The embodiment of the invention discloses a climbing robot. The climbing robot is used for providing a robot solution with an upper handrail rope and a lower handrail rope as climbing objects. The climbing robot comprises a side hanging wheel assembly and a control module. The side hanging wheel assembly comprises a body rod and climbing modules; each climbing module comprises a V-shaped wheel anda V-shaped wheel mounting bracket; the V-shaped wheels are rotatably mounted on the V-shaped wheel mounting brackets; two groups of climbing modules are arranged in parallel in the length direction of the body rod, the V-shaped wheel of one group of climbing modules is upwards matched with an upper handrail rope, and the V-shaped wheel of the other group of climbing modules is downwards matched with a lower handrail rope, so that climbing along the upper and lower handrail ropes is realized; at least one group of climbing modules further comprises a driving motor, a driving motor mounting bracket and a driving transmission part; the driving motor is fixedly mounted on the V-shaped wheel mounting bracket through the driving motor mounting bracket and drives the V-shaped wheel to rotate through the driving transmission part; and the control module is used for controlling the rotation of the driving motor.
本申请实施例公开了一种攀爬机器人,用于提供一种以上栏杆绳和下栏杆绳为攀爬对象的机器人解决方案。本申请攀爬机器人包括:侧挂轮组件和控制模块,侧挂轮组件包括本体杆和攀爬模块;攀爬模块包括V型轮和V型轮安装支架;V型轮可转动地安装在V型轮安装支架;本体杆的长度方向并列安装两组攀爬模块,一组攀爬模块的V型轮向上适配上栏杆绳、另外一组攀爬模块的V型轮向下适配下栏杆绳,以实现沿着上下栏杆绳攀爬;至少一组攀爬模块还包括驱动电机、驱动电机安装支架以及驱动传动部件;驱动电机通过驱动电机安装支架固定安装在V型轮安装支架,驱动电机通过驱动传动部件驱动V型轮旋转;控制模块用于对驱动电机的转动进行控制。
Climbing robot
一种攀爬机器人
2021-02-19
Patent
Electronic Resource
Chinese
Climbing robot, advancing control method of climbing robot and controller of climbing robot
European Patent Office | 2023
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