CN111976857A - Self-rotating double-body wall-climbing robot - Google Patents
Self-rotating double-body wall-climbing robot Download PDFInfo
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- CN111976857A CN111976857A CN202010862637.7A CN202010862637A CN111976857A CN 111976857 A CN111976857 A CN 111976857A CN 202010862637 A CN202010862637 A CN 202010862637A CN 111976857 A CN111976857 A CN 111976857A
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- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention provides a self-rotating double-body wall-climbing robot, and belongs to the technical field of robots. When the double-body wall-climbing robot needs to be transited between wall surfaces, the first robot is firstly separated from the wall to be adsorbed, the first robot is lifted up by driving the first robot to rotate for a certain angle through the pitching steering engine, the second robot continues to be adsorbed on the wall surface and moves forwards until the second robot is close to the edge of the transitional wall, the first robot is driven to be close to the transitional wall through the pitching steering engine, and the first robot is started to be adsorbed on the transitional wall; and then, the second robot is detached from the wall for adsorption, the second robot is driven by the pitching steering engine to rotate by a certain angle to lift the second robot, the first robot continues to move, and when the second robot is completely positioned on the transition wall, the pitching steering engine rotates reversely to reset, so that the wall surface transition process is completed. The robot has the advantages that transition on different walls is realized through the turnover connecting mechanism, so that the robot is stronger in adaptability, and the operation efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a self-rotating double-body wall-climbing robot.
Background
The wall climbing robot organically combines the ground moving technology and the adsorption technology, can carry special tools, replaces human beings to work on vertical wall surfaces of buildings, industrial facilities and the like with a certain height from the ground, and can be widely applied to the fields of industry, rescue, investigation, wall surface cleaning and the like. The appearance of the wall-climbing robot can prevent people from engaging in dangerous high-altitude steep wall operation, improve the working environment of operators, reduce the operation danger and greatly improve the working efficiency.
Most of the traditional wall climbing robots are large in size, heavy in weight and slow in climbing speed. With the development of the robot technology and the deep knowledge of the wall climbing robot, the wall climbing robot is developing towards miniaturization, light weight and no cable, but most of the wall climbing robots are single robots, can only move on a flat wall surface, and do not have the ability of getting over obstacles and grooves, thereby greatly limiting the application range of the robot.
Chinese patent application No. 201010217822.7 discloses a modularized bionic wall-climbing robot, which adopts a negative pressure vacuum adsorption form, consists of a joint module and a vacuum adsorption module, has certain obstacle-crossing capability, but moves slowly, the vacuum adsorption has higher requirements on wall surface smoothness, when a wall is damaged or grooved, the adsorption function cannot be used, the robot cannot be used on uneven and brick walls, and the use range is limited.
In a word, most of the existing wall-climbing robots can only work on a single wall surface, and have poor adaptability to wall surfaces made of different materials and weak obstacle-crossing capability on the wall.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a self-rotating double-body wall-climbing robot, which aims to solve the technical problems that: how to achieve a transition between different walls.
The purpose of the invention can be realized by the following technical scheme:
the self-rotating double-body wall-climbing robot comprises a first robot, a second robot and a turnover connecting mechanism, wherein the turnover connecting mechanism comprises a pitching steering engine, a pitching speed reducer, a front connecting buckle and a rear connecting buckle, one end of the front connecting buckle is fixedly connected to a chassis of the first robot, a hinged portion is arranged at the other end of the front connecting buckle, one end of the rear connecting buckle is fixedly connected to the chassis of the second robot, a buckle is arranged at the other end of the rear connecting buckle, the hinged portion is hinged in the buckle, the pitching steering engine is fixedly connected to the rear connecting buckle, an output shaft of the pitching steering engine is connected with the pitching speed reducer, and an output end of the pitching speed reducer is connected with the hinged portion.
The working principle is as follows: when the double-body wall-climbing robot needs wall surface transition, the first robot is firstly detached from the wall for adsorption, the first robot is lifted up by driving the front robot to rotate for a certain angle through the pitching steering engine, the second robot is continuously adsorbed on the wall surface and moves forwards until the second robot is close to the edge of the transition wall, the first robot is driven to be close to the wall after transition through the pitching steering engine, and the first robot is started to be adsorbed on the wall after transition; and then, the second robot is detached from the wall for adsorption, the second robot is driven by the pitching steering engine to rotate by a certain angle to lift the second robot, the first robot continues to move, and when the second robot is completely positioned on the transition wall, the pitching steering engine rotates reversely to reset, so that the wall surface transition process is completed. The double-body wall-climbing robot realizes the transition on different walls through the overturning connecting mechanism, so that the robot has stronger adaptability and greatly improves the operating efficiency of the robot.
In the self-rotating double-body wall-climbing robot, the first robot and the second robot are both self-rotating robots, and each self-rotating robot comprises a chassis, a circular turntable, a fan assembly, a driving assembly and a power module;
a bearing platform is arranged in the chassis, and a plurality of first semicircular grooves are formed in the bearing platform; the circular turntable is provided with a bearing part, a plurality of second semicircular grooves which are in one-to-one correspondence with the first semicircular grooves are arranged on the lower side surface of the bearing part, the circular turntable is lapped on a bearing platform through the bearing part, the first semicircular grooves and the second semicircular grooves are matched to form a circular cavity, rolling steel balls are arranged in the circular cavity, and the rolling steel balls can roll in the circular cavity;
the fan assembly comprises a brushless motor, a centrifugal fan and a flow guide cover, the flow guide cover is fixed on a circular turntable, the brushless motor is installed in the flow guide cover, an output shaft of the brushless motor is connected with the centrifugal fan, an air opening is formed in the bottom of the circular turntable and corresponds to the flow guide cover, a negative pressure cavity is formed in the circular turntable and is communicated with the flow guide cover;
the two groups of driving assemblies are respectively positioned on two sides of the air guide sleeve, each driving assembly comprises a driving motor, a speed reducer, a driving belt wheel, a driven belt wheel and a synchronous crawler, the driving motors are arranged on the circular turntable, an output shaft of each driving motor is connected with the speed reducer, an output shaft of each speed reducer is connected with the driving belt wheel, the driven belt wheels are movably connected onto the circular turntable, and the driving belt wheels and the driven belt wheels are in transmission connection through the synchronous crawler;
the power module is installed on the circular turntable and used for providing power, and the power module is electrically connected with the driving motor, the brushless motor and the pitching steering engine.
In the above-mentioned wall robot is climbed to autogyration binary, autogyration robot still includes ball track retaining ring, the side of going up of accepting the portion is provided with a plurality of third half slots, the downside of ball track retaining ring is provided with a plurality of fourth half slots with third half slot one-to-one, ball track retaining ring overlap joint is on the accepting the portion of circular carousel, and third half slot and fourth half slot cooperation form a circular chamber, be provided with the roll steel ball in the circular chamber, the roll steel ball can be located the circular intracavity and roll, ball track retaining ring fixed connection is on the chassis.
In the self-rotating double-body wall-climbing robot, the side edge of the ball track fixed ring is provided with a plurality of limiting screw holes, and the ball track fixed ring passes through the limiting screw holes through screws and is fixed on the chassis.
In the self-rotating double-body wall-climbing robot, the self-rotating robot further comprises a noise reduction device, the noise reduction device is located above the air guide sleeve, and the noise reduction device is fixedly connected to the circular turntable.
In the self-rotating double-body wall-climbing robot, the self-rotating robot further comprises a fan speed regulating plate, the fan speed regulating plate is used for controlling the rotating speed of the brushless motor, the fan speed regulating plate is installed on the circular turntable, and the fan speed regulating plate is electrically connected with the power module.
In the self-rotating double-body wall-climbing robot, a sealing ring is arranged between the air guide sleeve and the circular turntable.
In the self-rotating double-body wall-climbing robot, an elastic sealing gasket is arranged at the edge of the lower surface of the chassis, and sponge is filled in the elastic sealing gasket.
In the above-mentioned wall climbing robot with a self-rotating double body, the first robot includes a main control module, the main control module is installed above the noise reduction device, the main control module is used for controlling the rotation direction, rotation angle and moving distance of the first robot and the second robot, and the main control module is electrically connected with the power module.
In the self-rotating double-body wall-climbing robot, the first robot and the second robot are both provided with aviation sockets, and the aviation sockets are used for data connection and transmission of the first robot and the second robot.
Compared with the prior art, the invention has the following advantages:
1. the self-rotating double-body wall-climbing robot realizes the transition on different walls through the overturning connecting mechanism, so that the self-rotating double-body wall-climbing robot has stronger adaptability and greatly improves the operating efficiency of the self-rotating double-body wall-climbing robot. .
2. The self-rotating double-body wall-climbing robot can freely rotate for 360 degrees according to the instruction of an operator, so that the moving direction of the robot is changed, the robot moves more flexibly, and the obstacle is avoided more easily.
3. The self-rotating double-body wall-climbing robot is controlled by the unified main control module and is more intelligent.
Drawings
FIG. 1 is a schematic structural diagram of the present self-rotating twin-body wall-climbing robot;
FIG. 2 is a schematic structural view of a self-rotating robot;
FIG. 3 is a schematic structural view from another perspective of the rotary robot;
fig. 4 is a sectional view of the self-rotating robot.
In the figure, 1, a first robot; 2. a second robot; 3. a turnover connecting mechanism; 4. a pitching steering engine; 5. a pitch reducer; 6. a front connecting buckle; 7. a rear connecting buckle; 8. a hinge portion; 9. buckling; 10. a chassis; 11. a circular turntable; 12. a fan assembly; 13. a drive assembly; 14. a power supply module; 15. a bearing platform; 16. a receiving part; 17. rolling the steel ball; 18. a pod; 19. a tuyere; 20. a negative pressure chamber; 21. a drive motor; 22. a speed reducer; 23. a driving pulley; 24. a driven pulley; 25. a synchronous crawler belt; 26. a ball track fixed ring; 27. a limiting screw hole; 28. a noise reduction device; 29. a fan speed regulation plate; 30. a seal ring; 31. an elastic sealing gasket; 32. a main control module; 33. an aviation socket.
Detailed Description
The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, this wall robot is climbed to autogyration binary, including robot 1, robot two 2 and upset coupling mechanism 3, upset coupling mechanism 3 includes every single move steering wheel 4, every single move reduction gear 5, preceding connector link 6 and back connector link 7, the one end fixed connection of preceding connector link 6 is in chassis 10 of robot one 1, the other end of preceding connector link 6 is provided with articulated portion 8, the one end fixed connection of back connector link 7 is in chassis 10 of robot two 2, the other end of back connector link 7 is provided with buckle 9, articulated portion 8 articulates in buckle 9, every single move steering wheel 4 fixed connection is on back connector link 7, the output shaft of every single move steering wheel 4 is connected with every single move reduction gear 5, the output of every single move reduction gear 5 is connected with articulated portion 8. As a preferred embodiment, the pitching steering engine 4 is fixedly connected to the rear connecting buckle 7 through screws.
When the double-body wall-climbing robot needs to transit between wall surfaces, a first robot 1 is detached from the wall and adsorbed, the first robot 1 is driven by a pitching steering engine 4 to rotate for a certain angle so that the first robot 1 is lifted, a second robot 2 continues to be adsorbed on the wall surface and moves forwards until the second robot 2 is close to the edge of the transitional wall, the first robot 1 is driven by the pitching steering engine 4 to approach the transitional wall, and the first robot 1 is started to be adsorbed on the transitional wall; then, the second robot 2 is detached from the wall for adsorption, the second robot 2 is driven by the pitching steering engine 4 to rotate for a certain angle to lift the second robot 2, the first robot 1 continues to move, when the second robot 2 is completely located on the transitional wall, the pitching steering engine 4 rotates reversely to reset, and the wall surface transition process is completed. The robot realizes transition between different walls through the turnover connecting mechanism 3, so that the robot has stronger adaptability and greatly improves the operating efficiency of the robot.
As shown in fig. 2-4, in the present embodiment, the first robot 1 and the second robot 2 are both self-rotating robots, and each self-rotating robot includes a chassis 10, a circular turntable 11, a fan assembly 12, a driving assembly 13, and a power module 14;
a bearing platform 15 is arranged in the chassis 10, and a plurality of first semicircular grooves are formed in the bearing platform 15; the circular turntable 11 is provided with a bearing part 16, the lower side surface of the bearing part 16 is provided with a plurality of second semicircular grooves which are in one-to-one correspondence with the first semicircular grooves, the circular turntable 11 is lapped on the bearing platform 15 through the bearing part 16, the bearing part 16 is in clearance connection with the bearing platform 15, the first semicircular grooves and the second semicircular grooves are matched to form a circular cavity, rolling steel balls 17 are arranged in the circular cavity, and the rolling steel balls 17 can be positioned in the circular cavity to roll; as a preferred embodiment, the diameters of the first semicircular groove and the second semicircular groove are both 3mm, and the number of the first semicircular groove and the second semicircular groove is 18, and the first semicircular groove and the second semicircular groove are uniformly arranged; in the structure, the first semicircular groove and the second semicircular groove are matched to form a circular cavity, the rolling steel ball 17 is arranged in the circular cavity, the rolling steel ball 17 can roll in the circular cavity, and the circular turntable 11 can freely rotate within 360 degrees through the rolling steel ball 17 under the action of driving force, so that the movement direction of the self-rotating robot is changed, and the self-rotating robot can move more flexibly;
the fan assembly 12 comprises a brushless motor, a centrifugal fan and a flow guide cover 18, the flow guide cover 18 is fixed on the circular turntable 11, a sealing ring 30 is arranged between the flow guide cover 18 and the circular turntable 11, the brushless motor is installed in the flow guide cover 18, the output shaft of the brushless motor is connected with the centrifugal fan, an air port 19 is arranged at the bottom of the circular turntable 11, the air port 19 corresponds to the flow guide cover 18, a negative pressure cavity 20 is arranged in the circular turntable 11, and the negative pressure cavity 20 is communicated with the flow guide cover 18; in the structure, the brushless motor is started to drive the centrifugal fan to rotate at a high speed, and air in the air guide sleeve 18 is extracted to form negative pressure, so that the self-rotating robot is firmly adsorbed on the wall;
the two groups of driving assemblies 13 are arranged, the two groups of driving assemblies 13 are respectively positioned on two sides of the air guide sleeve 18, each driving assembly 13 comprises a driving motor 21, a speed reducer 22, a driving belt wheel 23, a driven belt wheel 24 and a synchronous crawler 25, the driving motor 21 is arranged on the circular turntable 11, an output shaft of the driving motor 21 is connected with the speed reducer 22, an output shaft of the speed reducer 22 is connected with the driving belt wheel 23, the driven belt wheel 24 is movably connected on the circular turntable 11, and the driving belt wheel 23 and the driven belt wheel 24 are in transmission connection through the synchronous crawler 25; in the structure, a driving belt wheel 23 and a driven belt wheel 24 are driven to rotate by a driving motor 21, so that the self-rotating robot moves on a wall;
the power module 14 is installed on the circular turntable 11, the power module 14 is used for providing power, and the power module 14 is electrically connected with the driving motor 21, the brushless motor and the pitching steering engine 4. As a preferred embodiment, the power module 14 has a total capacity of at least 5600mAh and a endurance of more than 1 h.
As shown in fig. 4, in this embodiment, the self-rotating robot further includes a ball rail fixing ring 26, a plurality of third semicircular grooves are disposed on the upper side surface of the receiving portion 16, a plurality of fourth semicircular grooves corresponding to the third semicircular grooves in a one-to-one manner are disposed on the lower side surface of the ball rail fixing ring 26, the ball rail fixing ring 26 is lapped on the receiving portion 16 of the circular turntable 11, the ball rail fixing ring 26 is in clearance connection with the receiving portion 16 of the circular turntable 11, and the third semicircular groove and the fourth semicircular groove cooperate to form a circular cavity, a rolling steel ball 17 is disposed in the circular cavity, the rolling steel ball 17 can be located in the circular cavity to roll, and the ball rail fixing ring 26 is fixedly connected to the chassis 10. As a preferred embodiment, the diameters of the third semicircular groove and the fourth semicircular groove are both 3mm, the number of the third semicircular groove and the fourth semicircular groove is 18, and the third semicircular groove and the fourth semicircular groove are uniformly arranged. In this structure, the ball orbit fixing ring 26 can restrict the circular turntable 11 from moving up and down.
As shown in fig. 4, in the present embodiment, a plurality of limit screw holes 27 are formed on a side edge of the ball rail fixing ring 26, and the ball rail fixing ring 26 is fixed on the chassis 10 by screws passing through the limit screw holes 27. As a preferred embodiment, the number of screw holes is 4.
As shown in fig. 2, in the present embodiment, the self-rotating robot further includes a noise reduction device 28, the noise reduction device 28 is located above the air guide sleeve 18, the noise reduction device 28 is fixedly connected to the circular turntable 11, and the noise reduction device 28 is used for reducing noise generated when the centrifugal fan rotates. In a preferred embodiment, the noise reducer 28 is a muffling cover, a sealing ring 30 is disposed between the noise reducer 28 and the air guide cover 18, and the noise reducer 28 is fixed to the circular turntable 11 by a threaded bolt.
As shown in fig. 2, in the present embodiment, the self-rotating robot further includes a fan speed adjusting plate 29, the fan speed adjusting plate 29 is used for controlling a rotation speed of the brushless motor, the fan speed adjusting plate 29 is installed on the circular turntable 11, and the fan speed adjusting plate 29 is electrically connected to the power module 14.
As shown in fig. 3, in this embodiment, an elastic sealing gasket 31 is disposed at the edge of the lower surface of the chassis 10, and a sponge is filled in the elastic sealing gasket 31. The edge of the lower surface of the chassis 10 in the structure is provided with the elastic sealing gasket 31, and the elastic sealing gasket 31 is filled with sponge, so that the self-rotating robot can be well adsorbed on the wall surface and does not damage the wall surface.
As shown in fig. 2, in the embodiment, the first robot 1 includes a main control module 32, the main control module 32 is installed above the noise reduction device 28, the main control module 32 is used for controlling the rotation direction, the rotation angle and the movement distance of the first robot 1 and the second robot 2, and the main control module 32 is electrically connected to the power module 14. In this structure, through the control of same host system 32 to make one 1 of robot and two 2 of robot all according to same direction at every turn, rotate the same angle, the walking removes the same distance, and can realize wireless remote control through host system 32, adopt wireless transmission's control mode, broken away from the constraint of cable, it is more nimble convenient, the cell-phone removes end real time control, control interface is simple, and the new hand also can operate easily.
As shown in fig. 1, in the present embodiment, the first robot 1 and the second robot 2 are both provided with an aviation socket 33, and the aviation socket 33 is used for data connection transmission of the first robot 1 and the second robot 2. And all data communication of the first robot 1 and the second robot 2 is realized through connection of two aviation sockets 33 to complete connection.
When the self-rotating double-body wall climbing robot moves forwards on a wall, if a larger obstacle is met in the front, the obstacle can be avoided by changing the moving direction of the robot, during the operation, the self-rotating double-body wall climbing robot is tightly attached to the wall surface under the action of negative pressure, when the main control module 32 receives a rotating instruction, for example, the robot rotates 90 degrees to the right, at the same time, the first robot 1 and the second robot 2 circular turntable 11 rotate 90 degrees to the right under the action of the driving component 13, at the same time, the self-rotating double-body wall climbing robot can move integrally to the right, after moving for a certain distance, the main control module 32 receives a command of rotating 90 degrees to the left, the first robot 1 and the second robot 2 circular turntable 11 rotate 90 degrees to the left simultaneously under the action of the driving mechanism, at the same time, the self-rotating double-body wall climbing robot can move integrally forwards to avoid the obstacle to move forwards, according to actual conditions, the circular turntables 11 of the first robot 1 and the second robot 2 are rotated simultaneously to change the motion direction, and the self-rotating double-body wall-climbing robot is controlled to move forward, so that the self-rotating double-body wall-climbing robot can move more flexibly.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. A self-rotating double-body wall-climbing robot is characterized by comprising a first robot (1), a second robot (2) and a turnover connecting mechanism (3), wherein the turnover connecting mechanism (3) comprises a pitching steering engine (4), a pitching speed reducer (5), a front connecting buckle (6) and a rear connecting buckle (7), one end of the front connecting buckle (6) is fixedly connected to a chassis (10) of the first robot (1), the other end of the front connecting buckle (6) is provided with a hinged part (8), one end of the rear connecting buckle (7) is fixedly connected to the chassis (10) of the second robot (2), the other end of the rear connecting buckle (7) is provided with a buckle (9), the hinged part (8) is hinged in the buckle (9), the pitching steering engine (4) is fixedly connected to the rear connecting buckle (7), and an output shaft of the pitching steering engine (4) is connected with the pitching speed reducer (5), the output end of the pitching speed reducer (5) is connected with the hinge part (8).
2. A self-rotating twin-body wall-climbing robot according to claim 1, wherein the first robot (1) and the second robot (2) are both self-rotating robots, and the self-rotating robots comprise a chassis (10), a circular turntable (11), a fan assembly (12), a driving assembly (13) and a power supply module (14);
a bearing platform (15) is arranged in the chassis (10), and a plurality of first semicircular grooves are formed in the bearing platform (15); the circular turntable (11) is provided with a bearing part (16), a plurality of second semicircular grooves which are in one-to-one correspondence with the first semicircular grooves are arranged on the lower side surface of the bearing part (16), the circular turntable (11) is lapped on the bearing platform (15) through the bearing part (16), the first semicircular grooves and the second semicircular grooves are matched to form a circular cavity, rolling steel balls (17) are arranged in the circular cavity, and the rolling steel balls (17) can roll in the circular cavity;
the fan assembly (12) comprises a brushless motor, a centrifugal fan and a flow guide cover (18), the flow guide cover (18) is fixed on a circular turntable (11), the brushless motor is installed in the flow guide cover (18), an output shaft of the brushless motor is connected with the centrifugal fan, an air port (19) is formed in the bottom of the circular turntable (11), the air port (19) corresponds to the flow guide cover (18), a negative pressure cavity (20) is formed in the circular turntable (11), and the negative pressure cavity (20) is communicated with the flow guide cover (18);
the air guide sleeve is characterized in that the number of the driving assemblies (13) is two, the two groups of driving assemblies (13) are respectively positioned on two sides of the air guide sleeve (18), each driving assembly (13) comprises a driving motor (21), a speed reducer (22), a driving belt wheel (23), a driven belt wheel (24) and a synchronous crawler (25), the driving motor (21) is installed on the circular turntable (11), an output shaft of the driving motor (21) is connected with the speed reducer (22), an output shaft of the speed reducer (22) is connected with the driving belt wheel (23), the driven belt wheel (24) is movably connected to the circular turntable (11), and the driving belt wheel (23) and the driven belt wheel (24) are in transmission connection through the synchronous crawler (25);
the power module (14) is installed on the circular turntable (11), the power module (14) is used for providing power, and the power module (14) is electrically connected with the driving motor (21), the brushless motor and the pitching steering engine (4).
3. A self-rotating twin-body wall-climbing robot according to claim 2, further comprising a ball track fixing ring (26), wherein the upper side of the receiving portion (16) is provided with a plurality of third semi-circular grooves, the lower side of the ball track fixing ring (26) is provided with a plurality of fourth semi-circular grooves corresponding to the third semi-circular grooves one by one, the ball track fixing ring (26) is lapped on the receiving portion (16) of the circular turntable (11), and the third semi-circular grooves and the fourth semi-circular grooves cooperate to form a circular cavity, the circular cavity is provided with rolling steel balls (17), the rolling steel balls (17) can roll in the circular cavity, and the ball track fixing ring (26) is fixedly connected to the chassis (10).
4. A self-rotating double-body wall-climbing robot according to claim 3, characterized in that the side of the ball track fixing ring (26) is provided with a plurality of limit screw holes (27), and the ball track fixing ring (26) is fixed on the chassis (10) by screws passing through the limit screw holes (27).
5. A self-rotating twin-hull wall-climbing robot according to claim 2, characterised in that it further comprises noise-reducing means (28), said noise-reducing means (28) being located above the air guide housing (18), the noise-reducing means (28) being fixedly connected to the circular turntable (11).
6. A self-rotating double-body wall-climbing robot according to claim 2, wherein the self-rotating robot further comprises a fan speed regulation board (29), the fan speed regulation board (29) is used for controlling the rotation speed of the brushless motor, the fan speed regulation board (29) is installed on the circular turntable (11), and the fan speed regulation board (29) is electrically connected with the power module (14).
7. A self-rotating twin-bodied wall-climbing robot according to claim 2, characterised in that a sealing ring (30) is arranged between the spinner (18) and the circular turntable (11).
8. A self-rotating double-body wall-climbing robot according to claim 1, characterized in that an elastic sealing gasket (31) is arranged at the edge of the lower surface of the chassis (10), and the elastic sealing gasket (31) is filled with sponge.
9. A self-rotating double-body wall-climbing robot according to claim 5, wherein the first robot (1) comprises a main control module (32), the main control module (32) is installed above the noise reduction device (28), the main control module (32) is used for controlling the rotating direction, the rotating angle and the moving distance of the first robot (1) and the second robot (2), and the main control module (32) is electrically connected with the power supply module (14).
10. A self-rotating twin-body wall-climbing robot according to any of claims 1-9, wherein the first robot (1) and the second robot (2) are each provided with an aviation socket (33), and the aviation socket (33) is used for data connection transmission of the first robot (1) and the second robot (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010862637.7A CN111976857B (en) | 2020-08-25 | 2020-08-25 | Self-rotating double-body wall climbing robot |
Applications Claiming Priority (1)
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