The invention relates to a self-adaptive magnetic wall surface wall-climbing robot, which belongs to the field of wall-climbing robots, and comprises a machine body frame, three permanent magnet wheels, a driving wheel fixing mechanism and a driven wheel fixing mechanism, the three permanent magnet wheels are respectively a first permanent magnet wheel, a second permanent magnet wheel and a third permanent magnet wheel; each of the first permanent magnet wheel, the second permanent magnet wheel and the third permanent magnet wheel comprises a hub, a rubber coating and a permanent magnet array; the permanent magnet array comprises m groups of permanent magnets, m is a positive integer greater than or equal to 3, the m groups of permanent magnets are arranged in a circumferential array at intervals, and each group of permanent magnets comprises a permanent magnet I and a permanent magnet II which are opposite in magnetization direction and are adjacently arranged. The self-adaptive magnetic conductive wall surface wall-climbing robot has a light and small body, is flexible to move, is provided with a self-adaptive structure, and can be suitable for detecting magnetic conductive curved surfaces with various curvatures. The circumferential embedded permanent magnet wheel has the characteristics of light weight, small size, easiness in installation, high adsorption capacity and difficulty in damage of the permanent magnets.

    本发明涉及一种自适应导磁壁面爬壁机器人,属于爬壁机器人领域,其包括机身框架、三个永磁轮、主动轮固定机构和从动轮固定机构;三个永磁轮分别为第一永磁轮、第二永磁轮以及第三永磁轮;第一永磁轮、第二永磁轮以及第三永磁轮均包括轮毂、包胶和永磁阵列;永磁阵列包括m组永磁体,m为大于等于3的正整数,m组永磁体成圆周型阵列间隔布置,每组永磁体包括磁化方向相反且相邻布置的永磁体一和永磁体二。本发明的自适应导磁壁面爬壁机器人机身轻盈小巧、运动灵活,且带有自适应结构,能够适用于多种曲率的导磁曲面进行检测作业。圆周嵌入式永磁轮具有重量小、体积小、易安装、吸附能力强和永磁体不易损坏的特点。


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    Title :

    Self-adaptive magnetic wall surface wall-climbing robot


    Additional title:

    自适应导磁壁面爬壁机器人


    Contributors:
    HEO YOON-DOO (author) / GUO AIMING (author) / ZHAO ZHE (author) / JIANG ZE (author) / HU KAIDONG (author) / GUO DAMENG (author) / HUANG XU (author)

    Publication date :

    2025-05-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



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