Novel differentially driven composite attraction type wall climbing robot

Abstract

The invention belongs to the technical field of special robots, and in particular relates to a novel differentially driven composite attraction type wall climbing robot. The wall climbing robot comprises a climbing mechanism, wherein the climbing mechanism comprises a front wheel module which is a universal rolling magnetic wheel device, a rear wheel module which is a permanent magnetic gap attraction device, a frame for connecting front and rear wheels, and a motor driven controller arranged on the frame; the climbing mechanism has a three-wheel structure; the two rear wheels are driving wheels; the robot can steer on a magnetic wall surface by a mode that the rear wheels are driven differentially. The wall climbing robot has the advantages that the front wheel module of the climbing mechanism is the universal rolling magnetic wheel device, and a pure rolling state is kept during running, so that the front wheel module can run flexibly; attractive force of the rear wheel module can be adjusted through a gap between a base plate and the magnetic wall surface; a magnetic wheel and the permanent magnetic gap attraction device are simultaneously adopted, and the front wheel is the magnetic wheel, so that the attractive force is guaranteed, and the compactness of the structure is improved; and simultaneously, the permanent magnetic gap attraction device is arranged on the base plate around the surrounding rear wheels, so that the wall climbing robot has high load capacity.

Description

technical field

[0001] The invention belongs to the technical field of special robots, and specifically relates to a novel differential 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 on the magnetic wall surface, such as welding, grinding, inspection, testing, etc., under harsh, dangerous, and extreme conditions. ,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 adsor...

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