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Auxiliary hoisting equipment and control method for a wall-climbing robot

The technology of a wall-climbing robot and a control method, which is applied in the field of wall-climbing robots, can solve the problems that the wall-climbing robot falls off and the wall-climbing robot is inconvenient to work, etc.

Active Publication Date: 2019-07-16
黑龙江省工研院资产经营管理有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the wall-climbing robot falls off the working surface due to insufficient suction, which causes the wall-climbing robot to work inconveniently and has potential safety hazards

Method used

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  • Auxiliary hoisting equipment and control method for a wall-climbing robot
  • Auxiliary hoisting equipment and control method for a wall-climbing robot
  • Auxiliary hoisting equipment and control method for a wall-climbing robot

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specific Embodiment approach 1

[0040] Specific implementation mode one: combine figure 1 and figure 2 This embodiment will be described. An auxiliary hoisting device for a wall-climbing robot described in this embodiment includes a hoisting unit, a tension sensing unit and a mobile vehicle 4, wherein:

[0041] The hoisting unit includes a winch 1, a winch support 2 and a support arm 3;

[0042] The hoist bracket 2 is fixed on the mobile car, and the hoist 1 is fixed on the hoist bracket 2;

[0043] One end of the support arm 3 is connected with the hoist bracket 2, and the other end of the support arm 3 is connected with the fixed pulley of the hoist 1;

[0044] The tension sensing unit comprises a tension sensor 6, a first guide wheel 5, a second guide wheel 8 and a backboard 7, and the tension sensor 6, the first guide wheel 5 and the second guide wheel 8 are all arranged on the backboard 7, and the first A guide wheel 5 and a second guide wheel 8 are symmetrically distributed on both sides of the te...

specific Embodiment approach 2

[0048] Embodiment 2: This embodiment further limits the auxiliary hoisting equipment for a wall-climbing robot described in Embodiment 1. The motor of the hoist 1 in this embodiment is a hoisting servo motor.

specific Embodiment approach 3

[0049] Specific Embodiment 3: This embodiment further limits the auxiliary lifting equipment of a wall-climbing robot described in Embodiment 2. The auxiliary lifting equipment in this embodiment also includes a lower computer PLC, and the lower computer PLC It is used to receive the tension data sent by the tension sensor 6, and the lower computer PLC is used to send control signals to the hoisting servo motor of the hoisting machine 1 and the active servo motor of the mobile car 4.

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Abstract

The invention discloses an auxiliary lifting device of a wall-climbing robot and a control method, and belongs to the field of wall-climbing robots. The problems that due to the fact that suction force of the wall-climbing robot is not enough, possibly, the wall-climbing robot falls off from the work face, work of the wall-climbing robot is not convenient, and potential safety hazards exist are solved. The whole bearing mode control method is used for lifting the wall-climbing robot to the designated work position, a part of the bearing mode type control method is used for enabling the wall-climbing robot to be kept in the normal work mode, and through a PID tension control full-closed-loop system, the load of the wall-climbing robot is subject to real-time automatic weighing. The device can be applied to the auxiliary lifting field of the suction cup type wall-climbing robot.

Description

technical field [0001] The invention relates to the field of wall-climbing robots, in particular to an auxiliary hoisting device and a control method for a wall-climbing robot. Background technique [0002] The wall-climbing shot peening robot is a robot that is adsorbed on the working surface to perform tasks such as painting and cleaning. On the other hand, since the ship is in an environment with high humidity for a long time, it needs a robot to derust and paint the hull. Existing wall-climbing robots are often magnetically adsorbed on the working surface, but the weight of the wall-climbing robot itself is too high and the volume is too large. When it is directly applied to the rust removal and painting work of the ship hull, it may Due to the insufficient suction force of the suction cup of the wall-climbing robot itself, the wall-climbing robot falls off from the working surface, which makes the work of the wall-climbing robot inconvenient and poses a safety hazard. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C23/16B66C13/48B66C13/22B66C15/00
CPCB66C13/22B66C13/48B66C15/00B66C23/36B66C2700/084
Inventor 邵忠喜富宏亚廉明金鸿宇韩振宇付云忠韩德东李茂月
Owner 黑龙江省工研院资产经营管理有限公司
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