Magnetic adsorption wall climbing robot with curved surface adaptive ability

Abstract

Disclosed is a magnetic-absorption wall-creeping robot with a self-adaptive capability to curved face, which belongs to the art of robot. Said robot comprises a wheeled shifter and a plural of permanent-magnet absorption devices, the wheeled shifter containing an undercarriage, a drive gear, a traction wheel and an auxiliary balancing wheel; one end of the permanent-magnet absorption device being equipped with the magnetic conduction wall surface by auxiliary balancing wheel, and the other end equipped with the undercarriage or other permanent-magnet absorption device by curved face self-adaptive device with rotational freedom degree of among one to three; the traction wheel being laid out symmetrically and driven by differential drive, and the differential of the traction wheel realizing the deflecting on the magnetic conduction wall surface. The wall-creeping robot having a strong loading power, a flexible motility and a super self-adaptive capability to curved face, has a perfect prospect.

Description

technical field [0001] The invention relates to a robot, in particular to a magnetic adsorption wall-climbing robot with curved surface self-adaptive capability, belonging to the technical field of robot design. Background technique [0002] The magnetic adsorption wall climbing robot is a kind of special robot, which is an automatic mechanical device designed to perform specific operations on the magnetic wall surface under harsh, dangerous and extreme conditions, such as inspection, testing, welding, grinding, etc. ,More and more attention has been paid. At present, magnetic adsorption wall-climbing robots have been widely used in the production and construction of ferromagnetic structures such as nuclear industry, petrochemical industry, construction industry, fire department, and shipbuilding industry. [0003] In practical applications, some magnetically conductive wall surfaces are space curved surfaces, whose surface morphology varies greatly, is uneven, has a small ...

AI Technical Summary

Problems solved by technology

The patent document with the application date of April 16, 2004 and the application number of 200410033770.9 involves "a crawler-type wall-climbing robot with variable structure". It has good adaptability, but its movement flexibility is poor, especially when it is turning, due to the large contact area between the track and the magnetic wall, the turning resistance is large, the turning radius is large, and the turning flexibility is poor.

[0008] In summary, there is at least one of the following defects in the existing wall-climbing robots: (1) good motion flexibility, but not strong load capacity, typically such as magnetic wheel wall-climbing robots; (2) The load capacity is strong, but the movement flexibility is poor. Typical crawler-type magnetic adsorption wall-climbing robots have poor steering ability and large turning half-diameter; (3) complex surface topography, small curvature half-warp, and large curvature change range Poor adaptability to complex space surfaces

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