Obstacle-crossing wall-climbing robot and obstacle-crossing method thereof

Abstract

The invention discloses an obstacle-crossing wall-climbing robot and an obstacle-crossing method of the obstacle-crossing wall-climbing robot. The obstacle-crossing wall-climbing robot comprises a body support, adsorption mechanisms, vertical motion mechanisms, suspension mechanisms and walking wheels. At least two adsorption mechanisms are arranged, the number of the vertical motion mechanisms corresponds to that of the adsorption mechanisms, and each adsorption mechanism is connected with the body support through the corresponding vertical motion mechanism; the multiple walking wheels are all connected with the body support through the suspension mechanisms, and the obstacle-crossing wall-climbing robot moves through the walking wheels; and the body support can support the vertical motion mechanisms and the suspension mechanisms of the obstacle-crossing wall-climbing robot. The obstacle-crossing wall-climbing robot can freely walk on a vertical or oblique wall face and is high in obstacle-crossing capacity, good in coordination and stability, high in load capacity and capable of being applied to multiple fields. The obstacle-crossing wall-climbing robot can stably cross an obstacle through the obstacle-crossing method.

Description

technical field [0001] The invention belongs to the field of wall-climbing robots, in particular to an obstacle-surmounting wall-climbing robot and an obstacle-surmounting method thereof. Background technique [0002] A wall-climbing robot refers to a robot that can work in environments such as vertical walls. As an automatic mechanical device for extreme high-altitude operations, it has brought great benefits to the development of humans and industries. It is mainly used for: [0003] 1. Detection: detection of large objects such as bridges, nuclear power plants, pipelines, solar power plants, and large paint cans; [0004] 2. Testing: non-destructive testing of wind power generation, chemical industry, etc.; [0005] 3. Construction: repair and maintenance of buildings, etc.; [0006] 4. Cleaning: Cleaning of high-rise glass curtain walls, large walls, ceilings, etc.; [0007] 5. Transportation: Transportation inside the building, for example, the fire department uses r...

AI Technical Summary

Problems solved by technology

[0013] To sum up, the walking mechanisms of existing industrial wall-climbing robots are mostly magnetically adsorbed wheel, crawler or wheel-track, and their common problems are: they do not have the function of moving over obstacles or their ability to move over obstacles is poor , the posture and motion coordination in the operation movement are poor, which cannot meet the requirements of continuous motion stability and posture of complex trajectories; in addition, its load is also low, and it does not have high-load operation capability, which leads to the current application range of wall-climbing robots not widely

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