一种模块化可重构爬壁机器人及其爬壁方法

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	一种模块化可重构爬壁机器人及其爬壁方法
	刘爱华; 姜勇; 董伟光; 王洪光
	2016-06-15
专利国别	中国
专利号	CN105667621A
专利类型	发明
产权排序	1
权利人	中国科学院沈阳自动化研究所
其他题名	Modularized reconfigurable wall-climbing robot and wall-climbing method thereof
中文摘要	本发明属于移动机器人领域，具体地说是一种模块化可重构爬壁机器人及其爬壁方法，爬壁机器人包括齿轮外壳、机器人本体、对接装置、吸盘等，齿轮外壳安装在机器人本体上部中央；离心泵安装在机器人本体上部，其进气口与机器人本体中央的通孔垂直对应；吸盘安装在机器人本体底部四周，驱动轮和支撑轮安装在机器人本体下部、位于吸盘内；齿轮外壳左右两侧的侧板上分别装有母端、公端对接装置。本发明每个模块化可重构爬壁机器人是独立的个体，所构建的吸附装置是可滑动式，使机器人在吸附壁面的同时可以运动，在壁面无障碍时独立完成任务，当活动空间内有需要跨越的障碍时，两个独立的个体重构成一种行星轮系结构，协同完成越障任务。
是否PCT专利	否
英文摘要	The invention belongs to the field of mobile robots and particularly relates to a modularized reconfigurable wall-climbing robot and a wall-climbing method thereof. The wall-climbing robot comprises a gear shell, a robot body, butt joint devices, a suction cup and the like. The gear shell is installed in the center of the upper portion of the robot body. A centrifugal pump is installed at the upper portion of the robot body, and an air inlet of the centrifugal pump perpendicularly corresponds to a through hole in the center of the robot body. The suction cup is installed on the periphery of the bottom of the robot body, and drive wheels and a supporting wheel are installed at the lower portion of the robot body and located in the suction cup. The female-end butt joint device and the male-end butt joint device are arranged on side boards on the left side and the right side of the gear shell. Each modularized reconfigurable wall-climbing robot is an independent individual, a constructed adsorption device is in a sliding manner, the robot can move while adsorbing a wall face, a task is independently finished when the wall face is free of obstacles, and when the obstacles needing to be crossed exist in a movable space, two independent individuals are reconstructed to form a planetary gear train structure to finish the obstacle crossing task cooperatively.
申请日期	2014-11-21
语种	中文
专利申请号	CN201410677553.0
专利代理	沈阳科苑专利商标代理有限公司 21002
内容类型	专利
源URL	[http://ir.sia.cn/handle/173321/18974]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	刘爱华,姜勇,董伟光,等. 一种模块化可重构爬壁机器人及其爬壁方法. CN105667621A. 2016-06-15.