Controllable Mobile Adhesion Integration Unit for Flexible Magnetic Adhesion Robot

The magnetic adsorption wall-climbing robot is expected to be the future choice for surface processing of large complex steel structures due to its strong load capacity, high adsorption stability, no additional energy consumption, flexible configuration and low running noise. However, there are still many challenges to be solved in terms of mobile processing efficiency and integration of the electromagnetic adsorption wall-climbing robot. The lack of control ability of magnetic adsorption force and power density of mobile adhesion unit are the key issues which limit the processing efficiency and load weight ratio. In order to solve the pain points of mobile adsorption unit of magnetic adsorption wall-climbing robot, a mobile adhesion integration unit based on stator structure of external tooth slotted BLDC is proposed in this paper. Through the organic combination of electromagnetic adsorption and permanent magnet adsorption, the active control of adsorption force and the integration of self-driving function are realized. The adsorption and motion capacity of mobile adhesion integration unit are verified by FEM and experiment.