Mechanical leg, high-altitude operation robot and walking method of high-altitude operation robot

Abstract

The invention aims at providing a mechanical leg. The mechanical leg includes a sucking disk, a sucking disk pulling mechanism, an acting force detection part and a displacement detection part. The sucking disk is used for sucking on a curtain wall block, the sucking disk pulling mechanism is used for applying acting force to the sucking disk sucked on the curtain block, and the acting force is used for making the sucking disk displace; the acting force detection part is used for detecting the acting force; the displacement detection part is used for detecting the displacement so as to judge the sucking safety of the sucking disk. The invention provides a high-altitude operation robot which includes the mechanical leg capable of detecting the sucking safety, and therefore can walk after the sucking safety of the sucking disk of the mechanical leg. A walking method of the high-altitude operation robot can detect the sucking safety, solve the problems of skidding, false suction and the curtain wall looseness caused by the sucking, and therefore guarantee that the high-altitude operation robot walks after the sucking safety of the sucking disk of the mechanical leg, and greatly improve the safety of walking.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a mechanical foot, a high-altitude operation robot and a walking method for the high-altitude operation robot. Background technique [0002] With the progress of society and the development of science and technology, the number of skyscrapers has shown explosive growth, and it has also brought many safety accidents caused by the falling of curtain walls. Nowadays, most of the cleaning and safety inspection of curtain walls are done manually, and this kind of work has high risks. [0003] Intelligent robots can completely replace the above tedious and dangerous work. The design of existing curtain wall crawling robot does not put safety crawling in the first place, especially when the curtain wall block is unsafe (such as the curtain wall block is loose), the crawling of the aerial work robot is just very dangerous. [0004] There are foreign objects on the curtain wall to be a...

AI Technical Summary

Problems solved by technology

The existing curtain wall crawling robot design does not put safety crawling first, especially in the case of unsafe curtain wall blocks (such as loose curtain wall blocks), the crawling of aerial work robots is very dangerous

[0004] There are foreign objects on the curtain wall to be adsorbed, such as water, cement ballast, bird droppings, dust, etc., which will greatly reduce the safety of the suction cup. , the friction coefficient between the suction cup and the curtain wall surface will be much lower than when there is no water on the curtain wall surface. When there is a lot of dust, it is similar to the situation with water. In this way, the aerial work robot will easily slip or falsely suck, and the dry foreign matter will be absorbed again. Air leaks into the suction cup, reducing the safety of the suction cup

[0005] In addition, when the suction cup is adsorbed on the curtain wall block, due to the unevenness of the surface of the curtain wall block, there may be air leakage and poor sealing, which will also bring danger

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