Non-contact magnetically adsorbed wall climbing robot

A wall-climbing robot and magnetic adsorption wheel technology, applied in the field of robots, can solve the problems of poor movement flexibility, poor steering flexibility, poor comprehensive performance, etc., and achieve the effects of strong load capacity, strong load capacity, and good movement flexibility.

Active Publication Date: 2006-03-01
TSINGHUA UNIV
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Problems solved by technology

The "crawler-type permanent magnet wall-climbing mechanism" involved in the patent document with the application date of January 26, 2000 and the application number 00200795.9 is characterized by a strong load capacity, but its movement flexibility is poor, especially when performing steering movements. At this time, due to the large contact area between the track and the magnetic wall, the steering resistance is large, the steering radius is large, and the steering flexibility is poor.
[0008] To sum up, the existing wall-climbing robots either have good motion flexibility but poor load capacity, or have strong load capacity but poor motion flexibility, and have failed to solve the contradiction between the movement and adsorption of wall-climbing robots. not good

Method used

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Embodiment Construction

[0035] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0036] figure 1 It is a schematic diagram of the working principle of the non-contact magnetic adsorption wheeled wall-climbing robot. Wherein, the wheeled moving mechanism 200 is adsorbed and runs on the magnetically permeable wall surface 100 by the adsorption force generated by the permanent magnet adsorption device installed on its chassis. There is no contact between the permanent magnetic adsorption device and the magnetically conductive wall (as shown by the dotted line in the figure), and there is a certain air gap between the two. By adjusting the distance between the chassis of the wheeled mobile mechanism 200 and the magnetically conductive wall 100 , the working air gap between the adsorption device and the magnetically conductive wall can be set, and then the adsorption force between the wall-climbing robot and the magnetically c...

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Abstract

The present invention is non-contact magnetically adsorbed wall climbing robot, belongs to the field of robot design technology, and aims at providing robot with both high moving flexibility and great loading capacity. The non-contact magnetically adsorbed wall climbing robot includes wheeled moving mechanism and permanent adsorption mechanism. The wheeled moving mechanism includes chassis, driving mechanism and wheels, which are laid symmetrically, driven in differential mode, and turns on wall by means of the speed difference of the wheels. The permanent adsorption mechanism has no contact with the magnetically conducting wall surface, high magnetic energy utilization, and high adsorption capacity. The wall climbing robot has high loading capacity, high motion flexibility, especially high turning flexibility, and excellent application foreground.

Description

technical field [0001] The invention relates to a robot, in particular to a non-contact magnetic adsorption wheeled wall-climbing robot, which belongs 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, such as welding, grinding, inspection, testing, etc., under harsh, dangerous, and extreme conditions. ,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] A wall-climbing robot must have two basic functions: wall adsorption and movement. However, the two are contradictory: the stronger the load capacity of the robot, the greater th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00
Inventor 桂仲成陈强都东孙振国张文增
Owner TSINGHUA UNIV
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