Surface-adaptive wall-climbing robot

Abstract

The invention provides a climbing robot with a curved surface self-adaption capability. The climbing robot is adsorbed to a wall surface and is characterized by comprising a frame body, two adsorption units, two driving wheel travelling mechanisms and a self-adaption mechanism, wherein the frame body comprises a top surface which is away from the wall surface and a bottom surface which is adjacent to the wall surface; the two adsorption units are adsorbed on the wall surface; one adsorption unit is fixedly arranged on the bottom surface and arranged below the driving wheel travelling mechanisms, and the other adsorption unit is fixedly arranged on a support wheel mechanism; the two driving wheel travelling mechanisms are symmetrically and fixedly arranged on the bottom surface and are internally provided with motors; the self-adaption mechanism is arranged on the bottom surface of the frame body; the support wheel mechanism is arranged below the bottom surface, is connected with the self-adaption mechanism and supports the frame body; the self-adaption mechanism comprises a lower rotating block, a rotating shaft and an upper rotating block; the lower rotating block and the support wheel mechanism are fixed together; the rotating shaft is rotatably connected with the lower rotating block, and the upper rotating block is rotatably connected with the rotating shaft and is fixed together with the bottom surface.

Description

technical field [0001] The invention relates to a robot device, in particular to a wall-climbing robot with self-adaptive curved surface that is adsorbed on a wall surface and performs operations. Background technique [0002] The wall-climbing robot is an automated device that can work on vertical walls and is mainly used for cleaning, spraying detection, inspection, etc. [0003] To work on a vertical wall, a wall-climbing robot must have two basic functions of adsorption and movement. Because the working wall of the wall-climbing robot is not only a plane, it may also be a curved surface. This requires that the wall-climbing robot operating in a special environment has better surface adaptive adsorption capabilities. [0004] After searching the existing technology, it is found that the patent application number 201210440924.5 records a "magnetic wheel wall-climbing robot with adaptive adsorption on curved surfaces", which is characterized by being able to cross interse...

AI Technical Summary

Problems solved by technology

[0004] After searching the existing technology, it is found that the patent application number 201210440924.5 records a "magnetic wheel wall-climbing robot with adaptive adsorption on curved surfaces", which is characterized by being able to cross intersecting wall obstacles with a large range of intersection angles, but due to The magnetic wheel adopts elastic permanent magnetic adsorption material, which makes the magnetic wheel easy to wear and cannot bear excessive load

[0005] The patent document with the application number 200410085382.4 involves "a magnetic adsorption wall-climbing robot with self-adaptive ability to curved surfaces". , easy to adsorb to magnetically conductive bumps

[0006] When the current wall-climbing robot works on a curved wall, the magnetic device is easy to wear, cannot bear excessive load, has insufficient obstacle-crossing ability, and is easy to be attracted to magnetically conductive protrusions

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