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Hinge type wall climbing robot capable of working on metal wall

A wall-climbing robot and hinge technology, applied in the field of robotics, can solve the problems of poor obstacle-crossing ability, small load capacity, and unsuitability for large-scale surface work on ships, and achieve large load capacity, high work efficiency, and superior obstacle-crossing ability. Effect

Inactive Publication Date: 2016-11-23
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing wall-climbing robots mainly use permanent magnet wheel mechanisms, which have small load capacity and poor obstacle-surmounting ability, and are not suitable for large-scale surface work such as ships.

Method used

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  • Hinge type wall climbing robot capable of working on metal wall
  • Hinge type wall climbing robot capable of working on metal wall
  • Hinge type wall climbing robot capable of working on metal wall

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Experimental program
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Embodiment Construction

[0024] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0025] Such as Figure 1 to Figure 7 Shown, a kind of hinge type metal wall surface work wall-climbing robot, comprises wall-climbing robot unit, hinge 14 and folding mechanism, is connected by hinge 14 rotation between described wall-climbing robot unit, and described folding mechanism is installed on two The connection between two wall-climbing robot units.

[0026] The wall-climbing robot unit includes a frame 1, a fixed slider 2, a linear guide rail 3, a support frame 4, a rack 5, a gear 6, a linear motor 7, a support column 8, a support plate 9, a ball joint 10, an electromagnet 11, Pulley 12, belt 13, speed reducer 15, driving motor 16, rotating shaft 17, are equipped with 16 fixed sliders 2 on the four frames of described frame 1, every two fixed sliders 2 are a group, and a straight line The guide rails 3 cooperate so that the linear guide rail...

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Abstract

The invention discloses a hinge type wall climbing robot capable of working on a metal wall. The wall climbing robot comprises wall climbing robot units, hinges and a folding mechanism, wherein the wall climbing robot units are rotatably connected through the hinges, and the folding mechanism is mounted at the joint of the two wall climbing robot units. Due to the fact that linear guide rail mechanisms are mounted on each wall climbing robot unit in four directions, each wall climbing robot unit can walk in two freedom degrees; each linear guide rail is provided with a cylinder, and the cylinders stretch and retract to drive supporting plates to move up and down, so that each wall climbing robot unit has the obstacle crossing capacity; and two rows of electromagnets are adopted for attraction when each wall climbing robot unit walks, eight rows of electromagnets can be used for attraction when the robot works, and therefore the robot is reliable in attraction, safe in work and compact in attraction structure.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a hinged metal wall climbing robot. Background technique [0002] At present, metal wall-climbing robots are mainly used in the following industries: in the nuclear industry, they are mainly used for inspection, thickness measurement, and weld flaw detection of nuclear waste liquid storage tanks; in the shipbuilding industry, they are used for rust removal, cleaning, and painting on the hull surface; In the petrochemical industry, it is mainly used to inspect, derust or paint the inner and outer surfaces of storage tanks; in addition, wall-climbing robots are also widely used in the construction industry, fire department, and power industry. [0003] Among them, in the shipbuilding industry, the rust removal method generally adopted by major domestic ship repair companies is artificial dry sand blasting, that is, using compressed air, manually holding the spray gun to move, and tr...

Claims

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Application Information

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IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 徐子力王英权徐伟萍王玉洁龚浩施安迪陈倩
Owner SHANGHAI UNIV
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