The invention discloses a pole body outer wall climbing obstacle crossing robot and a climbing method thereof. The robot comprises an annular support and a plurality of climbing mechanisms, wherein the climbing mechanisms are installed at different positions of the inner side of the annular support, and the climbing mechanism comprises two climbing obstacle crossing units which are arranged up and down. Each climbing obstacle crossing unit comprises a connecting rod, a traction spring, a climbing motor, Mecanum wheels, an obstacle crossing outer plate, an obstacle crossing supporting plate, a short rod, a long rod and an obstacle crossing spring. According to the climbing robot, climbing can be rapidly conducted through the Mecanum wheels, the climbing obstacle crossing unit with the four-rod structure is provided, the Mecanum wheels can smoothly climb over various obstacles on the rod bodies when ascending and descending, and therefore the climbing speed and the working efficiency of the climbing robot are improved. In addition, the function of rotating left and right on the outer wall of the rod body in situ can be achieved; compared with an existing obstacle crossing robot, the obstacle crossing robot is more flexible.
本发明公开了一种杆体外壁攀爬越障机器人及其攀爬方法。该机器人包括环形支架和攀爬机构。多个攀爬机构安装在环形支架内侧的不同位置。所述的攀爬机构包括上下布置的两个攀爬越障单元。所述攀爬越障单元包括连杆、牵引弹簧、攀爬电机、麦克纳姆攀爬轮、越障外板、越障支撑板、短杆、长杆和越障弹簧。本发明利用麦克纳姆轮能够快速进行攀爬,并通过提供具有四杆结构的攀爬越障单元,使得麦克纳姆轮在上升和下降时均能够顺利翻越杆体上的各类障碍物,从而提高攀爬机器人攀爬速度和工作效率。此外,本发明能够实现在杆体外壁上原地左右旋转的功能,相比现有越障机器人更为灵活。
Rod body outer wall climbing obstacle crossing robot and climbing method thereof
一种杆体外壁攀爬越障机器人及其攀爬方法
2021-11-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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