Development of Innovative Wall-climbing Robot with Electromagnetic Absorption
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摘要: 针对永磁吸附式爬壁机器人机动性与吸附性相矛盾这一问题，提出了一种电磁铁轮流通断电机构，并基于该机构设计了一种履带式爬壁机器人。为了防止机器人出现滑移、倾覆和翻转失稳状况，对机器人进行了力学分析，利用COMSOL软件对电磁铁进行磁场仿真分析，完成了电磁铁的设计及机器人整机的制作。结果表明, 机器人能够以任意姿态在不同角度壁面上爬行，验证了电磁铁轮流通断电机构的可靠性。该机器人在大型钢结构巡检等方面有较好的应用价值。Abstract: Aiming at the contradiction between the mobility and the adsorption of the wall-climbing robot with permanent magnet adsorption, an electromagnet power on-off mechanism is proposed, and a wall-climbing robot based on this mechanism is designed. The mechanical design of the robot is carried out. In order to prevent the robot from slipping, overturning and flipping, the mechanics of the robot is analyzed and the magnetic field of the electromagnet is simulated with COMSOL software, and then the design of the electromagnet and the manufacture of the robot is completed. The experimental results show that the robot can crawl flexibly on different angle walls in any posture, which verifies the reliability of the electromagnet power on-off mechanism. The robot has wide application in the inspection of large steel structures.
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表 1 机器人样机实验性能参数
参数名称 参数值 机器人总重 6.7 kg 机器人长宽高 338 mm×295 mm×110 mm 爬行速度 0~5 cm/s 可携带负载量 3 kg 可适应壁面角度θ [-90°, 90°] 减速步进电机扭矩 5 N·m 
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