The invention discloses a bionic wall-climbing robot supporting leg structure and an operation method, and belongs to the field of robot parts. The bionic wall-climbing robot supporting leg structure comprises a first steering engine, and the non-rotating-shaft end of the first steering engine is fixed to a wall-climbing robot body; a knee joint frame is fixed to a rotating shaft of the first steering engine, the non-rotating-shaft end of the second steering engine is fixed to the knee joint frame, and a rotating shaft of the second steering engine can rotate relative to the knee joint frame. An ankle joint frame is fixed to a rotating shaft of the second steering engine. The ankle joint frame is rotationally connected with a ventilation pipe, the end of the ventilation pipe is connected with a vacuum suction cup, and the ankle joint frame is provided with a third steering engine for driving the vacuum suction cup to rotate. The wall climbing robot body is provided with a grabbing and releasing assembly enabling the vacuum suction cups to be sucked or opened. A plurality of laser sensors used for detecting the distance are fixed to the end face of the end, extending into the vacuum suction cup cavity, of the ventilation pipe. The supporting leg structure can selectively adsorb the surface and is prevented from being adsorbed at the joint of the glass curtain wall.

    本发明的仿生爬墙机器人支腿结构及操作方法,属于机器人部件领域,包括一号舵机,一号舵机的非转轴端固定在爬墙机器人本体上;一号舵机的转轴上固定有膝关节架,二号舵机的非转轴端固定在膝关节架上,二号舵机的转轴能相对于膝关节架转动;二号舵机的转轴上固定有踝关节架;踝关节架上转动连接有通气管,通气管的端部连接有真空吸盘,踝关节架上设有驱动真空吸盘转动的三号舵机;爬墙机器人本体上设有使真空吸盘吸附或者开启的抓放组件;通气管伸入到真空吸盘腔中的一端端面固定有多个用于检测距离的激光传感器。该支腿结构能选择吸附表面,避免吸附在玻璃幕墙的接缝处。


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    Title :

    Supporting leg structure of bionic wall-climbing robot and operation method


    Additional title:

    仿生爬墙机器人支腿结构及操作方法


    Contributors:
    LU HANWEN (author) / ZHOU ZIHENG (author) / QI XINGTONG (author) / LI GAOYA (author)

    Publication date :

    2023-12-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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