CN107963143A - A kind of walking mechanism of pawl thorn formula climbing robot - Google Patents
A kind of walking mechanism of pawl thorn formula climbing robot Download PDFInfo
- Publication number
- CN107963143A CN107963143A CN201711458175.7A CN201711458175A CN107963143A CN 107963143 A CN107963143 A CN 107963143A CN 201711458175 A CN201711458175 A CN 201711458175A CN 107963143 A CN107963143 A CN 107963143A
- Authority
- CN
- China
- Prior art keywords
- pawl
- climbing
- thorn
- wall
- pawl thorn
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of walking mechanism of pawl thorn formula climbing robot, it is related to robotic technology field, including being used to support fixed chassis, two main motion steering engines and two switching steering engines are diagonally set on chassis, main motion steering engine is used to driving the first climbing mechanism and the second climbing mechanism and climbs wall with realize robot, switching steering engine is used to switch the first climbing mechanism or the second climbing mechanism performs and climbs wall action, and the first climbing mechanism and the second climbing mechanism are respectively used in smooth and coarse wall environment climbing.The present invention is equipped with switching steering engine, perform for switching the first climbing mechanism or the second climbing mechanism and climb wall action, climbing of the robot on smooth and hydraulically rough surface is realized respectively, and the second climbing mechanism pierces crawler belt by the pawl thorn wheel and pawl that are pierced with pawl and firmly grasps hydraulically rough surface, realizes the climbing of hydraulically rough surface；Simple in structure, reliable, the degree of automation is high, especially suitable for performing the cleaning, detection, rescue task of the particular surroundings such as precipitous wall, small space.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of walking mechanism for climbing robot.
Background technology
Robot is the installations of automated execution work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Robot is led in production industry, construction industry etc.
Domain is used widely, be especially commonly used for assisting or substitute the mankind carry out dangerous operation or the region that the mankind can not reach into
Row operation.
Climbing robot is type common in robot, can climb and fulfil assignment in perpendicular walls.Climb wall machine
The mode of device people's generally use vacuum cup, magnet and common adhesion material is adhered to.However, nature and human lives' ring
Most of walls are coarse, porous, multiple crackings and dusty (such as stone, cement, brick wall face) in border, these three
Adherent fashion is inapplicable.
In recent years, be subject to inspiring for the animal that gecko, beetle etc. can climb on metope, with dry adhesion, wet adhesion and
Pawl thorn is grabbed attached to be started to rise for the bionic adhesion mode of representative.At present, artificial bionic dry adhesion and wet adhesion material are only applicable to
Clean, smooth wall, can't adapt to the wall of coarse and more dusts.In addition, transported using the robot of this kind of adherent fashion
Dynamic in the form of a single, holding load is smaller, can not also realize robot in the smooth perfect switching between Rough Horizontal Plane.
By patent retrieval, there are following known technical solution：
Patent 1：
Application number：201610870706.2 the applying date：2016.09.30 authorized announcement date：2017.02.15 the present invention
A kind of wheeled climbing robot and its method of work are disclosed, belongs to robotic technology field.Robot body mainly includes machine
Frame (2), N number of adhesion wheel type drive device (1) and ducted fan (3)；Above-mentioned adhesion wheel type drive device (1) is installed on machine
On frame (2), each adhere to wheel type drive device (1) by active synchronization wheel (8), inducer (9), traction synchronizing wheel (10) and
Synchronous belt (11) forms；Paste adhesion material (12) composition in synchronous belt (11) outer surface；Above-mentioned ducted fan (3) is installed on rack
(2) on, there is provided thrust, as the precompression of adhesion material (12), makes robot be adhered on vertical plane.The mobile speed of robot
Degree is fast, and work efficiency is high, available for the cleaning on the surfaces such as building, solar energy sailboard, large fan, also available for large-scale vertical table
The status monitoring in face etc..
, can not because using adhering apparatus although the patent robot can realize the climbing of building, solar energy sailboard surface
Realize the climbing of the larger rough surface of surface roughness.
Patent 2：
Application number：201610966884.5 the applying date：2016.10.28 authorized announcement date：2017.03.15 the present invention
A kind of inspection method of hole wall adsorption wall climbing robot and power station power tunnels is disclosed, robot utilizes and adsorbs crawler belt
(1) coordinate negative pressure chamber (2) and suction pump (7) to realize absorption of the robot on the wall of hole, while coordinate appearance using driving wheel (9)
State control device realizes pose adjustment and the movement of robot.The underwater adsorbed wall-climbing TV inspection machine that the present invention designs
People, manually diving checks, there is safety, check image to cover, and full hole section all directions, examination scope be big, image clearly, letter
Breath is true comprehensively, it is efficient to check, can be widely used for diversion tunnel, the submarine inspection work on dam surface of large medium-size station
Make.
The patent is only applicable in creeping for relative smooth surface using absorption caterpillar manner, it is impossible to makees suitable for hydraulically rough surface
Industry.
Patent 3：
Application number：201611095707.0 the applying date：2016.12.02 authorized announcement date：2017.02.22 the present invention
A kind of double-crawler type cleaning climbing robot based on electrostatic absorption principle is disclosed, it includes robot body, adsorption module, fortune
Dynamic model block, cleaning module and control module, the adsorption module include HV generator and two crawler belt electrodes, the height
The electrostatic that pressure electrostatic generator produces is delivered on two crawler belt electrodes, and the adsorption module is arranged on the robot sheet
The left and right sides of body；The motion module includes two driving motors and two driving wheels, and two driving wheels are arranged on institute
State the both sides at robot body rear portion；The control module can control two driving motor differentials to rotate, and realize and turn to
Function, is arranged on the middle part of the robot body；The cleaning module is arranged on the front portion of the robot body, easy to clear
It is clean.In this way, crawler belt electrode is tightly adsorbed with wall to be cleaned, safety and stability, control module control robot, which realizes, to turn, and turns to
Region is small, and cleaning cleanliness factor is high.
The clean surface that the patent is applicable in is relatively smooth, is also creeped using crawler belt pattern, can not realize rough surface
Grab it is attached.
Through the above search, it has been found that above technical scheme does not influence the novelty of the present invention；And above patent text
Part is mutually combined the creativeness for not destroying the present invention.
The content of the invention
The present invention is precisely in order to avoid the shortcoming present in the above-mentioned prior art, there is provided a kind of pawl thorn formula climbs wall machine
The walking mechanism of device people.
The present invention adopts the following technical scheme that to solve technical problem：A kind of walking mechanism of pawl thorn formula climbing robot,
Including being used to support fixed chassis, two main motion steering engines and two switching steering engines, the master are diagonally set on the chassis
Movement steering engine is used for the first climbing mechanism of driving and the second climbing mechanism to realize the wall of climbing of robot, and the switching steering engine is used for
Switch first climbing mechanism or second climbing mechanism performs and climbs wall action, first climbing mechanism and second is creeped
Mechanism is respectively used in smooth and coarse wall environment climbing；
Synchronizing shaft is connected to the pawl by bearing and pierces wheeled stand front end, its inner side connection pawl thorn wheel, two pawls pierce band
Wheel respectively positioned at pawl thorn wheeled stand front end and end, and be connected on the outside of the synchronizing shaft and by axis with it is described
Pawl thorn wheeled stand rotation connection, pawl thorn crawler belt and two pawl thorn belt wheels coordinate；Both ends of the spring is last with the transmission bracket respectively
End and the front end connection of pawl thorn wheeled stand, form second climbing mechanism；
Each switching steering engine drives two transmission brackets for being symmetrically set in its both sides, each transmission by switching transmission mechanism
Stent ends pierce wheeled stand by a pawl and are connected with second climbing mechanism；Each main motion steering engine passes through driver
Structure drives two synchronizing shafts for being symmetrically set in its both sides, and then drives second climbing mechanism to perform and climb wall action.
Further, the pawl thorn crawler belt is formed by pasting material and pawl thorn composite manufacturing, and pawl is pierced along wiring direction battle array
Row are arranged, totally ten one row, and the inclination angle of pawl thorn and wall is 45 °.
Further, the pawl thorn wheel is made of multiple elastic sheet structures.
Further, the inclination angle of the pawl thorn wheel dewclaw thorn is 45 °.
The present invention provides a kind of walking mechanism of pawl thorn formula climbing robot, have the advantages that：
1st, equipped with the second climbing mechanism, crawler belt is pierced by the pawl thorn wheel and pawl that are pierced with pawl and firmly grasps hydraulically rough surface, is realized thick
The climbing of coarse, the precipitous wall of robot；
2nd, equipped with switching steering engine, perform for switching the first climbing mechanism or the second climbing mechanism and climb wall action, it is real respectively
Climbing of the existing robot on smooth and hydraulically rough surface；
3rd, spring be connected respectively with transmission bracket end and pawl thorn wheeled stand front end equipped with both ends, switch steering engine into
During row switching, it is ensured that pawl thorn crawler belt firmly grasps wall, and wall robot is slid by metope, realizes the first climbing mechanism and the
Two climbing mechanisms climb the steady switching of wall；
4th, pawl thorn wheel and pawl thorn belt wheel are driven by synchronizing shaft, it is ensured that both angular speed are consistent and realize synchronous transfer, carry
Rise stability and reliability that wall is climbed by robot；
5th, simple in structure, reliable, the degree of automation is high, especially suitable for performing the Special Rings such as precipitous wall, small space
The cleaning in border, detection, rescue task.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the bottom view of the second climbing mechanism of the invention；
Fig. 3 is the structure diagram that pawl of the present invention pierces crawler belt.
In figure：
1st, chassis；2nd, the first climbing mechanism, 21, main motion steering engine, 22, synchronous pulley, 221, driving wheel, 23, absorption carries out
Band；3rd, switching mechanism, 31, switching steering engine, 32, transmission bracket；4th, the second climbing mechanism, 41, transmission mechanism, 42, synchronizing shaft,
43rd, pawl thorn wheel, 44, pawl thorn belt wheel, 45, pawl thorn crawler belt, 46, pawl thorn wheeled stand, 47, spring.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention,
Technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is the present invention one
Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
All other embodiments obtained under the premise of creative work, belong to the scope of protection of the invention.
Embodiment 1
As shown in FIG. 1 to 3, its structural relation is：Including being used to support fixed chassis 1, two are diagonally set on chassis 1
A main motion steering engine 21 and two switching steering engines 31, main motion steering engine 21 are used to drive the first climbing mechanism 2 and the second creeper
Structure 4 is to realize the wall of climbing of robot, and switching steering engine 31 is used to switch the first climbing mechanism 2 or the second climbing mechanism 4 performs and climbs wall
Action, the first climbing mechanism 2 and the second climbing mechanism 4 are respectively used in smooth and coarse wall environment climbing；
Synchronizing shaft 42 is connected to pawl by bearing and pierces 46 front end of wheeled stand, its inner side connection pawl thorn wheel 43, two pawl thorns
Belt wheel 44 is connected to the outside of synchronizing shaft 42 and is pierced by axis and pawl respectively positioned at pawl thorn 46 front end of wheeled stand and end
Wheeled stand 46 is rotatablely connected, and pawl pierces crawler belt 45 and coordinates with two pawl thorn belt wheels 44；47 both ends of spring respectively with transmission bracket 32
End and the 46 front end connection of pawl thorn wheeled stand, form the second climbing mechanism 4；
Each switching steering engine 31 drives two transmission brackets 32 for being symmetrically set in its both sides by switching transmission mechanism, each
32 end of transmission bracket pierces wheeled stand 46 by a pawl and is connected with second climbing mechanism 4；Each main motion steering engine
21 drive two synchronizing shafts 42 for being symmetrically set in its both sides by transmission mechanism, and then drive the second climbing mechanism 4 to perform and climb wall
Action.
Preferably, each main motion steering engine 21 drives two synchronous belts for being symmetrically set in its both sides by gear and transmission shaft
Wheel 22, synchronous pulley 22 of two absorption crawler belts 23 respectively with two groups of homonymies coordinate, and form the first climbing mechanism 2, first creeps
Wall realization climbing is adsorbed by adsorbing crawler belt 23 in mechanism 2；The outside of synchronous pulley 22 sets driving wheel 221, and passes through driving wheel 221
Power is transferred to the second climbing mechanism through transmission mechanism 41.
Preferably, secondary synchronous pulley and secondary absorption crawler belt can be also set in the first climbing mechanism 2, to increase adsorption capacity.
Preferably, pawl thorn crawler belt 45 is formed by pasting material and pawl thorn composite manufacturing, and pawl thorn is arranged along wiring direction array
The inclination angle of cloth, totally ten one row, pawl thorn and wall is 45 °.
Preferably, pawl thorn wheel 43 is made of multiple elastic sheet structures.
Preferably, the inclination angle of 43 dewclaw of pawl thorn wheel thorn is 45 °
When specifically used, main motion steering engine 21 drives the first climbing mechanism 2 or the second climbing mechanism 4 to perform and climb wall action,
That realizes robot climbs wall.When wall is smooth, carry out climbing wall using the first climbing mechanism 2, absorption crawler belt 23 and secondary absorption are carried out
Band absorption wall, and be rotated by main motion steering engine 21, that realizes robot climbs wall；When wall is coarse, is used
Two climbing mechanisms 4 carry out climbing wall, and the pawl thorn that pawl thorn wheel 43 and pawl are pierced on crawler belt 45 firmly grasps wall, and in the drive of main motion steering engine 21
Dynamic lower rotation, that realizes robot climbs wall.
When wall by it is coarse excessively for it is smooth when, it is necessary to switch to carry out climbing wall using the first climbing mechanism 2.At this time, cut
Changing steering engine 31 drives transmission bracket 32 to rotate, and makes chassis 1 progressively close to wall.In handoff procedure, spring 47 is by transmission bracket 32
Tensed with pawl thorn wheeled stand 46, pawl is pierced wheeled stand 46 and rotated to wall direction, ensure that pawl thorn crawler belt 45 firmly grasps wall all the time
Face, avoids after 43 driven 32 lifting force of stent of pawl thorn wheel with the pawl thorn number contacted between the walls declining during switching, causes
Robot gribing power deficiency is slid by avoiding.
Embodiment 2
As shown in FIG. 1 to 3, its structural relation is：Including being used to support fixed chassis 1, two are diagonally set on chassis 1
A main motion steering engine 21 and two switching steering engines 31, main motion steering engine 21 are used to drive the first climbing mechanism 2 and the second creeper
Structure 4 is to realize the wall of climbing of robot, and switching steering engine 31 is used to switch the first climbing mechanism 2 or the second climbing mechanism 4 performs and climbs wall
Action, the first climbing mechanism 2 and the second climbing mechanism 4 are respectively used in smooth and coarse wall environment climbing；
Synchronizing shaft 42 is connected to pawl by bearing and pierces 46 front end of wheeled stand, its inner side connection pawl thorn wheel 43, two pawl thorns
Belt wheel 44 is connected to the outside of synchronizing shaft 42 and is pierced by axis and pawl respectively positioned at pawl thorn 46 front end of wheeled stand and end
Wheeled stand 46 is rotatablely connected, and pawl pierces crawler belt 45 and coordinates with two pawl thorn belt wheels 44；47 both ends of spring respectively with transmission bracket 32
End and the 46 front end connection of pawl thorn wheeled stand, form the second climbing mechanism 4；
Each switching steering engine 31 drives two transmission brackets 32 for being symmetrically set in its both sides by switching transmission mechanism, each
32 end of transmission bracket pierces wheeled stand 46 by a pawl and is connected with second climbing mechanism 4；Each main motion steering engine
21 drive two synchronizing shafts 42 for being symmetrically set in its both sides by transmission mechanism, and then drive the second climbing mechanism 4 to perform and climb wall
Action.
Preferably, using Beijing, intelligently good AX-18 numeric types, output terminal use spline steering wheel and transmission to main motion steering engine 21
Mechanism 41 connects, and pierce crawler belt 45 by two-stage gear drive band pawl thorn wheel 43 and pawl rotates at the same time.
Preferably, the two-stage gear of transmission mechanism 41 is arranged in parallel and the number of teeth is equal, and mechanism resultant gear ratio is 1.In order to subtract
Few rigging error and mitigation own wt, idler gear are integrally formed with its accessory using 3D printing.All gear materials
Material is nylon 2200.
Preferably, 32 middle part hollow processing of transmission bracket, to mitigate total quality.
When specifically used, main motion steering engine 21 drives the first climbing mechanism 2 or the second climbing mechanism 4 to perform and climb wall action,
That realizes robot climbs wall.When wall is smooth, carry out climbing wall using the first climbing mechanism 2；When wall is coarse, second is used
Climbing mechanism 4 carries out climbing wall, and the pawl thorn that pawl thorn wheel 43 and pawl are pierced on crawler belt 45 firmly grasps wall, and in the driving of main motion steering engine 21
Lower rotation, that realizes robot climbs wall.
When wall by it is coarse excessively for it is smooth when, it is necessary to switch to carry out climbing wall using the first climbing mechanism 2.At this time, cut
Changing steering engine 31 drives transmission bracket 32 to rotate, and makes chassis 1 progressively close to wall.In handoff procedure, spring 47 is by transmission bracket 32
Tensed with pawl thorn wheeled stand 46, pawl is pierced wheeled stand 46 and rotated to wall direction, ensure that pawl thorn crawler belt 45 firmly grasps wall all the time
Face, avoids after 43 driven 32 lifting force of stent of pawl thorn wheel with the pawl thorn number contacted between the walls declining during switching, causes
Robot gribing power deficiency is slid by avoiding.
Embodiment 3
A kind of installation method of the pawl thorn wheel of pawl thorn formula wall-climbing device, comprises the following steps：Pawl thorn is installed on pawl thorn wheel
Pipeline in, then by pipeline and pawl thorn groove bonding.
At present, pawl thorn is generally directly installed in pawl thorn groove by the installation of pawl thorn, and installation effectiveness is extremely low, and single pawl thorn is time-consuming
About 5min.Meanwhile because fixing glue and pawl thorn contact area are limited, pawl thorn easily loose or dislocation.
Pawl thorn is installed in the pipeline of pawl thorn wheel by this method, is then by pipeline and pawl thorn groove bonding, bonding strength
Be mounted directly pawl thorn five times of method, installation effectiveness for 1 minute 5.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there are other identical element in process, method, article or equipment including the key element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to foregoing each implementation
Technical solution described in example is modified, or carries out equivalent substitution to which part technical characteristic；And these modification or
Replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical solution.
Claims (5)
1. a kind of walking mechanism of pawl thorn formula climbing robot, including it is used to support fixed chassis (1), it is characterised in that：Institute
State and two main motion steering engines (21) and two switching steering engines (31) are diagonally set on chassis (1), the main motion steering engine (21) is used
In driving the first climbing mechanism (2) and the second climbing mechanism (4) to realize the wall of climbing of robot, the switching steering engine (31) is used for
Switch first climbing mechanism (2) or second climbing mechanism (4) performs and climbs wall action, first climbing mechanism (2)
It is respectively used to the second climbing mechanism (4) in smooth and coarse wall environment climbing；
Synchronizing shaft (42) is connected to the pawl by bearing and pierces wheeled stand (46) front end, its inner side connection pawl thorn wheel (43), and two
A pawl thorn belt wheel (44) is respectively positioned at pawl thorn wheeled stand (46) front end and end, and be connected to the synchronizing shaft
(42) on the outside of and pierce wheeled stand (46) by axis and the pawl to be rotatablely connected, pawl thorn crawler belt (45) and two pawls pierce belt wheels (44)
Coordinate；Spring (47) both ends are connected with the transmission bracket (32) end and pawl thorn wheeled stand (46) front end respectively, structure
Into second climbing mechanism (4)；
Each switching steering engine (31) drives two transmission brackets (32) for being symmetrically set in its both sides by switching transmission mechanism, each
Transmission bracket (32) end pierces wheeled stand (46) by a pawl and is connected with second climbing mechanism (4)；Each main fortune
Dynamic steering engine (21) drives two synchronizing shafts (42) for being symmetrically set in its both sides by transmission mechanism, and then drives described second to creep
Mechanism (4), which performs, climbs wall action.
A kind of 2. walking mechanism of pawl thorn formula climbing robot according to claim 1, it is characterised in that：The pawl thorn is carried out
Band (45) is formed by pasting material and pawl thorn composite manufacturing, and the pawl thorn set thereon pierces crawler belt (45) nodel line direction along the pawl
The inclination angle of array arrangement, totally ten one row, pawl thorn and wall is 45 °.
A kind of 3. walking mechanism of pawl thorn formula climbing robot according to claim 1 or 2, it is characterised in that：The pawl
Thorn wheel (43) is made of multiple elastic sheet structures.
A kind of 4. walking mechanism of pawl thorn formula climbing robot according to claim 1 or 2, it is characterised in that：The pawl
The inclination angle of thorn wheel (43) dewclaw thorn is 45 °.
5. a kind of installation method of the pawl thorn wheel of pawl thorn formula wall-climbing device, it is characterised in that comprise the following steps：Pawl is pierced and is installed
In in the pipeline of pawl thorn wheel, then pipeline and pawl thorn groove are bonded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711458175.7A CN107963143B (en) | 2017-12-28 | 2017-12-28 | Walking mechanism of claw-thorn type wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711458175.7A CN107963143B (en) | 2017-12-28 | 2017-12-28 | Walking mechanism of claw-thorn type wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107963143A true CN107963143A (en) | 2018-04-27 |
| CN107963143B CN107963143B (en) | 2023-07-25 |
Family
ID=61993194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711458175.7A Active CN107963143B (en) | 2017-12-28 | 2017-12-28 | Walking mechanism of claw-thorn type wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107963143B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478007A (en) * | 2020-12-10 | 2021-03-12 | 北方工业大学 | Climbing robot mechanism with combined action of tangential force and normal force |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2412815A1 (en) * | 2002-11-27 | 2004-05-27 | Martin Deschambault | Mobile and modular robot platform with several means of locomotion for making advanced movements in three dimensions |
| CN1715121A (en) * | 2004-06-30 | 2006-01-04 | 中国科学院沈阳自动化研究所 | Dangerous operation robot with wheel-leg-crawler combined moving mechanism |
| US20120066846A1 (en) * | 2010-09-16 | 2012-03-22 | Jason Yan | Structural Improvement For Robotic Cleaner |
| CN102947145A (en) * | 2010-04-06 | 2013-02-27 | 罗伯科技公司 | Robotic system and methods of use |
| JP2013244896A (en) * | 2012-05-28 | 2013-12-09 | Hitachi-Ge Nuclear Energy Ltd | Crawler type moving mechanism, and traveling type robot provided with crawler type moving mechanism |
| US20130338825A1 (en) * | 2012-06-13 | 2013-12-19 | Robo-team Ltd. | Carrying autonomous vehicle system and methods |
| CN104943763A (en) * | 2015-07-09 | 2015-09-30 | 中国计量学院 | Wall-climbing robot motion mechanism capable of realizing three-dimensional wall surface transition |
| CN105035192A (en) * | 2015-07-27 | 2015-11-11 | 山东科技大学 | Traveling mechanism for wheel-track inspection robot and working method thereof |
| CN106585750A (en) * | 2017-01-10 | 2017-04-26 | 南京林业大学 | Wall climbing robot adsorbed on steel wall surface |
| CN206552137U (en) * | 2016-11-23 | 2017-10-13 | 国网山东省电力公司电力科学研究院 | The switchable type wheel of electromagnetic clutch control carries out composite mobile robot |
| CN107323556A (en) * | 2017-05-22 | 2017-11-07 | 南京航空航天大学 | The sufficient climbing robot of Alcula type five and its motion gait method |
-
2017
- 2017-12-28 CN CN201711458175.7A patent/CN107963143B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2412815A1 (en) * | 2002-11-27 | 2004-05-27 | Martin Deschambault | Mobile and modular robot platform with several means of locomotion for making advanced movements in three dimensions |
| CN1715121A (en) * | 2004-06-30 | 2006-01-04 | 中国科学院沈阳自动化研究所 | Dangerous operation robot with wheel-leg-crawler combined moving mechanism |
| CN102947145A (en) * | 2010-04-06 | 2013-02-27 | 罗伯科技公司 | Robotic system and methods of use |
| US20120066846A1 (en) * | 2010-09-16 | 2012-03-22 | Jason Yan | Structural Improvement For Robotic Cleaner |
| JP2013244896A (en) * | 2012-05-28 | 2013-12-09 | Hitachi-Ge Nuclear Energy Ltd | Crawler type moving mechanism, and traveling type robot provided with crawler type moving mechanism |
| US20130338825A1 (en) * | 2012-06-13 | 2013-12-19 | Robo-team Ltd. | Carrying autonomous vehicle system and methods |
| CN104943763A (en) * | 2015-07-09 | 2015-09-30 | 中国计量学院 | Wall-climbing robot motion mechanism capable of realizing three-dimensional wall surface transition |
| CN105035192A (en) * | 2015-07-27 | 2015-11-11 | 山东科技大学 | Traveling mechanism for wheel-track inspection robot and working method thereof |
| CN206552137U (en) * | 2016-11-23 | 2017-10-13 | 国网山东省电力公司电力科学研究院 | The switchable type wheel of electromagnetic clutch control carries out composite mobile robot |
| CN106585750A (en) * | 2017-01-10 | 2017-04-26 | 南京林业大学 | Wall climbing robot adsorbed on steel wall surface |
| CN107323556A (en) * | 2017-05-22 | 2017-11-07 | 南京航空航天大学 | The sufficient climbing robot of Alcula type five and its motion gait method |
Non-Patent Citations (1)
| Title |
|---|
| 徐林森: "《仿生双足水上行走机器人优化设计及控制方法》", vol. 50, no. 15, pages 12 - 18 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478007A (en) * | 2020-12-10 | 2021-03-12 | 北方工业大学 | Climbing robot mechanism with combined action of tangential force and normal force |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107963143B (en) | 2023-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105655487B (en) | Coat peeling unit and dyestripping method | |
| CN103909991B (en) | A kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof | |
| CN108100060A (en) | A kind of multi-mode wall-climbing device robot movement mechanism | |
| CN107600214A (en) | It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall | |
| CN109744930B (en) | Many sucking discs formula high altitude glass curtain wall cleaning robot | |
| CN108945125B (en) | A kind of pawl thorn formula crawler belt climbing robot | |
| CN106388729A (en) | Wheel type wall-climbing robot and working method thereof | |
| CN209285343U (en) | Clean robot | |
| CN204527386U (en) | Crawler multi-sucker Climbing Robot | |
| CN105292292A (en) | Multi-functional wall climbing car | |
| CN110757478A (en) | Sucking disc formula snakelike curtain robot of crawling | |
| CN105752195B (en) | Bridge machinery robot | |
| CN107963143A (en) | A kind of walking mechanism of pawl thorn formula climbing robot | |
| CN207737383U (en) | A kind of walking mechanism of pawl thorn formula climbing robot | |
| CN106608305A (en) | Double-foot wall-climbing robot | |
| CN111361726A (en) | Logistics distribution unmanned aerial vehicle with wall adsorbs function | |
| CN103587603B (en) | One kind can barb type wall-climbing robot capable of performing steering flexibly | |
| CN107010135B (en) | Wall-climbing composite crawler belt | |
| CN110803230B (en) | Bionic adhesion-absorption combined type crawler wall-climbing robot | |
| CN207274809U (en) | It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall | |
| CN112478007B (en) | Climbing robot mechanism with combined action of tangential force and normal force | |
| CN212637718U (en) | Wall-climbing chassis of robot | |
| CN206717853U (en) | Sand blasting machine people | |
| CN205251438U (en) | Climb wall and clean machine people | |
| CN112572633A (en) | Biped wall-climbing robot mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |