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Four-foot-swing wall-climbing robot with driven waist joint

A wall-climbing robot and waist joint technology, which is applied in the field of wall-climbing robots, can solve the problems of poor control, poor flexibility, and difficulty in guaranteeing vertical climbing, and achieve the effects of clear structure, impact energy reduction, and compact structure

Inactive Publication Date: 2015-09-02
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The stability is relatively improved, but the flexibility is not good, and the movement is difficult to guarantee to climb along the vertical line, and the control is poor

Method used

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  • Four-foot-swing wall-climbing robot with driven waist joint
  • Four-foot-swing wall-climbing robot with driven waist joint
  • Four-foot-swing wall-climbing robot with driven waist joint

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Experimental program
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Embodiment Construction

[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0031] The quadruped swinging wall-climbing robot with passive waist joints of the present invention includes a body module 1 and a telescopic foot module 2, such as figure 1 As shown; wherein, the body module 1 includes an upper body 101, a lower body 102 and a waist joint 103; the upper body 101 and the lower body 102 have the same structure, both of which are rectangular structures, made of aluminum alloy, and have a hollow cavity , with lightening holes on the surface; the cavity is used to install batteries and control boards. The upper body part 101 and the lower body part 102 are arranged symmetrically up and down, and are connected by a waist joint 103 . The waist joint 103 is composed of an upper ear piece 103a, a lower ear piece 103b and a pin shaft 103c; wherein, the upper ear piece 103a and the lower ear piece 103b are fixedly installed on the lo...

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Abstract

The invention discloses a four-foot-swing wall-climbing robot with a driven waist joint. The wall-climbing robot comprises four telescopic foot modules, an upper body part, a lower body part and a tail module; the telescopic foot modules are active motion modules and each composed of a steering engine and a transmission mechanism, each transmission mechanism is formed by bevel gears and a crank slide bar mechanism to transmit power of the corresponding steering engine, and then four telescopic legs can do linearly telescopic motion. The four telescopic foot modules are connected with the left side and the right side of the upper body part and the left side and the right side of the lower body part respectively. The upper body part and the lower body part are internally provided with cavities used for installing a control panel and a battery and are connected through the waist joint. The waist joint does passive motion, and the robot can climb a wall or walk through active motion of telescopic feet of skew symmetry. The wall-climbing robot has the advantages that the overall structure is compact and flat and high in stability; the ratio of the upper body to the lower body can be adjusted according to optimization needs; changes of mass center motion tracks and foot end force of climbing animals can be fitted, and the motion speed of the four-foot-swing wall-climbing robot with the driven waist joint is effectively increased.

Description

technical field [0001] The invention relates to a wall-climbing robot, in particular to a small, light, modular robot that can climb walls with imitative dynamic gait. Background technique [0002] So far, wall-climbing robots are mainly divided into wheel-type wall-climbing robots, crawler-type wall-climbing robots, and multi-legged bionic wall-climbing robots. [0003] Among various mechanisms, the wheel-type wall-climbing robot has fast movement speed and flexible control, but it is difficult to maintain a certain adsorption force; the crawler-type wall-climbing robot has strong adaptability to the wall surface, large contact area, strong adsorption force, but flexible movement The performance is poor; the multi-legged bionic wall-climbing robot can easily cross obstacles and realize wall transition, and has strong adaptability to unknown walls and unknown environments. Therefore, the research of multi-legged wall-climbing robot has become a research hotspot [1]. [000...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
Inventor 王巍吴士林朱佩华
Owner BEIHANG UNIV
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