The invention belongs to the technical field of inspection robots, and particularly relates to a single-motor-driven deformable climbing inspection robot and a control method.The single-motor-driven deformable climbing inspection robot comprises a vehicle body and a driving system, the vehicle body comprises a first body, a second body and a third body, and one end of the first body is rotationally connected with one end of the second body through a shaft; one end of the third body is rotationally connected with the middle of the second body, the vehicle body can automatically adjust the posture to adapt to different working stages, in the advancing stage, the second body and the third body form a herringbone structure to support the vehicle body, the first body and the second body form a 7-shaped structure to lift the driving wheel, and it is avoided that the driving wheel generates large impedance torque at the internal corner. Pollution of the adsorption belt is avoided; in the climbing stage, the vehicle body can be automatically unfolded, the gravity center of the vehicle body is close to the climbing guide rail, and loads of the driving wheels are reduced; and in the tower top working stage, the vehicle body can be automatically folded, so that the working occupied area is reduced.

    本发明属于巡检机器人技术领域,具体涉及一种单电机驱动可变形攀爬巡检机器人及控制方法,包括车体和驱动系统,车体包括本体一、本体二和本体三,本体一的一端与本体二的一端通过轴转动连接,本体三的一端与本体二的中部转动连接,车体能够自行调节姿态以适应不同工作阶段,在“行进阶段”,本体二与本体三构成“人”字形结构以对车体进行支撑,本体一与本体二构成“7”字形结构以抬高主动轮,避免主动轮在阴角处产生较大阻抗扭矩,同时避免吸附带污染;在“攀爬阶段”,能够自行展开车身,使车身重心靠近攀爬导轨,减小主动轮负载;在“塔顶工作阶段”,能够自行折叠车身从而减小工作占用面积。


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    Title :

    Single-motor-driven deformable climbing inspection robot and control method


    Additional title:

    一种单电机驱动可变形攀爬巡检机器人及控制方法


    Contributors:
    QU SHENGLIN (author)

    Publication date :

    2024-02-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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