A friction wheel traveling omni-directional turnable climbing robot with self-locking function

Abstract

The invention discloses a friction wheel advancing type climbing robot with self-locking and omnidirectional turning functions. The climbing robot comprises an upper portion rack (11), a lower portion rack (12), an upper and lower portion connecting column (13), an upper clamping driving unit, a lower clamping driving unit and a rear clamping mechanism. The upper portion rack (11) and the lower portion rack (12) are connected and fixed together through the upper and lower portion connecting column (13). The two clamping driving units include the upper clamping driving unit and the lower clamping driving unit. The upper clamping driving unit is arranged on the upper portion rack (11), and the lower clamping driving unit is arranged on the lower portion rack (12). The robot is not limited in climbing a column in the fixed direction, has the turning function, can adapt to a column with the variable cross section area and climb a column partially exposed out of the wall face, can be hung on a building crosspiece to climb and has the self-locking function.

Description

technical field [0001] The invention relates to a friction wheel traveling omnidirectional turning and climbing robot with a self-locking function, which belongs to the technical field of robots. Background technique [0002] The existing crawling robots on the market can be mainly divided into three categories: continuous walking climbing robots, stepping climbing robots and redundant freedom climbing robots, among which stepping robots can be subdivided into serial and parallel type, and series-parallel hybrid. [0003] But existing climbing robot has the following problems: [0004] 1) It can only climb pillars with a fixed direction, and there is no turning function during the climbing process. [0005] 2) It can only be limited to climbing vertical circular poles, and there is no crawling robot climbing the direction column. [0006] 3) Columns that cannot adapt to changing cross-sectional area sizes are limited to columns of a certain fixed size. [0007] 4) For ve...

AI Technical Summary

Problems solved by technology

[0004] 1) You can only climb the pillars with a fixed direction, and there is no turning function during the climbing process

[0005] 2) It can only be limited to climbing vertical circular poles, and there is no crawling robot that can climb the direction column

[0006] 3) Cannot adapt to columns with variable cross-sectional area, limited to columns of a certain fixed size

[0008] 5) Cannot hang on the horizontal of the building and crawl

[0009] 6) There is no self-locking function, the driving motor bears too much force to overcome its own weight, and the long-term operation is unstable

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