Foot type wall-climbing robot

Abstract

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.

Description

technical field [0001] The present application relates to the technical field of robots, in particular to a legged wall-climbing robot. Background technique [0002] Wall-climbing robots have been widely used as window-cleaning robots. Among them, the legged wall-climbing robot can move forward by controlling multiple mechanical legs of the robot alternately when walking, forming a movement mode similar to a multi-legged creature to drive the body forward, so it can easily climb over obstacles and is widely used. [0003] In the related art, the legged wall-climbing robot usually has suction cups and other fastening parts at the ends of the mechanical legs that can be easily fixed and separated from the walking surface. In order to be fixed to the walking surface, these fastening parts have high requirements for their own posture. Taking the suction cup as an example, if the opening of the suction cup has a large inclination angle with the walking surface, the periphery of...

AI Technical Summary

Problems solved by technology

[0005] However, when walking, due to the differences in the postures of the mechanical legs and the positions and orientations of the fixed parts on them from the body, it may cause the body as a whole to tilt to a certain extent relative to the walking surface, especially when the legs When the footed wall-climbing robot walks diagonally, when the two mechanical legs are in the process of lifting, the footed wall-climbing robot as a whole only relies on the fixing parts on the remaining two mechanical legs to fix the walking surface. The passive posture adjustment parts connected by these two fixed parts can form a hinge-like effect, so that the robot as a whole rotates around the connecting line of the two passive posture adjustment parts, resulting in instability of its own posture and increasing the difficulty of control

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