Modularized biomimetic climbing robot

Abstract

The invention discloses a biomimetic climbing robot which consists of five joint modules and two clamp holder modules. Each joint module has a rotational freedom and is driven by a direct current servo motor. The joint module has such two kinds as I type and T type, and joint rotating shafts are parallel to and perpendicular to the axial line of a joint connecting rod respectively. All modules areconnected successively by snap rings in a series mode, with the sequence as follows: clamp holder, I type joint, T type joint, T type joint, T type joint, I type joint, clamp holder. The rotating shafts of three T type joint modules are parallel to each other and are mutually perpendicular to the rotating shafts of the I type joint modules at both ends. The robot can climb on a rod and a tree andin a truss with equal steps in modes of inchworm, torsion and reversal and has operating function. The robot is characterized by small freedom, easy construction, simple structure and control, strongclimbing capability, good applicability to climbing objects and the like, thus being capable of being applied to high-lift operation in such fields as the agriculture, forestry and building industries.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a serial joint type robot constructed by a modular method, capable of climbing various objects and having operation functions. Background technique [0002] At present, robots have been used in military, medical, aerospace, education, entertainment, emergency rescue and disaster relief, family services and social services, and are extending to new fields. Agriculture, forestry and construction will be a vast new field of application for robots in the future. There are many high-altitude operations in these industries, such as tree pruning, fruit picking, tree felling, tree branch pruning, wire erection and maintenance, street lamp maintenance and replacement, construction scaffolding installation and removal, iron towers and truss bridge maintenance, etc. It is an inevitable trend and development direction to perform and engage in these tasks by robots instead of people. To this...

AI Technical Summary

Problems solved by technology

Although these prototypes have a certain crawling function, they are still very primitive and have relatively large limitations and deficiencies, which are mainly reflected in: 1) The climbing object is single, and they can only climb poles, trusses or trees and cannot climb different objects. ; 2) Lack of climbing transition ability, it is difficult to transition and switch between branches or rods; 3) Lack of operation function, additional actuators or operating arms must be installed when performing operations, which will inevitably increase the complexity of system structure and control , increased difficulty with balance and crawling

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