The invention discloses a magnetic adsorption crawler-type wall-climbing robot which comprises a supporting frame, magnetic adsorption crawler-type movement mechanisms are arranged on the left side and the right side of the supporting frame respectively, an obstacle crossing magnetic wheel mechanism is arranged at the bottom of the supporting frame, each magnetic adsorption crawler-type movement mechanism comprises a crawler, front wheels and rear wheels, and a plurality of permanent magnets are arranged on the surface of each crawler. The whole robot is attracted to the magnetic conduction wall face through magnetic attraction of the permanent magnets and the magnetic conduction wall face, the front wheels are driven to rotate through the driving mechanism, and therefore the crawler belt is driven to run. The obstacle-crossing magnetic wheel mechanism comprises obstacle-crossing magnetic wheels, the obstacle-crossing magnetic wheels are rotationally installed at the bottom ends of magnetic wheel supporting frames, the top ends of the magnetic wheel supporting frames are rotationally installed on a chassis of the supporting vehicle frame, the middle sections of the magnetic wheel supporting frames are connected with a shell of the supporting vehicle frame through dampers, and the obstacle-crossing magnetic wheels are magnetically attached to the magnetic conductive wall faces in the working process. The robot has the advantages that stable and reliable adsorption of the robot is achieved, and the robot can adapt to various complex wall faces.

    本发明公开了一种磁吸附履带式爬壁机器人,包括支撑车架,支撑车架左右两侧分别设有磁吸附履带式运动机构,支撑车架底部设有越障磁轮机构,每套磁吸附履带式运动机构包括履带、前轮、后轮,履带表面设置有多个永磁体,通过永磁体与导磁壁面磁性吸附,从而将整个机器人吸附在导磁壁面上,通过驱动机构驱动前轮转动,从而带动履带运行;越障磁轮机构包括越障磁轮,越障磁轮转动安装在磁轮支撑架底端,磁轮支撑架顶端转动安装在支撑车架的底盘上,磁轮支撑架中段通过阻尼器与支撑车架的外壳相连接,工作时越障磁轮与导磁壁面磁性贴合。本发明的优点:实现了机器人的稳定可靠吸附且能适应各种复杂壁面。


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    Title :

    Magnetic adsorption crawler-type wall-climbing robot


    Additional title:

    一种磁吸附履带式爬壁机器人


    Contributors:
    XU LINSEN (author) / LYU ZHIPENG (author) / LIU JINFU (author) / KONG LINGCHENG (author) / LONG JIE (author) / LIU LEI (author) / LIU ZHIPENG (author) / LIANG XINGCAN (author) / HAN SONG (author)

    Publication date :

    2021-09-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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