The invention relates to a multi-stage series extensible dry adhesion wheel foot wall-climbing robot and a movement method thereof, and belongs to the technical field of robot application. The robot comprises N wheel type wall climbing units which are connected in series through magnetic connecting springs (B). The wheel-type wall-climbing unit comprises a bottom plate (1), a camera holder installed on the front portion of the bottom plate (1), wheel-type mechanisms installed on the left side and the right side of the middle of the bottom plate (1) respectively, and bull eye wheel mechanisms installed on the left side and the right side of the rear portion of the bottom plate (1) respectively. The robot wheel foot can adapt to the ground, an inclined plane and even a ceiling surface, and the functions of stable attachment, ground-wall transition, turning and the like when the robot wheel foot acts on the wall surface are achieved.
本发明涉及一种多级串联可扩展式干粘附轮足爬壁机器人及其运动方法,属于机器人应用技术领域。该机器人包括N个轮式爬壁单元通过磁性连接弹簧(B)串联组成。上述轮式爬壁单元包括一个底板(1)、安装于底板(1)前部的摄像头云台,分别安装于底板(1)中部左、右两侧的轮式机构,以及分别安装于底板(1)后部左、右两侧的牛眼轮机构。本发明能够适应地面、倾斜面甚至天花板表面,实现机器人轮足与壁面作用时稳定附着、地壁过渡、转弯等功能。
Multi-stage series extensible dry adhesion wheel foot wall-climbing robot and movement method of multi-stage series extensible dry adhesion wheel foot wall-climbing robot
多级串联可扩展式干粘附轮足爬壁机器人及其运动方法
2021-06-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Multi-stage series dry adhesion wall-climbing robot and wall-climbing method thereof
European Patent Office | 2024
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