Hexapodous biomimetic wet-sucking wall-climbing robot

Abstract

The invention relates to a hexapodous biomimetic wet-sucking wall-climbing robot, which belongs to the technical field of bionics. The robot comprises a body framework, biomimetic podites, motors, a driving circuit, a pre-compression structure, a cam structure and a pull rope structure, wherein all the components are installed on the body framework. The body framework comprises a support and a crossbeam which is installed in the groove of the body framework; each biomimetic podite comprises a base seat, a femur, a tibia, a spring steel sheet and a flexible structure, one end of the femur and the flexible structure is connected with the base seat, the other end thereof is connected with the tibia, and the spring steel sheet is installed on the tibia; the driving circuit performs joint control to the motors, the motors are vertically installed in the motor grooves and horizontally installed on the crossbeam; the pre-compression structure comprises a podite support and a T-shaped femur extension support which are connected through a spring; the cam structure comprises a cam and a cam fixing support, one end of the cam is fixed on the motor shafts, and the other end is connected with the cam fixing support; the pull rope structure comprises a pull rope support, pull ropes and brake lines, and the pull ropes are connected with the biomimetic podites through the pull rope support. The hexapodous biomimetic wet-sucking wall-climbing robot has the advantages of simple structure, part modularization and standardization, convenient processing and assembly, hollow structure, light overall weight, multi-motor driving, easy gait planning, and easy realization of stable and reliable operation of the hexapodous wall-climbing robot.

Description

technical field [0001] The invention belongs to the technical field of bionics, and in particular relates to a mechanism of a wall-climbing robot, in particular to a hexapod bionic wet-suction wall-climbing robot. Background technique [0002] Bionics is an interdisciplinary subject that combines life sciences with engineering and technology disciplines such as machinery, materials and information, and has distinctive innovation and application. Through the research on hygroscopic insects, based on the principle of hygroscopicity, a new adsorption mechanism - hygroscopic adsorption is designed, and a new type of wall-climbing robot is developed, which has a wide application prospect. According to the wet suction calculation model, mechanical calculation results and experimental data, it is found that the size of the adsorption force is not only related to the composition of the exudate, the roughness of the contact surface and the effective contact area, but also related to ...

AI Technical Summary

Problems solved by technology

Although wheeled and crawler-type wall-climbing robots are simple in design, require less drive motors, and are easy to control, they have a single movement mode and cannot control the attitude of the robot; footed robots overcome the above-mentioned limitations of wheeled and crawler-type wall-climbing robots. Disadvantages, the limbs of the robot have relatively many degrees of freedom, which is easy to control the robot's posture and gait planning

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