The invention discloses a foot type wall-climbing robot. The foot type wall-climbing robot comprises a body and a plurality of mechanical legs. Each 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 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 the walking surface so as to adjust the posture of the fixed connecting piece to be attached and fixed to the walking surface. The body is provided with a belly side, a back side and a gas control assembly, when the foot type wall-climbing robot walks, the belly side faces the walking surface, the back side deviates from the walking surface, and the gas control assembly is used for generating acting force capable of enabling the belly side to be close to the walking surface by controlling flowing of surrounding gas. The foot-type wall-climbing robot provided by the embodiment of the invention does not cause instability of the posture of the robot during walking, and the control difficulty is reduced.

    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;机械腿包括主动姿态调整件、被动姿态调整件以及固连件,主动姿态调整件具备连接端以及自由端,连接端与躯体连接,自由端通过被动姿态调整件与固连件连接;被动姿态调整件能够在固连件与行走表面的作用力下被动改变自身结构以将固连件的姿态调整至与行走表面贴合固定;躯体具备腹部侧、背部侧以及气体控制组件,在足式爬壁机器人行走时腹部侧朝向行走表面而背部侧背离行走表面,气体控制组件用于通过控制周围气体流动以产生能够使腹部侧朝行走表面靠近的作用力。本实施例所提供的足式爬壁机器人在行走时不会造成自身姿态的不稳定,降低了控制难度。


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    Title :

    Foot type wall-climbing robot


    Additional title:

    足式爬壁机器人


    Contributors:
    LIU YI (author) / GUO BIN (author)

    Publication date :

    2021-10-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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