Flexible surface crawling robot

Abstract

The invention discloses a robot capable of crawling on a flexible surface. The robot comprises fixing pieces, a pair of first clamping wheels located on one side of each fixing piece, a pair of second clamping wheels opposite to the first clamping wheels and located on the other side of each fixing piece, a first motor driving the first clamping wheels to rotate, and a second motor driving the second clamping wheels to rotate. The two pairs of clamping wheels clamp a crawled article to work, so that the crawling direction of the robot capable of crawling on the flexible surface is perpendicular to a straight line formed at a bending part of a flexible article at a clamping part, and the risk that the robot capable of crawling on the flexible surface is separated from the crawled article is overcome greatly.

Description

technical field [0001] The invention relates to the field of robots, in particular to a flexible surface crawling robot capable of crawling on flexible materials. Background technique [0002] Most of the crawling robots studied at home and abroad can only crawl on objects with hard surfaces, and neither the adsorption method nor the crawling method is suitable for moving on flexible surfaces. When these robots crawl on vertical surfaces, they mainly rely on magnetism, vacuum suction or the force generated by some sticky suction cups, and these methods are not feasible on non-magnetic, permeable flexible surfaces. Secondly, when the robot is on a flexible surface, it is difficult for the robot to maintain balance due to its own gravity and the easy deformation of the flexible surface. [0003] In the prior art, there are currently two main types of robots that can crawl on flexible surfaces. One is to use needle-like feet to absorb the flexible surface, and the other is to ...

AI Technical Summary

Problems solved by technology

[0004] For example, in the patent with the Chinese patent application number CN201210253503.0, a flexible surface crawling robot adopts a pair of clamping wheel structure. The direction of gravity and the direction of being folded are both vertically downward, and it is easy to fall off. The controller needs to constantly observe the amount of cloth clamped to prevent it from falling

Moreover, the robot of this invention controls the amount and running direction of the clamped flexible objects through the front and rear, left and right swing mechanisms, the structure is complex, and in actual work, the steering is not flexible, and the swing mechanism increases its own weight and the robot cannot turn over. shoulders etc.

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