The invention belongs to the technical field of wall-climbing robots and relates to a curved surface self-adaptive underwater wall-climbing robot. The robot comprises a rack, a swing arm mechanism, anadsorption walking mechanism and two driving mechanisms. The swing arm mechanism is installed on a front side of a top of the rack. The adsorption walking mechanism comprises two driving wheels, twomagnetic adsorption units and two auxiliary magnetic wheels. The two auxiliary magnetic wheels are installed on a front side and a rear side of the bottom of the rack correspondingly. The two drivingmechanisms are hinged to the two sides of the front end of the rack through the two hinge mechanisms respectively, the two magnetic adsorption units are installed at the bottoms of the two driving mechanisms respectively, the two driving wheels are connected with the output ends of the two driving mechanisms respectively, and horizontal positions of the bottoms of the two driving wheels are lowerthan the horizontal positions of the bottoms of the magnetic adsorption units. The curved surface self-adaptive underwater wall-climbing robot is suitable for underwater execution work and is simple and light in structure, good in flexibility, high in load energy and capable of giving consideration to an obstacle crossing capacity and curved surface adaptability.

    本发明属于爬壁机器人技术领域,尤其涉及一种曲面自适应水下爬壁机器人,其包括机架、摆臂机构、吸附行走机构和两个驱动机构,摆臂机构安装于机架顶部前侧,吸附行走机构包括两个主动轮、两个磁吸附单元和两个辅助磁轮,两个辅助磁轮分别安装于机架底部前侧和后侧,两个驱动机构通过两个铰接机构分别铰接于机架前端的两侧,两个磁吸附单元分别安装于两个驱动机构的底部,两个主动轮分别与两个驱动机构的输出端连接,且两个主动轮底部的水平位置均低于磁吸附单元底部的水平位置。本发明提供的曲面自适应水下爬壁机器人,适用于水下对执行工作,其具有结构简单轻巧、灵活性好,负载能强以及兼顾越障能力和曲面适应力的优点。


    Access

    Download


    Export, share and cite



    Title :

    Curved surface self-adaptive underwater wall-climbing robot


    Additional title:

    曲面自适应水下爬壁机器人


    Contributors:
    CHEN HAO (author) / CAI JIANNAN (author) / HE KAI (author) / LI JIUHUA (author) / FANG HAITAO (author) / GENG YONGQING (author) / WANG XINGCHAO (author) / LIN BINGDI (author) / HU SHAOJIE (author) / DENG JING (author)

    Publication date :

    2020-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B62D MOTOR VEHICLES , Motorfahrzeuge



    Curved surface self-adaptive wall-climbing robot

    GAO XIAOSHAN / YAN LIANG / DU NANNAN et al. | European Patent Office | 2022

    Free access

    Balance wheel type curved surface self-adaptive wall-climbing robot

    HUANG SHUGUANG / WANG RUGUI / YANG TAO et al. | European Patent Office | 2021

    Free access

    Wall-climbing robot with curved surface self-adaption capability

    BAI YIDONG / SUN LINGYU / ZHANG XIAOJUN et al. | European Patent Office | 2023

    Free access

    Underwater wall-climbing robot

    YUE MING | European Patent Office | 2023

    Free access

    Two-degree-of-freedom curved surface self-adaptive suspension wall-climbing robot

    LI JIE / XU FENGYU / WANG XINGSONG | European Patent Office | 2023

    Free access