Design of a new non-contact permanent magnet wall-climbing robot

Journal of Civil Aviation University of China ›› 2022, Vol. 40 ›› Issue (2): 47-51.

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Design of a new non-contact permanent magnet wall-climbing robot

JIANG Dezheng , ZHU Bing , REN Wenfeng , FU Xingwei , ZHAO Yanzheng

（1. Three Gorges Power Plant, China Yangtze Power Co., Ltd., Yichang 443000, Hubei, China; 2. Changjiang Ecological Environmental Protection Group Co., Ltd., Wuhan 430062, China; 3. Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China）

Received:2021-05-06 Revised:2021-05-06 Accepted:2021-03-07 Online:2022-06-05 Published:2022-06-05

Abstract

Abstract: In order to improve the adsorption capacity of the wall climbing robot at arbitrary position in the steel pipe, a design scheme for novel non-contact permanent magnetic wall-climbing robot mechanism is proposed, starting with the structural design and combined with the structural characteristics of a certain type of steel pipe. Firstly, the design of permanent magnetic adsorption module is introduced in detail. Secondly, according to the geometric position change of the wall climbing robot in the steel pipe, the change of the adsorption force is calculated, and the static constraints in the limit case are analyzed. Finally, by simulation and field test, the wall climbing robot can realize reliable adsorption at arbitrary position in the steel pipe under large load.

Key words: wall-climbing robot, permanent magnetic adsorption mechanism, static analysis, simulation, reliability analysis

CLC Number:

JIANG Dezheng , ZHU Bing , REN Wenfeng , FU Xingwei , ZHAO Yanzheng. Design of a new non-contact permanent magnet wall-climbing robot [J]. Journal of Civil Aviation University of China, 2022, 40(2): 47-51.

References 10

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Design of a new non-contact permanent magnet wall-climbing robot

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