Wall-climbing robot operating on metal wall surface for rectangular coordinate system

A Cartesian coordinate system and wall-climbing robot technology, applied in the field of robotics, can solve problems such as small loads, and achieve the effects of large load capacity, simple control, and stable work

Inactive Publication Date: 2016-12-07
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing wall-climbing robot mainly adopts permanent magnet wheel mechanism, which has a small load and is not suitable for working on large metal walls in the shipbuilding, nuclear industry and petrochemical industry.

Method used

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  • Wall-climbing robot operating on metal wall surface for rectangular coordinate system
  • Wall-climbing robot operating on metal wall surface for rectangular coordinate system
  • Wall-climbing robot operating on metal wall surface for rectangular coordinate system

Examples

Experimental program
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Embodiment Construction

[0019] Specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0020] Such as Figure 1 to Figure 5 As shown, a wall-climbing robot working on a metal wall in a rectangular coordinate system 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, and a support plate 9 , ball hinge 10, electromagnet 11, pulley 12, belt 13, speed reducer 14, motor 15, screw 16, rotating shaft 17, bearing 18, rotating shaft fixing plate 19, on the four frames of described frame 1, 16 The fixed slider 2, every two fixed sliders 2 as a group, cooperates with a linear guide rail 3, so that the linear guide rail 3 can slide along the fixed slider 2, and each frame of the frame 1 has two linear guide rails 3 parallel Installation; two rotating shafts 17 are installed between the two linear guide rails 3 of each frame of the frame 1, the upper end of ...

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Abstract

The invention discloses a wall-climbing robot operating on a metal wall surface for a rectangular coordinate system. The robot comprises a framework, fixed sliding blocks, linear guide rails, a pinion-and-rack mechanism, liner motors, support frames, support columns, support plates, a spherical hinge mechanism, electromagnets, rotary shafts, belts, a belt wheel, a driving motor, a reducer and a rotary shaft fixing plate. The linear guide rails are arranged on the robot in all directions. The robot can walk at two degrees of freedom. The linear motors are arranged on the linear guide rails and contract to drive the support plates to move up and down such that support feet and swing feet of the robot can alternate, thereby easily overcoming obstacles. Two rows of electromagnets are absorbed when the robot walks and multiple rows of electromagnets are absorbed for fixed-point operation such that the robot absorbs reliably and works safely and the absorption structure is compact.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wall-climbing robot working on metal walls in a rectangular coordinate system. Background technique [0002] In the shipbuilding industry, in order to prolong the service life of the ship and ensure the safe navigation of the ship, the ship must be docked regularly for repairs. Metal wall-climbing robots are widely used in rust removal and painting during the docking repair process of ships. Similarly, in the nuclear industry, metal wall-climbing robots are widely used for inspection, thickness measurement, and weld flaw detection of nuclear waste storage tanks; in the petrochemical industry, metal wall-climbing robots are mainly used for inspection of the inner and outer surfaces of storage tanks. Inspection, rust removal or painting, etc.; in addition, wall-climbing robots are also widely used in the construction industry, fire department, power industry, etc. [0003] Based ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 徐子力徐伟萍陈振华徐解民黄智洪杨文俊卢松
Owner SHANGHAI UNIV
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