Curved surface self-adaption magnetic adsorption wall-climbing robot

Abstract

The invention discloses a curved surface self-adaption magnetic adsorption wall-climbing robot, which includes a vehicle body and chain driving assemblies arranged on the two sides of the vehicle body, wherein each chain driving assembly includes a driving motor, a driving chain wheel and a driven chain wheel; each driving motor is fixedly mounted at the bottom of the vehicle body; the driving chain wheels are coaxially and fixedly mounted on driving shafts of the driving motors; and the driven chain wheels are coupled at the bottom of the vehicle body. The curved surface self-adaption magnetic adsorption wall-climbing robot is characterized in that a magnetic chain is arranged between each driving chain wheel and each driven chain wheel; and self-adaption mechanisms are fixedly mounted on the two sides of the vehicle body respectively, and each self-adaption mechanism is positioned on the magnetic chain on the same side where the self-adaption mechanism is arranged. The curved surface self-adaption magnetic adsorption wall-climbing robot has the advantages that the self-adaption mechanisms arranged on the inner sides of the magnetic chains can better clung to and fit with the warped curved surface when the wall-climbing robot walks on a steel curved surface or a warped wall surface, so that the magnetic adsorption area is enlarged, the adsorption efficiency is improved, and the exercise safety performance of the wall-climbing robot is improved, and as lifting wheels arranged on connecting racks can be used for tensioning the magnetic chains, chain slippage and dropping can be prevented during the movement of the wall-climbing robot, and the wall-climbing robot can adapt to and climb the wall with an upright even inverted warped curved surface.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a curved surface adaptive magnetic adsorption wall-climbing robot. Background technique [0002] Wall-climbing robot is an important branch in the field of mobile robots. It organically combines ground mobile robot technology with adsorption technology. It can attach and crawl on vertical walls, and can carry tools to complete certain tasks, which greatly expands the application range of robots. . At present, wall-climbing robots are divided into negative pressure adsorption, magnetic adsorption, thrust adsorption, bionic adsorption and electrostatic adsorption according to the adsorption methods. They all have their own application ranges and advantages and disadvantages. [0003] Among them, the magnetic adsorption wall climbing robot is divided into two types: one is permanent magnetic adsorption, and the other is electromagnetic adsorption. The structure of the electromagnetic...

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Problems solved by technology

[0004] The Chinese invention patent with the patent number ZL200510086382.5 discloses a magnetic adsorption wall-climbing robot with curved surface self-adaptive ability. The curved surface adaptive mechanism with three rotational degrees of freedom has flexible movement and certain surface adaptive ability, but the adsorption efficiency of the permanent magnetic adsorption device is low, the load capacity is poor, and the obstacle surmounting ability is also poor

[0005] The Chinese invention patent with the patent No. ZL200510127370.2 discloses a permanent magnet adsorption double-track robot for hull surface cleaning. The load capacity is strong, but the robot is heavy, the output torque is large, and the self-adaptive ability of the curved surface is poor, so the permanent magnetic adsorption device cannot be used efficiently

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