Wall climbing operation robot suitable for moving on variable-curvature wall surface

Abstract

The invention relates to a wall climbing operation robot suitable for moving on a variable-curvature wall surface. The wall climbing operation robot is characterized in that the robot comprises two moving modules independent of each other and a vehicle body intermediate platform; the two moving modules independent of each other are identical in structure and are arranged symmetrically with the vehicle body intermediate platform as the center and connected with the vehicle body intermediate platform through limiting connecting joints with two degrees of freedom correspondingly; the two moving modules independent of each other comprise the right moving module and the left moving module; each moving module comprises a driving structure, a transmission structure, a travelling structure, a tensioning structure and a gap type permanent magnetic attraction structure which are fixed to a vehicle frame; the two moving modules has the two rotational degrees of freedom relative to the vehicle body platform through connection of the limiting connecting joints so that the robot can adapt to the surface curvature change of a magnetic conductive structural body.

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 wall-climbing robot suitable for moving on walls with variable curvature. Background technique [0002] Various large and complex equipment (petroleum pipelines, chemical storage tanks, ships, wind power equipment, etc.) made of magnetic materials such as steel can be seen everywhere in the domestic economy and national defense construction. In order to ensure the safe operation of the equipment, a lot of manpower is required. Material resources to carry out regular cleaning and testing and other maintenance operations. At present, the traditional manual operation method is widely used in the world, which not only has problems such as high labor intensity, long working cycle, and high maintenance cost, but also the operating environment is mostly an extreme high-risk environment, which is very prone to safety accidents. Therefo...

AI Technical Summary

Problems solved by technology

However, most of the existing wall-climbing robots work on planes. In practical industrial applications, such as the petrochemical industry, shipbuilding industry, and wind power industry, they do not have the ability to adapt to variable curvature.

[0004] The current wall-climbing robots lack a certain degree of flexibility, and the position of the body structure is relatively fixed, so they cannot flexibly adapt to changes in the curved surface. For example, the Chinese patent No. ZL201620506528.0 discloses a crawler-type magnetic adsorption wall-climbing robot. Crawler movement, permanent magnetic adsorption method, the Chinese patent application number 201610364096.9 discloses a wheeled magnetic adsorption wall climbing robot, which adopts wheeled movement and permanent magnetic adsorption method

Although the two adopt different moving methods, they both place the drive transmission system inside the car body, and connect with the moving structures on both sides of the car body through the transmission shaft, which makes the position of the moving structure and the car body relatively fixed. When encountering a wall with variable curvature, due to the unevenness of the wall and the ups and downs, it is easy to happen that the bottom of the robot body or the moving structure on both sides cannot effectively contact the wall, resulting in the failure of the robot movement

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