The invention provides a wall-climbing robot with a self-adaptive transition curved surface, and relates to the field of robotics.The wall-climbing robot comprises a front driving mechanism, a first-stage steering mechanism, a second-stage follow-up rotating mechanism and a rear driving mechanism, when the robot climbs on a magnetic conductive surface, the first-stage steering mechanism drives the front driving mechanism to conduct steering adjustment, and then the first-stage steering mechanism is used for adjusting the overall running direction of the robot; the front-drive mechanism and the rear-drive mechanism are located at different positions of the magnetic conduction faces respectively, when the magnetic conduction faces are not located on the same face, the front-drive mechanism and the rear-drive mechanism can be perfectly attached to the magnetic conduction faces respectively through the second-stage follow-up rotating mechanism, and the distance between the outer surface of a magnet and the magnetic conduction faces is kept within a reasonable range. Therefore, the robot can realize stable transition and climbing among a vertical surface, a negative surface, a cambered surface, a concave-convex surface and different surfaces, and the robot has good self-adaptive capability on a complex variable-curvature magnetic conductive wall surface and different curved surfaces; the structure is more compact, the stability is higher, and the adaptive capacity is high.

    本发明提供了一种自适应过渡曲面的爬壁机器人,涉及机器人领域,包括前驱机构、一级转向机构、二级随转机构以及后驱机构,当机器人在导磁面上爬行时,一级转向机构驱动前驱机构转向调节,进而用于调节机器人整体的运行方向,而前驱机构和后驱机构分别位于导磁面不同位置,当所处的导磁面不在同一个面上时,二级随转机构可使得前驱机构和后驱机构能够分别与导磁面完美贴合,保持磁铁外表面与导磁面之间的距离保持在一个合理范围内,从而使得机器人在立面、负面、弧面、凹凸面及不同面之间实现平稳过渡与攀爬,使机器人在复杂的变曲率导磁壁面与不同曲面上具有良好的自适应能力;结构更加紧凑,稳定性更高,适应能力强。


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    Title :

    Wall-climbing robot with self-adaptive transition curved surface


    Additional title:

    一种自适应过渡曲面的爬壁机器人


    Contributors:
    LI DONGGUANG (author) / SHI YANLEI (author) / ZHANG MINGLU (author) / BAI MING (author) / ZHANG CHAO (author)

    Publication date :

    2024-12-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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