A claw-pair-grabbing type caterpillar track wall-climbing robot

Abstract

The invention discloses a claw-pair-grabbing type caterpillar track wall-climbing robot which comprises a robot body. One end of the robot body is provided with a motor, and a sprocket is connected toan output shaft of the motor. The opposite sides of the other end of the robot body are respectively provided with elasticity tails. The robot body is also equipped with a claw-pair-grabbing type caterpillar track mechanism, and the claw-pair-grabbing type caterpillar track mechanism is connected to the sprocket. The robot body has cam-shaped structures on both sides which constitute cam mechanisms with claw foot adhesion mechanisms, and the cam mechanisms drive the claw foot adhesion mechanisms to perform adhesion / releasing motions. According to the invention, a claw-pair-grabbing type caterpillar track is adopted, and the loading capability is improved through a claw-pair-grabbing mode. Meanwhile, the track structure has the advantage of a large adhesion area, and can be crawl on roughceilings.

Description

technical field [0001] The invention belongs to the technical fields of engineering bionics and mechanical design and manufacture, and in particular relates to a claw-to-grab crawler wall-climbing robot. [0002] Background technique: [0003] Wall-climbing robots are special robots that can crawl on vertical walls, and have broad application prospects in disaster search and rescue, military reconnaissance, space detection, bridge detection and other fields. At present, the climbing technology of wall-climbing robots on vertical walls is becoming more and more mature. The adhesion methods include vacuum adsorption, magnetic adsorption, artificial bionic dry adhesion and wet adhesion. However, there are few studies on robots that can crawl on both vertical walls and inverted surfaces using claw-to-grasp adhesion. [0004] Adhesion technology and moving mode are two key technologies of wall-climbing robots. Claws or hook-like mechanisms are ubiquitous in organisms and mainly ...

AI Technical Summary

Problems solved by technology

[0005] (1) The DROP robot developed by the American Jet Propulsion Laboratory (JPL). The DROP robot adopts a wheeled structure. The DROP robot can crawl on rough walls. crawling upside down from the ceiling;

[0006] (2) Chinese patent - a claw-type crawler wall-climbing robot (application number: 201810663105.3, application date: 2018-06-25) uses a claw-type crawler structure to crawl on a vertical rough wall, and the crawling speed is fast, but Without the structure of claws and spines, it is impossible to crawl upside down on rough ceilings;

[0007] (3) Chinese patent-claw-type hexapod wall-climbing robot and its movement method (application number: 201710362196.2, application date: 2017-05-22) adopts a claw-type claw structure, using two claws with opposite grasping directions The claw feet produce opposite locking force when grasping, but the legged robot has a complex structure, slow crawling speed and small adhesion area compared with the crawler robot

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