The invention discloses a wall-climbing robot capable of climbing over an inner right-angle wall surface, and belongs to the field of wall-climbing robots. The wall-climbing robot comprises: a rack, magnetic wheels, lifting mechanisms, a battery module, an operation module and a motion control system; the magnetic wheels are respectively arranged at four corners of the bottom of the rack; the lifting mechanisms are arranged on the front side and the rear side of the bottom of the rack; the battery module is arranged in the rack; the operation module is arranged on the outer surface of the rack; and the motion control system is arranged in the rack, is connected to the battery module and the lifting mechanisms, and controls the lifting mechanisms for rotating. And when the magnetic wheels in the advancing direction of the wall-climbing robot is close to the inner right-angle wall surface, auxiliary wheels of the lifting mechanisms rotate to a supporting wall surface, so that the magnetic wheels arranged at the front part are separated from the wall surface parallel to the advancing direction, and the transition of the inner right-angle wall surface is realized. The wall-climbing robot has the advantages of simple and compact structure, high wall surface adaptability and good obstacle crossing performance.
本发明公开了一种可翻越内直角壁面的爬壁机器人,属于爬壁机器人领域,包括:机架、磁轮、提升机构、电池模块、作业模块和运动控制系统;所述磁轮分别设置在所述机架底部四角;所述提升机构设置在所述机架底部前后侧;所述电池模块设置在所述机架内;所述作业模块设置在机架外表面;所述运动控制系统设置在机架内,并和所述电池模块和所述提升机构连接,所述运动控制系统控制所述提升机构进行转动。当所述爬壁机器人前进方向的磁轮靠近内直角壁面时,所述提升机构的辅助轮转动至支撑壁面,使设置在前部的磁轮脱离与前进方向平行的壁面,从而实现内直角壁面过渡。本发明的爬壁机器人具有结构简单、紧凑,壁面适应性强,越障性能好的优点。
Wall-climbing robot capable of climbing over inner right-angle wall surface
一种可翻越内直角壁面的爬壁机器人
2020-06-09
Patent
Electronic Resource
Chinese
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