The invention provides a robot suspension structure adapting to curved surface crawling. The structure comprises a vehicle frame assembly, a magnetic attraction assembly, a motor and Mecanum wheels. The magnetic attraction assembly comprises magnet frames and a magnet. The magnet frames are respectively arranged at two ends of the vehicle frame assembly; the bottom of each magnet frame is provideda magnet magnetically attracted to a wall surface; motors are arranged on the magnet frames respectively; the output end of each motor is connected with the corresponding Mecanum wheel; the vehicle frame assembly comprises a longitudinal suspension assembly and a transverse curved surface adjusting suspension assembly, the front end and the rear end of the longitudinal suspension assembly are movably connected with the transverse curved surface adjusting suspension assembly respectively, obstacle crossing assemblies are arranged at the two sides of the transverse curved surface adjusting suspension assembly respectively, and each obstacle crossing assembly comprises a spring damper and a parallelogram connecting rod mechanism. According to the robot suspension structure adapting to curvedsurface crawling, the attraction force of the magnets is not changed while stable obstacle crossing can be achieved, safe operation on the curved surface is achieved, and the suspension posture can be simply, conveniently and rapidly adjusted so as to adapt to different curvatures.

    本发明提供一种适应曲面爬行的机器人悬架结构,包括车架组件、磁吸组件、电机和麦克纳姆轮,磁吸组件包括磁铁架和磁铁,车架组件的两端分别设有磁铁架,磁铁架的底部设有用于磁吸附壁面的磁铁,电机设于磁铁架上,电机的输出端连接麦克纳姆轮,车架组件包括纵向悬架组件和横向曲面调整悬架组件,纵向悬架组件的前后两端分别活动连接横向曲面调整悬架组件,横向曲面调整悬架组件的两侧分别设有越障组件,越障组件包括弹簧阻尼器和平行四边形连杆机构;该种适应曲面爬行的机器人悬架结构,能够平稳越障地同时不改变磁铁吸力,达到在曲面安全运行,能够简捷快速地调节悬架姿态以实现对不同曲率的适应。


    Access

    Download


    Export, share and cite



    Title :

    Robot suspension structure suitable for curved surface crawling


    Additional title:

    适应曲面爬行的机器人悬架结构


    Contributors:
    TU CHUNLEI (author) / HUANG FENG (author) / WANG XINGSONG (author) / XIAO WEI (author) / ZHANG CHENG (author)

    Publication date :

    2020-07-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



    Negative pressure adsorption crawling robot curved surface self-adaptive sealing structure

    CHAI JIANWEI / ZHAO BIN / DOU FANGXING et al. | European Patent Office | 2024

    Free access

    AUTONOMOUS SURFACE CRAWLING ROBOT

    CHINTALAPALLI PATTA VENKAT RAJU / GOLLU SRI SAI SHYAM SIDDHARTH / KALHAPURE SWAPNIL SUNIL et al. | European Patent Office | 2021

    Free access

    AUTONOMOUS SURFACE CRAWLING ROBOT

    CHINTALAPALLI PATTA VENKAT RRAJU / GOLLU SRI SAI SHYAM SIDDHARTH / KALHAPURE SWAPNIL SUNIL et al. | European Patent Office | 2023

    Free access

    Crawling robot

    LIU JICHAO / LI KUN / BAI YANXIA et al. | European Patent Office | 2023

    Free access

    Crawling robot

    JIA ZHEN | European Patent Office | 2023

    Free access