The invention provides a wheel-track combined wall-climbing robot. The wheel-track combined wall-climbing robot comprises a frame, rubber wheels, a steering adjusting mechanism, electromagnetic adsorption type track mechanisms, a welding gun, a welding gun transmission mechanism, a camera support assembly, a CCD camera, a cross curve laser marker, an ultrasonic obstacle avoidance sensor and a PLC; the rubber wheels are connected to the two sides of the front end of the frame through universal joints, and the steering adjusting mechanism is connected between the rubber wheels and the frame; the electromagnetic adsorption type crawler mechanisms are connected to the two sides of the frame; the welding gun is connected to the front end of the frame through the welding gun transmission mechanisms; and the CCD camera and the cross line laser line marker are installed on the camera support assembly, and the camera support assembly is connected with the frame. According to the wheel-track combined wall-climbing robot, wall-climbing movement of the robot can be achieved, steering operation of the robot can be achieved, movement of the welding gun in the set range where the robot frame is located can be achieved, and the welding task can be flexibly and efficiently completed.
本发明提供一种轮履结合的爬壁机器人,包括车架、橡胶轮、转向调节机构、电磁吸附式履带机构、焊枪、焊枪传动机构、相机支架组件、CCD摄像机、十字线激光标线器、超声波避障传感器和PLC控制器;橡胶轮通过万向节连接于车架的前端两侧,转向调节机构连接于橡胶轮与车架之间;电磁吸附式履带机构连接于车架的两侧;焊枪通过焊枪传动机构连接于车架的前端;CCD摄像机和十字线激光标线器安装于相机支架组件上,相机支架组件连接车架。本发明的一种轮履结合的爬壁机器人,可实现机器人的爬墙移动,并可以实现机器人的转向操作,可以实现机器人车架所在设置范围内的焊枪移动,灵活高效的完成焊接任务。
Wheel-track combined wall-climbing robot
轮履结合的爬壁机器人
2021-09-17
Patent
Electronic Resource
Chinese