The invention provides a variable magnetic force adsorption type wall-climbing robot for ship rust removal operation, which comprises a pair of track movement mechanisms, the track movement mechanism on each side is provided with an inner ring track assembly and an outer ring track assembly which are tightly arranged side by side and independently run, and a plurality of magnetic adsorption modules are uniformly and densely distributed on each ring track assembly along the full length of a track; the outer roller surface of the magnetic adsorption module keeps rolling contact with the wall surface of the ship through a roller; an included angle of 90 degrees is formed between the central axes of the rollers of the magnetic adsorption modules on the inner-ring track assembly and the outer-ring track assembly on the same side, and an included angle of 45 degrees is formed between the central axes of the rollers and the length direction of the tracks; the rear driving mechanism is used for driving the inner ring track assembly to operate; the front driving mechanism is used for driving the outer ring track assembly to operate; the variable magnetic force adsorption mechanism is used for assisting the robot in adsorbing the wall surface of the ship by virtue of electrified magnetic force; and the nozzles are used for forming high-speed jet flow which is sprayed over against the wall surface of the ship at the position. Reliable guarantee can be provided for operation safety, reliability and quality.
本发明提供了一种面向船舶除锈作业的变磁力吸附式爬壁机器人,包括:一对履带运动机构,每侧履带运动机构均设有紧密并排布置、彼此独立运行的内外两圈履带组件,各圈履带组件沿履带全长均匀密布多个磁吸附模块;磁吸附模块,通过辊轮以外辊面与船舶壁面保持滚动接触;处于同侧的内圈履带组件与外圈履带组件上的磁吸附模块的辊轮中轴线之间呈90°夹角,与履带带长方向分别呈45°夹角;后驱动机构,用于驱动内圈履带组件运行;前驱动机构,用于驱动外圈履带组件运行;变磁力吸附机构,依靠通电时的磁力辅助机器人对船舶壁面的吸附;喷嘴,用于形成高速射流,正对所在位置的船舶壁面喷射。本发明能够为作业安全性、可靠性与质量提供可靠保障。
Variable magnetic force adsorption type wall-climbing robot for ship rust removal operation
一种面向船舶除锈作业的变磁力吸附式爬壁机器人
2024-09-13
Patent
Electronic Resource
Chinese
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