The invention discloses a wall-climbing robot driven by a single-degree-of-freedom shear fork, and belongs to the technical field of specialized robots. The robot comprises a rear plate part, a frontplate part, a shear fork telescopic mechanism and a control box for outputting a control instruction, the overall structure adopts a front-back symmetrical layout and a left-right symmetrical layout;each of the front plate part and the rear plate part comprises an adsorption device, a wheel set and a bottom plate, the adsorption devices are used for providing friction force required for the robotto crawl on the wall surface, the wheel sets and the bottom plates are used for ensuring rolling connection between shear fork rods and bottom plates in the shear fork telescopic mechanism, and the front bottom plates and the rear bottom plates are symmetrically supported relative to the center and are connected through two groups of shear fork rods side by side; and a driving device mounted on the bottom plate of the rear plate part drives the robot to move. A traditional telescopic rod is changed into the shear fork rod combination with the larger telescopic ratio, the overall rigidity of the structure is improved, and the problems that a robot body is too heavy, climbing efficiency is low, and the energy utilization rate is low are solved.

    本发明公开了一种单自由度剪叉驱动爬壁机器人,属于特种机器人技术领域,包括后板部分、前板部分、剪叉伸缩机构和用于输出控制指令的控制箱;整体结构采用前后对称式,左右对称式布局;前板部分与后板部分均包含供机器人在墙面爬行需要的摩擦力的吸附装置、保证剪叉伸缩机构中的剪叉杆与底板之间为滚动连接的轮组和底板,前后两块底板所受支撑关于中心对称,前后两块底板之间通过两组并排的剪叉杆连接;安装在后板部分的底板上的驱动装置驱动机器人运动。本发明将传统的伸缩杆改为具有更大伸缩比的剪叉杆组合,提高了结构的整体刚度,解决了机器人本体质量过重,攀爬效率低,能量利用率低等问题。


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    Title :

    Wall-climbing robot driven by single-degree-of-freedom shear fork


    Additional title:

    一种单自由度剪叉驱动爬壁机器人


    Contributors:
    XU YUNDOU (author) / NIE SHENGLONG (author) / JIANG ZE (author) / YANG SHAOBIAO (author) / GE JUNLI (author) / YAO JIANTAO (author) / ZHAO YONGSHENG (author)

    Publication date :

    2020-04-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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