Bionic obstacle-crossing wall climbing robot and obstacle crossing method thereof

Abstract

The invention discloses a bionic obstacle-crossing wall climbing robot and an obstacle crossing method thereof. The bionic obstacle-crossing wall climbing robot comprises a micro absorption module, a light motion mechanism and a wall climbing robot body. The micro absorption module is connected to the wall climbing robot body through the light motion mechanism. The light motion mechanism is a mechanism with two degrees of freedom and formed by connecting three rods and two drive devices in series. One rod is fixedly connected to the micro absorption module, the other rod is fixedly connected to the wall climbing robot body, the two rods are connected to two ends of the third rod through bearings respectively, the bears are provided with the corresponding drive devices, and the drive devices drive the bearing to rotate so as to drive the micro absorption module and the wall climbing robot body to life and drop. When an obstacle appears, the micro absorption module serves as a 'palm' to absorb on a wall in a manner of static adsorption, and the light motion mechanism serves as a 'long arm' to overturn the wall climbing robot body to cross the obstacle. The bionic obstacle-crossing wall climbing robot can flexibly cross large projections, wide grooves and other obstacles.

Description

technical field [0001] The invention relates to the technical field of wall-climbing robots, in particular to a bionic obstacle-climbing robot and an obstacle-climbing method thereof. Background technique [0002] With the rapid development of robot technology, wall-climbing robots, as special robots, have been widely used in civil, military and aerospace fields. The application of the wall-climbing robot has its own particular environment. For example, the wall materials are different, such as iron, glass and concrete; the roughness and condition of the wall are various, some are smooth, some are rough, accompanied by large protrusions, Obstacles such as wide grooves; the spatial orientation of climbing is complex, there are bumps between the walls, and it is necessary to climb from one plane to another, resulting in difficulties in crossing and so on. [0003] The Chinese patent application number 200820079153.X discloses a joint-connected small two-body negative pressure...

AI Technical Summary

Problems solved by technology

The application of the wall-climbing robot has its own particular environment. For example, the wall materials are different, such as iron, glass and concrete; the roughness and condition of the wall are various, some are smooth, some are rough, accompanied by large protrusions, Obstacles such as wide grooves; the spatial orientation of climbing is complex, there are bumps between the walls, and it is necessary to climb from one plane to another, resulting in difficulties in crossing, etc.

[0003] The Chinese patent application number 200820079153.X discloses a joint-connected small two-body negative pressure wall-climbing robot. The height of the obstacle and the width of the groove are limited by only one pitch connection joint; in addition, the overall mass of the dual-body robot is relatively heavy, and the dynamic adsorption method of the two robots consumes a lot of energy

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