A traction-type metal wall-climbing robot

A wall-climbing robot and traction technology, applied in the field of robots, can solve the problems of small load capacity and poor obstacle-crossing ability, and achieve the effects of large load capacity, reliable adsorption and simple control.

CN106240664BInactive Publication Date: 2018-10-23SHANGHAI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2018-10-23
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides a pull-type metal wall surface working wall-climbing robot. The pull-type metal wall surface working wall-climbing robot comprises a pulling mechanism and a climbing mechanism. The climbing mechanism is suspended on a metal wall surface by the pulling mechanism through pulling ropes. The horizontal displacement of the robot is completed through walking of a pulling car, the vertical displacement of the robot is completed through the pulling ropes and a rack and pinion mechanism, an obstacle crossing function of the robot is achieved through up-down displacement of a foot mechanism, and an adsorption function of the robot is achieved through electromagnets. The pull-type metal wall surface working wall-climbing robot has the characteristics of being large in load capacity, high in obstacle crossing capacity and the like.
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Description

technical field

[0001] The invention relates to the technical field of robots, in particular to a traction-type wall-climbing robot working on a metal wall. Background technique

[0002] 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. An essential link in the process of ship docking repair is rust removal, that is, to remove rust, oil stains, old paint, etc. on the steel plate on the surface of the hull, and to do surface pretreatment to improve the quality of spraying.

[0003] At present, the derusting method generally adopted by major ship repairing enterprises in China is artificial dry sand blasting, that is, using compressed air, manual hand-held spray gun movement, and conveying the dry sand in the pressed steel container to the spray gun to make the copper ore The high-speed impact of tens of meters per second on the surface of the steel plate quickly removes the rust layer. ...

Examples

Embodiment Construction

[0022] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0023] like Figure 1 to Figure 4 As shown, a traction-type metal wall-climbing robot includes a traction mechanism and a crawling mechanism, and the traction mechanism suspends the crawling mechanism on the metal wall through a traction rope.

[0024] The crawling mechanism 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, and a drive shaft 12. Eight fixed sliders 2 are installed on the left and right frames of the frame 1, and every two fixed sliders 2 form a group, and cooperate with a linear guide rail 3, so that the linear guide rail 3 can slide along the fixed slider 2 , the left and right frames of the frame 1 have two linear guide rails 3 installed in parallel; two transmission shafts 12 are installed b...