The invention relates to the technical field of robots, in particular to a mobile robot. A double-rotor wheel type ground/wall mobile robot comprises a front wheel type robot body and a rear wheel type robot body which are connected, and each wheel type robot body comprises a cylindrical rolling wheel and a frame for supporting the cylindrical rolling wheel; a traction mechanism used for providinglift force and a self-balancing mechanism used for distributing the direction of the lift force are arranged in the cylindrical roller; the traction mechanism is mounted on the self-balancing mechanism and can horizontally move or rotate along the central axis of the cylindrical roller under the action of the self-balancing mechanism; the direction of the lifting force provided by the traction mechanism is the movement direction of the cylindrical roller; when the traction mechanism is located in the center of the cylindrical roller, the cylindrical roller moves along a straight line; and when the traction mechanism deviates from the center of the cylindrical roller, the front and rear wheeled robots generate a differential action to realize steering. The robot has the advantages of highmaneuvering performance, high flexibility and certain obstacle crossing capacity.

    本发明涉及机器人技术领域,特别涉及一种移动机器人。一种双旋翼轮式地/壁移动机器人,包括:前后两个相连接的轮式机器人,轮式机器人均包括:圆柱形滚轮以及对圆柱形滚轮进行支撑的框架;圆柱形滚轮内设有用于提供升力的牵引机构,以及用于分配该升力朝向的自平衡机构;牵引机构安装于自平衡机构,在自平衡机构的作用下实现沿圆柱形滚轮中轴线水平移动或旋转;牵引机构所提供升力方向即为圆柱形滚轮运动的方向;当牵引机构位于圆柱形滚轮中心位置时,圆柱形滚轮沿直线运动;当牵引机构偏离圆柱形滚轮中心位置时,前后两个轮式机器人产生差速作用,实现转向。本发明具有高机动性能,高灵活性,同时具备一定的越障能力。


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    Title :

    Double-rotor wheel type ground/wall mobile robot


    Additional title:

    一种双旋翼轮式地/壁移动机器人


    Contributors:
    GAO XUESHAN (author) / ZHANG QINGFANG (author) / LIANG PENG (author) / GAO RUI (author) / MIAO MINGDA (author) / ZHANG PENGFEI (author)

    Publication date :

    2021-03-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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