The climbing mobile robot comprises a front walking mechanism and a rear walking mechanism, the front walking mechanism comprises a front rack, a front walking wheel pair and a driving device, the rear walking mechanism comprises a rear rack and a rear walking wheel pair, the front rack and the rear rack are rotationally connected through a middle shaft, the middle shaft is located between the front walking wheel pair and the rear walking wheel pair, and the front walking wheel pair and the rear walking wheel pair are connected through the driving device. An elastic telescopic part is arranged between the front rack and the rear rack and applies torque to the front rack and the rear rack when stretching out and drawing back, the front walking wheel pair comprises a front left wheel and a front right wheel which are arranged side by side in the left-right direction, and the rear walking wheel pair comprises a rear left wheel and a rear right wheel which are arranged side by side in the left-right direction. The front left wheel, the front right wheel, the rear left wheel and the rear right wheel walk in grooves in the left side and the right side of the track, wheel shafts are perpendicular to the middle shaft, the middle walking wheel walks on the front side face of the track, and the driving device drives all the walking wheels to rotate synchronously through the transmission mechanism. According to the invention, through gravity locking, stable and reliable walking and turning on the track can be realized.

    本发明公开了一种适用于全方向轨道的攀爬移动机器人,包括前、后行走机构,前行走机构包括前机架、前行走轮对和驱动装置,后行走机构包括后机架和后行走轮对,前机架与后机架通过中轴转动连接,中轴位于前、后行走轮对之间,中轴上设有以中轴为轮轴的中行走轮,前、后机架之间设有弹性伸缩件,弹性伸缩件伸缩时对前、后机架施加转矩,前行走轮对包括左右并排设置的前左、右轮,后行走轮对包括左右并排设置的后左、右轮,前左、右轮及后左、右轮行走于轨道的左右侧凹槽内且轮轴均垂直于中轴,中行走轮行走于轨道的前侧面,驱动装置通过传动机构驱动所有行走轮同步转动。本发明通过重力锁止,可以在轨道上稳定可靠的行走和过弯。


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    Title :

    Climbing mobile robot suitable for omni-directional track


    Additional title:

    一种适用于全方向轨道的攀爬移动机器人


    Contributors:
    YUE XIANG (author) / HU JUNQING (author) / XU YAN (author) / DING LI (author) / QIAO XUEJIE (author) / YANG FUHAO (author) / ZHANG YANG (author) / WANG WEI (author)

    Publication date :

    2024-05-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B61D Einzelheiten oder Arten des Wagenaufbaus von Eisenbahnfahrzeugen , BODY DETAILS OR KINDS OF RAILWAY VEHICLES / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B61C Lokomotiven , LOCOMOTIVES / B61F Untergestelle für Schienenfahrzeuge, z.B. Fahrgestellrahmen, Drehgestelle oder Anordnungen der Radsätze , RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES / F16H Getriebe , GEARING



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