The invention discloses a crawler-type wall-climbing robot with curved surface self-adaption capability. The robot adopts a double-vehicle three-crawler system and a split flexible self-adaptive motion form, two active crawler walking adsorption modules can control the movement of each other to realize flexible motions such as differential turning and the like, a driven crawler walking adsorption module is connected with a first vehicle body, can perform follow-up steering and has a transverse pitching freedom degree relative to a first vehicle body rack, and relative independence of mutual movement is kept; and when the curvature of the crawling surface changes, the posture changes of the three crawler walking adsorption modules are relatively independent, the adsorption force direction of a gap type adsorption structure changes along with the curvature change, the robot is always guaranteed to be in the optimal adsorption state, the gravity center of the robot and the wall face are guaranteed to be relatively stable, and the overturning phenomenon is prevented, so that the robot can flexibly adapt to the change of the curved surface in the longitudinal movement and turning movement of the curved surface. The invention solves the problems that: a wall-climbing robot is poor in self-adaptive performance to a curved surface, unstable in adsorption motion and the like.
本发明公开了一种具有曲面自适应能力的履带式爬壁机器人,采用双车三履带系统,分体柔性自适应运动形式,两个主动履带行走吸附模块可牵制彼此的移动,实现差速转弯等灵活运动,从动履带行走吸附模块与第一车体连接能够随动转向,相对第一车体机架具有横向俯仰自由度,保持了彼此运动的相对独立;当爬行表面曲率发生变化时,三个履带行走吸附模块彼此姿态变化相对独立,间隙式吸附结构吸附力方向随曲率变化而变化,始终保证机器人处于最佳吸附状态,保证机器人重心与壁面之间的相对稳定,防止倾覆现象,从而使得机器人在曲面纵向运动与转弯运动中,能灵活的自适应曲面变化;解决了爬壁机器人对曲面自适应性能差、吸附运动不稳定等问题。
Crawler-type wall-climbing robot with curved surface self-adaption capability
一种具有曲面自适应能力的履带式爬壁机器人
2021-08-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wall-climbing robot with curved surface self-adaption capability
European Patent Office | 2023
|Climbing robot with curved surface self-adaption capability
European Patent Office | 2015
|