The invention belongs to the related technical field of industrial robots, and discloses a steering wheel structure, a control method and a wall-climbing robot. The steering wheel structure comprises a steering wheel, a walking wheel unit and a driving unit, a vertical center shaft is arranged in the center of the steering wheel, the walking wheel unit is arranged below the steering wheel and fixedly connected with the steering wheel, the walking wheel unit comprises a walking wheel and a horizontal center shaft arranged in the center of the walking wheel, and the horizontal center shaft is fixedly connected with the walking wheel. The driving unit is used for driving the steering wheel to rotate around the vertical center shaft and driving the walking wheel unit to rotate around the vertical center shaft on one hand, and is used for driving the walking wheel to rotate around the horizontal center shaft on the other hand. The invention further provides a control method of the steering wheel structure and the wall-climbing robot. According to the invention, high-precision motion control under large adsorption pressure is realized.
本发明属于工业机器人相关技术领域,并公开了一种舵轮结构、控制方法和爬壁机器人。该舵轮结构包括舵盘、行走轮单元和驱动单元,所述舵盘的中心设置有竖直中心轴,所述行走轮单元设置在所述舵盘的下方并与所述舵盘固定连接,该行走轮单元包括行走轮和设置在该行走轮中心的水平中心轴,所述驱动单元一方面用于驱动所述舵盘绕所述竖直中心轴旋转并带动所述行走轮单元绕所述竖直中心轴旋转,另一方面用于驱动所述行走轮绕所述水平中心轴旋转。本发明还提供了上述舵轮结构的控制方法和爬壁机器人。通过本发明,实现大吸附压力下的高精度运动控制。
Steering wheel structure, control method and wall-climbing robot
一种舵轮结构、控制方法和爬壁机器人
2024-06-14
Patent
Electronic Resource
Chinese