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Wall-climbing type robot with effect of two-feet coordinated actuation

A robot and forefoot technology, applied in the field of wall-climbing robots, can solve problems such as complex structures, and achieve the effects of strong adaptability, good application prospects, and strong usability

Active Publication Date: 2017-05-31
NANJING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, there are similar wall-climbing robots on the market, some of which adopt permanent magnet structure and the wall surface of the magnetic adsorption method must be magnetically conductive material, or bionic robots, similar to using claws, etc., or negative pressure type, but the structure is more complicated

Method used

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  • Wall-climbing type robot with effect of two-feet coordinated actuation
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  • Wall-climbing type robot with effect of two-feet coordinated actuation

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Embodiment Construction

[0022] In order to deepen the understanding of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments, which are only used to explain the present invention and do not limit the protection scope of the present invention.

[0023] Such as figure 1 and figure 2 As shown, the wall-climbing robot with coordinated action of two feet includes a front foot 1 and a rear foot 3, a PLC controller, a front foot 1 and a rear foot 3, and two negative pressure parts 12 are respectively connected to the bottom; each negative pressure part 12 , including a negative pressure terminal 2, and a pressure sensor and a distance sensor disposed therein close to the wall. The negative pressure terminal 2 is connected to the walking servo motor 16 through a telescopic rod 13, a telescopic sleeve 14 and a coupling 15 to obtain Power, the walking servo motor 16 is located inside the front foot or the rear foot; the tele...

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Abstract

The invention discloses a wall-climbing type robot with an effect of two-feet coordinated actuation. The wall-climbing robot comprises front feet, rear feet, a PLC, a telescopic moving rod and a spring, wherein the bottoms of the front feet and rear feet are respectively connected with two negative-pressure parts; the telescopic moving rod is connected between the front feet and the rear feet, and comprises a fixed rod, a sleeve and a fixed rod which are sequentially fixed between the front feet and the rear feet, as well as springs sleeving outside the fixed rod, the sleeve and the fixed rod; one ends, close to the front feet or rear feet, of the springs are connected through vertical servo motors, so that the robot is driven to move back and forth; tee connectors are connected with outer parts of a sleeve in left and right directions, and are sequentially connected with transverse telescopic sleeves, transverse moving rods and transverse servo motors; the transverse servo motors are used for driving the transverse moving rods to move transversely, so that front feet and rear feet are driven to move transversely. The wall-climbing robot has the characteristics of strong wall face structure shape adaptability, high stability, wall face material limit independence, flexible movement, strong usability, safety, reliability and the like.

Description

technical field [0001] The invention relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot with coordinated action of two feet. Background technique [0002] As a special branch of robots, wall-climbing robots are characterized by being able to move freely on walls and ceilings against the force of gravity. Due to the particularity of the work of wall-climbing robots, it has attracted the attention of scientific researchers from all over the world. Since the mid-1980s, developed countries in the world have successively developed wall-climbing robots with their own characteristics. How to achieve effective adsorption is the most critical research content of wall-climbing robots. At present, three kinds of adsorption technologies are mainly used: negative pressure adsorption, magnetic adsorption and bionic adsorption. Bionic adsorption method wall-climbing robot: Some insects can resist the separation force of more than 100 times the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 王诗兆
Owner NANJING INST OF TECH
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