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Variable structured crawler type wall climbing robot

A wall-climbing robot and crawler-type technology, applied in manipulators, manufacturing tools, etc., can solve problems such as limited structural changes and insufficient wall adaptability

Inactive Publication Date: 2005-01-12
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, the structure of the front end of the crawler wall-climbing robot and the articulated frame is limited, so that it can only walk stably on curved surfaces with a curvature radius greater than 1.2m, and can only walk on walls with intersection angles ranging from 0° to +20°. This wall adaptability is far from enough for the complex actual working environment

Method used

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  • Variable structured crawler type wall climbing robot
  • Variable structured crawler type wall climbing robot
  • Variable structured crawler type wall climbing robot

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Embodiment Construction

[0020] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0021] figure 1 The body of the variable-structure crawler-type wall-climbing robot shown includes two symmetrically arranged crawlers 1, a vehicle-mounted operating system 2 located between the crawlers 1, and the support mechanism described below. Several suction cups are evenly installed on the outer surface of the crawler belts 1. , the robot can rely on these suction cups to stick to the wall. According to the different materials and surface conditions of the working wall, the corresponding adsorption methods can be selected, such as vacuum adsorption, magnetic adsorption, etc.

[0022] Figure 2a Shown is the first embodiment of the variable structure crawler wall-climbing robot of the present invention, wherein each track 1 is engaged with four pulleys 3, and the pulleys 3 are supported by two support rods 4, and each support rod 4 T...

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Abstract

A climb-on-wall robot with deformable caterpillar belts is composed of two deformable caterpillar belts uniformly equipped with sucking cups on its external surface, the job system between two caterpillar belts, main body, at least 4 belt rollers engaged with said caterpillar belts, and at least two supporting rod for said belt rollers and connected to said job system in movable mode.

Description

technical field [0001] The invention relates to a crawler-type wall-climbing robot, in particular to a crawler-type wall-climbing robot capable of adapting to different wall surface environments through deformation. Background technique [0002] A wall-climbing robot is a mobile robot that can work on a vertical wall. According to the different modes of movement, wall-climbing robots can be divided into wheeled, footed, crawler, and frame. Crawler-type wall-climbing robots have the advantages of large adsorption force, strong carrying capacity, stable motion, and fast speed; but ordinary crawler-type wall-climbing robots have limited motion flexibility and wall adaptability, especially in the aspects of curved surface walking and intersecting surface transition. have obvious deficiencies. The article "A Study on Wall Surface Mobile Robots" in the magazine "Trans of the Japan Society of Mechanical Engineer (C)" (Trans of the Japan Society of Mechanical Engineer (C)) Volume ...

Claims

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Application Information

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IPC IPC(8): B25J5/00
Inventor 陈恳杨向东田兰图
Owner TSINGHUA UNIV
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