The invention relates to the technical field of robots, and particularly discloses a wheel-foot type wall-climbing robot which is characterized in that two leg mechanisms are located at the two ends of a waist mechanism respectively, each leg mechanism comprises a suction cup, the upper end of each suction cup is coaxially and fixedly connected with a suction cup connecting piece, and the upper end of each suction cup connecting piece is coaxially and fixedly connected with a universal joint; a wheel leg shaft is coaxially fixed to the upper end of the universal joint, a wheel and a linear motor for controlling the wheel are arranged on the wheel leg shaft, the waist mechanism comprises a first waist connecting piece and a second waist connecting piece, and a third steering engine is arranged between the first waist connecting piece and the second waist connecting piece. The robot can walk on a vertical or high-altitude surface and a plane with low energy consumption and high efficiency, and can meet and adapt to application in various environments.
本发明涉及机器人技术领域,具体的公开了一种轮足式爬壁机器人,两个腿部机构分别位于腰部机构的两端,其特征在于,所述腿部机构包括吸盘,吸盘上端同轴线连接固定有吸盘连接件,吸盘连接件上端同轴线固定有万向节,万向节上端同轴线固定有轮腿轴,轮腿轴上设有轮子并设有控制轮子的直线电机,腰部机构包括第一腰部连接件和第二腰部连接件,第一腰部连接件和第二腰部连接件之间设有第三舵机。本发明能够在垂直或高空表面以及平面上实现能耗低、效率高的行走,能够满足和适应多种环境的应用。
Wheel foot type wall-climbing robot
一种轮足式爬壁机器人
2024-01-09
Patent
Electronic Resource
Chinese