Walking chassis device for wall-climbing magnetic adsorption robot

Abstract

The invention discloses a walking chassis device for a wall-climbing magnetic adsorption robot, comprising two sets of magnetic adsorption driving wheels, an image acquisition device, a frame and a universal wheel, wherein the two magnetic adsorption driving wheels are connected with two sides of the rear end of the frame, the front end of the frame is connected with the universal wheel, and the image acquisition device is fixedly arranged at the upper end of the frame. The walking chassis device for the wall-climbing magnetic adsorption robot has a simple structure; a mobile vehicle body is based on the idea of modularized design and adopts detachable modules in three-wheel structure layout, so that quick disassembly and recombination can be realized when the robot passes through a non-continuous narrow limited operation space and the like; an absorption unit adopts sandwiched permanent magnetic adsorption which has higher adsorption efficiency and lighter weight compared with the traditional adsorption mode; the moving mode is as follows: one universal wheel is adopted, and the other two wheels are adopted for driving to move; and the two driving wheels provide stable driving force for the wall-climbing robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a walking chassis device of a wall-climbing magnetic adsorption robot. Background technique [0002] Wall-climbing robots can carry operating tools to assist or replace humans to complete various extreme operations on the wall. They are widely used in industry, petrochemical enterprises, shipbuilding and other dangerous industries. Increasingly, it has gradually become a trend for robots to replace manual tasks that are simple and repetitive, highly dangerous, and labor-intensive; wall-climbing robots are accelerating the process of industrialization due to their high efficiency, low cost, and stable quality. The demand for processing (such as rust removal on the surface of ships, paint removal on the surface of large storage tanks, etc.) has promoted the design of special wall-climbing robots. With the complexity of the operation and the dangerous working environment, there is an...

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Problems solved by technology

[0002]The wall-climbing robot can carry operating tools to assist or replace humans to complete various extreme operations on the wall. It is widely used in industry, petrochemical enterprises, shipbuilding and other dangerous industry, with the continuous advancement of human science and technology and the increasing cost of labor, it has gradually become a trend for robots to replace humans to perform simple, repetitive, high-risk, and labor-intensive tasks; wall-climbing robots are characterized by their high efficiency, low cost, and Stable quality and other characteristics are accelerating the industrialization process. The demand for large-area steel surface pretreatment (such as rust removal on the surface of ships, paint removal on the surface of large storage tanks, etc.) has promoted the design of special wall-climbing robots. The environment is dangerous, and there is an urgent need for a multi-functional wall-climbing robot walking chassis device for carrying out different functional modules for operations. In the existing technology, the wall-climbing robot is relatively large in size and heavy in weight; the internal structure is difficult to disassemble, and the magnetic yoke iron of the magnetic wheel adsorption unit is directly connected to the magnetic wall surface. Contact, resulting in insufficient friction, prone to slipping, and it may be difficult to achieve smooth crawling on the magnetic wall surface. Therefore, a walking chassis device for a wall-climbing magnetic adsorption robot is proposed.

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