A negative pressure adsorption type quadruped wall-climbing robot

Abstract

The utility model relates to a kind of negative pressure adsorption type four-foot wall-climbing robots, including torso main body, four leg components, adsorption component and drive assembly.Torso main body includes left, right, front torso plate and rear torso rod, both sides are equipped with connecting plate;Leg component is two-degree-of-freedom bionic structure, respectively articulated on connecting plate, it includes thigh and shank skeleton, and by joint rudder independent drive.Adhesion component includes four suction discs and four independent corresponding micro diaphragm pumps arranged in lower end of shank, form independent vacuum unit of sub-foot;Lower end of shank is connected with suction disc universal self-adapting by ball shaft seat, ball bearing and installation column with air passage.The utility model mechanical structure simplification and light weight, greatly improve the fault tolerance of system, security and the adaptive ability of rough, inclined special-shaped wall surface, can be with stable gait on a variety of material wall surface steady crawl.

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