Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm

Abstract

The invention belongs to the technical field of special robots, and in particular relates to a full-driven magnetic attraction type multifunctional wall climbing robot with a multi-degree-of-freedom robotic arm. The wall climbing robot comprises a climbing mechanism and an operation mechanism, wherein the operation mechanism comprises a multifunctional robotic arm and a tail end working module; a base of the multifunctional robotic arm is fixed on a platform of the climbing mechanism; and the tail end working module is fixed at the tail end of the multifunctional robotic arm. The wall climbing robot has the advantages that the multifunctional robotic arm is carried, the arm has five degrees of freedom, namely a horizontal rotary degree of freedom, two vertical rotary degrees of freedom and two axial rotation degree of freedom; three different working devices, namely a welding module, a polishing module or a clamping module can be placed at the tail end of the arm, and a plurality of working modes are realized.

Description

technical field [0001] The invention belongs to the technical field of special robots, and specifically relates to a full-drive magnetic adsorption multifunctional wall-climbing robot with a multi-degree-of-freedom 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 to...

AI Technical Summary

Problems solved by technology

[0010] To sum up, the existing wall-climbing robots with mechanical arms occupy a large volume, and the angle of the terminal working device cannot be changed. They also have good motion flexibility but poor load capacity, or strong load capacity but poor motion flexibility. Better solve the contradiction between the movement and adsorption of the wall-climbing robot, and the overall performance is not good

Images