The invention relates to the technical field of robots, in particular to a reverse thrust adsorption wall-climbing robot which is high in adsorption capacity, can be stably adsorbed on different building wall surfaces and is not prone to sliding and overturning. The robot comprises a robot vehicle body, a driving wheel walking mechanism, a one-way reverse thrust adsorption device, a two-degree-of-freedom reverse thrust adsorption device and a driven wheel. The two wheels arranged at the rear end of the robot vehicle body are driving wheel walking mechanisms, and the two wheels at the front end of the robot vehicle body are driven wheels. The two one-way reverse thrust adsorption devices are symmetrically arranged on the two transverse sides of the robot vehicle body, and the axes of the one-way reverse thrust adsorption devices are in the vertical direction. The two two-degree-of-freedom reverse thrust adsorption devices are symmetrically arranged at the two longitudinal ends of the robot vehicle body; the two-degree-of-freedom reverse thrust adsorption device comprises a motor B, a paddle B and a yaw frame; the motor B is used for driving the paddle B arranged on the axis of the yaw frame to rotate so as to generate acting force towards the contact surface; and the yaw frame can adjust the pitching angle and the yaw angle of the paddle B.

    本发明涉及机器人技术领域,特别涉及一种反推力吸附的爬壁机器人,吸附能力强,能够稳定吸附在不同建筑物壁面上,不容易发生滑移和倾覆。包括:机器人车体、主动轮行走机构、单向反推力吸附装置、两自由度反推力吸附装置和从动轮;设置在机器人车体后端的两个车轮为主动轮行走机构,前端的两个车轮为从动轮;两个单向反推力吸附装置对称设置在机器人车体的横向两侧,单向反推力吸附装置的轴线沿竖直方向;两个两自由度反推力吸附装置对称设置机器人车体纵向两端;两自由度反推力吸附装置包括:电机B、桨叶B和偏航架;电机B用于驱动设置在偏航架轴线上的桨叶B旋转,以产生朝接触面的作用力;偏航架能调整桨叶B的俯仰角度和偏航角度。


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    Title :

    Reverse thrust adsorption wall-climbing robot


    Additional title:

    反推力吸附的爬壁机器人


    Contributors:
    GAO XUESHAN (author) / LI MINGKANG (author) / LIANG PENG (author) / ZHANG QINGFANG (author) / GAO RUI (author) / DENG RUI (author)

    Publication date :

    2021-12-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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