Suspension fork mechanism with three adjustable axial-direction angles for robot

Abstract

The invention discloses a suspension fork mechanism with three adjustable axial-direction angles for a robot. The suspension fork mechanism comprises a vehicle frame, two Y-direction rotating frames and four suspension fork sub mechanisms, wherein the two Y-direction rotating frames are arranged on the vehicle frame in parallel; every two suspension fork sub mechanisms are independently arranged on each Y-direction rotating frame; and each suspension fork sub mechanism comprises an X-direction rotating frame, a Z-direction fixing seat and a wheel, wherein each X-direction rotating frame is mounted on the corresponding Y-direction rotating frame, each Z-direction fixing seat is mounted on the corresponding X-direction rotating frame, and each wheel is mounted on the corresponding Z-direction fixing seat through a corresponding wheel shaft and a corresponding bearing seat. According to the suspension fork mechanism disclosed by the invention, through changing the positions of corresponding bolts and corresponding sliding grooves, the angles of the wheels and magnets in the X-direction, Y-direction and Z-direction can be changed, the angle of each wheel and a corresponding contact surface can be changed, and the interval of each magnet and the corresponding contact surface is changed; and through the adoption of the suspension fork mechanism, the adaptation of the wheels to different metal curved surfaces or other curved surfaces is realized, and high movement reliability is provided for the robot to adapt to the curved surfaces.

Description

technical field [0001] The invention belongs to the field of robot and vehicle engineering, and relates to a three-axis adjustable suspension mechanism that can be used for robots, which can realize movement on metal curved surfaces or other curved surfaces (such as the ground, etc.). Background technique [0002] The crawling robot is a kind of mobile robot, including pipeline crawling robot, wall crawling robot and spherical crawling robot. The walking mode of the robot can be divided into wheeled. Crawler type, cave stone, etc. According to different driving methods and functions, crawling robots with different structures and uses can be designed, such as pneumatic tube detection crawling robots, electromagnetic adsorption multi-legged crawling robots, electric drive wall arc welding crawling robots, etc., each form of crawling robot Each has its own application characteristics. [0003] Since Professor Nishi Ryo of Japan developed the first wall-climbing robot in 1966,...

AI Technical Summary

Problems solved by technology

The suction cup type can cross small obstacles, but the moving speed is slow; the wheel type has fast moving speed and flexible control, but it is difficult to maintain a certain adsorption force; the crawler type has strong adaptability to the wall and has a large landing area, but it is not easy to turn

However, the ability to cross obstacles in these three modes of movement is very weak.

[0006] At present, there are not many robots that can adapt to different curved surfaces, especially wall-climbing robots on metal curved surfaces. Due to the change of the curvature of the curved surface, the movement of the robot has brought great troubles.

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