A bionic biped wall-climbing robot based on magnetically sensitive rubber adhesive materials

Abstract

The invention belongs to the technical field of robot automation and relates to a bionic two-foot wall-climbing robot based on a magnetic sensitive rubber adhesion material. The bionic two-foot wall-climbing robot is composed of two attraction foot assemblies, three pitching joint assemblies, two connecting rods, a power source device, a control module and a wireless module. The magnetic sensitiverubber adhesion material is adopted for making attraction foot end pieces, the adhesion performance of a magnetic field adjusting material is adopted, a magnetic field is used for controlling part ofthe magnetic sensitive rubber adhesion material to deform to generate negative pressure, and the attraction performance is enhanced. All components are coordinated according to a gait algorithm of asoftware layer in the control module so that motion can be achieved, wherein motion includes an advancing action, a retracting action, an interface transitional action and the like. Through the programmable control module and the wireless module, manual or autonomous control can be achieved, and a series of tasks are finished. The robot can be loaded with a certain load and various detection and reconnaissance modules and used for structure (such as a building, a road bridge, a ship and a device) surface detection and intelligence reconnaissance work in complex-appearance, wet, slippery and oil dirt environments.

Description

technical field [0001] The invention belongs to the technical field of robot automation, and relates to a wall-climbing robot, in particular to a bionic biped wall-climbing robot based on a magnetic-sensitive rubber adhesive material. Background technique [0002] With the acceleration of urban construction, there are more and more infrastructures such as buildings, roads and bridges, and the demand for damage detection on the surface of large structures is also increasing; at the same time, in special environment operations, such as oil tanks, large ships, towers, etc. Bridges, etc., if it is difficult and relatively dangerous to be completed manually, there is a greater demand for special robots. Therefore the generation of wall-climbing robot just seems very necessary. [0003] At present, one of the main key points in the field of wall-climbing robots is the problem of wall-climbing performance. All countries in the world have certain research results on bionic robots....

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Problems solved by technology

[0006] In view of this, the present invention aims to solve the problems of existing wall-climbing robots, such as weak load capacity, large volume and weight of the robot body, low flexibility of the robot, lack of interface transition, single loadable function, and large limitations of the wall-climbing environment. , providing a bionic biped wall-climbing robot based on magnetically sensitive rubber adhesive materials

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