The invention relates to a flexible multi-foot cooperative operation climbing robot which comprises a main trunk, a plurality of limbs, soles, a steering engine driving system, a gas driving system and an electrical control system, wherein the electrical control system is connected with the steering engine driving system and the gas driving system, and the steering engine driving system communicates with the robot limbs and drives the robot to climb; the gas driving system is communicated with the soles of the robot to drive the robot to be stably adhered or quickly desorbed in the climbing process; the gas driving system comprises a pneumatic unit, a cavity structure and a flexible flap structure; the pneumatic unit inflates the cavity structure under positive pressure, toes of the foot soles press downwards, and the flexible flap structure adheres to the attachment surface; and the pneumatic unit sucks air into the cavity structure under negative pressure, toes of the sole are lifted up, and the flexible flap structure is separated from the attachment surface. The flexible multi-foot cooperative operation climbing robot can effectively solve the problems that an existing foot type climbing robot is complex in structure, large in size and weight, low in maneuverability in the operation process and poor in surface applicability of a rigid end effector to the attachment surface.
本发明涉及一种柔性多足协同作业攀爬机器人,包括主躯干、若干肢体、脚掌,以及舵机驱动系统、气驱系统和电气控制系统;电气控制系统分别与舵机驱动系统和气驱系统相连接,舵机驱动系统与机器人肢体连通,驱动机器人攀爬;气驱系统与机器人脚掌连通,驱动机器人攀爬过程中的稳定黏附或快速脱附;气驱系统包括气动单元、以及空腔结构和柔性皮瓣结构;气动单元对空腔结构正压充气,脚掌的脚趾下压,柔性皮瓣结构黏附附着面;气动单元对空腔结构负压吸气,脚掌的脚趾上抬,柔性皮瓣结构脱附附着面。本发明能有效解决现有足式攀爬机器人结构复杂、体积和重量大,机器人作业过程中机动性低、刚性末端执行器对附着面的表面适用性较差的问题。
Flexible multi-foot cooperative operation climbing robot
一种柔性多足协同作业攀爬机器人
2021-08-06
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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