Magnetic adsorption wall-climbing spraying robot with curved surface adaptive capacity and use method thereof

Abstract

The invention discloses a magnetic adsorption wall-climbing spraying robot with curved surface adaptability and a using method thereof. The magnetic adsorption wall-climbing spraying robot comprises a main vehicle body, an independent spring suspension structure, a lifting lead screw, magnetic adsorption wheels, a motor fixing device, a spraying mechanical arm and a control box cover. The wall-climbing robot walks in a wheel type adsorption mode, movement is more flexible, the adsorption force is larger due to the fact that the large-radius wheels are internally provided with the magnetic wheels, and walking is more stable. The robot adopts an independent suspension structure, the weight is light, the obstacle crossing capacity and the damping capacity are high, and the structure is easy to machine and convenient to disassemble. A lifting lead screw is arranged below the spring suspension for adjustment, and the lifting lead screw is connected with a hexagonal structure hinged to a rod piece, so that the four magnetic wheels of the wall-climbing robot can walk perpendicular to the curved surface and the tangent plane no matter what posture the robot is in. In addtion, the magnetic adsorption wheel is perpendicular to the tangent plane of the curved surface, so that the magnetic utilization rate of the magnetic wheel is the highest, and the magnetic adsorption force to the wall surface is also the maximum. Therefore, the robot body can be firmly adsorbed on the wall surface, and the spraying work of the robot is completed.

Description

technical field

[0001] The invention relates to the field of industrial robots, in particular to a magnetic adsorption wall-climbing spraying robot capable of adapting to curved surfaces and a use method thereof. Background technique

[0002] A wall-climbing robot is a special robot that can crawl on a non-horizontal wall and perform operations instead of humans. It is mostly used in the spraying, cleaning, hull inspection, welding, rust removal and other tasks on the surface of the hull, or the spraying, sandblasting, grinding, and testing operations on the surface of large oil storage tanks, and the cleaning and painting of the outer surface of high-rise buildings. With the continuous development of science and technology, the research of wall-climbing robot has important significance and application value.

[0003] A wall-climbing robot for spraying the outer surface of a large oil storage tank is disclosed. The wall-climbing robot adopts a spring suspension structure so...

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