Modular reconfigurable crawler-type wall climbing robot

Abstract

The invention discloses a modular reconfigurable crawler-type wall climbing robot, consisting of seven or more than seven absorption joints. Each absorption joint comprises a U-shaped frame, a bracket, a shell A, a shell B, a shaft, a shaft sleeve, a steering engine, an electromagnet, a sucker A and a sucker B; the sucker A is arranged on the shell A; the sucker B is arranged on the shell B; the steering engine and the shaft are arranged on the bracket; the shaft sleeve is arranged on the U-shaped frame; the shell A and the shell B are connected and form a cavity used for arranging the electromagnet; the U-shaped frame is connected with the shell A; and the bracket is connected with the shell B. The modular reconfigurable crawler-type wall climbing robot forms a serial crawler-type structure of the robot by the U-shaped frame of the former absorption joint and the output shaft and shaft of the steering engine of the latter absorption joint so as to lead the robot to have the feature of multiple degrees of freedom. The crawler-type robot which is formed by adopting connection of seven or more than seven absorption joints with identical structures enhances the motion flexibility, absorption reliability and obstacle-climbing capability of the robot.

Description

technical field [0001] The present invention relates to a wall-climbing robot, more particularly, to a reconfigurable crawler-type wall-climbing robot that connects a plurality of modularly designed adsorption joints end-to-end. 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 mo...

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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 crawler-type wall-climbing robot

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