Permanent magnet attraction foot type wall-climbing robot

Abstract

The invention provides a permanent magnet adsorption foot type wall-climbing robot, and belongs to the technical field of wall-climbing robots. According to the wall-climbing robot, the walking leg mechanisms are arranged on the lower side face of the rack, during walking, the magnetic attraction devices on part of the walking leg mechanisms are attracted to the wall face, and the magnetic attraction devices on the other part of the walking leg mechanisms are separated from the wall face and move forwards along with the cranks; after the walking leg mechanisms swing forwards, the magnetic attraction devices on the walking leg mechanisms are attracted to the wall face, the magnetic attraction devices on the walking leg mechanisms originally attracted to the wall face are separated from thewall face and move forwards along with the cranks, and the wall-climbing robot walks on the wall face in cycles. Therefore, a flaw detection tool can be carried on the wall-climbing robot for flaw detection, and the working efficiency is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of wall-climbing robots, and relates to a permanent-magnet adsorption leg-type wall-climbing robot. Background technique [0002] At present, the flaw detection of large steel structures such as large ships, petrochemical storage tanks, and fan towers is mainly performed manually. The traditional method is to build scaffolding or use aerial work platforms for manual flaw detection. Workers on the scaffold Or work on the aerial work platform, although the investment is low, the work efficiency is low and the risk is high. With the advancement of technology, some semi-automatic operation methods have appeared, such as installing rails, which have improved the operation efficiency, but the preparation time is long, and there are great restrictions on non-planar operations. Therefore, a method that can be used in this The wall-climbing robot and the control system of the wall-climbing robot can be stably adsorb...

AI Technical Summary

Problems solved by technology

[0002] At present, the flaw detection of large steel structures such as large ships, petrochemical storage tanks, and fan towers is mainly performed manually. The traditional method is to build scaffolding or use aerial work platforms for manual flaw detection. Workers on the scaffold Or work on the aerial work platform, although the investment is low, the work efficiency is low and the risk is high

With the advancement of technology, some semi-automatic operation methods have appeared, such as installing rails, which have improved the operation efficiency, but the preparation time is long, and there are great restrictions on non-planar operations. Therefore, a method that can be used in this The wall-climbing robot and the control system of the wall-climbing robot can be stably adsorbed on the similar wall surface and can be equipped with other flaw detection tools

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