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.
本发明涉及爬壁机器人领域,公开了一种磁吸附爬壁机器人及其控制方法,磁吸附爬壁机器人包括本体、把手、伸缩机构和感控机构,本体底端设有永磁体。把手固定于本体顶端。伸缩机构包括设于本体上的驱动源和设于驱动源输出端的伸缩件。感控机构包括第一传感器、第二传感器、分别与第一传感器及第二传感器信号连接且与驱动源控制连接的控制器,第一传感器设于把手朝向本体的侧面上,以感应把手受到的拉力,第二传感器设于把手背向本体的侧面上,以感应把手受到的推力。把手受到拉力时,伸缩件伸出本体底端,进而磁吸附爬壁机器人能被简单方便的从壁面上卸下;把手受到推力时,伸缩件缩回本体,进而磁吸附爬壁机器人能被装载到壁面上。
Magnetic adsorption wall-climbing robot and control method thereof
一种磁吸附爬壁机器人及其控制方法
2020-12-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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