The invention discloses a negative pressure adsorption hinged four-track wall-climbing robot, belongs to the technical field of wall-climbing robots, and aims to solve the problems that stable adsorption on complex wall surfaces of different materials and different forms is difficult, the walking efficiency is low, the obstacle crossing ability is low, and the self-adaptive control is difficult in the prior art. The front vehicle body is arranged in the front in the advancing direction, and the front vehicle body comprises a vehicle frame unit, crawling units arranged on the two sides of the vehicle frame unit and a negative pressure adsorption unit; the crawling unit is of a floating crawler type structure, and the negative pressure adsorption unit is of a controllable negative pressure sealing suction cup adsorption type structure. The rear vehicle body has the same structure as the front vehicle body and is arranged behind along the advancing direction; the steering unit is connected between the tail end of the front vehicle body and the front end of the rear vehicle body, and rotation and pitching of the rear vehicle body relative to the front vehicle body are adjusted through the steering unit; the positioning and detecting system is carried on the front vehicle body; and the control unit is carried on the rear vehicle body and is used for controlling the wall-climbing robot to act.
本发明公开一种负压吸附铰接四履带爬壁机器人,属于爬壁机器人技术领域,目的在于解决现有技术存在的难以在不同材质、不同形态的复杂壁面上稳定吸附,行走效率低、越障能力低、自适应控制难的问题。本发明包括:沿行进方向设置在前方的前车体,前车体包括车架单元、设置在车架单元两侧的爬行单元以及负压吸附单元;爬行单元为浮动履带式结构,负压吸附单元为可控负压密封吸盘吸附式结构;与前车体结构相同并沿行进方向设置在后方的后车体;连接在前车体末端和后车体前端之间的转向单元,通过转向单元调整后车体相对前车体的转动和俯仰;搭载在前车体上的定位与检测系统;以及搭载在后车体上的控制单元,通过控制单元控制爬壁机器人动作。
Negative pressure adsorption hinged four-crawler wall-climbing robot
一种负压吸附铰接四履带爬壁机器人
24.01.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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