Five foot wall climbing robot

A wall-climbing robot and robot technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low center of gravity, and achieve the effects of small fluctuations, novel design structure, and simple control methods.

Inactive Publication Date: 2004-07-14
DALIAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0010] The purpose of the present invention is to invent a five-legged wall-climbing robot, which solves the task of replacing manual tasks in special operations. The unique adsorption method can be applied to crawling on a variety of walls and surfaces at any angle, overcomes the shortcomings of existing wall-climbing robots, and can be widely used in various occasions

Method used

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Embodiment Construction

[0016] specific implementation plan

[0017] Take the accompanying drawings as an example to illustrate the specific implementation. When the five-legged wall-climbing robot moves straight forward, the robot moves according to the following steps, as shown in Figures 4-7. First, the electromagnets [1] of the two front legs are powered off, the straight motors [5] and [11] that control the movement of the front legs rotate, the front legs are lifted and swing forward, the front feet leave the wall, and the body consists of two rear feet and the middle The foot is supported and adsorbed on the wall, as shown in Figure 4; after the front foot touches the wall, the electromagnet [1] is energized, and the front foot is adsorbed on the wall, and the straight motor [1] stops rotating simultaneously. Then, the electromagnets [17] of the two hind legs are powered off, and the straight motor [11] that controls the movement of the hind legs rotates, and the hind legs lift and swing forwa...

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Abstract

The five-foot wall climbing robot as one small robot consists of frame, leg mechanism, driving mechanism and control system, and has five feet with adsorbing electromagnet. Its frame consists of front frame and back frame, the front frame is provided with straight motor and reducer combination and has on the output shaft two symmetric and synchronous sets of leg mechanisms and electromagnets, and the back frame is also provided with straight motor and reducer combination and has on the output shaft two symmetric and synchronous sets of leg mechanisms and electromagnets. The front frame and the back frame capable of rotating and floating are driven with a middle turning motor, and the leg mechanism is four-link rod mechanism. The robot is novel in structure, simple, small and smart, can crawl and turn on plane in any inclination and may be used in job in narrow space and dangerous area.

Description

technical field [0001] The five-legged wall-climbing robot of the present invention belongs to the field of small-scale applied robots, and can replace humans for high-altitude operations or operations in dangerous areas. Background technique [0002] In modern industrial production, it is often necessary to carry out high-altitude operations or operations in dangerous areas, such as the repair of tall buildings, the detection of narrow gaps in ship bottom warehouses, the inspection and repair of equipment in toxic gas production workshops or the interior of underground pipelines, etc. It is hoped that robots can replace humans to crawl smoothly, turn freely, operate or complete tasks that cannot be done by humans. [0003] It is more difficult for a robot to climb a wall than to walk on a plane. The general walking mechanism on a flat ground uses the friction between the foot and the ground generated by gravity to move forward, and the foot and the ground can slide relative...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06
Inventor 梁延德吴胜龙邸建国孙亚萍
Owner DALIAN UNIV OF TECH
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