Telescopic worm-imitating wall-climbing robot device with slide rails and guide sucking discs

Abstract

The invention discloses a telescopic worm-imitating wall-climbing robot device with slide rails and guide sucking discs, and belongs to the field of wall-climbing robots. The telescopic worm-imitatingwall-climbing robot device comprises a plurality of adsorbing units, a plurality of telescopic connecting rod assemblies, a guide shaft, a slide block, an electric gas pump, a solenoid valve, a controller and the like. The telescopic worm-imitating wall-climbing robot device realizes a robot wall-climbing function of worm-imitating motion. The device can avoid upper adsorption and movement in theperpendicular direction, adopts a multi-unit structure for only needing to move one unit through each-time action, is great in a wall adsorption contact area, is stable and reliable in climbing, disperses the mass to each unit, is strong in weight-carrying ability, is good in expandability, is low in cost, is easy to control, is low in energy consumption, is long in duration of flight, and is suitable for being used in the robot for wall operation.

Description

technical field [0001] The invention belongs to the field of wall-climbing robots, and in particular relates to a structural design of a slide rail-guided suction cup telescopic worm-like wall-climbing robot device. Background technique [0002] In recent years, many mobile robots have been produced, such as multi-legged mobile robots, underwater robots, etc., and more and more tasks are completed by robotic equipment. In reality, most of the existing robots stay on the ground to work, and there are still many tasks to be completed on the vertical wall. It is difficult to arrange the existing robots to complete in a short time. The safety rope climbs to a high place and operates at high risk. Therefore, in order to solve the difficult problem of climbing walls faced by existing robot equipment, domestic and foreign robot researchers and engineers have begun to develop wall-climbing robots. After years of exploration, a group of wall-climbing robots with different shapes an...

AI Technical Summary

Problems solved by technology

The device has a guide rail slider structure, which has high stability and can maintain linear motion under external loads; its disadvantages are: there is only one guide rail, which is prone to torsional deformation under external loads, and the electromagnet absorbs The scope of application of the structure is small. For metal walls and non-metal materials that are not attracted by magnets, this robot cannot be applied at all.

The disadvantage is that the system has many degrees of freedom, the control is difficult, the rigidity is poor, and it is difficult to maintain linear motion when the external load is large

[0013] Scientific research institutions around the world have done a lot of cutting-edge research on climbing robots, but there are still many difficult problems, including insufficient load, high requirements on wall properties, poor steering performance, etc.

Images