The invention relates to a wall-climbing robot, in particular to a wheel type wall-climbing robot for a high-curvature pipe diameter surface. Comprising a robot control system, a detection sensing system, a passive compliance system, a robot rack and a driving system, wherein the passive compliance system and the robot control system are arranged at the front end and the rear end of the robot rack; the driving system comprises a left front wheel driving device, a right front wheel driving device, a left rear wheel driving device and a right rear wheel driving device, the left front wheel driving device and the right front wheel driving device are arranged below the passive compliance system, and the left rear wheel driving device and the right rear wheel driving device are arranged below the rear end of the robot rack; the detecting and sensing system is installed on the passive compliance system and the robot rack and used for detecting pose information of the robot rack and rolling and yawing information of the passive compliance system and feeding back the pose information and the rolling and yawing information to the robot control system, and speed control is conducted on the driving system. The wall-climbing robot can adapt to climbing of a high-curvature curved surface, precise control over robot movement is completed, and the use reliability of the wall-climbing robot is improved.

    本发明涉及爬壁机器人,特别涉及一种面向高曲率管径面的轮式爬壁机器人。包括机器人控制系统、检测感知系统、被动柔顺系统、机器人机架及驱动系统,其中被动柔顺系统和机器人控制系统设置于机器人机架前后端;驱动系统包括左、右前轮驱动装置及左、右后轮驱动装置,其中左、右前轮驱动装置设置于被动柔顺系统下方,左、右后轮驱动装置设置于机器人机架后端下方;检测感知系统安装在被动柔顺系统和机器人机架上,检测感知系统用于检测机器人机架的位姿信息及被动柔顺系统的滚转和偏航信息且反馈给机器人控制系统,对驱动系统进行速度控制。本发明能够适应高曲率曲面的爬行,完成机器人运动的精准控制,提高了爬壁机器人的使用可靠性。


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    Title :

    Wheel-type wall-climbing robot for high-curvature pipe diameter surface and motion control method of wheel-type wall-climbing robot


    Additional title:

    面向高曲率管径面的轮式爬壁机器人及其运动控制方法


    Contributors:
    SONG YIFENG (author) / WANG HONGGUANG (author) / LIN SONG (author) / SUN PENG (author) / LYU PENG (author) / YANG ZHENYU (author)

    Publication date :

    2023-05-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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