Wheel type omnidirectional claw wall-climbing robot and moving method thereof

Abstract

The invention discloses a wheel type omnidirectional claw wall-climbing robot and a moving method thereof, and belongs to the technical field of robot application. The wheel type omnidirectional clawwall-climbing robot comprises a rack (6), a rotating wheel (3), a longitudinal soft claw (2) for providing grabbing force during longitudinal movement, transverse claws for providing grabbing force during transverse movement, a boss base body (4) and an extrusion rod (5), and is characterized in that the longitudinal soft claw is adhered to a middle plate of the rotating wheel (3) and consists ofa strip-shaped flexible base body and a metal sharp hook; each transverse claw (1) is composed of a resin base body and an end metal sharp hook and penetrates through rectangular through holes in thetwo sides of the rotating wheel (3), and every time the rotating wheel rotates by a circle, the two transverse claws (1) connected through a rubber band make contact with the boss base body twice to form attachment and detachment; the boss base body (4) is independent of the rotating wheel and fixed to the lower end of the rack (1), the lower end of the boss base body is connected with the extrusion rod (5), and the extrusion rod mechanically extrudes the front ends of the three transverse claws; and three mounting holes are formed in the front ends of the transverse claws, and the metal sharphook used for generating grabbing force is mounted in the mounting holes. The robot can form different machine structures by changing the number of the omnidirectional wheel type claw modules.

Description

technical field [0001] The invention belongs to the technical field of robot application, in particular to a wheeled omnidirectional claw wall-climbing robot and a motion method thereof. Background technique [0002] With the development of the economy, the work of vertical neighborhood wall-climbing robots is becoming more and more important in inspection, construction, and post-maintenance. Insects have evolved on the earth for 350 million years, and claw-based grasping systems have been formed on the soles of their feet, which can adapt to various complex terrains and hunt or throw away to escape danger with high-efficiency actions. Claw wall-climbing robots are usually used in areas that are difficult for humans to reach or are more dangerous, such as the construction industry: bridge bottom inspection, high-level flaw detection of suspension bridges, and can also be used in the agricultural field. If tree fruits are picked, tree injuries Inspection, collection and cult...

AI Technical Summary

Problems solved by technology

The DROP V2 and TriDROP wheeled wall-climbing robots of the Jet Propulsion Laboratory in the United States can only crawl up and down the surface, and cannot move horizontally. However, there are no mature wheeled claw wall-climbing robots in China.

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