Curved surface-adaptive magnetic adsorption wall-climbing and painting robot

Abstract

The invention relates to a curved surface-adaptive magnetic adsorption wall-climbing and painting robot. The curved surface-adaptive magnetic adsorption wall-climbing and painting robot is characterized by comprising four permanent-magnetic adsorption crawler wheel modules with the same structure, a parallelogram mechanism-based car body module and a right-angle coordinate painting mechanical arm module, wherein the four permanent-magnetic adsorption crawler wheel modules with the same structure are symmetrically arranged at two sides of the car body module; the right-angle coordinate painting mechanical arm module is arranged at the upper part of the car body module; each crawler wheel module comprises a magnetic-conducting plate, magnetic separation plates, a neodymium-iron-boron permanent magnet, a crawler wheel drive motor, two driving wheels, a synchronous belt, two synchronous belt pulleys, two driven wheels, a crawler wheel bearing outer end cover, a crawler wheel bearing, a crawler wheel bearing inner end cover, a track, a driving wheel shaft, a sleeve and a driven wheel shaft; each magnetic-conducting plate is arranged around the outer surface of the corresponding track and is in rigid connection; and a plurality of magnetic separation plates are uniformly arranged in the middle of each magnetic-conducting plate along the length direction of the magnetic-conducting plate.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to a curved surface self-adaptive magnetic adsorption wall-climbing painting robot. Background technique [0002] All kinds of large-scale equipment (such as large ships, petrochemical storage tanks, etc.) constructed of magnetic materials such as steel can be seen everywhere in industrial production and life. In order to ensure the safe operation of the equipment, regular painting and anti-corrosion operations are required. At present, the traditional manual method of painting is widely used in the world. Scaffolding needs to be built in advance, which is not only labor-intensive, low-efficiency, and large economic investment, but also often accompanied by safety accidents due to the poisonous environment of painting. With the rapid development of robot technology, the application of robots to painting operations has become a hot spot and development trend in the research...

AI Technical Summary

Problems solved by technology

The patent document "A Curved Surface Adaptive Magnetic Adsorption Wall-Climbing Robot (CN103303387A)" relates to a magnetic-adsorption wall-climbing robot. The robot adopts a crawler-type moving mechanism, and is adsorbed on the wall by an adsorption unit installed on the crawler-type moving mechanism. The robot has the ability to adapt to the curved surface by setting guide columns and springs under the connecting frame between the car body and the track, but its mechanism is complex and the movement flexibility is not good, especially in the steering process, due to the gap between the track and the magnetic wall surface. The indirect contact area is large, the steering resistance and steering radius are large, resulting in poor steering flexibility

The patent document "a wall-climbing robot (CN104925158A)" relates to a wall-climbing robot. The robot is driven by four crawler wheels, so it has the advantages of flexible movement and strong load capacity. However, the robot crawler wheels and the car body are rigidly fixed Connection, the lack of relative motion flexibility between the two limits the adaptive ability of the surface to a certain extent, so it is difficult to work on the arc surface, which greatly reduces its application range

[0003] To sum up, although the existing wall-climbing painting robots can preliminarily realize the work tasks on the magnetic wall surface, they have complex structures and poor movement flexibility, so they cannot be realized Disadvantages such as curved surface operation, difficult disassembly and assembly when working in a non-continuous operation area

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