Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system

Abstract

The invention discloses a wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system, belonging to the technical field of robots and comprising a robot frame, a 5-DOF (degree of freedom) robot arm, three groups of mobile absorption mechanisms, linear sliding rails, screws and drive motors, wherein the linear sliding rails, the screws and the drive motors respectively correspond to the three groups of mobile absorption mechanisms; the five-DOF robot arm is arranged above the robot frame; the three groups of linear sliding rails and screws are vertically arranged below the robot frame and two ends thereof are connected with the robot frame and the mobile absorption mechanism respectively; and the drive motor is fixedly connected with the mobile absorption mechanism. The invention solves the technical defects of the existing wall climbing robot in vertical wall surface operation, enables the robot to have the advantages of rapid speed and flexible steering of a wheeled mobile robot and have the characteristics of large magnetic absorption force and good load capacity as well as obstacle detouring capacity, and can satisfy the requirements of motion and operation in complicated environments.

Description

technical field [0001] The invention relates to a device in the technical field of robots, in particular to a non-contact magnetic adsorption wall-climbing robot system with combined wheels and feet for obstacle surmounting. Background technique [0002] A wall-climbing robot is an automated device that can move and absorb on a vertical wall. It can replace workers in dangerous and extreme environments such as nuclear engineering, fire protection, and large non-structural equipment manufacturing and maintenance. It has broad application prospects. [0003] Due to the strong adsorption force and high efficiency of permanent magnet adsorption, most wall-climbing robots in ferromagnetic environments use permanent magnets as the adsorption mechanism. Wheeled and tracked moving mechanisms combined with magnetic adsorption are widely used in wall-climbing robots, but each has its own advantages and disadvantages. Although the wheeled mobile robot moves flexibly, its magnetic ene...

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Problems solved by technology

[0008] Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a non-contact magnetic adsorption wall-climbing robot system with combination of wheels and feet, which solves the technical deficiencies existing in existing wall-climbing robots when working on vertical walls, so that the robot has both wheels and The crawler-type mobile robot has the advantages of fast speed and flexible steering, and has the characteristics of large magnetic adsorption force and good load capacity of the crawler-type mobile robot.

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