The invention discloses a dry adhesion grabbing and releasing device applied to a claw foot of a wall-climbing robot, a plurality of dry adhesion grabbing and releasing devices are arranged on the claw foot of the wall-climbing robot, and the climbing is realized in a mode of alternately grabbing and releasing; the device comprises a top frame, a bottom frame, a middle frame, an adhesion subunit, a release subunit and a linear actuating subunit. A top frame, a middle frame and a bottom frame are arranged in parallel at intervals from top to bottom, the top frame and the middle frame are of a plane structure, two fixed pulleys are arranged on the top face of the top frame, a pair of supporting frames are arranged on the bottom face of the bottom frame, and after feet of the wall-climbing robot are released from the wall face, the supporting frames still make contact with the wall face to provide supporting. Different from a grabbing and releasing mode of a traditional dry adhesion system, grabbing and releasing of the dry adhesion system are controlled through the three-layer frame structure and the linear actuating device, and good controllability and applicability are achieved.
本发明公开了一种应用于爬壁机器人爪足的干粘附抓附与释放装置,将若干个干粘附抓附与释放装置布置于爬壁机器人爪足上,以抓附与释放交替进行的方式实现爬行;所述装置包括顶部框架、底部框架、中间框架、粘附子单元、释放子单元和线性致动子单元;自上向下平行间隔设置顶部框架、中间框架、底部框架,顶部框架和中间框架为平面结构,顶部框架的顶面设有两个定滑轮,底部框架的底面设有一对支撑架,当爬壁机器人足部从壁面释放后,支撑架仍接触壁面以提供支撑。本发明区别于传统的干粘附系统的抓附与释放方式,通过三层框架结构以及线性致动装置对干粘附系统的抓附与释放进行控制,具有良好的可控性与适用性。
Dry adhesion grabbing and releasing device applied to claw foot of wall-climbing robot
一种应用于爬壁机器人爪足的干粘附抓附与释放装置
2023-05-12
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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