Walk climbing vehicle and detection robot based on the same

Abstract

Disclosed are a walk climbing vehicle and a detection robot based on the same. The vehicle comprises a moving vehicle and two crawler systems, a driving device used for providing power for the two crawler systems is arranged in the moving vehicle, and each of the crawler systems comprises a front crawler device, a rear crawler device and a middle crawler device; a non-contact type variable-magnetism permanent-magnetic sucking mechanism is arranged at the bottom of the moving vehicle, the front crawler device, the rear crawler device and the middle crawler device comprise driving chain wheels,driven chain wheels and crawler strips, multiple stages of connecting rod units are arranged in the front crawler device, the rear crawler device and the middle crawler device, vacuum negative pressure sucking devices are arranged on the outer side faces of the crawler strips, and each vacuum negative pressure sucking device comprises a soft suction plate, a micro air pressure sensor, a micro inclination sensor and a micro air pump. By means of the vehicle, unidimensional or multidimensional obstacle crossing movement on a non-flat surface and movement on the curved ground can be achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wall-climbing vehicle and a detection robot based on the wall-climbing vehicle. Background technique [0002] In industry and engineering, it is inevitable to carry out high-altitude operations in order to complete the detection of large-scale oil and gas storage steel tanks in petrochemical enterprises, the detection of hull cracks, and the flaw detection of nuclear industry welds. In order to replace manpower and operate efficiently and safely, the use of corresponding wall detection wall-climbing robots is required. As a relatively common type of wall-climbing robot, the suction cup adsorption wall-climbing robot has the following technical defects that greatly limit its application in such places: (1) It has limitations on the wall to be adsorbed, and can only be used on surfaces such as glass The smooth wall surface achieves stable adsorption, while the rough or uneven wal...

AI Technical Summary

Problems solved by technology

As a relatively common type of wall-climbing robot, the suction cup adsorption wall-climbing robot has the following technical defects that greatly limit its application in such places: (1) It has limitations on the wall to be adsorbed, and can only be used on surfaces such as glass. The smooth wall surface achieves stable adsorption, while the rough or uneven wall surface will not work properly due to the air leakage of the suction cup

(2) There is a contradiction between adsorption stability and flexible movement of sucker negative pressure adsorption robots, that is, robots with good adsorption performance are not flexible in movement, and robots with flexible movements usually have poor adsorption safety

(3) The suction cup adsorption device of the existing robot can provide it with very limited adsorption force, which limits the load of the robot, which means that the operating equipment that the robot can carry is extremely limited, which limits its application

(4) Multi-dimensional motion (the transition of the robot between two intersecting walls), motion on a small-radius conical wall, single-dimensional and large obstacle obstacle movement on a non-flat wall, and motion on a curved wall. Pressure-adsorption robots either move erratically or have difficulty achieving these movements

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