Composite magnetic adsorption visual detection climbing robot

Abstract

The invention belongs to the technical field of robot welding and particularly relates to a composite magnetic adsorption visual detection climbing robot which comprises a frame, a front wheel module and a back wheel module, wherein the front wheel module and the back wheel module are installed at two ends of the frame. A visual detection pan tilt is installed on the frame, the composite magnetic adsorption visual detection climbing robot is of a three-wheel structure, and three wheels are all driving wheels. The composite magnetic adsorption visual detection climbing robot has the advantages that the composite magnetic adsorption visual detection climbing robot adopts a wheel-type movement mechanism, all wheels are driving wheels, movement flexibility is good, the robot can swerve around the center of the robot body, and the minimum turning radius is 0. An adsorption device simultaneously adopts a magnet wheel and a permanent magnet interval adsorption device, a front wheel adopts the magnet wheel, compactness of the structure is improved while guaranteeing adsorption force, and simultaneously the permanent magnet interval adsorption device is installed on a chassis and around back wheels to guarantee that the robot has strong loading capability.

Description

technical field [0001] The invention belongs to the technical field of robot welding, and specifically relates to a composite magnetic adsorption type video detection 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 on the magnetic permeable wall surface, such as welding, grinding, testing, etc., under harsh, dangerous, and extreme conditions. The composite magnetic adsorption video detection wall-climbing robot can flexibly move on the magnetically permeable wall surface of large structural parts and transmit the captured surrounding environment images back to the local computer in real time, providing environmental reference information for subsequent welding, grinding and other operations. [0003] A wall-climbing robot must have two basic functions: wall adsorption and movement. However, the two are contradictory: the ...

AI Technical Summary

Problems solved by technology

The wheels of the above-mentioned patent are not magnetic wheels, but the front wheels are set as ordinary wheels according to the traditional method, which still does not get rid of the prejudice of the prior art, and its magnetic wheel is relatively single, and its structure is relatively complicated. There are big problems; 2. The transmission chain structure from the driving motor to the wheel is motor-reducer-wheel. This structure causes the motor and reducer to be installed coaxially with the wheel, which indirectly increases the installation space of the motor; for lunar exploration In other words, the size of the space may not be very important, but if this robot is applied to the field of welding robots, it is not applicable; the transmission chain structure of the steering motor is the motor-reducer-rotation shaft, so that the motor and the reducer are coaxial with the rotation shaft, Also increases the motor installation space

[0010] 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

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