The invention relates to a magnet follow-up wheel and a wall-climbing robot, the magnet follow-up wheel comprises a wheel assembly, the wheel assembly comprises a first wheel and a second wheel, and the first wheel and the second wheel are connected through an axle; the magnet assembly comprises a connecting shaft sleeve and a follow-up magnet, the follow-up magnet is fixedly connected with the connecting shaft sleeve, a force sensor is arranged between the follow-up magnet and the connecting shaft sleeve, the connecting shaft sleeve is arranged on the axle through a bearing in a sleeving mode, and gaps exist between the two ends of the connecting shaft sleeve and the first wheel and between the two ends of the connecting shaft sleeve and the second wheel. And a height difference exists between the bottom surface of the follow-up magnet and the periphery of the wheel assembly. The follow-up magnet can automatically adjust the angle according to the condition of the magnetic adsorption force, it is guaranteed that the magnetic adsorption force of the follow-up magnet to the magnetic conductive wall face is always the maximum value, the wall-climbing robot can be suitable for the curved magnetic conductive wall face, automatic adjustment of the path is achieved through feedback of the force sensor, and the safety of the robot is greatly improved.
本发明涉及一种磁铁随动车轮及爬壁机器人,包括:车轮组件,所述车轮组件包括第一车轮和第二车轮,所述第一车轮和第二车轮通过轮轴相连;磁铁组件,所述磁铁组件包括连轴套和随动磁铁,所述随动磁铁与所述连轴套固定连接,所述随动磁铁与所述连轴套之间设置有力传感器,所述连轴套通过轴承套设于所述轮轴上,所述连轴套两端与所述第一车轮和第二车轮之间存在间隙,所述随动磁铁的底面与所述车轮组件的外周之间存在高度差。本发明随动磁铁能够根据磁吸附力的情况自动调整角度,保证随动磁铁对导磁壁面的磁吸附力始终为最大值,爬壁机器人能够适于曲面的导磁壁面,且利用力传感器的反馈实现路径的自动调整,大大提高了机器人的安全性。
Magnet follow-up wheel and wall-climbing robot
一种磁铁随动车轮及爬壁机器人
2022-10-11
Patent
Electronic Resource
Chinese
Permanent magnet adsorption wheel leg composite wall-climbing robot
European Patent Office | 2020
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