CN110871856A - Magnetic wall-climbing robot and wall-climbing robot system - Google Patents
Magnetic wall-climbing robot and wall-climbing robot system Download PDFInfo
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- CN110871856A CN110871856A CN201811008897.7A CN201811008897A CN110871856A CN 110871856 A CN110871856 A CN 110871856A CN 201811008897 A CN201811008897 A CN 201811008897A CN 110871856 A CN110871856 A CN 110871856A
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 80
- 230000005284 excitation Effects 0.000 claims abstract description 40
- 230000002441 reversible effect Effects 0.000 claims abstract description 30
- 229910052751 metal Inorganic materials 0.000 claims abstract description 28
- 239000002184 metal Substances 0.000 claims abstract description 28
- 230000005389 magnetism Effects 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 50
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000009194 climbing Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 7
- 230000005347 demagnetization Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract 1
- 210000002414 leg Anatomy 0.000 description 50
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 10
- 239000000463 material Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- -1 manganese-aluminum-carbon Chemical compound 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 3
- WBWJXRJARNTNBL-UHFFFAOYSA-N [Fe].[Cr].[Co] Chemical compound [Fe].[Cr].[Co] WBWJXRJARNTNBL-UHFFFAOYSA-N 0.000 description 3
- KPLQYGBQNPPQGA-UHFFFAOYSA-N cobalt samarium Chemical compound [Co].[Sm] KPLQYGBQNPPQGA-UHFFFAOYSA-N 0.000 description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229910000938 samarium–cobalt magnet Inorganic materials 0.000 description 3
- 229910000859 α-Fe Inorganic materials 0.000 description 3
- 239000004020 conductor Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a magnetic wall-climbing robot and a wall-climbing robot system. The wall machine people is climbed to magnetism includes the robot main part and two at least supporting legs of being connected with the robot main part, the supporting leg has the activity degree of freedom of two directions at least, the supporting leg still is connected with automatically controlled permanent magnetism adsorption device, automatically controlled permanent magnetism adsorption device is used for cooperating with magnetic conduction metal wall, automatically controlled permanent magnetism adsorption device includes magnetic conduction yoke and sets up two above main magnets and the more than one of mutually supporting on the magnetic conduction yoke, the last coiling of reversible magnet has excitation coil, when to the first excitation current of excitation coil input, automatically controlled permanent magnetism adsorption device is for magnetizing the state and adsorb with magnetic conduction metal wall, and when inciting somebody to action to the excitation coil input second excitation current, automatically controlled permanent magnetism adsorption device breaks away from for the demagnetization state and with magnetic conduction metal wall. The magnetic wall-climbing robot can keep an adsorption or release state without continuous electrification, and the cruising ability of the wall-climbing robot is improved.
Description
Technical Field
The invention relates to a wall-climbing robot, in particular to a magnetic wall-climbing robot and a wall-climbing robot system, and belongs to the technical field of walking robots.
Background
The wall-climbing robot can move on an inclined wall surface, a vertical wall surface and even a ceiling, and can work in various operation environments which are not suitable for human beings, such as tank body detection in nuclear industry and petrochemical industry, rust removal and spraying in ship industry and the like, by carrying tools to complete certain tasks. The most important technologies of the wall-climbing robot include movement control and adsorption control, wherein the adsorption control is the most significant difference between the wall-climbing robot and other types of robots, and therefore is the core content of the technical research of the wall-climbing robot.
Generally, there are three main techniques for controlling the suction of the wall-climbing robot: negative pressure adsorption, biological adsorption prevention and magnetic field adsorption. The negative pressure adsorption has good adaptability to wall materials, but a negative pressure device composed of a fan, an air pipe, an air pump and the like has a complex structure, large volume and limited adsorption force; bionic adsorption is to use artificial fluff and other materials to make tentacles, and has strong innovation, but the current practical products are few. The magnetic field adsorption is the acting force generated by the magnetic field, and the adsorption force is large but is only suitable for being used on the surface of the magnetic conductive material. According to the difference of the moving mechanism, the device can be divided into a leg-foot type, a wheel type and a crawler type. Generally, the magnetic force source is classified into an electromagnetic type and a permanent magnet type. The electromagnetic type is disclosed in a four-foot type electromagnetic adsorption wall-climbing robot with the publication number of CN201610653897, and is characterized in that an electromagnetic suction cup is arranged at the bottom of the magnetic wall-climbing robot. However, when the electromagnet is used as an adsorption means, the adsorption state can be kept only by electrifying, and when the electric quantity is insufficient or the power is cut off suddenly, the wall-climbing robot loses the adsorption force. CN203793467U discloses a manufacturing principle of a magnetic wall-climbing robot based on the magnetic seat principle, which is mainly characterized in that a permanent magnet is adopted to provide a magnetic field to generate attraction force, and the magnetic force is generated without electrifying, but the magnetic force is reversed by adopting a mechanical structure, so that firstly, the complexity of a foot structure is increased, and the magnetic force is particularly suitable for a small foot structure; secondly, the mechanical structure inevitably brings about a wear problem, so that the possibility of failure is increased.
Disclosure of Invention
The invention mainly aims to provide a magnetic wall-climbing robot and a wall-climbing robot system, which are mainly suitable for the surfaces of magnetic conductive materials such as iron or steel, and the like, and the application fields comprise tank body/pipeline detection, high-rise welding, ship body rust removal and paint spraying, and the like, so that the defects of the prior art are overcome.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
the embodiment of the invention provides a magnetic wall-climbing robot, which comprises a robot main body and at least two supporting legs connected with the robot main body, wherein the supporting legs at least have two directions of freedom of movement, the supporting legs are also connected with an electric control permanent magnet adsorption mechanism, the electric control permanent magnet adsorption mechanism is used for being matched with a magnetic conductive metal wall surface, the electric control permanent magnet adsorption mechanism comprises a magnetic conductive yoke iron, more than two main magnets and more than one reversible magnet, the more than two main magnets and the more than one reversible magnet are arranged on the magnetic conductive yoke iron and matched with each other, an excitation coil is wound on the reversible magnet, when a first excitation current is input to the excitation coil, the electric control permanent magnet adsorption mechanism is in a magnetizing state and is adsorbed to the magnetic conductive metal wall surface, and when a second excitation current is input to the excitation coil, the electric control permanent magnet adsorption mechanism is in a demagnetizing, the first excitation current and the second excitation current are opposite in direction.
Further, more than two main magnets are permanent magnets, and the reversible magnet is a permanent magnet.
Furthermore, the main magnet is a high-coercivity permanent magnet, and the reversible magnet is a low-coercivity permanent magnet.
Preferably, the material of the main magnet includes any one of permanent magnetic ferrite, samarium cobalt or neodymium iron boron, but is not limited thereto.
Preferably, the coercivity of the main magnet is 600-2000 kA/m.
Preferably, the material of the reversible magnet includes any one of manganese-aluminum-carbon, aluminum-nickel-cobalt, or iron-chromium-cobalt, but is not limited thereto.
Preferably, the coercive force of the reversible magnet is 30-200 kA/m.
Furthermore, the supporting leg includes two at least driving motor and with the fixed bolster that driving motor transmission is connected, the terminal that the robot main part was kept away from to the supporting leg is installed automatically controlled permanent magnetism and is adsorbed the mechanism.
Furthermore, the electric control permanent magnetic adsorption mechanism is connected with the supporting leg ball hinge.
Furthermore, the driving motor connected with the robot main body can rotate in the horizontal direction, and the driving motor near the end of the supporting leg can rotate in the vertical direction.
Furthermore, the robot main body further comprises a control mechanism, the control mechanism comprises a main control chip, a motor driver and an electric control permanent magnet controller, the main control chip is connected with the motor driver and the electric control permanent magnet controller, the motor driver is further connected with a driving motor, and the electric control permanent magnet controller is further connected with a power supply of the magnet exciting coil.
In some specific embodiments, the electrically controlled permanent magnet adsorption mechanism further comprises a contact sensor, and the contact sensor is connected with the electrically controlled permanent magnet controller.
Further, the two main magnets are symmetrically arranged; the two main magnets have the same magnetic field strength and opposite magnetic field directions.
The embodiment of the invention also provides a wall-climbing robot system which comprises the magnetic wall-climbing robot and a magnetic conductive metal wall surface matched with the magnetic wall-climbing robot.
Compared with the prior art, the magnetic wall-climbing robot provided by the invention realizes the wall-climbing adsorption and walking actions of the robot by using the electric control permanent magnet adsorption mechanism, the used permanent magnet material has large suction force and stable suction force, and compared with the traditional electromagnet adsorption device, the electric control permanent magnet adsorption mechanism has smaller volume, larger suction force, more reliability and lower self weight of the robot, and can improve the load capacity of the robot; the electric control permanent magnet adsorption mechanism only needs to be electrified when the adsorption or release state is converted during working, and the adsorption or release state can be kept without continuous electrification, so that the cruising ability of the wall-climbing robot is improved; and this robot still can keep the adsorption state under the circumstances of electric quantity not enough or outage, avoids the robot to fall and causes personnel or property loss.
Drawings
Fig. 1 is a schematic structural diagram of a magnetic wall-climbing robot according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a support leg of a magnetic wall-climbing robot according to an exemplary embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of an electrically controlled permanent magnet attraction mechanism according to an exemplary embodiment of the present invention;
FIG. 4 is a schematic diagram of the electrically controlled permanent magnet attraction mechanism holding in accordance with an exemplary embodiment of the present invention;
fig. 5 is a schematic diagram of the release of the electrically controlled permanent magnet attraction mechanism in an exemplary embodiment of the invention.
Detailed Description
In view of the deficiencies in the prior art, the inventors of the present invention have made extensive studies and extensive practices to provide technical solutions of the present invention. The technical solution, its implementation and principles, etc. will be further explained as follows.
The embodiment of the invention provides a magnetic wall-climbing robot, which comprises a robot main body and at least two supporting legs connected with the robot main body, wherein the supporting legs at least have two directions of freedom of movement, the supporting legs are also connected with an electric control permanent magnet adsorption mechanism, the electric control permanent magnet adsorption mechanism is used for being matched with a magnetic conductive metal wall surface, the electric control permanent magnet adsorption mechanism comprises a magnetic conductive yoke iron, more than two main magnets and more than one reversible magnet, the more than two main magnets and the more than one reversible magnet are arranged on the magnetic conductive yoke iron and matched with each other, an excitation coil is wound on the reversible magnet, when a first excitation current is input to the excitation coil, the electric control permanent magnet adsorption mechanism is in a magnetizing state and is adsorbed to the magnetic conductive metal wall surface, and when a second excitation current is input to the excitation coil, the electric control permanent magnet adsorption mechanism is in a demagnetizing, the first excitation current and the second excitation current are opposite in direction.
Further, more than two main magnets are permanent magnets, and the reversible magnet is a permanent magnet.
Furthermore, the main magnet is a high-coercivity permanent magnet, and the reversible magnet is a low-coercivity permanent magnet.
Preferably, the material of the main magnet includes any one of permanent magnetic ferrite, samarium cobalt or neodymium iron boron, but is not limited thereto.
Preferably, the coercivity of the main magnet is 600-2000 kA/m.
Preferably, the material of the reversible magnet includes any one of manganese-aluminum-carbon, aluminum-nickel-cobalt, or iron-chromium-cobalt, but is not limited thereto.
Preferably, the coercive force of the reversible magnet is 30-200 kA/m.
Furthermore, the supporting leg includes two at least driving motor and with the fixed bolster that driving motor transmission is connected, the terminal that the robot main part was kept away from to the supporting leg is installed automatically controlled permanent magnetism and is adsorbed the mechanism.
Furthermore, the electric control permanent magnetic adsorption mechanism is connected with the supporting leg ball hinge.
Furthermore, the driving motor connected with the robot main body can rotate in the horizontal direction, and the driving motor near the end of the supporting leg can rotate in the vertical direction.
Furthermore, the robot main body further comprises a control mechanism, the control mechanism comprises a main control chip, a motor driver and an electric control permanent magnet controller, the main control chip is connected with the motor driver and the electric control permanent magnet controller, the motor driver is further connected with a driving motor, and the electric control permanent magnet controller is further connected with a power supply of the magnet exciting coil.
In some specific embodiments, the electrically controlled permanent magnet adsorption mechanism further comprises a contact sensor, and the contact sensor is connected with the electrically controlled permanent magnet controller.
Further, the two main magnets are symmetrically arranged; the two main magnets have the same magnetic field strength and opposite magnetic field directions.
The embodiment of the invention also provides a wall-climbing robot system which comprises the magnetic wall-climbing robot and a magnetic conductive metal wall surface matched with the magnetic wall-climbing robot.
The technical solution, the implementation process and the principle thereof will be further explained with reference to the drawings. It is to be understood that such description is merely exemplary and is not intended to limit the scope of the present invention; moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Referring to fig. 1-2, a magnetic wall-climbing robot includes a robot main body and three support legs 2 connected to the robot main body, the robot main body includes two main control platforms 1 oppositely disposed, the three support legs 2 are connected to the main control platform 1, a control mechanism and a power supply 14 are disposed on the main control platform 1, the control mechanism includes a main control chip 11, a motor driver 12 and an electric control permanent magnet controller 13; the supporting leg 2 has the degree of freedom of motion of two directions at least, and supporting leg 2 still is connected with automatically controlled permanent magnetism adsorption device 3, and automatically controlled permanent magnetism adsorption device 3 is used for cooperating with the magnetic conduction metal wall, and main control chip 11 is connected with motor drive 12, automatically controlled permanent magnet controller 13, motor drive still is connected with driving motor.
Referring to fig. 2, each support leg 2 includes two fixing brackets 22 and three driving motors 21, the driving motors 21 are connected to the ends of the fixing brackets 22 and are in transmission connection with the fixing brackets 22, and the driving motors 21 are connected with the fixing brackets 22 by screws; the electric control permanent magnetic adsorption mechanism is connected to the tail end of the supporting leg 2; the driving motor 22 connected with the main control platform 1 can rotate and move in the horizontal direction, the driving motor 22 close to the tail end of the supporting leg 2 can rotate and move in the vertical direction, and the supporting leg can complete lifting and rotating actions, so that the robot can flexibly crawl; supporting leg 2 and automatically controlled permanent magnetism adsorption apparatus structure 3 can adopt the ball pivot to be connected, and the robot meets uneven place at climbing the wall in-process, can adjust foot contact angle by oneself, and the suction that wall area of contact caused is little not enough. The material of the main control platform 1 and the fixing bracket 22 of the supporting leg 2 can be non-magnetic metal or plastic, preferably plastic, so as to reduce the self weight of the robot.
Referring to fig. 3, the electrically controlled permanent magnet adsorption mechanism 3 includes a magnetic yoke 31, two main magnets 32 and a reversible magnet 34 disposed on the magnetic yoke 31; the two main magnets 32 are symmetrically arranged, are permanent magnets, and have the same magnetic field intensity and opposite magnetic field directions; preferably, both main magnets 32 are high coercivity permanent magnets; preferably, the main magnet is made of any one of permanent magnetic ferrite, samarium cobalt and neodymium iron boron; preferably, the coercivity of the main magnet is 600-2000 kA/m. The reversible magnet is a low-coercivity permanent magnet and an excitation coil 33 wound on the surface of the low-coercivity permanent magnet, and the excitation coil 33 is connected with a power supply; preferably, the material of the reversible magnet comprises any one of manganese-aluminum-carbon, aluminum-nickel-cobalt or iron-chromium-cobalt; preferably, the coercive force of the reversible magnet is 30-200kA/m, when a first excitation current is input to the excitation coil 33, the electrically controlled permanent magnet adsorption mechanism 3 is in a magnetizing state and is adsorbed to the magnetic conductive metal wall surface, and when a second excitation current is input to the excitation coil 33, the electrically controlled permanent magnet adsorption mechanism 3 is in a demagnetizing state and is separated from the magnetic conductive metal wall surface, and the directions of the first excitation current and the second excitation current are opposite.
Specifically, referring to fig. 4, when a first excitation current is input to the excitation coil 33, the excitation coil 33 is excited in the forward direction, the upper pole of the reversible magnet 34 is an N pole, the lower pole of the reversible magnet is an S pole, and both the reversible magnet 34 and the main magnet 32 have magnetic fluxes passing through, and at this time, the electrically controlled permanent magnet adsorption mechanism 3 is in a magnetizing state and can be adsorbed on the magnetic conductive metal wall surface 36;
when demagnetizing, please refer to fig. 5, and when a second excitation current is input to the excitation coil 33, the energized coil 33 is negatively excited, the reversible magnet 34 has an upper pole of S and a lower pole of N, the magnetic conductive metal wall 36 does not have magnetic flux passing through, the two main magnets 32 have only one closed loop, and at this time, the electrically controlled permanent magnet adsorption mechanism 3 is in a demagnetizing state and can be separated from the magnetic conductive metal wall.
The robot can adjust automatically controlled permanent magnetism adsorption apparatus structure suction according to the motion condition, and the contact sensor who is connected with automatically controlled permanent magnetism adsorption apparatus structure detects the foot and adsorbs the condition in real time at the wall in-process is climbed to the robot, in time makes the suction adjustment (adjusts through adjusting the electric current size and the direction that let in circular telegram coil 33).
Specifically, the wall climbing process of the magnetic wall climbing robot provided by the embodiment of the invention comprises the following steps: the method comprises the steps of firstly magnetizing an electric control permanent magnet adsorption mechanism 3 on a supporting leg 2 to enable the robot to be attached to a magnetic conductive metal wall surface 36, enabling the robot to move forward, wherein in the process, a main control chip 11 controls the supporting leg 2 to move according to a certain gait, the supporting leg 2 mainly comprises three steps of leg lifting, leg moving (rotating leg hip joint) and leg falling, demagnetizing the electric control permanent magnet adsorption mechanism 3 before the supporting leg 2 lifts the leg, enabling the supporting leg and the metal wall surface to have no suction force, and enabling the steps of leg lifting, rotation and leg falling to be carried out, and after the leg falling is finished, then magnetizing the electric control permanent magnet adsorption mechanism 3 to enable the robot to be attached to the metal wall surface again.
More specifically: after the wall climbing robot receives the motion instruction, the main control chip sends signals to the motor driver and the electric control permanent magnet controller, the motion state of the supporting leg and the adsorption state of the electric control permanent magnet adsorption mechanism at the tail end of the leg are changed, the motor driver adjusts the working state of the motor, the supporting leg rotates and lifts, the action state of the supporting leg is changed, and the electric control permanent magnet controller performs magnetizing and demagnetizing operations on the electric control permanent magnet adsorption mechanism. Specifically, the method comprises the following steps: when the supporting legs need to be adsorbed on the metal wall surface, the electric control permanent magnet controller performs magnetizing operation, forward current is introduced into the exciting coil, the reversible magnet is charged with a magnetic field in the same direction as the main magnet by electrifying the exciting coil, and the electric control permanent magnet adsorption mechanism can generate attraction force to firmly grasp the metal wall surface; when the supporting legs need to be lifted to leave the metal wall surface, the electric control permanent magnet controller firstly carries out demagnetization operation, and reverse current (opposite to the magnetizing current direction) is introduced into the exciting coil, so that the magnetic field generated by the electrified exciting coil charges the reversible magnet with a magnetic field opposite to the main magnet, and meanwhile, the holding force of the electric control permanent magnet adsorption mechanism and the magnetic conductive metal wall surface is close to 0; before the leg lifting action of the wall climbing robot, the electric control permanent magnet magnetizing and demagnetizing system carries out demagnetizing operation on the supporting leg to be lifted, and the supporting leg can rotate and lift; after the robot falls on the leg, the electric control permanent magnet controller magnetizes the supporting leg, so that the supporting leg and the magnetic conductive metal wall face are kept in an adsorption state; the time for the electric control permanent magnet adsorption mechanism to be magnetized and demagnetized is controlled by the electric control permanent magnet controller and is only required to be (0.1-2 seconds), and after the magnetizing and demagnetizing operation is finished, the adsorption or release state is kept without continuing to electrify. The principles for realizing actions such as steering, backing and the like of the robot are similar to those of advancing, and adjustment is mainly made on the motion sequence of the supporting legs, which is not described herein again.
Compared with the prior art, the magnetic wall-climbing robot provided by the invention realizes the wall-climbing adsorption and walking actions of the robot by using the electric control permanent magnet adsorption mechanism, the used permanent magnet material has large suction force and stable suction force, and compared with the traditional electromagnet adsorption device, the electric control permanent magnet adsorption mechanism has smaller volume, larger suction force, more reliability and lower self weight of the robot, and can improve the load capacity of the robot; the electric control permanent magnet adsorption mechanism only needs to be electrified when the adsorption or release state is converted during working, and the adsorption or release state can be kept without continuous electrification, so that the cruising ability of the wall-climbing robot is improved; and this robot still can keep the adsorption state under the circumstances of electric quantity not enough or outage, avoids the robot to fall and causes personnel or property loss.
It should be understood that the above-mentioned embodiments are merely illustrative of the technical concepts and features of the present invention, which are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and therefore, the protection scope of the present invention is not limited thereby. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides a magnetism wall climbing robot, includes robot main part and at least two supporting legs of being connected with robot main part, the supporting leg has the degree of freedom of movement of two directions at least, its characterized in that: the supporting leg still is connected with automatically controlled permanent magnetism adsorption apparatus structure, automatically controlled permanent magnetism adsorption apparatus constructs for cooperating with magnetic conduction metal wall, automatically controlled permanent magnetism adsorption apparatus constructs including magnetic conduction yoke and sets up two above main magnets and the more than one reversible magnet of mutually supporting on the magnetic conduction yoke, the last coiling of reversible magnet has excitation coil, when to during the first excitation current of excitation coil input, automatically controlled permanent magnetism adsorption apparatus constructs for magnetizing the state and adsorbs with magnetic conduction metal wall, and when to during excitation coil input second excitation current, automatically controlled permanent magnetism adsorption apparatus constructs for demagnetizing the state and breaks away from with magnetic conduction metal wall, the direction of first excitation current and second excitation current is opposite.
2. The magnetic wall-climbing robot of claim 1, wherein: more than two the main magnet is the permanent magnet, reversible magnet is the permanent magnet.
3. The magnetic wall-climbing robot of claim 2, wherein: the main magnet is a high-coercivity permanent magnet, and the reversible magnet is a low-coercivity permanent magnet.
4. The magnetic wall-climbing robot of claim 1, wherein: the supporting leg includes two at least driving motor and with the fixed bolster that the driving motor transmission is connected, the supporting leg is kept away from the end of robot main part and is installed automatically controlled permanent magnetism adsorption apparatus and construct.
5. The magnetic wall-climbing robot of claim 4, wherein: and the electric control permanent magnetic adsorption mechanism is connected with the supporting leg spherical hinge.
6. The magnetic wall-climbing robot of claim 4, wherein: the driving motor connected with the robot main body can rotate in the horizontal direction, and the driving motor close to the tail end of the supporting leg can rotate in the vertical direction.
7. The magnetic wall-climbing robot of claim 1, wherein: the robot main part still includes control mechanism, control mechanism includes main control chip, motor drive and automatically controlled permanent magnet controller, main control chip is connected with motor drive, automatically controlled permanent magnet controller, motor drive still is connected with driving motor, automatically controlled permanent magnet controller still is connected with the power of excitation coil.
8. The magnetic wall-climbing robot of claim 7, wherein: the electric control permanent magnet adsorption mechanism further comprises a contact sensor, and the contact sensor is connected with the electric control permanent magnet controller.
9. The magnetic wall-climbing robot of claim 1, wherein: the two main magnets are symmetrically arranged; the two main magnets have the same magnetic field strength and opposite magnetic field directions.
10. A wall climbing robot system comprising a magnetic wall climbing robot according to any of claims 1-9 and cooperating magnetically conductive metal wall surfaces.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811008897.7A CN110871856A (en) | 2018-08-31 | 2018-08-31 | Magnetic wall-climbing robot and wall-climbing robot system |
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| CN201811008897.7A CN110871856A (en) | 2018-08-31 | 2018-08-31 | Magnetic wall-climbing robot and wall-climbing robot system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896356A (en) * | 2021-04-21 | 2021-06-04 | 衡昇科技有限公司 | Controllable wall climbing adsorption device of magnetic force constructs and wall climbing robot |
| CN113070864A (en) * | 2021-04-15 | 2021-07-06 | 西南科技大学 | Electromagnetic drive miniature robot |
| CN113212582A (en) * | 2021-05-18 | 2021-08-06 | 广东工业大学 | Permanent magnet adsorption device |
| CN114516373A (en) * | 2022-02-25 | 2022-05-20 | 北京航空航天大学 | Curved surface self-adaptation wall climbing robot |
| WO2022236704A1 (en) * | 2021-05-08 | 2022-11-17 | 广东工业大学 | Magnetically controllable permanent magnet continuous track wheel and robot provided with same |
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| CN201834655U (en) * | 2010-10-21 | 2011-05-18 | 岳阳鸿升电磁科技有限公司 | Electric controlled permanent magnetic chuck |
| US20160159420A1 (en) * | 2013-07-12 | 2016-06-09 | University Of Technology, Sydney | Adhesion system for a climbing vehicle |
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| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
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