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Traveling mechanism of claw-thorn wall climbing robot

A technology of a wall-climbing robot and a walking mechanism, applied in the field of robots, can solve problems such as the inability to achieve rough surface grasping, and achieve the effects of improving stability and reliability, smooth switching, and high degree of automation

Active Publication Date: 2018-04-27
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0014] This patent applies to a relatively smooth cleaning surface, and it also crawls in the crawler mode, which cannot achieve gripping on rough surfaces.

Method used

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  • Traveling mechanism of claw-thorn wall climbing robot
  • Traveling mechanism of claw-thorn wall climbing robot
  • Traveling mechanism of claw-thorn wall climbing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] Such as Figure 1 ~ Figure 3 As shown, the structural relationship is as follows: it includes a chassis 1 for supporting and fixing, two main motion steering gears 21 and two switching steering gears 31 are arranged diagonally on the chassis 1, and the main motion steering gear 21 is used to drive the first crawling mechanism 2 and the second crawling mechanism 4 to realize the wall-climbing of the robot, the switching steering gear 31 is used to switch the first crawling mechanism 2 or the second crawling mechanism 4 to perform the wall-climbing action, and the first crawling mechanism 2 and the second crawling mechanism 4 use respectively Climbing on smooth and rough walls;

[0037] The synchronous shaft 42 is connected to the front end of the claw thorn pulley bracket 46 through a bearing, and its inner side is connected to the claw thorn pulley 43. The two claw thorn pulleys 44 are respectively located at the front end and the end of the claw thorn pulley bracket 46...

Embodiment 2

[0047] Such as Figure 1 ~ Figure 3 As shown, the structural relationship is as follows: it includes a chassis 1 for supporting and fixing, two main motion steering gears 21 and two switching steering gears 31 are arranged diagonally on the chassis 1, and the main motion steering gear 21 is used to drive the first crawling mechanism 2 and the second crawling mechanism 4 to realize the wall-climbing of the robot, the switching steering gear 31 is used to switch the first crawling mechanism 2 or the second crawling mechanism 4 to perform the wall-climbing action, and the first crawling mechanism 2 and the second crawling mechanism 4 use respectively Climbing on smooth and rough walls;

[0048] The synchronous shaft 42 is connected to the front end of the claw thorn pulley bracket 46 through a bearing, and its inner side is connected to the claw thorn pulley 43. The two claw thorn pulleys 44 are respectively located at the front end and the end of the claw thorn pulley bracket 46...

Embodiment 3

[0056] A method for installing a claw wheel of a claw-type wall-climbing machine, comprising the following steps: installing the claws in the pipeline of the claw wheel, and then adhering the pipeline to the groove of the claw.

[0057] At present, claws are generally installed directly in the grooves of the claws. The installation efficiency is extremely low, and it takes about 5 minutes for a single claw. At the same time, due to the limited contact area between the fixing glue and the claws, the claws are very easy to loosen and fall off.

[0058] In this method, the claws are installed in the pipeline of the claw wheel, and then the pipeline is bonded to the groove of the claws. The bonding strength is five times that of the method of directly installing the claws, and the installation efficiency is 5 per minute.

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Abstract

The invention discloses a traveling mechanism of a claw-thorn wall climbing robot and relates to the technical field of robots. The traveling mechanism comprises a chassis for supporting and fixing, two main movement steering engines and two switching steering engines are arranged on the chassis diagonally, the main movement steering engines are used for driving a first crawling mechanism and a second crawling mechanism to realize wall climbing of the robot, the switching steering engines are used for switching the first crawling mechanism or the second crawling mechanism to execute wall climbing action, and the first crawling mechanism and the second crawling mechanism are used for climbing in smooth and rough wall environments respectively. The switching steering engines are used for switching the first crawling mechanism or the second crawling mechanism to execute wall climbing action so as to respectively realize climbing of the robot on smooth and rough walls, and the second crawling mechanism firmly grasps the rough walls through a claw thorn wheel with claw thorns and a claw thorn track to realize climbing on the rough walls. The traveling mechanism is simple and reliable instructure, high in automation level and especially suitable for executing cleaning, detecting and rescue tasks in special environments with steep walls and narrow space.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a walking mechanism for a wall-climbing robot. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Robots are widely used in the production industry, construction industry and other fields, and are especially commonly used to assist or replace humans in dangerous operations or in areas that humans cannot reach. [0003] A wall-climbing robot is a common type of robot that can climb and complete tasks on vertical walls. Wall-climbing robots are usually adhered by means of vacuum chucks, magnets, and common adhesive materials. However, most of the walls in nature and human living environment are rough, porous, cracked and full of dust (such as stone, cement, brick exterior walls), and these three adhe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 徐林森刘进福王容川孔令成徐嘉骏胡晓娟
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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