The invention discloses a wall surface self-adaptive walking module, which comprises a left side vehicle body and a right side vehicle body, wherein the left side vehicle body and the right side vehicle body are connected through a two-degree-of-freedom rotating mechanism; two magnetic wheels are arranged on one side of the left side vehicle body, and two magnetic wheels are arranged on one side of the right side vehicle body. In the obstacle crossing process of the wall surface self-adaptive walking module, due to the fact that the vehicle bodies on the two sides are connected through the two-degree-of-freedom rotating mechanism, when a magnetic wheel of the vehicle body on one side is lifted, a magnetic wheel of the vehicle body on the other side can still be reliably attracted to the wall surface; and meanwhile, for curved wall surfaces with different curvatures, the vehicle bodies on the two sides can mutually rotate to adapt to the shapes of the wall surfaces, and reliable adsorption is guaranteed.
本发明是一种壁面自适应行走模块,包括左侧车身和右侧车身,左侧车身和右侧车身之间通过两自由度转动机构连接,在左侧车身的一侧设置两个磁轮,在右侧车身的一侧设置两个磁轮。本发明的一种壁面自适应行走模块跨越障碍物过程中,由于两侧车身通过一个两自由度转动机构相连,使得当某一侧车身的磁轮被抬起时,另一侧车身的磁轮依然能可靠的吸附在壁面上;同时,对于不同曲率的曲面型壁面,两侧车身可以发生相互转动来自适应壁面形状,保证可靠的吸附。
Wall surface self-adaptive walking module
一种壁面自适应行走模块
2020-10-16
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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