The invention discloses a wheeled robot based on pole climbing, and relates to the technical field of robots, the wheeled robot comprises a vertical rod, a transverse rod and a robot body, the robot body comprises an external connection structure, a suspension structure connected with the external connection structure, a climbing mechanism connected with the external connection structure, and an adjusting assembly connected with the external connection structure; the device comprises a climbing mechanism, an adjusting assembly connected with the climbing mechanism, a self-adaptive abutting structure connected with the adjusting assembly, a clamping structure connected with the climbing mechanism and a cleaning mechanism connected with the clamping structure, and has the advantages that four climbing rollers in the climbing mechanism rotate on a self-adaptive frame and ascend along a rod body; and a first electro-hydraulic actuator, a second electro-hydraulic actuator and a joint in the adjusting assembly are matched to adjust the angle of the rod body to rotate, a first abutting wheel, a second abutting wheel and a third abutting wheel in the self-adaptive abutting structure abut against the rod body in a self-adaptive sliding mode, and stable climbing can be achieved according to the shape of the rod body, an obstacle and the bent area of the rod body in cooperation with a suction cup.
本发明公开了一种基于爬杆的轮式机器人,本发明涉及机器人技术领域,包括竖向杆、横向杆和机器人本体,机器人本体包括外接结构、与外接结构相连接的悬挂结构、与外接结构相连接的爬升机构、与外接结构相连接的调整组件,与调整组件相连接的自适应抵紧结构、与爬升机构相连接的卡接结构以及与卡接结构相连接的清理机构,本发明的优点在于:通过爬升机构中的四个爬升辊在自适应架上转动,沿着杆体上升,配合调整组件中的第一电液作动器、第二电液作动器以及关节对杆体的角度调节转动,自适应抵紧结构中的抵轮一、抵轮二和抵轮三对杆体自适应滑动抵紧,可根据杆体的形状、障碍物以及对杆体弯曲的区域配合吸盘实现稳定爬升。
Wheeled robot based on pole climbing
一种基于爬杆的轮式机器人
2025-04-22
Patent
Electronic Resource
Chinese