The invention relates to the technical field of wall-climbing robots, in particular to a soft wall-climbing robot and a control method thereof. The soft wall-climbing robot comprises a soft driver and electrostatic adsorption feet installed at the two ends of the soft driver. The soft body driver comprises a telescopic deformation shell, spring limiting plates are fixedly connected to the front end and the rear end of the telescopic deformation shell, and SMA springs are symmetrically arranged on the left side and the right side in the telescopic deformation shell; spring connectors are fixed to the two ends of the two SMA springs respectively, limiting holes are further formed in the surfaces of the spring limiting plates, and the spring connectors are fixed into the limiting holes. Through an electrostatic adsorption fixing mode of the electrostatic adsorption feet, the wall-climbing robot can be suitable for various wall surfaces with complex structures; the shape and the size of the whole soft wall-climbing robot can be changed within a large range through power-on stretching and retracting of the two SMA springs, then the moving and turning functions are achieved, and the soft wall-climbing robot is simple and light in structure and convenient to use and control.

    本发明涉及爬壁机器人技术领域,尤其涉及软体爬壁机器人及其控制方法。软体爬壁机器人,包括软体驱动器以及安装于软体驱动器两端的静电吸附足;软体驱动器包括可伸缩变形壳体,可伸缩变形壳体的前后两端均固定连接有弹簧限位板,可伸缩变形壳体内部的左右两侧对称设置有SMA弹簧;两个SMA弹簧的两端分别固定有弹簧连接器,且弹簧限位板的表面还开设有限位孔,弹簧连接器固定在限位孔内部。本发明通过静电吸附足的静电吸附固定方式,使得本爬壁机器人可以适用于各种复杂结构的壁面;通过两个SMA弹簧的通电伸缩,带动整个软体爬壁机器人可在较大范围内改变自身形状和尺寸,进而实现移动、转弯功能,且其结构简单轻便,使用控制也方便。


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    Titel :

    Soft wall-climbing robot and control method thereof


    Weitere Titelangaben:

    软体爬壁机器人及其控制方法


    Beteiligte:
    HUANG XIA (Autor:in) / YIN GUANGYING (Autor:in) / LI RUISONG (Autor:in) / DING JUN (Autor:in)

    Erscheinungsdatum :

    2023-03-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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