Load-dispersed wall-climbing robot

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Load-dispersed wall-climbing robot

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TAO YOURUI / ZHAO ZHIHAO / PEI JIAXING / XING WENLONG

The invention provides a load-dispersed wall-climbing robot which comprises two walking devices distributed at intervals in the transverse direction, each walking device comprises a chain wheel supporting frame and a plurality of magnetic adsorption units, and a load dispersion mechanism is arranged between each chain wheel supporting frame and the corresponding magnetic adsorption unit. And the load dispersing mechanism is used for dispersing the load to the plurality of magnetic adsorption units. According to the load-dispersed wall-climbing robot provided by the invention, the guide rail isconnected with the chain wheel support frame through the compression spring, so that the guide rail is movable relative to the chain wheel support frame, the distance between the magnetic adsorptionunit and the chain wheel support frame and the distance between the guide wheel and the chain wheel support frame are variable, and a chain is divided into a working surface and a non-working surface;the distance between the magnetic adsorption units and the guide wheels on the working face is increased, the compression springs work, the guide wheels and the magnetic adsorption units are tensioned, loads are dispersed to all the magnetic adsorption units, and the load moving capacity of the wall-climbing robot is remarkably improved.

本发明提供了一种载荷分散的爬壁机器人，包括两个沿横向间隔分布的行走装置，所述行走装置包括链轮支撑架和多个磁吸附单元，所述链轮支撑架和磁吸附单元之间设有载荷分散机构，所述载荷分散机构用于将载荷分散到多个磁吸附单元上。本发明提出的载荷分散的爬壁机器人，导轨与链轮支撑架通过压缩弹簧连接，使导轨相对于链轮支撑架具有可动性，从而使磁吸附单元和导轮与链轮支撑架的距离可变，使得链条分为工作面和非工作面，在工作面磁吸附单元与导轮的距离增大，压缩弹簧工作，拉紧导轮与磁吸附单元，载荷得以分散到每一个磁吸附单元上，显著提高了爬壁机器人的负载移动能力。