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Wheel-track combined wall-climbing robot

A wall-climbing robot and wheel-tracking technology, applied in the field of wall-climbing robots, can solve the problems of large steering resistance, small magnetic adsorption force, and large walking resistance of wall-climbing robots with magnetic crawler tracks, and achieve the effect of flexible and efficient welding tasks.

Pending Publication Date: 2021-09-17
SHANGHAI DIANJI UNIV
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AI Technical Summary

Problems solved by technology

[0005] However, the adsorption force of the permanent magnet adsorption cannot be adjusted, which causes the wall-climbing robot to bear a large load on the complex magnetic wall surface, resulting in a large walking resistance
[0006] The magnetic wheel wall-climbing robot has the disadvantages of low magnetic energy utilization rate and small magnetic adsorption force, and the magnetic track wall-climbing robot has the disadvantage of large steering resistance

Method used

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Embodiment Construction

[0024] Below according to the accompanying drawings Figure 1 to Figure 5 , give a preferred embodiment of the present invention, and give a detailed description, so that the functions and characteristics of the present invention can be better understood.

[0025] see Figure 1 to Figure 5 , a wall-climbing robot combined with wheels and shoes according to an embodiment of the present invention includes a vehicle frame 19, two rubber wheels 1, a steering adjustment mechanism, two electromagnetic adsorption crawler mechanisms, a welding torch 2, a welding torch transmission mechanism, and a camera Bracket assembly, a CCD camera 3, a crosshair laser marking device 7, an ultrasonic obstacle avoidance sensor 4 and a PLC controller; the rubber wheel 1 is connected to both sides of the front end of the vehicle frame 19 through a universal joint, and the steering adjustment mechanism is connected between the rubber wheel 1 and the vehicle frame 19; the electromagnetic adsorption cra...

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Abstract

The invention provides a wheel-track combined wall-climbing robot. The wheel-track combined wall-climbing robot comprises a frame, rubber wheels, a steering adjusting mechanism, electromagnetic adsorption type track mechanisms, a welding gun, a welding gun transmission mechanism, a camera support assembly, a CCD camera, a cross curve laser marker, an ultrasonic obstacle avoidance sensor and a PLC; the rubber wheels are connected to the two sides of the front end of the frame through universal joints, and the steering adjusting mechanism is connected between the rubber wheels and the frame; the electromagnetic adsorption type crawler mechanisms are connected to the two sides of the frame; the welding gun is connected to the front end of the frame through the welding gun transmission mechanisms; and the CCD camera and the cross line laser line marker are installed on the camera support assembly, and the camera support assembly is connected with the frame. According to the wheel-track combined wall-climbing robot, wall-climbing movement of the robot can be achieved, steering operation of the robot can be achieved, movement of the welding gun in the set range where the robot frame is located can be achieved, and the welding task can be flexibly and efficiently completed.

Description

technical field [0001] The invention relates to the field of robots, in particular to a wheel-track combined wall-climbing robot. Background technique [0002] The wall-climbing robot is a special robot with movement and adsorption functions, which can move in dangerous environments such as vertical walls, and can replace workers to complete work in extreme environments. Wall-climbing robots for metal surface operations are mostly oriented to applications such as inspection, painting, rust removal, and welding, and have broad application prospects. [0003] The adsorption methods of existing magnetic wall-climbing robots are mainly permanent magnet adsorption and electromagnetic adsorption. Among them, permanent magnetic adsorption has been widely used for its large adsorption force, simple and reliable structure. The crawling robot with electromagnetic adsorption realizes flexible and controllable adsorption force, so this type of robot has wider versatility. [0004] Th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024B62D11/04B23K37/02
CPCB62D57/024B62D11/04B23K37/0252
Inventor 钱炳锋高世杰王能鋆
Owner SHANGHAI DIANJI UNIV
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