Description

The multifunctional wall-climbing robot is mainly geared to meet the maintenance needs of petrochemical storage tanks, ship hulls, wind power poles and transport pipelines etc. With the modular design though, this robot can carry different types of mechanical arms or operational modules and use the teleoperation/full-autonomous mode to achieve the automatic cleaning, descaling, paint spraying, detection and other operations of discontinuous working surface of various magnetic conductive devices. The robot, which uses the permanent magnetic absorption form and the four-wheel-drive scheme, mainly consists of the split body module, *-DOF mechanical arm module and main and auxiliary camera module. All modules are completely mechanically and electrically isolated, have independent dustproof and waterproof functions, can achieve quick dissembling, transportation and butting of robot according to the operational requirements and have extremely great advantages in a discontinuous operation area or a narrow transportation space. Meanwhile, with the global/local visual monitoring system and 3D real-time kinematic simulation system, the robot can realize omnidirectional monitoring of the operation site and dynamic sensing of the robot status.