A inchworm-like mobile robot
By designing a inchworm-like mobile robot, employing diverse movement methods and a modular structure, the problem of monitoring and detection in complex environments by existing mobile robots has been solved, enabling flexible monitoring and detection in high-temperature, highly polluted, and confined environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- UNIV OF ELECTRONICS SCI & TECH OF CHINA
- Filing Date
- 2023-11-06
- Publication Date
- 2026-08-04
AI Technical Summary
Existing mobile robots suffer from limited mobility, limited sensor coverage, lack of modular replacement capabilities, and poor carrying capacity, making them unable to effectively monitor and inspect complex environments inaccessible to personnel, thus impacting production safety and economic efficiency.
Design a inchworm-like mobile robot with a carrier belt telescopic joint and symmetrically arranged robotic arms, including gripper joints, rotation joints, and angular rotation joints. It has diverse movement modes and modular replacement capabilities, is equipped with suction cups for climbing smooth walls, carries multiple sensors and probes, and has a pop-out device to adapt to complex environments.
It enables diverse movement in complex environments, has a strong carrying capacity, can effectively monitor and detect, is highly adaptable, has complete functions, is waterproof, and is suitable for high-temperature, highly polluted, and confined environments.
Smart Images
Figure CN117401055B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mobile robots, and in particular to a inchworm-inspired mobile robot. Background Technology
[0002] Industrial plants, power plants, and other similar facilities often contain complex pipe or wall environments inaccessible to personnel, such as high-altitude, high-temperature, highly polluted, and confined spaces. In these scenarios, critical equipment frequently malfunctions due to the inability to effectively monitor and detect, severely impacting production safety and economic efficiency. Therefore, there is a need to develop mobile robots capable of carrying various sensors to replace manual labor in monitoring and detecting areas inaccessible to personnel. Currently available mobile robots suffer from drawbacks such as limited mobility (e.g., only capable of climbing pipes or smooth walls), limited sensor carrying capabilities, lack of modular replacement, and poor carrying capacity. These limitations significantly hinder their application in monitoring and detection, impacting both safe production and improved economic efficiency. Summary of the Invention
[0003] To overcome the shortcomings of the prior art, this application provides a inchworm-like mobile robot, which has the advantages of diverse movement modes, strong modular replacement capability, and strong carrying capacity.
[0004] The inchworm-like mobile robot provided in this application includes: a carrier belt telescopic joint 50; and two or more robotic arms. Each robotic arm includes a first angular pivot joint 30, a second angular pivot joint 40, a rotational joint 20, and a gripper joint 10 connected sequentially. One end of the first angular pivot joint 30 is movably connected to the carrier belt telescopic joint 50, and the other end of the first angular pivot joint 30 is movably connected to one end of the second angular pivot joint 40. One end of the second angular pivot joint 40 is movably connected to the rotational joint 20. The gripper joint 10 is used to grasp a support member; the rotational joint 20 is used to rotate the gripper joint 10. In some embodiments, the support member may be a pipe, etc.
[0005] In some embodiments, the two or more robotic arms described above are symmetrically arranged based on the carrier telescopic joint 50. In other words, the robot structure is symmetrical, and the gripper joint 10, the rotation joint 20, the first angular joint 30, and the second angular joint 40 are all symmetrically arranged about the central carrier telescopic joint 50.
[0006] In some embodiments, the rotational joint axis of the rotatable joint 20 is collinear or parallel to the connecting rod axis, and the rotatable joint 20 is used to enable the gripper joint 10 to rotate within a 360° range based on the rotational joint axis.
[0007] Specifically, the rotating joint 20 includes: a rotating motor 21, a rotating mounting bracket 22, a rotating harmonic reducer 23, a rotating housing 24, a rotating secondary shaft gear 25, a rotating main shaft gear 26, a rotating pressure plate 27, a rotating oil seal 28, and a rotating output shaft 29. The rotating mounting bracket 22 is used for support, the rotating motor 21 is the power source, the rotating housing 24 is used for fixing and waterproofing, the rotating secondary shaft gear 25 is used to transmit force from the rotating harmonic reducer 23 to the rotating main shaft gear 26, the rotating main shaft gear 26 is used to output force to the rotating output shaft 29, the rotating pressure plate 27 is used for axial positioning, and the rotating output shaft 29 is used to output rotational force and connect to the angular joint.
[0008] In some embodiments, the gripper joint 10 includes: a gripper worm gear 12; a gripper worm 13; a gripper plane bearing 15; a gripper bearing 16; and a gripper 11, wherein the gripper worm gear 12 controls the opening and closing of the gripper 11, the gripper worm 13 controls the size of the opening and closing, and the gripper plane bearing 15 overcomes the reaction force. It is understood that the gripper joint 10 can be the head end of the entire robot, the gripper 11 can be used to grip the pipe, the worm gear controls the opening and closing of the gripper 11, and the gripper worm 13 controls the size of the opening.
[0009] In some embodiments, the axes of the rotary joints and links in the first angular joint 30 and the second angular joint 40 are perpendicular to each other, for performing angular rotations in the range of -60° to 60°.
[0010] Specifically, the first angular joint 30 includes: a first angular joint transmission bracket 31, a first angular joint motor 32, a first angular joint harmonic reducer 33, a first angular joint main bracket 34, a first angular joint gear 36, a first angular joint housing 37, and a first angular joint arm 38. The first angular joint transmission bracket 31 is used to transmit the force output from the angular joint 20; the first angular joint motor 32 is the power source; the first angular joint is equipped with a harmonic reducer mounted on the first angular joint main bracket 34; the first angular joint gear 36 is used to reduce speed and increase torque; and the first angular joint arm 38 is used to realize the function of angular rotation and connect to the second angular joint 40.
[0011] Specifically, the second angle rotating joint 40 includes: a second angle rotating transmission bracket 41, a second angle rotating motor 42, a second angle rotating harmonic reducer 43, a second angle rotating main bracket 44, a second angle rotating gear 46, a second angle rotating housing 47, and a second angle rotating arm 48. The second angle rotating transmission bracket 41 is used to transmit the force output by the first angle rotating joint 30; the second angle rotating motor 42 is the power source; the second angle rotating harmonic reducer is mounted on the second angle rotating main bracket 44; the second angle rotating gear 46 is used to reduce speed and increase torque; and the second angle rotating arm 48 is used to realize the function of angle rotation and connects to the carrier belt telescopic joint 50.
[0012] In some embodiments, the carrier tape telescopic joint 50 includes: a first carrier tape transmission bracket 51, a carrier tape housing 52, a carrier tape gear 53, a carrier tape worm gear 54, a carrier tape motor 55, a carrier tape guide shaft 56, a camera 57, a carrier tape push rod 58, a rotating connecting frame 59, a carrier tape push rod connecting frame 591, and a second carrier tape transmission bracket 592. The first carrier tape transmission bracket 51 transmits the force output from the second angular joint 40; the carrier tape gear 53 transmits power, reduces speed, and increases torque; the carrier tape worm gear 54 reduces speed and reverses direction, converting rotational force into angular rotational force; the carrier tape ejection mechanism motor controls the ejection and retraction of the ejection mechanism; the carrier tape guide shaft 56 provides positioning to prevent radial displacement; the carrier tape motor 55 is the power source for the carrier tape telescopic joint 50 and controls the extension and retraction of the joint; the rotating connecting frame 59 rotates the camera 57 horizontally at a fixed angle; and the carrier tape push rod connecting frame 591 supports the stability of the entire system during movement.
[0013] In some embodiments, the inchworm-like mobile robot further includes a suction cup 60 for adhering the robot to a smooth wall surface. Optionally, the suction cup 60 can be fixedly connected to the gripper joint 10. Optionally, the suction cup 60 can be fixed to other joints. In some embodiments, the suction cup 60 can be used to climb walls. When the gripper joint 10 or the gripper 11 in the gripper joint 10 of the inchworm-like mobile robot malfunctions, or when the robot does not include the gripper joint 10 or the gripper 11 in the gripper joint 10, the suction cup can adhere to the wall and complete the climbing structure in place of the gripper 11.
[0014] This application has at least the following technical effects:
[0015] 1. This inchworm-inspired mobile robot can climb various pipes and is suitable for various high-altitude, high-temperature, highly polluted, and confined environments. Its biomimetic modular design makes it highly adaptable, structurally expandable, and modularly replaceable.
[0016] 2. It has a variety of movement modes, allowing users to climb pipes and perform operations such as climbing, flipping, and adhering. It can climb various pipes as well as smooth walls. It is fully functional, highly adaptable to various complex environments, and has high mobility.
[0017] 3. An additional carrier belt compartment is designed to store various devices, specifically for carrying various sensors, probes, etc. It can monitor various environments such as pipelines or walls in real time and transmit data in a timely manner. The carrier belt has a variety of sensor types and strong carrying capacity, which can effectively realize the monitoring and detection of important areas.
[0018] 4. Design a pop-out device to retract the device when the probe and sensor are not needed, increasing the robot's maneuverability and making it easy and quick to adapt to various complex environments.
[0019] 5. The ingenious shell design and tight connection method give the system excellent waterproof ability. The materials selected, such as titanium alloy and steel, can cope with various extreme environments such as high temperature, and have good waterproof performance and strong adaptability.
[0020] 6. Bionic modular design enhances the scalability of the structure. Attached Figure Description
[0021] Figure 1 This is a structural schematic diagram of a inchworm-like mobile robot provided in this application.
[0022] Figure 2 This is a schematic diagram of the gripper joint 10 of a inchworm-like mobile robot provided in this application.
[0023] Figure 3 This is a schematic diagram of the first rotating joint 20 of a inchworm-like mobile robot provided in this application.
[0024] Figure 4 This is a schematic diagram of the second self-rotating joint 20 of a inchworm-like mobile robot provided in this application.
[0025] Figure 5 This is a schematic diagram of the angular joint structure of a inchworm-like mobile robot provided in this application.
[0026] Figure 6 This is a structural schematic diagram of the telescopic joint 50 of a inchworm-like mobile robot provided in this application.
[0027] Figure 7 This is a structural schematic diagram of a inchworm-like mobile robot provided in this application.
[0028] Figure label:
[0029] 10-Gripper joint; 11-Gripper; 12-Gripper worm gear; 13-Gripper worm; 14-Gripper oil seal; 15-Gripper surface bearing; 16-Gripper bearing; 17-Gripper harmonic reducer; 18-Gripper motor;
[0030] 20-Rotation joint; 21-Rotation motor; 22-Rotation mounting bracket; 23-Rotation harmonic reducer; 24-Rotation housing; 25-Rotation secondary shaft gear; 26-Rotation main shaft gear; 27-Rotation pressure plate; 28-Rotation oil seal; 29-Rotation output shaft;
[0031] 30-First angle rotating joint; 31-First angle rotating transmission bracket; 32-First angle rotating motor; 33-First angle rotating harmonic reducer; 34-First angle rotating main bracket; 35-First angle rotating oil seal; 36-First angle rotating gear; 37-First angle rotating housing; 38-First angle rotating arm;
[0032] 40 - Second angle rotating joint; 41 - Second angle rotating transmission bracket; 42 - Second angle rotating motor; 43 - Second angle rotating harmonic reducer; 44 - Second angle rotating main bracket; 45 - Second angle rotating oil seal; 46 - Second angle rotating gear; 47 - Second angle rotating housing; 48 - Second angle rotating arm;
[0033] 50-Carrier tape telescopic joint; 51-First carrier tape transfer bracket; 52-Carrier tape housing; 53-Carrier tape gear; 54-Carrier tape worm gear; 55-Carrier tape motor; 56-Carrier tape guide shaft; 57-Camera; 58-Carrier tape push rod; 59-Rotating connecting frame; 591-Carrier tape push rod connecting frame; 592-Second carrier tape transfer bracket;
[0034] 60-Suction Cup. Detailed Implementation
[0035] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0036] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0039] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0040] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "upright," "horizontal," "up," "down," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.
[0041] The technical solution of this application will be further described in detail below through embodiments and with reference to the accompanying drawings.
[0042] Figure 1 This is a structural schematic diagram of a inchworm-like mobile robot provided in this application. Figure 1 As shown, this inchworm-like robot has a symmetrical structure and mainly includes: a gripper joint 10, a rotation joint 20, a first angular rotation joint 30, a second angular rotation joint 40, and a carrier telescopic joint 50.
[0043] like Figure 1As shown, the entire robot has a symmetrical structure. The gripper joint 10 at the front end is responsible for grasping the pipe and fixing the entire robot to the pipe, and the suction cup 60 on it can adsorb the robot onto a smooth wall surface. The subsequent rotating joint 20 has its rotation axis collinear with or parallel to the link axis, which allows the robot to rotate within a 360° range in space. The subsequent first angular joint 30 has its rotation axis perpendicular to the link axis, which allows the robot to complete an angular rotation range of -60° to 60° in the same plane. The subsequent second angular joint 40 has its rotation axis perpendicular to the link axis, which also allows the robot to complete an angular rotation range of -60° to 60° in the same plane. The subsequent carrier belt telescopic joint 50 has a built-in carrier belt motor 55, such as a lead screw motor, used to control the telescopic movement and carry devices such as cameras and sensors to acquire data. The designed pop-out mechanism can ensure the pop-out and retraction of the probe, making the robot more flexible and stable.
[0044] Figure 2 This is a schematic diagram of the gripper joint 10 of a inchworm-like mobile robot provided in this application.
[0045] Specifically, the gripper joint 10 includes a gripper worm gear 12; a gripper worm 13; a gripper oil seal 14; a gripper plane bearing 15; a gripper bearing 16; a gripper harmonic reducer 17; a gripper motor 18; and a gripper 11. The gripper worm gear 12 controls the opening and closing of the gripper, the gripper worm 13 controls the size of the opening and closing, and the gripper plane bearing 15 overcomes the reaction force. It can be understood that the gripper 11 can be the head end of the entire robot, and the gripper 11 can be used to grip the pipe. The worm gear controls the opening and closing of the gripper 11, and the worm controls the size of the opening.
[0046] The gripper 11 can be adjusted to fit pipes of different sizes, and its gripper motor 18 can be a small but high-torque external motor. It is equipped with a gripper harmonic reducer 17, which can achieve a torque of more than 300Nm when combined, which can ensure that the pipe is firmly gripped and improve the stability of the robot.
[0047] After one gripper 11 grasps the object, the subsequent grippers 11 release, allowing all joints to move freely. Following the crawling principle of an inchworm, the animal arches its body to move, eventually slowly creeping to the designated location. The suction cup 60 on the connecting frame can firmly adhere to a smooth wall surface. This suction cup 60 is designed with a two-way structure, allowing the suction force to be controlled by inflating and deflating it. Once one end is engaged, the other end releases, similar to the aforementioned gripper 11 fixing function, allowing subsequent joints to move freely.
[0048] Figure 3This application provides a schematic diagram of the structure of the first rotating joint 20 of a inchworm-like mobile robot. Specifically, the rotating joint 20 includes: a rotating motor 21, a rotating mounting frame 22, a rotating harmonic reducer 23, a rotating housing 24, a rotating secondary shaft gear 25, a rotating main shaft gear 26, a rotating pressure plate 27, a rotating oil seal 28, and a rotating output shaft 29. The rotating mounting frame 22 provides support, the rotating motor 21 is the power source, the rotating housing 24 provides fixation and waterproofing, the rotating secondary shaft gear 25 transmits force from the rotating harmonic reducer 23 to the rotating main shaft gear 26, the rotating main shaft gear 26 outputs force to the rotating output shaft 29, the rotating pressure plate 27 provides axial positioning, and the rotating output shaft 29 outputs rotational force and connects to the angular joint.
[0049] Its rotary joint axis is collinear or parallel to the link axis, which allows the robot to rotate within a 360° range. Through its own rotation, the robot's accessible area can be greatly increased, enabling the robot to climb between different pipes, i.e., pipe changing operations. It can also flip over, improving the robot's flexibility to adapt to various complex environments.
[0050] Figure 4 This is a schematic diagram of the first corner joint 30 of a inchworm-like mobile robot provided in this application.
[0051] Specifically, the first angular joint 30 includes: a first angular joint transmission bracket 31, a first angular joint motor 32, a first angular joint harmonic reducer 33, a first angular joint main bracket 34, a first angular joint oil seal 35, a first angular joint gear 36, a first angular joint housing 37, and a first angular joint arm 38. The first angular joint transmission bracket 31 transmits the force output from the angular joint 20; the first angular joint motor 32 is the power source; the first angular joint harmonic reducer is mounted on the first angular joint main bracket 34; the first angular joint gear 36 reduces speed and increases torque; and the first angular joint arm 38 enables angular rotation and connects to the second angular joint 40. The axes of the rotation joint and the connecting rod of the first angular joint 30 are perpendicular to each other, allowing for an angular rotation range of -60° to 60°. Through the rotation of this first angular joint 30, the robot can rotate at any angle within its plane and sway into various postures, ultimately reaching the target position.
[0052] Figure 5 This is a schematic diagram of the second corner joint 40 of a inchworm-like mobile robot provided in this application.
[0053] Specifically, the second angle rotating joint 40 includes: a second angle rotating transmission bracket 41, a second angle rotating motor 42, a second angle rotating harmonic reducer 43, a second angle rotating main bracket 44, a second angle rotating oil seal 45, a second angle rotating gear 46, a second angle rotating housing 47, and a second angle rotating arm 48. The second angle rotating transmission bracket 41 is used to transmit the force output by the first angle rotating joint 30; the second angle rotating motor 42 is the power source; the second angle rotating harmonic reducer is mounted on the second angle rotating main bracket 44; the second angle rotating gear 46 is used to reduce speed and increase torque; and the second angle rotating arm 48 is used to realize the function of angle rotation and connects to the carrier belt telescopic joint 50.
[0054] The rotational joint of the second angular joint 40 is perpendicular to the axis of the connecting rod, enabling it to complete an angular rotation range of -60° to 60°. This is achieved through the rotation of the second angular joint 40, in conjunction with... Figure 4 As shown in the second corner joint 40, the robot can assume more postures and has more movement modes to choose from within its plane. Through the cooperation of various joints, the robot can ultimately perform various functions such as crawling, climbing, flipping, and adsorption.
[0055] Figure 6 This is a structural schematic diagram of the telescopic joint 50 of a inchworm-like mobile robot provided in this application.
[0056] Specifically, the carrier tape telescopic joint 50 includes: a first carrier tape transfer bracket 51, a carrier tape housing 52, a carrier tape gear 53, a carrier tape worm gear 54, a carrier tape motor 55, a carrier tape guide shaft 56, a camera 57, a carrier tape push rod 58, a rotating connecting frame 59, a carrier tape push rod connecting frame 591, and a second carrier tape transfer bracket 592.
[0057] The first carrier belt transmission bracket 51 is used to transmit the force output by the second angular joint 40; the carrier belt gear 53 is used for transmission, speed reduction and torque increase; the carrier belt worm gear 54 is used for deceleration and reversal, converting rotational force into angular rotational force; the carrier belt ejection mechanism motor is used to control the ejection and retraction of the ejection mechanism; the carrier belt guide shaft 56 is used for positioning to prevent radial displacement; the carrier belt motor 55 is the power source of the carrier belt telescopic joint 50 and is used to control the extension and retraction of the joint; the rotating connecting frame 59 is used to perform horizontal rotation of the camera 57 at a fixed angle; and the carrier belt push rod connecting frame 591 is used to support the stability of the entire system during movement.
[0058] The carrier belt compartment inside the telescopic joint 50 greatly enhances the robot's carrying capacity. It can hold various types of sensors and probes for monitoring and detecting various environments. The internally designed pop-out device allows probes and sensors to be deployed when needed and retracted when not in use. This increases structural flexibility for navigating narrow environments and provides some protection and waterproofing. The designed rotating connecting frame 59 allows the camera 57 to be horizontally rotated at a fixed angle, ensuring video quality without shaking, even when the camera 57 is always shooting from a fixed perspective. The designed push-rod telescopic device controls the extension and retraction of the joint, increasing the robot's crawling efficiency to some extent after extension.
[0059] Figure 7 This is a structural schematic diagram of a inchworm-like mobile robot provided in this application. Figure 7 As shown, the inchworm-like mobile robot is equipped with a suction cup 60. Optionally, the suction cup 60 can be fixedly connected to the gripper joint 10. Optionally, the suction cup 60 can be fixed to other joints. In some embodiments, the suction cup 60 can be used to climb walls. When the gripper joint 10 or the gripper 11 in the gripper joint 10 of the inchworm-like mobile robot malfunctions, or when the robot does not include the gripper joint 10 or the gripper 11 in the gripper joint 10, the suction cup can adhere to the wall by adhering to it, thus replacing the gripper 11 to complete the climbing structure.
[0060] This application fully considers the waterproof requirement, so the design of each joint shell is very compact. The connection method is also waterproof, so the connection is very tight. In terms of material selection, titanium alloy can be selected to enhance the strength of the robot, thereby improving the safety and reliability of the entire bionic inchworm mobile robot.
[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
Claims
1. An inchworm mobile robot, comprising: include: Carrier belt telescopic joint; and two or more robotic arms; The robotic arm includes a first angular joint, a second angular joint, a rotation joint, and a gripper joint connected in sequence. One end of the first angular joint is movably connected to the carrier belt telescopic joint, the other end of the first angular joint is movably connected to one end of the second angular joint, and one end of the second angular joint is movably connected to the rotation joint. The gripper joint is used to grasp the support member, and the rotation joint is used to realize the rotation of the gripper joint. The carrier tape telescopic joint includes: a first carrier tape transfer bracket, a carrier tape housing, a carrier tape gear, a carrier tape worm gear, a carrier tape ejection mechanism motor, a carrier tape guide shaft, a carrier tape motor, a camera, a carrier tape push rod, a rotating connecting frame, a carrier tape push rod connecting frame, and a second carrier tape transfer bracket. The first carrier belt transmission bracket is used to transmit the force output by the second angular joint; the carrier belt gear is used for transmission, speed reduction and torque increase; the carrier belt worm (54) is used for deceleration and reversal, changing the rotational force into angular rotational force; the carrier belt ejection mechanism motor is used to control the ejection and retraction of the ejection mechanism; the carrier belt guide shaft is used for positioning to prevent radial displacement; the carrier belt motor is the power source of the carrier belt telescopic joint and is used to control the extension and retraction of the joint; the rotating connecting frame is used to perform horizontal rotation of the camera at a fixed angle; the carrier belt push rod connecting frame is used to support the operational stability of the entire system during the up-and-down reciprocating motion.
2. The inchworm-like mobile robot according to claim 1, characterized in that, The two or more robotic arms are symmetrically arranged based on the carrier belt telescopic joint.
3. The inchworm-like mobile robot according to claim 1 or 2, characterized in that, The inchworm-like mobile robot also includes a suction cup for attaching the robot to a smooth wall surface.
4. The inchworm-like mobile robot according to claim 1 or 2, characterized in that, The rotational joint axis of the self-rotating joint is collinear or parallel to the connecting rod axis, and the self-rotating joint is used to enable the gripper joint to rotate within a 360° range based on the rotational joint axis.
5. The inchworm-like mobile robot according to claim 1 or 2, characterized in that, The gripper joint includes: a gripper worm gear; a gripper worm; a gripper plane bearing; a gripper bearing; and grippers. The gripper worm gear is used to control the opening and closing of the gripper, the gripper worm is used to control the size of the opening and closing, and the gripper plane bearing is used to overcome the reaction tension.
6. The inchworm-like mobile robot according to claim 1 or 2, characterized in that, The rotating joint includes: a rotating motor, a rotating mounting bracket, a rotating harmonic reducer, a rotating housing, a rotating secondary shaft gear, a rotating main shaft gear, a rotating pressure plate, a rotating oil seal, and a rotating output shaft. The rotating mounting bracket is used for support, the rotating motor is the power source, the rotating housing is used for fixation and waterproofing, the rotating secondary shaft gear is used to transmit force from the rotating harmonic reducer to the rotating main shaft gear, the rotating main shaft gear is used to output force to the rotating output shaft, the rotating pressure plate is used for axial positioning, and the rotating output shaft is used to output rotational force and connect to the first angular joint.
7. The inchworm-like mobile robot according to claim 1 or 2, characterized in that: The axes of the rotary joints and connecting rods in the first and second angular joints are perpendicular to each other, and are used to complete angular rotations in the range of -60° to 60°.
8. The inchworm-like mobile robot according to claim 4, characterized in that, The first angular joint includes: a first angular joint transmission bracket, a first angular joint motor, a first angular joint harmonic reducer, a first angular joint main bracket, a first angular joint gear, a first angular joint housing, and a first angular joint arm. The first angular rotor transmission bracket is used to transmit the force output by the self-rotating joint; the first angular rotor motor is the power source; the first angular rotor harmonic reducer is installed on the first angular rotor main bracket; the first angular rotor gear is used to reduce speed and increase torque; the first angular rotor arm is used to realize the function of angular rotation and connects to the second angular rotor joint.
9. The inchworm-like mobile robot according to claim 4, characterized in that, The second angular joint includes: a second angular joint transmission bracket, a second angular joint motor, a second angular joint harmonic reducer, a second angular joint main bracket, a second angular joint gear, a second angular joint housing, and a second angular joint arm. The second angle rotor transmission bracket is used to transmit the force output by the first angle rotor joint; the second angle rotor motor is the power source; the second angle rotor harmonic reducer is installed on the second angle rotor main bracket; the second angle rotor gear is used to reduce speed and increase torque; and the second angle rotor arm is used to realize angle rotation and connect the carrier belt telescopic joint.