The invention relates to the field of robot technology application, in particular to a wall-climbing robot which comprises a robot body and a plurality of leg structures connected with the robot body. Each leg structure comprises a first steering engine, a second steering engine, a third steering engine, a connecting base, a negative pressure generating system and an adsorption sole; a first output shaft of the first steering engine is arranged in the x-axis direction, and the first output shaft is used for driving the second steering engine to rotate around the first output shaft; a second output shaft of the second steering engine is perpendicular to the first output shaft; and the second output shaft and the third steering engine are connected with the two sides of the connecting base correspondingly and used for driving the connecting base and the third steering engine to rotate around the second output shaft. A third output shaft of the third steering engine is parallel to the second output shaft, and the third output shaft is used for driving the adsorption sole to rotate around the third output shaft; and the negative pressure generating system is used for forming adsorption force at the sole adsorption position. The technical problem that a leg structure of an existing robot is difficult to adapt to crawling surfaces with different curvatures is effectively solved.

    本申请涉及机器人技术应用领域领域,特别涉及一种爬壁机器人,包括机身以及与机身连接的多个腿部结构;各个腿部结构均包括第一舵机、第二舵机、第三舵机、连接基座、负压发生系统和吸附脚掌;第一舵机的第一输出轴沿x轴方向设置,第一输出轴用于驱使第二舵机绕第一输出轴转动;第二舵机的第二输出轴与第一输出轴垂直;第二输出轴和第三舵机分别与连接基座的两侧连接,用于驱使连接基座和第三舵机绕第二输出轴转动;第三舵机的第三输出轴与第二输出轴平行设置,第三输出轴用于驱使吸附脚掌绕第三输出轴转动;负压发生系统用于在吸附脚掌处形成吸附力。本申请有效地解决了现有机器人的腿部结构存在难以适应不同曲率的爬行面的技术问题。


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    Titel :

    Wall-climbing robot


    Weitere Titelangaben:

    一种爬壁机器人


    Beteiligte:
    CAI DI (Autor:in) / XUE ZEHAO (Autor:in) / CHENG SIMIN (Autor:in) / ZHANG TIE (Autor:in) / CHEN WEIYU (Autor:in) / HUANG JIAQI (Autor:in)

    Erscheinungsdatum :

    2021-07-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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