Magnetic adsorption wall-climbing robot and control method thereof

Abstract

The invention relates to the field of wall-climbing robots, and discloses a magnetic adsorption wall-climbing robot and a control method thereof. The magnetic adsorption wall-climbing robot comprisesa body, a handle, a telescopic mechanism and a sensing control mechanism, and a permanent magnet is arranged at the bottom end of the body; the handle fixed at top end of body; the telescopic mechanism comprises a driving source arranged on the body and a telescopic piece arranged at the output end of the driving source; and the sensing control mechanism comprises a first sensor, a second sensor and a controller which is in signal connection with the first sensor and the second sensor and is in control connection with the driving source, the first sensor is arranged on the side face, facing the body, of the handle to sense tension borne by the handle, and the second sensor is arranged on the side face, back to the body, of the handle to sense the pushing force applied to the handle. When the handle is pulled, the telescopic piece extends out of the bottom end of the body, and then the magnetic adsorption wall-climbing robot can be simply and conveniently detached from the wall surface;and when the handle is subjected to pushing force, the telescopic piece retracts back to the body, and then the magnetic attraction wall-climbing robot can be loaded on the wall surface.

Description

technical field [0001] The invention relates to the technical field of wall-climbing robots, in particular to a magnetic adsorption wall-climbing robot and a control method thereof. Background technique [0002] The wall-climbing robot is an automated robot that can climb and complete operations on a vertical wall. It can obtain operators to complete special tasks under extreme conditions. It has broad application prospects in welding, wall cleaning and other fields. [0003] At present, the magnetic adsorption wall-climbing robots used in large storage tanks and spherical tanks mostly use permanent magnetic adsorption structures. Although the permanent magnet adsorption type wall-climbing robot has a large adsorption force and reliable adsorption, since the magnetic size of the permanent magnet does not change, the adsorption magnetic force is uncontrollable. There are many problems when loading and unloading this type of wall-climbing robot, mainly reflected in: 1. The p...

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Problems solved by technology

Although the permanent magnet adsorption type wall-climbing robot has a large adsorption force and reliable adsorption, since the magnetic size of the permanent magnet does not change, the adsorption magnetic force is uncontrollable. There are many problems when loading and unloading this type of wall-climbing robot, mainly reflected in: 1. The permanent magnet adsorption has a large adsorption force, which makes it difficult and time-consuming to remove from the wall, and requires high operating requirements for the operator; 2. The permanent magnet adsorption has a large adsorption force, and the wall-climbing robot will When directly adsorbed and placed on the wall, it is easy to generate a large impact force, which may cause unnecessary impact damage to the wall-climbing robot and reduce the service life

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