Horizontal reentrant corner climbing robot

Abstract

The invention relates to a horizontal reentrant corner climbing robot. The horizontal reentrant corner climbing robot comprises a supporting frame, as well as one or more attachment structures and oneor more action structures, which are arranged on the supporting frame, wherein the attachment structures comprise a left supporting frame I, a right supporting frame I and driving wheels which are symmetrically arranged on the left supporting frame I and the right supporting frame I; a thrust device I is arranged between the left supporting frame I and the right supporting frame I; the wheel surfaces of the driving wheels are tangent to the wall surface; the shaft extension line is parallel to the crest line of a reentrant corner; the action structures comprise a left supporting frame II, a right supporting frame II and action wheels which are symmetrically arranged on the left supporting frame II and the right supporting frame II; a thrust device II is arranged between the left supporting frame II and the right supporting frame II; the wheel surfaces of the action wheels are tangent to the wall surface; the shaft extension line is perpendicular to the crest line of the reentrant corner; and the driving wheels and the action wheels are all omnidirectional wheels. Through the adoption of the device, the defects of high requirements for materials and equipment, low energy utilization rate, insufficient loading capacity and the like of a conventional wall climbing robot are overcome.

Description

technical field [0001] The invention belongs to the field of climbing robots and relates to a climbing robot for a horizontal inner corner. Background technique [0002] Existing research mainly focuses on the movement of walls in daily life, and buildings with inner corners (concave corners) and outer corners (convex corners) can be seen everywhere, so robots that use wall corners to climb will be widely used. There are two key issues for the wall-climbing robot. First, the robot is stably attached to the wall, and second, the robot moves effectively on the wall. For this type of problem, the following types of robots have been proposed now: vacuum suction cup type wall climbing robot, wind pressure type wall climbing robot, viscose type wall climbing robot, electrostatic adsorption type wall climbing robot. Most of these robots have the same disadvantages, such as low energy utilization rate, low climbing efficiency, and heavy body weight, so the requirements for making r...

AI Technical Summary

Problems solved by technology

[0003] In view of this, the object of the present invention is to provide a horizontal inner corner climbing robot, which overcomes the shortcomings of existing wall climbing robots, such as high material and equipment requirements, low energy utilization rate, and insufficient load capacity.

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