The invention relates to an internal-external gripping type crawling robot, and belongs to the technical field of work of manipulators. The internal-external gripping type crawling robot comprises an inner robot and an outer robot which are respectively arranged on the inner side surface and the outer side surface of a magnetic permeating thin plate; the inner robot comprises an inner frame, an oscillating spring, and an outer frame which is fixedly equipped with a guide rail; a first telescopic foot is arranged on the outer frame; a secondary oscillator and a second telescopic foot are arranged on the inner frame; a third foot and a primary oscillator are arranged on the outer robot; when the first foot and the second foot are in contact with the inner side surface of the magnetic permeating thin plate by means of a steel ball, and the excitation frequency applied by a tangential force on the inner frame is basically consistent with the intrinsic vibrating frequency of the inner frame, the inner frame is driven by the tangential force to move along the guide rail by a resonance manner. According to the internal-external gripping type crawling robot, the outer robot provides the power energy for moving; the inner robot is not independently equipped with the power energy, so that the inner robot can move without the limitation from the length of an energy conveying cable and the trouble caused by the coiling of the cable, and moreover, the inner robot can freely move in a long-distance thin plate with poor spatial accessibility.
Internal-external gripping type crawling robot
2015-04-08
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |