The invention provides a claw sucker wall-climbing claw structure suitable for a wall-climbing robot. A pair of claws serve as a climbing mechanism for a rough wall surface and an auxiliary climbing mechanism for a smooth wall surface, and a sucker serves as a main climbing mechanism for the smooth wall surface; the face, with the sucker, of the shell serves as the bottom face and makes contact with the wall face, the vacuum pump provides adsorption force for the sucker, and the adsorption face right faces the wall face. The pair of claws are symmetrically arranged left and right, overhung on the two sides of the shell and extend to the front of the shell in the advancing direction, and the driving mechanism is driven by a steering engine, and drives the pair of claws to synchronously extend out or synchronously retract along the wall surface in the advancing direction through the pair of four-bar mechanisms after being transmitted by the gear mechanism. And the pair of claws are in contact with the wall surface through a plurality of pricking needles and can be hooked on the wall surface through the pricking needles during retraction. The climbing robot can adapt to climbing of wall surfaces with different roughness.

    本发明提供了一种适用于爬壁机器人的钩爪吸盘爬壁爪结构,其中:一对钩爪作为粗糙壁面的攀爬机构以及光滑壁面的辅助攀爬机构,吸盘作为光滑壁面的主攀爬机构;壳体以带有吸盘的一面作为底面、与壁面接触,吸盘由真空泵提供吸附力,吸附面正对壁面;一对钩爪左右对称分设、悬伸在壳体两侧并朝着行进方向伸出至壳体前方,所述驱动机构通过舵机驱动,经齿轮机构传动后通过一对四连杆机构分别带动一对钩爪沿着壁面、顺着行进方向或同步伸出或同步缩回,一对钩爪通过多根刺针与壁面相接触,并能够在缩回时通过刺针钩挂在壁面上。本发明能够适应不同粗糙度的壁面攀爬。


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    Title :

    Claw sucker wall-climbing claw structure suitable for wall-climbing robot


    Additional title:

    一种适用于爬壁机器人的钩爪吸盘爬壁爪结构


    Contributors:
    ZHOU SHUANG (author) / LI LU (author) / WANG MEILING (author)

    Publication date :

    2024-03-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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