The invention discloses a magnetic adsorption wall-climbing spraying robot with curved surface adaptability and a using method thereof. The magnetic adsorption wall-climbing spraying robot comprises a main vehicle body, an independent spring suspension structure, a lifting lead screw, magnetic adsorption wheels, a motor fixing device, a spraying mechanical arm and a control box cover. The wall-climbing robot walks in a wheel type adsorption mode, movement is more flexible, the adsorption force is larger due to the fact that the large-radius wheels are internally provided with the magnetic wheels, and walking is more stable. The robot adopts an independent suspension structure, the weight is light, the obstacle crossing capacity and the damping capacity are high, and the structure is easy to machine and convenient to disassemble. A lifting lead screw is arranged below the spring suspension for adjustment, and the lifting lead screw is connected with a hexagonal structure hinged to a rod piece, so that the four magnetic wheels of the wall-climbing robot can walk perpendicular to the curved surface and the tangent plane no matter what posture the robot is in. In addtion, the magnetic adsorption wheel is perpendicular to the tangent plane of the curved surface, so that the magnetic utilization rate of the magnetic wheel is the highest, and the magnetic adsorption force to the wall surface is also the maximum. Therefore, the robot body can be firmly adsorbed on the wall surface, and the spraying work of the robot is completed.
本发明公开了一种具有曲面适应能力的磁吸附爬壁喷涂机器人及其使用方法,包括主车身、独立弹簧悬架结构、升降丝杠、磁吸附轮、电机固定装置、喷涂机械臂、控制盒盖。该爬壁机器人采用轮式吸附行走,运动更加灵活,大半径车轮内置磁轮使得吸附力更大,行走更加稳定。机器人采用独立悬架结构,重量轻,有较强的越障能力和减震能力,结构易于加工,便于拆卸。弹簧悬架下方设置升降丝杠调节,通过与杆件铰接的六边形结构相连,使得机器人无论处于何种位姿,爬壁机器人的四个磁轮都能垂直于曲面切面行走。磁轮在垂直于曲面切面是,磁轮的磁利用率最高,对于壁面的磁吸附力也保持最大。从而机器人本体会牢牢吸附在壁面上,完成机器人的喷涂工作。
Magnetic adsorption wall-climbing spraying robot with curved surface adaptive capacity and use method thereof
具有曲面适应能力的磁吸附爬壁喷涂机器人及其使用方法
2022-02-08
Patent
Elektronische Ressource
Chinesisch
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