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A wall-climbing robot and wheel-foot technology, which is applied to motor vehicles, transportation and packaging, etc., can solve problems such as poor motion performance, complex mechanism structure, and high power consumption, and achieve good surface adaptability, wide application range, and obstacle surmounting powerful effect
Inactive Publication Date: 2012-05-30
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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[0003] Aiming at the deficiencies in the prior art such as complex mechanism structure, high power consumption and poor motion performance, the technical problem to be solved by the present invention is to provide a wheel with fast moving speed, strong obstacle-surpassing ability and good surface adaptability. Legged Wall Climbing Robot Mechanism
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[0029] Such as figure 1 As shown, the wheel-foot type wall-climbing robot mechanism includes a semi-cylindrical first body 1 and a second body 2, a connecting rod 3, a first suction cup foot 4 and a second suction cup foot 5, wherein the first body 1 and the second body 2 The lower part is respectively provided with a first suction cup foot 4 and a second suction cup foot 5, the axes of the first body 1 and the second body 2 are parallel, and they are arranged in parallel in a contact manner, and the two ends of the two bodies are respectively connected by connecting rods. It has a structure capable of relative rotation; the first suction cup foot 4 adopts a negative pressure adsorption structure, and the second suction cup foot 5 adopts a vacuum adsorption structure; the first body 1 is provided with walking wheels. The first body 1 and the second body 2 have the same structure, and both have supporting plates on which a semicircular track that allows the two bodies to roll r...
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Abstract
The invention relates to a wheel foot type wall climbing robot mechanism, which comprises a semi-cylindrical first body 1, a semi-cylindrical second body 2, a connecting rod, a first suction disc foot and a second suction disc foot, wherein the lower parts of the first body 1 and the second body 2 are respectively provided with the first suction disc foot and the second suction disc foot, axial lines of the first body 1 and the second body 2 are parallel and are in parallel arrangement in a contact mode, two end parts in parallel arrangement of the two bodies are respectively connected into a relatively rotatable structure through the connecting rod, the first suction disc foot adopts a negative pressure absorption structure, the second suction disc foot adopts a vacuum absorption structure, and a walking wheel is arranged in the first body. The wheel foot type wall climbing robot mechanism organically combines the respective advantages of a wheel type moving mechanism and a foot type moving mechanism, the mechanism has better moving characteristics and force characteristics, the moving speed is high, the barrier getting capability is high, and the curve surface adaptability is good.
Description
technical field [0001] The invention relates to a mobile robot mechanism, in particular to a wheel-foot type wall-climbing robot mechanism. Background technique [0002] Among the existing micro-miniature wall-climbing robot mechanisms, most of them adopt leg-footed mobile mechanisms (Reference 1: H. R. Choi, S. M. Ryew, T. H. Kang, J. H. Lee, and H. M. Kim, "A Wall Climbing Robot with Closed Link Mechanism,” in Proc. of the 2000 IEEE / RSJ Int. Con. on lntelligent Robots and Systems, 2000, vol. 3, pp.2006-2011, “a wall-climbing robot with a closed linkage mechanism”, Intelligent Robot and Systems, 2000, Vol. 3, pp. 2006-2011; Literature 2: R. Pack, J. Christopher, and K. Kawamura, “A rubbertuator-based structure-climbing inspection robot,” in Proc. IEEE Int. Conf .on Robotics and Automation, 1997, vol. 3, pp. 1869-1874. Or use a reconfigurable mechanism composed of multiple unit modules (Document 3: DOMENICO LONGO AND GIOVANNI MUSCATO, "The Alicia3 climbing robot: a three-m...
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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
Inventor 王洪光刘爱华景凤仁董伟光李贞辉
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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