Modular reconfigurable worm type wall climbing robot

Abstract

The invention discloses a modular reconfigurable worm type wall climbing robot. The two adjacent joints are connected orthogonally, namely a driving shaft (10a) of a steering engine (10) on an absorption joint (1) is arranged along the x axis direction, the driving shaft of the steering engine on an absorption joint (2) is arranged along the y axis direction, the driving shaft of the steering engine on an absorption joint (3) is arranged along the x axis direction, the driving shaft of the steering engine on an absorption joint (4) is arranged along the y axis direction, the driving shaft of the steering engine on an absorption joint (5) is arranged along the x axis direction, the driving shaft of the steering engine on an absorption joint (6) is arranged along the y axis direction, and the driving shaft of the steering engine on an absorption joint (7) is arranged along the x axis direction. The reconfigurable worm type wall climbing robot which is formed by adopting connection of a plurality of absorption joints with identical structures leads respective sucker to contact with or separate from the working surfaces by the absorption joints in the forward direction, thus achievingthe purpose of forwarding and steering. The modular reconfigurable worm type wall climbing robot employs a modular design concept, adopts identical structures for all the absorption joints, improves interchangeability of the joint module of the robot, reduces the manufacturing cost and reduces the mechanical processing period.

Description

technical field [0001] The invention relates to a wall-climbing robot, more particularly, to a reconfigurable worm-type wall-climbing robot formed by connecting a plurality of modularly designed adsorption joints. Background technique [0002] According to the principle of adsorption on non-ferromagnetic walls, wall-climbing robots can be divided into three types: ①Vacuum suction device——rely on the suction effect of high-speed airflow to remove the gas in the closed space of 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 dif...

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Problems solved by technology

[0007] In order to solve the problems of low degree of freedom, poor obstacle-surmounting ability and weak movement flexibility of small wall-climbing robots, the present invention designs a modular reconfigurable worm-type wall-climbing robot

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