Slip driving-based curved surface adaptive all-round omni-directional wall climbing robot

Abstract

The invention discloses a slip driving-based curved surface adaptive all-round omni-directional wall climbing robot, which comprises a body and two mechanical legs, wherein each mechanical leg comprises a feeding mechanism, a rotating mechanism and at least three adaptive curvature adsorption mechanisms; and the flexibility of an electric push rod and the degrees of freedom of rotation of the rotating mechanisms enable the mechanical legs to realize front and back interference-free continuous reciprocating motion under the driving of a linear sliding table. The slip driving-based curved surface adaptive all-round omni-directional wall climbing robot can passively adapt to curvature changes of various working surfaces, and has motion flexibility and passability to realize omni-directional motion and obstacle crossing on a working surface with a complex variable curvature. Based on a discrete fixed contact form, the wall climbing robot and the working surface have no relative slip, whicheffectively avoids damage of the robot to a paint film on the working surface. By adoption of an electromagnet and permanent magnet combination adsorption form, reliable adsorption and flexible lifting up in a moving process of the robot can be realized. A permanent magnet guarantees the reliable adsorption property of the robot in a power-losing state on the working surface, so that the safety coefficient is substantially increased.

Description

technical field [0001] The invention relates to the field of walking robots, in particular to a curved surface self-adaptive omnidirectional wall-climbing robot based on sliding drive. Background technique [0002] Petrochemical storage tanks, large ships, oil and gas pipelines and other equipment are essential key equipment for industries such as petroleum, chemical industry, grain and oil, food, fire protection, transportation, metallurgy, and national defense. my country's petrochemical storage tanks, large ships and oil and gas pipelines and other equipment are mostly made of metal materials. In order to ensure safe production, safe operation of equipment, improve the service life of equipment and labor production efficiency, petrochemical storage tanks, large ships and oil and gas pipelines need to be regularly checked Carry out inspection and anti-corrosion work on the surface of pipelines and other equipment to prevent mechanical failures that affect production, or mec...

AI Technical Summary

Problems solved by technology

The document with the application number of 201210130261.6 discloses a wall-climbing robot. The whole robot is attached to the wall of the oil storage tank through the adsorption device, and the driving wheel is driven by the link mechanism directly connected with the adsorption device to roll, which saves the oil storage tank wall. The detection cost is improved and the efficiency is improved, but because the driving wheel needs to be in constant contact with the oil storage tank wall, the damage to the oil storage tank wall during the operation is extremely great, and the obstacle surmountability is poor

The document with the application number 201710558963.7 discloses a wall-climbing derusting robot. The robot is vertically adsorbed to the working surface through the adsorption mechanism composed of permanent magnets, and the driving wheel driven by the motor is used as the robot walking mechanism to realize the derusting operation. However, due to the Combining the adsorption device with the driving wheel leads to a more complex structure, and the walking mechanism of the driving wheel makes the robot less flexible in the process of rust removal

[0004] To sum up, the existing wall-climbing robots generally have problems such as complex structure, poor safety, poor curvature adaptability, insufficient movement flexibility, and inability to realize all-round flexible movement and obstacle crossing of complex variable-curvature working surfaces. During the operation, the robot will cause damage to the paint film on the surface of ships and large oil storage tanks

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