Full driving composite adsorption climbing robot

Abstract

The invention belongs to the technical field of specialized robots, and particularly relates to a novel full driving composite adsorption climbing robot which comprises a crawl mechanism. The crawl mechanism comprises a front wheel module adopting a driving and swerving integrated magnet wheel, a back wheel module adopting a permanent magnet interval adsorption device, a frame for connecting a front wheel and back wheels and a motor driven controller installed on the frame. The crawl mechanism is of a three-wheel structure, three wheels are all driving wheels, the front wheel is controlled to swerve, and swerve on a magnetic permeability wall face is achieved depending on differential of the two back wheels and controlled swerve of the front wheel. The novel full driving composite adsorption climbing robot has the advantages that the crawl mechanism adopts a composite mode of contact-type magnet-wheel adsorption and non-contact-type gap adsorption, the three-wheel structure is used, three wheels are all driving wheels, a redundancy control swerve mode is adopted, the swerve on the magnetic permeability wall face is achieved depending on the differential of the two back wheels and the controlled swerve of the front wheel, and swerve accuracy of the climbing robot is improved through accurate control of swerve angles of the front wheel.

Description

technical field [0001] The invention belongs to the technical field of special robots, and specifically relates to a novel full-drive composite adsorption wall-climbing robot. Background technique [0002] The magnetic adsorption wall climbing robot is a kind of special robot, which is an automatic mechanical device designed to perform specific operations such as welding, grinding, inspection, testing, etc. on the magnetic wall surface under harsh, dangerous, and extreme conditions, and More and more attention has been paid. At present, magnetic adsorption wall-climbing robots have been widely used in the production and construction of ferromagnetic structures such as nuclear industry, petrochemical industry, construction industry, fire department, and shipbuilding industry. [0003] A wall-climbing robot must have two basic functions: wall adsorption and movement. However, the two are contradictory: the stronger the load capacity of the robot, the greater the adsorption f...

AI Technical Summary

Problems solved by technology

The above-mentioned patent is characterized by strong adsorption force, but since all the driving wheels are cylindrical wheels that cannot be turned relative to the car body, the steering resistance is large and the steering flexibility is poor.

[0009] To sum up, the existing wall-climbing robots either have good motion flexibility but poor load capacity, or have strong load capacity but poor motion flexibility, and have failed to solve the contradiction between the movement and adsorption of wall-climbing robots. not good

Images