Contour scanning magnetic wall-climbing robot

Abstract

The invention relates to the technical field of wall-climbing robots, in particular to a contour scanning magnetic wall-climbing robot which comprises a magnetic crawler chassis, a laser scanner, a ball type magnetic adsorption mechanism and a displacement measuring mechanism. The magnetic crawler chassis comprises a chassis body, a crawler and a first permanent magnet; the ball type magnetic adsorption mechanism comprises a ball support, a ball and a second permanent magnet, the ball and the second permanent magnet are installed at the bottom of the ball support, and the ball support is installed at the front end or the rear end of the chassis body; the displacement measuring mechanism comprises an encoder support, a tension spring, a follower wheel and an encoder, the encoder support is pivoted to the rear end of the chassis body, the follower wheel is installed at the rear end of the encoder support, the encoder is connected with the follower wheel, and the tension spring is connected between the encoder support and the chassis body. The adsorption force of the wall-climbing robot on the wall surface can be ensured, and meanwhile, the abrasion of the crawler belt and the wall surface is reduced; and the precision of displacement measurement can be ensured.

Description

technical field [0001] The invention relates to the technical field of wall-climbing robots, in particular to a contour-scanning magnetic wall-climbing robot. Background technique [0002] With the continuous development of the times, more and more robots are appearing in the current industrial sites. Magnetic wall-climbing robots are a new way for robots to solve high-altitude operations in the current industrial Internet of Things. At present, the number of large-scale storage tanks in my country is very large. Whether the storage tanks can operate safely is related to the normal operation of the whole society. Most of the hidden safety hazards of storage tanks are caused by weld defects, which mainly pass through the weld surface. The micro-topography of the surface is displayed, and the surface micro-topography is scanned by a magnetic wall-climbing robot carrying a linear laser sensor. The traditional surface contour scanning methods mostly use high-altitude platforms t...

AI Technical Summary

Problems solved by technology

Although the crawler-type wall-climbing machine has a large adsorption force, it brings some defects: (1) The crawler-type wall-climbing robot relies on the speed difference between the two sides of the crawler to turn, and sometimes in order to achieve a small radius turn, it is even necessary to lock one side of the crawler , which will inevitably cause the wear of the track and the wall, and this wear is positively related to the magnetic adsorption force of the crawler chassis; (2) The chassis of the crawler wall-climbing machine as a whole has a large adsorption force, which is not convenient for the crawler-type wall-climbing robot remove from wall

However, in actual working conditions, uneven walls often occur, such as the surface of a storage tank. Since the encoder cannot be in close contact with the wall, the measurement accuracy of the displacement is low, which affects the path planning or automatic tracking of the wall-climbing robot.

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