The invention belongs to the technical field of robots, and relates to a self-adaptive adsorption wall-climbing robot and a working method.The self-adaptive adsorption wall-climbing robot comprises a moving body, an adsorption module connected with the moving body, a plurality of motion modules arranged at the bottom of the moving body, and a plurality of adsorption modules installed in a fluid channel in the center of the moving body, the wall surface self-adaptive adjusting module is arranged at the bottom of the moving body, and the control module is arranged in the moving body. Automatic adjustment of the distance and the angle of the adsorption disc body relative to the non-structural wall surface is achieved through the first wall surface attaching adjusting assembly and the second wall surface attaching adjusting assembly, and the disc body assemblies of the adsorption disc body are flexibly connected, so that the adsorption disc body can be better attached to the complex non-structural wall surface with protrusions, cracks and curvatures; the universality and reliability of adsorption operation of the robot on the complex wall face are improved, and the wall face passing capacity and the maneuvering flexibility characteristic of the robot are improved while the adhesive force of the robot is guaranteed by adjusting and controlling the distance between the adsorption disc body and the non-structural wall face.

    本发明属于机器人技术领域,涉及一种自适应吸附爬壁机器人及工作方法,包括移动本体,与移动本体连接的吸附模块,吸附模块安装于移动本体中心的流体通道内,设置于移动本体底部的若干运动模块,设置于移动本体底部的壁面自适应调节模块,设置于移动本体内部的控制模块。通过第一壁面贴合调节组件、第二壁面贴合调节组件实现吸附盘体相对非结构性壁面的距离以及角度的自动调整,吸附盘体的盘体组件间柔性连接,能更好地贴合带有凸起、裂缝和曲率的复杂非结构性壁面,提高了机器人在复杂壁面上吸附作业的普适性和可靠性,并且还可以通过调控吸附盘体距离非结构性壁面的距离,在保证机器人附着力的同时提高了机器人的壁面通过能力和机动灵活特性。


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    Title :

    Self-adaptive adsorption wall-climbing robot and working method


    Additional title:

    自适应吸附爬壁机器人及工作方法


    Contributors:
    GUO TINGTING (author) / SUN HONGXIU (author) / BAO WEI (author) / SONG DALEI (author) / XU XIAOGUO (author) / ZHENG AN (author) / XU YAFEI (author)

    Publication date :

    2023-06-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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