The invention discloses a self-adaptive crawler wall-climbing robot for hull wall surface polishing, which comprises permanent magnet adsorption crawlers, a frame type chassis, spring damping shock absorbers, a lead screw sliding table and a polishing head assembly, the permanent magnet adsorption crawlers are connected through the frame type chassis, the lead screw sliding table is connected with the frame type chassis and the polishing head assembly, and the spring damping shock absorbers are connected with the lead screw sliding table. A stepping motor used for driving the lead screw sliding table and the grinding head assembly is arranged on the lead screw sliding table, the grinding head assembly comprises a pneumatic grinding head, a pressure sensor is arranged on the pneumatic grinding head, and the pressure sensor and the pneumatic grinding head are connected with a controller. The invention further discloses a control method of the self-adaptive crawler wall-climbing robot for polishing the wall surface of the ship body. The permanent magnet adsorption caterpillar band of the robot is of a triangular chain transmission structure, caterpillar band deformation can be achieved, and when the caterpillar band can better adapt to the curved surface of the ship wall, the caterpillar band is tensioned all the time and better attached to the arc-shaped curved surface under the action of the spring shock absorbers, so that the maximum contact face of the ship body and the caterpillar band is achieved.
本发明公开了一种用于船体壁面打磨的自适应履带爬壁机器人,包括永磁吸附履带、框架式底盘、弹簧阻尼避震器、丝杠滑台和打磨头组件,永磁吸附履带之间通过框架式底盘相连,丝杠滑台与框架式底盘、打磨头组件相连,丝杠滑台上设置用于驱动丝杠滑台、打磨头组件的步进电机,打磨头组件包括气动打磨头,气动打磨头上设置压力传感器,压力传感器、气动打磨头与控制器相连。本发明还公开了一种用于船体壁面打磨的自适应履带爬壁机器人的控制方法。本发明机器人的永磁吸附履带为三角形链传动结构,可实现履带变形,使履带能够更好地适应船壁曲面时,在弹簧减震器的作用下始终张紧履带并更好的贴合弧形曲面,以实现船体与履带最大化的接触面。
Self-adaptive crawler wall-climbing robot for polishing wall surface of ship body and control method of self-adaptive crawler wall-climbing robot
用于船体壁面打磨的自适应履带爬壁机器人及其控制方法
2022-11-22
Patent
Electronic Resource
Chinese