CN113232732A - Crawler-type wall climbing robot with curved surface self-adaption capability - Google Patents
Crawler-type wall climbing robot with curved surface self-adaption capability Download PDFInfo
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- CN113232732A CN113232732A CN202110664731.6A CN202110664731A CN113232732A CN 113232732 A CN113232732 A CN 113232732A CN 202110664731 A CN202110664731 A CN 202110664731A CN 113232732 A CN113232732 A CN 113232732A
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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Abstract
The invention discloses a crawler-type wall-climbing robot with curved surface self-adaptive capacity, which adopts a double-vehicle three-crawler system and a split flexible self-adaptive motion mode, wherein two driving crawler walking adsorption modules can restrict the movement of each other to realize flexible motions such as differential turning, a driven crawler walking adsorption module is connected with a first vehicle body and can steer along with the vehicle, and the driven crawler walking adsorption module has transverse pitching freedom relative to the first vehicle body frame and keeps relative independence of the motions; when the curvature of the crawling surface changes, the posture changes of the three crawler walking adsorption modules are relatively independent, the adsorption force direction of the gap type adsorption structure changes along with the change of the curvature, the robot is always ensured to be in the optimal adsorption state, the relative stability between the gravity center and the wall surface of the robot is ensured, and the overturning phenomenon is prevented, so that the robot can flexibly adapt to the change of the curved surface in the longitudinal motion and the turning motion of the curved surface; the problems that the wall climbing robot is poor in curved surface self-adaption performance and unstable in adsorption motion and the like are solved.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a crawler-type wall-climbing robot with curved surface self-adaption capability.
Background
At present, ships sail in seawater for a long time, marine organisms can be accumulated or corrosion phenomena and the like occur due to corrosion of seawater or attached ship planking of some substances, and the surface of a ship hull planking needs to be regularly detected so as to find damage and maintain in time. At present, the detection of a ship body in a domestic shipyard mostly depends on manual work, the danger coefficient is high, and the operation efficiency is low, so that a wall-climbing robot carrying detection device needs to be designed to realize the operation of a machine on the surface of a ship instead of human beings. Wall climbing robot carries out the prerequisite that detects the operation and can stably adsorb at the wall, because the working face is the variable curvature facade, and unevenness's welding seam in addition, when the position through welding seam or camber sudden change, the permanent magnet that plays the adsorption because of with the surface distance increase to the adsorption affinity to the wall diminishes, thereby the robot may have the possibility of falling.
The magnetic adsorption wall-climbing robot with the curved surface self-adaptive capability disclosed in chinese patent document CN 100346939C comprises a wheel type moving mechanism and a plurality of permanent magnetic adsorption devices, wherein the wheel type moving mechanism comprises a chassis, a driving mechanism, a driving wheel and an auxiliary supporting wheel; one end of the permanent magnetic adsorption device is supported on the magnetic conduction wall surface through an auxiliary supporting wheel, and the other end of the permanent magnetic adsorption device is connected with the chassis or other permanent magnetic adsorption devices through a curved surface self-adaptive mechanism with one to three rotational degrees of freedom; the driving wheels are symmetrically arranged, a differential driving mode is adopted, steering on the magnetic conduction wall surface is realized by means of differential of the driving wheels, and the magnetic conduction wall surface steering device has the characteristics of strong load capacity, flexible movement and the like, but the obstacle crossing capacity of the magnetic conduction wall surface steering device is poor, and the movement flexibility is insufficient.
Chinese patent document CN 102039592B discloses a multi-body magnetic adsorption type adaptive wall-climbing robot, belonging to the technical field of special robots, comprising a master device, at least one slave device, at least one mechanical arm and a working tool mounted on each slave device; the main body device comprises a main body frame, a moving mechanism and a main body magnetic adsorption device; the slave body device comprises a slave body frame, a slave body magnetic adsorption device and at least one auxiliary supporting wheel; each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints. The device realizes flexible movement and steering of the spatial omnibearing magnetic conduction wall surface, self-adaptation of the spatial curved surface, and can carry out welding, gouging, cutting, grinding, milling, detection, cleaning or spraying operation on the wall-climbing robot, but the whole volume and weight of the robot are larger, and the light-weight requirement is not met.
The curved surface self-adaptive capacity is used as a key problem for improving the vertical surface movement performance of the wall-climbing robot, and is a core guarantee for the movement flexibility and the path accuracy of the robot in large-scale complex metal vertical surface operation planning with variable curvature; therefore, it is an urgent problem to be solved by those skilled in the art to provide a crawler-type wall-climbing robot with curved surface adaptive capability.
Disclosure of Invention
The invention aims to provide a crawler-type wall-climbing robot with curved surface self-adaptive capacity, which solves the problems in the prior art and can solve the problems.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a crawler-type wall-climbing robot with curved surface self-adaptive capacity, which comprises a first vehicle body, a second vehicle body, a connecting module and a detection mechanism, wherein the first vehicle body is connected with the second vehicle body through a connecting module;
the first vehicle body comprises two driving crawler walking adsorption modules and a first vehicle body frame, wherein the two driving crawler walking adsorption modules move relatively and independently, the two driving crawler walking adsorption modules are hinged to two sides of the bottom of the first vehicle body frame, the two driving crawler walking adsorption modules are respectively driven by a direct current speed reducing motor, a permanent magnet is arranged on the inner side of a first crawler of each driving crawler walking adsorption module, and the permanent magnet is in clearance fit with the inner wall surface of the first crawler;
the second vehicle body is arranged at the tail end of the first vehicle body and comprises a driven crawler walking adsorption module and a second vehicle body frame, the driven crawler walking adsorption module is arranged at the bottom of the second vehicle body frame, the second vehicle body frame is connected with the first vehicle body frame through a connecting module, a permanent magnet is arranged on the inner side of a second crawler of the driven crawler walking adsorption module, and the permanent magnet is in clearance fit with the inner wall surface of the second crawler;
the detection mechanism is arranged at the head end of the top of the first vehicle body frame.
Preferably, the two active crawler walking adsorption modules are arranged symmetrically left and right about the longitudinal center line of the first vehicle body frame; the driving crawler walking adsorption module comprises a first crawler, a driving crawler wheel, a first crawler side plate, a permanent magnet, a driven crawler wheel and a direct current speed reduction motor; the driving crawler wheel is connected with the direct-current speed reduction motor and arranged at the head end of the driven crawler wheel, the crawler is sleeved at the outside of the driving crawler wheel and the driven crawler wheel, the first crawler wheel side plate is arranged on two sides of the first crawler wheel, the head and tail sections of the first crawler wheel side plate are respectively connected with the rotating shaft of the driving crawler wheel and the rotating shaft of the driven crawler wheel, the permanent magnet on the inner side of the first crawler wheel is arranged between the driving crawler wheel and the driven crawler wheel, and two sides of the permanent magnet are connected with the first crawler wheel side plate.
Preferably, the first crawler side plate on the inner side of each of the two driving crawler walking adsorption modules is connected with the bottom of the first vehicle body frame through a hinge, so that the two driving crawler walking adsorption modules have longitudinal turning freedom.
Preferably, the driven crawler walking adsorption module comprises a second crawler, two crawler wheels, a second crawler side plate, a permanent magnet and a direct current speed reduction motor, the two crawler wheels are longitudinally arranged, the second crawler is sleeved outside the two crawler wheels, the second crawler side plate is arranged on two sides of the second crawler, and the head and tail sections of the second crawler side plate are respectively connected with rotating shafts of the two crawler wheels; the permanent magnet on the inner side of the second crawler belt is arranged between the two crawler wheels, and two sides of the permanent magnet are connected with the second crawler belt side plate; the outer sides of the two crawler wheel side plates are connected with the bottom of the second vehicle body frame through fixing plates.
Preferably, the connecting module comprises a first connecting piece, a second connecting piece, a connecting fixing plate and a pin shaft, the first connecting piece and the second connecting piece are connected through the pin shaft to form flexible connection, the first connecting piece and the second connecting piece are respectively connected with the second vehicle body frame and the first vehicle body frame through the connecting fixing plate, and the axis of the pin shaft is parallel to the axis of the track wheel.
Preferably, a battery rack is supported on the second vehicle body frame through a second stud, and the battery rack is used for installing a battery for providing electric energy.
Preferably, the first crawler belt and the second crawler belt are rubber synchronous belts, the tooth shapes of the first crawler belt and the second crawler belt are arc teeth, glass fiber tension layers are arranged in the first crawler belt and the second crawler belt, and the driving crawler wheel, the driven crawler wheel and the crawler wheel are aluminum synchronous pulleys.
Preferably, the permanent magnet is a rectangular permanent magnet magnetized in the height direction.
Preferably, the detection mechanism comprises a camera, a holder, a camera fixing frame and a holder fixing frame, wherein the holder is arranged at the top of the holder fixing frame, the holder fixing frame is fixed at the top of the first vehicle body frame through a first stud, the holder has two degrees of freedom and is driven by a steering engine, and the camera is connected with the holder through the camera fixing frame.
Preferably, the camera can be matched with an Arduino control board, and the camera is provided with a light source; the signal transmission part of the camera adopts a hardware scheme combining Bluetooth and WIFI to control the real-time transmission of signals and videos.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the crawler-type wall-climbing robot with the curved surface self-adaption capability provided by the invention adopts a scheme of double vehicles and three tracks, the weight is reduced compared with an arrangement form of double vehicles and four tracks, the curved surface self-adaption is better compared with an arrangement form of single vehicles and double tracks, and the scheme can be suitable for various large-curvature surface operations at the outer plate of a ship body.
2. The crawler-type wall-climbing robot with the curved surface self-adaption capability has the advantages that the passive self-adaption system has the longitudinal overturning freedom degree and the transverse pitching freedom degree, the relative independence of the two active crawler walking adsorption modules and the second vehicle body posture change is kept, when the curvature of a climbing surface changes, the robot can be always ensured to be in the optimal adsorption state, the relative stability between the gravity center and the wall surface of the robot is ensured, the overturning is prevented, and therefore the robot can flexibly and self-adapt to the curved surface change in the curved surface longitudinal motion and the curved surface turning motion.
3. According to the crawler-type wall-climbing robot with the curved surface self-adaption capability, the wall-climbing robot control system adopts the Arduino development board, and compared with an STM32 system, the crawler-type wall-climbing robot has the advantages of being simple in programming environment, high in degree of freedom, very high in expansibility, high in execution efficiency and low in cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of a crawler-type wall-climbing robot with curved surface self-adaptive capability according to the present invention;
FIG. 2 is a schematic bottom view of a crawler-type wall-climbing robot with curved surface adaptive capacity according to the present invention;
FIG. 3 is a schematic side view of a crawler-type wall-climbing robot with curved surface adaptive capacity according to the present invention;
FIG. 4 is a schematic top view of a crawler-type wall-climbing robot with curved surface adaptive capacity according to the present invention;
in the figure: 1-a first vehicle body, 101-a first crawler belt, 102-a driving crawler wheel, 103-a first crawler belt side plate, 104-a permanent magnet, 105-a driven crawler wheel, 106-a direct current speed reducing motor, 107-a hinge, 108-a first stud and 109-a first vehicle body frame; 2-detection mechanism, 201-holder fixing frame, 202-holder, 203-camera fixing frame, 204-camera; 3-connecting module, 301-first connecting piece, 302-second connecting piece, 303-connecting fixing plate and 304-pin shaft; 4-second vehicle body, 401-second vehicle body frame, 402-second crawler belt, 403-crawler wheel, 404-permanent magnet, 405-fixing plate, 406-second crawler belt side plate, 407-second stud and 408-battery 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.
The invention aims to provide a crawler-type wall-climbing robot with curved surface self-adaptive capacity, and the crawler-type wall-climbing robot is used for solving the problems in the prior art.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The crawler-type wall-climbing robot with the curved surface self-adaptive capacity in the embodiment is shown in fig. 1-4 and comprises a first vehicle body 1, a second vehicle body 4, a connecting module 3 and a detection mechanism 2;
the first vehicle body 1 comprises two driving crawler walking adsorption modules which move relatively and independently and a first vehicle body frame 109, the two driving crawler walking adsorption modules are hinged to two sides of the bottom of the first vehicle body frame 109 and are respectively driven by a direct current speed reducing motor 106, a permanent magnet 104 is arranged on the inner side of a first crawler 101 of each driving crawler walking adsorption module, and the permanent magnet 104 is in clearance fit with the inner wall surface of the first crawler 101;
the second vehicle body 4 is arranged at the tail end of the first vehicle body 1, the second vehicle body 4 comprises a driven crawler walking adsorption module and a second vehicle body frame 401, the driven crawler walking adsorption module is arranged at the bottom of the second vehicle body frame 401, the second vehicle body 4 frame is connected with the first vehicle body 1 frame through a connecting module 3, a permanent magnet 404 is arranged on the inner side of a second crawler 402 of the driven crawler walking adsorption module, and the permanent magnet 404 is in clearance fit with the inner wall surface of the second crawler 402;
the detection mechanism 2 is arranged at the top head end of the first vehicle body 1.
In this embodiment, the two active crawler travel adsorption modules are arranged in bilateral symmetry about the longitudinal centerline of the first vehicle body frame 109; the driving crawler walking adsorption module comprises a first crawler 101, a driving crawler wheel 102, a first crawler side plate 103, a permanent magnet 104, a driven crawler wheel 105 and a direct current speed reduction motor 106; the driving crawler wheel 102 is connected with the direct-current speed reduction motor 106 and is arranged at the head end of the driven crawler wheel 105, the first crawler belt 101 is sleeved outside the driving crawler wheel 102 and the driven crawler wheel 105, the first crawler wheel 403 side plates are arranged at two sides of the first crawler belt 101, the head and tail sections of the first crawler wheel 403 side plates are respectively connected with rotating shafts of the driving crawler wheel 102 and the driven crawler wheel 105, the permanent magnet 104 on the inner side of the first crawler belt 101 is arranged between the driving crawler wheel 102 and the driven crawler wheel 105, and two sides of the permanent magnet 104 are connected with the first crawler wheel 403 side plates. The first crawler belt side plates 103 on the inner sides of the two driving crawler belt walking adsorption modules are connected with the bottom of the first vehicle body frame 109 through hinges 107, so that the two driving crawler belt walking adsorption modules have longitudinal overturning freedom degrees.
In this embodiment, the driven crawler walking adsorption module includes a second crawler 402, two crawler wheels 403, a second crawler side plate 406, a permanent magnet 404 and a dc speed reduction motor 106, the two crawler wheels 403 are arranged longitudinally, the second crawler 402 is sleeved outside the two crawler wheels 403, the second crawler wheel 403 side plate is arranged at two sides of the second crawler 402, and the head and tail sections of the second crawler wheel 403 side plate are respectively connected with the rotating shafts of the two crawler wheels 403; the permanent magnet 404 on the inner side of the second crawler 402 is arranged between the two crawler wheels 403, and two sides of the permanent magnet 404 are connected with the second crawler wheel 403 side plates; the two outer sides of the side plates of the two crawler wheels 403 are connected with the bottom of the second vehicle body frame 401 through a fixing plate 405.
In this embodiment, the connection module 3 has a lateral pitch degree of freedom, enabling the second body 4 to rotate relative to the first body 1; the connecting module 3 comprises a first connecting piece 301, a second connecting piece 302, a connecting fixing plate 303 and a pin 304, the first connecting piece 301 and the second connecting piece 302 are connected through the pin 304 to form flexible connection, the first connecting piece 301 and the second connecting piece 302 are respectively connected with the second vehicle body frame 401 and the first vehicle body frame 109 through the connecting fixing plate 303, and the axis of the pin 304 is parallel to the axis of the crawler wheel 403.
In this embodiment, the detection mechanism 2 includes a camera 204, a pan/tilt 202, a camera mount 203, and a pan/tilt mount 201, the pan/tilt 202 is disposed on the top of the pan/tilt mount 201, the pan/tilt mount 201 is fixed on the top of the first body frame 109 through a first stud 108, the pan/tilt 202 has two degrees of freedom and is driven by a steering engine, and the camera 204 is connected to the pan/tilt 202 through the camera mount 203.
In this embodiment, a battery holder 408 is supported on the second body frame 401 through a second stud 407, and the battery holder 408 is used for mounting a battery for supplying electric energy.
In this embodiment, the first crawler belt 101 and the second crawler belt 402 are rubber synchronous belts, the teeth of the first crawler belt 101 and the second crawler belt 402 are arc teeth, the first crawler belt 101 and the second crawler belt 402 have glass fiber tension layers therein, and have high strength, good flex resistance and low elongation, and the driving crawler wheel 102, the driven crawler wheel 105 and the crawler wheel 403 are aluminum synchronous pulleys. The weight of the travelling mechanism can be effectively reduced, and simultaneously, a larger friction coefficient can be ensured.
In this embodiment, the dc gear motor 106 is a gear-type gear motor, which has a compact structure and a large bearing torque, and the output shaft of the motor is a D-shaped solid shaft and is connected to the driving pulley through a transverse pin.
In this embodiment, the permanent magnets 104 and 404 are rectangular permanent magnets magnetized in the height direction, and the size of the permanent magnets is determined by the curvature radius of the magnetic conductive wall surface and the size of the air gap between the magnetic conductive wall surface and the wall surface.
In this embodiment, the camera 204 is a small and convenient camera module, which can be adapted to the height of the Arduino control board and can ensure the video definition, and the camera module has a light source for illumination. The pan-tilt 202 adopts a two-degree-of-freedom pan-tilt, the rotation stability of the camera 204 can be guaranteed by driving of a small steering engine, and the signal transmission part adopts a hardware scheme combining Bluetooth and WIFI to control real-time transmission of signals and videos.
The working principle of the crawler-type wall-climbing robot with the curved surface self-adaptive capacity is as follows:
the robot adopts a double-vehicle three-track system and a split flexible self-adaptive motion mode, two driving track walking adsorption modules have longitudinal turning freedom degrees relative to a first vehicle body frame 109, the two driving track walking adsorption modules can be used for restraining the movement of each other due to the connection effect of a hinge 107, the flexible motions such as differential turning and the like are realized, driven track walking adsorption modules are connected with a first vehicle body 1 through a connecting module 3 to realize follow-up steering, and the driven track walking adsorption modules have transverse pitching freedom degrees relative to the first vehicle body frame 109, so that the relative independence of the motions is kept; when the curvature of the crawling surface changes, the posture changes of the three crawler walking adsorption modules are relatively independent, the adsorption force direction of the gap type adsorption structure changes along with the change of the curvature, the robot is always ensured to be in the optimal adsorption state, the relative stability between the gravity center and the wall surface of the robot is ensured, and the overturning phenomenon is prevented, so that the robot can flexibly adapt to the change of the curved surface in the longitudinal motion and the turning motion of the curved surface.
The control system can be totally divided into three parts, namely motor control, two-degree-of-freedom holder 202 control, a detection system, wherein send signals to a receiver through PS2 handle buttons, after the signals are received by the receiver, send control signals to the control panel in a serial port mode, and then make it export through a control IO port, control the motor rotation, control the steering wheel rotation angle through adjusting PWM wave, in the aspect of the detection system, what the control panel mainly played is the effect of power supply, power supply is provided for a Bluetooth module and a WIFI module, the module can automatically realize the functions of signal communication and video transmission through the self-contained program.
The principle and the implementation mode of the invention are explained by applying specific examples, and the description of the above examples is only used for helping understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (10)
1. A crawler-type wall climbing robot with curved surface self-adaptive capacity is characterized in that: the device comprises a first vehicle body, a second vehicle body, a connecting module and a detection mechanism;
the first vehicle body comprises two driving crawler walking adsorption modules and a first vehicle body frame, wherein the two driving crawler walking adsorption modules move relatively and independently, the two driving crawler walking adsorption modules are hinged to two sides of the bottom of the first vehicle body frame, the two driving crawler walking adsorption modules are respectively driven by a direct current speed reducing motor, a permanent magnet is arranged on the inner side of a first crawler of each driving crawler walking adsorption module, and the permanent magnet is in clearance fit with the inner wall surface of the first crawler;
the second vehicle body is arranged at the tail end of the first vehicle body and comprises a driven crawler walking adsorption module and a second vehicle body frame, the driven crawler walking adsorption module is arranged at the bottom of the second vehicle body frame, the second vehicle body frame is connected with the first vehicle body frame through a connecting module, a permanent magnet is arranged on the inner side of a second crawler of the driven crawler walking adsorption module, and the permanent magnet is in clearance fit with the inner wall surface of the second crawler;
the detection mechanism is arranged at the head end of the top of the first vehicle body frame.
2. The tracked wall-climbing robot with curved surface self-adaption capability according to claim 1, wherein: the two driving crawler walking adsorption modules are arranged in a bilateral symmetry mode about the longitudinal center line of the first vehicle body frame; the driving crawler walking adsorption module comprises a first crawler, a driving crawler wheel, a first crawler side plate, a permanent magnet, a driven crawler wheel and a direct current speed reduction motor; the driving crawler wheel is connected with the direct-current speed reduction motor and arranged at the head end of the driven crawler wheel, the crawler is sleeved at the outside of the driving crawler wheel and the driven crawler wheel, the first crawler wheel side plate is arranged on two sides of the first crawler wheel, the head and tail sections of the first crawler wheel side plate are respectively connected with the rotating shaft of the driving crawler wheel and the rotating shaft of the driven crawler wheel, the permanent magnet on the inner side of the first crawler wheel is arranged between the driving crawler wheel and the driven crawler wheel, and two sides of the permanent magnet are connected with the first crawler wheel side plate.
3. The tracked wall-climbing robot with curved surface self-adaption capability according to claim 2, wherein: the first crawler side plate on the inner side of the two driving crawler walking adsorption modules is connected with the bottom of the first vehicle body frame through a hinge, so that the two driving crawler walking adsorption modules have longitudinal turning freedom degrees.
4. A tracked wall-climbing robot with curved surface adaptive capacity according to claim 3, characterized in that: the driven crawler walking adsorption module comprises a second crawler, two crawler wheels, a second crawler side plate, a permanent magnet and a direct-current speed reduction motor, the two crawler wheels are longitudinally arranged, the second crawler is sleeved outside the two crawler wheels, the second crawler side plate is arranged on two sides of the second crawler, and the head and tail sections of the second crawler side plate are respectively connected with rotating shafts of the two crawler wheels; the permanent magnet on the inner side of the second crawler belt is arranged between the two crawler wheels, and two sides of the permanent magnet are connected with the second crawler belt side plate; the outer sides of the two crawler wheel side plates are connected with the bottom of the second vehicle body frame through fixing plates.
5. The tracked wall-climbing robot with curved surface self-adaption capability according to claim 4, wherein: the connecting module comprises a first connecting piece, a second connecting piece, a connecting fixing plate and a pin shaft, the first connecting piece and the second connecting piece are connected through the pin shaft to form flexible connection, the first connecting piece and the second connecting piece are connected with the second vehicle body frame and the first vehicle body frame through the connecting fixing plate respectively, and the axis of the pin shaft is parallel to the axis of the crawler wheel.
6. The tracked wall-climbing robot with curved surface self-adaption capability according to claim 1, wherein: and a battery frame is supported on the second vehicle body frame through a second stud, and the battery frame is used for installing a battery for providing electric energy.
7. The tracked wall-climbing robot with curved surface self-adaption capability according to claim 4, wherein: the first crawler belt and the second crawler belt are rubber synchronous belts, the tooth shapes of the first crawler belt and the second crawler belt are arc teeth, glass fiber tension layers are arranged in the first crawler belt and the second crawler belt, and the driving crawler wheels, the driven crawler wheels and the crawler wheels are made of aluminum synchronous belt pulleys.
8. The tracked wall-climbing robot with curved surface self-adaption capability according to claim 1, wherein: the permanent magnet adopts a rectangular permanent magnet magnetized along the height direction.
9. The tracked wall-climbing robot with curved surface self-adaption capability according to claim 1, wherein: the detection mechanism comprises a camera, a holder, a camera fixing frame and a holder fixing frame, wherein the holder is arranged at the top of the holder fixing frame, the holder fixing frame is fixed at the top of the first vehicle body frame through a first stud, the holder has two degrees of freedom and is driven by a steering engine, and the camera is connected with the holder through the camera fixing frame.
10. A tracked wall-climbing robot with curved surface adaptive capacity according to claim 9, characterized in that: the camera can be matched with the Arduino control panel, and is provided with a light source; the signal transmission part of the camera adopts a hardware scheme combining Bluetooth and WIFI to control the real-time transmission of signals and videos.
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Cited By (4)
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| CN113619704A (en) * | 2021-08-27 | 2021-11-09 | 中国船舶科学研究中心 | Magnetic force self-adaptive amphibious wall-climbing robot |
| CN113724413A (en) * | 2021-08-31 | 2021-11-30 | 深圳市慧旺电子有限公司 | Miniature electronic inspection system adaptive to dust-free vacuum workshop and inspection equipment thereof |
| CN113844564A (en) * | 2021-10-26 | 2021-12-28 | 河海大学 | Magnetic adsorption wall-climbing robot suitable for multiple vertical surfaces |
| CN113984904A (en) * | 2021-09-22 | 2022-01-28 | 广东省科学院智能制造研究所 | Storage tank detection wall-climbing robot and flaw detection method thereof |
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| CN113619704B (en) * | 2021-08-27 | 2022-06-28 | 中国船舶科学研究中心 | Magnetic force self-adaptive amphibious wall-climbing robot |
| CN113724413A (en) * | 2021-08-31 | 2021-11-30 | 深圳市慧旺电子有限公司 | Miniature electronic inspection system adaptive to dust-free vacuum workshop and inspection equipment thereof |
| CN113984904A (en) * | 2021-09-22 | 2022-01-28 | 广东省科学院智能制造研究所 | Storage tank detection wall-climbing robot and flaw detection method thereof |
| CN113844564A (en) * | 2021-10-26 | 2021-12-28 | 河海大学 | Magnetic adsorption wall-climbing robot suitable for multiple vertical surfaces |
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