Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm

Abstract

The invention belongs to the technical field of special robots, and particularly relates to a fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arms, which comprises a climbing mechanism and a control mechanism, wherein the control mechanism comprises multi-functional robotic arms and an end working module, the bases of the multi-functional robotic arms are fixedly arranged on the adsorption type climbing mechanism, and the end working module is fixedly arranged at the tail ends of the multi-functional robotic arms. With the adoption of the combination mode of contact magnetic wheel adsorption and non-contact clearance adsorption and the three-wheel structure, the fully-driven magnet-adsorption type multifunctional wall-climbing robot with the small folding robotic arms has the advantages that all wheels are driving wheels, the redundancy control steering mode is adopted, steering on the magnet conductive wall surface is realized by speed difference between two rear wheels and controlled steering of the front wheel, and the movement flexibility is good, steering around the body center with minimum radius of 0 is realized, and a robot can be reliably adsorbed on a magnet conductive wall surface and realize automatic and free movement.

Description

Technical field [0001] The invention belongs to the technical field of special robots, and specifically is a full-drive magnetic adsorption type wall climbing robot with a small folding size mechanical arm. Background technique [0002] Magnetic wall-climbing robot is a kind of special robot. Its main feature is that it can crawl on the magnetic wall of large-scale structural parts such as ships, as well as power station turbine blades and other structural parts that are difficult for personnel to maintain on-site, and complete various operation methods (such as An automatic mechanical device for welding, grinding, defect detection, clamping, etc.). [0003] The wall-climbing robot should have three functions of adsorption, movement and operation. The adsorption function should ensure that it is reliably adsorbed on the magnetically permeable wall surface of the structure, and will not fall during movement and operation; the movement function should enable it to move forwards and ...

AI Technical Summary

Problems solved by technology

[0010] The purpose of the present invention is to overcome the deficiencies in the comprehensive performance of the prior art in terms of motion flexibility and load capacity, to solve the contradiction between the adsorption and movement of the wall-climbing robot, and to provide a solution for the problem of insufficient flexibility of the small folding size mechanical arm. A small and flexible full-drive magnetic adsorption wall-climbing robot with a small folding size mechanical arm that can reliably absorb and move flexibly on a magnetically conductive wall surface, and can realize a variety of operations.

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