A composite wall-climbing robot with permanent magnet adsorption wheel legs

Abstract

The invention relates to a permanent magnet adsorption wheel-leg composite wall-climbing robot, which includes a vehicle frame, six driving wheels, two rotating mechanisms, a moving mechanism, six rotating mechanisms and a permanent magnet adsorption device; the rotating mechanism is used to drive the driving wheels Swing back and forth relative to the frame; one rotating mechanism corresponds to the two driving wheels located at the front end of the frame, and the other rotating mechanism corresponds to the two driving wheels located at the rear end of the frame; the moving mechanism is used to drive the two driving wheels located in the middle of the frame to face each other The frame moves up and down; the rotating mechanism is used to drive the driving wheel to rotate; the six rotating mechanisms correspond to the six driving wheels; the permanent magnetic adsorption device includes three non-contact permanent magnetic adsorption units, two of which are respectively located on the frame The two drive wheels at the front or rear end swing synchronously, and one of them rises and falls synchronously with the two drive wheels located in the middle of the frame. The wall-climbing robot of the present invention has high-efficiency moving ability, and also has the ability of adapting to the shape of the wall surface, the ability of overcoming obstacles and the ability of crossing the wall surface transition.

Description

technical field [0001] The invention belongs to the technical field of special robots, and relates to a permanent magnet adsorption wheel-leg composite wall-climbing robot. Background technique [0002] The magnetic adsorption wall-climbing robot is a special robot that combines magnetic adsorption technology with mobile robot technology. It has broad application prospects in the manufacture and maintenance of large ferromagnetic components such as industry and petrochemical industry. [0003] In the manufacture and maintenance of large components such as ships, nuclear containers, and petrochemical storage tanks, there are a large number of non-structural environments. There are structural features such as welds, ribs, and grooves. In order to complete mobile operations in such an environment, a wall-climbing robot needs not only high-efficiency mobility, but also strong environmental adaptability, including adaptability to wall morphology, obstacle surmounting ability, a...

AI Technical Summary

Problems solved by technology

[0010] Aiming at the insufficient comprehensive performance of existing magnetic adsorption wall-climbing robots in terms of high-efficiency movement and environmental adaptation, the present invention proposes a permanent magnet adsorption wheel-leg composite wall-climbing robot, which combines the wheel-type movement mode with the leg-foot-type movement mode. Combining the advantages of the two modes of movement, the robot can not only achieve large-scale and efficient movement, but also have strong wall shape adaptation, obstacle-crossing and cross-wall transition capabilities, and then be able to achieve efficient mobile operations in unstructured environments

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