CN218616950U - Climbing robot - Google Patents
Climbing robot Download PDFInfo
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- CN218616950U CN218616950U CN202222714549.XU CN202222714549U CN218616950U CN 218616950 U CN218616950 U CN 218616950U CN 202222714549 U CN202222714549 U CN 202222714549U CN 218616950 U CN218616950 U CN 218616950U
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- climbing robot
- permanent magnet
- magnet switch
- pressure sensor
- controller
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Abstract
The utility model discloses a climbing robot, which comprises a moving vehicle body, and a permanent magnet switch, an attitude sensor, a pressure sensor and a controller which are arranged on the moving vehicle body, wherein the permanent magnet switch is used for generating adsorption force to ensure that the moving vehicle body keeps adsorbing on a magnetic contact surface; the permanent magnet switch, the attitude sensor and the pressure sensor are all electrically connected with the controller, and the controller is used for regulating and controlling the adsorption force of the permanent magnet switch according to data transmitted by the attitude sensor and the pressure sensor. The application discloses climbing robot is moving the adsorption affinity between automobile body and the contact surface and changing through attitude sensor and pressure sensor's feedback data analysis at the in-process of traveling, makes the adjustment in real time, makes the in-process of traveling remain stable, reduces energy loss moreover, improves climbing robot's flexibility to climbing robot adapts to more use scenes.
Description
Technical Field
The utility model relates to a robot equipment technical field especially relates to a climbing robot.
Background
With the continuous development of economy, robotic devices have been used in a variety of important situations. According to different use requirements, a great variety of different robots appear in the market, for example, ferromagnetic materials are often used as the base bodies of pressure-bearing equipment such as boilers, iron towers and the like due to the characteristics of high strength, high plasticity and the like, and because the materials often work in severe environments such as high stress, high pressure, high temperature and the like, damages such as corrosion, cracking and the like easily occur, the safety of production and life of people is easily influenced, and timely detection and maintenance are needed; traditional manual inspection is time-consuming, labor-consuming and dangerous, and therefore, in the late nineties, climbing robots for ferromagnetic materials are designed. Nowadays, the climbing robot mainly relates to an inchworm-imitating creeping climbing structure, and climbing is realized by adopting adsorption modes such as negative pressure chucks, mechanical clamping, electromagnetic adsorption and the like.
However, the existing climbing robot is heavy in structure, high in energy consumption, free of a real-time feedback adjusting mechanism, fixed and unchanged in adsorption force in the moving process, insufficient in flexibility, incapable of adapting to the work of rugged contact surfaces, short in operation endurance time, incapable of bearing a heavy operation mechanism and large in application scene limitation.
Accordingly, the prior art is yet to be improved and developed.
SUMMERY OF THE UTILITY MODEL
In view of the not enough of above-mentioned prior art, the utility model aims at providing a climbing robot aims at solving current climbing robot flexibility not enough, uses the limited problem of scene.
The technical scheme of the utility model as follows:
a climbing robot comprises a moving vehicle body, a permanent magnet switch, an attitude sensor, a pressure sensor and a controller, wherein the permanent magnet switch, the attitude sensor, the pressure sensor and the controller are arranged on the moving vehicle body; the permanent magnet switch, the attitude sensor and the pressure sensor are all electrically connected with the controller, and the controller is used for regulating and controlling the adsorption force of the permanent magnet switch according to data transmitted by the attitude sensor and the pressure sensor.
The climbing robot comprises a moving vehicle body, a climbing robot body and a climbing robot control system, wherein the moving vehicle body comprises a main board, a moving assembly and an adjusting bracket, and the moving assembly is arranged on the bottom surface of the main body and is used for supporting and driving the main board to move; the adjusting bracket is arranged on the top surface of the main board, a slide way is formed on the adjusting bracket, and the extending direction of the slide way is vertical to the main board; the permanent magnet switch is slidably arranged in the slideway.
The climbing robot is characterized in that a through hole is formed in the position, opposite to the slide way, of the main board; when the permanent magnet switch moves towards the main board, the bottom end of the permanent magnet switch penetrates through the through hole and moves to the position below the main board.
The climbing robot is characterized in that the controller and the attitude sensor are sequentially stacked on the top of the adjusting bracket; and/or the pressure sensor is arranged on the bottom surface of the main board.
The climbing robot comprises a moving vehicle body, a main board and a pressure sensor, wherein the moving vehicle body comprises a connecting frame, the connecting frame is arranged on the bottom surface of the main board, a clamping groove with a lateral opening is formed in the connecting frame, and the pressure sensor is detachably arranged in the clamping groove; the moving assembly is connected with one side, deviating from the main board, of the pressure sensor.
The climbing robot comprises a climbing robot body, wherein the moving assembly comprises a steering engine and a roller, the top surface of the steering engine is connected with the pressure sensor, the output end of the steering engine extends out in the lateral direction and is connected with the roller, and the steering engine is used for driving the roller to rotate.
The climbing robot, wherein, the gyro wheel with the steering wheel can be dismantled and be connected.
The climbing robot is characterized in that the number of the connecting frames is at least four, and every two of the at least four connecting frames form a group and are arranged at intervals along the advancing direction of the moving vehicle body; the adjusting bracket is arranged between two adjacent groups of the connecting frames; the pressure sensors are at least four, and the moving assembly is provided with at least four groups.
The climbing robot, wherein, the climbing robot still includes the power, the power set up in on the removal automobile body, with the controller electricity is connected.
The climbing robot, wherein, the power is equipped with two at least, two at least the power is followed the advancing direction of removal automobile body sets up respectively the front end and the rear end of removing the automobile body.
Compared with the prior art, the embodiment of the utility model provides a have following advantage:
the utility model discloses a climbing robot is used for moving on the magnetic contact surface, through removing automobile body carrier permanent magnetism switch, attitude sensor, pressure sensor and controller, utilizes the adsorption affinity that produces between permanent magnetism switch and the contact surface for make the removal automobile body keep adsorbing on the contact surface always, avoid breaking away from; set up pressure sensor and gather the pressure data of removing between automobile body and the contact surface in real time, set up gesture sensor and gather the gesture data of removing the automobile body in real time, provide the angle information between removal automobile body and the horizontal plane, and all transmit pressure sensor and gesture sensor's data to the controller, thereby assess the equilibrium relation between real-time adsorption affinity and the self gravity of climbing robot, make the adjustment to permanent magnetic switch in view of the above, make permanent magnetic switch's adsorption affinity and the self gravity of climbing robot reach the balance, guarantee that the robot can both stable absorption on arbitrary operation interface, and can move smoothly, improve the flexibility of climbing robot, reduce the restriction to the use scene of climbing robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a climbing robot in the present invention;
fig. 2 is a schematic structural view of the climbing robot in another angle;
FIG. 3 is an assembly view of the steering engine, the pressure sensor and the connecting frame of the present invention;
FIG. 4 is a flow chart of the climbing robot of the present invention;
fig. 5 is a force analysis diagram of the climbing robot of the present invention.
100, moving a vehicle body; 110. a main board; 111. a via hole; 120. a moving assembly; 121. a steering engine; 122. a roller; 130. adjusting the bracket; 131. a slideway; 140. a connecting frame; 141. a card slot; 200. a permanent magnet switch; 300. an attitude sensor; 400. a pressure sensor; 500. a controller; 600. a power source.
Detailed Description
In order to make the technical solution of the present invention better understood, the following figures in the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, in an embodiment of the present invention, a climbing robot is disclosed, wherein the climbing robot includes a moving vehicle body 100, and a permanent magnet switch 200, an attitude sensor 300, a pressure sensor 400 and a controller 500, which are disposed on the moving vehicle body 100, the permanent magnet switch 200 is used to generate an adsorption force to make the moving vehicle body 100 keep adsorbing on a magnetic contact surface; the permanent magnet switch 200, the attitude sensor 300 and the pressure sensor 400 are all electrically connected with the controller 500, and the controller 500 is used for regulating and controlling the adsorption force of the permanent magnet switch 200 according to the data transmitted by the attitude sensor 300 and the pressure sensor 400.
The climbing robot disclosed in this embodiment is used for moving on a magnetic contact surface, generally the surface of a ferromagnetic test piece, and through moving the permanent magnet switch 200, the attitude sensor 300, the pressure sensor 400 and the controller 500 of the vehicle body 100 carrier, the adsorption force generated between the permanent magnet switch 200 and the contact surface is utilized, so that the moving vehicle body 100 can be kept always adsorbed on the contact surface, and the detachment is avoided.
In the actual driving process, if the adsorption force generated by the permanent magnet switch 200 is too large, the climbing robot is tightly adsorbed with the contact surface, the friction between the moving vehicle body 100 and the contact surface is increased, the moving resistance is increased, and the climbing robot is inconvenient to move smoothly; if the adsorption force generated by the permanent magnet switch 200 is too small, the contact stability of the climbing robot and the contact surface is affected; therefore, the pressure sensor 400 is arranged to collect pressure data between the moving vehicle body 100 and the contact surface in real time, the attitude sensor 300 is arranged to collect attitude data of the moving vehicle body 100 in real time, angle information between the moving vehicle body 100 and the horizontal plane is provided, and the data of the pressure sensor 400 and the attitude sensor 300 are transmitted to the controller 500, so that the balance relation between real-time adsorption force and the self gravity of the climbing robot is evaluated, the permanent magnet switch 200 is adjusted accordingly, the adsorption force of the permanent magnet switch 200 and the self gravity of the climbing robot are balanced, the robot can be stably adsorbed on any operation interface, can move smoothly, the moving resistance is reduced, the motion energy consumption is reduced, the flexibility of the climbing robot is improved, the limitation on the use scene of the climbing robot is reduced, and the problems of heavy structure and energy consumption of the existing climbing robot are solved.
Specifically, compared with an electromagnet, the permanent magnet switch 200 can still maintain the adsorption force under the condition of power failure; compared with the magnetic wheel or the magnetic crawler belt, the permanent magnet switch 200 can adjust the adsorption force at any time; therefore, the permanent magnet switch 200 preferably used in this embodiment generates the attraction force, so as to provide a sufficiently large magnetic attraction force in case of power failure, and maintain the stable attraction state of the robot by cooperating with the attitude sensor 300 and the pressure sensor 400.
Specifically, the pressure sensor 400 that discloses in this embodiment can adopt bearing sensor, force transducer etc. adopts the full-bridge measurement mode, through the magnetic adsorption power between voltage difference real-time measurement removal automobile body 100 and the contact surface, through setting up pressure sensor 400 on removing automobile body 100, mainly used effectively measures the pressure size between climbing robot and the contact surface.
As shown in fig. 2, as an embodiment of the present embodiment, it is disclosed that the moving vehicle body 100 includes a main plate 110, a moving component 120 and an adjusting bracket 130, wherein the moving component 120 is disposed on a bottom surface of the main body, and is used for supporting and driving the main plate 110 to move; the adjusting bracket 130 is disposed on the top surface of the main plate 110, and a slide 131 is formed on the adjusting bracket 130, and the extension direction of the slide 131 is perpendicular to the main plate 110; the permanent magnet switch 200 is slidably disposed in the slide 131.
The moving assembly 120 disclosed in the present embodiment includes, but is not limited to, mechanical legs, tracks, roller 122 assemblies, and the like, and the main plate 110 is stably moved by being supported and moved by the moving assembly 120; the main board 110 is provided with the adjusting bracket 130, the adjusting bracket 130 is used for supporting and adjusting the permanent magnet switch 200, and before the climbing robot runs, the distance between the permanent magnet switch 200 and the main board 110 is adjusted by adjusting the position of the permanent magnet switch 200 on the adjusting bracket 130, so that the bottom end of the permanent magnet switch 200 is close to the contact surface to generate an appropriate adsorption force, and the climbing robot can keep a stable adsorption state with the contact surface when starting running; that is to say, the position of permanent magnetism switch 200 is adjusted in a flexible way through setting up regulation support 130, reaches the effect of adjustment adsorption affinity, has further improved climbing robot's flexibility.
As shown in fig. 2, as another embodiment of the present embodiment, it is disclosed that a via hole 111 is formed on the main board 110 at a position facing the slide 131; when the permanent magnet switch 200 moves toward the main board 110, the bottom end of the permanent magnet switch 200 passes through the through hole 111 and moves to the lower side of the main board 110. Set up through-hole 111 on the mainboard 110 disclosed in this embodiment and be used for permanent magnet switch 200 to pass, during actual manufacturing, because the bottom orientation of permanent magnet switch 200 and the contact surface of climbing robot contact, so generally be provided with the adsorption probe in the bottom of permanent magnet switch 200, set up through-hole 111 and let the bottom of permanent magnet switch 200 can move to the below of mainboard 110, more be favorable to permanent magnet switch 200 to be close to the contact surface, produce the adsorption affinity.
Specifically, as another embodiment of this embodiment, it is disclosed that the controller 500 and the attitude sensor 300 are stacked in sequence on top of the adjusting bracket 130. The permanent magnet switch 200 disclosed in this embodiment is disposed in the slideway 131 to be lifted, and the controller 500 is disposed at the top of the adjusting bracket 130, that is, directly above the permanent magnet switch 200, so that a cable electrically connected between the controller 500 and the permanent magnet switch 200 can be kept in a linear state as much as possible, and in the process of adjusting the permanent magnet switch 200, the cable is pulled, but poor problems such as bending and knotting do not occur, which is beneficial to maintaining stable electrical connection between the controller 500 and the permanent magnet switch 200, and maintaining accurate and efficient control effect. In addition, in the embodiment, the attitude sensor 300 and the controller 500 are stacked, so that the connection is convenient, and the controller 500 can receive the information data of the attitude sensor 300 in real time.
Specifically, as another embodiment of the present embodiment, it is disclosed that the pressure sensor 400 is disposed on the bottom surface of the main plate 110.
As shown in fig. 2 and fig. 3, as another embodiment of the present embodiment, it is disclosed that the moving vehicle body 100 includes a connecting frame 140, the connecting frame 140 is disposed on a bottom surface of the main plate 110, a card slot 141 with a lateral opening is formed on the connecting frame 140, and the pressure sensor 400 is detachably disposed in the card slot 141; the moving component 120 is connected to a side of the pressure sensor 400 facing away from the main board 110. In this embodiment, the pressure sensor 400 is connected with the movable assembly 120, and is used for measuring the pressure transmitted to the movable assembly 120 by the main board 110, and in case of damage or reaching the service life in long-term use, the pressure sensor 400 and the movable assembly 120 connected with the pressure sensor 400 can be flexibly replaced and disassembled by arranging the detachable cooperation of the connecting frame 140 and the pressure sensor 400, so that the climbing robot can be conveniently maintained.
As shown in fig. 2, as another embodiment of this embodiment, it is disclosed that the moving assembly 120 includes a steering engine 121 and a roller 122, a top surface of the steering engine 121 is connected to the pressure sensor 400, an output end of the steering engine 121 extends laterally and is connected to the roller 122, and the steering engine 121 is configured to drive the roller 122 to rotate. The moving assembly 120 disclosed in this embodiment supports the main plate 110 through the roller 122, so that the climbing robot is in rolling contact with the contact surface, friction is reduced, and the climbing robot is beneficial to flexibly moving on the contact surface; the steering engine 121 disclosed in this embodiment includes, but is not limited to, a motor, and other driving parts, and the output end extending out of the steering engine 121 is inserted into the roller 122 to drive the roller 122 to rotate; during actual manufacturing, the steering engine 121 is electrically connected with the controller 500, and the rotating speed of the steering engine 121 is automatically controlled through the controller 500, so that the moving speed of the climbing robot is controlled.
Specifically, as another embodiment of this embodiment, it is disclosed that the roller 122 is detachably connected to the steering engine 121. The roller 122 disclosed in the embodiment continuously works and is used on a ferromagnetic contact surface, sometimes moves on a high-altitude and rugged surface, and the adsorption force between the permanent magnet switch 200 and the contact surface continuously acts on the roller 122 in the moving process, so that the surface of the roller 122 is continuously abraded, the roller 122 is detachably connected with the steering engine 121, when the surface of the roller 122 is damaged, or the service life is reached, the roller can be replaced in time, the whole moving assembly 120 does not need to be detached from the main board 110, and the maintenance flexibility of the climbing robot is improved.
Specifically, as another embodiment of this embodiment, it is disclosed that at least four connecting frames 140 are provided, and each two of the at least four connecting frames 140 are a group and arranged at intervals along the traveling direction of the moving vehicle body 100; the adjusting bracket 130 is arranged between two adjacent groups of the connecting brackets 140; at least four pressure sensors 400 are provided, and at least four sets of moving assemblies 120 are provided. The main board 110 disclosed in this embodiment is generally parallel to the contact surface, so as to facilitate stable movement, and therefore at least four connecting frames 140 are provided and the same number of pressure sensors 400 and moving components 120 are correspondingly provided to support the main board 110 at multiple points, so that the main board 110 is kept stable during the driving process.
As shown in fig. 2, as another embodiment of this embodiment, it is disclosed that the climbing robot further includes a power supply 600, and the power supply 600 is disposed on the moving vehicle body 100 and electrically connected to the controller 500. Through setting up power 600 on removing automobile body 100 in this embodiment, directly supply power for controller 500 for remove automobile body 100 and need not connect power 600 line in the use, save material cost, reduce the restriction to the driving range of removing automobile body 100 simultaneously, be favorable to improving the flexibility in the climbing robot use.
As shown in fig. 1, as another embodiment of the present embodiment, it is disclosed that at least two power supplies 600 are provided, and at least two power supplies 600 are respectively provided at the front end and the rear end of the moving vehicle body 100 in the traveling direction of the moving vehicle body 100. The number of the power supplies 600 is at least two, and the first power supply can increase the continuous power supply capacity, namely the single-use cruising capacity of the climbing robot is increased; the second can be through the tandem arrangement of two power 600 for the front and back end weight balance of removing automobile body 100 keeps removing automobile body 100's focus stable, reduces the risk that removes automobile body 100 and travel the in-process and topple over, improves the security of climbing robot action in-process.
Specifically, as another embodiment of the present embodiment, it is disclosed that the permanent magnet switch 200 can provide 56.3 kg of separating force and 18 kg of shearing force at the maximum.
As shown in fig. 4 and 5, the working principle of the climbing robot in this embodiment is as follows: the position of the permanent magnet switch 200 on the adjusting bracket 130 is adjusted so that the adsorption probe at the bottom of the permanent magnet switch 200 is close to the ferromagnetThe surface of the test specimen, i.e. the contact surface; the controller 500 sends an instruction to drive the permanent magnet switch 200 to be turned on, so that the climbing robot can be adsorbed on the contact surface; the controller 500 drives the steering engine 121 to rotate, so as to drive the roller 122 to rotate, and the roller 122 provides a climbing friction force to realize the advancing function of the climbing robot; in the climbing process, the attitude angle data of the climbing robot is uploaded to the controller 500 through the attitude sensor 300 in real time, when the attitude angle of the climbing robot is changed, the data fed back by the attitude sensor 300 is also changed, and the controller 500 calculates the gravity component F perpendicular to the contact surface of the climbing robot in real time according to the feedback data of the attitude sensor 300 m And in combination with the feedback data of the pressure sensor 400, calculates the net adsorption force F between the climbing robot and the contact surface G A change in (c); if F G Less than or equal to the self weight G of the climbing robot, the controller 500 adjusts the adsorption force of the permanent magnet switch 200 to increase in real time until F G Greater than G, make and realize perfect absorption between climbing robot and the contact surface to suitably reduce the frictional force between climbing robot and the contact surface, reduce the energy loss of climbing robot, thereby realize the nimble control to the low-power consumption of climbing robot.
In conclusion, the present application discloses a climbing robot, which includes a moving vehicle body 100, and a permanent magnet switch 200, an attitude sensor 300, a pressure sensor 400 and a controller 500 which are arranged on the moving vehicle body 100, wherein the permanent magnet switch 200 is configured to generate an adsorption force to keep the moving vehicle body 100 adsorbed on a magnetic contact surface; the permanent magnet switch 200, the attitude sensor 300 and the pressure sensor 400 are all electrically connected with the controller 500, and the controller 500 is used for regulating and controlling the adsorption force of the permanent magnet switch 200 according to the data transmitted by the attitude sensor 300 and the pressure sensor 400. The climbing robot disclosed in this embodiment is used to move on a magnetic contact surface, and by using the permanent magnet switch 200, the attitude sensor 300, the pressure sensor 400 and the controller 500 of the moving vehicle body 100, the moving vehicle body 100 can be kept always attached to the contact surface by the adsorption force generated between the permanent magnet switch 200 and the contact surface, thereby avoiding detachment; the pressure sensor 400 is arranged to collect pressure data between the moving vehicle body 100 and the contact surface in real time, the attitude sensor 300 is arranged to collect attitude data of the moving vehicle body 100 in real time, angle information between the moving vehicle body 100 and the horizontal plane is provided, and the data of the pressure sensor 400 and the attitude sensor 300 are transmitted to the controller 500, so that the balance relation between real-time adsorption force and self gravity of the climbing robot is evaluated, the permanent magnet switch 200 is adjusted accordingly, the adsorption force of the permanent magnet switch 200 and the self gravity of the climbing robot are balanced, stable adsorption of the robot on any operation interface is guaranteed, the robot can move smoothly, the moving resistance is reduced, the motion energy consumption is reduced, the flexibility of the climbing robot is improved, the limitation on the use scene of the climbing robot is reduced, and the problems of heavy structure, high energy consumption and the like of the existing climbing robot are solved.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the utility model discloses it is right with the climbing robot example the utility model discloses a concrete structure and theory of operation introduce, nevertheless the utility model discloses an use not with the climbing robot limit, also can use the production and the use of other similar work pieces.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. A climbing robot is characterized by comprising a moving vehicle body, a permanent magnet switch, an attitude sensor, a pressure sensor and a controller, wherein the permanent magnet switch, the attitude sensor, the pressure sensor and the controller are arranged on the moving vehicle body; the permanent magnet switch, the attitude sensor and the pressure sensor are all electrically connected with the controller, and the controller is used for regulating and controlling the adsorption force of the permanent magnet switch according to data transmitted by the attitude sensor and the pressure sensor.
2. The climbing robot as claimed in claim 1, wherein the moving vehicle body comprises a main board, a moving assembly and an adjusting bracket, wherein the moving assembly is arranged on the bottom surface of the main board and used for supporting and driving the main board to move; the adjusting bracket is arranged on the top surface of the main board, a slide way is formed on the adjusting bracket, and the extending direction of the slide way is vertical to the main board; the permanent magnet switch is slidably arranged in the slideway.
3. The climbing robot according to claim 2, wherein a via hole is formed in a position, which is opposite to the slide, on the main board; when the permanent magnet switch moves towards the main board, the bottom end of the permanent magnet switch penetrates through the through hole and moves to the position below the main board.
4. The climbing robot of claim 2, wherein the controller and the attitude sensor are sequentially stacked on top of the adjustment bracket; and/or the pressure sensor is arranged on the bottom surface of the main board.
5. The climbing robot according to claim 2, wherein the moving vehicle body comprises a connecting frame, the connecting frame is arranged on the bottom surface of the main board, a clamping groove with a lateral opening is formed in the connecting frame, and the pressure sensor is detachably arranged in the clamping groove;
wherein, the removal subassembly with the last one side that deviates from the mainboard of pressure sensor is connected.
6. The climbing robot as claimed in claim 5, wherein the moving assembly comprises a steering engine and a roller, the top surface of the steering engine is connected with the pressure sensor, the output end of the steering engine extends laterally and is connected with the roller, and the steering engine is used for driving the roller to rotate.
7. The climbing robot of claim 6, wherein the rollers are detachably connected to the steering engine.
8. The climbing robot as claimed in any one of claims 5 to 7, wherein the connecting frames are provided with at least four, and each two of the at least four connecting frames are arranged in a group at intervals along the traveling direction of the moving vehicle body; the adjusting bracket is arranged between two adjacent groups of the connecting frames; the pressure sensors are at least four, and the moving assembly is provided with at least four groups.
9. The climbing robot of claim 1, further comprising a power source disposed on the mobile cart body and electrically connected to the controller.
10. The climbing robot of claim 9, wherein the power sources are provided in at least two, at least two of the power sources being provided at a front end and a rear end of the moving body, respectively, in a traveling direction of the moving body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222714549.XU CN218616950U (en) | 2022-10-10 | 2022-10-10 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222714549.XU CN218616950U (en) | 2022-10-10 | 2022-10-10 | Climbing robot |
Publications (1)
| Publication Number | Publication Date |
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| CN218616950U true CN218616950U (en) | 2023-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222714549.XU Active CN218616950U (en) | 2022-10-10 | 2022-10-10 | Climbing robot |
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| CN (1) | CN218616950U (en) |
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2022
- 2022-10-10 CN CN202222714549.XU patent/CN218616950U/en active Active
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