Joint type wall-climbing robot applicable to curved surface

Abstract

The invention discloses a joint type wall-climbing robot applicable to a curved surface. The joint type wall-climbing robot comprises a rack and a control system, wherein the rack is divided into an upper rack and a lower rack; the lower rack is mounted at the lower end of a center shaft of the upper rack through a hinge structure and a rotating device; the hinge structure is connected with the rotating device; an A system leg structure is connected in the perpendicular direction of the lower side of the upper rack; a B system leg structure is connected in the perpendicular direction of the lower side of the end part of the lower rack; corresponding circuits are controlled through the control system so as to control behavior of the robot. The robot adjusts own postures constantly in the moving process according to changes of the curvature of the curved surface to better attach to the curved surface to move, and has very high adaptability to the curved surface. With the adoption of the foot movement mode, various tasks can be well completed no matter for moving or barrier crossing, and accordingly, the joint type wall-climbing robot applicable to the curved surface has the wide application field and range.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a curved-surface joint type wall-climbing robot, which can adapt to different curvature surfaces and can replace manual operations in various operations. Background technique [0002] A wall-climbing robot refers to an automated device that can move on a vertical wall to complete tasks and has an adsorption function. It will play a pivotal role in the intelligent future. As a load platform, wall-climbing robots can be used in many fields. For example, in the field of construction, wall-climbing robots carry paint or water tanks instead of manually painting walls or cleaning glass; in the field of petrochemicals, wall-climbing robots often use magnetic adsorption The method is to move on the wall of the metal tank, and carry some special equipment to detect the damage on the surface of the metal tank or weld the seam of the metal tank; in the field of aviation, the da...

AI Technical Summary

Problems solved by technology

[0003] Several types of wall-climbing robots have been disclosed in the existing technology, such as a negative pressure adsorption wall-climbing robot (application number: 200910024927.8), the robot moves in a wheeled structure, and its movement is relatively flexible and fast; the negative pressure generating device Two "L"-shaped labyrinth gap seals are used between the middle impeller and the pump body, which has an obvious adsorption effect on a plane and is not easy to absorb failures, but this kind of robot is difficult to move on a curved surface, and the The sealing belt of the robot is easily damaged and the stability is not enough; another example is the wall-climbing robot (application number: CN97121896), which uses rotating paddles or ducted fans as power to enable the robot to stick to the wall. The wall-climbing method is inefficient, so it is greatly limited in future practical applications

[0004] To sum up, at present, most wall-climbing robots mainly move and turn on flat and smooth walls, but cannot work directly on curved surfaces.

In other words, the efficiency of climbing walls is not high, and there are restrictions on operations under curved surface conditions

And the leg structure of the wall-climbing robot of the prior art is fixed and cannot be adjusted, and the angle between the leg structures cannot be adjusted, which further limits the future intelligent operation of the wall-climbing robot, so a wall-climbing robot is designed to be able to adjust The length of the leg structure, and can adapt to the walls of different curvatures, has always been a technical problem to be solved by those skilled in the art

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