CN111959630A - Modularized bionic wall-climbing robot - Google Patents
Modularized bionic wall-climbing robot Download PDFInfo
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- CN111959630A CN111959630A CN202010806879.4A CN202010806879A CN111959630A CN 111959630 A CN111959630 A CN 111959630A CN 202010806879 A CN202010806879 A CN 202010806879A CN 111959630 A CN111959630 A CN 111959630A
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- 239000011664 nicotinic acid Substances 0.000 title abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000001179 sorption measurement Methods 0.000 claims description 31
- 230000001360 synchronised effect Effects 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 5
- 230000009194 climbing Effects 0.000 claims 1
- 239000011521 glass Substances 0.000 abstract description 13
- 230000006870 function Effects 0.000 abstract description 6
- 239000002390 adhesive tape Substances 0.000 abstract description 3
- -1 dew points Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012854 evaluation process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
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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
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Abstract
The invention discloses a modularized bionic wall-climbing robot, which consists of a front symmetrical part and a rear symmetrical part, can be assembled to jointly execute a task, and can also independently execute the task; the independent part comprises a travelling mechanism, a vehicle body structure, a pitching mechanism, a power supply and control assembly and a quick-change interface assembly; running gear symmetric distribution is in the lower floor left and right sides of automobile body structure, and quick change interface module fixes the intermediate position at automobile body structure, and two parts before pitching the mechanism connection robot, back realize the relative motion of pitching between two parts, and power and control assembly install upper portion in automobile body structure to with pitch the mechanism and link to each other. The invention supports quick-change modularized detection, realizes modularized multiplexing of multiple functions of adhesive tapes, dew points, glass and the like, supports module customization and function expansion, can realize that professional detection technicians are far away from a high-altitude operation field, realizes performance and state detection of curtain wall glass and auxiliary structural members thereof, and eliminates high-altitude operation safety risks of the detection personnel.
Description
Technical Field
The invention belongs to the field of mechanical automation engineering, and particularly relates to a modularized bionic wall-climbing robot.
Background
Wall-climbing robots for building surfaces are in various types, such as wheels, crawler belts, hanging baskets and the like, and are mainly used in the cleaning work process of buildings. The detection of the adhesive tape, the glass and the metal connecting piece is very important work in the evaluation process aiming at the expired curtain wall building, the most direct judgment basis can be provided for the curtain wall building whether to be continuously used or not, and safety guarantee is provided for subsequent work. The existing high-rise curtain wall detection process is carried out by adopting professional technicians or small unmanned aerial vehicles, but the artificial detection is high in danger, the unmanned aerial vehicle detection can only be carried out according to the shape, and detailed technical parameters cannot be given. The curtain wall state detection by the modularized bionic wall-climbing robot is not reported at home and abroad at present. The robot is adopted to replace the manual work for detection, so that the detection efficiency can be effectively improved, and the potential safety hazard can be eliminated.
Disclosure of Invention
In order to solve the problems that the existing wall-climbing robot cannot adapt to different working environments, is small in adhesive force and the like, the invention aims to provide a modularized bionic wall-climbing robot which can realize large load, long distance and various detection functions.
The purpose of the invention is realized by the following technical scheme:
a modularized bionic wall-climbing robot comprises a front part and a rear part which are composed of two same parts (1) and (2). Each part comprises a travelling mechanism (3), a vehicle body structure (4), a pitching mechanism (5), a power supply and control assembly (6), a quick-change interface assembly (7) and a vacuum adsorption device (37), wherein the front part (1) and the rear part (2) have the same structure and are symmetrically arranged about the axis of the pitching mechanism (5); the traveling mechanisms (3) are symmetrically distributed on the left side and the right side of the lower layer in the vehicle body structure (4), and the advancing, the retreating and the differential steering of the robot are realized through the traveling driving motors (8) which are symmetrically distributed; the quick-change interface assembly (7) is fixed in the middle of the vehicle body structure (4) and is connected with each detection module through a locking mechanism (9) and a power supply interface assembly (10); the power supply and control assembly (6) mainly comprises a direct current battery (11) and a control circuit board (12), is arranged at the upper part in the vehicle body structure (4) through an L-shaped power supply fixing adapter plate (13), and is connected with the pitching mechanism (5); the pitching mechanism (5) mainly comprises a pitching driving motor (14) and a pitching output flange (15), and the front part and the rear part of the robot (1) and the robot (2) are connected with each other through the respective pitching output flanges (15).
The walking mechanism (3) comprises a walking driving motor (8), a walking motor fixing plate (16), a bevel gear set (17), a synchronous belt (18), two synchronous belt wheels (19), two transmission shafts (20) and two output wheels (21), wherein the walking motor fixing plate (16) is fixed on the vehicle body structure (4) and is connected with the walking driving motor (8) through screws; the bevel gear set (17) comprises two bevel gears which are matched with each other, wherein an input bevel gear (22) is fixedly connected with an output shaft of the walking drive motor (8), and the other output bevel gear (23) is fixedly connected with the transmission shaft (20); the transmission shaft (20) is rotatably connected with the vehicle body structure (4) and is fixedly connected with the output bevel gear (23), the synchronous belt wheel (19) and the output wheel (21) in sequence. The synchronous belt (18) is connected with the front synchronous belt wheel and the rear synchronous belt wheel (19), the rear synchronous belt wheel (19) is fixedly connected with the rear output wheel (21) through the rear transmission shaft (20), and synchronous motion of the two output wheels on the same side is achieved.
The vehicle body structure (4) comprises a vehicle body main structure (24), a power supply supporting tube (25), a locking mechanism (9) and a power supply interface assembly (10), wherein the vehicle body main structure (24) is of a square frame structure, the power supply supporting tube (25) is positioned on one side of the upper part of the main structure (24), and the locking mechanism (9) and the power supply interface assembly (10) are arranged on the other side of the upper part; the power supply interface component (10) comprises a data interface (26) and a power supply interface (27) which are respectively connected with corresponding interfaces of the quick-change module; the locking mechanism (9) comprises a stop shoulder (28) and a corresponding fixed pressing plate (29) on the main structure (24), and the corresponding structure on the quick-change module is pressed and fixed on the main structure (24) through the mutual matching of the stop shoulder (28) and the fixed pressing plate (29).
The pitching mechanism (5) comprises a pitching motor fixing seat (30), a pitching driving motor (14) and a pitching output flange (15), wherein the pitching motor fixing seat (30) is of a tubular structure, the side surface of the pitching motor fixing seat is fixedly connected with the end surface of a power supply supporting tube (25), the end surface of the pitching motor fixing seat is fixedly connected with the pitching motor (14), and an output shaft of the pitching motor (14) is fixedly connected with a shaft of the pitching output flange (15) in a tube of the pitching motor fixing seat (30) through a coupler; the pitch output flange (15) shaft is rotatably connected with a pitch motor fixing seat (30) through a bearing.
The power supply and control assembly (6) comprises an L-shaped power supply fixing adapter plate (13), a direct current battery (11), a control circuit board (12) and a circuit board protective cover (36), wherein the direct current battery (11), the control circuit board (12) and the circuit board protective cover (36) are respectively fixed at two ends of the L-shaped power supply fixing adapter plate (13), and the circuit board protective cover (36) covers the control circuit board (12).
The vacuum adsorption device (37) comprises a vacuum generator (38), a vacuum adsorption fixing plate (39) and a vacuum curtain assembly (40), wherein the vacuum generator (38) and the vacuum curtain assembly (40) are fixed on the vacuum adsorption fixing plate (39) through screws and are connected with the main body structure (24) of the vehicle body through the vacuum adsorption fixing plate (39); vacuum curtain subassembly (40) are by fixed frame (41) in vacuum, preceding curtain (31) and side direction curtain (32) are constituteed, preceding curtain (31) comprise many swing rods (34) partially, link to each other with fixed frame (41) in vacuum through rotation axis (44) on the fixed frame in vacuum (41), and the duplex winding is swung around rotation axis (33), side direction curtain (32) comprise many telescopic link (35), realize reciprocating of telescopic link (35) through the flexible hole on the fixed frame in vacuum (41).
The invention has the advantages and positive effects that:
1. the invention can realize that a detection professional technician is far away from the site, and can realize the mutual combination of various detection functions.
2. The front and rear parts of the curtain wall building can respectively and independently execute tasks and can also be combined to execute the tasks, the curtain wall building can be independently operated aiming at a large-area spreading curtain wall structure, and the curtain wall building can be combined to operate aiming at the curtain wall building with transverse and longitudinal ridges.
3. The bionic negative pressure retaining device can realize heavy-load operation, and the crossing type obstacle crossing is realized due to the combined motion of the front part and the rear part, so that the detection of the curtain wall building with the complex surface is realized.
4. The invention supports quick-change modularized detection, can realize modularized multiplexing of various functions such as adhesive tape, dew point, glass and the like, and supports module customization and function expansion.
Drawings
FIG. 1 is a schematic top view of a dual module of the present invention.
FIG. 2 is a schematic view of the internal structure of the present invention.
Fig. 3 is a schematic perspective view of a single module according to the present invention.
Fig. 4 is a schematic bottom view of a single module structure according to the present invention.
FIG. 5 is a schematic top view of a single module of the present invention.
FIG. 6 is a schematic structural diagram of a vacuum adsorption apparatus according to the present invention.
Figure 7 is a schematic view of a vacuum curtain assembly of the present invention.
Fig. 8 is a schematic structural diagram of the traveling mechanism of the present invention.
Fig. 9 is a side view of the walking mechanism structure of the invention.
FIG. 10 is a schematic diagram of a power supply and control module according to the present invention.
Wherein: 1 is a front part, 2 is a rear part, 3 is a walking mechanism, 4 is a vehicle body structure, 5 is a pitching mechanism, 6 is a power supply and control component, 7 is a quick-change interface component, 8 is a walking driving motor, 9 is a locking mechanism, 10 is a power supply interface component, 11 is a direct current battery, 12 is a control circuit board, 13 is an L-shaped power supply fixing adapter plate, 14 is a pitching driving motor, 15 is a pitching output flange, 16 is a walking motor fixing plate, 17 is a bevel gear set, 18 is a synchronous belt, 19 is a synchronous pulley, 20 is a transmission shaft, 21 is an output wheel, 22 is an input bevel gear, 23 is an output bevel gear, 24 is a main body structure, 25 is a power supply support pipe, 26 is a data interface, 27 is a power supply interface, 28 is a stop shoulder, 29 is a fixing pressure plate, 30 is a pitching motor fixing seat, 31 is a forward curtain, 32 is a lateral swing rod, 33 is a rotating shaft, 34 is a deflection, 35 is the telescopic link, 36 is the circuit protection casing, 37 is the vacuum adsorption device, 38 is vacuum generator, 39 is the vacuum adsorption fixed plate, 40 is the vacuum curtain subassembly, 41 is the vacuum fixed frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
As shown in fig. 1, 2, 3 and 5, the invention comprises that the front part and the back part of the robot are composed of two identical parts (1) and (2). Each part comprises a travelling mechanism (3), a vehicle body structure (4), a pitching mechanism (5), a power supply and control assembly (6), a quick-change interface assembly (7) and a vacuum adsorption device (37).
The locking mechanism (9) on the vehicle body structure (4) comprises a stop shoulder (28) and a corresponding fixed pressing plate (29) on the main body structure (24), and the corresponding structure on the quick-change module is pressed and fixed on the main body structure (24) through the mutual matching of the stop shoulder (28) and the fixed pressing plate (29). When the front part (1) and the rear part (2) of the modularized bionic wall-climbing robot and the quick-change module are installed, the front part (1) and the rear part (2) of the robot are connected through the corresponding pitching output flanges (15).
As shown in fig. 10, the power supply in the front and back parts (1), (2) of the robot and the control circuit board (12) in the control assembly (6) coordinate with the direct current battery (11) and the walking driving motor (8) to move on the surface of the curtain wall glass. When the building structure is stupefied in front of the robot, a control circuit board (12) in the front part (1) coordinates with a direct current battery (11) to supply power to a pitch driving motor (14), and controls the pitch driving motor (14) to rotate so as to drive a pitch output flange (15) connected with the pitch driving motor to rotate. Meanwhile, a control circuit board (12) in the rear part (2) coordinates with a direct current battery (11) to supply power to a pitch driving motor (14), and controls the pitch driving motor (14) to rotate so as to drive a pitch output flange (15) connected with the pitch driving motor to rotate. At the moment, the vacuum adsorption device (37) in the front part (1) of the robot stops working, the front part (1) is separated from the surface of the curtain wall glass and rotates around the shaft of the elevation output flange (15) to be raised, and the lowest point of the structure of the front part (1) is higher than the ridge line of the curtain wall. The rear part (2) moves forwards under the combined action of the corresponding vacuum adsorption device (37) and the walking drive motor (8) until the edge of the main structure (24) is close to the edge of the curtain wall, at the moment, a power supply in the front part (1) and the rear part (2) of the robot and a control circuit board (12) in the control assembly (6) coordinate with the direct-current battery (11) and the pitching drive motor (14) to enable the pitching drive motor (14) to rotate reversely to drive the pitching output flange (15) connected with the pitching drive motor to rotate reversely at the same time until the front part (1) is in contact with the curtain wall glass again, and the corresponding vacuum adsorption device (37) enables the front part to work again to form a stable adsorption relation with the curtain wall glass.
At the moment, the robot completes the crossing of the front part (1) to the ridge line of the building curtain wall. The robot rear part (2) correspondingly moves according to the mode, crossing of the rear part (2) on the building curtain wall ridge is completed, and the robot moves integrally across the building ridge.
Example two
As shown in fig. 4, 6 and 7, the vacuum adsorption device (37) comprises a vacuum generator (38), a vacuum adsorption fixing plate (39) and a vacuum curtain assembly (40), wherein the vacuum generator (38) and the vacuum curtain assembly (40) are fixed on the vacuum adsorption fixing plate (39) through screws and are connected with the vehicle body main structure (24) through the vacuum adsorption fixing plate (39); vacuum curtain subassembly (40) are by fixed frame (41) in vacuum, preceding curtain (31) and side direction curtain (32) are constituteed, preceding curtain (31) comprise many swing rods (34) partially, link to each other with fixed frame (41) in vacuum through rotation axis (33) on the fixed frame in vacuum (41), and the duplex winding rotation axis (33) beat, side direction curtain (32) comprise many telescopic link (35), realize reciprocating of telescopic link (35) through the flexible hole on the fixed frame in vacuum (41).
When the vacuum generator (38) starts to operate on a control line of the control circuit board (12), the lower ends of the inclined swing rod (34) and the telescopic rod (35) are connected with the curtain wall glass in a rolling mode, and the vacuum fixing frame (41), the inclined swing rod (34), the telescopic rod (35) and the curtain wall glass jointly form a relative closed space to achieve the purpose of keeping the vacuum degree in the space.
When uneven attached crops are adhered to the curtain wall glass, a plurality of deflection swing rods (34) corresponding to the attached crops in the vacuum adsorption device (37) deflect, the lower ends of the corresponding deflection swing rods (34) are connected with the attached crops, dimensional movement of the front curtain to the attached crops is achieved, close contact between the lower ends of the front curtain and the surface of the curtain wall is guaranteed, and air leakage points are prevented. In the same way, the curtain at the rear end in the vacuum adsorption device (37) realizes the maintenance of the vacuum degree in the vacuum adsorption device (37) through dimensional deflection.
When the attached crops on the curtain wall glass pass through the lower part of the lateral curtain in the vacuum adsorption device (37), the corresponding telescopic rods (35) stretch up and down, the lower ends of the telescopic rods (35) are connected with the attached crops, the dimensional movement of the lateral curtain to the attached crops is realized, the lower ends of the lateral curtain are ensured to be in close contact with the surface of the curtain wall, and air leakage points are prevented. In the same way, the curtain on the other side of the vacuum adsorption device (37) realizes the maintenance of the vacuum degree in the vacuum adsorption device (37) through dimensional expansion and contraction.
The stable and reliable adsorption of the robot is realized by keeping the vacuum state in the vacuum adsorption device (37) in real time through the dimensional motion of the curtains in the front, back, left and right directions in the vacuum adsorption device (37).
EXAMPLE III
As shown in fig. 5, the quick-change module and the robot are quickly connected and replaced through the quick-change interface assembly (7), when the quick-change module is installed, firstly, a stop block on the module and a stop shoulder (28) on a main body structure (24) in a locking mechanism (9) on the robot are matched with each other and horizontally inserted, and a data interface (26) and a power supply interface (27) in the power supply interface assembly (10) are naturally and mutually butted in the inserting process. After the insertion is finished, a fixed pressing plate (29) in the locking mechanism (9) is fixed on the main body structure (24) through bolts, and the quick connection between the quick-change module and the robot is realized from two aspects of structure and electric control through the mode.
The working principle of the invention is as follows:
as shown in fig. 8 and 9, the traveling mechanism (3) includes a traveling driving motor (8), a traveling motor fixing plate (16), a bevel gear set (17), a synchronous belt (18), two synchronous pulleys (19), two transmission shafts (20) and two output wheels (21), and the traveling motor fixing plate (16) is fixed on the vehicle body structure (4) and connected with the traveling driving motor (8) through screws. The bevel gear set (17) comprises two bevel gears which are matched with each other, wherein an input bevel gear (22) is fixedly connected with an output shaft of the walking drive motor (8), and the other output bevel gear (23) is fixedly connected with the transmission shaft (20). The transmission shaft (20) is rotatably connected with the vehicle body structure (4) and is fixedly connected with the output bevel gear (23), the synchronous belt wheel (19) and the output wheel (21) in sequence. The synchronous belt (18) is connected with the front synchronous belt wheel and the rear synchronous belt wheel (19), the rear synchronous belt wheel (19) is fixedly connected with the rear output wheel (21) through the rear transmission shaft (20), and synchronous motion of the two output wheels on the same side is achieved.
The invention has simple and reliable structure, can carry out intelligent detection on the surface of the curtain wall building, and realizes the perception and evaluation of the safety state of the curtain wall building through the digital detection of sealant, a glass body, a metal structural part for fixation and the like so as to provide service for the safety of urban buildings.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. The utility model provides a bionical wall climbing robot of modularization which characterized in that: the robot is characterized in that the front part and the rear part of the robot are composed of two identical parts (1) and (2), each part comprises a walking mechanism (3), a vehicle body structure (4), a pitching mechanism (5), a power supply and control assembly (6), a quick-change interface assembly (7) and a vacuum adsorption device (37), wherein the front part (1) and the rear part (2) have the same structure and are symmetrically arranged about the axis of the pitching mechanism (5); the traveling mechanisms (3) are symmetrically distributed on the left side and the right side of the lower layer in the vehicle body structure (4), and the advancing, the retreating and the differential steering of the robot are realized through the traveling driving motors (8) which are symmetrically distributed; the quick-change interface assembly (7) is fixed in the middle of the vehicle body structure (4) and is connected with each detection module through a locking mechanism (9) and a power supply interface assembly (10); the power supply and control assembly (6) mainly comprises a direct current battery (11) and a control circuit board (12), is arranged at the upper part in the vehicle body structure (4) through an L-shaped power supply fixing adapter plate (13), and is connected with the pitching mechanism (5); the pitching mechanism (5) mainly comprises a pitching driving motor (14) and a pitching output flange (15), and the front part and the rear part of the robot (1) and the robot (2) are connected with each other through the respective pitching output flanges (15).
2. The modular biomimetic wall-climbing robot according to claim 1, characterized in that: the walking mechanism (3) comprises a walking driving motor (8), a walking motor fixing plate (16), a bevel gear set (17), a synchronous belt (18), two synchronous belt wheels (19), two transmission shafts (20) and two output wheels (21), wherein the walking motor fixing plate (16) is fixed on the vehicle body structure (4) and is connected with the walking driving motor (8) through screws; the bevel gear set (17) comprises two bevel gears which are matched with each other, wherein an input bevel gear (22) is fixedly connected with an output shaft of the walking drive motor (8), and the other output bevel gear (23) is fixedly connected with the transmission shaft (20); the transmission shaft (20) is rotatably connected with the vehicle body structure (4) and is fixedly connected with the output bevel gear (23), the synchronous belt pulley (19) and the output wheel (21) in sequence; the synchronous belt (18) is connected with the front synchronous belt wheel and the rear synchronous belt wheel (19), the rear synchronous belt wheel (19) is fixedly connected with the rear output wheel (21) through the rear transmission shaft (20), and synchronous motion of the two output wheels on the same side is achieved.
3. The modular biomimetic wall-climbing robot according to claim 1, characterized in that: the vehicle body structure (4) comprises a vehicle body main structure (24), a power supply supporting tube (25), a locking mechanism (9) and a power supply interface assembly (10), wherein the vehicle body main structure (24) is of a square frame structure, the power supply supporting tube (25) is positioned on one side of the upper part of the main structure (24), and the locking mechanism (9) and the power supply interface assembly (10) are arranged on the other side of the upper part; the power supply interface component (10) comprises a data interface (26) and a power supply interface (27) which are respectively connected with corresponding interfaces of the quick-change module; the locking mechanism (9) comprises a stop shoulder (28) and a corresponding fixed pressing plate (29) on the main structure (24), and the corresponding structure on the quick-change module is pressed and fixed on the main structure (24) through the mutual matching of the stop shoulder (28) and the fixed pressing plate (29).
4. The modular biomimetic wall-climbing robot according to claim 1, characterized in that: the pitching mechanism (5) comprises a pitching motor fixing seat (30), a pitching driving motor (14) and a pitching output flange (15), wherein the pitching motor fixing seat (30) is of a tubular structure, the side surface of the pitching motor fixing seat is fixedly connected with the end surface of a power supply supporting tube (25), the end surface of the pitching motor fixing seat is fixedly connected with the pitching motor (14), and an output shaft of the pitching motor (14) is fixedly connected with a shaft of the pitching output flange (15) in a tube of the pitching motor fixing seat (30) through a coupler; the pitch output flange (15) shaft is rotatably connected with a pitch motor fixing seat (30) through a bearing.
5. The modular biomimetic wall-climbing robot according to claim 1, characterized in that: the power supply and control assembly (6) comprises an L-shaped power supply fixing adapter plate (13), a direct current battery (11), a control circuit board (12) and a circuit board protective cover (36), wherein the direct current battery (11), the control circuit board (12) and the circuit board protective cover (36) are respectively fixed at two ends of the L-shaped power supply fixing adapter plate (13), and the circuit board protective cover (36) covers the control circuit board (12).
6. The modular biomimetic wall-climbing robot according to claim 1, characterized in that: the vacuum adsorption device (37) comprises a vacuum generator (38), a vacuum adsorption fixing plate (39) and a vacuum curtain assembly (40), wherein the vacuum generator (38) and the vacuum curtain assembly (40) are fixed on the vacuum adsorption fixing plate (39) through screws and are connected with the main body structure (24) of the vehicle body through the vacuum adsorption fixing plate (39); vacuum curtain subassembly (40) are by fixed frame (41) in vacuum, preceding curtain (31) and side direction curtain (32) are constituteed, preceding curtain (31) comprise many swing rods (34) partially, link to each other with fixed frame (41) in vacuum through rotation axis (44) on the fixed frame in vacuum (41), and the duplex winding is swung around rotation axis (33), side direction curtain (32) comprise many telescopic link (35), realize reciprocating of telescopic link (35) through the flexible hole on the fixed frame in vacuum (41).
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| CN202010806879.4A CN111959630A (en) | 2020-08-12 | 2020-08-12 | Modularized bionic wall-climbing robot |
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| CN202010806879.4A CN111959630A (en) | 2020-08-12 | 2020-08-12 | Modularized bionic wall-climbing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111905666A (en) * | 2020-08-19 | 2020-11-10 | 苏州永鼎智联科技有限公司 | Quick change chemical reaction device |
| CN114137074A (en) * | 2021-11-24 | 2022-03-04 | 苏州市建设工程质量检测中心有限公司 | Glass curtain wall detection device based on bionic wall-climbing robot |
| CN115387214A (en) * | 2022-06-07 | 2022-11-25 | 长沙理工大学 | Ground penetrating radar automatic detection device with wall climbing and face changing crawling functions and detection method |
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