Obstacle-crossing multifunctional wall-climbing robot

Abstract

The invention relates to an obstacle-crossing multifunctional wall-climbing robot. The obstacle-crossing multifunctional wall-climbing robot is technically characterized in that the robot comprises amiddle platform, two vehicle bodies and two limiting knuckles, the two vehicle bodies are completely of the same structure and are symmetrically installed on the two sides of the middle platform through the limiting knuckles, and the two limiting knuckles are both two-freedom-degree limiting knuckles and allow the two vehicle bodies to have two rotation freedom degrees relative to the middle platform. The obstacle-crossing multifunctional wall-climbing robot is reasonable in design, the obstacle-crossing capacity is good, meanwhile, the load capacity is strong, the adaptability to the wall surface form and the curvature change is good, the robot can be quickly detached, transported and installed and easily and conveniently controlled to move and make a turn, and the requirements for motionand operation in the complicated environment can be met.

Description

Technical field [0001] The invention belongs to the technical field of industrial robots, and relates to a wall-climbing robot, in particular a multifunctional wall-climbing robot capable of surmounting obstacles. Background technique [0002] The wall-climbing robot is an automated equipment that can move and move on vertical walls. It can replace workers in dangerous and extreme environments such as nuclear engineering, fire protection, and the manufacturing and maintenance of large non-structural equipment. It is the current One of the hotspots in the field of robotics. [0003] Permanent magnet adsorption type wall-climbing robots are widely used in working environments where the walls are made of magnetically conductive materials because of their large adsorption force and no need for power supply. Magnetic wheel type wall-climbing robots have the disadvantages of low utilization rate of magnetic energy and low magnetic attraction force. Magnetic crawler wall-climbing robots...

AI Technical Summary

Problems solved by technology

The magnetic wheel wall climbing robot has the disadvantages of low utilization rate of magnetic energy and small magnetic adsorption force

The magnetic crawler wall-climbing robot has poor adaptability to variable curvature walls, but does not have the ability to overcome obstacles

[0004] After searching the existing technology, it is found that the patent document of Chinese Patent Application No. 20041006429.6 discloses a "magnetic wheel adsorption wall-climbing robot". The wall-climbing robot adopts the magnetic wheel adsorption movement technology. The wall contact area is small, the magnetic energy utilization rate is low and the magnetic adsorption force is small, and the magnetic wheel wall climbing robot has poor adaptability to changes in wall surface morphology and curvature.

The patent document of Chinese patent application number 200510086382.5 discloses "a magnetic adsorption wall-climbing robot with curved surface self-adaptive capability". Adaptive ability, but the wall-climbing robot has poor obstacle-surmounting ability

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