Research on distributed electromagnetic track adsorption mechanism

Abstract

The ship wall-climbing robot can be divided into permanent magnet adsorption and electromagnetic adsorption according to the magnetic adsorption mode. The control of permanent magnet adsorption is simple, which is also favored by various research institutions. With the continuous application of electromagnet control technology, electromagnetic adsorption technology has been gradually applied in various fields. In this paper, the adsorption control system of a new type of electromagnetic adsorption wall-climbing robot is studied. A distributed electromagnetic adsorption mechanism is designed to change the permanent magnet adsorption into electromagnetic adsorption. According to the principle of electromagnetic adsorption, the structure of electromagnetic adsorption is designed, and the double-row chain crawler is used as the mobile device. The electromagnetic adsorption device is installed on the track, and the distributed control method is designed according to the principle of electromagnetic adsorption and control requirements. Because the adsorption mode and the movement mode are interdependent, the coupling problem between the traveling state and the magnetic force control is analyzed. Finally, the distributed electromagnetic adsorption mechanism is fabricated. The electromagnetic control experiment shows that the magnetic force of each part of the adsorption module can be adjusted accurately. The electromagnetic adsorption structure has a good application value for the wall-climbing robot which is responsible for rust removal, cleaning, detection and other tasks.