Development of Magnetic Bridge Inspection Robot Aimed at Carrying Heavy Loads

摘要

This paper presents a bridge inspection robot capable of traveling on inner right-angled paths. Locomotion of the newly developed robot is achieved via two motor-driven wheels that are composed of steel yokes, acrylic plates, and neodymium magnets. When the wheel contacts a steel plate, it forms a magnetic circuit and generates a strong force. Owing to this force, the robot can move with heavy objects attached. However, when the wheels strongly adsorb on two surfaces at right-angled junctures, the robot becomes unable to move. To peel the wheels away from one surface, a mechanism is needed to eliminate the strong magnetic force. To achieve this, the robot has been equipped with a pushing mechanism that allows for travel on any inner right-angled path.