The invention discloses a wheel type omnidirectional claw wall-climbing robot and a moving method thereof, and belongs to the technical field of robot application. The wheel type omnidirectional clawwall-climbing robot comprises a rack (6), a rotating wheel (3), a longitudinal soft claw (2) for providing grabbing force during longitudinal movement, transverse claws for providing grabbing force during transverse movement, a boss base body (4) and an extrusion rod (5), and is characterized in that the longitudinal soft claw is adhered to a middle plate of the rotating wheel (3) and consists ofa strip-shaped flexible base body and a metal sharp hook; each transverse claw (1) is composed of a resin base body and an end metal sharp hook and penetrates through rectangular through holes in thetwo sides of the rotating wheel (3), and every time the rotating wheel rotates by a circle, the two transverse claws (1) connected through a rubber band make contact with the boss base body twice to form attachment and detachment; the boss base body (4) is independent of the rotating wheel and fixed to the lower end of the rack (1), the lower end of the boss base body is connected with the extrusion rod (5), and the extrusion rod mechanically extrudes the front ends of the three transverse claws; and three mounting holes are formed in the front ends of the transverse claws, and the metal sharphook used for generating grabbing force is mounted in the mounting holes. The robot can form different machine structures by changing the number of the omnidirectional wheel type claw modules.
本发明为一种轮式全向钩爪爬壁机器人及其运动方法,属于机器人应用技术领域。它包括机架(6)、转轮(3)、纵向移动时提供抓附力的纵向软体钩爪(2),和横向移动时提供抓附力的横向钩爪、凸台基体(4)和挤压杆(5);其特征在于所述的纵向软体钩爪是粘附在转轮(3)的中间板上由条形柔性基体和金属尖钩构成;横向钩爪(1)由树脂基体和端部金属尖钩组成,穿过转轮(3)两侧的长方形通孔,转轮每旋转一圈,通过橡胶皮筋连接的两个横向钩爪(1)会与凸台基体接触两次形成抓附和脱附;凸台基体(4)与转轮相互独立,固定在机架(1)下端,下端与挤压杆(5)相连,挤压杆与三个横向钩爪前端机械挤压;横向钩爪前端分出三个安装孔,安装用于产生抓附力的金属尖钩;机器人可通过改变全向轮式钩爪模块数量形成不同的机器结构。
Wheel type omnidirectional claw wall-climbing robot and moving method thereof
轮式全向钩爪爬壁机器人及其运动方法
2020-10-09
Patent
Electronic Resource
Chinese
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