Omni-directional mobile wall-climbing robot for ship

Abstract

The invention provides an omni-directional mobile wall-climbing robot for a ship. The omni-directional mobile wall-climbing robot for the ship comprises a frame, wheels, wheel motors, a two-axis electric control holder and a front arm assisting mechanism and is characterized in that permanent magnets generating adsorption magnetic forces to a steel plate on the ship are arranged in the positions,around the frame, at the bottom of the frame; ducted propellers for counteracting the gravity of the wall-climbing robot are fixed on the two-axis electric control holder; propeller motors used for driving the ducted propellers to rotate are fixed on the two-axis electric control holder; the front arm assisting mechanism is arranged at the front end of the frame through a connecting shaft; and caterpillar tracks are arranged on the two sides of the front arm assisting mechanism. According to the omni-directional mobile wall-climbing robot for the ship, under the action of the adsorption magnetic forces between the permanent magnets and the steel plate of the ship, the counteracting of the ducted propellers to the gravity and the fitting of the front arm assisting mechanism to the next wallsurface or obstacle, the omni-directional movement, obstacle crossing and climbing wall surface switching of the wall-climbing robot can be realized, the detection, cabin sweeping or welding operation of any wall surface of the ship are realized, the labor finishing cost is reduced, and the beneficial effect is obvious.

Description

technical field [0001] The present invention relates to a wall-climbing robot, in particular to a ship-used omnidirectional mobile wall-climbing robot. Background technique [0002] Ships play a very important role in the logistics and transportation of the national economy. Ships are large load-bearing mechanical equipment. For ships that have been put into use, it is necessary to regularly clean the attachments on the outer surface or perform outer plate inspections in order to prolong their service life. For large bulk carriers, when the cargo carried changes, a stripping operation is also required. For newly built ships, the hull is often fabricated and welded in sections. At present, most of these tasks rely on manual work, which is labor-intensive, difficult, low-efficiency, high-risk, and labor costs are increasing year by year. Therefore, it is very necessary to design a ship wall-climbing robot to replace humans to complete these tasks. [0003] Since large ship...

AI Technical Summary

Problems solved by technology

Wheeled robots are flexible in movement, but have a small load, while crawler robots have strong load-bearing capacity and the ability to overcome obstacles, but their movements are not flexible.

Since the magnetic adsorption force rapidly decays as the gap between the magnet and the steel plate becomes larger, it is difficult for these wall-climbing robots to climb over the hull welds or small structural parts

And when the robot needs to move with a fixed posture, it is powerless

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