Track type wall-climbing four-freedom degree parallel robot

Abstract

A track type wall-climbing four-freedom degree parallel robot comprises a tracked vehicle and a four-freedom degree parallel robot body; the tracked vehicle comprises a rectangular chassis, four sleeves and two permanent magnet track mechanisms, wherein the sleeves are uniformly distributed on the chassis and are fixedly connected to the chassis, and the permanent magnet track mechanisms are symmetrically connected to the chassis and drive the chassis to crawl along a magnetic wall; the four-freedom degree parallel robot body comprises a moving platform, four SPR type branches of the same structure, two connecting rods and four magnetic plates; the SPR type branches comprise cylinder bodies and piston rods, each connecting rod penetrates through parallel through holes in the moving platform, the two ends of each connecting rod are connected to rotation pairs at the upper ends of the cylinder bodies of two branches, the lower ends of the piston rods are connected to spherical pairs on the magnetic plates, and the magnetic plates are in slide fit with the sleeves. The track type wall-climbing four-freedom degree parallel robot has the advantages that the attraction force is large, the motion is flexible, the structure is simple, control is easy, and the moving platform can carry tools for repairing large equipment and work-piece defects.

Description

technical field [0001] The invention relates to a robot, in particular to a wall-climbing robot. Background technique [0002] A wall-climbing robot is a robot that can climb on a vertical wall to complete automated operations that exceed human limits. In the past 20 years, it has become a hot spot and frontier in the field of robotics research at home and abroad. At present, wall-climbing robots have been used for flaw detection and inspection of oil storage tanks, ship painting, military investigation, high-rise fire protection, cleaning and spraying, nuclear equipment inspection and thickness measurement, etc. [0003] The Chinese patent No. 200710016408.8 discloses an iron-based tank wall-climbing robot; Chinese patent CN1739925 discloses a non-contact magnetic adsorption wheeled wall-climbing robot; The implementation method of the sucker wall-climbing robot and the robot of the method; the Chinese patent with the publication number CN101181913 discloses a serial modul...

AI Technical Summary

Problems solved by technology

[0004] Although the above-mentioned wall-climbing robots have their own characteristics, the robots carry tools (milling cutters, laser welding torches, etc.) when operating with less freedom, lower motion precision, and weak operating force. They are not suitable for large-scale equipment, equipment, and large On-site repair and remanufacturing of workpiece defects

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