Three-legged wall-climbing robot

Abstract

The invention discloses a three-legged wall-climbing robot which comprises electric telescopic rods (1), wherein the three electric telescopic rods (1) are in an end-to-end connection and connected to moving joint shafts (2) to form a triangular structure; a cylinder (3) is connected to the lower end of each moving joint shaft (2); suction cup brackets (4) are connected under the cylinders (3); spring-buffered suction cups (6) are connected to the bottom of the suction cup brackets (4); shaft sleeves (7) are sleeved on journals (22) of the three moving joint shaft (2); and the other end of the three shaft sleeves (7) is movably connected to three pins (51) of a triangle carrying platform (5). The three-legged wall-climbing robot has the advantages of crossing obstacles with a certain height, making a turn flexibly, moving coordinately, and capable of finishing a task of cleaning walls by replacing manual labor.

Description

technical field [0001] The invention belongs to the technical field of wall-climbing robots, in particular to a three-legged wall-climbing robot. Background technique [0002] Existing legged wall-climbing robots are four-legged, five-legged and six-legged wall-climbing robots, which are mainly divided into frame-type and foot-type wall-climbing robots. [0003] Chinese patent document CN 202765130 U disclosed a sucker-type wall-climbing robot on March 6, 2013. composition. There are four lifting mechanisms at the four corners of the upper frame and the lower frame respectively. Suction cups are installed on the extending arms of the lifting mechanisms, and the extending arms can drive the suction cups to lift and lower; Sliders are installed on the upper and lower sides of the body, which can slide on the upper frame and the lower frame respectively; the upper frame and the lower frame are equipped with cylinders, and the protruding rod ends of the cylinders are respectiv...

AI Technical Summary

Problems solved by technology

[0005] First of all, this wall-climbing robot has the advantages of simple structure, light weight, and easy maintenance. However, because the lifting mechanism fixed at the four apexes of the upper and lower frames is fixed, it cannot complete the steering action, resulting in the path when it travels on the wall. Not the shortest path, slower in terms of travel speed

Secondly, due to the buffer device between the suction cup and the lifting mechanism, when walking on an uneven wall surface, the suction cup cannot be adaptively parallel to the wall surface, which will cause the suction cup to be unstable, and the suction cup may fall off.

Because the four suction cups of the upper or lower frame of this wall-climbing robot must move together, so when facing a certain height of stepped obstacles, the four suction cups of the upper or lower frame cannot all be adsorbed to the stepped wall. Incapable of crossing step barriers

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