CN-122009355-A - Magnetic attraction type synchronous wall climbing winding-free robot

CN122009355ACN 122009355 ACN122009355 ACN 122009355ACN-122009355-A

Abstract

The invention discloses a magnetic attraction type synchronous wall climbing winding-free robot, which comprises at least two groups of permanent magnets, wherein the permanent magnet adsorption assembly is symmetrically arranged on two sides of the bottom of a robot body to provide magnetic attraction force, the walking wheel set comprises two pairs of walking wheels which are respectively and correspondingly arranged on two sides of the robot body, the electromagnetic regulation assembly is arranged between the two pairs of walking wheels and comprises an electromagnetic regulation assembly, the additional adsorption force on an adsorption surface is changed by regulating the size of exciting current to realize dynamic regulation of friction force, the safety rope control module is arranged in the robot body to realize release and recovery of a safety rope, the rope is tensioned and the release length of the rope is measured, the rope tensioning mechanism is arranged on a release path of the safety rope, the mechanical structure is adopted to apply tension to the released rope to prevent the rope from loosening, and the control module is arranged on the robot body and is electrically connected with the electromagnetic regulation assembly, the ranging module, the gesture sensing module, the wireless communication module and the safety rope control module.

Inventors

SUN YU
WANG YUNBO
Yang Laihao

Assignees

西安交通大学

Dates

Publication Date: 20260512
Application Date: 20260114

Claims (10)

1. A magnetic synchronous wall-climbing winding-free robot is characterized by comprising, A robot body (1) which is a rigid structure and accommodates a ranging module (53), an attitude sensing module (55) and a wireless communication module (52); The permanent magnet adsorption assembly (2) at least comprises two groups of permanent magnets, and the permanent magnets are symmetrically arranged on two sides of the bottom of the robot car body (1) to provide magnetic adsorption force; The walking wheel sets (3) comprise two pairs of walking wheels which are respectively and correspondingly arranged on two sides of the robot body (1), the positions of the walking wheel sets correspond to the arrangement positions of the permanent magnets, and the walking wheel sets (3) are driven by a motor to provide moving power; The electromagnetic adjusting assembly (4) is arranged between the two pairs of travelling wheels, the electromagnetic adjusting assembly (4) comprises an electromagnetic adjusting assembly (41), and the dynamic adjustment of the friction force is realized by adjusting the exciting current, changing the additional adsorption force on the adsorption surface; The safety rope control module is arranged in the robot car body (1) to release and recover the safety rope, tension the rope and measure the release length of the rope, and comprises a safety rope accommodating disc (61), the safety rope, a rope winding and unwinding motor assembly (63) and a rope tensioning mechanism (64), wherein the rope tensioning mechanism (64) is arranged on a release path of the safety rope, and a mechanical structure is adopted to apply tension to the released rope to prevent the rope from loosening; The control module is arranged on the robot body (1) and is electrically connected with the electromagnetic adjusting assembly (4), the ranging module (53), the gesture sensing module (55), the wireless communication module (52) and the safety rope control module to control the on-off or magnetic force of the electromagnetic adjusting assembly (4), the running distance and the position gesture of the robot are monitored through the data of the processing ranging module (53) and the gesture sensing module (55), the safety rope control module is controlled, and the winding and the unwinding of the rope are detected in real time, and the data information generated by the robot and the upper computer is transmitted and detected in real time.
2. The magnetic synchronous wall climbing wire-winding-free robot according to claim 1, wherein the cable winding and unwinding motor assembly (63) in the safety cable control module preferably drives the storage disc to rotate through the stepping motor to realize winding and unwinding of the cable, and the cable length detection device (54) generates an electric signal through the encoder and transmits the electric signal to the control module for length calculation.
3. The magnetic synchronous wall-climbing wire-winding-free robot according to claim 1, wherein each electromagnetic adjusting component (41) of the electromagnetic adjusting component (4) is installed on the bottom surface of the robot body (1) through a bracket and is positioned on the inner side of the four travelling wheels, and the direction of a magnetic field generated when the coil is electrified is perpendicular to the adsorption surface.
4. The magnetically attractable synchronous wall climbing wire wrap free robot of claim 1 wherein the cable tensioning mechanism (64) includes a spring loaded pinch roller structure to apply a constant pinch friction to the safety cable passing therebetween to ensure that the cable remains tensioned at all times and does not interfere with normal retraction of the cable.
5. The magnetically attractable synchronous wall climbing wire-wrap-free robot of claim 1 wherein the ranging module (53) comprises a laser ranging sensor and the attitude sensing module (55) comprises an IMU inertial measurement unit integrating a tri-axis gyroscope and a tri-axis accelerometer.
6. The magnetically attractable synchronous wall climbing wire-wrap-free robot of claim 1 wherein the wireless communication module (52) is provided with a 2.4GHz based wireless module to establish a wireless data link.
7. The magnetic synchronous wall climbing wire-wrapping-free robot according to claim 1, wherein the control module judges the robot distance and the loosening state of the safety rope based on the data of the ranging module (53) and the rope length detecting device (54), and controls the rope winding and unwinding machine to execute winding and unwinding actions and keep the rope tensioned.
8. The magnetic synchronous wall climbing wire-wrapping-free robot according to claim 1, wherein the control module receives data of the gesture sensing module and data of an internal gesture sensor of the tank body detection robot through the wireless channel, judges an angle difference between a robot body and the tank body detection robot in a tank body cross section direction based on the data, and drives the traveling wheel set by the control module according to a judging result, so that the robot moves in the tank body cross section direction, and the angle difference is reduced.
9. The magnetic synchronous wall climbing wire-wrapping-free robot according to claim 1, wherein the safety rope storage disc stores safety ropes, the rope receiving and discharging unit drives the storage disc to rotate through motor rotation to store or release the ropes, and the rope length detection device generates electric signals through encoder following the rope movement and transmits the electric signals to the control module for length calculation.
10. The magnetic synchronous wall climbing wire-wrapping-free robot according to claim 9, wherein the cable take-up and pay-off unit comprises a take-up disc base, a motor gear and a take-up and pay-off motor, the take-up disc base and the motor gear are meshed with each other through gear teeth, the control module controls the rotation of the take-up and pay-off motor to drive a safety cable take-up disc on the take-up disc base to rotate, so that the cable is taken up, the cable tensioning mechanism is arranged between the safety cable take-up disc and the cable length monitoring device, and a mechanical structure is adopted to apply tension to the released cable.

Description

Magnetic attraction type synchronous wall climbing winding-free robot Technical Field The invention relates to the technical field of wall climbing winding-free robots, in particular to a magnetic attraction type synchronous wall climbing winding-free robot. Background In the fields of petrochemical industry, energy power and the like, internal detection and maintenance of large tank bodies such as pressure vessels and the like are key links for guaranteeing safe operation of equipment. At present, a wall climbing robot is often adopted to carry detection equipment into a tank body to execute tasks. However, the existing wall climbing robot has many problems in practical application, including firstly, the fact that the robot often relies on ropes to conduct safety guarantee and power supply communication in a closed container, but the safety ropes are easy to wind with the inner wall or an obstacle of a tank body to cause limited movement and even failure of tasks of the robot, secondly, the inner structure of the tank body is complex, the robot needs to move on a vertical wall surface or a top surface, the control requirements on adsorption force and friction force are high, the adsorption force is difficult to dynamically adjust in a traditional permanent magnet adsorption mode, slipping or falling of the robot is easy to occur, in addition, wireless signal attenuation in the tank body is serious, communication between the robots and an external upper computer is often interrupted to influence real-time data transmission and state monitoring, and meanwhile, the posture and position monitoring precision of the robot in the tank body are insufficient, and collaborative operation is difficult to realize. Therefore, there is an urgent need for a wall climbing robot system that can stably move in a complex environment inside a tank, adjust an adsorption force in real time, avoid winding of a safety rope, and provide reliable communication relay. The information disclosed in the background section is only for enhancement of understanding of the background of the invention and therefore may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Disclosure of Invention Aiming at the defects or defects existing in the prior art, the magnetic synchronous wall-climbing winding-free robot is provided, and the problems that a robot system for detecting a closed environment in the prior art is serious in communication electromagnetic shielding interference, a safety rope is easy to wind, the state sensing capability of a detection robot is insufficient, and magnetic attraction and the mobility of the robot are contradictory are effectively solved. The aim of the invention is achieved by the following technical scheme. A magnetic synchronous wall-climbing winding-free robot comprises a magnetic attraction type synchronous wall-climbing winding-free robot, The robot body is of a rigid structure, and accommodates the ranging module, the gesture sensing module and the wireless communication module; the permanent magnet adsorption assembly at least comprises two groups of permanent magnets, and the permanent magnets are symmetrically arranged on two sides of the bottom of the robot body so as to provide magnetic adsorption force; The walking wheel sets comprise two pairs of walking wheels which are respectively and correspondingly arranged on two sides of the robot body, the positions of the walking wheel sets correspond to the arrangement positions of the permanent magnets, and the walking wheel sets are driven by a motor to provide moving power; The electromagnetic adjusting assembly is arranged between the two pairs of travelling wheels and comprises an electromagnetic adjusting assembly, and the additional adsorption force on the adsorption surface is changed by adjusting the exciting current, so that the dynamic adjustment of the friction force is realized; The safety rope control module is arranged in the robot car body to release and recover the safety rope, tension the rope and measure the release length of the rope, and comprises a safety rope containing disc (61), the safety rope, a rope winding and unwinding motor assembly and a rope tensioning mechanism, wherein the rope tensioning mechanism is arranged on a release path of the safety rope and applies a pulling force to the released rope by adopting a mechanical structure to prevent the rope from loosening; The control module is arranged on the robot body and is electrically connected with the electromagnetic adjusting assembly, the ranging module, the gesture sensing module, the wireless communication module and the safety rope control module to control the on-off or magnetic force of the electromagnetic adjusting assembly, the running distance and the position gesture of the robot are monitored by processing the data of the ranging module and the gesture sensing module, the safety rope control modu