CN-121325063-B - Magnetic adsorption strength measuring device and method for wall climbing robot

CN121325063BCN 121325063 BCN121325063 BCN 121325063BCN-121325063-B

Abstract

The invention belongs to the technical field of robots, and particularly discloses a magnetic adsorption strength measuring device and method of a wall climbing robot, wherein the magnetic adsorption strength measuring device comprises a rotating plate, a permanent magnet wheel and a permanent magnet wheel, wherein the rotating plate is fixed on a shaft body and is arranged in parallel with the permanent magnet wheel along the axial direction of the shaft body; the magnetic force measuring device comprises a rotating plate, a plurality of force measuring magnetic parts, an adjusting part, a normal distance between the force measuring magnetic parts and the magnetic wall surface when the force measuring magnetic parts are close to the magnetic wall surface, and the adjusting part is used for adjusting the normal distance between the force measuring magnetic parts and the magnetic wall surface when the force measuring magnetic parts generate magnetic force data.

Inventors

WANG HEYU
ZHAO BIN
CHEN XIAODIE
CHEN BIN
LI ZONGTAI
LIU FENG
HUANG XIANTAO
Zhang Haiku
LI SHENGSHOU
CHEN MIN
DONG XU
WANG ZIYUAN
HUANG BO
HUANG HUAJIAN

Assignees

大唐水电科学技术研究院有限公司

Dates

Publication Date: 20260508
Application Date: 20251215

Claims (9)

1. The utility model provides a wall climbing robot's magnetic force adsorption strength survey device, wall climbing robot is including permanent magnet wheel and the rotation motor of circumference setting, the permanent magnet wheel through the axis body with the rotation motor links to each other, its characterized in that, magnetic force adsorption strength survey device includes: The rotating plate is fixed on the shaft body and is arranged in parallel with the permanent magnet wheel along the axial direction of the shaft body, through holes extending along the radial direction of the shaft body are formed in the rotating plate, and a plurality of through holes are distributed along the circumferential direction of the shaft body; The magnetic force measuring device comprises a permanent magnet wheel, a plurality of force measuring magnetic parts, a force measuring magnet and a force measuring meter, wherein each force measuring magnetic part is movably arranged in the through hole, the force measuring magnetic parts are matched with the magnetic wall surface to generate at least one magnetic force data in the process that the side parts of the force measuring magnetic parts corresponding to the permanent magnet wheel are close to the magnetic wall surface, the force measuring magnetic parts comprise a force measuring magnet and the force measuring meter, the force measuring meter is in sliding connection with the inner wall of the through hole, the force measuring meter is respectively connected with the force measuring magnet and a soft connecting piece, and the force measuring meter is used for acquiring the magnetic force data of the force measuring magnet and the magnetic wall surface, and the force measuring magnetic parts also comprise a force measuring spring used for connecting the force measuring meter and the force measuring magnet; the magnetic force measuring device comprises a shaft body, an adjusting part and a force measuring magnetic part, wherein the shaft body is fixed on the shaft body, one end of the force measuring magnetic part, which is close to the shaft body, is flexibly connected with the adjusting part, and the adjusting part is used for adjusting the normal distance between the force measuring magnetic part and the magnetic wall surface when the force measuring magnetic part generates the magnetic force data.
2. The apparatus for measuring the magnetic attraction strength of a wall climbing robot according to claim 1, wherein the rotating plate comprises: the force measuring module inner plate is connected with the shaft body; The inner support piece is connected with the side wall of the inner plate of the force measuring module, which is far away from the permanent magnet wheel, and the through hole is formed in the inner support piece; and the outer plate of the force measuring module is connected with the side wall of the inner support piece, which is far away from the inner plate of the force measuring module.
3. The device for measuring the magnetic adsorption strength of the wall climbing robot according to claim 2, wherein a hole is formed in the middle of the outer plate of the force measuring module, and the adjusting part comprises a force measuring control ring rotatably connected with the hole; the force measuring magnetic part is connected with the force measuring control ring through a soft connecting piece.
4. The apparatus for measuring the magnetic attraction strength of a wall climbing robot according to claim 3, wherein the adjusting section includes: the connecting rod is used for being matched with the force measurement control ring so as to drive all force measurement magnetic parts to be close to or far away from the edge parts of the permanent magnet wheels through the soft connecting piece.
5. The apparatus for measuring the magnetic attraction strength of a wall climbing robot according to claim 4, wherein the adjusting unit further comprises: the connecting rod is arranged between the ring body and the outer plate of the force measuring module along the axial direction of the shaft body; the adjusting assembly is used for connecting the ring body and the connecting rod, and the adjusting assembly is used for driving the connecting rod to move circumferentially away from the end part of the shaft body.
6. The apparatus for measuring the magnetic attraction strength of a wall climbing robot according to claim 5, wherein the adjusting unit comprises: the adjusting rail is arranged on the ring body in a penetrating way and extends along the circumferential direction of the shaft body; The adjusting knob is connected with the end part of the connecting rod, which is far away from the shaft body, and the adjusting knob is detachably arranged in the adjusting track.
7. A magnetic attraction strength measuring apparatus of a wall climbing robot according to claim 3, wherein the inner support member is formed with a through groove for the force measuring magnet to move in a radial direction of the shaft body.
8. The device for measuring the magnetic attraction strength of the wall climbing robot according to claim 7, wherein a shoulder is formed at a connection part of the through groove and the through hole, and an edge part of the force measuring spring corresponds to the shoulder.
9. A method implemented by the magnetic attraction strength measuring apparatus of a wall climbing robot according to any one of claims 1 to 8, comprising the steps of: the normal distance between the force measuring magnetic part and the magnetic wall surface is adjusted through the adjusting part, and the magnetic force value corresponding to the adjusted normal distance is calibrated to be a force measuring zero value; acquiring magnetic force data when the side part of the force measuring magnetic part corresponding to the permanent magnet wheel contacts the magnetic wall surface, and judging the value of the force measuring zero value and the magnetic force data; And if the numerical value of the magnetic force data is larger than or equal to the force measurement zero value, the magnetic force adsorption strength is sufficient.

Description

Magnetic adsorption strength measuring device and method for wall climbing robot Technical Field The invention relates to the technical field of robots, in particular to a magnetic adsorption strength measuring device and method of a wall climbing robot. Background With the wide application of large-scale steel structures in the modern industry and the building field, the wall climbing robot plays a wide role in the aspects of maintenance, nondestructive detection, spraying, cleaning and the like of the steel structure. The wall climbing robot can perform various kinds of high-altitude operations on the surface of a steel structure with large scale and high ground clearance, and the application range of the wall climbing robot is gradually expanded from single cleaning and coating removal to complex industrial detection and maintenance tasks. The existing wall climbing robot generally adopts a permanent magnet as an adsorption device so as to ensure the adhesion of the wall climbing robot on a metal surface. However, as the working environment changes, such as surface cleanliness, load, wall climbing angle, etc., the required adsorption force of the wall climbing robot also changes. Under extreme working conditions, the wall climbing robot is at risk of insufficient adsorption force, especially under high load or severe surface conditions, the wall climbing robot can be unstable and fall off, and equipment damage and safety accidents are caused. In addition, the existing wall climbing robot generally adopts a preset permanent magnet configuration, and is set according to the maximum load and the general working condition. However, the above-described arrangement fails to take into account the need for real-time feedback adsorption strength. Due to lack of real-time monitoring and adjusting mechanisms, the wall climbing robot may not be able to timely detect the change of the adsorption force in actual work. Disclosure of Invention The invention aims to provide a magnetic adsorption strength measuring device and method of a wall climbing robot, which are used for solving or improving the problem that the wall climbing robot cannot timely detect insufficient adsorption strength under complex working conditions due to the fact that a mechanism for monitoring and adjusting the magnetic adsorption strength in real time cannot be provided in the technical problems. In view of the above, a first aspect of the present invention is to provide a magnetic attraction strength measuring apparatus for a wall climbing robot. A second aspect of the present invention provides a method implemented by a magnetic attraction strength measuring device of a wall climbing robot. The invention provides a magnetic attraction strength measuring device of a wall climbing robot, which comprises a permanent magnet wheel and a rotating motor, wherein the permanent magnet wheel and the rotating motor are arranged in the circumferential direction, the permanent magnet wheel is connected with the rotating motor through a shaft body, the magnetic attraction strength measuring device comprises a rotating plate, an adjusting part and an adjusting part, the rotating plate is fixed on the shaft body and is arranged in parallel with the permanent magnet wheel along the axial direction of the shaft body, a plurality of through holes extending along the radial direction of the shaft body are formed in the rotating plate, each through hole is distributed in the circumferential direction of the shaft body, each force measuring magnetic part is movably arranged in the through hole, in the process that the side part of the force measuring magnetic part corresponding to the permanent magnet wheel is close to a magnetic wall surface, the force measuring magnetic part is matched with the magnetic wall surface to generate at least one magnetic force data, the adjusting part is fixed on the shaft body, one end, close to the shaft body, of the force measuring magnetic part is flexibly connected with the adjusting part, and the adjusting part is used for adjusting the normal magnetic distance between the force measuring part and the magnetic wall surface when the force measuring magnetic part generates the magnetic force data. The second aspect of the invention provides a method implemented by a magnetic force adsorption strength measuring device of a wall climbing robot, which comprises the following steps of adjusting a normal distance between a force measuring magnetic part and a magnetic wall surface through an adjusting part, calibrating a magnetic force value corresponding to the adjusted normal distance to be a force measuring zero value, acquiring magnetic force data when the side part of the force measuring magnetic part corresponding to a permanent magnet wheel contacts the magnetic wall surface, judging the numerical values of the force measuring zero value and the magnetic force data, if the numerical value of the magnetic force data is smaller th