The invention discloses a wall-climbing robot suitable for polishing operation of the outer wall of a storage tank. The wall-climbing robot comprises a vehicle body, a directional wheel driving unit arranged at the bottom of the vehicle body and a front-end functional unit arranged in front of the vehicle body. The vehicle body comprises a vehicle body frame, permanent magnets are installed on a bottom plate in an array mode, a front camera is fixedly connected to the front of the vehicle body, and a rear camera is fixedly connected to the rear of the vehicle body. The directional wheel driving unit is of a left-right completely-symmetrical structure and comprises a servo motor, the servo motor transmits driving torque to a speed reducer input flange through a commutator so as to drive a harmonic speed reducer to rotate, a speed reducer output flange is in transmission connection with a rubber-coated wheel driving flange, and the rubber-coated wheel driving flange is connected with a rubber-coated wheel. According to the wall-climbing robot, operation is conducted on the outer wall face of the magnetic conductive tank, the wall-climbing robot adapts to the curvature of the outer wall of the storage tank, the grinding operation module is carried, the operation efficiency is improved, the application prospect is wide, and application and popularization are facilitated.

    本发明公开了一种可适用于储罐外壁打磨作业的爬壁机器人,包括车体,设置于车体底部的定向轮驱动单元以及设置于车体前方的前端功能单元;车体包括车体框架,永磁体阵列式安装于底板上,车体前方固接有前摄像头,车体后方固接有后摄像头;定向轮驱动单元为左右完全对称结构,包括伺服电机,伺服电机通过换向器将驱动力矩传递给减速器输入法兰,进而带动谐波减速器转动,减速器输出法兰与包胶轮驱动法兰传动连接,包胶轮驱动法兰与包胶轮连接;前端功能单元的滑台电机通过L型板与车体固接,本发明针对导磁罐体的外壁面作业,实现爬壁机器人对储罐外壁的曲率适应,通过搭载打磨作业模块,提高作业效率,应用前景广阔,有利于推广应用。


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    Title :

    Wall-climbing robot applicable to polishing operation of outer wall of storage tank


    Additional title:

    一种可适用于储罐外壁打磨作业的爬壁机器人


    Contributors:
    WANG CUN (author) / ZHANG XUAN (author) / SUN LINGYU (author) / LI JINKUN (author) / YANG LEI (author) / ZHANG MINGLU (author) / JIAO SHILONG (author)

    Publication date :

    2023-02-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B24B MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING , Maschinen, Einrichtungen oder Verfahren zum Schleifen oder Polieren



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