The invention belongs to the technical field of magnetic adsorption wall-climbing robots, and particularly relates to a wall-climbing robot permanent magnet adsorption device with adjustable magnetic force and a control method. The device comprises an electric push rod, a connecting rod, a swing arm, a supporting frame, an arc-shaped permanent magnet, an ultrasonic sensor, a pivot, a rigid arm and a pressure sensor. The pivot is mounted on an axle of the wall-climbing robot and is fixedly connected with the lower end of a frame supporting arm of the wall-climbing robot; one end of the rigid arm is fixedly connected with the middle of a frame supporting arm of the wall-climbing robot, the electric push rod is located at the other end of the rigid arm, the tail end of a telescopic rod of the electric push rod is rotationally connected with one end of the connecting rod, the other end of the connecting rod is rotationally connected with one end of the swing arm, and the other end of the swing arm is fixedly connected with the upper end of the supporting frame. The arc-shaped permanent magnet is located at the lower end of the support; the expansion amount is controlled by controlling the rotation time of a motor of the electric push rod, so that the distance between a magnetic force concentration point of the arc-shaped permanent magnet and the wall surface is controlled; and the push-pull force variation is controlled by controlling the driving force of the electric push rod, so that the actual magnetic adsorption force is controlled. The magnetic force can be adjusted through the rotating motion of the permanent magnet, so that the robot can adapt to different wall surfaces and complete different actions.

    本发明属于磁吸附爬壁机器人技术领域,具体是一种可调节磁力的爬壁机器人永磁吸附装置及控制方法。装置包括电动推杆、连杆、摆臂、支撑架、弧形永磁铁、超声波传感器、枢轴、刚臂和压力传感器;所述枢轴安装在爬壁机器人的车轴上,同时与爬壁机器人车架支撑臂下端固连;刚臂的一端与爬壁机器人车架支撑臂的中部固连,电动推杆位于刚臂的另一端,电动推杆的伸缩杆末端与连杆的一端转动连接,连杆的另一端与摆臂的一端转动连接,摆臂的另一端与支撑架的上端固连,支撑架的上端同时与枢轴转动连接,弧形永磁铁位于支撑架的下端;通过控制电动推杆的电机转动时间控制其伸缩量,进而控制弧形永磁铁的磁力集中点与壁面之间的距离;通过控制电动推杆的驱动力控制其推拉力变化量,实现实际磁吸附力的控制。本发明通过永磁铁的旋转运动实现磁力可调,使机器人能够适应不同壁面和完成不同动作。


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    Title :

    Wall-climbing robot permanent magnet adsorption device with adjustable magnetic force and control method


    Additional title:

    一种可调节磁力的爬壁机器人永磁吸附装置及控制方法


    Contributors:
    HUANG HAIXIN (author) / GAO PENGLEI (author) / ZHANG YING (author) / JI SHILEI (author)

    Publication date :

    2025-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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