The invention relates to a hexapodous biomimetic wet-sucking wall-climbing
robot, which belongs to the technical field of
bionics. The
robot comprises a body framework, biomimetic podites, motors, a
driving circuit, a pre-compression structure, a
cam structure and a pull
rope structure, wherein all the components are installed on the body framework. The body framework comprises a support and a crossbeam which is installed in the groove of the body framework; each biomimetic podite comprises a base seat, a
femur, a
tibia, a
spring steel sheet and a flexible structure, one end of the
femur and the flexible structure is connected with the base seat, the other end thereof is connected with the
tibia, and the
spring steel sheet is installed on the
tibia; the
driving circuit performs joint control to the motors, the motors are vertically installed in the motor grooves and horizontally installed on the crossbeam; the pre-compression structure comprises a podite support and a T-shaped
femur extension support which are connected through a spring; the
cam structure comprises a
cam and a cam fixing support, one end of the cam is fixed on the motor shafts, and the other end is connected with the cam fixing support; the pull
rope structure comprises a pull
rope support, pull ropes and
brake lines, and the pull ropes are connected with the biomimetic podites through the pull rope support. The hexapodous biomimetic wet-sucking wall-climbing
robot has the advantages of simple structure, part modularization and
standardization, convenient
processing and
assembly, hollow structure, light overall weight, multi-motor driving, easy
gait planning, and easy realization of stable and reliable operation of the hexapodous wall-climbing robot.