The invention provides a dry adhesion foot type climbing robot based on flexible foot ends and a climbing method thereof.The dry adhesion foot type climbing robot comprises a trunk part and four climbing foot assemblies symmetrically installed on the side wall of the trunk part, and each climbing foot assembly is composed of a plurality of connecting rods, a servo motor, a linear motor, a hard plastic thin plate, a sponge pad, nanometer micro suction glue and a fixing block. The trunk part comprises an upper plate, a lower plate and a trunk servo motor, and the climbing method of the robot comprises the steps that the linear motors apply or remove pre-pressure through sponge pads, the legs of the robot complete adhesion and desorption movement through foot end tracks, and corresponding climbing actions are completed according to the mass center track of the robot and corresponding movement gaits. By means of the flexible foot ends and the dry adhesion technology, the robot can stably climb on vertical and inverted wall surfaces, the robot is suitable for operation requirements in various complex environments, and an efficient and reliable solution is provided for the field of high-altitude operation and the like.
本发明提供一种基于柔性足端的干黏附足式攀爬机器人及其攀爬方法,包括:躯干部分和四个对称安装于躯干侧壁的攀爬足组件,攀爬足组件由多个连杆、伺服电机、直线电机、硬质塑料薄板、海绵垫、纳米微吸胶及固定块组成。躯干部分包括上板、下板和躯干伺服电机,其攀爬方法为:直线电机通过海绵垫施加或者移除预压力,机器人腿部通过足端轨迹完成黏附和脱附运动,并根据机器人的质心轨迹和对应的运动步态完成对应的攀爬动作。本发明利用柔性足端和干黏附技术,可在垂直和倒置墙面稳定攀爬,适用于多种复杂环境下的作业需求,为高空作业等领域提供了一种高效、可靠的解决方案。
Dry adhesion foot type climbing robot based on flexible foot ends and climbing method of dry adhesion foot type climbing robot
一种基于柔性足端的干黏附足式攀爬机器人及其攀爬方法
2025-03-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |