The invention relates to the technical field of wall-climbing robots, in particular to a contour scanning magnetic wall-climbing robot which comprises a magnetic crawler chassis, a laser scanner, a ball type magnetic adsorption mechanism and a displacement measuring mechanism. The magnetic crawler chassis comprises a chassis body, a crawler and a first permanent magnet; the ball type magnetic adsorption mechanism comprises a ball support, a ball and a second permanent magnet, the ball and the second permanent magnet are installed at the bottom of the ball support, and the ball support is installed at the front end or the rear end of the chassis body; the displacement measuring mechanism comprises an encoder support, a tension spring, a follower wheel and an encoder, the encoder support is pivoted to the rear end of the chassis body, the follower wheel is installed at the rear end of the encoder support, the encoder is connected with the follower wheel, and the tension spring is connected between the encoder support and the chassis body. The adsorption force of the wall-climbing robot on the wall surface can be ensured, and meanwhile, the abrasion of the crawler belt and the wall surface is reduced; and the precision of displacement measurement can be ensured.
本发明涉及爬壁机器人技术领域,具体是一种轮廓扫描磁性爬壁机器人,包括磁性履带底盘、激光扫描器、滚珠式磁吸附机构和位移测量机构;所述磁性履带底盘包括底盘本体、履带和第一永磁体;所述滚珠式磁吸附机构包括滚珠支架、滚珠和第二永磁体,所述滚珠和第二永磁体安装于滚珠支架的底部,所述滚珠支架安装在底盘本体的前端或后端;所述位移测量机构包括编码器支架、拉簧、随动轮和编码器,所述编码器支架枢接于底盘本体的后端,所述随动轮安装在编码器支架的后端,所述编码器与随动轮连接,所述拉簧连接于编码器支架与底盘本体之间。本发明能够保证爬壁机器人对壁面的吸附力的同时,降低履带和壁面的磨损;还能够保证位移测量的精度。
Contour scanning magnetic wall-climbing robot
一种轮廓扫描磁性爬壁机器人
2022-01-28
Patent
Electronic Resource
Chinese
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