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发明授权
CN110236807B 一种被动式支撑避障装置、爬楼机器人及其爬楼方法 有权 转让

一种被动式支撑避障装置、爬楼机器人及其爬楼方法
摘要：
一种被动式支撑避障装置及其爬楼机器人及其爬楼方法，包括：第一连接杆、弹性可伸缩连接杆、第二连接杆、第三连接杆、第四连接杆、车轮；所述第一连接杆中部与第二连接杆下端铰接，第一连接杆上端与第四连接杆上端铰接；第三连接杆一端与第二连接杆上端铰接，另一端与第四连接杆下端铰接；上述四个连接杆铰接构成四杆机构；弹性可伸缩连接杆一端与第二连接杆中部铰接，另一端与第四连接杆中部铰接。
摘要（英）：

The invention relates to a passive supporting and obstacle avoiding device, a climbing robot including the passive supporting and obstacle avoiding device and a climbing method of the climbing robot. The passive supporting and obstacle avoiding device comprises a first connecting rod, an elastic telescopic connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a wheel, wherein the middle part of the first connecting rod is hinged to the lower end of the second connecting rod; the upper end of the first connecting rod is hinged to the upper end of the fourth connecting rod; one end of the third connecting rod is hinged to the upper end of the second connecting rod, and the other end of the third connecting rod is hinged to the lower end of the fourth connecting rod; the four connecting rods are hinged to form a four-rod mechanism; and one end of the elastic telescopic connecting rod is hinged to the middle part of the second connecting rod, and the other end of the elastic telescopic connecting rod is hinged to the middle part of the fourth connecting rod.

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