The invention discloses a swing arm type single-wheel wire-walking robot. The swing arm type single-wheel wire-walking robot comprises a balance rod mechanism used for adjusting the lateral balance, a swing arm mechanism used for balancing the center of mass and a single wheel mechanism used for walking front and back and adjusting the pitching balance. The swing arm mechanism is arranged on the single wheel mechanism. The balance rod mechanism is arranged on the swing arm mechanism. The rotation of a balance rod generates counter torque to counteract the overturn torque of a mechanical device. The translational motion of a swing arm compensates for the offset of the center of mass of the mechanical device. Pitching posture control and travel of the mechanical device are achieved through motion parameters of a travel gear. According to the swing arm type single-wheel wire-walking robot, the rotation of the balance rod and the translational motion of the swing arm simulate the motion of two hands respectively when a human walks on a wire, the travel gear simulates the pitching posture adjustment when the human walks on the wire, mechanical behaviors of arm motion and pitching posture when the human walks on the wire are effectively simulated, and self-balance motion of the robot on a rigid steel wire rope or a flexible steel wire rope is achieved.
Swing arm type single-wheel wire-walking robot
2015-12-23
Patent
Electronic Resource
English
Driven wheel type swing arm omnidirectional sliding robot
European Patent Office | 2015
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