A foot-type magnetic adsorption wall climbing robot

A wall-climbing robot and magnetic adsorption technology are applied in the field of wall-climbing robots, and can solve the problems of large steering resistance of crawler-type wall-climbing robots, unreliable adsorption of wheeled wall-climbing robots, and reducing the complexity of motion control, etc. The effect of strong load capacity and avoiding the fluctuation of the center of gravity

Inactive Publication Date: 2018-12-21
SOUTHWEST PETROLEUM UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The invention well solves the problems of unreliable adsorption of wheeled wall-climbing robots and large steering resistance of crawler-type wall-climbing robots, and has only less redundant drives, reducing the complexity of motion control

Method used

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  • A foot-type magnetic adsorption wall climbing robot
  • A foot-type magnetic adsorption wall climbing robot
  • A foot-type magnetic adsorption wall climbing robot

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Experimental program
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Effect test

Embodiment Construction

[0028] The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

[0029] see figure 1 , 2 , a leg-type magnetic adsorption wall-climbing robot, including a carrying platform 1, walking legs 2 and adsorption feet 3; the carrying platform is connected to the walking legs 2 through the first rotating joint 5, and the walking legs 2 are connected to the adsorption feet through a ball hinge connection 11; the second A rotary joint 5, a second joint 7, and a rotational degree of freedom connected with a ball joint 11 form an RRR chain.

[0030] see figure 1 , 2 , the first servo motor 4 is installed on the carrying platform, drives the first rotary joint 5 to drive the first foot arm 6 to rotate; the second servo motor 8 is installed on the other end of the first foot arm 6 to drive the second active joint 7 to drive the second The active arm 9 rotates, and the other end of the second active arm 9 is fixedly connecte...

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Abstract

The invention belongs to the field of wall-climbing robots, in particular to a foot-type magnetic adsorption wall-climbing robot, which is composed of a carrying platform, a walking leg and an adsorption foot. Various actuators can be mounted on the carrier platform to perform various operations on the iron-based wall surface. Each walking leg comprises a two-degree-of-freedom series mechanism, aservo-electric cylinder and a ball hinge, wherein the end of each walking leg is connected and absorbed sufficiently. The suction foot adopts a screw nut mechanism to adjust the height of the permanent magnet and the wall surface so that the suction force can be adjusted. Robots can be thought of as combinations of 4-RRR Planar mechanisms and elevating mehcanisms. the movement of the two mechanisms is controlled to realize the omni-directional movement of the platform in the space. Robot can move straight, turn and adjust posture flexibly on the different curvature of the wall. The invention solves the shortcomings of unreliable adsorption and inflexible steering of the conventional magnetic adsorption wall climbing robot, and has the advantages of simple structure, strong load capacity, good obstacle-crossing ability, flexible movement and reliable adsorption.

Description

technical field [0001] The invention belongs to the field of wall-climbing robots, in particular to a leg-type magnetic adsorption wall-climbing robot. Background technique [0002] Wall-climbing robot is a branch of extreme operation robot. It can replace human beings to complete extremely dangerous operations in petrochemical enterprises, nuclear industry, shipbuilding industry and other fields. It has a wide range of uses and high use value. [0003] A large number of storage tanks are used in the petrochemical industry and nuclear industry. Most of these storage tanks are bulky and assembled by welding. Most of the objects stored in the storage tank are flammable, explosive and poisonous dangerous goods, and most of them are highly corrosive liquids, which are easy to cause corrosion on the inner wall of the tank, especially at the weld seam, which is very easy to cause corrosion leakage. Therefore, the storage tank must be inspected and maintained regularly to prevent ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 吕志忠张成维钟功祥张伟杰廖光平雷鹏燕
Owner SOUTHWEST PETROLEUM UNIV
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