The invention discloses a wall-climbing robot applicable to inner and outer walls of storage tanks with different curvature radiuses. The wall-climbing robot comprises a vehicle body unit, a directional wheel driving unit, a universal wheel follow-up units and a replaceable magnetic wheel unit, wherein the directional wheel driving unit and the universal wheel follow-up unit are sequentially and symmetrically arranged on the two sides of the vehicle body unit from front to back; and the vehicle body unit is of a cuboid box-shaped structure, array type high-performance type magnets are arranged on a lower cover plate of the vehicle body unit and matched with the replaceable magnetic wheel unit, a camera mounting box used for fixing a front camera is arranged on a front side plate of the vehicle body unit, and a rear camera is fixed to the rear portion of an upper cover plate of the vehicle body unit through a camera mounting plate. The vehicle body unit, the directional wheel driving unit and the universal wheel follow-up unit are combined according to the limited specific connection relation and position relation, and the inclination angle can be adjusted according to different wall surface conditions, so the effective adsorption area and distance of a permanent magnet to the surface of a tank body are guaranteed, and the adsorption effectiveness and safety of the robot on the surfaces with different curvatures are improved.

    本发明公开了一种可适用于不同曲率半径的储罐内外壁爬壁机器人,包括车体单元,自前至后依次对称设置在车体单元两侧的定向轮驱动单元和万向轮随动单元,以及可更换磁轮单元;车体单元呈长方体盒状结构,车体单元的下盖板上设有阵列式高性能型号磁体,与可更换磁轮单元相匹配,车体单元的前侧板设有用于固定前摄像头的摄像头安装盒,车体单元的上盖板后部通过摄像头安装板固定有后摄像头;本发明通过将车体单元、定向轮驱动单元和万向轮随动单元按本发明限定的特定连接关系和位置关系组合,可以根据不同的壁面情况调整倾斜角度,保证永磁体对于罐体表面的有效吸附面积和距离,提高了机器人的在不同曲率表面的吸附有效性和安全性。


    Access

    Download


    Export, share and cite



    Title :

    Wall-climbing robot applicable to inner and outer walls of storage tanks with different curvature radiuses


    Additional title:

    一种可适用于不同曲率半径的储罐内外壁爬壁机器人


    Contributors:
    WANG CUN (author) / ZHANG XUAN (author) / WANG YANG (author) / BAI YIDONG (author) / WANG YUEFEI (author) / LIU JIANPING (author)

    Publication date :

    2022-02-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Wall-climbing robot applicable to polishing operation of outer wall of storage tank

    WANG CUN / ZHANG XUAN / SUN LINGYU et al. | European Patent Office | 2023

    Free access

    Wall-climbing robot capable of climbing frame type inner corners and application of wall-climbing robot

    WANG BAOYU / ZHANG JUNFU / LI JIANWEI | European Patent Office | 2023

    Free access

    Wall-climbing robot capable of climbing over inner right-angle wall surface

    SONG WEI / WANG ZHIJIAN / ZHU SHIQIANG | European Patent Office | 2020

    Free access

    Wall-climbing robot with variable-curvature self-adaptive capacity

    WANG YUEFEI / HUO LIQIANG / YANG LEI | European Patent Office | 2021

    Free access

    Rod body outer wall climbing obstacle crossing robot and climbing method thereof

    XU MING / YU TANG / WANG GUAN | European Patent Office | 2021

    Free access