Ferromagnetism wall climbing working robot

Abstract

The invention provides a ferromagnetism wall climbing working robot comprising a walking unit, a swing unit, a protective unit and a control unit. The walking unit comprises a left drive wheel assembly, a right drive wheel assembly, a universal wheel assembly and a vehicle frame assembly. The two drive wheel assemblies are symmetrically installed at the front bottom of the vehicle frame assembly. The universal wheel assembly is installed at the rear bottom of the vehicle frame assembly. Strong arc-shaped permanent magnets are fixedly installed in all the drive wheel assemblies and the universal wheel assembly. The swing unit comprises a swing drive assembly, a swing rod assembly and an angle adjusting sensor assembly. The control unit comprises a control box, a control cabinet and a wireless remote control terminal.

Description

technical field [0001] The invention relates to a robot technology, in particular to a ferromagnetic wall-climbing working robot. Background technique [0002] The ferromagnetic wall-climbing working robot is an important branch of the mobile robot field. It organically combines ground mobile robot technology with adsorption technology, and carries related process equipment or tools to complete certain tasks. Attach and crawl, and carry out engineering operations such as rust removal, cleaning, painting, welding, testing, and maintenance. At present, wall-climbing robots are divided into bionic adsorption, negative pressure adsorption and magnetic adsorption according to the adsorption methods. They all have their own application ranges and advantages and disadvantages. Among them, the magnetic adsorption wall climbing robot is divided into two types: one is permanent magnetic adsorption, and the other is electromagnetic adsorption. The structure of the electromagnetic ads...

AI Technical Summary

Problems solved by technology

The gait control of the multi-legged wall-climbing robot is relatively complicated, the movement flexibility is relatively poor, and the work efficiency is not high

The Chinese invention patent with the patent number ZL201310198901.1 discloses a surface-adaptive magnetic adsorption wall-climbing robot. The adsorption efficiency of the magnetic adsorption device is low, the number of permanent magnets is large, resulting in a large weight, the load capacity of the robot belt is poor, and when the robot turns, the track will cause obvious scratches on the working surface, affecting the surface quality of the working surface, and the movement is flexible Sex is not high

The Chinese invention patent with the application number 201610364096.9 relates to a wheeled magnetic adsorption wall-climbing robot. The wall-climbing robot includes four driving wheels. The magnetic block is installed inside the aluminum alloy closed cavity. The chassis of the robot is closer to the ferromagnetic wall. , it is difficult to work on a ferromagnetic wall with a small curvature, and the chassis is easy to accumulate ferromagnetic debris, which makes it inconvenient for the robot to walk and damages the surface quality of the working surface

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