Suction-adjustable track type wall-climbing robot

Abstract

The invention relates to a suction-adjustable track type wall-climbing robot comprising a robot body, a track and travelling wheels. The travelling wheels are arranged on the robot body. The track and the multiple travelling wheels are in matched connection through clamping grooves and gear teeth, and the multiple travelling wheels support the track. The suction-adjustable track type wall-climbing robot is characterized in that a plurality of mounting grooves are uniformly formed in the outer wall of each travelling wheel in the circumferential direction, and an electromagnet is embedded into each mounting groove; the centers of the travelling wheels are connected with the robot body through corresponding shafts; mounting cavities are formed inside the travelling wheels; slide rheostat bodies are arranged inside the mounting cavities; metal bars are arranged on the slide rheostat bodies; sliding pieces are slidably connected to the metal bars; one ends of the sliding pieces are connected with one side walls of the side rheostat bodies through first springs, and the other ends of the sliding pieces are connected with sleeves; first through holes are formed in the lower ends of the sleeves; and the parts, between the other sides of the slide rheostat bodies and the sliding pieces, of the metal bars penetrate through the first through holes of the sleeves.

Description

technical field [0001] The invention relates to the technical field of wall-climbing robots, in particular to a crawler-type wall-climbing robot with adjustable suction. Background technique [0002] The welding seam grinding of large spherical tanks and the derusting and painting operations of large steel surfaces such as ships have always been manual operations, which are dangerous and inefficient. Using wall-climbing robots instead of manual operations can greatly reduce the danger. Most of the existing steel materials are alloys with different components and different proportions added, and the magnetic permeability is not exactly the same, but the magnetic force of the existing wall-climbing robots cannot be changed. If it encounters steel with low magnetic permeability, it may occur Accidents in which the wall-climbing robot falls, even if it is not completely damaged, will affect the performance of the robot and greatly reduce the life of the robot. The Chinese pate...

AI Technical Summary

Problems solved by technology

Most of the existing steel materials are alloys with different components and different proportions added, and the magnetic permeability is not exactly the same, but the magnetic force of the existing wall-climbing robots cannot be changed. If it encounters steel with low magnetic permeability, it may occur Accidents where the wall-climbing robot falls, even if it is not completely damaged, will affect the performance of the robot and greatly reduce the life of the robot

The Chinese patent No. ZL200920247834.7 discloses a wall-climbing robot for derusting ship walls, and the Chinese patent No. ZL201010191649.8 discloses a magnetic-gap wall-climbing robot for dry and wet environments. The two kinds of robots adopt the permanent magnet and vacuum mixed adsorption method and the permanent magnet gap and vacuum mixed adsorption method respectively, but the adsorption force of these two wall-climbing robots is not adjustable during the working process, for different wall surfaces and different working environments When the adaptability is relatively poor

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