Multi-body magnetic adsorption type adaptive wall climbing robot

A wall-climbing robot and magnetic adsorption technology, which is applied in the direction of manipulators, claw arms, manufacturing tools, etc., can solve the problems of poor movement flexibility and inability to be used for processing operations

Active Publication Date: 2011-05-04
TSINGHUA UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The robot uses a hinge structure between the adsorption bodies, which is suitable for measurement and cannot be used for processing operations
[0006] In addition, the tu

Method used

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  • Multi-body magnetic adsorption type adaptive wall climbing robot
  • Multi-body magnetic adsorption type adaptive wall climbing robot
  • Multi-body magnetic adsorption type adaptive wall climbing robot

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Embodiment Construction

[0051] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0052] figure 1 , 2 It is a schematic diagram of the structural principle of the multi-body magnetic adsorption type adaptive wall-climbing robot provided by the present invention, including a main body device 1 and an operation tool 4, and the main body device includes a main body frame 11, a moving mechanism 12 and a main body magnetic adsorption device 13; the moving mechanism is fixed Installed on the main body frame; the main body magnetic adsorption device is in contact with the magnetically permeable wall surface through a moving mechanism; the main body magnetic adsorption device includes at least one main body magnetic adsorption unit 131, and the main body magnetic adsorption unit is fixed or hinged to the main body frame; the main body The magnetic adsorption unit includes a yoke 1311...

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Abstract

The invention discloses a multi-body magnetic adsorption type adaptive wall climbing robot and belongs to the technical field of special robots. The robot comprises a main body device, at least one slave body device, at least one mechanical arm and a working tool arranged on each slave body device, wherein the main body device comprises a main body frame, a movable mechanism and a main body magnetic adsorption device; the slave body device comprises a slave body frame, a slave body magnetic adsorption device and at least one auxiliary supporting wheel; and each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints. The invention provides a wall climbing robot which flexibly moves and steers on a magnetized wall surface at full positions spatially, is adaptive to a spatial curved surface and can perform welding, gouging, cutting, grinding, milling, detecting, cleaning or spraying work. The robot has wide processing range, high carrying capacity, high flexibility of movement and high working efficiency.

Description

technical field [0001] The invention belongs to the technical field of special robots, and in particular relates to the structural design of a multi-body magnetic adsorption self-adaptive wall-climbing robot. Background technique [0002] There are many large steel structural components in industrial sites, such as large spherical tanks, large steel structure buildings, and large water turbines. Most of the processing, installation, maintenance, spraying, and testing of these large steel structural components are still performed manually. The labor intensity of workers is extremely high, the working conditions and environment are harsh, and there are many dangers in the work. These tasks require robot automation. In practical applications, these occasions often have complex curved surfaces on the magnetic wall surface, and the working space is narrow and the processing force is large. The existing magnetic adsorption robot is difficult to be used in such an environment, so ...

Claims

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Application Information

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IPC IPC(8): B25J5/00B25J18/00B25J19/00
Inventor 崔宗伟陈咏华孙振国张文增李丽荣都东张长陈强
Owner TSINGHUA UNIV
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