Wall surface self-adaptive four-caterpillar wall climbing robot

A wall-climbing robot and four-track technology are applied in the field of wall-climbing robots and wall-climbing robots with four-track self-adaptive wall-climbing obstacles. , Simple structure, stable adhesion effect

Pending Publication Date: 2018-03-16
HEBEI UNIV OF TECH
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  • Claims
  • Application Information

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Problems solved by technology

[0003] After searching the existing technology, it is found that the Chinese patent application number 201620481051.5 records that "a crawler wall-climbing robot that can turn freely" involves the arbitrary turning of the track wheels, and the existing problem is that the track wheels can only work on the plane , among which the wall-climbing robot has poor adaptability to cha

Method used

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  • Wall surface self-adaptive four-caterpillar wall climbing robot
  • Wall surface self-adaptive four-caterpillar wall climbing robot
  • Wall surface self-adaptive four-caterpillar wall climbing robot

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Example Embodiment

[0031] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0032] An adaptive wall-climbing robot with four crawlers, such as figure 1 and figure 2 As shown, it includes four mutually independent car body modules and an intermediate platform 1, and the four mutually independent car body modules are respectively a left front car body module 8, a left rear car body module 7, a right front car body module 3, a right The rear body module 4 and the four body modules have the same structure and are symmetrically arranged around the center platform 1 . The body modules on the left and right sides have two degrees of freedom of rotation relative to the middle platform 1 . The four car body modules are connected to the middle platform 1 through four limit joints with two degrees of freedom. The four limit joints are the front right limit joint 2, the rear right limit joint 5, and the rear left limit joint. J...

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Abstract

The invention relates to an adaptive wall-climbing robot with four crawlers. Its technical characteristics are: it includes an intermediate platform and four independent and identically structured vehicle body modules, and the four vehicle body modules are symmetrically arranged around the intermediate platform. , and is connected with the intermediate platform through a limit joint with two degrees of freedom, and the car body module is a car body module with a crawler-type permanent magnetic adsorption structure. The invention has a reasonable design, can enable the wall-climbing robot to realize the walking function of vertical walls with different curvatures, can ensure the stability of the robot when the robot moves flexibly, provides guarantee for safe and efficient operation, and has stable adhesion, obstacle-crossing ability and strong The load capacity meets the needs of movement and operation in complex environments.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and relates to a wall-climbing robot, in particular to an adaptive wall-surface four-track obstacle-climbing robot. Background technique [0002] Wall-climbing robots can operate in dangerous and extreme environments such as nuclear power engineering, chemical engineering, and wind power engineering, which is of great significance in the robotics industry. Large-scale equipment in various fields in China basically adopts some large-scale equipment processed by magnetically conductive steel materials, such as oil pipelines, chemical storage tanks, ships, and wind power equipment. There will be dirt, peeling paint, and even rust. In order to ensure the safe operation of the equipment, a lot of manpower and material resources need to be invested in regular cleaning and testing and other maintenance operations. It has become an inevitable trend to use robots to do some high-intensity and ...

Claims

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Application Information

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IPC IPC(8): B62D55/265B62D55/30B62D55/065
CPCB62D55/065B62D55/265B62D55/30Y02T30/00
Inventor 张小俊国宝燕孙凌宇王洋张浩
Owner HEBEI UNIV OF TECH
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