永磁轮式爬壁机器人的设计  

Design of Permanent Magnet Wheeled Wall Climbing Robot

作　　者：刘丽霞[1] 李凯 LIU Lixia;LI Kai(Baotou Iron&.Steel Vocational Technical College,Baotou 014030,China;Baotou Vocational&Technical College,Baotou 014030,China)

机构地区：[1]包头钢铁职业技术学院,内蒙古包头014030 [2]包头职业技术学院,内蒙古包头014030

出　　处：《机械工程与自动化》2025年第2期128-130,共3页Mechanical Engineering & Automation

摘　　要：为了实现对零件内部异形腔体进行视觉检测,设计了一种永磁吸附的轮式爬壁机器人。该爬壁机器人由永磁轮、驱动电机、控制器、连接件及电源等组成,在电机的驱动下,可以带动2个永磁驱动轮在零件内部腔体中运行。在爬壁机器人的上部集成安装了ESP32CAM摄像头,共集成了WIFI功能,能够通过无线方式利用UDP协议将图像数据上传到上位机。通过测试,该爬壁机器人实现了零件内部异形腔体的视觉检测。To achieve visual inspection of the irregular cavities inside parts,a permanent magnet adsorption wheeled wall-climbing robot was designed.This wall-climbing robot is composed of permanent magnet wheels,drive motors,controllers,connecting parts and power supplies,etc.Driven by the motor,it can move two permanent magnet drive wheels inside the cavity of the part.An ESP32CAM camera is integrated and installed on the upper part of the wall-climbing robot,which integrates WIFI function and can upload image data to the host computer via wireless way using UDP protocol.Through tests,this wall-climbing robot can realize visual inspection of the irregular cavities inside parts.

关 键 词：永磁吸附 轮式爬壁机器人 图像传输 视觉检测 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]