Leg mechanism of multi-legged robot for cleaning and maintaining external wall

Abstract

The invention provides a leg mechanism of a multi-legged robot for cleaning and maintaining an external wall. The leg mechanism comprises a lower limb, a shank, a suction disc, a thigh, and a motor I, a motor II and a motor III and corresponding first-grade speed reducer and second-grade speed reducer, a shaft coupler and a flange disc, wherein the thigh comprises an upper baffle, a lower baffle and a side plate. The upper baffle and the lower baffle are fixedly connected with a fourth speed reducer between the shank and the thigh and a sixth speed reducer between the thigh and the lower limb; output shafts of the motors are collinear; the side plate is fixedly connected with the upper baffle and the lower baffle. The motor, the first-grade speed reducer and the second-grade speed reducer are driven by the shaft coupler in sequence; a shaft of the second-grade speed reducer and the flange disc are driven by a key; the flange disc is fixedly connected with the thigh, the shank and the lower limb through a plurality of bolts; the second-grade speed reducer which drives the shank to move frontwards is fixedly arranged on a base body of the multi-legged robot; the suction disc is mounted on the lower limb. The leg mechanism of the multi-legged robot for cleaning and maintaining the external wall is applicable to the multi-legged robot or a wall-climbing robot and the like.

Description

technical field [0001] The invention relates to the technical fields of robots, mechanical design, mechanical transmission, mechanical electronics, etc., and in particular relates to a leg mechanism of a multi-legged robot for cleaning and maintaining exterior walls. Background technique [0002] For high-rise buildings, the cleaning of exterior walls has become an increasingly important issue. In the past, it was necessary to manually clean the high-rise glass exterior walls of buildings from the roof through hanging ropes. This method is dangerous and inefficient. The high-rise exterior wall cleaning robot uses the ability to climb the wall to clean the exterior wall. In this way, it is no longer necessary for workers to hang in the air to clean the outer wall, and at the same time, the cleaning efficiency is improved. However, the weight problem has always been an important reason for restricting the development of external wall cleaning and maintenance robots. Due to th...

AI Technical Summary

Problems solved by technology

However, the weight problem has always been an important reason restricting the development of external wall cleaning and maintenance robots. Due to the insufficient support provided by the adsorption force, it is difficult for robots to work on complex walls for a long time.

However, as an important moving part of the robot, its degree of freedom directly affects the robot's obstacle surmountability and flexibility, but the multi-degree-of-freedom drive means multiple motors and reducers, which cannot meet the requirements of lightweight

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