The invention provides a hydraulic pressure flexible four-foot wall-climbing robot for dam underwater wall surface operation, which comprises a machine body, an underwater negative pressure unit and four leg-foot mechanisms, the machine body is a cuboid metal box body and comprises an upper plate, a lower plate and four side plates, and four corners are provided with extension structures; the underwater negative pressure unit comprises two underwater electric cylinders, two plunger type cylinders and an underwater valve group; the underwater electric cylinders are coaxially connected with plunger rods; the four leg-foot mechanisms are symmetrically arranged at four corners of the machine body, each leg-foot mechanism comprises a base joint, a thigh joint, a shin joint and a foot negative pressure suction cup, the base joints are arranged in the machine body and connected with the machine body, the base joints and the thigh joints are connected end to end through orthogonal connecting blocks, the thigh joints and the shin joints are connected end to end through connecting plates, and the shin joints and the foot negative pressure suction cups are connected through extension rods. The robot adopts four-foot movement, negative pressure adsorption and water pressure artificial muscle driving, has good compatibility with the underwater environment, can realize multi-directional obstacle crossing movement, and greatly improves the working efficiency of the underwater wall surface of the dam.
本发明提供一种面向大坝水下壁面作业的水压柔性四足爬壁机器人,包括:包括机身、水下负压单元和四个腿足机构,机身是一长方体金属箱体,包括上板、下板和四块侧板,四角有延伸结构;水下负压单元包括两个水下电动缸、两个柱塞缸和水下阀组,水下电动缸与柱塞杠同轴相连;四个腿足机构对称布置于机身四角,四个腿足机构均包括基节、股节、胫节和足部负压吸盘,基节设置在机身内部并与其相连,基节与股节通过正交连接块首首相连,股节与胫节通过连接板首尾相连,胫节与足部负压吸盘通过延长杆相连。本发明机器人采用四足移动、负压吸附、水压人工肌肉驱动,与水下环境兼容性好,可以实现多方向的越障移动,大大提高了大坝水下壁面作业效率。
Water pressure flexible four-foot wall-climbing robot for dam underwater wall surface operation
一种面向大坝水下壁面作业的水压柔性四足爬壁机器人
2023-11-07
Patent
Electronic Resource
Chinese
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