Self-adaptive curvature device and facade operation robot based on permanent magnet adsorption

Abstract

The invention relates to a self-adaptive curvature device and a facade operation robot based on permanent magnet adsorption. The device comprises a frame structure, a damping spring, a first lead screw, a sliding block, an upper connecting rod, a lower connecting rod and two motion control boxes, the frame structure extends in the height direction, a second servo motor is fixedly installed in a lower frame of the frame structure, the output end of the second servo motor is fixedly connected with the first lead screw, and the upper portion of the first lead screw is fixed to the frame structure; the first lead screw is in threaded connection with the sliding block; each motion control box is of a semi-enclosed structure; the upper connecting rod and the lower connecting rod are respectivelyhinged above and below the open sides of the motion control boxes; the other ends of the upper connecting rod and the lower connecting rod are hinged at different heights of the frame structure; thedamping spring is hinged to the sliding block and the upper ends of the closed sides of the motion control boxes. Under the same condition, the robot is high in adsorption force, can adapt to curved surfaces and planes with large and small curvatures, can be completely attached to the curved surfaces, and can efficiently complete rust removal operation.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to an adaptive curvature device and a permanent magnetic adsorption facade operation robot using the device. Background technique [0002] With the improvement of the automation level, it is possible to invent the engineering concept of using the facade operation robot in the fields of bridge detection, ship derusting, petrochemical oil storage tank derusting and cleaning, and pressure vessel maintenance. At present, most of the façade operations in this field in China are manual. Before the operation, a lot of manpower and material resources are needed to build scaffolding, which has the disadvantages of low operation efficiency, high risk level of personnel work, and environmental pollution. In order to solve this problem, it is urgent to invent a facade operation robot that replaces manual work. Because the wheeled structure robot has fast working speed, high efficiency, fl...

AI Technical Summary

Problems solved by technology

[0003] Existing facade operation robots usually include a car body and wheel sets on both sides. Most of the bodies have no flexible deformation devices and cannot adapt to the curvature of the work surface. They can only adapt to flat and small curvature surfaces, and are not suitable for large curvature surfaces.

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