The invention relates to a permanent magnet adsorption wheel leg composite wall-climbing robot which comprises a frame, six driving wheels, two rotating mechanisms, a moving mechanism, six rotating mechanisms and a permanent magnet adsorption device. Each rotating mechanism is used for driving the driving wheels to swing forwards and backwards relative to the frame; one rotating mechanism is correspondingly positioned on the two driving wheels at a front end of the frame, and the other rotating mechanism is correspondingly positioned on the two driving wheels at a rear end of the frame; the moving mechanism is used for driving the two driving wheels in the middle of the frame to move up and down relative to the frame; each rotating mechanism is used for driving the driving wheels to rotate; the six rotating mechanisms are in one-to-one correspondence with the six driving wheels; and the permanent magnet adsorption device comprises three non-contact permanent magnet adsorption units, two non-contact permanent magnet adsorption units swing synchronously with the two driving wheels located at the front end or the rear end of the frame respectively, and one non-contact permanent magnetadsorption unit ascends and descends synchronously with the two driving wheels located in the middle of the frame. The wall-climbing robot provided by the invention has an efficient moving capability, and also has a wall surface morphology adaptability, an obstacle crossing capability and a cross wall surface transition capability.

    本发明涉及一种永磁吸附轮腿复合爬壁机器人,包括车架、六个驱动轮、两个转动机构、一个移动机构、六个旋转机构和永磁吸附装置;转动机构用于带动驱动轮相对车架前后摆动;一个转动机构对应位于车架前端的两个驱动轮,另一个转动机构对应位于车架后端的两个驱动轮;移动机构用于带动位于车架中部的两个驱动轮相对车架上下移动;旋转机构用于带动驱动轮旋转运动;六个旋转机构与六个驱动轮一一对应;永磁吸附装置包括三个非接触式永磁吸附单元,两个分别与位于车架前端或后端的两个驱动轮同步摆动,一个与位于车架中部的两个驱动轮同步升降。本发明的爬壁机器人具有高效移动能力,且兼具壁面形貌适应能力、越障能力和交叉壁面过渡能力。


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    Title :

    Permanent magnet adsorption wheel leg composite wall-climbing robot


    Additional title:

    一种永磁吸附轮腿复合爬壁机器人


    Contributors:
    ZHOU YILIN (author) / ZHANG HUA (author) / GAO YANFENG (author) / XU QIANHUI (author)

    Publication date :

    2020-09-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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