The invention discloses a wheel-foot type wall-climbing robot, and the robot comprises a machine shell, a visual identification camera, four wheel-foot adsorption assemblies, a vacuum pump and a buffer vacuum cavity, wherein the visual identification camera and the four wheel-foot adsorption assemblies are connected to the machine shell, and the vacuum pump and the buffer vacuum cavity are arranged in the machine shell and communicated. According to the invention, the visual identification camera is adopted to collect wall surface images, so that obstacle-avoiding walking on the wall surface is realized; according to the four wheel foot adsorption assemblies, stepping motors are adopted to drive hollow wheel hubs to rotate through first-stage speed reducers, the hollow wheel hubs drive wheel feet to rotate to achieve the wall climbing function, the single wheel feet, facing the wall face, on the hollow wheel hubs are continuously communicated with negative pressure cavities of hollow wheel shafts one by one to achieve negative pressure adsorption of suction cups, and the stability of wall climbing walking is guaranteed.

    本发明公开了一种轮足式爬壁机器人,包括有机壳、连接于机壳上的视觉识别摄像头和四个轮足吸附组件、以及设置于机壳内的真空泵和缓冲真空腔,真空泵与缓冲真空腔连通。本发明采用视觉识别摄像头采集壁面图像,从而实现壁面的避障行走;四个轮足吸附组件均采用步进电机通过一级减速器带动空心轮毂转动,空心轮毂带动轮足进行转动实现爬壁功能,且空心轮毂上朝向壁面的单个轮足逐个连续地与空心轮轴的负压腔连通实现吸盘的负压吸附,保证爬壁行走的稳定性。


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    Titel :

    Wheel foot type wall-climbing robot


    Weitere Titelangaben:

    一种轮足式爬壁机器人


    Beteiligte:
    FANG JIGEN (Autor:in) / XU MINGZHE (Autor:in)

    Erscheinungsdatum :

    20.08.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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