The invention provides an obstacle crossing mechanism and a wall-climbing robot with the obstacle crossing mechanism. The obstacle crossing mechanism comprises a body part; the walking assembly comprises a connecting end and a walking end which are oppositely arranged, and the connecting end is slidably arranged on the body part in the extending direction of the body part; the walking end is provided with an adsorption wheel, and the distance between the adsorption wheel and the connecting end is adjustable. When the adsorption wheel walks, the connecting end is static, and the maximum distance is formed between the adsorption wheel and the connecting end; when the adsorption wheel is in the contact stage, the body part moves forwards relative to the connecting end, and the distance between the adsorption wheel and the connecting end transits from the maximum distance to the minimum distance; when the adsorption wheel is in the crossing stage, the connecting end is static, and the distance between the adsorption wheel and the connecting end is minimum; when the adsorption wheel is in the separation stage, the connecting end moves forwards relative to the body part, and the distance between the adsorption wheel and the connecting end transits from the minimum distance to the maximum distance; and the elastic part is arranged between the connecting end and the walking end, so that the maximum distance is formed between the adsorption wheel and the connecting end when the adsorption wheel walks.
本发明提供了一种越障机构及具有其的爬壁机器人,包括:本体部;行走组件,包括相对设置的连接端和行走端,连接端沿本体部的延伸方向可滑动地设置在本体部上;行走端具有吸附轮,吸附轮相对连接端的间距可调;吸附轮行走时,连接端静止,且吸附轮与连接端之间具有最大间距;吸附轮处于接触阶段时,本体部相对连接端向前移动,吸附轮与连接端之间的间距由最大间距过渡至最小间距;吸附轮处于跨越阶段时,连接端静止,吸附轮与连接端之间间距最小;吸附轮处于分离阶段时,连接端相对本体部向前移动,吸附轮与连接端之间间距由最小间距过渡至最大间距;弹性部,设置在连接端和行走端之间,以使吸附轮行走时,吸附轮与连接端之间具有最大间距。
Obstacle crossing mechanism and wall-climbing robot with same
越障机构及具有其的爬壁机器人
2023-07-07
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wall-climbing robot with obstacle crossing function and obstacle crossing method thereof
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