Metal wall surface self-adaptive climbing robot

Abstract

The invention discloses a metal wall surface self-adaptive climbing robot, which comprises a vehicle frame and a plurality of vehicle wheels arranged at the bottom of the vehicle frame. One or more vehicle wheel is provided with a driving device, at least two of the vehicle wheels at the bottom of the vehicle frame are mounted in pairs, one or more magnetic adsorption module is arranged between the two paired vehicle wheels, the magnetic adsorption module comprises an upper bracket, a lower bracket and a permanent magnet, the upper bracket is relatively and fixedly mounted at the bottom of thevehicle frame, the lower bracket is mounted at the bottom of the upper bracket by the rotational degree of freedom, the permanent magnet is fixedly mounted at the lower end of the lower bracket, thebottom height of the permanent magnet is lower than the bottom heights of the vehicle wheels, and the permanent magnet comprises a flat yoke iron located at the top and a plurality of rectangular neodymium iron boron permanent magnet arrays fixed to the bottom of the flat yoke iron. According to the metal wall surface self-adaptive climbing robot, the magnetic adsorption module with the axial degree of freedom greatly improves adaptability of robot climbing, the structure is simple, walking stability is good, and loading capacity is strong.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a climbing robot, in particular to a metal wall self-adaptive climbing robot invented based on the principle of permanent magnet adsorption, which has certain adaptability to the metal adsorption wall, and can carry mechanical arms, high-definition A multi-functional machine testing platform for image transmission equipment, ultrasonic flaw detection and other equipment. Background technique [0002] my country occupies an important position in the field of port cranes, and Shanghai Zhenhua represents a firm position in the world crane sector of Chinese companies. The monitoring and maintenance of cranes, especially large quay cranes, is becoming more and more important. [0003] The non-destructive testing of metal equipment mainly includes X-ray non-destructive testing, electromagnetic ultrasound, ultrasonic, eddy current testing, magnetic flux leakage testing, penetrant testing, magnetic ...

AI Technical Summary

Problems solved by technology

The mechanism is equipped with a lot of working parts, compact in structure, good in fire extinguishing effect, and has good moving performance on the plane, but it cannot meet the climbing requirements of the metal wall.

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