The invention belongs to the technical field of wall-climbing robots, and provides a permanent magnet adsorption type wall-climbing robot of a self-adaptive variable-curvature magnetic conductive wall surface, which comprises permanent magnet driving mechanisms, a magnetic adsorption assembly, a self-adaptive mechanism, a rack and a control unit, the permanent magnet driving mechanisms are symmetrically arranged on the two sides of the rack, and the permanent magnet driving mechanisms are connected with the rack through the self-adaptive mechanism; a motor reducer of the permanent magnet driving mechanism is connected with a driving rod of the self-adaptive mechanism, a swing arm piece of the self-adaptive mechanism is rotationally connected with a swing piece of the rack, a first rotating piece of the magnetic adsorption assembly is connected with a middle connecting plate of the rack, the control unit is arranged on the middle connecting plate of the rack, and the wall-climbing robot is controlled by the control unit to move. Through the permanent magnet driving mechanism formed by matching the permanent magnet driving group and the driving magnet, the wall-climbing robot has relatively high adsorption capacity and bearing capacity, passively adapts to the variable-curvature magnetic wall surface through the self-adaptive mechanism, and can be widely applied to wall surfaces with various curvatures to realize multi-scene detection.
本发明属于爬壁机器人技术领域,提供一种自适应变曲率导磁壁面的永磁吸附式爬壁机器人,其包括永磁驱动机构、磁力吸附组件、自适应机构、机架和控制单元,永磁驱动机构对称设置于机架两侧,永磁驱动机构通过自适应机构与机架连接,永磁驱动机构的电机减速器与自适应机构的驱动杆连接,自适应机构的摆臂件与机架的摆动件转动连接,磁力吸附组件的第一旋转件与机架的中间连接板连接,控制单元设置在机架的中间连接板上,通过控制单元控制爬壁机器人运动。本发明通过永磁驱动组与驱动磁体配合构成的永磁驱动机构,使爬壁机器人具备较强的吸附能力和承载力,且通过自适应机构被动适应变曲率磁壁面,能广泛适用于多种曲率壁面实现多场景检测。
Permanent magnet adsorption type wall-climbing robot with self-adaptive variable-curvature magnetic conductive wall surface
自适应变曲率导磁壁面的永磁吸附式爬壁机器人
2025-05-06
Patent
Electronic Resource
Chinese
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