Two negative pressure adsorption type feet of wall-climbing robot

Abstract

The invention discloses two negative pressure adsorption type feet of a wall-climbing robot. Two foot modules are fixed to the same axis. During movement, the rear foot can directly step over the front foot and is adsorbed to the wall face to become the front foot, the single-step crossing distance during circulation movement is large, and the movement is flexible. Thigh joint motors of the robot are located below thigh connecting rods. The two thigh connecting rods are connected with the two thigh joint motors, and the other ends of the thigh connecting rods are connected with two ankle joint motors at the upper portions of the cavity feet respectively. Sealing washers are inlaid in the inner sides of concave shells of the cavity feet. Air nozzles are arranged inside cavities of the bottoms of the cavity feet. The upper portions of the cavity feet are provided with vacuum pumps and connected with the air nozzles through a three-way joint. The other end of the three-way joint is connected with an air inlet valve. The ankle joint motors are fixedly connected with foot steering motors. The foot steering motors are connected with the shells of the cavity feet. When the robot moves, the single-step crossing distance is twice larger than the length of the shells of the cavity feet, and the robot can meet the requirement of reducing the torque of the movement legs on the whole robot by controlling the circulation movement of the thigh connecting rods.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a negative pressure adsorption type biped of a wall-climbing robot. Background technique [0002] With the continuous maturity of robot technology, wall-climbing robots, as a branch of special robots, have very broad application prospects. The common movement modes of wall-climbing robots are crawler type, wheel type, and articulated foot type. The articulated-footed robot overcomes the shortcomings of the wheeled and tracked wall-climbing robots, which have a single movement mode and difficulty in overcoming obstacles. At the same time, the articulated-footed robot has flexible degrees of freedom and is suitable for walls with complex environments. However, the current joint-footed negative pressure wall-climbing robot has the disadvantages of slow moving speed, small single-step span, complex gait, and large overturning moment when crossing obstacles, which has a la...

AI Technical Summary

Problems solved by technology

However, the foot structure of the wall-climbing robot is relatively complex, the gait is slow when climbing and moving, the walking distance is limited under the single-step gait cycle, and the obstacle-crossing function is poor.

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