Magnetic adsorption wall-climbing robot suitable for various vertical surfaces

Abstract

The invention discloses a magnetic adsorption wall-climbing robot suitable for various vertical surfaces. The magnetic adsorption wall-climbing robot comprises a supporting frame, and the supporting frame comprises a front main body beam, a rear main body beam and a connecting joint; and the left side and the right side of the supporting frame are each provided with two split flexible crawler walking mechanisms, and each split flexible crawler walking mechanism has two rotational freedom degrees perpendicular to each other relative to the supporting frame. Wall surface transition magnetic wheel devices are arranged on the left side and the right side of the front end of the supporting frame correspondingly, each wall surface transition magnetic wheel device comprises a digital steering engine fixedly connected with the supporting frame, the digital steering engines are connected with steering engine discs, and the steering engine discs are connected with magnetic wheel inner side supporting plates; the obstacle crossing magnetic wheel is connected between the magnetic wheel inner side supporting plate and the magnetic wheel outer side supporting plate through a pin; and the magnetic adsorption wall-climbing robot has a good self-adaptive capability on a complex variable curvature magnetic wall surface, a good load capacity and motion flexibility, and can realize a function of switching on wall surfaces with different inner and outer right angles.

Description

technical field [0001] The invention relates to the technical field of wall-climbing robots, in particular to a magnetic adsorption wall-climbing robot adaptable to various facades. Background technique [0002] Every year, there are a lot of news about the deaths of working at heights, and tragedies happen all the time. Wall-climbing robot is an important branch in the field of robotics. It is a special robot that combines adsorption technology with robot movement functions. It can move flexibly on vertical walls and replace workers to complete various tasks under extreme conditions. [0003] The adsorption methods of wall-climbing robots mainly include negative pressure adsorption, positive pressure propulsion, bionic adsorption and magnetic adsorption. Negative pressure adsorption is not limited by working conditions and working media, but when the adsorption wall has cracks or is relatively rough, air leakage is prone to occur and there is a risk of falling. Positive p...

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Problems solved by technology

[0008] Existing wall-climbing robots have at least one of the defects in the following aspects: (1) good motion flexibility, but not strong load capacity, typically such as magnetic wheel type wall-climbing robots; (2) strong load capacity, but Poor movement flexibility, such as a typical crawler-type magnetic adsorption wall-climbing robot, has poor steering ability and large turning half-diameter; (3) for complex spatial surfaces with complex surface morphology, small curvature half-warp, and large curvature range Poor adaptability

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