The invention discloses an eagle claw climbing structure suitable for a cylindrical wall surface, and relates to the technical field of wall-climbing robots, the eagle claw climbing structure comprises an upper joint structure, a lower joint structure and a tail end structure which are sequentially installed and connected, and the tail end structure comprises a sole and at least two toe structures arranged at the front end and the rear end of the sole respectively; the fixed end of a toe driving machine of the toe structure is fixedly installed on the sole, and the output end of the toe driving machine outputs the motion of driving a pricking needle of the toe structure to lift up or grab down so as to desorb or grab the wall surface. The upper joint structure, the lower joint structure and the toe structure cooperate to act, the toe structure performs bending gripping and stretching loosening actions to realize gripping and desorption of a cylindrical wall surface, the upper joint structure performs forward stretching and backward retracting actions to drive the foot sole and the toe structure to extend forwards or retract backwards, and the lower joint structure performs pitching action, so that the foot sole and the toe structure are driven to move forwards or backwards. And the foot sole and toe structures are driven to pitch up or down, so that the wall-climbing robot can adapt to the operation of the wall surface environment, and the application environment of the wall-climbing robot is further expanded.
本发明公开了一种适用于圆柱壁面的鹰爪攀爬结构,涉及爬壁机器人技术领域,包括依次安装连接的上关节结构、下关节结构和末端结构,末端结构包括脚掌及至少两个分别设置于脚掌前端和后端的脚趾结构;脚趾结构的脚趾驱动机的固定端与脚掌安装固定,输出端输出驱动脚趾结构的刺针上抬或下抓以脱附或抓附壁面的运动。本发明的上关节结构、下关节结构及脚趾结构协同动作,脚趾结构做弯曲握紧及伸展放松动作,实现圆柱类壁面的抓附和脱附,上关节结构做前伸和后缩动作,带动脚掌和脚趾结构向前伸出或向后缩回,下关节结构做俯仰动作,带动脚掌和脚趾结构上仰或下俯,使爬壁机器人能够适应该类壁面环境的作业,进一步拓展了爬壁机器人的适用环境。
Eagle claw climbing structure suitable for cylindrical wall surface
一种适用于圆柱壁面的鹰爪攀爬结构
2024-12-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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