The invention relates to an omni-directional configuration crawler walking module and a wall-climbing robot, the omni-directional configuration crawler walking module comprises a frame body, two magnetic attraction structures, a crawler belt and a driving mechanism, the two magnetic attraction structures are located at the two opposite ends of the frame body in the walking direction, and each magnetic attraction structure comprises a mounting frame and a plurality of magnetic attraction assemblies; one end of the mounting frame is rotationally mounted on the frame body along the axis in the first direction, the multiple magnetic attraction assemblies are arranged at the bottom of the mounting frame at intervals in the walking direction, and the middle of each magnetic attraction assembly is rotationally arranged along the axis in the first direction; the caterpillar band is movably connected to the peripheries of the two magnetic attraction structures in a sleeving mode. The driving mechanism is arranged on the frame body and connected with the crawler belt. The device can be attached to the magnetic conductive wall surface as far as possible through large-angle posture adjustment and small-angle local adaptation according to the curvature change condition of the wall surface, so that large adsorption force is provided, and the device can flexibly crawl on the magnetic conductive wall surface with the curvature change.
本发明涉及一种全向构型履带行走模块及爬壁机器人,全向构型履带行走模块包括架体、两个磁吸结构、履带以及驱动机构,两个磁吸结构位于架体沿行走方向上的相对两端,磁吸结构包括安装架和多个磁吸组件,安装架的一端沿第一方向上的轴线转动安装于架体,多个磁吸组件沿行走方向间隔布设于安装架的底部,每一磁吸组件的中部沿第一方向上的轴线转动设置;履带活动套接于两个磁吸结构的外周;驱动机构设于架体,且与履带连接。本发明可根据壁面曲率变化情况,通过大角度的姿态调节及小角度的局部适应,使得装置能够尽可能地与导磁壁面相贴合,从而提供较大的吸附力,使得装置能够实现在曲率变化的导磁壁面上的灵活爬行。
Omnidirectional configuration crawler walking module and wall-climbing robot
一种全向构型履带行走模块及爬壁机器人
2024-03-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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