The invention provides a wall-climbing robot walking device which comprises two walking mechanisms arranged in the longitudinal direction, and the two walking mechanisms are connected in a hinged mode. Each walking mechanism comprises a chain wheel supporting frame and a plurality of magnetic adsorption units, each chain wheel supporting frame comprises two supporting beams extending in the longitudinal direction, a pair of caterpillar bands moving synchronously are arranged between the two supporting beams and distributed in the transverse direction at intervals, and the magnetic adsorption units are distributed on the caterpillar bands at intervals. According to the walking device of the wall-climbing robot, the sectional type design is adopted, so that the wall-climbing robot can adjustthe angle between the two walking mechanisms according to the working condition curved surface, and the adaptability of the robot to the working condition curved surface on the whole machine scale isimproved.

    本发明提供了一种爬壁机器人的行走装置,包括沿纵向设置的两个行走机构,两个行走机构通过铰接方式连接;每一行走机构均包括链轮支撑架和多个磁吸附单元,所述链轮支撑架包括两根沿纵向延伸的支撑梁,两根支撑梁之间设有一对同步移动的履带,一对所述履带沿横向间隔分布,多个所述磁吸附单元间隔分布在所述履带上。本发明提出的爬壁机器人的行走装置,采用了分段式的设计,使爬壁机器人能够根据工况曲面调整两个行走机构之间的角度,提升了机器人在整机尺度上对工况曲面的适应性。


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    Title :

    Wall-climbing robot walking device


    Additional title:

    一种爬壁机器人的行走装置


    Contributors:
    TAO YOURUI (author) / JI ZHAOXIN (author) / PEI JIAXING (author) / CHEN YONGCHANG (author)

    Publication date :

    2021-02-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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