Four-feet electromagnetic adsorption wall climbing robot

Abstract

The invention discloses a four-feet electromagnetic adsorption wall climbing robot. The four-feet electromagnetic adsorption wall climbing robot is formed by three parts, i.e. a chassis, walking legs and a foot adsorption apparatus. The walking leg comprises a multi-joint serial-connection mechanism connected onto the chassis and driving mechanisms installed at various joints, and a free end of the multi-joint serial-connection mechanism is connected with the foot adsorption apparatus; the foot adsorption apparatus comprises a plurality of disc mounting plates and electromagnetic suckers which are connected with the multi-joint serial-connection mechanism by virtue of passive ball hinges; and in the wall climbing process of the robot, the rotation action of each joint of the walking leg cooperates with the opening-closing state of an electromagnetic switch, so that the robot flexibly climbs a plane, a cylindrical surface and a spherical surface of any curvature and can flexibly realize the actions such as cornering and transverse movement. By adopting the four-feet electromagnetic adsorption wall climbing robot, the defects in the wall climbing process of a conventional wall climbing robot can be solved, the contradiction between the wall adsorption and the movement operation is well solved, the flexibility and applicability of the wall climbing robot in real engineering application are improved, and the popularization of the robot technology is facilitated.

Description

Technical field [0001] The invention belongs to the field of walking robots, and specifically relates to a four-legged electromagnetic adsorption wall climbing robot. Background technique [0002] At present, the application of robotics in engineering is becoming more and more widespread, and the popularity is getting higher and higher. However, in some fields, robotics is still in its infancy and the application level is not high. For example, in the design, manufacture and application of large pressure vessels, the radius of the pressure spherical tank is usually very large, but in the application, it is necessary to frequently carry out initial manufacturing welding, weld quality inspection, later cleaning and maintenance. The completion of these tasks is still done by traditional manual methods instead of robot technology. The manual methods have many shortcomings, such as low efficiency, high labor intensity and poor safety. With the proposal of the "Made in China 2025" pla...

AI Technical Summary

Problems solved by technology

At present, the research and development results of wall-climbing robots are mainly focused on the research of wheeled and crawler-type wall-climbing robots. The adsorption methods are mostly vacuum adsorption or magnetic adsorption. It is a permanent magnet, and the application of these wall-climbing robots is generally concentrated on a plane or a cylindrical surface with a large radius. The flexibility is low, and it is generally difficult to achieve a spherical surface with a small radius.

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