Inchworm-like climbing robot

Abstract

The invention belongs to the technical field of climbing robots, and relates to an inchworm-like climbing robot, which adopts a rope-driven rigidity-variable flexible clamping part based on magnetic field regulation and control and an inchworm-like telescopic part, and the telescopic part comprises a flexible body, an elastic rolling plate and a rolling motor; a winding drum is arranged on an output shaft of the curling motor; limiting through grooves are formed in the clamping parts, the coiling motor is fixedly arranged on one of the two clamping parts, one end of the elastic coiling plate is fixedly connected with the coiling block, and the other end of the elastic coiling plate penetrates through the limiting through grooves to be fixedly connected with the other clamping part. And the coiling motor drives the coiling block to rotate, so that the elastic coiling plate is stretched or coiled, and the distance between the two clamping parts is changed. According to the robot, the inchworm type extension gait is adopted, the clamping part is used for embracing the to-be-climbed wall surface, in the climbing process of the robot, the clamping angle of the gripper is adjustable, the length is controllable, the clamping rigidity is variable, the telescopic part adopts the mode that a similar tape is adopted to drive a worm to stretch out and draw back, and stable climbing and nondestructive monitoring of the robot are achieved.

Description

technical field [0001] The invention belongs to the technical field of climbing robots, and relates to an inchworm-like climbing robot. Background technique [0002] On-line monitoring, evaluation and early warning of major high-altitude infrastructure such as cable-stayed bridge suspension is a recognized problem in the field of health monitoring at home and abroad. The manpower-based monitoring method is not only time-consuming and labor-intensive, the monitoring quality cannot be guaranteed, and there are certain security risks. [0003] As a new type of special robot, pole-climbing robots are expected to replace humans to achieve safe high-altitude operations. Researchers have developed various climbing robots, such as RiSE, Stickybot, Treebot, CCrobot, ARA robot, etc., according to the different movement forms and adhesion methods. According to the different adhesion methods, it can be divided into wet adhesion, van der Waals force, claw sticking, frictional gripping ...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the object of the present invention is to solve the problem of low load and slow speed of the inchworm robot, and provide a kind of inchworm climbing robot

Images