The invention belongs to the field of
bionics, and provides a bionic wall-climbing
robot with self-adaptive wall
surface roughness, which is rigid and soft combined with wet-absorbing feet, comprising tendons,
lateral movement tendon branches, downward movement
tendon branches, two claws, and a claw base. , foot frame, foot pad,
liquid storage cavity, claw piece, vertical
handle, elliptical flexible hinge; under the stretching of tendons, the two claws can hook the rough wall surface to crawl upward
mechanical force;
tendon stretching foot pad adsorption The wall surface with small roughness provides motion friction;
tendon stretching means that the liquid in the liquid cavity is compressed into the foot pad, so that the folds on the surface of the foot pad expand and increase the contact area; the liquid is discharged to the contact surface along the micropores on the surface of the foot pad, Increase adsorption. When the tendons relax, the claws return to their original shape under the action of the flexible joints at the bottom, the liquid returns to the chamber, and the foot pads are separated from the wall surface to achieve rapid
desorption. In this way, under the control of a tendon, it can automatically adapt to the wall environment of different roughness, quickly realize adsorption and
desorption, and meet the motion requirements of the bionic wall-climbing
robot.