The invention discloses a wall-climbing robot with follow-up rear wheels. The pair of driving wheels are arranged at the two ends of the front shaft and driven by different driving mechanisms respectively, the connecting frame is arranged on the front shaft, the rear shaft is connected to the connecting frame through a universal assembly and forms a follow-up relation with the front shaft, and the pair of driven wheels are arranged at the two ends of the rear shaft. A limiting assembly used for limiting the swing range of the rear axle is arranged on the universal assembly. The robot has the advantages that a universal assembly formed by a pair of hinged shafts which are arranged vertically is used as a hinged part, so that a rear shaft can swing in a self-adaptive manner to a certain degree when the robot works on an uneven wall surface, and the adaptability to the environment is higher; the front shaft and the rear shaft are hinged through the connecting rod, so that the two shafts form a linkage relation, and steering of the robot is simpler and more convenient; the limiting assembly is arranged on the universal assembly, the swing range of the rear axle is limited, the situation that the robot is difficult to control due to excessive steering is avoided, and the controllability of the robot is better especially when the robot climbs a wall and descends linearly.
本发明公开了一种后轮随动爬壁机器人。它包括前轴、设置于前轴两端且分别由不同驱动机构驱动的一对驱动轮、设置于前轴上的连接架、通过万向总成连接于连接架上且与前轴构成随动关系的后轴以及设置于后轴两端的一对从动轮;万向总成上设置有用于限制后轴摆动范围的限位组件。优点是:使用一对相互垂直设置的铰接轴构成的万向总成作为铰接部件,使得机器人在不平整的壁面上作业时后轴能够一定程度自适应摆动,对环境的适应性更强;使用连杆铰接前轴和后轴,使得两轴间构成联动关系,机器人转向更加简便;万向总成上设置有限位组件,后轴的摆动范围得以被限制,避免因过度转向而难以操控,尤其是在爬壁直线下降时,使得机器人可控性更好。
Rear wheel follow-up wall-climbing robot
一种后轮随动爬壁机器人
2025-03-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |