The invention belongs to the technical field of climbing robots, and relates to an encircling type climbing robot based on double-wheel occlusion. Comprising a driving module, a contraction module and a connection module. Flexible wheels are arranged at the upper end and the lower end of the driving module, clamping force and adaptive capacity are provided for the robot in an occlusion-like mode, and power is provided for movement of the robot in a belt transmission mode; the contraction module drives the connecting module to contract and release by utilizing different rigidities of the elastic rolling plate in all directions, so that the dynamic adjustment of the clamping force and the clamping range in the climbing process is realized; the connecting module is of a chain structure, all the modules are connected to achieve overall collaborative operation of the robot, and the connecting module has different sizes and can be freely detached. According to the robot, the adaptability to climbing objects of different sizes and shapes is achieved through the contraction modules and the connecting modules, the loading capacity of the robot is improved through the double-wheel meshing mode and the friction characteristic of the flexible wheels, and the robot has the advantages of being high in moving speed, large in application range, high in loading capacity and the like.

    本发明属于攀爬机器人技术领域,涉及一种基于双轮咬合的环抱式攀爬机器人;包括驱动模块、收缩模块、连接模块;所述驱动模块上下两端设有柔性车轮,以类咬合的方式为机器人提供夹持力及适应能力,并通过带传动的方式为机器人运动提供动力;所述收缩模块利用弹性卷板各方向上的不同刚度,带动连接模块收缩与释放,实现攀爬过程中夹持力及夹持范围的动态调整;所述连接模块为链条结构,连接各个模块实现机器人整体的协同作业,其具有不同尺寸且可自由拆卸。本发明中机器人利用收缩模块及连接模块实现对于不同尺寸、形状攀爬物体的适应能力,利用双轮咬合方式及柔性车轮摩擦特性提高机器人负载能力,具有移动速度快、适应范围大、负载能力强等优点。


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    Title :

    Encircling type climbing robot based on double-wheel occlusion


    Additional title:

    一种基于双轮咬合的环抱式攀爬机器人


    Contributors:
    LI RUI (author) / LIU YANG (author) / SHOU MENGJIE (author) / WANG XIAOJIE (author) / XIONG YONGSHUN (author) / LEE CHEOL-HEE (author)

    Publication date :

    2024-08-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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