The negative pressure type bionic wall-climbing robot comprises a frame, a camera, a controller, a steering mechanism and at least four climbing arms, the camera, the controller, the steering mechanism and the at least four climbing arms are arranged on the frame, the number of the climbing arms is an even number, and all the climbing arms are divided into two groups to be arranged on the two sides of the frame; each climbing arm comprises a front arm, a connecting arm, a first steering engine, a second steering engine, a third steering engine and a first adsorption assembly; the first steering engine, the second steering engine, the third steering engine and the camera are all electrically connected with the controller. By means of the climbing arm type design structure, the complexity of system control is reduced to the maximum extent, the stability of the dynamic characteristic of walking and adsorption conversion is guaranteed. Meanwhile, the three degrees of freedom of the climbing arm are increased, the adsorption direction is expanded, and compared with a crawler-type robot, a frame-type robot and a wheel-type robot, the equipment is higher in speed and obstacle crossing capacity.
本发明公开了一种负压式仿生爬壁机器人,包括框架,以及设置在框架上的摄像头、控制器、转向机构和至少四个爬臂,且爬臂的数量为偶数,所有爬臂分为两组设置于框架的两侧;每个爬臂包括前臂、连接臂、第一舵机、第二舵机、第三舵机和第一吸附组件;所述第一舵机、第二舵机、第三舵机和摄像头均与控制器电连接。本发明通过爬臂式设计结构,在最大程度减小系统控制上的复杂性和保证走行和吸附转化动态特性稳定的同时,增加了爬臂的三个自由度,扩展了吸附方向,相比于履带式、框架式和轮式机器人,该设备速度和越障能力更强。
Negative pressure type bionic wall-climbing robot
一种负压式仿生爬壁机器人
2021-07-23
Patent
Electronic Resource
Chinese