The invention discloses a self-adaptive wall-climbing robot for a variable-curvature wall surface, and belongs to the technical field of robots. Comprising a magnetic wheel mechanism, a wheel wall surface curvature self-adaptive mechanism, a single-side wheel carrier mechanism, a vehicle body wall surface curvature self-adaptive mechanism and a vehicle body mechanism. The magnetic wheel mechanism is connected with one end of the wheel wall surface curvature self-adaption mechanism, the other end of the wheel wall surface curvature self-adaption mechanism is connected with the single-side wheel carrier mechanism, and the single-side wheel carrier mechanism is connected with the vehicle body wall surface curvature self-adaption mechanism and the vehicle body mechanism through a crossed roller bearing. The adaptability of the wall-climbing robot on the variable-curvature wall surface is enhanced, it is guaranteed that when the robot moves on the wall surface, the wheels cannot be suspended, the wheels can make maximum-area contact with the wall surface, and the stability and the load performance of robot movement are improved.

    本发明公开了一种用于变曲率壁面自适应爬壁机器人,属于机器人技术领域。包括磁轮机构、车轮壁面曲率自适应机构、单侧轮架机构、车身壁面曲率自适应机构以及车身机构。磁轮机构与车轮壁面曲率自适应机构一端相连,车轮壁面曲率自适应机构另一端与单侧轮架机构相连,单侧轮架机构通过交叉滚子轴承与车身壁面曲率自适应机构以及车身机构相连。本发明增强了爬壁机器人在变曲率壁面上的适应性,保证了机器人在壁面运动时不会发生车轮悬空以及车轮能与壁面最大面积接触,提升了机器人运动的稳定性和负载性能。


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    Title :

    Self-adaptive wall-climbing robot for variable-curvature wall surface


    Additional title:

    一种用于变曲率壁面自适应爬壁机器人


    Contributors:
    LI JIE (author) / WANG XINGSONG (author) / GUI CHAO (author) / TIAN MENGQIAN (author)

    Publication date :

    2022-11-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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