Multi-node wall-climbing worm type robot

Abstract

The invention discloses a multi-joint climb worm robot which consists of a head (1),a trunk (2) and a tail (3); the head (1), the trunk (2) and the tail (3) are connected by two output shafts of a steering machine and a land, thereby realizing the integral shape of the multi-joint climb worm robot; wherein, the head (1) includes two connection arms with same structures, two different shell units, same suction and discharge units, the suction component of a vibration unit, three steering machines and eight Hall sensors; the trunk (2) includes three driven components with same structures, two suction components with same structures, five steering machines and eight Hall sensors; the tail (3) includes two connection arms with same structures, two suction components, four steering machines and eight Hall sensors. The moving process of the multi-joint climb worm robot of the invention is: firstly the tail rises and falls off under the effect of the steering machine to lead the robot to generate a step distance, then the trunk squirms coordinately with the tail under the effect of the steering machine to transfer the step distance to the head and finally the head rises and falls off under the effect of the steering machine to convert the step distance into the advancing distance of the robot, thereby realizing the advancing of the robot.

Description

technical field [0001] The invention relates to a wall mobile robot, more particularly, to a modular, reconfigurable, multi-joint wall-climbing worm robot. Background technique [0002] The principles of wall mobile robot adsorption on non-ferromagnetic walls can be roughly divided into three types: ①Vacuum suction device——rely on the suction of high-speed airflow to remove the gas in the airtight space fixed by the suction cup to form a vacuum; ②Expansion vacuum device—— —Use the principle of increasing the volume and reducing the pressure of the fixed mass gas to generate a vacuum in the sealed chamber (suction cup); ③Rotor adsorption——press the robot to the wall with the help of the vector thrust generated by the rotation of the propeller. [0003] In general, when designing for miniaturization, they all expose some common problems: [0004] (1) Intrinsic contradiction Compared with ground movement, the difficulty of wall movement lies in the influence of gravity. On th...

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Problems solved by technology

However, at present, the miniaturization of wall-mounted mobile robots may bring about changes in scientific mechanisms in various countries in the world, and there is still little research and little understanding

[0006] (3) Vacuum maintenance The sucker will inevitably leak, and the adsorption force is very sensitive to leakage. Therefore, there are many ingenious designs in dozens of representative wall mobile robots at home and abroad to maintain the vacuum environment that has been formed. paid a high price

However, because most of its working surfaces are complex curved surfaces and need to overcome gravity, it is difficult for existing wall-climbing robots to take into account light structure and flexible movement

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