The invention discloses a climbing robot and a foot wheel thereof, the foot wheel comprises a hub and a plurality of spokes, the number of the spokes is at least three, the spokes are radially and uniformly arranged at intervals around the periphery of the hub, the inner ends of the spokes are connected with the hub, the foot wheel further comprises a plurality of foot plates, the foot plates correspond to the spokes one to one, and the foot plates correspond to the spokes one to one. The center of the foot plate is connected with the outer end of the spoke through a spherical hinge so that the foot plate can have three rotational degrees of freedom, and the left side and the right side of the foot plate are connected with the hub through springs so that the foot plate can be perpendicular to the spoke in the natural state. The climbing robot walks through the foot wheels, the foot wheels provide high-strength stable adhesive force for the climbing robot through large-area stable contact with the ground on the surfaces of foot plates of the foot wheels, and meanwhile the climbing robot has the advantage of being flexible in movement.

    本发明公开了一种攀爬机器人及其足轮,足轮包括轮毂以及多根轮辐,所述轮辐至少是三根并绕所述轮毂外周呈放射状均匀间隔设置,所述轮辐内端连接所述轮毂,还包括多块足板,所述足板与所述轮辐一一对应,所述足板中心位置与所述轮辐外端之间通过球铰链连接从而使所述足板具有三个旋转自由度,所述足板左右两侧分别通过弹簧与所述轮毂连接以使所述足板在自然状态下垂直所述轮辐。攀爬机器人采用足轮行走,足轮通过其足板表面的大面积稳定接触地面为攀爬机器人提供高强度稳定的附着力,同时具备运动灵活的特点。


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    Title :

    Climbing robot and foot wheel thereof


    Additional title:

    一种攀爬机器人及其足轮


    Contributors:
    LIU YU (author) / SHI QINGBIAO (author)

    Publication date :

    2023-01-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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