Bionic quadruped wall-climbing robot based on claw attachment

A wall-climbing robot and hook-claw technology, applied in the field of climbing robots, can solve the problems of complex structure and control, inability to change posture, single climbing surface, etc., and achieve simple structure, reduced body weight, and good crawling stability. Effect

Active Publication Date: 2017-05-17
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] (1) The climbing surface is single, and the posture cannot be changed correspondingly with the rough surface to adapt to the rough surface
[0006] (2) The structure and control are relatively complex and not easy to implement

Method used

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  • Bionic quadruped wall-climbing robot based on claw attachment
  • Bionic quadruped wall-climbing robot based on claw attachment
  • Bionic quadruped wall-climbing robot based on claw attachment

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Embodiment Construction

[0020] Describe in detail with the attached drawings

[0021] like figure 1 Shown is the specific design drawing of the bionic quadruped wall-climbing robot based on the claw. The robot consists of a front body plate 3, a lower body 10, legs, a tail 12, and soles 6. The leg is composed of a driving leg 9, a follower leg 8, a foot link 7, a pitch joint 2, a pitch steering gear 1 and a leg swing steering gear 4. The pitching servo 1 is placed on the front body plate 3 by gluing, the leg swing servo 4 is installed on the pitch joint 2 through the reserved servo hole, and the leg swing servo 4 and the pitch joint 2 are fixed by screws and nuts. One end of the pitch joint 2 is installed on the output shaft of the pitch steering gear 1, and the other end is hinged with the front body plate 3. One end of the follower leg 8 is hinged on the pitch joint 2, the other end is hinged on the sole link 7, one end of the driving leg 9 is fixed on the output shaft of the swing leg steering g...

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Abstract

The invention relates to a bionic four-footed wall-climbing robot based on falcula attachment, and relates to the technical field of climbing robots. The bionic four-footed wall-climbing robot comprises a front robot body plate (3), a rear robot body plate (10), a connecting rod, a tail (12) and mechanical legs, and soles (6) are installed on the mechanical legs. The bionic four-footed wall-climbing robot is characterized in that each sole (6) comprises a sole base body (17), wherein the rear end of the sole base body (17) is installed on the corresponding mechanical leg through a damping rotating shaft (14), the axis of the damping rotating shaft (14) is parallel to the plane where the sole base body (17) is located, and the angle between the plane where the sole (6) is located and the plane where the corresponding mechanical leg is located can be adjusted by rotating the damping rotating shaft (14); a flexible connecting block (15) is installed at the front end of each sole base body (17) and provided with multiple protrusive flexible rectangular strips at the front end, and a falcula (16) is installed at the tail end of each flexible rectangular strip. The bionic four-footed wall-climbing robot is simple in structure, and easy to control and assemble.

Description

technical field [0001] The invention relates to the technical field of climbing robots, in particular to a bionic climbing robot. [0002] technical background [0003] At present, there are extensive operational requirements in many fields such as spraying, cleaning, emergency rescue and social services on the outer walls of buildings. In these extreme environments, manual work is very dangerous, and there is an urgent need for wall-climbing robots with climbing functions to replace manual work. [0004] At present, many wall-climbing robots have been invented at home and abroad, such as the claw-type wall-climbing robot of Harbin Engineering University; Stickybot of Stanford University. These robots can achieve certain crawling functions, but there are also certain deficiencies in the following aspects: [0005] (1) The climbing surface is single, and the posture cannot be changed correspondingly with the rough surface to adapt to the rough surface. [0006] (2) The stru...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/024
Inventor 吉爱红赵智慧倪勇陈玉钰江南王寰袁闪闪戴振东
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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