The invention discloses a magnetic wall-climbing robot with self-adaptive magnetic pendulums and an obstacle crossing method of the magnetic wall-climbing robot, and relates to the field of magnetic wheel type wall-climbing robots, each magnetic wheel mechanism of the wall-climbing robot is internally provided with a magnetic pendulum capable of rotating around the axis of a hub, and the magnetic pendulums can actively adapt to the change of a wall surface; and the robot can smoothly pass through a crossed wall surface with a relatively large included angle. The wall-climbing robot comprises a frame module, a robot control module, a front driving wheel module, a rear driven wheel module and a detection camera module. A magnetic wheel mechanism of the wall-climbing robot is of a hollow double-layer gear shaft structure, an outer ring gear shaft is driven by a worm and gear speed reducing motor to drive wheels to rotate, and the wall-climbing robot can freely move on the vertical wall face. The inner ring gear shaft is driven by a steering engine, the angle of the magnetic pendulum is controlled, it is guaranteed that the magnetic adsorption force direction of the magnetic pendulum is perpendicular to the steel wall face, the wall-climbing robot can adapt to the change of the wall face, and therefore self-adaptive obstacle avoidance and obstacle crossing are achieved.

    本发明公开了一种具有自适应磁力摆的磁吸爬壁机器人及其越障方法,涉及磁吸轮式爬壁机器人领域,爬壁机器人的每个磁轮机构内都安装有可以绕轮毂轴线转动的磁力摆,磁力摆对壁面的变化可以进行主动适应,保证机器人可以顺利通过夹角较大的交叉壁面。爬壁机器人包括车架模块、机器人控制模块、前驱动轮模块、后从动轮模块及检测相机模块。爬壁机器人的磁轮机构使用中空双层齿轮轴结构,外圈齿轮轴由蜗轮蜗杆减速电机驱动,带动轮子转动,让爬壁机器人可以在垂直壁面上自由移动;内圈齿轮轴由舵机驱动,控制磁力摆的角度,保证磁力摆的磁吸附力方向垂直于钢制壁面,让爬壁机器人可以适应壁面的变化,从而实现自适应避障与越障。


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    Titel :

    Magnetic attraction wall-climbing robot with self-adaptive magnetic pendulum and obstacle crossing method of magnetic attraction wall-climbing robot


    Weitere Titelangaben:

    一种具有自适应磁力摆的磁吸爬壁机器人及其越障方法


    Beteiligte:
    LI YUEBING (Autor:in) / ZHU XIAO (Autor:in) / LI YAN (Autor:in)

    Erscheinungsdatum :

    30.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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