The invention discloses a foot type wall-climbing robot. The foot type wall-climbing robot comprises a body and a plurality of mechanical legs. The mechanical leg comprises an active posture adjusting piece, a passive posture adjusting piece and a fixed connecting piece, the active posture adjusting piece is provided with a connecting end and a free end, the connecting end is connected with the body, and the free end is connected with the fixed connecting piece through the passive posture adjusting piece; the active posture adjusting piece can change the position and posture of the free end relative to the connecting end, and the passive posture adjusting piece can passively change the structure of the passive posture adjusting piece under the acting force of the fixed connecting piece and a vertical surface so as to adjust the posture of the fixed connecting piece to be attached and fixed to the vertical surface. According to the foot type wall-climbing robot provided by the embodiment of the invention, the precision requirement on the posture of the mechanical leg is obviously reduced, and the walking speed of the robot is improved.
本申请公开了一种足式爬壁机器人,包括躯体以及多条机械腿;所述机械腿包括主动姿态调整件、被动姿态调整件以及固连件,所述主动姿态调整件具备连接端以及自由端,所述连接端与所述躯体连接,所述自由端通过所述被动姿态调整件与所述固连件连接;所述主动姿态调整件能够改变所述自由端相对于所述连接端的位置以及姿态,所述被动姿态调整件能够在所述固连件与竖直表面的作用力下被动改变自身结构以将所述固连件的姿态调整至与竖直表面贴合固定。本实施例所提供的足式爬壁机器人显著降低了对机械腿姿态的精度要求,提升了机器人的行走速率。
Foot type wall-climbing robot
足式爬壁机器人
2021-06-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |