The invention discloses a magnetic attraction wheel set of a wall-climbing robot and a self-adaptive control method.The magnetic attraction wheel set comprises a wheel assembly, a magnet assembly, rotation driving equipment and a magnetic attraction force detection assembly, the wheel assembly rotates around the rotation axis of the wheel assembly and is used for making rolling contact with a working wall face, and the magnet assembly is used for being magnetically attracted to the working wall face; the magnet assembly is provided with a front end used for facing the front of the walking direction of the wall-climbing robot and a rear end used for facing the rear of the walking direction of the wall-climbing robot, the rotation driving equipment is used for driving the magnet assembly to rotate around the rotating axis of the wheel assembly, and the magnetic attraction force detection assembly comprises a first force sensor and a second force sensor; the first force sensor is used for detecting a first current magnetic attraction force between the front end of the magnet assembly and the working wall face in real time, and the second force sensor is used for detecting a second current magnetic attraction force between the rear end of the magnet assembly and the working wall face in real time. The direction of the magnetic attraction force can be actively and adaptively adjusted, and the magnetic attraction force from an original plane can be actively removed.

    本发明公开了一种爬壁机器人的磁吸轮组和自适应控制方法,磁吸轮组包括车轮组件、磁铁组件、旋转驱动设备以及磁吸力检测组件,车轮组件绕其转动轴线旋转并用于与工作壁面滚动接触,磁铁组件用于与工作壁面磁吸,磁铁组件具有用于朝向爬壁机器人行走方向前方的前端和用于朝向爬壁机器人行走方向后方的后端,旋转驱动设备用于带动磁铁组件绕车轮组件的转动轴线旋转,磁吸力检测组件包括第一力传感器和第二力传感器,第一力传感器用于实时检测磁铁组件的前端与工作壁面之间的第一当前磁吸力,第二力传感器用于实时检测磁铁组件的后端与工作壁面之间的第二当前磁吸力。本发明能够主动自适应地调整磁吸力方向,主动去除来自原平面的磁吸力。


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    Title :

    Wall-climbing robot, magnetic attraction wheel set of wall-climbing robot and self-adaptive control method of magnetic attraction wheel set


    Additional title:

    爬壁机器人、其磁吸轮组及其自适应控制方法


    Contributors:
    YUE RONGKANG (author) / ZHANG ZHIWEI (author) / BAO JIAWEI (author) / WANG BAOYU (author) / CHEN LEI (author) / LIU XUN (author)

    Publication date :

    2024-07-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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