A bionic wall-climbing robot with self-adaptive wall roughness combined with rigidity and softness combined with wet suction feet

Abstract

The invention belongs to the field of bionics, and provides a bionic wall-climbing robot with self-adaptive wall surface roughness, which is rigid and soft combined with wet-absorbing feet, comprising tendons, lateral movement tendon branches, downward movement tendon branches, two claws, and a claw base. , foot frame, foot pad, liquid storage cavity, claw piece, vertical handle, elliptical flexible hinge; under the stretching of tendons, the two claws can hook the rough wall surface to crawl upward mechanical force; tendon stretching foot pad adsorption The wall surface with small roughness provides motion friction; tendon stretching means that the liquid in the liquid cavity is compressed into the foot pad, so that the folds on the surface of the foot pad expand and increase the contact area; the liquid is discharged to the contact surface along the micropores on the surface of the foot pad, Increase adsorption. When the tendons relax, the claws return to their original shape under the action of the flexible joints at the bottom, the liquid returns to the chamber, and the foot pads are separated from the wall surface to achieve rapid desorption. In this way, under the control of a tendon, it can automatically adapt to the wall environment of different roughness, quickly realize adsorption and desorption, and meet the motion requirements of the bionic wall-climbing robot.

Description

technical field [0001] The invention belongs to the field of bionics, and in particular relates to a bionic wall-climbing robot with self-adaptive wall roughness combining rigidity and softness with wet suction feet. [0002] technical background [0003] Wall-climbing robot is an important branch in the field of mobile robots. It can climb on vertical walls and carry tools to complete certain tasks, which greatly expands the application range of robots. At present, wall-climbing robots have been applied in cleaning the outer walls of high-rise buildings, emergency rescue and disaster relief, and special reconnaissance, and have achieved good social and economic benefits. It is one of the hotspots in the field of robotics. [0004] Stable contact with the wall is one of the basic functions of the wall-climbing robot, which can be achieved by grasping the wall or adsorption. Adsorption methods mainly include vacuum negative pressure adsorption and magnetic adsorption. The cl...

AI Technical Summary

Problems solved by technology

Due to the limitations of each of these methods, the developed wall-climbing robots are often highly targeted, only suitable for a specific task, and difficult to generalize

[0005] The design of the robot needs to select the appropriate claw or adsorption method according to the work task and environment, and the control method is complicated

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