The invention discloses a magnetic attraction wall-climbing robot for a nuclear power station, and a control system and method thereof. The wall-climbing robot comprises a vehicle body, a driving assembly, a caterpillar band assembly, an electromagnetic attraction assembly, a sweeping assembly, an MCU control unit and a power source. According to the robot, the connecting blocks and the permanent magnet blocks which are distributed in a staggered mode are ingeniously arranged on the crawler belt of the wall-climbing robot, meanwhile, the rubber blocks are used as the connecting blocks, the crawler belt assembly and the climbing wall face can be better contacted and attached, and a current control unit and an inclination angle sensing unit are further added; the wall-climbing robot can monitor the posture and advancing parameters of the wall-climbing robot in the advancing process, so that the MCU can control the current control unit to adjust more accurate current to supply the current to the electromagnetic adsorption assembly, and the scheme is particularly suitable for a magnetic metal wall of a hemispherical structure such as a dome of a nuclear power station; if the magnetic metal wall surface is provided with an arc-shaped structure or other inclined curved surface structures, the wall-climbing robot is also applicable, and the wall-climbing robot has a wide application prospect.
本发明公开了核电站磁吸爬壁机器人及其控制系统和方法,爬壁机器人包括车体、驱动组件、履带组件、电磁吸附组件、清扫组件、MCU控制单元和电源;本方案巧妙性通过在爬壁机器人的履带上设置交错布设的连接块和永磁块,同时利用橡胶块作为连接块,令履带组件与爬行壁面能够更好的接触贴合,还进一步通过加入电流控制单元和倾角传感单元,使得爬壁机器人在行进过程中的姿态、行进参数的以监控,从而令MCU控制单元能够控制电流控制单元调节更为精准的电流来供应电磁吸附组件,本方案尤其适用于核电站穹顶这样的半球式结构的磁性金属壁,同样,若磁性金属壁面有弧形结构或其它倾斜曲面的结构,本爬壁机器人也适用,本方案爬壁机器人具有广泛的应用前景。
Magnetic attraction wall-climbing robot for nuclear power station, and control system and method thereof
核电站磁吸爬壁机器人及其控制系统和方法
2021-09-03
Patent
Electronic Resource
Chinese
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