The invention discloses a wall-climbing robot for metal wall surface welding seam tracking. The wall-climbing robot mainly comprises a frame, a tracking assembly, four sets of magnetic wheel assemblies, two encoders, two motors and the like. The bottom of the frame is connected with a carbon fiber bottom plate, and the frame is internally provided with two baffles. Each group of magnetic wheel mechanism comprises an annular magnet, a protective ring, two magnetic conduction pieces, an outer side end cover, a flange connecting shaft, a bearing fixing seat, a bearing, a synchronous wheel and a motor fixing seat, the two groups of magnetic wheel components are symmetrically arranged and are respectively connected with a motor and an encoder, and the magnetic wheel component on one side is driven by a synchronous belt. The tracking assembly comprises a camera, a camera support, an II-type fixing base, a sliding base and a lifting bolt. The magnetic wheel assemblies are fixed to the two sides of the frame through bolts, and the camera assembly is installed in the center of the frame through bolts. According to the robot, adsorption on the metal wall surface is achieved through the magnetic wheel assembly, the welding seam position is recognized through the tracking assembly, and then welding seam tracking is achieved through motion adjustment.
本发明公开了一种用于金属壁面焊缝跟踪的爬壁机器人,主要包括包括车架、跟踪组件、四组磁轮组件、两个编码器、两个电机等。车架底部连接碳纤维底板、内部安装两个挡板。每组磁轮机构包括环形磁铁、保护圈、两个导磁件、外侧端盖、法兰连接轴、轴承固定座、轴承、同步轮和电机固定座,两组磁轮组件对称布置并分别连接电机、编码器,一侧的磁轮组件通过同步带传动。跟踪组件包括相机、相机支架、Ⅱ型固定座、滑动座、提升螺栓。磁轮组件通过螺栓固定在车架两侧,相机组件通过螺栓安装在车架中心位置。该机器人通过磁轮组件实现在金属壁面的吸附、通过跟踪组件对焊缝位置进行识别,进而通过运动调整实现对焊缝跟踪。
Wall-climbing robot for metal wall surface welding seam tracking
一种用于金属壁面焊缝跟踪的爬壁机器人
2021-01-15
Patent
Elektronische Ressource
Chinesisch
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