轮组的机械原理:整个车身通过轴与轴承作用在搬运式爬楼机器人的四个轮组上

轮组的机械原理：整个联轴器通过轴与轴承作用在搬运式机器人的四个轮组组的的齿轮机构都围绕着小轴进行旋转，当电机的动力传递到传动轴上时时时时时，，传动轴则连带中心齿轮转动，中心齿轮带动过渡齿轮转动，再，，由于小齿轮与驱动齿轮连连连向此机器人前进。。当搬运式爬楼机器人轮组机构在水平路面上时时，由于每个轮组上都有两个车轮着地，所以转臂不能只能沿沿车辆的沿边，实现机构在机构上进行；当正在行驶的车轮在前进道路上遇到障碍物时，驱动轮系就变成了成行星轮系，转臂带有另外三个绕过中心旋转，实现翻越楼梯的目的。。

轮组的机械原理:整个车身通过轴与轴承作用在搬运式爬楼机器人的四个轮组上，轮组中的各个齿轮都围绕着小轴进行旋转，当电机的动力传达到传动轴上时，传动轴则连带中心齿轮转动，中心齿轮带动过渡齿轮转动，再传给驱动齿轮，由于小车轮与驱动齿轮固连，因此机器人前进。当搬运式爬楼机器人轮组机构在水平路面上行驶时，由于每个轮组上均有两个车轮着地，所以转臂不能转动只能随车沿水平路面平动，实现机构在平直面上的平稳行驶；当正在行驶的车轮在前进路上遇到障碍时，驱动轮系就变为成行星轮系，转臂带着另外三个车轮绕中心齿轮的轴线回转，实现翻越楼梯的目的。

Mechanical principle of wheel set: the whole vehicle body acts on four wheel sets of the mobile climbing robot through shafts and bearings, and each gear in the wheel set rotates around the small shaft. When the power of the motor reaches the transmission shaft, the transmission shaft rotates with the central gear, which drives the transition gear to rotate, and then transmits it to the driving gear. Because the small wheel is fixedly connected with the driving gear, So the robot moves forward. When the wheel group mechanism of the mobile climbing robot is running on the horizontal road, since two wheels of each wheel group are on the ground, the rotating arm can not rotate, but can only move along the horizontal road with the vehicle, so as to realize the smooth driving of the mechanism on the flat and straight surface; when the driving wheels encounter obstacles on the way forward, the driving wheel system becomes a planetary wheel system, and the rotating arm carries three other wheels Rotate around the axis of the central gear to realize the purpose of climbing the stairs.<br>