Three-plane-branch six-degree-of-freedom parallel wall-climbing robot

Abstract

A three-plane-branch six-degree-of-freedom parallel wall-climbing robot mainly comprises a movable platform, a laser gun, three plane branches, a reset mechanism and three traction legs. Each plane branch comprises two telescopic driving legs, the upper end of each driving leg and the movable platform are in composite universal pair connection through a transverse shaft, and the lower end of each driving leg and a permanent magnetic chuck are in composite ball pair connection. The traction legs can stretch out in a rigidity mode, retract in a flexibility mode and swing, the upper end of each traction leg and the movable platform are in ball pair connection, and the lower end of each traction leg and a permanent magnetic chuck are in ball pair connection. The reset mechanism enables the plane branches to be reset through the transverse shafts. Pressing springs enable the traction legs to be reset, all the legs and the permanent magnetic chucks are in coordinated movement, and wall face climbing of magnetic workpieces is achieved. After absorbing and positioning are completed, the absorption capacity of the chucks acts on the movable platform all the time, the wall-climbing robot is changed into a parallel robot, and the movable platform drives the laser gun so that large equipment can be repaired and workpiece defects can be overcome. The three-plane-branch six-degree-of-freedom parallel wall-climbing robot has the advantages of being simple in structure, strong in absorption capacity, flexible to move, simple in control, low in self weight, and capable of achieving the dual functions of quick translation wall climbing and large-load six-degree-of-freedom flexible operation.

Description

technical field [0001] The invention relates to a robot, in particular to a parallel robot with the function of climbing walls. Background technique [0002] A wall-climbing robot is a robot that can climb on a vertical wall to complete automated operations that exceed human limits. In the past 20 years, it has become a hot spot and frontier in the field of robotics research at home and abroad. At present, wall-climbing robots have been used for flaw detection and inspection of oil storage tanks, ship painting, military investigation, high-rise fire protection, cleaning and spraying, nuclear equipment inspection and thickness measurement, etc. [0003] Chinese patent 200710016408.8 discloses an iron-based tank wall-climbing robot; Chinese patent CN1739925 discloses a non-contact magnetic adsorption wheeled wall-climbing robot; Chinese patent CN1428226 discloses a crawler-type multi-suction cup wall-climbing robot. The robot of the method; Chinese patent CN101181913 disclose...

AI Technical Summary

Problems solved by technology

[0004] Although the metamorphic wall-climbing parallel robot with application number 201310104113.1 has strong adsorption capacity, simple structure, and high flexibility in movement, it has the following deficiencies: 1. The degree of freedom is three, and rapid translational wall-climbing cannot be guaranteed; 2. The moving platform after positioning There are also three degrees of freedom in the processing and operation of relative adsorption workpieces, and the flexibility is still poor, which cannot meet the requirements of complex movements; 3. The elastic reset accuracy of the driving legs is low, which affects the accuracy of positioning and processing operations; Improve

[0005] Although the above-mentioned wall-climbing robots have their own characteristics, the on-site repair and remanufacturing of surface defects of large-scale equipment, equipment and large workpieces under extreme conditions has always been a difficult problem in the design, development and application of wall-climbing robots.

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