Composite wall-climbing robot imitating inchworm motion form

Abstract

The invention relates to the technical field of robots, in particular to a composite wall-climbing robot imitating an inchworm motion form. The robot comprises a first mechanical arm and a second mechanical arm, the first mechanical arm is in transmission connection with a hand grabbing mechanism on the first mechanical arm through a first driving unit, and the second mechanical arm is in transmission connection with a hand grabbing mechanism on the second mechanical arm through a second driving unit. The first mechanical arm is in transmission connection with the second mechanical arm through a middle driving unit. According to the composite wall-climbing robot imitating the inchworm motion form, two motion modes, namely the ground wheel type rapid moving mode and the climbing mode, are provided, and by switching the two motion modes, the robot not only can rapidly move on the horizontal ground, but also can climb on a complex wall surface.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a compound wall-climbing robot imitating the movement form of an inchworm. Background technique [0002] As an important equipment to replace people working on steep walls and obtain real-time three-dimensional space environmental information, wall-climbing robots can effectively improve work efficiency and ensure work safety. They can be widely used in chemical equipment, nuclear fuel tank detection, glass curtain wall cleaning and Anti-terrorism investigation and other fields. The wall attachment methods such as vacuum, strong magnetism, and static electricity used by traditional wall-climbing robots are only suitable for specific application scenarios. series of bionic wall-climbing robots. However, most of the existing bionic wall-climbing robots can only climb on a single type of wall, and cannot realize the synergy of multiple attachment methods, and fail to solve the stab...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is: in order to overcome that most of the bionic wall-climbing robots in the prior art can only climb on a single type of wall surface, and cannot realize the synergistic effect of multiple attachment methods, it cannot be well solved in different To solve the problem of stability and adaptability when crawling on the wall, a compound wall-climbing robot imitating the motion of the inchworm is provided. This invention proposes two motion modes: the ground wheeled fast movement mode and the climbing mode. By switching With two motion modes, the robot can not only move quickly on horizontal ground but also climb on complex walls

Images