Design Of Electronic Control Permanent Magnet Adsorption Device For Wall-Climbing Robot

Wall-climbing robots are widely used in special operations,such as counter-terrorism rescue,wall cleaning and ship inspection.Magnetic adsorption wall-climbing robot belongs to a branch of wall-climbing robot,which is mainly applied to steel wall surface.However,its adsorption capacity is often not adjustable,which can not meet the needs of different loads.In view of this problem,this paper designs a wall-climbing robot electric control permanent magnet adsorption device.Compared with the current domestic and foreign wall-climbing robot adsorption mode,the advantage is that it can conduct quantitative magnetization according to different load requirements,and can carry out magnetic detection on the adsorption device itself,complete demagnetization compensation,and expand the application scope of the magnetic adsorption wall climbing robot.Firstly,introduces the current research status of wall-climbing robot,the advantages and disadvantages of different adsorption methods of wall-climbing robot.Analyzes the development status of electric control permanent magnet technology,by comparison,one kind of electronic control permanent magnet adsorption device based on magnetic adsorption climbing robot is proposed,and the minimum adsorption force of electronic control permanent magnet adsorption device is obtained through the analysis of the force on the climbing robot.Secondly,through the force analysis of the wall-climbing robot,the minimum adsorption force of the electronic permanent magnet adsorption device is obtained.The structural requirements for the wall-climbing robot to surmount obstacles are analyzed,the adsorption device is designed with SolidWorks,and the adsorption device is simulated with Ansys finite element simulation software.The arrangement of magnets,the thickness of yoke,the length of permanent magnets,the size of air gap and the size of external excitation are obtained by simulation.Based on the finite element simulation and theoretical calculation of enameled coil,the specification of enameled wire is determined.Simulation results show that the designed electronic permanent magnet adsorption device has controllable adsorption force and can be magnetized and demagnetized,which verifies the feasibility of the design scheme.Then,the magnetization and demagnetization control system of electronic permanent magnet adsorption device is designed,including magnetization and demagnetization control circuit,charging and demagnetization executive circuit and protection circuit,as well as the software design of each part function,which verifies the feasibility of magnetization and demagnetization control system scheme.Finally,the adsorption capacity test device is set up to test and calibrate the adsorption capacity of the electric control permanent magnet adsorption device to achieve the quantitative magnetization of the adsorption device.Compared with the case of using permanent magnet to produce fixed adsorption force,the experiment shows that the movement ability of wall-climbing robot is improved after quantitative magnetization,and the compensation control of adsorption force is completed by magnetic flux sensor as feedback.