The invention discloses a full-drive multi-degree-of-freedom foot type wall-climbing robot advancing system, relates to the technical field of foot type adsorption type robots, solves the problems that an adsorption type foot type robot is limited in maneuvering ability and weak in wall-crossing transfer ability during wall climbing, and comprises a trunk module, a multi-degree-of-freedom foot assembly, an air path system and a main control module. A multi-degree-of-freedom foot assembly used for supporting and walking is installed at each corner of the trunk module, the main control module is used for controlling the air path system and the multi-degree-of-freedom foot assemblies to operate, and the air path system is used for achieving the effect that the multiple multi-degree-of-freedom foot assemblies are sucked to the ground. The robot can have a larger spanning step length, and has a more flexible steering mode; when transferring across the wall surfaces, at least three suction cups are ensured to be stressed at the same time, the safety of transferring the wall surfaces is greatly improved, and meanwhile, the transferring has no requirement on the included angle between the wall surfaces.

    本发明公开了一种全驱动多自由度足式爬壁机器人行进系统,涉及足式吸附型机器人的技术领域,解决了吸附型足式机器人在爬壁时机动能力有限、跨壁转移能力弱的问题,包括:躯干模块、多自由度足部组件、气路系统和主控模块,躯干模块的每一个角部安装有一个用于支撑及行走的多自由度足部组件,主控模块用于控制气路系统和多自由度足部组件运行,气路系统用于实现多个多自由度足部组件吸取地面,本发明中,当在单一竖直壁面上进行移动操作的时候,其能够具备更大的跨越步长,并且拥有更为灵活的转向方式;在跨越壁面转移时,保证了至少三个吸盘同时受力,大大提高了壁面转移时的安全性,同时之间的转移对壁面之间的夹角没有要求。


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    Titel :

    Full-drive multi-degree-of-freedom foot type wall-climbing robot advancing system


    Weitere Titelangaben:

    一种全驱动多自由度足式爬壁机器人行进系统


    Beteiligte:
    LIU JIANMING (Autor:in) / CAI BO (Autor:in) / XIAO BO (Autor:in) / LAI YUTONG (Autor:in) / LI YIFAN (Autor:in)

    Erscheinungsdatum :

    13.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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