The invention discloses a six-foot magnetic type wall-climbing robot and a wall-climbing method thereof. A lock catch device is arranged at one end of a main body frame, a mechanical arm is arranged at the hollowed-out position of the middle of the main body frame, a camera holder is arranged at the other end of the main body frame and drives a camera to rotate, the two sides of the main body frame are each provided with three walking assemblies arranged at intervals, and each walking assembly comprises a walking driving assembly and a self-adaptive walking foot end. The self-adaptive walking foot end has a universal rotation-like function and can be actively adjusted, so that the self-adaptive walking foot end can adapt to a non-completely flat wall surface and has a very good contact effect with the wall surface, an overturning accident is prevented, the requirement on precision of each double-shaft motor after long-term work is reduced, and the moving speed is ensured; the robot has two new movement postures in the crawling process, and transfer from the wall face to one wall face perpendicular to the wall face and the other wall face parallel to the wall face can be achieved.
本发明公开了六足磁吸式爬壁机器人及其爬壁方法。本发明中锁扣装置设于主体框架的一端,机械手设于主体框架中部镂空的位置处,摄像头云台设于主体框架的另一端,并驱动摄像头转动,主体框架的两侧均设有间距布置的三个行走组件,行走组件包括行走驱动组件和自适应性行走足端。本发明中自适应性行走足端具有类万向转动功能,能够主动进行调整,进而能够适应非完全平整的壁面,并与壁面具有很好的接触效果,防止了倾覆事故的发生,且降低了对各双轴电机长期工作后精度的要求,保证了移动速度;本发明在爬行过程中具有两种新的运动姿态,能够实现从所在壁面到垂直于所在壁面的一个壁面上和平行于所在壁面的另一个壁面上的转移。
Six-foot magnetic type wall-climbing robot and wall-climbing method thereof
六足磁吸式爬壁机器人及其爬壁方法
2023-12-12
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |