Wheeled Magnetic Adsorption Wall Climbing Robot Based on Damped Shaft Design

摘要

With the widespread use of steel structures, the need for regular inspection and surface cleaning of steel structures is increasing. Robots can solve the problem of the risk of working at heights in traditional manual inspection but currently suffer from a lack of flexibility and load capacity. Therefore, in this paper, a wheeled magnetic adsorption wall-climbing robot based on a damped pivot system is proposed to provide power and adhesion force through a high reduction ratio hybrid drive mechanism and strong magnetic wheels. Experimental results show that the robot can move freely on the outer surface of a pipe with a diameter of at least 70 mm, easily overcome obstacles of up to 6 mm, and support loads of up to 10 kg, which significantly improves the flexibility and load capacity of the robot.