Track type wall-climbing four-freedom degree parallel robot

A robot and degree of freedom technology, applied in the field of wall-climbing robots, can solve problems such as less degrees of freedom, weak operating force, and low motion precision, and achieve the effects of stable adsorption, strong adsorption, and flexible movement

Active Publication Date: 2016-06-15
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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  • Track type wall-climbing four-freedom degree parallel robot
  • Track type wall-climbing four-freedom degree parallel robot
  • Track type wall-climbing four-freedom degree parallel robot

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Embodiment Construction

[0016] exist Figure 1-3 In the schematic diagram of the crawler wall-climbing four-degree-of-freedom parallel robot, the chassis 1 is rectangular, and the four sleeves 6 are evenly distributed at the four corners of the chassis. Opening diameters at both ends are smaller than the middle diameter; the closed-loop crawler track 5 in the permanent magnet crawler mechanism includes several frames and permanent magnet blocks; each frame 5-1 is provided with a cavity, and a permanent magnet block 5-2 is housed in the cavity. The front and rear ends of each frame are respectively provided with bosses and grooves, and the bosses of the front frame in every two connected frames are connected with the rotating pairs of the grooves of the rear frame to form a closed-loop track; the motor 2 is fixedly connected to the chassis, and the motor shaft is connected to the drive gear. 3 Coaxial connection, drive gear and guide gear 4 are set on both sides of the chassis, parallel to the chassis...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J15/06B25J11/00B62D55/00B62D57/024
CPCB25J9/0054B25J11/005B25J15/0608B62D55/00B62D57/024
Inventor 路懿叶妮佳路扬刘洋
Owner YANSHAN UNIV
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