Adjust Mechanism of Balance Force for Internally-Balanced Magnetic Unit

摘要

There is a large need for developments of wall working robots. A permanent magnet is a suitable adhering device for these robots, because there are many huge structures whose walls are constructed of steels. We have developed Internally-Balanced Magnetic Unit (IB Magnet) to use the permanent magnet efficiently on the wall. However, there is a problem that IB Magnet does not work well on a painted wall. To solve this problem, we propose a novel mechanism which makes the balance force of IB Magnet adjustable in this paper. We also describe a wall climbing robot applied the new mechanism.