The invention provides a multi-stage series connection dry adhesion wall-climbing robot which comprises a trunk part, N climbing leg assemblies symmetrically installed on the side wall of the trunk part and adhesion foot assemblies installed at the bottoms of the climbing leg assemblies, and each adhesion foot assembly comprises a rigid backing structure, a multi-stage series connection assembly and a center connecting block. The rigid backing structure is fixedly connected to the bottom of the climbing leg assembly, the multi-stage series assembly is connected to the bottom of the rigid backing structure, and the center connecting block is connected with the climbing leg assembly through a supporting rack and connected with the multi-stage series assembly through a carbon fiber shaft to form a closed loop. The wall-climbing robot can climb on an inverted ceiling and can also climb on an inverted ceiling, the action of crossing obstacles can be achieved, loads can be carried, and the application prospect of the wall-climbing robot is greatly widened.
本发明提供一种多级串联干粘附爬壁机器人,包括躯干部分、N个对称安装于所述躯干部分侧壁的攀爬腿组件以及安装于所述攀爬腿组件底部的粘附足组件,所述粘附足组件包括刚性背衬结构、多级串联组件、中心连接块,所述刚性背衬结构固定连接于攀爬腿组件底部,多级串联组件连接于刚性背衬结构底部,中心连接块通过支撑齿条与攀爬腿组件连接且与所述多级串联组件通过碳纤维轴连接形成闭环,本发明可以爬行垂直墙面,也可以爬行倒置的天花板,还能实现跨越障碍的动作,能够携带负载,大大拓宽了爬壁机器人的应用前景。
Multi-stage series dry adhesion wall-climbing robot and wall-climbing method thereof
一种多级串联干粘附爬壁机器人及其爬壁方法
2024-03-19
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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