Omni-directional wheel combined-type wall-climbing robot

Abstract

The invention provides an omni-directional wheel combined-type wall-climbing robot. The robot comprises a climbing mechanism and an adsorption mechanism. The climbing mechanism comprises a climbing omni-directional wheel, a drive device I and a clamp arm I, the drive device I is fixed on the end of the clamp arm I, the climbing omni-directional wheel is mounted on the drive device I, the shaft axis of the central wheel shaft is parallel to a plane formed by the two arms of the clamp arm I. The adsorption mechanism comprises an adsorption omni-directional wheel, a drive device II, and a clamp arm II, the drive device II is fixed at the end of the clamp arm, the adsorption omni-directional wheel is installed on the drive unit II, the shaft axis of the center wheel shaft of the adsorption omni-directional wheel is perpendicular to the plane formed by the two arms of the clamp arm II. The climbing mechanism and the adsorption mechanism use a position relation of the same direction with the clamp arm I and the clamp arm II and up and down in parallel to solidly connect through a connection piece into a whole, thus forming a complete omni-directional wheel combined-type climbing mechanism. The climbing mechanism is simple in structure and convenient in control, can achieve the non-vertical climbing of the outer wall corner on the building and the curved surface of the trunk and the like.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a walking mechanism of a mobile robot. Background technique [0002] The wall-climbing robot is a powerful assistant to help people complete high-altitude operations, such as the cleaning of the outer corners of buildings, ship inspections, aerospace maintenance, etc., or in public and national security fields such as anti-terrorism, rescue, leader protection, and special reconnaissance. And in special environments such as narrow space detection, wall-climbing robots are required. [0003] For the wall-climbing robot, two key problems need to be solved technically: adsorption and climbing. At present, wall-climbing robots mainly have three adsorption forms: vacuum adsorption, magnetic adsorption and climbing adsorption. and carrying capacity is significantly reduced. The magnetic adsorption method can be divided into two types: electromagnet and permanent magnet, bu...

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Problems solved by technology

[0004] This invention is aimed at the research of the existing wall-climbing robot, which mainly focuses on the adsorption function of the vertical wall surface. Magnetic adsorption has special requirements for the wall surface, and the scope of application is small. Adsorption requires high power to generate negative pressure, and bionic gecko feet have low walking efficiency. A simple structure, convenient control, and omnidirectional wheel combined wall that can climb on non-vertical surfaces such as building exterior corners and tree trunks are proposed. face climbing robot

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