A Gecko-like Climbing Tower Robot

Abstract

The invention relates to the technical field of robots, in particular to a gecko foot imitating type tower climbing robot. The gecko foot imitating type tower climbing robot is provided with an electric lead screw and electromagneto suction cups, and is characterized in that the robot comprises a pole climbing mechanism, two suction cup mechanisms and two steering mechanisms; the suction cup mechanisms are arranged at the two ends of the pole climbing mechanism correspondingly; the steering mechanisms are arranged at the lower ends of the suction cup mechanisms; the pole climbing mechanism is composed of the electric lead screw; each suction cup mechanism is composed of a shell, a worm and gear assembly, a motor and one electromagneto suction cup; and each steering mechanism is composed of a steering drive motor, a worm and gear assembly and a steering rod. The gecko foot imitating type tower climbing robot has the advantages of being simple in structure, good in stability, flexible in movement, easy to control, high in loading capacity, high in overturn prevention capacity and the like.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a gecko-like leg-climbing robot, which is applied in industries such as electric power, communication, and chemical industry. Background technique [0002] As we all know, there are many types of vertical climbing robots. According to the walking mode of robots, robots can be divided into wheeled robots, crawler robots and legged robots. For climbing structures such as iron towers, the movement methods of wheeled robots and crawler robots have great limitations. Footed robots have strong adaptability due to their non-continuous contact characteristics during walking. For iron towers, Make full use of the principles of bionics and electromagnetics, imitate the physiological structure of the gecko wall-climbing suction cup, and use electromagnets to absorb the iron tower to realize the robot's grasping function on the iron tower. It has outstanding advantages and advancements, and h...

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Problems solved by technology

[0003] The legged robots reported in the existing literature mainly have servo motors, steering gears, etc. as their movement power, which have poor load capacity, large overall mass, complex structure, difficult control, slow response speed, poor stability and insufficient flexibility, etc. There are many technical problems. For vertical iron tower structures, due to the variety of frame specifications, it is difficult to design the holding part of the iron tower. Under the action of external force, it is prone to rollover and overturning. , Nut, guide sleeve, push rod, sliding seat, spring, shell and turbine, micro control switch, etc. The electric screw rod is a new type of electric actuator, which makes reciprocating motion within a certain range of travel.

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