The invention belongs to the technical field of robots, and particularly relates to a wheel and a wheel type wall-climbing robot. The wheel comprises a wheel shell, a wheel axle and an adsorption mechanism, wherein the wheel axle is fixedly connected with the wheel shell, the axis of the wheel axle coincides with that of the wheel shell, the adsorption mechanism is located in the wheel shell, theadsorption mechanism comprises a connecting piece and a magnetic piece, the connecting piece is arranged in the radial direction of the wheel shell, the first end of the connecting piece is rotatablyconnected with the wheel axle and relatively rotates around the axis of the wheel axle, and the magnetic piece is connected with the second end of the connecting piece. The adsorption mechanism of thewheel is located in the wheel shell, so that a wheel type wall-climbing robot to which the wheel is applied cannot be clamped due to abdominal interference during movement, the obstacle crossing andpassing capability of the wheel type wall-climbing robot can be greatly increased, the size and weight of the wheel type wall-climbing robot can also be reduced, and the flexibility and the load capacity of the wheel type wall-climbing robot are increased.
本发明属于机器人技术领域,尤其涉及一种车轮及轮式爬壁机器人,包括车轮壳体、车轮轴和吸附机构,车轮轴与车轮壳体固定连接,车轮轴的轴线与车轮壳体的轴线重合设置,吸附机构位于车轮壳体内;吸附机构包括连接件和磁性件,连接件沿车轮壳体的径向方向设置,连接件的第一端与车轮轴转动连接并绕车轮轴的轴线相对转动,磁性件与连接件的第二端连接。该车轮的吸附机构位于车轮壳体的内部,那么应用有该车轮的轮式爬壁机器人在运动过程中不会出现因腹部干涉而出现的卡滞现象,可以极大地提高该轮式爬壁机器人的越障和通过能力,也可以减小轮式爬壁机器人的体积和重量,提高该轮式爬壁机器人的灵活性与负载能力。
Wheel and wheel type wall-climbing robot
车轮及轮式爬壁机器人
2020-12-18
Patent
Electronic Resource
Chinese