Modularized bionic wall climbing robot

Abstract

The invention relates to a modularized bionic wall climbing robot. The robot has five degrees of freedom and comprises joint modules and vacuum adsorption modules which are sequentially connected in series, wherein the connection mode is that: a first vacuum adsorption module, a first I-shaped joint module, a first T-shaped joint module, a second T-shaped joint module, a third T-shaped joint module, a second I-shaped joint module and a second vacuum adsorption module are connected in turn; rotating shafts of the three T-shaped joint modules are parallel to one another and perpendicular to the rotating shafts of the I-shaped joint modules at the two ends; and the modules are connected with clamping rings and positioned with four pins at the junctions and the possible relative rotation among the modules can be prevented. The two ends of the robot are symmetric and the head and the tail of the robot are replaceable. The robot has the advantages of easy construction, simple structure, high wall transition capacity and high obstacle-surmounting capacity and capability of climbing on a clean flat wall with inchworm gait, rotary gait, turnover type gait and the like in all directions and can be widely applied to the fields of building industry, nuclear industry, ship building industry and the like.

Description

technical field [0001] The invention relates to the technical field of robots, and is a modular bionic wall-climbing robot. Background technique [0002] Modern society has many jobs and tasks that are difficult and dangerous for human beings. For example, visual inspection and flaw detection of nuclear waste liquid storage tanks in the nuclear industry, giant wall spraying in the construction industry, cleaning of tiles or glass curtain walls of high-rise buildings, flaw detection and spraying of inner and outer hull surfaces in the shipbuilding industry, etc. This kind of work relies on humans to build scaffolding and climb up and down, which is not only inefficient and costly, but also a dangerous task. Therefore, wall-climbing robots that can replace humans to perform and engage in similar tasks have emerged at the historic moment. [0003] At present, a variety of wall-climbing robots have been developed at home and abroad, with different forms, different adsorption m...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to face high-altitude operations in the fields of construction, chemical industry, nuclear industry, and ship berthing industry, and overcome the shortcomings and deficiencies of existing wall-climbing robots such as difficulty in turning, poor maneuverability, and weak ability to overcome obstacles and wall transitions. Inspired by the climbing action of animals such as inchworms, a new type of bionic wall-climbing robot is provided, which is composed of several independent and complete modules, which is easy to disassemble, has powerful climbing functions, and has double-end adsorption.

Images