The invention relates to a wall surface omni-directional crawling robot which solves the problem that an existing wall surface crawling robot cannot give consideration to all positions of a wall surface, and meanwhile solves the problems that power of the crawling robot is input from one side, and stability is poor. According to the device, four independently-controlled omnidirectional wheel mechanisms are arranged on a supporting plate, each omnidirectional wheel mechanism is sequentially provided with a walking motor, a gearbox, a steering driven gear and a wheel frame from top to bottom, walking wheels are installed on the inner sides of the wheel frames through wheel shafts, and the walking wheels are permanent magnet wheels; the upper side of the gearbox is input, the gearbox adopts a transverse penetrating type output shaft to synchronously output from the left side wall and the right side wall, the two ends of the output shaft and the two ends of the wheel shaft synchronously drive a steering driving gear meshed with the steering driven gear and a steering motor for driving the steering driving gear through synchronous belts respectively, and the supporting plate is provided with the steering driving gear. The crawling robot can achieve omni-directional crawling, the walking wheels adopt bilateral synchronous power input, the driving mode is more reliable and stable, and it is ensured that the moving track of the robot is controllable.

    本发明涉及一种壁面全向爬行机器人,解决现有的壁面爬行机器人难以兼顾到壁面每一处的问题,同时解决了爬行的机器人动力单侧输入,稳定性较差的问题。本装置包括支撑板上设有四个独立控制的全向轮机构,所述全向轮机构从上到下依次设置行走电机、齿轮箱、转向从动齿轮、轮架,轮架内侧通过轮轴安装有行走轮,所述行走轮为永磁轮;齿轮箱上侧输入,齿轮箱采用横向贯穿式的输出轴从左右两侧壁同步输出,输出轴两端与轮轴两端分别通过同步皮带同步传动支撑板上设有与转向从动齿轮啮合的转向主动齿轮、驱动转向主动齿轮的转向电机。本发明的爬行机器人可实现全向爬行,行走轮采用双侧同步动力输入,驱动方式更加可靠稳定,确保机器人运行轨迹可控。


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    Titel :

    Wall surface omni-directional crawling robot


    Weitere Titelangaben:

    一种壁面全向爬行机器人


    Beteiligte:
    DUAN ZHENHUA (Autor:in) / DENG CHENGGANG (Autor:in) / ZHENG GAOAN (Autor:in) / WEN JUN (Autor:in) / CHEN WEI (Autor:in)

    Erscheinungsdatum :

    2022-12-13


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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