Driving motors of a front fork frame and a rear fork frame drive the front fork frame and the rear fork frame to rotate by a certain angle by means of a synchronous belt, a synchronous belt wheel and gear composite part and a gear, obstacle crossing of the robot is completed, the robot adapts to climb over different angles, when a front sensor detects a transition wall face, a front suction cup is separated from a front electromagnetic clutch, and a rear suction cup is separated from a rear electromagnetic clutch; the front fork frame driving motor realizes rotation of the front fork frame through a synchronous belt, a synchronous belt wheel and gear composite part and a gear, so that the conditions that a transition acute angle is blocked and an external angle cannot be transited can be avoided; when the middle sucker passes through the transition wall surface, the middle electromagnetic clutch is separated, and the middle sucker adapts to the transition wall surface; when the rear suction cup passes through the transition wall face, the rear electromagnetic clutch is separated, the rear fork frame driving motor achieves rotation of the rear fork frame through the synchronous belt, the synchronous belt wheel and gear composite part and the gear, and the wall-climbing robot can climb over large obstacles, can climb over inside and outside in a right-angle mode and can achieve tasks of maintenance of a wind turbine tower drum and maintenance of fan blades.

    本发明公开了一种爬壁机器人,前叉架、后叉架的驱动电机借助同步带、同步带轮齿轮复合件、齿轮,驱动前叉架、后叉架旋转一定角度,完成机器人越障,机器人适应翻越不同角度,前置传感器检测到过渡壁面时,前吸盘与前电磁离合器分离,前叉架驱动电机通过同步带、同步带轮齿轮复合件、齿轮,实现前叉架旋转,可避免过渡锐角卡死、无法过渡外角情况;中间吸盘经过过渡壁面时,中间电磁离合器分离,中间吸盘自适应过渡壁面;后吸盘经过过渡壁面时,后电磁离合器分离,后叉架驱动电机通过同步带、同步带轮齿轮复合件、齿轮,实现后叉架旋转,该爬壁机器人可进行较大障碍物翻越,可进行内外直角翻越,能实现风电机塔筒维护、扇叶维护任务。


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    Titel :

    Wall-climbing robot


    Weitere Titelangaben:

    爬壁机器人


    Beteiligte:
    GAO HAICHAO (Autor:in) / WEI XINHUA (Autor:in) / LYU WANWAN (Autor:in) / HAN HAIMIN (Autor:in) / DONG WEI (Autor:in) / LIU QINGHUA (Autor:in) / ZHANG PENGJIE (Autor:in)

    Erscheinungsdatum :

    2022-11-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / F03D Windkraftmaschinen , WIND MOTORS



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