Wall-climbing robot based on permanent magnet adsorption structure

Abstract

The invention discloses a wall-climbing robot based on a permanent magnet absorption structure. The wall-climbing robot based on the permanent magnet absorption structure comprises a robot body structure and a control system capable of resisting magnetic field interference; the robot body structure comprises a chassis, a walking structure capable adsorbing and a device load; the walking structure capable adsorbing comprises a driving permanent magnetic wheel, a universal auxiliary permanent magnetic wheel, a direct-current servo motor, a turbine worm reducer and a cog belt drive mechanism; a permanent magnetic wheel mechanism mainly comprises an aluminum alloy belt wheel, a permanent magnet, a yoke and the like; the control system mainly comprises an industrial master mask, a PLC (programmable logic controller), a CCD (charge coupled device) industrial camera and the like. According to invention, under the intelligent control condition, the robot can stably walk and detect effectively on the steel wall surfaces of chemical containers, large ship bodies and the like, and has the advantages of compact structure, light weight, simplicity in control and the like.

Description

technical field [0001] The invention belongs to the technical field of machinery and relates to a wall-climbing robot based on a permanent magnetic adsorption structure. Background technique [0002] The hull of a large ship and various large chemical pressures are welded by multiple steel plates. There are a large number of welds. Due to the need to work under high corrosion and high pressure conditions for a long time, various defects are easily produced, resulting in material failure. Failure, a serious threat to the safety of ships and chemical containers. In order to ensure that ships and pressure vessels can operate in a safe state, it is necessary to carry out regular safety inspection and maintenance work. At present, these tasks are done manually by means of non-destructive flaw detection, with heavy workload and high risk factor. Therefore, developing a non-destructive testing system to replace manual testing has very important practical significance and broad app...

AI Technical Summary

Problems solved by technology

[0002] The hull of a large ship and various large chemical pressures are welded by multiple steel plates. There are a large number of welds. Due to the need to work under high corrosion and high pressure conditions for a long time, various defects are easily produced, resulting in material failure. Failure, a serious threat to the safety of ships and chemical containers

In order to ensure that ships and pressure vessels can operate in a safe state, it is necessary to carry out regular safety inspection and maintenance work. At present, these works are done manually by means of non-destructive flaw detection, with heavy workload and high risk factor.

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