CN108928399B - Adsorption type crawler crawling mechanism and wall-climbing robot with same - Google Patents
Adsorption type crawler crawling mechanism and wall-climbing robot with same Download PDFInfo
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- CN108928399B CN108928399B CN201810823264.5A CN201810823264A CN108928399B CN 108928399 B CN108928399 B CN 108928399B CN 201810823264 A CN201810823264 A CN 201810823264A CN 108928399 B CN108928399 B CN 108928399B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
Abstract
The invention relates to the technical field of wall climbing robots, in particular to an adsorption type crawler crawling mechanism and a wall climbing robot with the same, wherein the crawling mechanism comprises a first connecting chassis and a crawler wheel assembly arranged at the bottom of the first connecting chassis, the crawler wheel assembly at least comprises a wheel assembly and an adsorption crawler belt arranged on the wheel assembly in a matched mode, a first main shaft extending along the width direction of the first connecting chassis is arranged on the front side of the first connecting chassis, a second main shaft parallel to the first main shaft is arranged on the rear side of the first connecting chassis, the crawler wheel assemblies are respectively arranged at the two end parts of the first main shaft and the second main shaft, the crawler wheel assemblies are positioned on the outer side of the first connecting chassis, the crawling mechanism is further provided with a driving assembly used for driving the wheel assembly to rotate so as to drive the adsorption crawler belt to rotate, the crawling mechanism can obviously improve the obstacle crossing height of the crawler wheel assemblies, the continuous crawling of the metal plane, the inclined plane and the vertical plane is realized.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to an adsorption type crawler crawling mechanism and a wall-climbing robot with the same.
Background
In order to solve the problem of service in unknown and variable working condition environments, the mobile robot mostly adopts a crawler-type walking mechanism. The main directions of research on the mechanism design are: ability to cross a trench or climb over a step obstacle, ability to overcome tipping, and wall suction ability.
Currently, the crawler robots studied at home and abroad are roughly divided into single-section double crawler, double-section four-crawler, multi-section multi-crawler and multi-section crawler composite type, wherein the wall-climbing robot with the adsorption function only has a single-section double-crawler structure. The technical level in the aspect of multi-track mobile robots is relatively mature at present abroad, and the multi-track mobile robot is mainly used for the aspects of ground anti-terrorism and explosion prevention, military reconnaissance and the like. The ANDROS-F6A mobile robot, which was earlier developed by REMOTEC of the United states, is a miniaturized articulated tracked wheeled robot, and has the most remarkable characteristics of higher speed and superior obstacle-surmounting performance so that an operator can perform tasks more efficiently. The Urbie robot which is developed by the cooperation of NASA jet propulsion laboratory, iRobot corporation, college of robots of university of California and research laboratory of robots of university of California in the United states is a front-joint crawler moving robot which can be guided by vision and can climb automatically, and a front swing leg of the robot can rotate asynchronously at 360 degrees. The Super-D II type explosive disposal robot which is developed by Beijing Zhongtai science and technology development Limited company and Shanghai transportation university at present at home has a typical articulated crawler belt structure, a walking device of the Super-D II type explosive disposal robot adopts four-wheel drive and double-pendulum drive, the robot has the maximum extension length of 1.8 meters, the walking speed of 0-40 meters per minute and the climbing capability of 40 degrees and can rotate in situ within the range of 1.3 meters, and the technology adopted by the robot is in the leading position in the domestic explosive disposal robot.
As the miniaturization of the same kind of technology, the crawler structure has wide application in wall/pipeline robots, for example, a ship mobile spraying robot can move and perform spraying operation on a plane at the same time, a pipeline robot crawls and moves in a horizontal pipeline, and the like. However, when a larger pitch angle or a vertical wall surface exists in an actual project, the creeping mechanism cannot continuously creep through the wall surface because the creeping mechanism cannot maintain the abutting area and the friction force with the wall surface. When the crawler belt increases magnetic adsorption, because the magnetic binding surface has a gap, the adsorption force is greatly reduced (the magnetic force almost disappears when the magnetic force is larger than 8 mm), and the application of the industrial crawling robot in the working conditions of planes and vertical surfaces (such as various pipe networks) is limited.
Disclosure of Invention
The invention provides an adsorption type crawler crawling mechanism which can realize continuous crawling on a metal plane, an inclined plane and a vertical plane.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides an absorption formula track mechanism of crawling, includes first connection chassis and locates the athey wheel subassembly of first connection chassis bottom, the athey wheel subassembly includes wheel subassembly and complex at least and locates absorption track on the wheel subassembly, the front side of first connection chassis is equipped with the first main shaft that extends along its width direction, the rear side of first connection chassis be equipped with the second main shaft that first main shaft paralleled, first main shaft with the both ends of second main shaft are equipped with respectively the athey wheel subassembly, the athey wheel subassembly is located the outside of first connection chassis, the mechanism of crawling still is equipped with and is used for ordering about the wheel subassembly rotates and then drives absorption track pivoted drive assembly.
Furthermore, the crawling mechanism is further provided with a second connecting chassis connected behind the first connecting chassis in series, the front end part of the second connecting chassis is rotatably connected with the second main shaft, the rear end part of the second connecting chassis is provided with a third main shaft rotatably connected with the second connecting chassis, and two end parts of the third main shaft are respectively provided with the crawler wheel assemblies.
Furthermore, the first main shaft and the second main shaft are respectively connected with the first connecting chassis in a rotating mode, and a plurality of magnets are sequentially arranged on the adsorption track at intervals along the circumferential direction of the adsorption track.
Further, the crawler wheel assemblies at the foremost ends of the crawling mechanism and the crawler wheel assemblies at the rearmost ends of the crawling mechanism are respectively connected with the driving assembly, and the driving assembly comprises a first driving motor.
Further, when the crawling mechanism has the crawling working condition, the maximum depression angle is
The height H of the first connecting chassis satisfies the following conditionA piece:
wherein the content of the first and second substances,
l is the distance between the first main shaft and the second main shaft;
h is the height of the track roller set.
Further, when the maximum elevation angle in the crawling working condition of the crawling mechanism is theta, the overall height Y of the crawling mechanism and the loaded equipment meets the following condition:
Y＜X×tan(180-θ)
wherein the content of the first and second substances,
x is the distance of the loaded equipment from the farthest end of the suction track.
Furthermore, the crawling mechanism at least further comprises an angle adjusting auxiliary device arranged right above the first connecting chassis, when the crawling mechanism comprises the second connecting chassis, the angle adjusting auxiliary device is also arranged right above the second connecting chassis, and the angle adjusting auxiliary device comprises an adjusting component used for adjusting the included angle between the crawler wheel component and the bottom of the first connecting chassis/the second connecting chassis through respective force application of the crawler wheel component at the bottom of the second connecting chassis/the first connecting chassis/the second connecting chassis.
Furthermore, angle modulation auxiliary device includes fixed wire reel, winds four flexible steel cables of locating on the fixed wire reel and orders about fixed wire reel pivoted second driving motor, the free end tip of flexible steel cable be equipped with be used for with the connecting portion that the interior side plate in the crawler belt wheel subassembly links to each other.
The invention also provides a wall-climbing robot with the adsorption type crawler crawling mechanism, which comprises an imaging module, a lighting module, a power module and a communication control module which are arranged on the first connecting chassis and/or the second connecting chassis, wherein the imaging module, the lighting module and the communication control module are respectively and electrically connected with the power module, and the imaging module and the lighting module are respectively and electrically connected with the communication module.
Further, imaging module includes leading camera and rearmounted camera, lighting module is located climb the foremost end of mechanism, climb the wall robot and still including locating thickness measuring module and the orientation under the first connection chassis the supersound ranging module in the dead ahead of mechanism crawls, thickness measuring module includes the ultrasonic wave roadblock detector, thickness measuring module includes the coating calibrator.
After adopting the technical scheme, compared with the prior art, the invention has the following advantages: the double-section/three-section type adsorption crawler wheel assembly structure designed by the invention can form free included angle combination, so that the obstacle crossing height of the crawler wheel assembly is obviously improved; the crawler wheel assembly can meet the effective adsorption and lamination that the pitch angle exceeds 90 degrees, solves the continuous crawling problem of metal planes, inclined planes and vertical planes, can realize the continuous crawling of the pipeline robot in the whole network, can also be applied to field engineering operation robots, exploration robots, military robots, service robots and the like, has wide application prospect and has good social benefit and economic benefit. By integrating the functional modules on the crawling mechanism, the tool combination can be adjusted according to the functions required by different application scenes, and the application range of the wall climbing robot is expanded; and the modular tooling design reduces the overall damage risk and maintenance cost of the robot.
Drawings
FIG. 1 is an isometric view of one state (in a relaxed state) of the dual stage crawling mechanism of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a side view of FIG. 1;
FIG. 4 is an isometric view of another embodiment of the dual stage crawling mechanism of the present invention (when it is collapsed and pre-tensioned in an arcuate configuration);
FIG. 5 is a top view of FIG. 4;
FIG. 6 is a side view of FIG. 4;
FIG. 7 is an isometric view of a three-stage crawling mechanism of the present invention in one state (in a relaxed state);
FIG. 8 is a side view of the dual stage crawling mechanism of the present invention;
FIG. 9 is a front view of the dual stage crawling mechanism of the present invention;
FIG. 10 is a schematic structural view of the dual stage crawling mechanism of the present invention in cooperation with a vertical surface;
FIG. 11 is a schematic structural view of the first connecting chassis of the dual-stage crawling mechanism of the present invention contacting with a wall corner;
FIG. 12 is a schematic view of the top point of the equipment loaded on the dual stage crawling mechanism of the present invention contacting the wall;
FIG. 13 is a schematic structural view of a climbing wall of the three-stage climbing mechanism of the present invention;
FIG. 14 is a schematic structural view of a first state of the dual stage crawler of the present invention during climbing;
FIG. 15 is a side view of FIG. 14;
FIG. 16 is a schematic structural view of a second state of the dual stage crawler of the present invention during climbing;
FIG. 17 is a side view of FIG. 16;
FIG. 18 is a schematic structural view of a third state of the dual stage crawler of the present invention during climbing;
FIG. 19 is a side view of FIG. 18;
FIG. 20 is a schematic structural view of a fourth state of the dual stage crawler of the present invention during climbing;
fig. 21 is a side view of fig. 20.
Wherein, 1, a first connecting chassis; 101. a first base plate; 102. a first connecting plate; 2. a track wheel assembly; 201. adsorbing the caterpillar; 2011. a magnet; 3. a first main shaft; 4. a second main shaft; 5. a first drive motor; 6. fixing the wire spool; 7. a flexible steel cord; 8. a second connection chassis; 801. a second base plate; 802. a second connecting plate; 9. and a third main shaft.
Detailed Description
The invention is further explained below with reference to the drawings and examples.
As shown in fig. 1 to 21, an adsorption type crawler crawling mechanism at least includes a first connection chassis 1 and a crawler wheel assembly 2 disposed at the bottom of the first connection chassis 1, where the crawler wheel assembly 2 at least includes a wheel assembly and an adsorption crawler 201 disposed on the wheel assembly, and the adsorption crawler 201 is sequentially provided with a plurality of magnets 2011 at intervals along the circumferential direction thereof.
As one embodiment, the crawling mechanism is a double-segment crawling mechanism, the double-segment crawling mechanism includes a first connecting chassis 1 and four crawler wheel assemblies 2 arranged at the bottom of the first connecting chassis 1, and the four crawler wheel assemblies 2 are respectively arranged at four corners of the bottom of the first connecting chassis 1. The front side of the first connecting chassis 1 is provided with a first main shaft 3 extending along the width direction of the first connecting chassis, the rear side of the first connecting chassis 1 is provided with a second main shaft 4 parallel to the first main shaft 3, and the first main shaft 3 and the second main shaft 4 are respectively connected with the first connecting chassis 1 in a rotating way.
Specifically, the first connecting chassis 1 includes a first bottom plate 101 and first connecting plates 102 respectively disposed at four corners of the first bottom plate 101, and the first connecting plates 102 are perpendicular to the first bottom plate 101. The first main shaft 3 and the second main shaft 4 are connected to the first connection plate 102, respectively.
In the double-section type crawling mechanism, an included angle is formed between the first section of adsorption crawler 201 and the second section of adsorption crawler 201 freely according to a crawling wall pitch angle, and the crawler wheel assembly 2 always maintains that one section or two sections of adsorption crawler 201 are completely attached to the wall surface at different angles. The adsorption crawler 201 adopts a strong permanent magnet 2011 chain structure, and the adsorption strength of the single-section adsorption crawler 201 is greater than the overall structure load of the crawling mechanism and the loaded equipment.
An angle adjusting auxiliary device is installed right above the first connecting chassis 1 and comprises a fixed wire spool 6, four flexible steel ropes 7 wound on the fixed wire spool 6 and a second driving motor driving the wire spool to rotate, and the winding directions of the four flexible steel ropes 7 are consistent. The free end part of the flexible steel rope 7 is provided with a connecting part used for being connected with an inner side plate in the crawler wheel assembly 2, the connecting part is fixed with the inner side plate through a bolt, and the fixed wire spool 6 is positioned right above the first connecting chassis 1.
Two of the four connecting portions are connected to the rear portions of the first two-track-wheel assembly 2, and the other two connecting portions are connected to the front portions of the second two-track-wheel assembly 2. Through the fixed wire reel 6 forward or the reverse rotation of second driving motor control, can tighten up or relax the length of flexible steel cable 7 simultaneously, taut or relax the connecting portion and the absorption track 201 that link to each other with flexible steel cable 7, and then adjust the distance that adsorbs track 201 and first connection chassis 1, reach the control effect of contained angle between first connection chassis 1 and the absorption track 201, ensure to maintain throughout and receive the pretightning force towards the bow-shaped receipts of crawling the wall. Therefore, the obstacle crossing capability of the conventional crawler wheel assembly 2 is remarkably improved, the crawler wheel assembly is suitable for the crawling working condition that the maximum pitch angle (or gradient) is greater than 90 degrees, and the continuous adsorption crawling function of a plane and a vertical plane is realized.
In another embodiment, the crawling mechanism is a three-stage crawling mechanism, compared with the two-stage crawling mechanism, the three-stage crawling mechanism is further connected in series with a second connecting chassis 8 behind the first connecting chassis 1, the front end of the second connecting chassis 8 is rotatably connected with the second main shaft 4, a third main shaft 9 rotatably connected with the second connecting chassis 8 is arranged at the rear end of the second connecting chassis 8, and two crawler wheel assemblies 2 are respectively arranged at two ends of the third main shaft 9.
Specifically, the second connecting chassis 8 includes a second bottom plate 801 and second connecting plates 802 respectively disposed at four corners of the second bottom plate 801, and the second connecting plates 802 are perpendicular to the second bottom plate 801. The second main shaft 4 and the third main shaft 9 are connected to the second connection plate 802, respectively.
The three-section type crawling mechanism comprises six crawler wheel assemblies 2, the crawler wheel assemblies 2 located in a first section (namely, the most front section) and a third section (namely, the last section) are respectively connected with a driving assembly, and the crawler wheel assemblies 2 located in a second section (namely, the middle section) are not provided with the driving assemblies. The four crawler wheel assemblies 2 of the first section and the third section keep the driving of the whole crawling mechanism by arranging independent driving, and provide matching speed according to the wall surface included angle relation.
The included angle is freely formed by the first crawler wheel assembly 2 and the third crawler wheel assembly 2 of the three-section type crawling mechanism according to the crawling wall face pitch angle, the included angle is freely formed by the first connecting chassis 1 and the second connecting chassis 8 according to the position of the crawler wheel assembly 2, and the crawler wheel assembly 2 always keeps two or three sections of adsorption crawler belts 201 to be completely attached to the wall face on the wall face with different angles.
The adsorption crawler 201 adopts a strong permanent magnet 2011 chain structure, wherein the adsorption strength of at least two sections of adsorption crawlers 201 is greater than the overall structure load of the crawling mechanism and the loaded equipment.
An angle adjustment auxiliary device is also installed right above the second connecting chassis 8, two of the connecting portions of the angle adjustment auxiliary device are connected with the rear portions of the two crawler wheel assemblies 2 in the second section, and the other two connecting portions are connected with the front portions of the two crawler wheel assemblies 2 in the third section. By controlling the fixed wire spool 6 in the angle adjustment assisting device to rotate forward or backward, the included angle between the adsorption crawler 201 and the second connection chassis 8 can be adjusted.
In the above two embodiments, the flexible steel cable 7 has three contact force-bearing points, which form two straight line segments in vertical and horizontal directions, and the horizontal segment turns at right angles from the fixed wire spool 6 to the flexible steel cable 7, and the turning point is a fixed shaft wheel or bearing (conventional components, not labeled in the figures, play a role in turning the flexible steel cable 7) fixed on the first connection chassis 1 and/or the second connection chassis 8; the vertical section is from turning to the connecting portion of installing at crawler belt wheel unit 2 inside plate, and fixed wire reel 6 is through receiving and releasing flexible steel cable 7 for the length of vertical section changes.
Preferably, the center lines of the first connecting chassis 1 and the second connecting chassis 8 in the length direction are on the same straight line. The first, second and third segments of track wheel assemblies 2 are symmetrical about the centre line of the first and second link chassis 1, 8.
Referring to fig. 8 to 10, the length of the adsorption crawler 201 is a, the width is b, the height is h, and the distance between the outer sides of two single-section symmetric adsorption crawler 201 is i (i.e. the total width of the crawling mechanism); the lengths of the first main shaft 3, the second main shaft 4 and the third main shaft 9 are t; the distance between the connecting part of the first connecting chassis 1 and the first connecting main shaft and the inner side plate of the adsorption crawler 201 is j; the interval between two adjacent sections of adsorption tracks 201 is k; the distance between the first spindle 3 and the second spindle 4 and the distance between the second spindle 4 and the third spindle 9 are L; the width of the first connecting chassis 1 is B1, and the width of the second connecting chassis 8 is B2; the minimum design height of the first connecting chassis 1/the second connecting chassis 8 is H; the first connecting plate 102 and the second connecting plate 802 have a width e; designing maximum depression angle under extreme crawling condition
An extreme maximum elevation angle theta; the overall height of the crawling mechanism and the equipment loaded by the crawling mechanism is Y, and the distance from the farthest end of the adsorption crawler 201 is X.
The above parameters have the following relationships:
L＝a+k
B1＝i-2×b-2×j
B2＝B1-2×e
when the design height of the first connecting chassis 1/the second connecting chassis 8 is lower than H, the front and the rear sections of the adsorption crawler 201 are formed
Before the angle is included, the first connecting chassis 1/the second connecting chassis 8 contact with the wall corner, namely, the applicable depression angle is smaller, as shown in fig. 11.
When the elevation angle of the actual wall surface is larger than θ, the highest point of the machine structure is in contact with the wall surface, see fig. 12.
The volume, distance and contact area with the wall surface of the magnets 2011 on the adsorption crawler 201 are determined according to the total suction force required by the design load. The calculation of the attraction force of the magnet 2011 refers to the existing mechanical design calculation methods, such as estimation (quote): the attraction force is magnet 2011 volume x density x 600 (multiple), but the final design should be based on experimental data. Taking the design load of an 8kg double-section adsorption crawler 201 wheel set as an example, the design parameters are that a is 160mm, b is 50mm, h is 60mm, the number of the magnets 2011 arranged on the single-chain adsorption crawler 201 is 22, K is 2mm, i is 200mm, t is 100mm, j is 5mm, e is 10mm, and the maximum depression angle is 90 degrees, that is to say, the design load is
Then L162 mm, B1 90mm, B2 70mm, and H46 mm.
The schematic structural diagrams of the two-stage crawling mechanism and the three-stage crawling mechanism in the process of climbing the wall refer to fig. 13 to fig. 21.
The wall-climbing robot with the corresponding functions can be manufactured by integrating corresponding functional modules on the crawling mechanism, and comprises an imaging module, a lighting module, a power module and a communication control module which are installed on the first connecting chassis 1 and/or the second connecting chassis 8, wherein the imaging module, the lighting module and the communication control module are respectively and electrically connected with the power module, and the imaging module and the lighting module are respectively and electrically connected with the communication module.
Specifically, imaging module includes leading camera and rearmounted camera, and lighting module is located the foremost of mechanism of crawling, and wall climbing robot is still including locating the thickness measuring module under first connection chassis 1 and towards the supersound ranging module in the mechanism dead ahead of crawling, and the thickness measuring module includes ultrasonic wave roadblock detection instrument, and the thickness measuring module includes the coating calibrator. The wall-climbing robot can realize continuous crawling of the whole pipeline network, and detect and shoot pipeline defects in the crawling process.
The crawling mechanism can obviously improve the obstacle crossing height of the crawler wheel assembly 2, and the crawler wheel assembly 2 can meet effective adsorption and attachment with the pitch angle exceeding 90 degrees, so that the crawler wheel assembly can crawl continuously on a metal plane, an inclined plane and a vertical plane, and the whole-network continuous crawling of the pipeline robot is realized. By integrating the functional modules on the crawling mechanism, the tool combination can be adjusted according to the functions required by different application scenes, and the application range of the wall climbing robot is expanded; and the modular tool design reduces the overall damage risk and maintenance cost of the robot, and the whole vehicle and the tool parts do not need to be maintained or changed in a related manner, so that the maintenance risk and difficulty are low.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. The utility model provides an absorption formula track mechanism of crawling which characterized in that: the crawler belt wheel assembly is arranged at the bottom of the first connecting chassis, the crawler belt wheel assembly at least comprises a wheel assembly and an adsorption crawler belt which is arranged on the wheel assembly in a matched mode, a first main shaft extending along the width direction of the first connecting chassis is arranged on the front side of the first connecting chassis, a second main shaft parallel to the first main shaft is arranged on the rear side of the first connecting chassis, crawler belt wheel assemblies are respectively arranged at two end portions of the first main shaft and the second main shaft, the crawler belt wheel assemblies are located on the outer side of the first connecting chassis, and the crawling mechanism is further provided with a driving assembly which is used for driving the wheel assembly to rotate so as to drive the adsorption crawler belt to rotate;
the crawling mechanism is further provided with a second connecting chassis connected behind the first connecting chassis in series, the front end part of the second connecting chassis is rotatably connected with the second main shaft, the rear end part of the second connecting chassis is provided with a third main shaft rotatably connected with the second connecting chassis, and two end parts of the third main shaft are respectively provided with the crawler wheel assemblies;
the crawling mechanism at least comprises an angle adjusting auxiliary device arranged right above the first connecting chassis, when the crawling mechanism comprises the second connecting chassis, the angle adjusting auxiliary device is also arranged right above the second connecting chassis, and the angle adjusting auxiliary device comprises an adjusting component used for respectively applying force to the crawler wheel assemblies at the bottoms of the first connecting chassis/the second connecting chassis so as to adjust the included angles between the crawler wheel assemblies and the bottoms of the first connecting chassis/the second connecting chassis; the angle adjustment auxiliary device comprises a fixed wire spool, four flexible steel ropes wound on the fixed wire spool and a second driving motor driving the fixed wire spool to rotate, and a connecting part used for being connected with an inner side plate in the crawler wheel assembly is arranged at the end part of the free end of each flexible steel rope.
2. The absorption type crawler crawling mechanism according to claim 1, wherein: the first main shaft and the second main shaft are respectively connected with the first connecting chassis in a rotating mode, and a plurality of magnets are sequentially arranged on the adsorption track at intervals along the circumferential direction of the adsorption track.
3. The adsorption type crawler crawling mechanism according to claim 1 or 2, wherein: the crawler wheel assemblies at the foremost ends of the crawling mechanism and the crawler wheel assemblies at the rearmost ends of the crawling mechanism are respectively connected with the driving assembly, and the driving assembly comprises a first driving motor.
4. The crawler according to claim 1, wherein the maximum depression angle in the crawling operation of the crawler is
Then, the height H of the first connection chassis satisfies the following condition:
wherein the content of the first and second substances,
l is the distance between the first main shaft and the second main shaft;
h is the height of the track roller set.
5. The adsorption type crawler crawling mechanism of claim 1, wherein when the maximum elevation angle in the crawling condition of the crawling mechanism is θ, the overall height Y of the crawling mechanism and the loaded equipment meets the following condition:
Y＜X×tan(180-θ)
wherein the content of the first and second substances,
x is the distance of the loaded equipment from the farthest end of the suction track.
6. A wall-climbing robot having the adsorption type crawler crawling mechanism according to any one of claims 1 to 5, wherein: the imaging module, the lighting module and the communication control module are respectively and electrically connected with the power supply module, and the imaging module and the lighting module are respectively and electrically connected with the communication control module.
7. A wall climbing robot as claimed in claim 6, wherein: imaging module includes leading camera and rearmounted camera, lighting module is located climb the foremost end of mechanism, wall climbing robot is still including locating thickness measuring module and orientation under the first connection chassis climb the ultrasonic ranging module in the mechanism dead ahead, the thickness measuring module includes the ultrasonic wave roadblock detection instrument, the thickness measuring module includes the coating calibrator.
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| CN114802517B (en) * | 2022-06-08 | 2023-03-17 | 长春工业大学 | Wall climbing robot based on single chip microcomputer control |
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| CN108928399A (en) | 2018-12-04 |
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