The invention discloses a wall surface crawling device. The wall surface crawling device comprises a rack; the air injection fan mechanism is mounted on one side of the rack and can provide pressure for the rack through air injection power; the walking mechanism is installed on the side, away from the air injection fan mechanism, of the rack. The walking mechanism is rotationally connected with the rack; the driving mechanism is installed on the side, facing the air injection fan mechanism, of the rack and used for driving the walking mechanism to rotate. The hydraulic cylinder set is installed on the edge of the rack and perpendicularly fixed to the rack. The telescopic end of the hydraulic cylinder set faces one side of the walking mechanism. The device provided by the invention adopts the concept of separated operation of walking and turning, the air injection fan mechanism provides air injection pressure to be attached to the wall surface, the device is driven by the walking mechanism during normal crawling, and when turning is needed, the rack is jacked up through the hydraulic cylinder set, so that the walking mechanism is separated from the wall surface, and turning is carried out by rotating the walking mechanism; and then the hydraulic cylinder group is withdrawn. The turning control precision is higher, the control is more stable, and the problem that the wall crawling robot is difficult to turn is solved.

    本发明公开了一种墙面爬行装置,包括机架;喷气扇机构安装在机架的一侧,且能够通过喷气动力向机架提供压力;行走机构安装在机架背离喷气扇机构的一侧;行走机构与机架转动连接;驱动机构安装在机架朝向喷气扇机构的一侧,且用于驱动行走机构转动;液压缸组安装在机架边沿,且与机架垂直固定;液压缸组的伸缩端朝向行走机构的一侧。本发明提供的装置采用行走和转弯分离操作的理念,通过喷气扇机构提供喷气压力贴附在墙面上,正常爬行时通过行走机构带动,当需要转弯时,通过液压缸组顶起机架,使得行走机构与墙面分离,通过转动行走机构进行转弯,然后再收回液压缸组。其转弯控制精度更高,操控更平稳,解决了墙面爬行机器人转弯困难的问题。


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    Title :

    Wall surface crawling device


    Additional title:

    一种墙面爬行装置


    Contributors:
    ZHU YADONG (author) / WANG QIN (author)

    Publication date :

    2022-05-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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