Magnetic wheel type wall climbing robot with curved face self-adaptation adsorption

Abstract

The invention discloses a magnetic wheel type wall climbing robot with curved face self-adaptation adsorption. The magnetic wheel type wall climbing robot with the curved face self-adaptation adsorption comprises a mobile platform with the curved face self-adaptation adsorption, an acceleration sensor, a wireless communication module, a camera and an upper computer, wherein the mobile platform with the curved face self-adaptation adsorption consists of magnetic driving wheel units and curved face self-adaptation frames; and through the common deformation of an elastic permanent magnetic adsorption layer in each magnetic driving wheel and a loose-leaf hinge in each frame, the curved face self-adaptation adsorption is realized. The magnetic wheel type wall climbing robot with the curved face self-adaptation adsorption provided by the invention has a good curved face self-adaptation ability and a good obstacle climbing ability and can stably walk on a curved face with smaller curvature radius, thereby availably meeting the demands of engineering applications such as wireless health detection of a large-span space grid structure and the like.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a robot, in particular to a magnetic wheel type wall-climbing robot with curved surface self-adaptive adsorption. Background technique [0002] The space grid structure has the characteristics of large span, light weight, easy construction and installation, and flexible layout. It is not only widely used in public buildings such as gymnasiums, exhibition halls, and station waiting halls, but also in industrial buildings such as warehouses, hangars, and factories. . The coupling effect of factors such as environmental erosion, material aging, and complex loads will inevitably lead to damage accumulation and resistance attenuation of the spatial grid structure, and in extreme cases even cause the overall failure of the structure, resulting in major safety accidents. Therefore, in order to ensure the safe service of the space grid structure, the space grid structure must be inspected and mainta...

AI Technical Summary

Problems solved by technology

However, its mechanism is complicated, its size is large, and its movement flexibility is poor. Especially when turning, due to the large contact area between the track and the magnetic wall surface, the steering resistance and turning radius are large, and the turning flexibility is poor.

[0008] To sum up, the above-mentioned wall-climbing robots fail to meet the two basic conditions for crawling on the spatial grid structure, and therefore fail to provide services for the engineering application of spatial grid structure health detection.

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