The invention discloses a wall-climbing robot structure capable of passively self-adapting to a variable-curvature magnetic conductive wall surface. The wall-climbing robot structure comprises a frame body unit, self-adaptive moving mechanisms and a control box, and the two self-adaptive moving mechanisms are hinged into copper sleeve mounting holes reserved in the two sides of the frame body unit in a mirror symmetry mode; according to the wall-climbing robot structure, by designing the self-adaptive wheel sets and the frame body units capable of achieving self-adaptive deformation, the driving wheels and the driven wheels are tightly attached to the wall face all the time, effective contact points of the wall face of a synchronous belt are increased, friction force is increased, slipping is prevented, the safety of the robot working on the wall face is improved, obstacle crossing can be achieved, and the working efficiency is improved. And the practicability of the equipment is ensured. Besides, the permanent magnets on the driving wheel and the driven wheel adopt a built-in permanent magnet mode, so that the problem of adsorption force deviation caused by a multi-hinge structure of the robot is avoided, and meanwhile, the structure is more compact. Through the arrangement of the multiple sets of permanent magnet adsorption elements, the wall-climbing robot structure can adapt to concave and convex curved surfaces of the magnetic conductive vertical face at the same time.

    本发明公开一种可被动自适应变曲率导磁壁面的爬壁机器人结构,该爬壁机器人结构包括架体单元、自适应移动机构、控制箱,两个自适应移动机构呈镜面对称的铰接在架体单元两侧预留的铜套安装孔内;该爬壁机器人结构通过设计有自适应轮组以及可自适应形变的架体单元,使主动轮、从动轮始终与壁面紧密贴合,增加了同步带壁面的有效接触点,增大摩擦力防止滑落,提高机器人在壁面作业的安全性,还能实现越障,保证了该设备的实用性。此外,主动轮、从动轮上的永磁体采用内置永磁体方式,避免了因机器人多铰链结构造成的吸附力偏移的问题,同时结构更加紧凑。多组永磁吸附元件的设置,使得该爬壁机器人结构能同时适应导磁立面的凹、凸曲面。


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    Title :

    Wall-climbing robot structure capable of passively self-adapting to variable-curvature magnetic conductive wall surface


    Additional title:

    一种可被动自适应变曲率导磁壁面的爬壁机器人结构


    Contributors:
    ZHANG MINGLU (author) / YANG PEI (author) / SUN LINGYU (author) / DU XIAOYU (author)

    Publication date :

    2023-07-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B62D MOTOR VEHICLES , Motorfahrzeuge



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