| 摘要 |
<p>The invention relates to a robot for treating metal structures, of the type that comprises two units (1) with actuation by means of caterpillars and movement by means of magnetic soles (5, 6) on an endless belt (4), where said caterpillar-actuation units (1) are longitudinally connected by means of two intermediate hinges (14) with a central body (12) and two side bodies (13), where said intermediate joints (14) are configured such that each caterpillar-actuation unit (1) oscillates laterally in relation to the opposite caterpillar. Said robot also comprises transverse articulation means (15, 16, 17) that are securely connected to the supporting chassis (2) and to the side bodies (13) and are configured such that each caterpillar-actuation unit (1) rotates in relation to the opposite caterpillar. The robot further comprises stabilisation means (18, 19, 20) for stabilising the assembly of the robot, said means being designed so as to maintain a constant and uniform pressure over the surface of treatment.</p> |
