Compound parallel-connection four-foot wall climbing mechanism

Abstract

The invention discloses a compound parallel-connection four-foot wall climbing mechanism, which comprises a main wall climbing device an auxiliary wall climbing device, wherein the main wall climbingdevice comprises a machine body upper board, four telescopic foot components and a main driving component; the four telescopic foot components are in sliding connection to two sides of the machine body upper board; the main driving component drives four telescopic foot components to synchronously carry out periodic telescopic movement; and the auxiliary wall climbing device comprise four auxiliaryfoot components and an auxiliary driving component, wherein the four auxiliary foot components are in sliding connection to the bottom of the machine body upper board, and the auxiliary driving component drives the four auxiliary foot components to carry out periodic reciprocating movement relative to the main wall climbing mechanism and change a rotation angle formed between the main wall climbing mechanism and the auxiliary wall climbing device to carry out steering motion. The compound parallel-connection four-foot wall climbing mechanism to which the invention relates to has an obstacle crossing ability, the size of each foot and the volume and the weight of the wall climbing mechanism do not need to be obviously increased, the application range of the wall climbing mechanism is enlarged, and the telescopic foot components can realize synchronous stretching and retracting, and have the functions of climbing and steering.

Description

technical field [0001] The invention belongs to the technical field of special robots, and more specifically relates to a compound parallel quadruped wall-climbing mechanism. Background technique [0002] The wall-climbing robot is a special bionic robot that can carry various operating tools to achieve specific functions on various walls. It is widely used in dangerous or special occasions such as glass curtain wall cleaning, glass wiping, large tank thickness measurement and flaw detection, spraying, and high-altitude investigation. . Wall-climbing robots can not only improve the efficiency of high-altitude operations, but also replace manual operations and reduce the safety hazards of workers in dangerous environments. [0003] Adsorption technology refers to the technology that prevents the wall-climbing robot from slipping or tipping. The commonly used adsorption methods include reverse thrust type, magnetic adsorption type, vacuum adsorption type, etc. Most foot-type ...

AI Technical Summary

Problems solved by technology

[0003] Adsorption technology refers to the technology that prevents the wall-climbing robot from slipping or tipping. The commonly used adsorption methods include reverse thrust type, magnetic adsorption type, vacuum adsorption type, etc. Most foot-type wall-climbing robots adopt the adsorption method of external negative pressure source , but the obvious disadvantages of using this adsorption method are: (1) The wall-climbing robot realizes wall-climbing walking through the alternate movement of the feet. The end of the robot’s feet is a negative pressure suction cup device. The instantaneous adsorption force of the wall robot to the wall will be reduced, which will directly affect the load capacity and operation stability of the robot, and even cause adverse consequences such as slipping and tipping of the wall climbing robot, posing a great safety hazard

(2) The obstacle surmounting ability of the wall-climbing robot is generally greatly affected by the constraints of the size of the foot structure. If the robot wants to climb over higher obstacles flexibly, it needs to increase the size of the foot, which will increase the volume and weight of the robot. , the height increase of the wall-climbing robot affects its adsorption crawling ability and attitude stability, these defects greatly limit the application range of the wall-climbing robot

[0004] Therefore, a composite parallel four-legged wall-climbing mechanism is expected to stabilize the adsorption capacity of the wall surface, overcome the hidden danger of unstable adsorption force when the traditional footed wall-climbing robot walks and moves, and maintain the stability without significantly increasing the size of the foot structure. Sufficient obstacle-surmounting ability, greatly improving the application range of wall-climbing robots

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