CN110871856A - Magnetic wall-climbing robot and wall-climbing robot system - Google Patents
Magnetic wall-climbing robot and wall-climbing robot systemDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及一种爬壁机器人，特别涉及一种磁性爬壁机器人及爬壁机器人系统，属于行走机器人技术领域。The invention relates to a wall-climbing robot, in particular to a magnetic wall-climbing robot and a wall-climbing robot system, belonging to the technical field of walking robots.
背景技术Background technique
爬壁机器人可以在倾斜壁面、竖直壁面甚至天花板上运动，并通过携带工具完成一定的任务，可在各种不适宜人类从事的作业环境下工作，如核工业和石化行业的罐体检测、船舶行业的除锈和喷涂等。爬壁机器人最重要的技术包括移动控制和吸附控制，其中吸附控制是爬壁机器人与其他类型机器人最显著的区别，因此也是爬壁机器人技术研究的核心内容。Wall-climbing robots can move on inclined walls, vertical walls and even ceilings, and complete certain tasks by carrying tools. They can work in various operating environments that are not suitable for humans, such as tank inspection in the nuclear industry and petrochemical industry. Derusting and spraying in the ship industry, etc. The most important technologies of wall-climbing robots include movement control and adsorption control, among which adsorption control is the most significant difference between wall-climbing robots and other types of robots, so it is also the core content of wall-climbing robot technology research.
通常的，爬壁机器人的吸附控制技术主要有三种：负压吸附、防生吸附和磁场吸附。其中，负压吸附具有良好的壁面材料适应性，但由风机、气管和气泵等构成的负压装置结构复杂、体积大且吸附力有限；仿生吸附是利用人造绒毛等材料制作触手，创新性很强，但目前实用化的产品很少。磁场吸附是利用磁场产生的作用力，吸附力较大但只适合在导磁材料表面上使用。按移动机构的不同，可分为腿足式、车轮式和履带式。按照磁力来源的不同，通常分为电磁式和永磁式。电磁式的如公开号为CN201610653897一种四足式电磁吸附爬壁机器人中披露了一种磁性爬壁机器人的制造方法，其特征在于底部装有电磁吸盘。但采用电磁铁作为吸附手段时，需要通电才能保持吸附状态，当电量不足或者突然断电时，爬壁机器人会失去吸附力。CN203793467U基于磁性座原理的爬壁机器人中披露了一种磁性爬壁机器人的制作原理，其主要特征是采用永磁体提供磁场产生吸力，不用通电才有磁性，但其采用机械结构换向，一是增加了足部结构的复杂程度，当足部结构较小时尤为如此；二是机械结构必然带来磨损问题，使得故障的可能性增加。Generally, there are three main adsorption control technologies for wall-climbing robots: negative pressure adsorption, anti-biological adsorption and magnetic field adsorption. Among them, negative pressure adsorption has good adaptability to wall materials, but the negative pressure device composed of fans, air pipes and air pumps has a complex structure, large volume and limited adsorption force; bionic adsorption uses artificial fluff and other materials to make tentacles, which is very innovative. Strong, but there are very few practical products at present. Magnetic field adsorption is the use of the force generated by the magnetic field. The adsorption force is large but only suitable for use on the surface of magnetic conductive materials. According to the different moving mechanisms, it can be divided into leg type, wheel type and crawler type. According to the different sources of magnetic force, it is usually divided into electromagnetic type and permanent magnet type. Electromagnetic type such as publication number CN201610653897 A four-legged electromagnetic adsorption wall-climbing robot discloses a manufacturing method of a magnetic wall-climbing robot, which is characterized in that an electromagnetic chuck is installed at the bottom. However, when an electromagnet is used as the adsorption method, it needs to be powered on to maintain the adsorption state. When the power is insufficient or the power is suddenly cut off, the wall-climbing robot will lose its adsorption force. CN203793467U A wall-climbing robot based on the principle of magnetic base discloses a manufacturing principle of a magnetic wall-climbing robot. Its main feature is that a permanent magnet is used to provide a magnetic field to generate suction, and there is no magnetism without electricity, but it adopts a mechanical structure for reversing. The complexity of the foot structure is increased, especially when the foot structure is small; second, the mechanical structure will inevitably bring about wear problems, which increases the possibility of failure.
发明内容SUMMARY OF THE INVENTION
本发明的主要目的在于提供一种磁性爬壁机器人及爬壁机器人系统，主要适用于可导磁的铁或钢材等材料表面，应用领域包括罐体/管道检测、高层焊接、船体除锈喷漆等，以克服现有技术的不足。The main purpose of the present invention is to provide a magnetic wall-climbing robot and a wall-climbing robot system, which are mainly suitable for the surface of materials such as iron or steel that can conduct magnetism. , in order to overcome the shortcomings of the existing technology.
为实现前述发明目的，本发明采用的技术方案包括：In order to realize the foregoing invention purpose, the technical scheme adopted in the present invention includes:
本发明实施例提供了一种磁性爬壁机器人，包括机器人主体以及与机器人主体连接的至少两个支撑腿，所述支撑腿至少具有两个方向的活动自由度，所述支撑腿还与电控永磁吸附机构连接，所述电控永磁吸附机构用以与导磁金属壁面配合，所述电控永磁吸附机构包括导磁轭铁以及设置在导磁轭铁上的相互配合的两个以上主磁体和一个以上可逆磁体，所述可逆磁体上绕制有励磁线圈，当向所述励磁线圈输入第一激励电流时，所述电控永磁吸附机构为充磁状态并与导磁金属壁面吸附，而当向所述励磁线圈输入第二激励电流时，所述电控永磁吸附机构为退磁状态并与导磁金属壁面脱离，所述第一激励电流与第二激励电流的方向相反。An embodiment of the present invention provides a magnetic wall-climbing robot, which includes a robot body and at least two support legs connected to the robot body, the support legs have at least two degrees of freedom of movement in two directions, and the support legs are also connected to an electronic control system. The permanent magnet adsorption mechanism is connected, and the electronically controlled permanent magnet adsorption mechanism is used to cooperate with the magnetic conductive metal wall surface. The above main magnet and one or more reversible magnets, the reversible magnets are wound with excitation coils, and when a first excitation current is input to the excitation coils, the electronically controlled permanent magnet adsorption mechanism is in a magnetized state and is connected with the magnetically conductive metal. The wall surface is adsorbed, and when a second excitation current is input to the excitation coil, the electronically controlled permanent magnet adsorption mechanism is in a demagnetized state and is separated from the magnetically conductive metal wall surface, and the first excitation current is opposite to the direction of the second excitation current .
进一步的，两个以上所述主磁体均为永磁体，所述可逆磁体为永磁体。Further, the two or more main magnets are permanent magnets, and the reversible magnets are permanent magnets.
更进一步的，所述主磁体为高矫顽力永磁体，所述可逆磁体为低矫顽力永磁体。Further, the main magnet is a high-coercivity permanent magnet, and the reversible magnet is a low-coercivity permanent magnet.
优选的，所述主磁体的材质包括永磁铁氧体、钐钴或钕铁硼中的任意一种，但不限于此。Preferably, the material of the main magnet includes any one of permanent ferrite, samarium cobalt or neodymium iron boron, but is not limited thereto.
优选的，所述主磁体的矫顽力为600-2000kA/m。Preferably, the coercive force of the main magnet is 600-2000 kA/m.
优选的，所述可逆磁体的材质包括锰铝碳、铝镍钴或铁铬钴中的任意一种，但不限于此。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.
优选的，所述可逆磁体的矫顽力为30-200kA/m。Preferably, the coercivity of the reversible magnet is 30-200 kA/m.
进一步的，所述支撑腿包括至少两个驱动电机以及与所述驱动电机传动连接的固定支架，所述支撑腿远离机器人主体的末端安装有电控永磁吸附机构。Further, the support legs include at least two drive motors and a fixed bracket drivingly connected with the drive motors, and an electronically controlled permanent magnet adsorption mechanism is installed at the ends of the support legs away from the robot body.
更进一步的，所述电控永磁吸附机构与支撑腿球铰连接。Further, the electronically controlled permanent magnet adsorption mechanism is connected with the support leg ball joint.
更进一步的，与机器人主体连接的驱动电机能够于水平方向上旋转，靠近支撑腿末端的驱动电机能够于竖直方向上旋转。Furthermore, the driving motor connected with the main body of the robot can rotate in the horizontal direction, and the driving motor near the end of the supporting leg can rotate in the vertical direction.
更进一步的，所述机器人主体还包括控制机构，所述控制机构包括主控芯片、电机驱动器和电控永磁控制器，所述主控芯片与电机驱动器、电控永磁控制器连接，所述电机驱动器还与驱动电机连接，所述电控永磁控制器还与励磁线圈的电源连接。Further, the robot body also includes a control mechanism, the control mechanism includes a main control chip, a motor driver and an electronically controlled permanent magnet controller, the main control chip is connected to the motor driver and the electronically controlled permanent magnet controller, so The motor driver is also connected with the drive motor, and the electronically controlled permanent magnet controller is also connected with the power supply of the excitation coil.
在一些较为具体的实施方案中，所述电控永磁吸附机构还包括接触传感器，所述接触传感器与电控永磁控制器连接。In some specific embodiments, the electronically controlled permanent magnet adsorption mechanism further includes a contact sensor, and the contact sensor is connected to the electronically controlled permanent magnet controller.
进一步的，两个主磁体对称设置；两个主磁体的磁场强度相同，磁场方向相反。Further, the two main magnets are arranged symmetrically; the magnetic field strengths of the two main magnets are the same, and the magnetic field directions are opposite.
本发明实施例还提供了一种爬壁机器人系统，其包括所述的磁性爬壁机器人以及相配合的导磁金属壁面。An embodiment of the present invention also provides a wall-climbing robot system, which includes the magnetic wall-climbing robot and a matching magnetically conductive metal wall surface.
与现有技术相比，本发明所提供的磁性爬壁机器人，通过使用电控永磁吸附机构实现机器人的爬壁吸附及行走动作，使用的永磁材料的吸力大，吸力稳定，与传统电磁铁吸附装置相比较，电控永磁吸附机构体积更小吸力更大、更可靠、机器人自身重量更低，可以提高机器人负载能力；电控永磁吸附机构工作只需要在转换吸附或释放状态时通电，无需持续通电即可保持吸附或释放状态，提高了爬壁机器人续航能力；且该机器人在电量不足或者断电的情况下，仍然能够保持吸附状态，避免机器人坠落造成人员或财产损失。Compared with the prior art, the magnetic wall-climbing robot provided by the present invention realizes the wall-climbing adsorption and walking action of the robot by using an electronically controlled permanent magnet adsorption mechanism. Compared with the iron adsorption device, the electronically controlled permanent magnet adsorption mechanism is smaller in size, larger in suction, more reliable, and has a lower weight of the robot itself, which can improve the load capacity of the robot; the electronically controlled permanent magnet adsorption mechanism only needs to be converted when the adsorption or release state is changed. Power-on, it can maintain the adsorption or release state without continuous power-on, which improves the endurance of the wall-climbing robot; and the robot can still maintain the adsorption state in the case of insufficient power or power failure, so as to avoid the loss of personnel or property caused by the falling of the robot.
附图说明Description of drawings
图1是本发明一典型实施案例中一种磁性爬壁机器人的结构示意图；1 is a schematic structural diagram of a magnetic wall-climbing robot in a typical implementation case of the present invention;
图2是本发明一典型实施案例中一种磁性爬壁机器人的支撑腿的结构示意图；2 is a schematic structural diagram of a support leg of a magnetic wall-climbing robot in a typical implementation case of the present invention;
图3是本发明一典型实施案例中电控永磁吸附机构的剖面结构示意图；3 is a schematic cross-sectional structure diagram of an electronically controlled permanent magnet adsorption mechanism in a typical implementation case of the present invention;
图4是本发明一典型实施案例中电控永磁吸附机构吸持的原理示意图；4 is a schematic diagram of the principle of holding by an electronically controlled permanent magnet adsorption mechanism in a typical implementation case of the present invention;
图5是本发明一典型实施案例中电控永磁吸附机构释放的原理示意图。FIG. 5 is a schematic diagram of the principle of releasing the electronically controlled permanent magnet adsorption mechanism in a typical implementation case of the present invention.
具体实施方式Detailed ways
鉴于现有技术中的不足，本案发明人经长期研究和大量实践，得以提出本发明的技术方案。如下将对该技术方案、其实施过程及原理等作进一步的解释说明。In view of the deficiencies in the prior art, the inventor of the present application was able to propose the technical solution of the present invention after long-term research and extensive practice. The technical solution, its implementation process and principle will be further explained as follows.
本发明实施例提供了一种磁性爬壁机器人，包括机器人主体以及与机器人主体连接的至少两个支撑腿，所述支撑腿至少具有两个方向的活动自由度，所述支撑腿还与电控永磁吸附机构连接，所述电控永磁吸附机构用以与导磁金属壁面配合，所述电控永磁吸附机构包括导磁轭铁以及设置在导磁轭铁上的相互配合的两个以上主磁体和一个以上可逆磁体，所述可逆磁体上绕制有励磁线圈，当向所述励磁线圈输入第一激励电流时，所述电控永磁吸附机构为充磁状态并与导磁金属壁面吸附，而当向所述励磁线圈输入第二激励电流时，所述电控永磁吸附机构为退磁状态并与导磁金属壁面脱离，所述第一激励电流与第二激励电流的方向相反。An embodiment of the present invention provides a magnetic wall-climbing robot, which includes a robot body and at least two support legs connected to the robot body, the support legs have at least two degrees of freedom of movement in two directions, and the support legs are also connected to an electronic control system. The permanent magnet adsorption mechanism is connected, and the electronically controlled permanent magnet adsorption mechanism is used to cooperate with the magnetic conductive metal wall surface. The above main magnet and one or more reversible magnets, the reversible magnets are wound with excitation coils, and when a first excitation current is input to the excitation coils, the electronically controlled permanent magnet adsorption mechanism is in a magnetized state and is connected with the magnetically conductive metal. The wall surface is adsorbed, and when a second excitation current is input to the excitation coil, the electronically controlled permanent magnet adsorption mechanism is in a demagnetized state and is separated from the magnetically conductive metal wall surface, and the first excitation current is opposite to the direction of the second excitation current .
进一步的，两个以上所述主磁体均为永磁体，所述可逆磁体为永磁体。Further, the two or more main magnets are permanent magnets, and the reversible magnets are permanent magnets.
更进一步的，所述主磁体为高矫顽力永磁体，所述可逆磁体为低矫顽力永磁体。Further, the main magnet is a high-coercivity permanent magnet, and the reversible magnet is a low-coercivity permanent magnet.
优选的，所述主磁体的材质包括永磁铁氧体、钐钴或钕铁硼中的任意一种，但不限于此。Preferably, the material of the main magnet includes any one of permanent ferrite, samarium cobalt or neodymium iron boron, but is not limited thereto.
优选的，所述主磁体的矫顽力为600-2000kA/m。Preferably, the coercive force of the main magnet is 600-2000 kA/m.
优选的，所述可逆磁体的材质包括锰铝碳、铝镍钴或铁铬钴中的任意一种，但不限于此。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.
优选的，所述可逆磁体的矫顽力为30-200kA/m。Preferably, the coercivity of the reversible magnet is 30-200 kA/m.
进一步的，所述支撑腿包括至少两个驱动电机以及与所述驱动电机传动连接的固定支架，所述支撑腿远离机器人主体的末端安装有电控永磁吸附机构。Further, the support legs include at least two drive motors and a fixed bracket drivingly connected with the drive motors, and an electronically controlled permanent magnet adsorption mechanism is installed at the ends of the support legs away from the robot body.
更进一步的，所述电控永磁吸附机构与支撑腿球铰连接。Further, the electronically controlled permanent magnet adsorption mechanism is connected with the support leg ball joint.
更进一步的，与机器人主体连接的驱动电机能够于水平方向上旋转，靠近支撑腿末端的驱动电机能够于竖直方向上旋转。Furthermore, the driving motor connected with the main body of the robot can rotate in the horizontal direction, and the driving motor near the end of the supporting leg can rotate in the vertical direction.
更进一步的，所述机器人主体还包括控制机构，所述控制机构包括主控芯片、电机驱动器和电控永磁控制器，所述主控芯片与电机驱动器、电控永磁控制器连接，所述电机驱动器还与驱动电机连接，所述电控永磁控制器还与励磁线圈的电源连接。Further, the robot body also includes a control mechanism, the control mechanism includes a main control chip, a motor driver and an electronically controlled permanent magnet controller, the main control chip is connected to the motor driver and the electronically controlled permanent magnet controller, so The motor driver is also connected with the drive motor, and the electronically controlled permanent magnet controller is also connected with the power supply of the excitation coil.
在一些较为具体的实施方案中，所述电控永磁吸附机构还包括接触传感器，所述接触传感器与电控永磁控制器连接。In some specific embodiments, the electronically controlled permanent magnet adsorption mechanism further includes a contact sensor, and the contact sensor is connected to the electronically controlled permanent magnet controller.
进一步的，两个主磁体对称设置；两个主磁体的磁场强度相同，磁场方向相反。Further, the two main magnets are arranged symmetrically; the magnetic field strengths of the two main magnets are the same, and the magnetic field directions are opposite.
本发明实施例还提供了一种爬壁机器人系统，其包括所述的磁性爬壁机器人以及相配合的导磁金属壁面。An embodiment of the present invention also provides a wall-climbing robot system, which includes the magnetic wall-climbing robot and a matching magnetically conductive metal wall surface.
如下将结合附图对该技术方案、其实施过程及原理等作进一步的解释说明。应该理解，这些描述只是示例性的，而并非要限制本发明的范围；此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本发明的概念。The technical solution, its implementation process and principle will be further explained below with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and not intended to limit the scope of the present invention; furthermore, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts of the present invention.
请参阅图1-图2，一种磁性爬壁机器人，包括机器人主体以及与机器人主体连接的三个支撑腿2，机器人主体包括两个相对设置的主控平台1，三个支撑腿2连接在主控平台1上，主控平台1上设置有控制机构和供电电源14，控制机构包括主控芯片11、电机驱动器12和电控永磁控制器13；支撑腿2至少具有两个方向的活动自由度，支撑腿2还与电控永磁吸附机构3连接，电控永磁吸附机构3用以与导磁金属壁面配合，主控芯片11与电机驱动器12、电控永磁控制器13连接，所述电机驱动器还与驱动电机连接。Please refer to Fig. 1-Fig. 2, a magnetic wall-climbing robot includes a robot body and three
请参阅图2，每个支撑腿2包括两个固定支架22和三个驱动电机21，驱动电机21连接于固定支架22的端部并与固定支架22传动连接，驱动电机21与固定支架22采用螺丝连接；电控永磁吸附机构连接在支撑腿2的末端；与主控平台1相连的驱动电机22可以在水平方向上旋转运动，靠近支撑腿2末端的驱动电机22可以在垂直方向上可以旋转运动，支撑腿可以完成抬升旋转动作，使得机器人可以灵活爬行；支撑腿2与电控永磁吸附机构3可采用球铰连接，机器人在爬壁过程中遇到不平的地方，可以自行调整足部接触角度，壁面接触面积小造成的吸力不足。主控平台1和支撑腿2的固定支架22的材质可以是不导磁金属或塑料，优选为塑料，以降低机器人的自身重量。Referring to FIG. 2 , each
请参阅图3，电控永磁吸附机构3包括导磁轭铁31以及设置在导磁轭铁31上的两个主磁体32以及一个可逆磁体34；两个主磁体32对称设置，两个主磁体为永磁体，且两个主磁体的磁场强度相同、磁场方向相反；优选的，两个主磁体32均为高矫顽力永磁体；优选的，所述主磁体的材质包括永磁铁氧体、钐钴或钕铁硼中的任意一种；优选的，所述主磁体的矫顽力为600-2000kA/m。可逆磁体为低矫顽力永磁体以及绕设于所述低矫顽力永磁体表面的励磁线圈33，励磁线圈33与供电电源连接；优选的，所述可逆磁体的材质包括锰铝碳、铝镍钴或铁铬钴中的任意一种；优选的，所述可逆磁体的矫顽力为30-200kA/m，当向所述励磁线圈33输入第一激励电流时，所述电控永磁吸附机构3为充磁状态并与导磁金属壁面吸附，而当向所述励磁线圈33输入第二激励电流时，所述电控永磁吸附机构3为退磁状态并与导磁金属壁面脱离，所述第一激励电流与第二激励电流的方向相反。Please refer to FIG. 3 , the electronically controlled permanent
具体的，请参阅图4，当向所述励磁线圈33输入第一激励电流时，励磁线圈33受到正向激励，可逆磁体34呈现上极为N极，下极为S极，可逆磁体34和主磁体32都有磁通穿过，此时电控永磁吸附机构3处于充磁状态，可以吸附在导磁金属壁面36；Specifically, please refer to FIG. 4 , when the first excitation current is input to the
当退磁时，请参阅图5，而当向所述励磁线圈33输入第二激励电流时，通电线圈33受到负向激励，可逆磁体34呈现上极为S极，下极为N极，导磁金属壁面36并没有磁通穿过，两个主磁体32只有一个闭合回路，此时电控永磁吸附机构3处于退磁状态，可以脱离导磁金属壁面。When demagnetizing, please refer to FIG. 5, and when the second excitation current is input to the
机器人可以根据运动情况对电控永磁吸附机构吸力进行调整，与电控永磁吸附机构连接的接触传感器，在机器人爬壁过程中实时检测足部吸附情况，及时作出吸力调整(通过调整通入通电线圈33中的电流大小和方向进行调节)。The robot can adjust the suction force of the electronically controlled permanent magnet adsorption mechanism according to the movement situation. The contact sensor connected to the electronically controlled permanent magnet adsorption mechanism can detect the foot adsorption in real time during the robot climbing process, and make timely suction adjustment (by adjusting the access The magnitude and direction of the current in the energized
具体的，本发明实施例提供的磁性爬壁机器人爬壁过程：先对支撑腿2上的电控永磁吸附机构3充磁，使机器人附着在导磁金属壁面36上，机器人前进，过程中，主控芯片11控制支撑腿2按照一定的步态进行运动，支撑腿2主要有抬腿、挪腿(旋转腿部髋关节)、落脚三个步骤，在支撑腿2抬腿之前，先对电控永磁吸附机构3进行退磁，支撑腿与金属壁面没有吸力，可以进行抬腿、转动、落脚步骤，落脚完毕后，再对电控永磁吸附机构3进行充磁，使机器人再次附着在金属壁面上。Specifically, the wall-climbing process of the magnetic wall-climbing robot provided by the embodiment of the present invention: firstly, the electronically controlled permanent
更为具体地：爬壁机器人接收运动指令后，通过主控芯片给电机驱动器和电控永磁控制器发送信号，改变支撑腿的运动状态以及腿部末端电控永磁吸附机构的吸附状态，电机驱动器调整电机工作状态，使支撑腿旋转抬升，使支撑腿改变动作状态，电控永磁控制器对电控永磁吸附机构进行充退磁操作。具体地：当支撑腿需要吸附在金属壁面时，电控永磁控制器进行充磁操作，对励磁线圈通入正向电流，通电励磁线圈产生的磁场将可逆磁体充以与主磁体相同方向的磁场，电控永磁吸附机构会产生吸力，牢牢抓住金属壁面；当支撑腿需要抬高离开金属壁面时，电控永磁控制器先进行退磁操作，对励磁线圈通入反向电流(与充磁电流方向相反)，使通电励磁线圈产生的磁场将可逆磁体充以与主磁体相反方向的磁场，于此同时，电控永磁吸附机构与导磁金属壁面吸持力接近0；爬壁机器人抬腿动作之前，电控永磁充退磁系统对将要抬起的支撑腿进行退磁操作，支撑腿可以转动、抬高；机器人落腿之后，电控永磁控制器对支撑腿充磁操作，使支撑腿与导磁金属壁面保持吸附状态；电控永磁控制器控制电控永磁吸附机构进行充退磁时间很短，仅需(0.1～2秒)，且充退磁操作完成之后，无需继续通电保持吸附或释放状态。机器人的转向、后退等动作实现原理与前进类似，主要在支撑腿的运动顺序上做出调整，这里不作赘述。More specifically: after the wall-climbing robot receives the motion command, it sends a signal to the motor driver and the electronically controlled permanent magnet controller through the main control chip to change the motion state of the support leg and the adsorption state of the electronically controlled permanent magnet adsorption mechanism at the end of the leg. The motor driver adjusts the working state of the motor, rotates and lifts the support leg, and changes the action state of the support leg, and the electronically controlled permanent magnet controller performs charging and demagnetization operations on the electronically controlled permanent magnet adsorption mechanism. Specifically: when the support leg needs to be attached to the metal wall, the electronically controlled permanent magnet controller performs the magnetization operation, and the positive current is applied to the excitation coil, and the magnetic field generated by the electrified excitation coil will charge the reversible magnet with the same direction as the main magnet. Magnetic field, the electronically controlled permanent magnet adsorption mechanism will generate suction and firmly grasp the metal wall; when the support leg needs to be lifted away from the metal wall, the electronically controlled permanent magnet controller will first perform demagnetization operation, and a reverse current is applied to the excitation coil ( Opposite the direction of the magnetizing current), so that the magnetic field generated by the energized excitation coil will charge the reversible magnet with a magnetic field in the opposite direction to the main magnet. Before the wall robot lifts its legs, the electronically controlled permanent magnet magnetization and demagnetization system demagnetizes the support legs to be lifted, and the support legs can be rotated and raised; after the robot drops its legs, the electronically controlled permanent magnet controller magnetizes the support legs. , to keep the support legs and the magnetically conductive metal wall in the adsorption state; the electronically controlled permanent magnet controller controls the electronically controlled permanent magnet adsorption mechanism to charge and demagnetize the magnetization mechanism in a very short time (0.1 to 2 seconds), and after the charge and demagnetization operation is completed, no need Continue to energize to maintain the adsorption or release state. The realization principle of the robot's steering and backward movements is similar to that of forward movement, and the main adjustments are made in the movement sequence of the support legs, which will not be repeated here.
与现有技术相比，本发明所提供的磁性爬壁机器人，通过使用电控永磁吸附机构实现机器人的爬壁吸附及行走动作，使用的永磁材料的吸力大，吸力稳定，与传统电磁铁吸附装置相比较，电控永磁吸附机构体积更小吸力更大、更可靠、机器人自身重量更低，可以提高机器人负载能力；电控永磁吸附机构工作只需要在转换吸附或释放状态时通电，无需持续通电即可保持吸附或释放状态，提高了爬壁机器人续航能力；且该机器人在电量不足或者断电的情况下，仍然能够保持吸附状态，避免机器人坠落造成人员或财产损失。Compared with the prior art, the magnetic wall-climbing robot provided by the present invention realizes the wall-climbing adsorption and walking action of the robot by using an electronically controlled permanent magnet adsorption mechanism. Compared with the iron adsorption device, the electronically controlled permanent magnet adsorption mechanism is smaller in size, larger in suction, more reliable, and has a lower weight of the robot itself, which can improve the load capacity of the robot; the electronically controlled permanent magnet adsorption mechanism only needs to be converted when the adsorption or release state is changed. Power-on, it can maintain the adsorption or release state without continuous power-on, which improves the endurance of the wall-climbing robot; and the robot can still maintain the adsorption state in the case of insufficient power or power failure, so as to avoid the loss of personnel or property caused by the falling of the robot.
应当理解，上述实施例仅为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本发明的内容并据以实施，并不能以此限制本发明的保护范围。凡根据本发明精神实质所作的等效变化或修饰，都应涵盖在本发明的保护范围之内。It should be understood that the above-mentioned embodiments are only intended to illustrate the technical concept and characteristics of the present invention, and the purpose thereof is to enable those who are familiar with the art to understand the content of the present invention and implement it accordingly, and cannot limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be included within the protection scope of the present invention.
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