Novel triangular track type wall climbing robot

Abstract

The invention discloses a novel triangular track type wall climbing robot. The robot comprises a triangular vehicle body, two triangular track wheel assemblies, a driving device, a magnetic universal wheel and a detecting device, wherein each triangular track wheel assembly comprises a triangular bracket, a driving wheel, a guide wheel, a tensioning wheel, a supporting wheel, a triangular supporting frame, a track and a magnetic part; each triangular bracket is arranged on the triangular vehicle body; each driving wheel, each guide wheel and each tensioning wheel are arranged on the triangular brackets; the magnetic parts are uniformly arranged on the outer surfaces of the track; the triangular supporting frames are hinged to the triangular brackets; the supporting wheels are arranged on the triangular supporting frames; the driving device is connected with the driving wheels; the magnetic universal wheel is arranged on the triangular vehicle body; the detecting device is arranged on the triangular vehicle body. According to the novel triangular track type wall climbing robot, the two triangular track assemblies are combined into a magnetic core universal wheel; one plane is determined through three points, so that the robot can be stably attached on an arc-shaped surface; in addition, the magnetic parts and the magnetic universal wheels enable high absorbing capacity of the robot, and the robot can vertically stably climb on the arc-shaped surface.

Description

technical field [0001] The invention belongs to the field of robot walking mechanisms, and in particular relates to a novel triangular crawler-type wall-climbing robot. Background technique [0002] At present, as a special equipment working under high temperature and high pressure, large pressure vessels are prone to damage or even accidents after long-term use. In order to ensure their safe operation, regular safety inspections are required. In a high temperature and high pressure environment, manual inspection cannot be implemented. In the prior art, robots generally use four wheels. When crawling on an arc surface, it is easy to cause three wheels to touch and one wheel to hang in the air, resulting in unstable crawling. [0003] Therefore, need badly a kind of novel triangular crawler type wall-climbing robot that crawls stable. Contents of the invention [0004] In order to solve the above-mentioned technical problems, the present invention provides a novel triangu...

AI Technical Summary

Problems solved by technology

[0002] At present, as a special equipment working under high temperature and high pressure, large pressure vessels are prone to damage or even accidents after long-term use. In order to ensure their safe operation, regular safety inspections are required

However, in the environment of high temperature and high pressure, manual inspection cannot be carried out.

In the prior art, robots generally use four wheels. When crawling on an arc surface, it is easy to cause three wheels to touch and one wheel to hang in the air, resulting in unstable crawling.

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