The invention discloses a biped wall-climbing robot mechanism, which belongs to the technical field of high-altitude climbing equipment. The biped wall-climbing robot mechanism comprises two foot structures which are symmetrically arranged left and right, and each foot structure comprises a foot adsorption device, a first motion control steering engine, a second motion control steering engine anda third motion control steering engine which are sequentially arranged from bottom to top; each foot adsorption device is connected with one end of a first motion control steering engine through a steering engine foot connecting block, the other end of the first motion control steering engine is connected with one end of a second motion steering engine, and the other end of the second motion steering engine is connected with one end of a third motion control steering engine, the two third motion control steering engines which are symmetrical left and right are connected through a top fixed connection block; and a control element is arranged on the top fixed block. According to the wall-climbing robot structure, the wall surface obstacle-crossing capacity of the wall-climbing robot can be improved, the wall-climbing robot structure is suitable for a working surface with higher fluctuation, conversion from the ground to the wall surface and from the wall surface to a ceiling can be completed more easily, the size of the robot is reduced to a certain extent, and the wall-climbing robot structure is suitable for narrower pipeline work.

    本发明公开了一种双足爬壁机器人机构,属于高空攀爬设备技术领域,包括左右对称设置的两个足部结构,每个足部结构包括由下至上依次设置的足部吸附装置、第一运动控制舵机、第二运动控制舵机及第三运动控制舵机,足部吸附装置通过舵机足部连接块与第一运动控制舵机的一端相连,第一运动控制舵机的另一端和第二运动舵机的一端相连,第二运动舵机的另一端与第三运动控制舵机的一端相连,左右对称的两个第三运动控制舵机通过顶部固连块相连;顶部固定块上设置有控制元件。本发明的这种爬壁机器人结构能够提升爬壁机器人的墙面越障能力,适应起伏性更大的工作表面,更容易完成从地面到墙面以及从墙面到天花板的转换,而且一定程度上缩小了机器人的体积,适应更加狭窄的管道工作。


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    Title :

    Biped wall-climbing robot mechanism


    Additional title:

    一种双足爬壁机器人机构


    Contributors:
    ZHAO ZHIBIN (author) / XU HAIBO (author) / SHI XIAOTIAN (author) / MA JILIANG (author) / GUO YANJIE (author) / CHEN XUEFENG (author)

    Publication date :

    2021-03-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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