795 results about "Wall climbing" patented technology

The utility model discloses a system for large-range high-efficiency detection of a building facade. The system comprises a wall-climbing robot and a remote controller, the wall-climbing robot comprises a robot body, a climbing module, a propeller propelling module, a detection module and a control module, the control module is in communication connection with the remote controller; and the control module is suitable for controlling the climbing module to drive the wall-climbing robot to climb or descend along the rope, controlling the propeller propelling module to propel the wall-climbing robot to be tightly attached to the building facade and controlling the detection module to carry out large-range damage detection on the building facade in the climbing or descending process of the wall-climbing robot under an instruction of the remote controller. According to the utility model, the wall-climbing robot is controlled to climb up and down stably on the vertical facade through the remote controller, and the large-range detection of the crack damage of the building facade is realized.

The invention relates to a crawler-type magnetic adsorption wall-climbing robot, and belongs to the field of wall-climbing robots. The wall-climbing robot comprises a main body bracket, a control module, a driving module, an adsorption module and a mechanical arm module, the main body support is a frame of a hollow structure and comprises a bottom plate, side plates arranged on the two sides of a chassis and a cover plate connected with the tops of the side plates, and a power source is arranged in the main body support. The control module is arranged in the main body bracket and is electrically connected with a power supply, and the control module comprises a wireless communication unit. The robot is simple in structure and high in obstacle crossing capacity, permanent magnet magnetic poles are arranged in a Halbach array, the upper sides and the lower sides of the magnetic poles are in an upper strong magnetic state and a lower weak magnetic state, and the magnetic adsorption force to the wall face is greatly improved.

The invention relates to a wall-climbing laser cleaning robot weld joint identification tracking control method and device, and belongs to the technical field of robot tracking control. The maximum curvature of the arc length between the position point of the robot at the current moment and a preview point is determined, the maximum longitudinal speed corresponding to the maximum curvature is determined, and the preview point is any point on the weld joint track in the advancing direction of the robot; and determining a predicted position of the robot at the next moment according to the maximum curvature and the maximum longitudinal speed, and controlling the robot to move to the predicted position. The method solves the problem that the precision of a dynamical model and an operation control strategy of the wall-climbing robot is low because the wall surface motion control of the wall-climbing robot does not consider the influence of adsorption force and gravity.

The present invention discloses a wall-climbing robot for weld detection, which includes a top plate, a flaw detection mechanism, a magnetic wheel mechanism, a sensor assembly, a liquid supply mechanism, a gravity feedback mechanism, and a controller. An industrial camera in the sensor assembly detects the weld. The controller drives the rotation of four groups of magnetic wheel mechanisms for weld tracking according to the weld detection result. The gravity feedback mechanism drives the water pump in the liquid supply mechanism to continuously spray magnetic suspension liquid on the weld to be detected according to the gravity detection result. The first servo motor in the flaw detection mechanism drives the magnetic particle flaw detector to move downwards to continuously detect the weld to be detected. The device has a simple structure. Through four independent groups of magnetic wheel mechanisms, it can adapt to different container wall surfaces. At the same time, through gravity detection, continuous liquid supply of the liquid supply mechanism is realized, improving the efficiency, accuracy and reliability of weld detection.

The invention provides a steel formwork surface grinding device. The steel formwork surface grinding device comprises a wall-climbing robot, a mounting mechanism and a grinding mechanism. The wall-climbing robot is provided with an installation position, the installation mechanism comprises a frame assembly and a driving assembly, the frame assembly is detachably connected to the installation position, the driving assembly is installed on the frame assembly, the grinding mechanism comprises a first flange, a rotating rod, an end plate, a steel wire grinding piece and a diamond abrasive grinding piece, one end of the rotating rod is fixedly connected with the first flange, and the other end of the rotating rod is fixedly connected with the end plate. The steel wire grinding piece and the diamond grinding piece are both installed on the end plate, the steel wire grinding piece is arranged on the outer side of the diamond grinding piece in a surrounding mode, and the first flange can be connected to the driving assembly so that the driving assembly can drive the grinding mechanism to rotate. In this way, the grinding mechanism is driven to rotate through the driving assembly, and the wall-climbing robot moves on the to-be-ground steel formwork, so that concrete sticky skin and rust on the steel formwork can be cleaned up.

The invention discloses a wall-climbing robot positioning and path planning method based on unmanned aerial vehicle cooperation, and the method comprises the steps: constructing and updating a three-dimensional map based on the point cloud and image data of a laser radar and a camera; based on the three-dimensional map, the two-dimensional code of the wall-climbing robot is identified by using the unmanned aerial vehicle, and the accurate positioning information of the wall-climbing robot is obtained by combining self-positioning and cross validation and fusion correction of the ground control unit; updating a map by synchronizing sensing data, and optimizing a climbing track based on the obtained positioning information and a global planning path of the ground control unit; for positioning information and environment information of the wall-climbing robot, the unmanned aerial vehicle adopts a trajectory prediction control algorithm to adjust the attitude, and meanwhile, sudden obstacles are avoided in real time through path planning. According to the invention, through laser vision fusion SLAM and unmanned aerial vehicle collaborative operation, the environment perception capability is enhanced, and through combination of a dynamic map and visual word bag optimization, the functions of operation map construction, accurate positioning, path planning, autonomous navigation obstacle avoidance and the like of the wall-climbing robot are realized.

The invention discloses a road damage identification and positioning method fused with multi-source information, and relates to the technical field of road and bridge facility health monitoring. The method comprises the following steps: S1, collecting multi-source image data of a road bridge through an unmanned aerial vehicle, a wall-climbing robot and / or an industrial camera; and S2, preprocessing the multi-source image data, respectively inputting the multi-source image data into a pre-trained deep learning recognition model, and outputting the type and initial position information of a disease. According to the method, the global view angle of the unmanned aerial vehicle and the local high-definition data of the wall-climbing robot / industrial camera are deeply fused, and the deep learning-based semantic segmentation model is utilized to perform pixel-level recognition on tiny diseases such as cracks, so that the recognition accuracy and reliability are greatly improved, and meanwhile, the recognition efficiency is improved. Image coordinates are accurately mapped to the three-dimensional live-action model through a coordinate transformation formula, centimeter-level space positioning of the disease is achieved, and detection accuracy and operation safety are remarkably improved.

The invention discloses a magnetic array adsorption module, a design method thereof and a wall-climbing robot. The magnetic array adsorption module comprises a first magnetic assembly and a second magnetic assembly, the first magnetic assembly comprises a plurality of first magnets distributed in an array mode in the first direction and the second direction, every two adjacent first magnets are spaced and opposite in magnetism in the third direction, and every two of the first direction, the second direction and the third direction are perpendicular to each other; the second magnetic assembly comprises a plurality of second magnets, each second magnet is connected with two adjacent first magnets, an air gap exists between the two adjacent second magnets, and the magnetism of the two adjacent second magnets is opposite in the first direction or the second direction. By designing the magnetic array adsorption module arranged in the circumferential direction, the permanent magnet utilization rate of the magnetic array adsorption module is superior to that of a linear classic Halbach magnetic array adsorption module under the same magnet volume, and magnetic attenuation caused by the end effect is improved. And meanwhile, the air gap can be used as a replacement space of the mounting hole, so that magnetic loss caused by opening a hole in the magnet is avoided.

The invention provides a wall-climbing robot and a control method. The robot comprises a supporting plate, an outer foot assembly slidably arranged at the top of the supporting plate, an inner foot assembly arranged at the bottom of the supporting plate and a motion posture sensor. The outer foot assembly comprises a second rack and a plurality of first swing adsorption units; the linear driving mechanism is arranged on the top face of the supporting plate, and the second rack is connected with the moving end of the linear driving mechanism. The inner foot assembly comprises a first rack, a plurality of second swing adsorption units and a rotating mechanism, the first rack comprises a plurality of supporting arms, and the second swing adsorption units are correspondingly arranged at the extending ends of the supporting arms respectively; the rotating end of the rotating mechanism is connected with the supporting plate; the first swing adsorption unit and the second swing adsorption unit respectively comprise a swing mechanism, a suction cup arranged at the swing end of the swing mechanism and a negative pressure air pump; the motion attitude sensor is in communication connection with the negative pressure air pump; the wall-climbing robot is not easy to fall off and can realize large-span obstacle crossing.

The invention belongs to the technical field of miniature wall-climbing robots, and particularly relates to a miniature double-foot wall-climbing robot based on electrostatic adsorption, which comprises a bracket, two groups of symmetrically arranged driving devices, two actuating legs and two groups of electrostatic chucks, the driving devices are respectively arranged on two sides of the bracket, the output ends of the driving devices are connected with the actuating legs, and the electrostatic chucks are arranged at the lower ends of the actuating legs. The two sets of driving devices drive the actuating legs to drive the electrostatic chucks to alternately swing through alternate actuation, and the two feet alternately execute adsorption, swing and desorption actions in cooperation with alternate adsorption and desorption of the electrostatic chucks, so that the robot continuously and stably crawl on the wall face. A bionic gait mode is formed through alternate adsorption, desorption and swinging of the left and right feet, continuous adsorption of the suction cups on at least one side at any moment is ensured, instability caused by simultaneous desorption of the two feet is avoided, stable adsorption and continuous and efficient crawling on multiple types of wall surfaces are achieved, the structure is compact, and operation is convenient. The adaptability and the stability of the robot in a narrow space and a complex wall surface environment are improved.

The invention discloses a crawler-type wall-climbing robot single body and a crawler-type wall-climbing robot. Each crawler-type wall-climbing robot single body comprises a rack, a magnetic crawler belt, a crawler belt driving device and a tensioning mechanism, the magnetic crawler belt, the crawler belt driving device and the tensioning mechanism are installed on the rack, the magnetic crawler belt can provide magnetic adsorption force, and the crawler belt driving device is in transmission connection with the magnetic crawler belt and provides driving force for the magnetic crawler belt; the tensioning mechanism is connected with or makes contact with the magnetic crawler belt, and the tensioning mechanism can be driven by external force to stretch out and draw back in the selected direction and provide tensioning force for the magnetic crawler belt. The wall-climbing robot is easier and more efficient to manufacture, assemble and maintain, and meanwhile, different modules can be flexibly configured in different application scenes, so that the capacity of customized production and quick response to market requirements is achieved.

The invention discloses a composite type four-foot wall climbing robot integrating a fish suction cup adsorption mechanism and lizard crawling characteristics. The problems that a traditional wall climbing robot is poor in adsorption stability and insufficient in moving flexibility on uneven and wet wall surfaces are solved. The core structure of the robot comprises an adsorption sole assembly, a multi-degree-of-freedom leg joint, a bionic spine, a micro air pump and a sole pressure sensor, and the adsorption sole assembly controls an air bag through the air pump to generate negative pressure to adapt to various wall surfaces; multiple joints of the legs are matched with the spherical joints to achieve multi-angle attachment of the foot sole, the bionic spine can be bent and buffered, lizard diagonal gaits are adopted, the rotation angle of the joints is adjusted in combination with a sensor, self-adaptive movement on the wall with the inclination angle ranging from 0 degree to 90 degrees is achieved, and the efficiency is improved by 30% or above compared with a traditional robot. The robot breaks through the limitation of a single bionic mechanism, can be applied to complex high-altitude scenes such as building outer wall detection, and reduces the manual operation risk.

The invention relates to a wall-climbing robot system for detecting a coating of a steel pipe truss structure and an application method, and the system comprises a self-adaptive magnetic adsorption mobile platform which can be adaptively and stably adsorbed on steel trusses with different pipe diameters to execute an inspection task; the robot platform is provided with an autonomous positioning navigation system composed of a laser radar, binocular vision and an airborne computer, and the position of the robot is positioned in the steel pipe truss without satellite signals through real-time mapping and a positioning algorithm of tight coupling of laser and vision. The front part of the robot is provided with an electrically foldable surrounding type array camera, so that full-surface coverage type shooting of a steel pipe component is realized, and real-time identification of coating apparent defects is executed in combination with an artificial intelligence disease identification algorithm in an airborne computer; and the lower part of the robot is provided with a telescopic elastic electromagnetic eddy current probe for detecting the thickness of the coating. The method has the advantages that the apparent diseases and the thicknesses of coatings of steel structures such as ceilings of high-speed rail stations and ceilings of large stadiums can be rapidly detected.

The utility model discloses a wall-climbing photographing robot, which comprises a wall-climbing robot body and a pan-tilt camera arranged on the wall-climbing robot body through a rotary driving mechanism, the rotation driving mechanism comprises a first driving motor arranged in the wall-climbing robot body and a bearing seat arranged on the front face of the wall-climbing robot body and connected with an output shaft of the first driving motor, and the pan-tilt camera is fixed to the bearing seat. The first driving motor is controlled by the wall-climbing robot body and can drive the bearing base to rotate so that the pan-tilt camera can be kept in a horizontal state. The wall-climbing photographing device can meet the use requirements of wall-climbing photographing.

The invention discloses a steel formwork surface treatment robot based on magnetic adsorption wall climbing, and belongs to the technical field of polishing and cleaning, the steel formwork surface treatment robot comprises a walking chassis and a polishing head, the polishing head is composed of a support, a flexible screw-down mechanism and an angle grinder, the support is arranged on the walking chassis, and the angle grinder is arranged on the support through the flexible screw-down mechanism; the flexible pressing mechanism is composed of a vertical frame, a U-shaped supporting plate, a triangular groove frame, an H-shaped double-fork arm, an adjustable damping spring and a connecting plate. The vertical frame is connected with the U-shaped supporting plate so as to clamp the angle grinder. The triangular groove frame is hinged to the U-shaped supporting plate through a fourth hinge shaft. The H-shaped two-fork arm is rotationally connected with the connecting plate and is hinged with the two vertical frames through a second hinge shaft and a third hinge shaft respectively; the two ends of the adjustable damping spring are hinged to the fifth hinge shaft and the connecting plate correspondingly, and the connecting plate is fixedly connected to the support. The first hinge shaft and the second hinge shaft of the triangular groove frame are rotationally connected to the support. According to the robot, efficient and stable automatic grinding and cleaning operation can be achieved in the complex construction environment, and the risk and cost of manual operation are reduced.

Provided in the present application is a wall-climbing robot, which can stably walk on a curved surface to implement stable operation on a curved wall surface. The wall-climbing robot comprises: a robot base; and a traveling mechanism, which is arranged on the side of the robot base facing toward a wall surface, and comprises a swing shaft, a connecting shaft, wheels and a magnet, wherein the wheels are used for walking on the wall surface and are arranged at two ends of the connecting shaft that extend in a first direction, the first direction being perpendicular to the diameter direction of the wheels; the magnet is used for providing a magnetic attraction force between the traveling mechanism and the wall surface and is arranged between the wheels at the two ends of the connecting shaft; the swing shaft extends in a second direction and is arranged between the wheels at the two ends of the connecting shaft, the second direction being perpendicular to the first direction; and the connecting shaft is capable of rotating about the swing shaft.

A pipeline length and tightness degree self-adaptive control system of a wall-climbing robot comprises a sensor and an automatic adjusting device. The sensors are arranged on a pipeline and a control circuit of the wall-climbing robot, the sensors comprise a tension sensor and a length sensor, and the tension sensor and the length sensor are used for monitoring the tightness degree and the length change of the pipeline and the control circuit in real time and transmitting sensor data to a ground control station or a control system of the robot in real time. The automatic adjusting device is a wire spool, and the wire spool is driven by a motor to rotate, drives the pipeline and controls the line to be wound and unwound.

A wall-climbing robot for cleaning a swimming pool is provided. The cleaning robot includes a machine body, walking assemblies located on both sides of the machine body, and a roller brush assembly located at a front side of the machine body. The roller brush assembly includes a support shaft and two sections of roller brush bodies rotatably arranged on the support shaft. The support shaft is connected to the machine body. Each walking assembly includes a walking motor, and a first output end and a second output end connected to the walking motor. The first output end is connected to a walking crawler belt and the second output end is connected to the roller brush body. The walking crawler belt and the roller brush body on the same side of the machine body can accelerate and decelerate synchronously.

The invention discloses an electromagnetic wall-climbing mechanical leg based on an air gap structure and a wall-climbing robot, and the electromagnetic wall-climbing mechanical leg based on the air gap structure is used for wall-climbing movement on a magnetically attractable adsorption surface, and comprises a frame, an electromagnetic adsorption part, a driving wheel and an auxiliary wheel; the electromagnetic adsorption part is mounted on the frame and is provided with a magnetic force end which is magnetically attracted with an adsorption surface by an adjustable air gap; the driving wheel is mounted on the frame and is used for rolling driving on the adsorption surface; at least one auxiliary wheel is installed on the frame, and the auxiliary wheel and the driving wheel support the frame on the adsorption face in a rolling mode. The electromagnetic adsorption part is supported on the basis of the driving wheel and the auxiliary wheel, an air gap is provided between the electromagnetic adsorption part and an adsorption surface, the adsorption force of magnetic attraction is adjusted, stable wheel pressure is provided for the driving wheel, slipping or falling is avoided, each single leg has the independent wall climbing capacity, and a plurality of single legs can be adopted for wall climbing inspection along the plane at the same time.

The invention discloses a laser radar-based wall-climbing robot full-coverage path planning obstacle avoidance system and method, the system is applied to a wall-climbing robot, and the system comprises a remote control module, an upper computer, a laser radar and a chassis control module; the upper computer, the laser radar and the chassis control module are all mounted on the wall-climbing robot; the remote control module provides a visual interface and a control button for an operator; the remote control module sends a control signal to the upper computer and receives information from the upper computer, and the upper computer carries out fusion processing on the received data information and sends an instruction to the chassis control module to control the wall-climbing robot to work. The laser radar is used for environment perception of the wall-climbing robot, full-coverage path walking and obstacle avoidance can be achieved only through side wall and ground features, the system complexity is low, the intelligent degree of the wall-climbing robot is improved, manual remote control can be replaced for plane tank wall operation, and the manpower and material resource cost is saved.

The invention relates to a wall-climbing robot on a large metal structure surface, in particular to a variable-wheelbase magnetic wall-climbing robot which comprises a variable-wheelbase mechanism, a walking mechanism and a steering mechanism, the variable-wheelbase mechanism comprises a front fixing plate, a rear fixing plate, a supporting shaft and a variable-wheelbase power source, and the front fixing plate and the rear fixing plate are connected through the supporting shaft; one fixing plate is linked with the supporting shaft, and the other fixing plate is rotationally connected with the supporting shaft; walking mechanisms are mounted at the two ends of the front fixing plate and the two ends of the rear fixing plate, are connected through a steering mechanism mounted on the front fixing plate, and synchronously adsorb and walk on a metal wall surface; the walking mechanisms at the two ends of the rear fixing plate are connected through a steering mechanism installed on the rear fixing plate and synchronously adsorb and walk on the metal wall face. The invention has the characteristics of modularization, compact, simple and light structure, flexible movement, wide adaptability, easy installation and high control precision.

The invention discloses an amphibious wall-climbing robot with adjustable adsorption force, and relates to the technical field of robots. The main adsorption module is in sliding connection with the wheel type movement mechanism between a first position and a second position; and the adjusting mechanism can be in transmission connection with the wheel type movement mechanism through the joint mechanism, and the adjusting mechanism drives the main adsorption module to move between the first position and the second position through power transmitted by the wheel type movement mechanism. The main adsorption module is driven to move between the first position and the second position through power transmitted by the wheel type movement mechanism, and then the position of the main adsorption module and the gap between the main adsorption module and the wall face are adjusted. The maximum static friction force generated between the driving wheel and the wall face can be jointly changed by changing the position of the main adsorption module and changing the gap, when the robot faces high-adsorption-force-requirement scenes such as a high-wind-speed environment, enough adsorption force can be generated, and then it is guaranteed that the adsorption force of the robot meets the operation requirement all the time.

The invention discloses a tunnel blasting damage rapid measurement method and system based on a wall-climbing robot, and the method comprises the following steps: S1, laying a three-dimensional optical fiber network, recording the coordinates of each section of optical fiber, and building a mapping relation between an optical fiber node and a space coordinate position; s2, constructing an initial three-dimensional wave velocity model of the tunnel rock mass; s3, correcting the velocity fields of the reflected wave and the winding wave to obtain an optimized wave velocity model; s4, exciting artificial seismic sources at a plurality of positions in the tunnel through a wall-climbing robot with an electromagnetic vibration exciter, and performing data acquisition by a DAS system through an optical fiber network; s5, processing the data acquired in the step S4, carrying out wavelength separation on the reflected wave and the diffracted wave, and respectively carrying out migration imaging on the reflected wave and the diffracted wave after classification; and S6, fusing imaging results of the reflected wave and the diffracted wave through a weight coefficient, and generating a comprehensive geologic model.

The invention provides a conveying device and method for assisting a wall-climbing robot in entering a tank, and relates to the field of loading equipment.The conveying device comprises a transport vehicle, a lifting mechanism, a horizontal telescopic mechanism, a rotary base mechanism and a winch, the lifting mechanism is used for adjusting the height, and the horizontal telescopic mechanism is used for driving the wall-climbing robot to extend into a storage tank; according to the conveying device, due to the multi-degree-of-freedom optimized structural design, the conveying device can effectively replace an existing manual wall-climbing robot carrying mode, and the functions of conveying, transferring, tank entering and wall surface feeding are integrated; through horizontal 90-degree switching, vertical 90-degree switching and translation conveying of the wall-climbing robot, automatic tank feeding and wall climbing operation of the wall-climbing robot are achieved; according to the invention, the wall-climbing robot can be driven to realize large-range height and probing depth adjustment, so that the wall-climbing robot can adapt to tank openings with different heights and depths, and the application range is wide.

The wall climbing type automatic stair sweeping robot comprises a wall climbing device and a sweeping device, a first transverse supporting air cylinder and a second transverse supporting air cylinder of the wall climbing device are fixed to the lower portion of a vertical supporting air cylinder in a cross shape, a vertical moving suction cup is arranged at the outer end of a piston rod of the vertical supporting air cylinder, and a first transverse moving suction cup is arranged at the outer end of a piston rod of the first transverse supporting air cylinder; a transverse sucker B is arranged at the outer end of a piston rod of the transverse support cylinder B; a supporting plate is arranged between the first transverse supporting air cylinder and the second transverse supporting air cylinder, and a butt joint mechanism is arranged on the supporting plate. A main body of the cleaning device is a moving trolley, a cleaning mechanism is arranged in the moving trolley, and the end of the moving trolley is matched with the butt joint mechanism. The robot does not make contact with the stairs in the layer-by-layer stair climbing process, the problems that collision and abrasion are serious in the stair climbing process and the stability is poor in the climbing process are solved, the wall climbing device with the sweeping device for climbing is adsorbed and fixed to the wall face, the sweeping space of the stairs is not occupied, the sweeping device can thoroughly sweep the step surfaces of the stairs, and the cleaning efficiency is improved. And the stair cleaning quality is improved.

The invention relates to a negative pressure wall-climbing robot based on an organ type plush sealing ring and a variable-diameter tire structure, which comprises a base, the bottom of the base is provided with an adsorption unit, and the adsorption unit is detachably connected with the base; a negative pressure unit is arranged on the base, and the negative pressure unit is fixedly arranged on the base and is communicated with the adsorption unit; a plurality of parallel driving units are arranged on the adsorption unit, telescopic rods are arranged on the driving units, variable-diameter tires are arranged on the two sides of the base and connected with the telescopic rods, and the variable-diameter tires are driven by the driving units to rotate to move; a telescopic structure is arranged on the side, close to the variable-diameter tire, of the base, a telescopic driving module is arranged on the telescopic structure, a side plate is arranged on the telescopic driving module, and the side plate is connected with a telescopic rod in a matched mode. The invention aims to solve the problems of contact adaptability and movement stability of the negative-pressure wall-climbing robot on wall surfaces with different curvatures and roughness or when the negative-pressure wall-climbing robot passes through a narrow space.

The invention discloses an underwater curved surface active self-adaptive adsorption cleaning robot which comprises a rack, a control cabin, a sensor system, an underwater propelling system and four Bernoulli suckers. The Bernoulli sucking disc comprises a connecting shell, a Bernoulli sucking disc surface and a sucking disc power source; the connecting shell is rotatably connected with the rack through the rotating flange bearing and the rotating shaft; a driving push rod is connected between the connecting shell and the rack; the active angle self-adaption of the Bernoulli suction cup is realized through the active push rod; the control cabin completes reconstruction of a working curved surface through the sound wave range finder, the angle of each Bernoulli suction cup needing to rotate is calculated, then the length of each driving push rod is controlled to enable the corresponding Bernoulli suction cup to rotate to the calculated angle, and finally the suction cup power source is controlled to enable the robot to be attached to the working surface. The wall-climbing cleaning device can adapt to most special-shaped curved surfaces, wall-climbing cleaning work can be carried out on the complex and changeable curved surfaces, and no mandatory requirement for surface materials of the adsorption curved surfaces exists.

The double-foot type steel structure wall-climbing obstacle-crossing robot comprises a self-stabilizing assembly, a first walking foot and a second walking foot, the self-stabilizing assembly comprises a rotating shaft and a workbench with an angular motion detection device, and the workbench comprises a working platform and connecting pieces located at the two ends of the working platform; the connecting pieces are connected with the rotating shaft and can rotate around the rotating shaft, the first walking foot and the second walking foot are separated from each other and are installed on the rotating shaft side by side, and the first walking foot and the second walking foot are both located between the connecting pieces at the two ends of the working platform. By means of the simple structure, stable climbing and obstacle crossing can be achieved on the surfaces of steel structures which are made of different materials and have different inclination angles, the effects of light weight and miniaturization are achieved, meanwhile, the stability of the working platform is guaranteed, multiple moving modes can be achieved when the working platform encounters obstacles or is free of obstacles, and the working efficiency of the working platform is improved.

The invention discloses a rocker type wall-climbing robot capable of adapting to complex facades with various curvatures, and relates to the technical field of robotics.The rocker type wall-climbing robot comprises a chassis main board, rocker arm supports are fixed to the two sides of the upper end face of the chassis main board, magnetic wheel inclination angle posture control devices are arranged on the rocker arm supports, and a holder device is connected to the front end of the chassis main board; the magnetic wheel dip angle posture control device comprises a rocker arm shaft, a rocker arm type supporting arm is connected to the rocker arm shaft, a double-arm connecting base is rotationally connected to one side of the bottom end of the rocker arm type supporting arm, the bottom end of the double-arm connecting base is sequentially connected with a long pull rod and a short pull rod, and the short pull rod is further connected to the other side of the bottom end of the rocker arm type supporting arm. The two ends of the double-arm connecting base are connected with a near driving arm and a far driving arm respectively, the near driving arm is connected with a swing type front supporting arm, and the far driving arm and the swing type front supporting arm are connected with half-moon-shaped swing type magnetic attraction wheels. The problems that an existing wall-climbing robot is small in applicable wall surface curvature range and poor in obstacle crossing performance on a complex wall surface can be solved.

The invention discloses wall climbing equipment based on negative pressure vacuum adsorption, and relates to the technical field of wall climbing equipment, the wall climbing equipment comprises a power mechanism, the power mechanism comprises a crawler belt and a driving motor, and the power mechanism is used for driving the wall climbing equipment to move; the negative pressure mechanism is arranged between the two crawler belts and is used for generating negative pressure so that the wall climbing equipment can be adsorbed on the wall surface; the cleaning mechanism is arranged on one side of the negative pressure mechanism and used for removing warped wall skin and dust on the surface of the wall surface; and the paint make-up blade coating mechanism is arranged on the other side of the negative pressure mechanism and used for achieving extrusion operation of the paint through a driving motor. Compared with traditional manual repairing, scaffolds or ladders do not need to be erected, wall repairing tasks, automatic adsorption to the wall, cleaning, paint repairing and other tasks can be automatically completed, manual intervention is reduced, power is provided through intelligent power supply vehicle equipment, long-time work is supported, and the wall repairing robot is suitable for large-area wall maintenance.