The invention discloses a multi-mode overturning type cooperative continuous wall-climbing robot, and aims to solve the problems that the wall-climbing robot simultaneously adapts to the adsorption requirements of a curved surface and a plane on the surface of a steel structure, the movement capacity between large-angle transition planes of the robot and the overturning walking step pitch are fixed, and the multifunctionality of a wall-climbing robot body is further expanded. The wall-climbing robot comprises an adsorption unit, a connecting assembly, a bending unit and a control system, the adsorption unit comprises a first bottom plate, a first adsorption assembly, first adsorption driving motors, first flexible cable wheel discs and first driving flexible cables, and the number of the first adsorption driving motors, the number of the first flexible cable wheel discs and the number of the first driving flexible cables are respectively two; the first bottom plate is provided with four first adsorption wire passing through holes, a joint boss and a second connecting through hole. The turnover type continuous wall-climbing robot has high wall-climbing capacity, obstacle-crossing capacity and surface-surface conversion capacity, and particularly has complex unstructured narrow space movement capacity.

    本发明公开了一种多模态翻转式可协作连续型爬壁机器人,目的在于解决爬壁机器人同时适应钢结构表面上曲面、平面吸附要求以及机器人大角度过渡平面间运动能力、翻转行走步距固定问题,进一步扩展爬壁机器人本体的多功能性。该爬壁机器人包括吸附单元、连接组件、弯曲单元、控制系统;所述吸附单元包括第一底板、第一吸附组件、第一吸附驱动电机、第一柔索轮盘、第一驱动柔索,所述第一吸附驱动电机、第一柔索轮盘、第一驱动柔索分别为两个;所述第一底板上设置有第一吸附过线通孔、关节凸台、第二连接通孔,所述第一吸附过线通孔为四个。本申请的翻转式连续型爬壁机器人具有较强的爬壁能力、越障能力、面‑面转换能力,尤其是复杂非结构化狭小空间运动能力。


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    Title :

    Multi-mode overturning type cooperative continuous wall-climbing robot


    Additional title:

    一种多模态翻转式可协作连续型爬壁机器人


    Contributors:
    ZANG HONGBIN (author) / CHEN YEHUI (author) / WANG ZHIMAO (author) / YAN SHINING (author) / LIAO XIANGCHENG (author)

    Publication date :

    2025-01-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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