The invention discloses a two-degree-of-freedom curved surface self-adaptive suspension wall-climbing robot which comprises a frame, a welding seam detection camera, two sets of self-adaptive suspension mechanisms and four permanent magnet adsorption wheels. The welding seam detection camera can collect a welding seam image on the to-be-detected curved surface in real time; each self-adaptive suspension mechanism comprises an X-direction self-adaptive mechanism, a Y-direction self-adaptive mechanism and a suspension. Wherein the X direction is the width direction of the frame, and the Y direction is the advancing direction of the robot; the X-direction self-adaptive mechanism comprises an X-direction rotating shaft, an X-direction rotating seat and an X-direction spring piece; the Y-direction self-adaptive mechanism comprises a Y-direction rotating shaft, a Y-direction spring fixing seat and a Y-direction spring piece; and two permanent magnet adsorption wheels are arranged on the outer wall surface of the suspension of each group of self-adaptive suspension mechanism. The robot has the two-degree-of-freedom curvature self-adaptive adjusting performance, stable adsorption and operation can be achieved on the inner wall faces and the outer wall faces of cylindrical tanks and spherical tanks with different diameters, the stability of the robot is greatly improved, and more accurate automatic welding seam detection and maintenance are achieved.
本发明公开了一种两自由度曲面自适应悬架爬壁机器人,包括车架、焊缝检测相机、两组自适应悬架机构和四个永磁吸附轮;焊缝检测相机能实时采集待检测曲面上的焊缝图像;两组自适应悬架机构均包括X向自适应机构、Y向自适应机构和悬架;其中,X向为车架宽度方向,Y向为机器人行进方向;X向自适应机构包括X向旋转轴、X向旋转座和X向弹簧片;Y向自适应机构包括Y向旋转轴、Y向弹簧固定座和Y向弹簧片;每组自适应悬架机构的悬架外壁面均设置两个永磁吸附轮。本发明的机器人具有两自由度的曲率自适应调节性能,能够在不同直径的圆柱罐、球罐的内外壁面稳定吸附与运行,极大提升了机器人的稳定性,并实现更加精确的自动焊缝检测与维护。
Two-degree-of-freedom curved surface self-adaptive suspension wall-climbing robot
两自由度曲面自适应悬架爬壁机器人
2023-10-24
Patent
Electronic Resource
Chinese
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