The invention discloses a wind tower body derusting magnetic adsorption wall-climbing robot, which belongs to the technical field of robots and comprises a moving trolley, an adsorption mechanism, a polishing mechanism and a walking motor. The moving trolley comprises a chassis frame and four Mecanum wheels installed on the chassis frame. The adsorption mechanism comprises two adsorption assemblies which are symmetrically arranged front and back. Each adsorption assembly comprises a magnet device and a gap adjusting device used for driving the magnet device to move up and down. An ultrasonic sensor used for detecting the size of a gap between the magnet device and the wall face of the wind tower body is arranged on the bottom face of the magnet device. The grinding mechanism comprises a base, a sliding table, a supporting arm, a grinding lifting device, a grinding rotating motor, a grinding disc and a camera. The grinding disc can move left and right and move up and down, and the rust removal efficiency is improved. The problems that in the wall-climbing process of an existing wind tower wall-climbing robot, due to the fact that the preset safety adsorption force is too large and the structure of the robot is poor, flexibility is poor, and operation efficiency is low are solved.

    本发明公开了一种风塔塔身除锈磁吸附爬壁机器人,属于机器人技术领域,其包括移动小车、吸附机构、打磨机构以及行走电机。移动小车包括底盘架和安装在底盘架上的四个麦克纳姆轮。吸附机构包括两个前后对称设置的吸附组件,吸附组件包括磁铁装置和用于驱动磁铁装置上下移动的调隙装置。磁铁装置的底面设置有用于检测磁铁装置与风塔塔身壁面间隙大小的超声波传感器。打磨机构包括底座、滑台、支撑臂、打磨升降装置、打磨旋转电机、打磨盘以及摄像头。其中,打磨盘可实现左右移动和上下移动,提高除锈效率。本发明解决了现有风塔爬壁机器人在爬壁过程中由于安全吸附力预设过大和机器人自身结构问题而导致的灵活性差和作业效率低的问题。


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    Title :

    Magnetic adsorption wall-climbing robot for rust removal of tower body of wind tower


    Additional title:

    一种风塔塔身除锈磁吸附爬壁机器人


    Contributors:
    XI JIAPENG (author) / ZHANG YUFENG (author) / CHEN SHAOKE (author) / XI YANYU (author) / YAN MING (author) / LI YANZHOU (author)

    Publication date :

    2025-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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