The invention discloses a curved surface self-adaptive wheel type wall-climbing robot, and particularly relates to the technical field of industrial robot design, the curved surface self-adaptive wheel type wall-climbing robot comprises a vehicle body, a walking moving mechanism, a wheel arm four-bar mechanism, a permanent magnet adsorption force adjustable mechanism, a sensor and a control device; the walking moving mechanism is composed of three independently-driven universal wheel moving modules which are located on the front part, the back left side and the back right side of the vehicle body. The wheel arm four-rod mechanism is composed of a ball screw device, a pull rod, a connecting frame and a hinge fixing plate. According to the adjustable range of the field angle of the wheel arm and in cooperation with a laser diameter measuring instrument, the moving module can adapt to pipe diameters with different curvatures, the gap between the adsorption module and the wall surface is changed through the ball screw mechanism, the magnitude of magnetic adsorption force is adjusted, and therefore the overall adaptability and movement performance of the wall-climbing robot are further improved.

    本发明公开了一种曲面自适应轮式爬壁机器人,具体涉及工业机器人设计技术领域,包括车身、行走移动机构、轮臂四杆机构、永磁吸附力可调机构、传感器及控制装置;行走移动机构由三个独立驱动的万向轮移动模块组成,分别位于车身的正前方及后方左右两侧;轮臂四杆机构由滚珠丝杠装置、拉杆、连接架及铰接固定板组成。本发明可以根据轮臂张角可调的范围并配合激光测径仪,可以使移动模块适应不同曲率的管径,通过滚珠丝杠机构改变吸附模块与壁面之间的间隙,调节磁吸附力的大小,从而进一步提高爬壁机器人的整体适应性及运动性能。


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    Title :

    Curved surface self-adaptive wheel type wall-climbing robot and working method thereof


    Additional title:

    一种曲面自适应轮式爬壁机器人及其工作方法


    Contributors:
    WANG XINGDONG (author) / FANG JUN (author) / TANG WEI (author) / WU ZONGWU (author) / LIU SHENGLI (author) / YANG YALUN (author)

    Publication date :

    2022-02-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G08C Übertragungssysteme für Messwerte, Regel-, Steuer- oder ähnliche Signale , TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze



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