cycle Control the current of the electromagnet to accurately optimize the magnetic field strength and the stability of electromagnetic adsorption.

[0104] Specifically, adjust the duty cycle The process of controlling the current of the electromagnet is:

[0105] Known duty cycle Maximum current at , combined with the duty cycle ,according to , the current of the electromagnet can be obtained .

[0106] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A lightweight and large-load dynamic magnetic adsorption device for a climbing robot, characterized in that: include: Permanent magnet protection mechanism and magnetic adsorption wheel; The magnetic adsorption wheel is arranged at the end of the climbing actuator of the climbing robot; the magnetic adsorption wheel comprises a flexible wheel surface, and a Halbach array electromagnet is wrapped in the flexible wheel surface; a coil is wound around the Halbach array electromagnet, and the coil is connected to a power module; the Halbach array electromagnet is used to generate a magnetic field strength when the coil is energized, so that the magnetic adsorption wheel is adsorbed on the steel structure; a magnetic field strength detection module is also arranged on the magnetic adsorption wheel; the magnetic field strength detection module is connected to the control module, and is used to detect the magnetic field strength of the Halbach array electromagnet and transmit it to the control module; The permanent magnet protection mechanism is arranged inside the climbing robot and is in a non-working state; the permanent magnet protection mechanism is connected to a control module; the control module is used to compare the magnetic field strength of the Halbach array electromagnet transmitted by the magnetic field strength detection module with a preset magnetic field strength threshold value to control the permanent magnet protection mechanism to switch to a working state, so that the climbing robot is adsorbed on the steel structure; The control module is also used to: convert the current magnetic field strength of the Halbach array electromagnet into the current adsorption force; dynamically adjust the PWM signal duty cycle using a fuzzy rule algorithm according to the current adsorption force and the set target adsorption force and the external load change to control the output current of the power module, thereby realizing closed-loop control of the magnetic field strength; Dynamically adjust the duty cycle of PWM signal using fuzzy rule algorithm The expression is: ； ； ； ； in, represents the possible value range of the output variable, Represents the membership function of multi-rule fuzzy reasoning; and are adsorption force and load change, respectively; Indicates that the climbing robot is in Fuzzy reasoning membership function under different postures; Indicates the number of posture types of the climbing robot; and represent the membership functions of adsorption force and load variation, respectively; The membership function expression of adsorption force and load change is: ； ； in, are the corresponding variable parameters of the climbing robot in different postures; The design parameters of the permanent magnet protection mechanism and the magnetic adsorption wheel determine the performance indicators of the lightweight and large-load dynamic magnetic adsorption device of the climbing robot; wherein the design parameters include geometric characteristics, material distribution characteristics and mechanical characteristics; the performance indicators include strength and quality; A dynamically adjusted penalty function is designed to reflect the performance requirements of the lightweight and large-load dynamic magnetic adsorption device of the climbing robot; the penalty function expression of the dynamically adjusted penalty function is: ;in, It is a dynamic adjustment factor that reflects the time-varying demand of the state of the lightweight and large-load dynamic magnetic adsorption device of the current climbing robot; is the state weight coefficient, which is used to dynamically adjust the degree of attention to structural performance at different stages; is the periodic fluctuation term of the state variable, is the fluctuation frequency factor, which is used to enhance the nonlinear sensitivity of the state variable change; To control the variable weight function, the nonlinear amplification of the input variables is used to reflect the impact of external loading on performance evaluation. is the adjustment index; is a comprehensive evaluation function used to characterize the structural state variables With control variables The coupling relationship between them, its specific expression is obtained by regression fitting of historical data sets; The time window for evaluation is used to limit the calculation scope and ensure real-time performance; the structural state is evaluated through sensor data and dynamically adjusted and parameters to suit the latest requirements.

2. The lightweight and large-load dynamic magnetic adsorption device for a climbing robot according to claim 1, characterized in that: The permanent magnet protection mechanism includes a connecting disk, a permanent magnet and a driving module; the upper end of the connecting disk is fixedly connected to the inside of the climbing robot, the lower end of the connecting disk is connected to the driving module, the driving module is connected to the permanent magnet and the control module, and the driving module is used to drive the permanent magnet to rotate under the action of the control module.

3. The lightweight and large-load dynamic magnetic adsorption device for a climbing robot according to claim 2, characterized in that: The driving module includes a first steering gear rotating mechanism and a second steering gear rotating mechanism; the first steering gear rotating mechanism and the second steering gear rotating mechanism are both connected to the control module; The first steering gear rotating mechanism is fixedly connected to the connecting plate through a first connecting member; the output shaft of the first steering gear rotating mechanism is connected to the second steering gear rotating mechanism through an L-shaped connecting rod; the output shaft of the second steering gear rotating mechanism is connected to the permanent magnet through a second connecting member; the second connecting member includes a connecting plate and connecting rods fixed on both sides; two opposite sides of the permanent magnet are provided with sliding grooves, and two connecting rods are correspondingly clamped in the sliding grooves of the permanent magnet; the output shaft of the second steering gear rotating mechanism is connected to one side of the connecting plate; The second servo rotation mechanism is used to drive the second connecting member to rotate under the control of the control module; the first servo rotation mechanism is used to drive the L-shaped connecting rod to rotate under the control of the control module, thereby driving the second servo rotation mechanism and the second connecting member connected to it to rotate together, so that the permanent magnet moves from the side away from the steel structure to the side close to the steel structure.

4. The lightweight and large-load dynamic magnetic adsorption device for a climbing robot according to claim 1, characterized in that: The coils are arranged with staggered magnetic polarity.

5. The lightweight and large-load dynamic magnetic adsorption device for a climbing robot according to claim 1, characterized in that: The optimal design parameters of the permanent magnet protection mechanism and the magnetic adsorption wheel ensure that the lightweight and large-load dynamic magnetic adsorption device of the climbing robot has the maximum strength and the minimum mass.

6. A control method for a lightweight and large-load dynamic magnetic adsorption device of a climbing robot as claimed in any one of claims 1 to 5, characterized in that: include: Get the current magnetic field strength of the Halbach array electromagnet and convert it into the current adsorption force; According to the current adsorption force, the set target adsorption force and the external load change, the fuzzy rule algorithm is used to dynamically adjust the PWM signal duty cycle to control the output current of the power module and realize closed-loop control of the magnetic field strength. Dynamically adjust the duty cycle of PWM signal using fuzzy rule algorithm The expression is: ； ； ； ； in, represents the possible value range of the output variable, Represents the membership function of multi-rule fuzzy reasoning; and are adsorption force and load change, respectively; Indicates that the climbing robot is in Fuzzy reasoning membership function under different postures; Indicates the number of posture types of the climbing robot; and represent the membership functions of adsorption force and load variation, respectively; The membership function expression of adsorption force and load change is: ； ； in, are the corresponding variable parameters of the climbing robot in different postures; The design parameters of the permanent magnet protection mechanism and the magnetic adsorption wheel determine the performance indicators of the lightweight and large-load dynamic magnetic adsorption device of the climbing robot; wherein the design parameters include geometric characteristics, material distribution characteristics and mechanical characteristics; the performance indicators include strength and quality; A dynamically adjusted penalty function is designed to reflect the performance requirements of the lightweight and large-load dynamic magnetic adsorption device of the climbing robot; the penalty function expression of the dynamically adjusted penalty function is: ;in, It is a dynamic adjustment factor that reflects the time-varying demand of the state of the lightweight and large-load dynamic magnetic adsorption device of the current climbing robot; is the state weight coefficient, which is used to dynamically adjust the degree of attention to structural performance at different stages; is the periodic fluctuation term of the state variable, is the fluctuation frequency factor, which is used to enhance the nonlinear sensitivity of the state variable change; To control the variable weight function, the nonlinear amplification of the input variables is used to reflect the impact of external loading on performance evaluation. is the adjustment index; is a comprehensive evaluation function used to characterize the structural state variables With control variables The coupling relationship between them, its specific expression is obtained by regression fitting of historical data sets; The time window for evaluation is used to limit the calculation scope and ensure real-time performance; the structural state is evaluated through sensor data and dynamically adjusted and parameters to suit the latest requirements.

7. The control method according to claim 6, characterized in that: The postures of the climbing robot include: normal moving state, obstacle crossing state, set angle component switching state, set obstacle passing state and emergency docking state.

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