The curved surface self-adaptive wall-climbing robot comprises an equilateral triangle rack, the three vertexes of the equilateral triangle rack are each provided with a set of parallel passive self-adaptive modules capable of achieving one moving and one rotating, and a top platform of each set of parallel passive self-adaptive modules is connected with a set of traction modules; the traction module comprises a steering driving mechanism, a walking driving mechanism and a permanent magnet wheel, the axis of a rotating shaft of the steering driving mechanism is perpendicular to the connecting wall plate, one rotational degree of freedom can be achieved, and the walking driving mechanism is connected with the steering driving mechanism through a driving motor support; the walking driving mechanism can realize a rotational degree of freedom parallel to the connecting wall plate, can adapt to concave and convex curved surfaces of a magnetic conductive vertical surface at the same time, can walk on a complex variable-curvature magnetic conductive wall surface in a self-adaptive manner, has a good self-adaptive capability, has higher safety while keeping the advantages of a traditional operation mode, and is suitable for large-scale popularization and application. The structure is more compact, and the stability is higher.
本发明公开了一种曲面自适应爬壁机器人,包括等边三角形机架,所述等边三角形机架的三个顶点处各安装有一组可实现一移动一转动的并联被动自适应模块,每组并联被动自适应模块的顶部平台各连接有一组牵引模块,所述牵引模块包括转向驱动机构、行走驱动机构和永磁轮,所述转向驱动机构的转轴轴线与连接壁板垂直,可实现一个转动自由度,所述行走驱动机构通过驱动电机支架与转向驱动机构连接,所述行走驱动机构可实现与连接壁板相平行的一个转动自由度,本发明能够同时适应导磁立面的凹、凸曲面,自适应地在复杂的变曲率导磁壁面上行走,具有良好的自适应能力,在保留传统作业方式优点的同时,具有更高的安全性,结构更加紧凑,稳定性更高。
Curved surface self-adaptive wall-climbing robot
一种曲面自适应爬壁机器人
28.06.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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