Omnidirectionally movable modular snake-shaped multi-joint wall climbing robot

Abstract

The invention discloses an omnidirectionally movable modular snake-shaped multi-joint wall climbing robot. The omnidirectionally movable modular snake-shaped multi-joint wall climbing robot comprisesan execution module, a head module group, a head moving module, a middle module group, a tail moving module and a tail module group, wherein the execution module, the head module group, the head moving module, the middle module group, the tail moving module and the tail module group are sequentially connected from the head to the tail of the wall climbing robot; the head part of the execution module is provided with an execution device for completing a work task; each of the head module group, the middle module group and the tail module group comprises at least one joint module; the two sidesof the head moving module and the tail moving module are respectively provided with omnidirectional wheels, and the bottoms of the head moving module and the tail moving module are respectively provided with moving module magnetic adsorption devices. The omnidirectionally movable modular snake-shaped multi-joint wall climbing robot is combined with the multi-joint structure design and the modularization design idea of a snake-shaped robot on the basis of a general omnidirectionally movable wall climbing robot, so that the multi-joint wall climbing robot has fast omnidirectional moving capability on a relatively flat wall surface, and also realizes obstacle avoidance and walking capability on a complex wall surface.

Description

technical field [0001] The present invention relates to a wall-climbing robot, in particular to a modular snake-shaped multi-joint wall-climbing robot capable of omnidirectional movement, which is used as a vehicle for carrying intelligent equipment such as detection, cleaning, and maintenance of outer surfaces such as hulls, buildings, and power transformers, and related equipment. platform. Background technique [0002] Existing wall-climbing robots are usually divided into two structural types: 1) car body wheel structure, which relies on the wheeled mobile robot with adsorption capacity to climb the wall; 2) foot structure, which relies on the legs with adsorption capacity Foot device for wall climbing. [0003] Shandong Jiaotong University discloses a wheeled wall-climbing robot for ships (the public number is CN110667719A), which is composed of permanent magnets, crawlers and wheels; A robot and its obstacle-surmounting method (the publication number is CN110834683A)...

AI Technical Summary

Problems solved by technology

The main limitations are: 1) the structure is relatively complex and the volume is large; 2) the wheeled wall-climbing robot moves faster, but the complex wall surface with protrusions, grooves, bends and other features cannot achieve the expected wall-climbing ability ; 3) When encountering larger obstacles, the function of overcoming obstacles cannot be realized

Although the wall-climbing robot with foot structure has good wall passing ability and obstacle-surmounting ability, and can work on some complex walls, there are the following problems: 1) Compared with the wheeled wall-climbing robot, the multi-joint wall-climbing robot Rely on peristaltic gait for movement, and the movement speed and efficiency are low; 2) When performing peristaltic gait, some joints need to be raised, making it impossible to work in a small space

Images