Vibration absorbing type underwater four-foot wall-climbing robot

Abstract

The invention discloses a vibration absorbing type underwater four-foot wall-climbing robot. The robot comprises a body part and mechanical legs which are separately arranged at both sides of the body part in a row. The robot further comprises a control system for controlling the work of the mechanical leg, every mechanical leg comprises a leg assembly and a vibration absorbing device arranged at the tail end of the leg assembly; the leg assembly comprises a base body, a thigh, a shank and a tail leg; the base body is matched with the body part in the manner of rotating in a cross plane, and the thigh is matched with the base body in the manner of rotating in a vertical plane; the shank is matched with the thigh in the manner of rotating in the vertical plane, and the tail leg is matched with the shank in the manner of rotating in the vertical plane; the vibration absorbing device can be matched with the tail leg in the manner of rotating around own axial line. The vibration absorbing type underwater four-foot wall-climbing robot has high bionic effect and can realize the barrier-free movement in multiple directions, improve the movement performance of the underwater robot, and greatly improve the working efficiency of the underwater robot.

Description

technical field [0001] The invention relates to the field of robots, in particular to a vibration-adsorption underwater quadruped wall-climbing robot. Background technique [0002] Underwater robots are important terminal equipment for underwater operations. They are divided into floating, crawling, and compound types according to their action modes. Among them, the crawling underwater robot can carry working modules such as detection, cleaning, drilling, and cutting for underwater work. In crawling underwater robots, adsorption devices are often used to adsorb the hull or other objects, including magnetic adsorption tracks, negative pressure suction cups, etc. These traditional adsorption devices are connected with the torso of the robot to form an overall structure, which is not only complex in structure, but also Moreover, the walking is not flexible, and the avoidance of obstacles is not sensitive enough. It takes too long to complete the operation, and the operation ca...

AI Technical Summary

Problems solved by technology

In crawling underwater robots, adsorption devices are often used to adsorb the hull or other objects, including magnetic adsorption tracks, negative pressure suction cups, etc. These traditional adsorption devices are connected with the torso of the robot to form an overall structure, which is not only complex in structure, but also Moreover, walking is not flexible, and the avoidance of obstacles is not sensitive enough. It takes too long to complete the work, and the work cannot be completed quickly.

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