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Robot suspension structure suitable for curved surface crawling

A robot and curved surface technology, which is applied to suspensions, elastic suspensions, motor vehicles, etc., to achieve the effect of reasonable structural design and convenient use.

Inactive Publication Date: 2020-07-10
SOUTHEAST UNIV +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a robot suspension structure adapted to crawling on curved surfaces to solve the problem in the prior art of how to ensure that the mecanum wheel is in good contact with the curved surface to ensure the reliability of crawling

Method used

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  • Robot suspension structure suitable for curved surface crawling
  • Robot suspension structure suitable for curved surface crawling
  • Robot suspension structure suitable for curved surface crawling

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Embodiment

[0038] A robot suspension structure adapted to crawling on curved surfaces, such as figure 1 and as figure 2, comprising a frame assembly, a magnetic assembly, a motor 5 and a mecanum wheel 6, the magnetic assembly includes a magnet frame 3 and a magnet 4, the two ends of the frame assembly are respectively provided with a magnet frame 3, and the bottom of the magnet frame 3 is provided with a The magnet 4 on the magnetically adsorbed wall, the motor 5 is arranged on the magnet frame 3, the output end of the motor 5 is connected to the mecanum wheel 6, the frame assembly includes a longitudinal suspension assembly 1 and a transverse curved surface adjustment suspension assembly 2, the longitudinal suspension The front and rear ends of the assembly 1 are respectively movably connected to the transverse curved surface adjustment suspension assembly 2, and the two sides of the lateral curved surface adjustment suspension assembly 2 are respectively provided with obstacle-surpass...

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Abstract

The invention provides a robot suspension structure adapting to curved surface crawling. The structure comprises a vehicle frame assembly, a magnetic attraction assembly, a motor and Mecanum wheels. The magnetic attraction assembly comprises magnet frames and a magnet. The magnet frames are respectively arranged at two ends of the vehicle frame assembly; the bottom of each magnet frame is provideda magnet magnetically attracted to a wall surface; motors are arranged on the magnet frames respectively; the output end of each motor is connected with the corresponding Mecanum wheel; the vehicle frame assembly comprises a longitudinal suspension assembly and a transverse curved surface adjusting suspension assembly, the front end and the rear end of the longitudinal suspension assembly are movably connected with the transverse curved surface adjusting suspension assembly respectively, obstacle crossing assemblies are arranged at the two sides of the transverse curved surface adjusting suspension assembly respectively, and each obstacle crossing assembly comprises a spring damper and a parallelogram connecting rod mechanism. According to the robot suspension structure adapting to curvedsurface crawling, the attraction force of the magnets is not changed while stable obstacle crossing can be achieved, safe operation on the curved surface is achieved, and the suspension posture can be simply, conveniently and rapidly adjusted so as to adapt to different curvatures.

Description

technical field [0001] The invention relates to a robot suspension structure adapted to crawling on curved surfaces. Background technique [0002] As a kind of mobile robot, crawling robot has received extensive attention and research. International research on wall-climbing robots mainly focuses on the adsorption mode of the car body, motion mechanism, driving mechanism and vehicle-mounted operating system. According to the adsorption method, wall-climbing robots can be divided into vacuum adsorption, magnetic adsorption, airflow negative pressure adsorption, etc.; according to the movement mechanism, they can be divided into wheel type, crawler type, multi-legged walking type, frame type, flying type, etc. Equipped with corresponding equipment according to different needs, it can be applied to the detection of the surface of pipelines and tanks, such as multi-legged pipeline detection robots and magnetic adsorption wall surface detection robots. [0003] At present, ther...

Claims

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Application Information

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IPC IPC(8): B60G17/06B62D57/024
CPCB60G17/06B60G2202/20B62D57/024
Inventor 涂春磊黄逢王兴松肖炜张诚
Owner SOUTHEAST UNIV