CN115303380B - Bionic wall-climbing inspection robot - Google Patents
Bionic wall-climbing inspection robot Download PDFInfo
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- CN115303380B CN115303380B CN202211245387.8A CN202211245387A CN115303380B CN 115303380 B CN115303380 B CN 115303380B CN 202211245387 A CN202211245387 A CN 202211245387A CN 115303380 B CN115303380 B CN 115303380B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- 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
Abstract
The invention discloses a bionic wall climbing inspection robot, which belongs to the technical field of wall climbing robots and aims to solve the technical problem of how to realize the inspection of complex tracks such as the surface of a tank body and the like, avoid the risks of slipping and falling of equipment, improve the reliability and safety of inspection and improve the inspection efficiency, and the adopted technical scheme is as follows: the structure of the wall climbing device comprises two wall climbing devices which are oppositely arranged, and a connecting rod driving mechanism is arranged between the two wall climbing devices; the wall climbing device comprises a wall climbing box body, two sides of the wall climbing box body are respectively provided with a driving adsorption mechanism, and one end of the wall climbing box body, which is far away from the connecting rod driving mechanism, is provided with at least two obstacle crossing mechanisms; the obstacle crossing mechanism comprises an obstacle crossing rod I, a steering engine I, an obstacle crossing rod II and a steering engine II, wherein the base body end of the steering engine II is hinged to the outer side wall of the wall climbing box body through a base, the driving end of the steering engine II is rotatably connected with one end of the obstacle crossing rod II, and the other end of the obstacle crossing rod II is hinged to the base body end of the steering engine I.
Description
Technical Field
The invention relates to the technical field of wall climbing robots, in particular to a bionic wall climbing inspection robot.
Background
At present, with the technical development of intelligent robots, inspection robots for detecting defects, faults and the like appear. The conventional inspection robot can meet the requirements of inspection operation in common occasions, such as simple plane defect detection. But it is difficult to satisfy the device with the surface of the can having a curvature. For example, the existing wall climbing robot is difficult to complete automatic obstacle crossing and inspection under the surface environment of a complex tank body, generally needs manual operation for remote control, and even needs manual intervention to help the obstacle crossing when encountering obstacles such as drain pipes, reinforcing ribs and the like, so that the inspection efficiency is low, and once the obstacles are artificially missed, huge economic loss is caused due to the manual intervention.
When the existing wall-climbing robot inspects the tank body, the problems of robot slipping, sliding and the like easily occur, so that on one hand, repeated inspection is caused, the working efficiency is reduced, and the inspection cost is improved; on the other hand, the robot is likely to be damaged in the robot sliding process, the subsequent maintenance cost is high, and the robot sliding process has certain potential safety hazards to surrounding operators.
Therefore, how to realize the routing inspection of complex tracks such as the surface of a tank body and the like, the risk of slipping and falling of equipment is avoided, and the routing inspection efficiency is improved while the reliability and the safety of routing inspection are improved.
Disclosure of Invention
The technical task of the invention is to provide a bionic wall-climbing inspection robot, which solves the problems of how to realize inspection of complex tracks such as the surface of a tank body, avoid the risks of slipping and falling of equipment, improve the reliability and safety of inspection and improve the inspection efficiency.
The technical task of the invention is realized in the following way, the bionic wall climbing inspection robot comprises two wall climbing devices which are oppositely arranged, and a connecting rod driving mechanism is arranged between the two wall climbing devices;
the wall climbing device comprises a wall climbing box body, two sides of the wall climbing box body are respectively provided with a driving adsorption mechanism, and one end of the wall climbing box body, which is far away from the connecting rod driving mechanism, is provided with at least two obstacle crossing mechanisms;
the obstacle crossing mechanism comprises an obstacle crossing rod I, a steering engine I, an obstacle crossing rod II and a steering engine II, wherein the base body end of the steering engine II is hinged to the outer side wall of the wall climbing box body through a base, the driving end of the steering engine II is rotatably connected with one end of the obstacle crossing rod II, the other end of the obstacle crossing rod II is hinged to the base body end of the steering engine I, the driving end of the steering engine I is rotatably connected with one end of the obstacle crossing rod I, and the other end of the obstacle crossing rod I is provided with a rolling mechanism.
Preferably, the first obstacle crossing rod and the second obstacle crossing rod are both arc-shaped, and the radian of the first arc-shaped obstacle crossing rod and the second arc-shaped obstacle crossing rod is 1/4 of that of a whole circle.
Preferably, the connecting rod driving mechanism comprises a first connecting rod, a third steering engine and a second connecting rod, one end of the first connecting rod is hinged to the outer side wall of the wall climbing box body located on the front side through a connecting rod seat, the other end of the first connecting rod is hinged to the base body end of the third steering engine, the driving end of the third steering engine is rotatably connected with one end of the second connecting rod, and the other end of the second connecting rod is hinged to the outer side wall of the wall climbing box body located on the rear side through a connecting rod seat.
Preferably, the first connecting rod and the second connecting rod which are positioned at the two sides of the third steering engine are arranged in a V shape.
Preferably, drive adsorption device includes motor drive mechanism, drive wheel and a plurality of interval and is the electromagnetic wheel of arc setting, and motor drive mechanism is located and climbs the wall box, and drive wheel and motor drive mechanism normal running fit, drive wheel and electromagnetic wheel periphery are provided with the track, track respectively with drive wheel and electromagnetic wheel transmission cooperation.
Preferably, one side of the crawler belt, which is far away from the wall-climbing box body, is provided with a baffle.
Preferably, the motor driving mechanism comprises a driving motor base arranged in the wall climbing box body, a driving motor is arranged on the driving motor base, and the output end of the driving motor is in rotary fit with the driving wheel through key connection.
Preferably, the rolling mechanism comprises a roller shaft and at least two rollers arranged at intervals, the roller shaft is fixed at one end of the obstacle crossing rod I, which is far away from the wall climbing box body, and the roller shaft is arranged along the width direction of the obstacle crossing rod I, and the rollers are rotatably arranged on the roller shaft.
Preferably, a handle is arranged at the center of the upper side surface of the wall climbing box body.
Preferably, one side department of climbing the side on the wall box is provided with pops up the camera, pops up the camera and is located one side department of handle.
The bionic wall-climbing inspection robot has the following advantages:
according to the invention, the obstacle crossing mechanism is designed on the wall climbing box body, the obstacle crossing mechanism is designed into at least two sections of a first obstacle crossing rod and a second obstacle crossing rod with radians, the adjacent first obstacle crossing rod, the second obstacle crossing rod and the wall climbing box body are connected through the first steering engine, the second steering engine and the base, when a tank body, a pipeline and other complex track environments need to be crossed, the size of an included angle between the adjacent first obstacle crossing rod and the second obstacle crossing rod can be changed through the rotation of the first steering engine and the second steering engine, and the size of an included angle between the second obstacle crossing rod and the wall climbing box body can be changed, so that the special appearance surfaces of the tank body and the pipeline can be adapted, and obstacles can be smoothly passed without human intervention;
the invention also designs a driving adsorption mechanism, and designs an electromagnetic wheel in the driving adsorption mechanism, the adsorption capacity to the surface of the barrier can be increased through the magnetic force of the electromagnetic wheel, and the crawler belts are arranged on the peripheries of the electromagnetic wheel and the driving wheel, so that the contact area with the surface of the barrier such as a tank body, a pipeline and the like is increased, the friction is increased, the inspection process is more stable, and slipping and falling cannot occur;
thirdly, a baffle is arranged on one side of the driving adsorption mechanism, which is far away from the wall climbing box body, and external sludge, dust and the like can be isolated by utilizing the baffle, so that the sludge, the dust and the like are prevented from entering the electromagnetic wheel and the driving wheel, and the transmission precision of the electromagnetic wheel and the driving wheel is prevented from being influenced;
one end of the first obstacle crossing rod, which is far away from the wall climbing box body, is provided with a roller, so that the obstacle crossing mechanism and the obstacle can roll through the roller, and the obstacle crossing mechanism can pass through the obstacle conveniently;
the obstacle crossing mechanism is particularly suitable for routing inspection under complex track environments such as tanks, pipelines and the like, ensures that the obstacles can pass through the obstacles without human intervention when encountering the obstacles, greatly improves routing inspection efficiency, and is not limited to pits, bulges and the like;
the invention can realize the control of the magnetic force by controlling the electromagnetic wheels, and the magnetic force of each electromagnetic wheel is independently controlled, thereby greatly reducing the risk of slipping when a certain magnetic wheel fails;
the invention adopts a driving mode of the crawler belt, greatly enlarges the contact area with the surfaces of obstacles such as the tank body and the like, increases the friction, ensures that the routing inspection advancing process is more stable, greatly increases the passing success rate when encountering small potholes, does not slide off, and improves the safety and the reliability of the equipment in the using process;
and (eighthly), the obstacle crossing mechanism formed by the obstacle crossing rod I and the obstacle crossing rod II has a semicircular radian, and can be reliably attached to arc-shaped obstacles such as a tank body, a pipeline and the like. A handle is arranged above the wall climbing box body, so that the operation is convenient when the wall climbing box body is moved or the structure in the wall climbing box body needs to be overhauled;
the invention has the advantages of automatic obstacle crossing inspection under the complex track environment and no slipping and falling.
Therefore, the invention has the characteristics of reasonable design, simple structure, easy processing, small volume, convenient use, multiple purposes and the like, thereby having good popularization and use values.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of a bionic wall-climbing inspection robot;
FIG. 2 is a schematic structural view of an obstacle crossing mechanism;
FIG. 3 is a schematic view of a link driving mechanism;
FIG. 4 is a schematic structural view of the wall climbing box;
FIG. 5 is a schematic structural view of a drive adsorption mechanism;
fig. 6 is a schematic structural view of the driving adsorption mechanism and the baffle after assembly.
In the figure: 1. the wall climbing box comprises a wall climbing box body, 2, a connecting rod driving mechanism, 3, a driving adsorption mechanism, 4, an obstacle crossing mechanism, 5, a rolling mechanism, 6, a first obstacle crossing rod, 7, a first steering gear, 8, a second obstacle crossing rod, 9, a second steering gear, 10, a base, 11, a first connecting rod, 12, a third steering gear, 13, a second connecting rod, 14, a connecting rod seat, 15, a driving wheel, 16, an electromagnetic wheel, 17, a crawler belt, 18, a baffle, 19, a driving motor base, 20, a driving motor, 21, a roller shaft, 22, a roller, 23, a handle, 24 and a pop-up camera.
Detailed Description
The bionic wall climbing inspection robot of the invention is described in detail with reference to the drawings and the specific embodiments in the specification.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and for simplicity in description. And are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
as shown in fig. 1, the embodiment provides a bionic wall-climbing inspection robot, which structurally comprises two wall-climbing devices arranged oppositely, a connecting rod driving mechanism 2 is installed between the two wall-climbing devices, and the distance between the two wall-climbing devices is adjusted through the connecting rod driving mechanism 2; the wall climbing device comprises a wall climbing box body 1, a driving adsorption mechanism 3 is respectively installed on two sides of the wall climbing box body 1, and two obstacle crossing mechanisms 4 which are arranged at intervals and in parallel are installed at one end, far away from a connecting rod driving mechanism 2, of the wall climbing box body 1. The central point department of climbing the side on the wall box 1 puts and installs handle 23, when moving wall box 1, perhaps need overhaul the structure of climbing the inside of wall box 1, convenient operation. The pop-up camera 24 is installed at one side of the upper side face of the wall-climbing box body 1, and the pop-up camera 24 is located at one side of the handle 23.
As shown in the attached drawing 2, the obstacle crossing mechanism 4 comprises an obstacle crossing rod I6, a first steering engine 7, a second obstacle crossing rod 8 and a second steering engine 9, the base body end of the second steering engine 9 is hinged to the outer side wall of the wall climbing box body 1 through a base 10, the driving end of the second steering engine 9 is rotatably connected with one end of the second obstacle crossing rod 8, the other end of the second obstacle crossing rod 8 is hinged to the base body end of the first steering engine 7, the driving end of the first steering engine 7 is rotatably connected with one end of the first obstacle crossing rod 6, and the rolling mechanism 5 is mounted at the other end of the first obstacle crossing rod 6. The rolling mechanism 5 comprises a roller shaft 21 and two rollers 22 arranged at intervals, the roller shaft 21 is fixed at one end of the obstacle crossing rod I6 far away from the wall climbing box body 1, the roller shaft 21 is arranged along the width direction of the obstacle crossing rod I6, the rollers 22 are rotatably arranged on the roller shaft 21, and when the obstacle crossing mechanism 4 needs to move along an obstacle, the obstacle crossing mechanism and the obstacle crossing mechanism can roll through the rollers 22, so that the obstacle crossing mechanism is beneficial to passing through the obstacle.
When the first steering engine 7 rotates, the size of an included angle between the adjacent obstacle crossing rod I6 and the adjacent obstacle crossing rod II 8 is changed; when the second steering engine 9 rotates, the size of an included angle between the obstacle crossing rod two 8 and the wall climbing box body 1 is changed, so that the angle between the obstacle crossing rod one 6 or the obstacle crossing rod two 8 and an obstacle needing to be crossed can be changed, the obstacle crossing rod one 6 or the obstacle crossing rod two 8 with the radian can be better attached to the obstacle, the obstacle crossing rod one 6 or the obstacle crossing rod two 8 can be reliably grasped, the angle between the wall climbing box body 1 and the obstacle crossing rod two 8 can be changed while the obstacle crossing rod one 6 or the obstacle crossing rod two 8 is grasped with the obstacle, namely the angle between the obstacles to be crossed is changed, for example, the wall climbing box body 1 can be lifted, and the obstacle can be crossed.
In the embodiment, the first obstacle crossing rod 6 and the second obstacle crossing rod 8 are both arc-shaped, and the radians of the first arc-shaped obstacle crossing rod 6 and the second obstacle crossing rod 8 are 1/4 of the whole circle. Therefore, the obstacle crossing mechanism 4 formed by the obstacle crossing rod I6 and the obstacle crossing rod II 8 has a semicircular radian and can be reliably attached to arc-shaped obstacles such as a tank body, a pipeline and the like.
In other variations of the present embodiment, two sets of obstacle crossing mechanisms 4 may be designed at the same end of the wall-climbing box 1, so that two-point grasping of an obstacle needing to be crossed can be realized, and the grasping force between the two can be improved. Of course, the number of the obstacle crossing mechanisms 4 can be adjusted according to the need, for example, three groups, four groups or even more are designed, and the embodiment does not limit this specifically.
As shown in fig. 3, the connecting rod driving mechanism 2 in this embodiment includes a first connecting rod 11, a third steering engine 12, and a second connecting rod 13, one end of the first connecting rod 11 is hinged to the outer side wall of the wall climbing box 1 located on the front side through a connecting rod seat 14, the other end of the first connecting rod 11 is hinged to the base body end of the third steering engine 12, the driving end of the third steering engine 12 is rotatably connected to one end of the second connecting rod 13, and the other end of the second connecting rod 13 is hinged to the outer side wall of the wall climbing box 1 located on the rear side through the connecting rod seat 14. The first connecting rod 11 and the second connecting rod 13 positioned on the two sides of the third steering engine 12 are arranged in a V shape. The connecting rod seat 14 is fixed on the wall climbing box body 1, and the first connecting rod 11 and the second connecting rod 13 are respectively hinged with the corresponding connecting rod seat 14, so that the size of an included angle between the first connecting rod 11 and the second connecting rod 13 of the connecting rod driving mechanism 2 can be flexibly adjusted. The distance between the two wall climbing boxes 1 is adjusted according to the change of the included angle between the first connecting rod 11 and the second connecting rod 13.
As shown in fig. 5, the driving adsorption mechanism 3 in this embodiment includes a motor driving mechanism, a driving wheel 15, and a plurality of electromagnetic wheels 16 that are spaced and arc-shaped, the motor driving mechanism is located in the wall climbing box 1, the driving wheel 15 is in running fit with the motor driving mechanism, a crawler 17 is installed on the peripheries of the driving wheel 15 and the electromagnetic wheels 16, and the crawler 17 is in running fit with the driving wheel 15 and the electromagnetic wheels 16 respectively, so as to realize power transmission and drive the wall climbing box 1 to move forward. Drive wheel 15 drive track 17 action, electromagnetic wheel 16 can be with magnetic force transmission to track 17 through the contact with track 17 to the realization is reliably adsorbed the large tracts of land magnetic force of patrolling and examining the object, can avoid appearing the risk of landing in patrolling and examining. The track 17 can be made of metal, such as steel, so as to facilitate the transmission of the magnetic force of the electromagnetic wheel 16, and the electromagnetic wheel 16 can conduct the magnetic force to the track 17 by directly contacting with the surface of the track 17, so that the surface area with the magnetic force can be increased, and the stability of the equipment in the process of traveling can be enhanced.
The quantity of electromagnetic wheel 16 is four, and electromagnetic wheel 16 can be connected with electromagnetism size regulating unit respectively for the magnetic force size of every electromagnetic wheel 16 is independent control, avoids when certain electromagnetic wheel 16 trouble, the risk of landing appears. As shown in fig. 6, the side of the crawler 17 away from the wall-climbing case 1 in this embodiment is provided with a baffle 18. The baffle 18 is located the outside of electromagnetic wheel 16 and drive wheel 15, utilizes baffle 18 can be isolated with outside mud, dust etc. avoids getting into in electromagnetic wheel 16 and the drive wheel 15, influences the transmission precision between the two.
As shown in fig. 4, the motor driving mechanism in this embodiment includes a driving motor base 19 installed in the climbing case 1, a driving motor 20 is installed on the driving motor base 19, and an output end of the driving motor 20 is rotationally matched with the driving wheel 15 through key connection. The driving wheel 15 is driven to rotate by the driving motor 20, and the electromagnetic wheel 16 and the crawler 17 are driven to move, so that the walking and wall climbing are realized.
The working process of the invention is as follows:
(one), when bionical wall climbing robot meets the obstacle pipeline at the in-process of patrolling and examining, firstly lie in the wall climbing box 1 of front end and pass through, specifically as follows:
the obstacle crossing rod II 8 can do circular motion under the driving of the steering engine II 9, the obstacle crossing rod II is lifted to a certain height, the bionic wall climbing robot can advance for a certain distance again, when the obstacle crossing rod I6 reaches the upper side of an obstacle, the bionic wall climbing robot stops rotating, the obstacle crossing rod I6 can do circular motion under the driving of the steering engine I7, the wall climbing box body 1 located at the front end can lift up to a certain extent at the moment, the electromagnetic wheel 16 weakens the magnetic force at the moment, the driving motor 20 prevents overload, the driving motor 20 drives the crawler belt 17 to advance, the steering engine III 12 is started simultaneously, the angle between the connecting rod I11 and the connecting rod II 13 is increased to match the wall climbing box body 1 located at the front end to move, when the wall climbing box body 1 located at the front end reaches the upper side of an obstacle pipeline, the wall climbing box body continues to move forwards, the electromagnetic wheel 16 can increase the magnetic force to prevent falling, the steering engine III 12 drives the connecting rod I11 and the connecting rod II 13 to do circular motion, the steering engine III 12 rotates to lift upwards, the wall climbing box body 1 contacts with a working surface again, and preparation is made for the wall climbing box body 1 located at the rear end to pass through the obstacle.
And (II) similarly, when the rear wall-climbing box body 1 reaches an obstacle, the electromagnetic wheel 16 of the rear wall-climbing box body 1 reduces the magnetic force, so that the rear wall-climbing box body 1 successfully passes through.
And (III) after the two wall-climbing box bodies 1 successfully pass through, the first steering engine 7 and the second steering engine 9 respectively do circular motion, so that the bionic wall-climbing robot is restored to the initial state.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A bionic wall climbing inspection robot is characterized by comprising two wall climbing devices which are oppositely arranged, and a connecting rod driving mechanism is arranged between the two wall climbing devices;
the wall climbing device comprises a wall climbing box body, two sides of the wall climbing box body are respectively provided with a driving adsorption mechanism, and one end of the wall climbing box body, which is far away from the connecting rod driving mechanism, is provided with at least two obstacle crossing mechanisms;
the obstacle crossing mechanism comprises an obstacle crossing rod I, a steering engine I, an obstacle crossing rod II and a steering engine II, wherein the base body end of the steering engine II is hinged with the outer side wall of the wall climbing box body through a base, the driving end of the steering engine II is rotatably connected with one end of the obstacle crossing rod II, the other end of the obstacle crossing rod II is hinged with the base body end of the steering engine I, the driving end of the steering engine I is rotatably connected with one end of the obstacle crossing rod I, and the other end of the obstacle crossing rod I is provided with a rolling mechanism;
the connecting rod driving mechanism comprises a first connecting rod, a third steering engine and a second connecting rod, one end of the first connecting rod is hinged to the outer side wall of the wall climbing box body located on the front side through a connecting rod seat, the other end of the first connecting rod is hinged to the base body end of the third steering engine, the driving end of the third steering engine is rotatably connected with one end of the second connecting rod, and the other end of the second connecting rod is hinged to the outer side wall of the wall climbing box body located on the rear side through a connecting rod seat.
2. The bionic wall-climbing inspection robot according to claim 1, wherein the first obstacle-surmounting rod and the second obstacle-surmounting rod are both arc-shaped, and the radian of the first arc-shaped obstacle-surmounting rod and the second arc-shaped obstacle-surmounting rod is 1/4 of the whole circle.
3. The bionic wall-climbing inspection robot according to claim 1, wherein the first connecting rod and the second connecting rod which are positioned on the two sides of the third steering engine are arranged in a V shape.
4. The bionic wall-climbing inspection robot according to claim 1, wherein the driving adsorption mechanism comprises a motor driving mechanism, a driving wheel and a plurality of electromagnetic wheels which are arranged at intervals in an arc shape, the motor driving mechanism is located in the wall-climbing box body, the driving wheel is in running fit with the motor driving mechanism, tracks are arranged on the peripheries of the driving wheel and the electromagnetic wheels, and the tracks are in running fit with the driving wheel and the electromagnetic wheels respectively.
5. The bionic wall-climbing inspection robot according to claim 4, wherein a baffle is arranged on one side of the crawler, which is far away from the wall-climbing box body.
6. The bionic wall-climbing inspection robot according to claim 4, wherein the motor driving mechanism comprises a driving motor base arranged in the wall-climbing box body, a driving motor is arranged on the driving motor base, and the output end of the driving motor is in running fit with the driving wheel through key connection.
7. The bionic wall climbing inspection robot according to claim 1, wherein the rolling mechanism comprises a roller shaft and at least two rollers arranged at intervals, the roller shaft is fixed at one end of the first obstacle crossing rod far away from the wall climbing box body and arranged along the width direction of the first obstacle crossing rod, and the rollers are rotatably installed on the roller shaft.
8. The bionic wall-climbing inspection robot according to claim 7, wherein a handle is arranged at the center of the upper side surface of the wall-climbing box body.
9. The bionic wall-climbing inspection robot according to claim 8, characterized in that a pop-up camera is arranged at one side of the upper side surface of the wall-climbing box body, and the pop-up camera is positioned at one side of the handle.
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| CN202211245387.8A CN115303380B (en) | 2022-10-12 | 2022-10-12 | Bionic wall-climbing inspection robot |
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| CN202211245387.8A CN115303380B (en) | 2022-10-12 | 2022-10-12 | Bionic wall-climbing inspection robot |
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| CN115303380B true CN115303380B (en) | 2022-12-27 |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07117665A (en) * | 1993-09-06 | 1995-05-09 | Toshiba Corp | Shifting device |
| US7520356B2 (en) * | 2006-04-07 | 2009-04-21 | Research Foundation Of The City University Of New York | Modular wall climbing robot with transition capability |
| CN101583530B (en) * | 2006-11-13 | 2012-07-04 | 雷神萨科斯公司 | Tracked robotic crawler having a moveable arm |
| CN102390453B (en) * | 2011-10-21 | 2013-09-25 | 南京理工大学 | Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof |
| CN206528544U (en) * | 2016-12-26 | 2017-09-29 | 哈尔滨科能熔敷科技有限公司 | A kind of obstacle crossing type climbing robot of crawler belt embedded magnet |
| CN107200077B (en) * | 2017-04-24 | 2020-01-14 | 郑宏远 | Three-body wall-climbing robot and obstacle crossing method thereof |
| CN112393057A (en) * | 2020-12-11 | 2021-02-23 | 河海大学 | Bionic leg structure of tubular pile wall-climbing robot |
| CN113147943A (en) * | 2021-05-24 | 2021-07-23 | 河海大学 | Negative pressure type bionic wall-climbing robot |
| CN113844564B (en) * | 2021-10-26 | 2022-11-18 | 河海大学 | Magnetic adsorption wall-climbing robot suitable for multiple vertical surfaces |
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Effective date of registration: 20230824 Address after: 262300 No.1, Yanhe Road, Rizhao North Economic Development Zone, Shandong Province Patentee after: Shandong Youjiang Intelligent Equipment Co.,Ltd. Address before: 250353 Qilu Industrial University, 3501 University Road, Changqing District, Ji'nan, Shandong Patentee before: Qilu University of Technology |