The invention relates to the technical field of mobile robots, in particular to a negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement. Comprising a transverse driving device, a transverse connecting device, an adsorption device and two cylindrical belt wheels, the two cylindrical belt wheels are arranged on the two transverse sides of the adsorption device, the axes of the two cylindrical belt wheels are arranged in the longitudinal direction, and the two cylindrical belt wheels can move in the axis directions of the two cylindrical belt wheels; the transverse driving device and the transverse connecting device are arranged on the two longitudinal sides of the adsorption device correspondingly and connected with the two cylindrical belt wheels, and the transverse driving device is used for driving the two cylindrical belt wheels to rotate around the axes of the cylindrical belt wheels, so that the negative pressure adsorption wall-climbing robot moves in the transverse direction and the longitudinal direction. The cylindrical belt wheels can move in the axis direction and the circumferential direction of the cylindrical surface, traversal inspection of the robot on the cylindrical surface can be achieved without steering of the robot, the arrangement mode of the wheels is changed, and it is guaranteed that the contact area of the wheels and the wall surface is not affected under the cylindrical surfaces with different radiuses.

    本发明涉及移动机器人技术领域,特别涉及一种适合圆柱面移动的负压吸附爬壁机器人。包括横向驱动装置、横向连接装置、吸附装置及两个柱形带轮,其中两个柱形带轮布置于吸附装置的横向两侧,轴线沿纵向布置,两个柱形带轮可沿自身轴线方向移动;横向驱动装置和横向连接装置分别设置于吸附装置的纵向两侧,且均与两个柱形带轮连接,横向驱动装置用于驱动两个柱形带轮绕自身轴线转动,实现负压吸附爬壁机器人沿横向及纵向移动。本发明采用柱形带轮可以在圆柱面轴线和圆柱周向方向移动,无需机器人转向,就能够实现机器人在圆柱面的遍历巡视,本发明改变轮子的布置方式,保证在不同半径的圆柱面下,不影响轮子与壁面的接触面积。


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    Title :

    Negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement


    Additional title:

    一种适合圆柱面移动的负压吸附爬壁机器人


    Contributors:
    SONG YIFENG (author) / YUAN CHUNYANG (author) / CHANG YONG (author) / JING FENGREN (author) / WANG HONGGUANG (author)

    Publication date :

    2024-01-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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