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专利名称: 轮足式爬壁机器人机构
其他题名: Wheel foot type wall climbing robot mechanism
作者: 王洪光; 刘爱华; 景凤仁; 董伟光; 李贞辉
所属部门: 空间自动化技术研究室
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司 21002
专利国别: 中国
专利类型: 发明
专利状态: 失效(视为撤回)
摘要: 本发明涉及一种轮足式爬壁机器人机构,包括半圆柱形的第1本体及第2本体、连杆、第1吸盘足以及第2吸盘足,其中第1本体及第2本体下部分别设有第1吸盘足以及第2吸盘足,第1本体及第2本体轴线平行,以接触方式并行设置,在两本体并行设置的两端部分别通过连杆连接成具有能够相对旋转的结构;第1吸盘足采用负压吸附结构,第2吸盘足采用真空吸附结构;第1本体内设有行走轮。本发明有机地结合了轮式移动机构和足式移动机构的各自优点,机构具有较好的运动特性和力特性,移动速度快,越障能力强,曲面适应性好。
英文摘要: The invention relates to a wheel foot type wall climbing robot mechanism, which comprises a semi-cylindrical first body 1, a semi-cylindrical second body 2, a connecting rod, a first suction disc foot and a second suction disc foot, wherein the lower parts of the first body 1 and the second body 2 are respectively provided with the first suction disc foot and the second suction disc foot, axial lines of the first body 1 and the second body 2 are parallel and are in parallel arrangement in a contact mode, two end parts in parallel arrangement of the two bodies are respectively connected into a relatively rotatable structure through the connecting rod, the first suction disc foot adopts a negative pressure absorption structure, the second suction disc foot adopts a vacuum absorption structure, and a walking wheel is arranged in the first body. The wheel foot type wall climbing robot mechanism organically combines the respective advantages of a wheel type moving mechanism and a foot type moving mechanism, the mechanism has better moving characteristics and force characteristics, the moving speed is high, the barrier getting capability is high, and the curve surface adaptability is good.
是否PCT专利:
申请日期: 2010-11-22
公开日期: 2012-05-30
专利申请号: CN201010553115.5
公布/公告号: CN102476664A
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/13434
Appears in Collections:空间自动化技术研究室_专利

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Recommended Citation:
王洪光,刘爱华,景凤仁,等. 轮足式爬壁机器人机构. CN102476664A. 2012.
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文件名: CN201010553115.5.pdf
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