Wall surface self-adaptive four-caterpillar wall climbing robot

Abstract

The invention relates to a wall surface self-adaptive four-caterpillar wall climbing robot. The robot is characterized in that the robot comprises a middle platform and four vehicle body modules whichare of the same structure and independent, the middle platform is taken as a center of the four vehicle body modules which are symmetrically arranged around the middle platform on the left and rightsides, and the four vehicle body modules are connected with the middle platform through limit joints with two degrees of freedom, and the vehicle body modules are of a caterpillar permanent magnet adsorption structure. According to the wall surface self-adaptive four-caterpillar wall climbing robot, the design is reasonable, the function of walking on vertical wall surfaces with different curvatures of the wall climbing robot can be achieved, the stability of the robot when the robot is moving flexibly can be guaranteed, and the guarantee of working safely and high-effectively is provided; thewall climbing robot has stable adhesion, obstacle-crossing ability and strong loading capacity, and the moving and working demands in a complex environment are met.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and relates to a wall-climbing robot, in particular to an adaptive wall-surface four-track obstacle-climbing robot. Background technique [0002] Wall-climbing robots can operate in dangerous and extreme environments such as nuclear power engineering, chemical engineering, and wind power engineering, which is of great significance in the robotics industry. Large-scale equipment in various fields in China basically adopts some large-scale equipment processed by magnetically conductive steel materials, such as oil pipelines, chemical storage tanks, ships, and wind power equipment. There will be dirt, peeling paint, and even rust. In order to ensure the safe operation of the equipment, a lot of manpower and material resources need to be invested in regular cleaning and testing and other maintenance operations. It has become an inevitable trend to use robots to do some high-intensity and ...

AI Technical Summary

Problems solved by technology

[0003] After searching the existing technology, it is found that the Chinese patent application number 201620481051.5 records that "a crawler wall-climbing robot that can turn freely" involves the arbitrary turning of the track wheels, and the existing problem is that the track wheels can only work on the plane , among which the wall-climbing robot has poor adaptability to changes in wall topography and curvature.

At the same time, since the wall-climbing robot is mainly adsorbed on the magnetically permeable wall, it should adapt to walls with different curvatures, have a moderate ability to overcome obstacles, and have a large load capacity. However, most wall-climbing robots are not very good at these aspects. Meet the needs of working conditions

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