The invention discloses a four-foot wall-climbing robot with a rotor wing auxiliary flight function, and relates to the technical field of wall-climbing robots. Comprising a rack, four claw thorn foot mechanisms symmetrically installed on the two sides of the front portion and the two sides of the rear portion of the rack through a four-rod mechanism respectively, a front-back swing steering engine, an up-down swing steering engine and a driving mechanism, wherein the front-back swing steering engine and the up-down swing steering engine are used for driving the four claw thorn foot mechanisms to stretch forwards, swing backwards and lift and fall respectively; the four rotor structures are arranged at the rear end and the two sides of the middle part. The up-down swinging steering engine drives the four-rod mechanism and the claw thorn foot mechanism to integrally do lifting and falling actions, the front-back swinging steering engine drives the four-rod mechanism to drive the claw thorn foot mechanism to swing front and back, the walking action of the robot and the grasping and loosening actions on the wall face are achieved in a matched mode, and the four rotor wing mechanisms can achieve temporary floating of the robot; and the robot can conveniently cross gullies or obstacles in the wall climbing process, so that the wall climbing robot has the capability of wall climbing operation in a high-altitude complex working environment.
本发明公开了一种具有旋翼辅助飞行功能的四足爬壁机器人,涉及爬壁机器人技术领域,包括机架、分别通过四杆机构对称安装于机架前部和后部两侧的四个爪刺足机构、分别用于驱动四个爪刺足机构作前伸后摆动作和抬起下落动作的前后摆动舵机和上下摆动舵机以及分别安装于机架的前端、后端和中部两侧的四个旋翼结构。本发明的上下摆动舵机驱动四杆机构和爪刺足机构整体做抬起与落下动作,前后摆动舵机驱动四杆机构带动爪刺足机构前后摆动,配合实现机器人的步行动作和对壁面的抓紧与放松动作,四个旋翼机构能够实现机器人的暂时浮空,便于机器人在爬壁过程中越过沟壑或障碍物,进而使爬壁机器人具备高空复杂工作环境爬壁作业的能力。
Four-footed wall-climbing robot with rotor wing auxiliary flight function
一种具有旋翼辅助飞行功能的四足爬壁机器人
2022-03-25
Patent
Electronic Resource
Chinese
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