The invention belongs to the technical field of ocean platform pile leg maintenance robots, and particularly relates to a cylindrical surface self-adaptive wall-climbing robot which comprises a robot body unit, driving track units are in transmission connection with the two opposite sides of the robot body unit, and angle adjusting parts are arranged on the sides, away from the robot body unit, of the driving track units. The angle adjusting part is in transmission connection with a driven track unit, the driving track unit is provided with a first chain tensioning part, the driven track unit is provided with a second chain tensioning part, the first chain tensioning part and the second chain tensioning part are the same in structure, and a ball screw lifting unit is arranged on one side of the robot body unit. And the ball screw lifting unit is movably connected with the robot body unit. When the robot is used, the movable track unit can adapt to the inner wall of the pile leg according to the negative curvature of the inner wall of the pile leg, so that the robot is attached to the inner wall of the pile leg to a greater extent, and meanwhile, the ball screw lifting unit can reduce the adsorption force between the track unit and the inner wall of the pile leg.
本发明属于海洋平台桩腿维护机器人技术领域,特别是涉及一种圆柱面自适应爬壁机器人,包括机器人本体单元,机器人本体单元相对的两侧传动连接有主动履带单元,主动履带单元远离机器人本体单元的一侧设置有角度调节部,角度调节部传动连接有从动履带单元,主动履带单元设置有第一链条张紧部,从动履带单元设置有第二链条张紧部,第一链条张紧部与第二链条张紧部的结构相同,机器人本体单元的一侧设置有滚珠丝杆升降单元,滚珠丝杆升降单元与机器人本体单元能动连接。本发明在使用时,动履带单元可以根据桩腿内壁的负曲率来自适应桩腿内壁,使得机器人更大程度的贴合桩腿内壁,同时滚珠丝杆升降单元能够减轻履带单元和桩腿内壁之间吸附力。
Cylindrical surface self-adaptive wall-climbing robot
一种圆柱面自适应爬壁机器人
2023-12-26
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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