The invention discloses a curved surface self-adaptive wall-climbing robot which comprises a robot body, four mechanical legs are mounted on the robot body, four driving devices for driving the four mechanical legs to walk respectively are mounted in the robot body, each mechanical leg is provided with a thigh part, a shank part and a foot part, the upper end of each thigh part is fixedly connected with the robot body, and the lower end of each shank part is fixedly connected with the robot body. The lower end of the thigh part is connected with the upper end of the shank part through a rotating joint, the lower end of the shank part is fixedly connected with the foot part, a hybrid excitation device is arranged in the side, close to the foot part, of the shank part, the hybrid excitation device comprises a permanent magnet and an electromagnet, the exterior of the foot part is a soft outer layer, and the interior of the foot part is filled with scrap iron; when the magnetic field generated by the electromagnet through forward current is superposed with the magnetic field generated by the permanent magnet, the scrap iron is magnetized by the superposed magnetic field; and when the magnetic field generated by the electromagnet through the reverse current counteracts the magnetic field generated by the permanent magnet, the scrap iron is demagnetized. The robot has the advantages of being capable of crossing obstacles, flexible in movement, high in adsorption capacity and suitable for complex curved surfaces.

    本发明公开了一种曲面自适应爬壁机器人,其包括机身,机身上安装有4条机械腿,机身内安装有4个分别驱动4条机械腿行走的驱动装置,机械腿设有大腿部、小腿部和足部,大腿部的上端与机身固定连接,大腿部的下端与小腿部的上端通过转动关节连接,小腿部的下端与足部固定连接,小腿部靠近足部的一侧内部设有混合励磁装置,混合励磁装置包括永磁体和电磁铁,足部的外部为软质外层,足部的内部填充有铁屑;当电磁铁通过正向电流产生的磁场与永磁体产生的磁场相叠加时,铁屑被叠加磁场磁化;当电磁铁通过反向电流产生的磁场与永磁体产生的磁场相抵消时,铁屑退磁。采用本发明,具有可跨越障碍、运动灵活、吸附力强且适用于复杂曲面的优点。


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    Title :

    Curved surface self-adaptive wall-climbing robot


    Additional title:

    一种曲面自适应爬壁机器人


    Contributors:
    GAO XIAOSHAN (author) / YAN LIANG (author) / DU NANNAN (author) / HE XINGHUA (author) / ZHAO PEIRAN (author) / BU SUWAN (author)

    Publication date :

    2022-05-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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