Magnetic adsorption type wall-climbing robot system

Abstract

The invention discloses a magnetic adsorption type wall-climbing robot system and belongs to the technical field of automation equipment. The magnetic adsorption type wall-climbing robot system comprises magnetic conduction wheels, a vehicle body and magnetic force control devices; the magnetic conduction wheels are arranged under the vehicle body; and the magnetic force control devices are arranged in the corresponding magnetic conduction wheels and are used for controlling intensity changes of magnetic fields around the corresponding magnetic conduction wheels. By utilizing a magnetic fieldsuperposition principle, the magnetic adsorption type wall-climbing robot system controls a magnitude and a direction of the magnetic field intensity of an electromagnet by controlling a size and a direction of a current of an electromagnet coil, so that addition and cancellation of the magnetic field intensity on a magnetic pole face are achieved, the purpose of magnetic force adsorption and unloading of the magnetic guide wheels can be effectively realized, and a wall-climbing robot is convenient to dismount and unload.

Description

technical field [0001] The invention belongs to the technical field of automation equipment, and in particular relates to a magnetic adsorption wall-climbing robot system. Background technique [0002] At present, there are two ways to weld the inner wall of the pipe, the surface of the ship, the steel structure bridge or other operations. One is to use manual travel to and from the two ends of the pipe, and after completing a welding along the axial direction of the small-diameter pipe, move along the circumferential direction of the boiler pipe wall The second welding operation is carried out in a cycle, and then the welding work of the entire pipe-shaped boiler tube wall is completed, but the labor intensity is too high by manual welding, and the welding accuracy cannot be guaranteed, which affects the quality of the product; the other is to use Welding robots perform welding operations. When using welding robots for welding operations, the welding robot needs to have the...

AI Technical Summary

Problems solved by technology

[0002] At present, there are two ways to weld the inner wall of the pipe, the surface of the ship, the steel structure bridge or other operations. One is to use manual travel to and from the two ends of the pipe, and after completing a welding along the axial direction of the small-diameter pipe, move along the circumferential direction of the boiler pipe wall The second welding operation is carried out in a cycle, and then the welding work of the entire pipe-shaped boiler tube wall is completed, but the labor intensity is too high by manual welding, and the welding accuracy cannot be guaranteed, which affects the quality of the product; the other is to use Welding robots perform welding operations. When using welding robots for welding operations, the welding robot needs to have the function of bidirectional movement along the tangential direction of the pipe wall circumference of the pipe-shaped boiler and the direction of the pipe axis. Complete the linear movement along the pipe axis direction, and then move a certain distance along the tangential direction of the pipe wall circumference of the pipe-shaped boiler to complete the welding work of another small-diameter pipe, and carry out the welding work of the entire pipe-shaped boiler pipe wall in a cycle.

However, the magnetic force of most magnetic adsorption wall-climbing robots cannot be adjusted, and there are great difficulties in disassembling and unloading.

Images