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高层建筑外墙的检查作业、气罐焊缝的探伤和缺肉检查等危险作业用机器人操作的需要日益增强。各行业都在积极的进行这方面的开发研究。机器人能在墙面上移动,必须有依附壁面的固着机能和车轮或脚动作的运动机能。固着方式大体上有吸附式和把持式。吸附式与墙面是面接触,有真空式和电磁式两种,通常对墙面没有特殊的要求。另一种为把持式,通常是在墙面上预设梯子和把手等突出物。运动方式一般有车轮式、履带式和脚式三种。固着方式中真空吸附式应用最广泛,这里介绍几种真空吸附式的墙面移动机器人。图1是搬运救生绳等物的救生机器人,也是墙面机器人原始的研
There is an increasing need to operate robots for dangerous operations such as inspections of high-rise building facades, detection of gas tank welds, and lack of meat inspections. Various industries are actively conducting research and development in this area. The robot can move on the wall and must have the function of fixing the wall and the movement of the wheel or the foot. The fixing method generally has the adsorption type and the holding type. The adsorption type is in surface contact with the wall surface. There are two types of vacuum type and electromagnetic type. There is usually no special requirement for the wall surface. The other is the type of holding, which is usually preset on the wall with protrusions such as ladders and handles. There are three types of sports: wheel, crawler, and foot. The vacuum adsorption type is the most widely used fixation method. Here are some vacuum adsorption type wall mobile robots. Figure 1 is a life-saving robot carrying a lifeline and the like. It is also an original research of a wall robot.