The invention belongs to the field of wall-climbing robots, and relates to an adsorption type in-pipeline detection wall-climbing robot which comprises a rack, a radar sensing module, a driving steering mechanism, a front wheel train and a rear wheel train, the radar sensing module is installed on the top of the rack to obtain environment information nearby a scene, and the rear wheel train is installed on the rear portion of the rack and drives the driving steering mechanism to rotate. The driving steering mechanism is installed on the front portion of the machine frame and is in driving connection with the front wheel train to conduct steering motion. Each of the front wheel train and the rear wheel train comprises an adsorption wheel, a wheel rotation driving mechanism, an auxiliary wheel and an auxiliary lifting mechanism, and the wheel rotation driving mechanism drives the adsorption wheel to rotate, so that the wall-climbing robot is adsorbed on the inner wall of a pipeline to move back and forth; the auxiliary wheels are located on the two sides of the adsorption wheel and controlled and connected by the auxiliary lifting mechanism to conduct folding and unfolding operation so that adsorption can be separated from the inner wall face of the pipeline to complete obstacle crossing. The wall-climbing robot can flexibly move in a pipeline with complex curvature change, and has the advantages of being efficient, stable and high in operation capacity.
本发明属于爬壁机器人领域,涉及一种吸附式管道内检测爬壁机器人,包括:机架、雷达感知模块、驱动转向机构、前轮轮系和后轮轮系,所述雷达感知模块安装在机架顶部获取场景附近环境信息,所述后轮轮系安装在机架后部,所述驱动转向机构安装在机架前部并驱动连接所述前轮轮系进行转向运动;所述前轮轮系和后轮轮系均包括:吸附轮、轮转驱动机构、辅助轮和辅助抬升机构,所述轮转驱动机构驱动吸附轮转动,使爬壁机器人吸附在管道内壁进行前后移动;所述辅助轮位于吸附轮两侧并由所述辅助抬升机构控制连接进行收放操作,以使吸附脱离管道内壁面完成越障。本发明的爬壁机器人能够在曲率变化复杂的管道内部灵活运动,具有高效稳定、作业能力强的优点。
Adsorption type pipeline interior detection wall-climbing robot
一种吸附式管道内检测爬壁机器人
2024-07-16
Patent
Electronic Resource
Chinese
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