The multi-joint wall-climbing robot comprises a guide plate, a head mechanism, a climbing mechanism, rotating joints, a flexible belt and a data acquisition unit, a guide groove is formed in the longitudinal direction of the guide plate, the head mechanism comprises a head mechanism body and a flexible belt driving unit, and the climbing mechanism comprises a climbing mechanism body and a magnetic wheel driving unit. The first end of the crawling mechanism body is rotationally connected with the second end of the head mechanism body through a rotating joint, the flexible belt is restrained in the guide groove, and the flexible belt driving unit drives the flexible belt to move in the longitudinal direction of the guide groove. According to the multi-joint wall-climbing robot, the wall-climbing robot can move on the inner wall of a steam generator in any direction, when the multi-joint wall-climbing robot works, the multi-joint wall-climbing robot is fed into and adsorbed to the inner wall of an evaporator from a hand hole of the evaporator, and an operator can achieve climbing of the wall-climbing robot and flexible belt driving control on a rear-end working platform; and the device is simple to use and install and wide in coverage range.

    本发明的一种多关节爬壁机器人,包括导向板、头部机构、爬行机构、转动关节、柔性带和数据采集单元,导向板的纵向开设有导向槽,头部机构包括头部机构本体和柔性带驱动单元,爬行机构包括爬行机构本体和磁轮驱动单元,爬行机构本体的第一端和头部机构本体的第二端通过转动关节转动连接,柔性带约束于导向槽内,柔性带驱动单元驱动柔性带沿导向槽的纵向运动。本发明实现爬壁机器人在蒸汽发生器内壁上沿任一方向的移动,本发明的多关节爬壁机器人工作时,从蒸发器手孔送入,吸附在蒸发器内壁,操作人员在后端作业平台即可实现爬壁机器人爬行及柔性带驱动控制,完成蒸发器清洗及视频检查工作,使用安装简单、覆盖范围广。


    Access

    Download


    Export, share and cite



    Title :

    Multi-joint wall-climbing robot


    Additional title:

    一种多关节爬壁机器人


    Contributors:
    YE CHUN (author) / YANG XUNZONG (author) / FAN SHUQI (author) / LYU JIN (author) / WANG FUXIAO (author)

    Publication date :

    2025-01-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Wall-climbing multi-purpose robot

    XU LINSEN / ZHU JIAN / MEI HUAN et al. | European Patent Office | 2023

    Free access

    Wall-climbing robot control method and wall-climbing robot

    BEN KECUN / CHEN KAI / LI ZHE et al. | European Patent Office | 2024

    Free access

    Wall-climbing robot for smooth plane and wall-climbing method of wall-climbing robot

    WANG GUODONG / YIN JUNPING / ZHANG SHUAIQI et al. | European Patent Office | 2021

    Free access

    Wall-climbing robot and wall advancing method of wall-climbing robot

    FANG XINXIN / REN LONG / MI YE et al. | European Patent Office | 2020

    Free access

    Wall-climbing robot

    ZHANG WEIJUN / SUN LIANG / WU JUNSHENG et al. | European Patent Office | 2024

    Free access