Modular wheel type magnetic-attraction wall-climbing robot

Abstract

The invention relates to the technical field of industrial robots and discloses a modular wheel type magnetic-attraction wall-climbing robot comprising two mutually-independent body modules and four wheel type permanent-magnet attraction units of the same structure. The two mutually-independent body modules comprise a left body module and a right body module which are of the same structure, and the left body module and the right body module are in central symmetry about the connection plane of the two body modules. The left body module is formed in the manner that a left body box drive motor in a left body box is connected with a left body box front output shaft through a left body box motor driver and a left body box speed reducer, and the left body box front output shaft is connected with a left body box back output shaft through a left body box synchronous belt and a left body box synchronous belt wheel. The modular wheel type magnetic-attraction wall-climbing robot can pass through non-continuous operation areas or narrow transportation spaces on various magnetism-conducting faces to conduct rust removing, paint spraying, detecting and other corresponding extreme operations. The modular wheel type magnetic-attraction wall-climbing robot has the dust-proof and water-proof functions, rapid disassembly, transportation and butt joint of the modular wheel type magnetic-attraction wall-climbing robot can be achieved, the moving and turning manipulation of the modular wheel type magnetic-attraction wall-climbing robot is easy and convenient, and the modular wheel type magnetic-attraction wall-climbing robot is high in maneuverability.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a wall-climbing robot, in particular to a modular wheeled magnetic adsorption wall-climbing robot. The wall-climbing robot can be applied to various magnetically conductive walls (such as pipeline surfaces, oil tank walls, ship hulls, etc.), can realize flexible crawling on complex magnetically conductive surfaces, and can be equipped with different types of robotic arms according to different task requirements Or the operation module, to carry out corresponding extreme operations on various magnetically conductive walls (for example, after equipped with the corresponding robot arm operation module, it can replace manual operations such as derusting, painting, testing and other related operations on the wall surface of the oil tank). The wall-climbing robot device adopts the permanent magnetic adsorption form and the four-wheel four-wheel drive transmission scheme. Based ...

AI Technical Summary

Problems solved by technology

Although the robot can solve the problem of adapting to the magnetically conductive curved surface to a certain extent, it still has many limitations such as the inevitable complex structure, high manufacturing cost, and poor steering flexibility of crawler-type wall-climbing robots.

At the same time, the robot does not have the function of dustproof and waterproof, and cannot be disassembled, so that it is difficult for the robot to carry out corresponding operations after passing through the narrow transportation space, which limits the scope of use of the robot

[0006] To sum up, the existing wall-climbing robots generally have many problems such as poor motion performance, overly complex structure, and high manufacturing cost. At the same time, modular design ideas are not considered, and it is difficult to quickly disassemble, transport and install, and they do not have dustproof and waterproof capabilities. functions, so that it is difficult to adapt to the operation needs of various extreme work spaces

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