CN117416432A - Multi-plane free conversion crawling structure of wall climbing robot - Google Patents
Multi-plane free conversion crawling structure of wall climbing robot Download PDFInfo
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- CN117416432A CN117416432A CN202311459689.XA CN202311459689A CN117416432A CN 117416432 A CN117416432 A CN 117416432A CN 202311459689 A CN202311459689 A CN 202311459689A CN 117416432 A CN117416432 A CN 117416432A
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- 230000009194 climbing Effects 0.000 title claims abstract description 156
- 230000009193 crawling Effects 0.000 title claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 13
- 241000252254 Catostomidae Species 0.000 claims abstract description 22
- 238000013459 approach Methods 0.000 claims abstract description 3
- 230000001960 triggered effect Effects 0.000 abstract description 11
- 238000001514 detection method Methods 0.000 description 6
- 238000001179 sorption measurement Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/14—Draw-gear or towing devices characterised by their type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of wall climbing robots, and discloses a multi-plane free conversion crawling structure of a wall climbing robot. The multi-plane free conversion crawling structure of the wall climbing robot is characterized in that the second wall climbing robot contacts with the plane edge firstly, a plurality of first auxiliary suckers are started, the second suckers are closed and continue to move towards the plane edge continuously, the steering engine drives the bottom surface of the second wall climbing robot to approach to the adjacent plane until contacting, meanwhile, the first wall climbing robot continues to advance, after the second triggering device is triggered again, the second suckers and the second auxiliary suckers are further activated, and then the operation is repeated until the crawler part of the first wall climbing robot contacts with the plane, so that the two wall climbing robots are started simultaneously, and the movement across the plane is completed.
Description
Technical Field
The invention relates to the technical field of wall climbing robots, in particular to a multi-plane free-conversion crawling structure of a wall climbing robot.
Background
Currently, in the apparent detection process of bridges (such as bridge towers, bridge piers and the like), as most bridges are high and special in position, the daily detection is mostly manually observed at a long distance, the detection is very rough, the detection has almost no referent value, the manual detection is only effective on obvious defects or foreign matters, comprehensive and fine surface detection cannot be performed, and the negative pressure wall climbing robot is a robot capable of climbing on a vertical wall surface and can firmly attach to the wall surface by creating negative pressure at the bottom of the robot by utilizing a negative pressure sucker technology, and the crawling is realized by a power wheel set.
The existing negative pressure type wall climbing robot can only climb on a single wall under the normal condition, when the adjacent surface needs to be detected, the existing negative pressure type wall climbing robot often needs to descend to the ground from the single surface and climb again from the other surface, the process usually needs a long time, but the existing negative pressure type wall climbing robot is difficult to climb from the adjacent surface.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a multi-plane free conversion crawling structure of a wall climbing robot, which has the advantages of traveling across planes and the like, and solves the technical problems.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a wall climbing robot multiplanar free conversion structure of crawling, includes first wall climbing robot and second wall climbing robot, close terminal surface is connected with main link between first wall climbing robot and the second wall climbing robot, second wall climbing robot corresponds first wall climbing robot one side and is connected with vice link, link to each other between vice link and the main link, first wall climbing robot and second wall climbing robot bottom surface middle-end are connected with first sucking disc and second sucking disc respectively, the edge of first wall climbing robot and second wall climbing robot bottom surface equidistance respectively is connected with first supplementary sucking disc and second supplementary sucking disc, vice link one side is connected with can drive main link and carry out pivoted steering wheel, first wall climbing robot is connected with a plurality of first trigger devices that are used for judging first wall climbing robot motion state towards second wall climbing robot one side terminal surface, second wall climbing robot is provided with the same with first trigger device towards the corresponding position of first wall climbing robot one side terminal surface.
As the preferable technical scheme of the invention, the widths of the moving tracks at two sides of the first wall climbing robot and the second wall climbing robot are the same, and the first sucker and the second sucker are respectively and fixedly arranged at the middle ends of the bottom surfaces of the first wall climbing robot and the second wall climbing robot.
As the preferable technical scheme of the invention, the number of the first auxiliary suckers is four, and the first auxiliary suckers are positioned at the middle points of the line segments clamped between the outer diameter of the first sucker and the edge end point of the first wall climbing robot, and the number of the second auxiliary suckers is four, and the second auxiliary suckers are positioned at the middle points of the line segments clamped between the outer diameter of the second sucker and the edge end point of the second wall climbing robot.
As the preferable technical scheme of the invention, the tail ends of the main connecting frame and the auxiliary connecting frame are rotationally connected, and a steering engine is arranged at the rotation center of the auxiliary connecting frame.
As the preferable technical scheme of the invention, the main connecting frame and the auxiliary connecting frame are made of torsion-resistant materials, and the minimum power of the steering engine is required to drive the first wall climbing robot or the second wall climbing robot to rotate.
As a preferable technical scheme of the invention, the first triggering device comprises a supporting frame, a movable frame, a spring, a receiving target, a sensor, an upper top frame, a lower top frame and a rotating ball.
As the preferable technical scheme of the invention, the supporting frames are fixedly arranged on the end face of the first wall climbing robot facing the second wall climbing robot at equal intervals, and are symmetrically arranged by taking the main connecting frame as a center, the movable frame is connected inside the supporting frames, and springs are connected between the top surfaces of the movable frames and the supporting frames.
As a preferable technical scheme of the invention, the length of the spring in the unstressed state is ensured to ensure that the tail end of the movable frame does not extend out of the bottom of the support frame, the middle end of the top surface of the movable frame is provided with a receiving target for receiving a sensor signal, the inner wall of the support frame is provided with a sensor for receiving the target, the sensor is not contacted with the movable frame, and the diameter of the spring does not interfere with the sensor.
As the preferable technical scheme of the invention, the middle end of the bottom surface of the movable frame is connected with the lower top frame, the middle end of the bottom surface of the movable frame is connected with the upper top frame, the rotating ball is rotationally connected with the end surfaces between the upper top frame and the lower top frame, the bottom surface of the upper top frame and the top surface of the lower top frame are attached to the rotating ball, when the plane is spanned, the plane where the rotating ball is located loses the supporting force, the spring is promoted to be ejected, and meanwhile, after the spring is ejected, the height difference exists between the sensor and the receiving target at the moment, so that the triggering is finished, and the degree of the spring tightening in the running state can ensure the relative level between the sensor and the receiving target, so that the triggering is ensured.
As the preferable technical scheme of the invention, the structure of the second triggering device is completely consistent with that of the first triggering device, and the number of the second triggering devices is two and the second triggering devices are equidistantly connected to the end face of the second wall climbing robot, which faces the first wall climbing robot.
Compared with the prior art, the invention provides a multi-plane free conversion crawling structure of a wall climbing robot, which has the following beneficial effects:
1. according to the invention, when the first wall climbing robot and the second wall climbing robot travel in a plane crossing manner, the second wall climbing robot firstly contacts with the plane edge, a plurality of first auxiliary suckers are started at the moment, additional adsorption force is provided, the second suckers are closed and continuously move towards the plane edge, after the second wall climbing robot is triggered by moving to the second triggering device, the second wall climbing robot is driven to rotate through the steering engine, so that the bottom surface of the second wall climbing robot is gradually contacted with an adjacent plane, meanwhile, the first wall climbing robot continuously travels, the travelling distance is determined according to different adjacent planes, the sucker edge of the second wall climbing robot is ensured to be parallel to the second plane until the contact occurs, after the contact, the second triggering device is triggered again, the second sucker and the second auxiliary sucker are further activated, so that the conversion of the first step is completed, the first sucker and the first auxiliary sucker are closed, the steering engine is reversely started, the first wall climbing robot is driven to rotate, and then the second wall climbing robot is started to move along the plane where the second wall climbing robot is located until the first triggering device is triggered, the first wall climbing robot is partially contacted with the second wall climbing robot, and the two planes are simultaneously started, so that the movement of the two wall climbing robots are completed in the plane crossing manner.
2. According to the invention, the main connecting frame and the auxiliary connecting frame are made of torsion-resistant materials, so that the minimum power of the steering engine is required to drive the first wall-climbing robot or the second wall-climbing robot to rotate, and the steering engine only drives the corresponding main connecting frame or auxiliary connecting frame to rotate when rotating.
Drawings
FIG. 1 is a schematic perspective view of the structure of the present invention;
FIG. 2 is a schematic perspective view of the structure of the present invention;
FIG. 3 is a schematic perspective view of a first trigger device according to the present invention;
FIG. 4 is a schematic perspective cross-sectional view of a first trigger device of the present invention;
fig. 5 is a schematic diagram of a first trigger device of the present invention in full section.
Wherein: 1. a first wall climbing robot; 2. a main connecting frame; 3. an auxiliary connecting frame; 4. steering engine; 5. a second wall climbing robot; 6. a first suction cup; 7. a first auxiliary suction cup; 8. a second suction cup; 9. a second auxiliary suction cup; 10. a first triggering device; 1001. a support frame; 1002. a moving rack; 1003. a spring; 1004. receiving a target; 1005. a sensor; 1006. an upper top frame; 1007. a lower top frame; 1008. a rotating ball; 11. and a second trigger device.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like 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 explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-5, a multi-plane free conversion crawling structure of a wall climbing robot comprises a first wall climbing robot 1 and a second wall climbing robot 5, wherein a main connecting frame 2 is connected with the end face between the first wall climbing robot 1 and the second wall climbing robot 5, one side of the second wall climbing robot 5 corresponding to the first wall climbing robot 1 is connected with a secondary connecting frame 3, the secondary connecting frame 3 is connected with the main connecting frame 2, the middle ends of the bottom surfaces of the first wall climbing robot 1 and the second wall climbing robot 5 are respectively connected with a first sucker 6 and a second sucker 8, the edges of the bottom surfaces of the first wall climbing robot 1 and the second wall climbing robot 5 are respectively connected with a first auxiliary sucker 7 and a second auxiliary sucker 9 at equal intervals, one side of the secondary connecting frame 3 is connected with a steering engine 4 capable of driving the main connecting frame 2 to rotate, one face of the first wall climbing robot 1, which faces the second wall climbing robot 5, is connected with a plurality of first triggering devices 10 used for judging the motion state of the first wall climbing robot 1, each first triggering device 10 comprises a supporting frame 1001, a moving frame 1002, a spring 1003, a receiving target 1004, a sensor 1005, an upper top frame 1006, a lower top frame 1007 and a rotating ball 1008, a second triggering device 11 which is the same as the first triggering device 10 is arranged at a corresponding position of the second wall climbing robot 5, which faces one side end face of the first wall climbing robot 1, the structure of the second triggering device 11 is completely consistent with that of the first triggering device 10, the number of the second triggering devices 11 is two, the second wall climbing robot 5 is connected to one side end face of the second wall climbing robot 5 at equal distance, contacts with the plane edge firstly, a plurality of first auxiliary suckers 7 are started, the second suckers 8 are closed, and the second wall climbing robot continues to move towards the plane edge continuously, the steering engine 4 drives the bottom surface of the second wall climbing robot 5 to approach to the adjacent plane until contacting, meanwhile, the first wall climbing robot 1 continues to travel, after the second triggering device 11 is triggered again, the second sucker 8 and the second auxiliary sucker 9 are activated, and then the operation is repeated until the crawler belt part of the first wall climbing robot 1 contacts with the plane, so that the two wall climbing robots are started at the same time, and the movement across the plane is completed.
Further, the widths of the moving tracks at the two sides of the first wall climbing robot 1 and the second wall climbing robot 5 are the same, the first suction cups 6 and the second suction cups 8 are respectively and fixedly arranged at the middle ends of the bottom surfaces of the first wall climbing robot 1 and the second wall climbing robot 5, the first wall climbing robot 1 and the second wall climbing robot 5 are powered by external ground stations, the suction force is provided by the first suction cups 6 and the second suction cups 8 after the moving tracks provide power, the stability of the first wall climbing robot 1 and the second wall climbing robot 5 during moving is ensured, the number of the first auxiliary suction cups 7 is four, the second auxiliary suction cups 9 are four at the middle points of the line sections clamped by the outer diameter of the first suction cups 6 and the edge end points of the first wall climbing robot 1, the number of the second auxiliary suction cups 9 are four, the middle points of the line sections clamped by the outer diameter of the second suction cups 8 and the edge end points of the second wall climbing robot 5, when the first wall climbing robot 1 and the second wall climbing robot 5 travel across the plane, the second wall climbing robot 5 firstly contacts with the plane edge, at the moment, a plurality of first auxiliary suckers 7 are started, additional adsorption force is provided, meanwhile, the second suckers 8 are closed and continue to move towards the plane edge, after the second trigger device 11 is triggered, the second wall climbing robot 5 is driven to rotate through the steering engine 4, so that the bottom surface of the second wall climbing robot 5 is gradually contacted with the adjacent plane, meanwhile, the first wall climbing robot 1 continues to travel, the travel distance is determined according to different adjacent planes, so that the sucker edge of the second wall climbing robot 5 is ensured to be parallel to the second plane until contact occurs, after contact, the second trigger device 11 is triggered again, and then the second suckers 8 and the second auxiliary suckers 9 are activated, so that the conversion of the first step is completed, and then the first sucker 6 and the first auxiliary sucker 7 are closed, the steering engine 4 is reversely started to drive the first wall climbing robot 1 to rotate, and then the second wall climbing robot 5 is started to move along the plane where the second wall climbing robot is positioned until the first triggering device 10 is triggered, and the crawler part of the first wall climbing robot 1 contacts with the plane at the moment on the surface, so that two wall climbing robots are started simultaneously, and the movement across the plane is completed.
Further, the tail ends of the main connecting frame 2 and the auxiliary connecting frame 3 are rotationally connected, a steering engine 4 is arranged at the rotation center of the auxiliary connecting frame 3, the main connecting frame 2 and the auxiliary connecting frame 3 are made of torsion resistant materials, the minimum power of the steering engine 4 is required to drive the first wall climbing robot 1 or the second wall climbing robot 5 to rotate, and the steering engine 4 only drives the corresponding main connecting frame 2 or auxiliary connecting frame 3 to rotate when rotating, so that the main connecting frame 2 and the auxiliary connecting frame 3 are required to ensure enough torsion resistant capacity and can support torsion resistant capacity.
Further, a support frame 1001 is fixedly installed on the end face of the first wall climbing robot 1 facing the second wall climbing robot 5 at equal intervals, and is symmetrically arranged by taking a main connecting frame 2 as a center, a movable frame 1002 is connected inside the support frame 1001, a spring 1003 is connected between the top surface of the movable frame 1002 and the support frame 1001, the length of the spring 1003 in an unstressed state is ensured that the tail end of the movable frame 1002 does not extend out of the bottom of the support frame 1001, a receiving target 1004 for receiving signals of a sensor 1005 is arranged at the middle end of the top surface of the movable frame 1002, a sensor 1005 corresponding to the receiving target 1004 is arranged on the inner wall of the support frame 1001, the sensor 1005 does not contact with the movable frame 1002, the diameter of the spring 1003 does not interfere with the sensor 1005, a lower top frame 1007 is connected to the middle end of the bottom surface of the movable frame 1002, an upper top frame 1006 is connected to the middle end of the bottom surface of the movable frame 1002, the end face between the rotating ball 1008 and the upper top frame 1006 and the lower top frame 1007 are in rotating connection, the bottom face of the upper top frame 1006 and the top face of the lower top frame 1007 are attached to the rotating ball 1008, the rotating ball 1008 is synchronously driven to rotate in any direction when the first wall climbing robot 1 moves, the rotating ball 1008 rotates between the upper top frame 1006 and the lower top frame 1007, when the plane is crossed, the supporting force of the plane where the rotating ball 1008 is located is lost, the spring 1003 is promoted to be ejected, damping (not shown in the figure) is arranged at the tail end of the spring 1003, meanwhile, after the spring 1003 is ejected, a height difference exists between the sensor 1005 and the receiving target 1004 at the moment, triggering is achieved, and the degree of tightening of the spring 1003 can ensure the relative level between the sensor 1005 and the receiving target 1004 in the running state, so that triggering is ensured.
When in use, the first wall climbing robot 1 and the second wall climbing robot 5 travel across the plane, the second wall climbing robot 5 firstly contacts with the plane edge, at the moment, a plurality of first auxiliary suckers 7 are started to provide additional adsorption force, meanwhile, the second suckers 8 are closed and continue to move towards the plane edge, when the second trigger device 11 is triggered, the plane where the rotating ball 1008 is located loses the support force to promote the spring 1003 to be ejected, meanwhile, after the spring 1003 is ejected, a height difference exists between the sensor 1005 and the receiving target 1004 at the moment, thus completing the triggering, the second wall climbing robot 5 is driven to rotate through the steering engine 4, the bottom surface of the second wall climbing robot 5 is gradually contacted with the adjacent plane, at the same time, the first wall climbing robot 1 continues to travel, the travelling distance is determined according to different adjacent planes, so that the sucker edge of the second wall climbing robot 5 is guaranteed to be parallel to the second plane until contact occurs, the degree of tightening of the spring 1003 can guarantee the relative level between the sensor 1005 and the receiving target 1004, after contact, the second triggering device 11 is triggered again, the second sucker 8 and the second auxiliary sucker 9 are activated, the conversion of the first step is completed, then the first sucker 6 and the first auxiliary sucker 7 are closed, the steering engine 4 is started reversely, the first wall climbing robot 1 is driven to rotate, then the second wall climbing robot 5 is started to move along the plane where the second wall climbing robot is located until the first triggering device 10 is triggered, and the track part of the first wall climbing robot 1 contacts with the plane at the moment on the surface, so that the two wall climbing robots are started simultaneously, and the movement across the plane is completed.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a wall climbing robot multiplanar free conversion structure of crawling, includes first wall climbing robot (1) and second wall climbing robot (5), its characterized in that: the utility model discloses a first wall climbing robot, including first wall climbing robot (1), second wall climbing robot (5), first wall climbing robot (1) and second wall climbing robot (5), the terminal surface that approaches between first wall climbing robot (1) and second wall climbing robot (5) is connected with main link (2), second wall climbing robot (5) are connected with first sucking disc (6) and second sucking disc (8) respectively in the bottom surface middle-end, the edge of first wall climbing robot (1) and second wall climbing robot (5) bottom surface equidistance is connected with first supplementary sucking disc (7) and second supplementary sucking disc (9) respectively, vice link (3) one side is connected with steering wheel (4) that can drive main link (2) and rotate, first wall climbing robot (1) face is connected with a plurality of first wall climbing robot (5) that are used for judging first wall climbing robot (1) motion state and trigger device (10), first wall climbing robot (10) are corresponding to first wall climbing robot (10) and first side trigger device (11) of first wall climbing robot (1) and first side trigger device.
2. The multi-planar free-switching crawling structure of a wall-climbing robot according to claim 1, wherein: the width of the moving tracks on two sides of the first wall climbing robot (1) is the same as that of the second wall climbing robot (5), and the first sucker (6) and the second sucker (8) are fixedly arranged at the middle ends of the bottom surfaces of the first wall climbing robot (1) and the second wall climbing robot (5) respectively.
3. The multi-plane free-switching crawling structure of a wall-climbing robot according to claim 2, wherein: the number of the first auxiliary suckers (7) is four, the first auxiliary suckers are all positioned at the middle points of the line segments clamped between the outer diameter of the first sucker (6) and the edge end point of the first wall climbing robot (1), the number of the second auxiliary suckers (9) is four, and the second auxiliary suckers are all positioned at the middle points of the line segments clamped between the outer diameter of the second sucker (8) and the edge end point of the second wall climbing robot (5).
4. The multi-planar free-switching crawling structure of a wall-climbing robot according to claim 1, wherein: the tail ends of the main connecting frame (2) and the auxiliary connecting frame (3) are rotationally connected, and a steering engine (4) is arranged at the rotation center of the auxiliary connecting frame (3).
5. The multi-planar free-switching crawling structure of a wall-climbing robot according to claim 4, wherein: the main connecting frame (2) and the auxiliary connecting frame (3) are made of torsion-resistant materials, and the minimum power of the steering engine (4) is required to drive the first wall climbing robot (1) or the second wall climbing robot (5) to rotate.
6. The multi-planar free-switching crawling structure of a wall-climbing robot according to claim 1, wherein: the first triggering device (10) comprises a supporting frame (1001), a movable frame (1002), a spring (1003), a receiving target (1004), a sensor (1005), an upper top frame (1006), a lower top frame (1007) and a rotating ball (1008).
7. The multi-planar free-switching crawling structure of a wall-climbing robot according to claim 6, wherein: support frame (1001) equidistance fixed mounting is in first wall climbing robot (1) towards second wall climbing robot (5) one side terminal surface, and uses main link (2) as central symmetry setting, support frame (1001) internally connected with removes frame (1002), remove and be connected with spring (1003) between frame (1002) top surface and support frame (1001).
8. The multi-planar free-switching crawling structure of a wall-climbing robot according to claim 7, wherein: the length of the spring (1003) in the unstressed state should guarantee that the tail end of the movable frame (1002) does not extend out of the bottom of the supporting frame (1001), a receiving target (1004) for receiving signals of a sensor (1005) is arranged at the middle end of the top surface of the movable frame (1002), a sensor (1005) for correspondingly receiving the target (1004) is arranged on the inner wall of the supporting frame (1001), the sensor (1005) is not contacted with the movable frame (1002), and the diameter of the spring (1003) does not interfere with the sensor (1005).
9. The multi-planar free-switching crawling structure of a wall-climbing robot according to claim 8, wherein: the middle end of the bottom surface of the movable frame (1002) is connected with a lower top frame (1007), the middle end of the bottom surface of the movable frame (1002) is connected with an upper top frame (1006), the end surfaces of the rotating ball (1008) and the upper top frame (1006) and the lower top frame (1007) are in rotary connection, and the bottom surfaces of the upper top frame (1006) and the top surfaces of the lower top frame (1007) are attached to the rotating ball (1008).
10. The multi-planar free-switching crawling structure of a wall-climbing robot according to claim 9, wherein: the structure of the second triggering device (11) is completely consistent with that of the first triggering device (10), the number of the second triggering devices (11) is two, and the second triggering devices are equidistantly connected to the end face of the second wall climbing robot (5) towards one side of the first wall climbing robot (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311459689.XA CN117416432A (en) | 2023-11-03 | 2023-11-03 | Multi-plane free conversion crawling structure of wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311459689.XA CN117416432A (en) | 2023-11-03 | 2023-11-03 | Multi-plane free conversion crawling structure of wall climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN117416432A true CN117416432A (en) | 2024-01-19 |
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|---|---|---|---|
| CN202311459689.XA Pending CN117416432A (en) | 2023-11-03 | 2023-11-03 | Multi-plane free conversion crawling structure of wall climbing robot |
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| CN (1) | CN117416432A (en) |
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- 2023-11-03 CN CN202311459689.XA patent/CN117416432A/en active Pending
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