The wall-climbing robot comprises a wall-climbing robot body, and the wall-climbing robot body comprises a robot main body, a first driving mechanism, a second driving mechanism and a follower wheel assembly, wherein the first driving mechanism and the second driving mechanism are symmetrically distributed on the two sides of the robot main body and hinged to the robot main body; the first driving mechanism comprises a first driving magnetic wheel, a first magnetic wheel shaft, a first speed reducer and a first motor. The second driving mechanism comprises a second driving magnetic wheel, a second magnetic wheel shaft, a second speed reducer and a second motor. The robot body is provided with two platform side plates which are oppositely arranged, and the first driving mechanism and the second driving mechanism are hinged to the two platform side plates through hinge assemblies correspondingly, so that the first driving mechanism and the second driving mechanism rotate in the axial directions of the two platform side plates correspondingly. The follower wheel assembly comprises a follower wheel assembly mounting block and a follower magnetic wheel which are rotationally connected in sequence from top to bottom, and the follower magnetic wheel can rotate in the radial direction of the follower magnetic wheel; the first driving magnetic wheel, the second driving magnetic wheel and the follow-up magnetic wheel form an equilateral isosceles triangle moving structure.

    本发明公开了一种具有曲面自适应能力的爬壁机器人,包括爬壁机器人本体,爬壁机器人本体包括机器人主体、对称分布在机器人主体两侧且与其铰接的驱动机构一和驱动机构二以及随动轮组件;驱动机构一包括驱动磁轮一、磁轮轴一、减速器一和电机一,驱动机构二包括驱动磁轮二、磁轮轴二、减速器二和电机二;机器人主体具有相对设置的两平台侧板,驱动机构一和驱动机构二分别通过铰接组件与两平台侧板铰接,使驱动机构一和驱动机构二分别绕其轴向方向转动;随动轮组件包括自上至下依次转动连接的随动轮组件安装块和随动磁轮,随动磁轮可绕其径向方向转动;驱动磁轮一、驱动磁轮二和随动磁轮形成等边\等腰三角形移动结构。


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    Title :

    Wall-climbing robot with curved surface self-adaption capability


    Additional title:

    一种具有曲面自适应能力的爬壁机器人


    Contributors:
    BAI YIDONG (author) / SUN LINGYU (author) / ZHANG XIAOJUN (author) / ZHANG MINGLU (author) / WANG YUEFEI (author) / YANG LEI (author) / ZHANG XUAN (author)

    Publication date :

    2023-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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