Walking mechanism and walking method of crawling robot

Abstract

The invention discloses a walking mechanism of a crawling robot. The walking mechanism is characterized by comprising a moving frame, a plurality of outer legs and a plurality of inner legs, wherein the moving frame is rectangular; the outer legs are symmetrically mounted on two symmetrical lateral sides of the moving frame, and the inner legs are symmetrically mounted on the other two symmetrical lateral sides of the moving frame; each outer leg comprises an outer-leg frame and a telescopic leg arranged in the outer-leg frame; each inner leg comprises an inner-leg frame and a telescopic leg arranged in the inner-leg frame; suction cups are mounted at the bottoms of the outer legs and the inner legs; the telescopic legs of the outer legs are connected with the moving frame, and the moving frame ascends and descends with the telescopic legs of the outer legs; the inner-leg frames are rigidly connected with the moving frame, and the inner-leg frames ascend and descend with the moving frame; the outer-leg frames are mounted on the moving frame through guide rails; transverse feed motors are mounted on the moving frame, and the transverse feed motors drive transverse feed screws; the inner legs and the outer legs are both provided with longitudinal feed motors, and the longitudinal feed motors drive longitudinal feed screws.

Description

technical field [0001] The invention relates to the field of aviation automatic assembly, in particular to a walking mechanism of a crawling robot used for automatic assembly of aircraft fuselages. Background technique [0002] At present, the main connection method used in aircraft structure is mechanical connection. There are about 1.5 million to 2 million rivets and bolts on a large aircraft. The number of holes for aircraft parts is large, and the precision of hole making is high. The traditional manual hole riveting method cannot meet the precision requirements. In order to meet the requirements of high life, high strength, sealing and anti-fatigue of modern aircraft, the safety and reliability of mechanical connections must be ensured first, so it is necessary to use advanced automatic drilling and riveting equipment to improve the quality and accuracy of assembly. [0003] The cost of automatic drilling and riveting equipment is high, the applicable surface is narrow...

AI Technical Summary

Problems solved by technology

[0007] The development of the autonomous mobile light assembly system, that is, the crawling robot, is in line with the development direction of the current aircraft advanced assembly technology, and is of great significance for improving the research and application level of my country's advanced assembly technology. The walking system of the autonomous mobile light assembly system has not yet seen domestic patents. , with more technical space

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