A driving motor on a front fork frame and a driving motor on a rear fork frame drive the front fork frame and the rear fork frame to rotate by a certain angle by means of a synchronous belt wheel formed by combining a synchronous belt, a driving belt wheel and a driven belt wheel, obstacle crossing of the robot is completed, the robot adapts to climb over different angles, and the robot can climb over different angles. When a front sensor detects a transition wall surface, a front suction cup is separated from a front electromagnetic clutch, a driving motor on a front fork frame rotates the front fork frame through a driving belt wheel, a synchronous belt and a driven belt wheel composite device, and the conditions that a transition acute angle is stuck and an external angle cannot be transited can be avoided; when the middle three-cavity star wheel type suction cup passes through the transition wall surface, the middle electromagnetic clutch is separated, and the middle three-cavity star wheel type suction cup adapts to the transition wall surface; when the three-cavity star wheel type suction cup on the rear side passes through the transition wall face, the electromagnetic clutch in the middle is separated, and the driving motor on the rear fork frame achieves rotation of the rear fork frame through a driving belt wheel, a synchronous belt and a driven belt wheel composite device.

    本发明公开了一种轮足式爬壁机器人,前叉架上的驱动电机、后叉架上的驱动电机借助同步带、主动带轮和从动带轮组合成的同步带轮,驱动前叉架、后叉架旋转一定角度,完成机器人越障,机器人适应翻越不同角度,前置传感器检测到过渡壁面时,前吸盘与前电磁离合器分离,前叉架上的驱动电机通过主动带轮、同步带、从动带轮复合装置,实现前叉架旋转,可避免过渡锐角卡死、无法过渡外角情况;中间的三腔星轮式吸盘经过过渡壁面时,中间的电磁离合器分离,中间的三腔星轮式吸盘自适应过渡壁面;后侧的三腔星轮式吸盘经过过渡壁面时,中间的电磁离合器分离,后叉架上的驱动电机通过主动带轮、同步带、从动带轮复合装置,实现后叉架旋转。


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    Titel :

    Wheel foot type wall-climbing robot


    Weitere Titelangaben:

    轮足式爬壁机器人


    Beteiligte:
    GAO HAICHAO (Autor:in) / WEI XINHUA (Autor:in) / LYU WANWAN (Autor:in) / HAN HAIMIN (Autor:in) / DONG WEI (Autor:in) / LIU QINGHUA (Autor:in) / ZHANG PENGJIE (Autor:in)

    Erscheinungsdatum :

    11.11.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / F03D Windkraftmaschinen , WIND MOTORS



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