The invention discloses a magnetic adsorption wall-climbing robot suitable for various vertical surfaces. The magnetic adsorption wall-climbing robot comprises a supporting frame, and the supporting frame comprises a front main body beam, a rear main body beam and a connecting joint; and the left side and the right side of the supporting frame are each provided with two split flexible crawler walking mechanisms, and each split flexible crawler walking mechanism has two rotational freedom degrees perpendicular to each other relative to the supporting frame. Wall surface transition magnetic wheel devices are arranged on the left side and the right side of the front end of the supporting frame correspondingly, each wall surface transition magnetic wheel device comprises a digital steering engine fixedly connected with the supporting frame, the digital steering engines are connected with steering engine discs, and the steering engine discs are connected with magnetic wheel inner side supporting plates; the obstacle crossing magnetic wheel is connected between the magnetic wheel inner side supporting plate and the magnetic wheel outer side supporting plate through a pin; and the magnetic adsorption wall-climbing robot has a good self-adaptive capability on a complex variable curvature magnetic wall surface, a good load capacity and motion flexibility, and can realize a function of switching on wall surfaces with different inner and outer right angles.
本发明公开一种适应多种立面的磁吸附爬壁机器人,包括支撑车架,所述支撑车架包括前主体梁、后主体梁、连接关节;所述支撑车架左右两侧分别设有两套分体柔性履带行走机构,每个所述分体柔性履带行走机构相对于支撑车架有两个互相垂直的转动自由度;所述支撑车架前端左右两侧分别设有壁面过渡磁轮装置,所述壁面壁面过渡磁轮装置包括与所述支撑车架固定连接的数字舵机,所述数字舵机连接舵机盘,所述舵机盘连接磁轮内侧支撑板,越障磁轮通过销连接在所述磁轮内侧支撑板与磁轮外侧支撑板之间;在复杂的变曲率导磁壁面上具有良好的自适应的能力,具有良好的负载能力和运动灵活性,并且能够实现在内外直角不同的壁面进行转换功能。
Magnetic adsorption wall-climbing robot suitable for various vertical surfaces
一种适应多种立面的磁吸附爬壁机器人
2021-12-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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