Pneumatic bionic six-legged wall climbing robot
A wall-climbing robot and gas path technology, applied in the field of bionic robots, can solve the problems of very limited application, unusable, high energy consumption, etc., to reduce the processing difficulty and processing cost, reduce the volume and weight, and expand the application. range effect
Active Publication Date: 2019-03-29
TSINGHUA UNIV
View PDF5 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0002] A wall-climbing robot is a special robot that can carry working tools to achieve specific functions on various walls. It has broad application prospects in climbing rescue, environmental detection, and spacecraft extracabin walking. There are major flaws in the design and application of robots
At present, most of the wall-climbing robots put into use adopt vacuum adsorption, magnetic adsorption, or the idea of air reverse thrust force, which consumes a lot of energy, or the application occasions are very limited, for example, it cannot be used in space or on the surface of non-magnetic materials.
In addition, wall-climbing robots using traditional drive methods are generally large in size and heavy in weight, which is not conducive to miniaturization design and cannot play a role in small spaces
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0021] The present invention will be described in detail below in conjunction with the implementations shown in the drawings, but it should be noted that these implementations are not limitations of the present invention, and those of ordinary skill in the art based on the functions, methods, or structural changes made by these implementations Equivalent transformations or substitutions all fall within the protection scope of the present invention.
[0022] ginseng Figure 1 to Figure 6 As shown, this embodiment provides a pneumatic bionic hexapod wall-climbing robot, which includes a torso 1 and six leg structures connected to the torso 1. The leg structures include a deformable pneumatic joint group, a transmission rod 11, a deformable Foot 4 and air path;
[0023] The pneumatic joint group includes the first pneumatic joint group, the second pneumatic joint group and the third pneumatic joint group. The first pneumatic joint group connects the trunk 1 and the transmission ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a pneumatic bionic six-legged wall climbing robot. The robot comprises a torso and six leg structures connected to the torso, and the leg structures comprise deformable pneumatic joint sets, transmission rods, deformable feet and pneumatic paths. The robot utilizes pneumatic bellows and spring pieces to form pneumatic joints to drive the movement of robot legs and control the deformation of soles; air pumps, air guiding tubes and shunt tubes form pneumatic path mechanisms, and the robot is controlled to achieve triangular gait walking. The robot is driven by the gas pumps and controlled by the pneumatic paths to achieve the robot six-legged cooperative gait, has the advantages of energy saving, light weight and small volume, solves the disadvantages of a large weightand a large volume of a miniature wall climbing robot, and greatly improves the practicality and applicability of the miniaturization wall climbing robot.
Description
technical field [0001] The invention relates to the technical field of bionic robots, in particular to a pneumatic bionic hexapod wall-climbing robot. Background technique [0002] A wall-climbing robot is a special robot that can carry working tools to achieve specific functions on various walls. It has broad application prospects in climbing rescue, environmental detection, and spacecraft extracabin walking. There are major flaws in the design and application of robots. Most of the wall-climbing robots currently in use use vacuum adsorption, magnetic adsorption, or the idea of air reverse thrust, which consumes a lot of energy, or has very limited application occasions, such as in space and cannot be used on the surface of non-magnetic materials. In addition, wall-climbing robots using traditional drive methods are generally large in size and heavy in weight, which is not conducive to miniaturization design and cannot function in a small space. Contents of the inventi...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): B62D57/032B62D57/024
CPCB62D57/024B62D57/032
Inventor 刘世博索朗旦增赵杰亮阎绍泽王澍青钰霖
Owner TSINGHUA UNIV