Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms

Abstract

The invention belongs to the technical field of special robots and particularly relates to a differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms, comprising a climbing mechanism and an operation mechanism, wherein the operation mechanism comprises multifunctional mechanical arms and tail end working modules; a base of each multifunctional mechanical arm is fixed on an adsorption type climbing mechanism; and each tail end working module is fixed at the tail end of each multifunctional mechanical arm. According to the invention, the small-folding-size mechanical arms are carried; with the adoption of a five-degree-of-freedom matching manner, the tail end of each arm can work in a working region at any position and any angle; and compared with the other mechanical arms with less degree-of-freedom, the movement of the multifunctional mechanical arms is more flexible. The small-folding-size mechanical arms refer to that the arm folding is more compact and the size of the folded arm is smaller according to explanation; and according to the shape represented on each arm, particularly a large arm adopts a curve design, so that other structures can be avoided when the arms are folded.

Description

technical field [0001] The invention belongs to the technical field of special robots, and specifically relates to a differential drive magnetic adsorption multifunctional wall-climbing robot with a small folding size mechanical arm. Background technique [0002] The magnetic adsorption wall-climbing robot is a kind of special robot. Its main feature is that it can crawl on the magnetic wall surface of large structural parts such as ships, and structural parts such as hydro turbine blades in power stations that are difficult to maintain on site, and complete various operations (such as An automated mechanical device for welding, grinding, defect detection, gripping, etc.). [0003] The wall-climbing robot should have three functions of adsorption, movement and operation. The adsorption function should ensure that it is reliably adsorbed on the magnetically conductive wall of the structural part, and will not fall when moving and working; the moving function should enable it...

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Problems solved by technology

[0010] The purpose of the present invention is to overcome the deficiencies in the comprehensive performance of the prior art in terms of motion flexibility and load capacity, to solve the contradiction between the adsorption and movement of the wall-climbing robot, and to provide a solution for the problem of insufficient flexibility of the small folding size mechanical arm. A compact and flexible differential drive magnetic adsorption multifunctional wall-climbing robot with a small folding size mechanical arm that can reliably absorb and move flexibly on a magnetically conductive wall surface, and can realize a variety of operations

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