The invention discloses a double-swing-wheel type curved surface self-adaptive magnetic adsorption wall-climbing robot which comprises a rack, a swing type driving wheel set, a driven wheel set and a supporting wheel set. The swing type driving wheel set is located at the front end of the rack, the driven wheel set is located at the rear end of the rack, and the supporting wheel set is located at the bottom of the rack. The swing type driving wheel set comprises a connecting frame, a first swing rod, a second swing rod, a first flange bearing, a permanent magnet driving wheel, a driving element and a rotating shaft. The rotating shaft is rotationally connected with the front end of the rack, one side of the connecting frame is rotationally connected with the rotating shaft, the two first swing rods are symmetrically distributed on the other side of the connecting frame and rotationally connected with the connecting frame, and the other end of each first swing rod is rotationally connected with one end of the corresponding second swing rod. The other end of each second swing rod is connected with one end of the corresponding first flange bearing through a first screw, and a driving shaft of each driving element penetrates through the corresponding permanent magnet driving wheel to be connected with the other end of the corresponding first flange bearing. The robot can better adapt to a complex variable-curvature wall surface and has high flexibility and stability.
本发明为一种双摆轮式曲面自适应的磁吸附爬壁机器人,包含机架、摆动式驱动轮组、从动轮组和支撑轮组;摆动式驱动轮组位于机架前端,从动轮组位于机架后端设置,支撑轮组位于机架底部;摆动式驱动轮组包含连接架、第一摆杆、第二摆杆、第一法兰轴承、永磁驱动轮、驱动元件和转轴;转轴与机架的前端转动连接,连接架的一侧与转轴转动连接,两个第一摆杆对称分布在连接架的另一侧且与连接架转动连接,每个第一摆杆的另一端分别与各自的第二摆杆的一端转动连接,每个第二摆杆的另一端分别通过第一螺钉与各自的第一法兰轴承的一端连接,每个驱动元件的驱动轴贯穿相应的永磁驱动轮与各自的第一法兰轴承的另一端连接。该机器人能够更好地适应复杂变曲率壁面,具有较高的灵活性和稳定性。
Double-swing-wheel type curved surface self-adaptive magnetic adsorption wall-climbing robot
一种双摆轮式曲面自适应的磁吸附爬壁机器人
2024-01-30
Patent
Electronic Resource
Chinese
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