The invention provides an impedance-controlled wall-climbing robot and an impedance control method, the impedance-controlled wall-climbing robot comprises a wall-attaching device and at least one climbing device, the climbing device is used for driving the wall-attaching device to move on a wall surface, the climbing device comprises a climbing assembly, and the climbing assembly comprises a climbing wheel; the driving assembly comprises an elastic driving piece, the elastic driving piece is provided with an elastic hollow area, and the driving assembly is in driving connection with the climbing wheels through the elastic driving piece; at least one part of the detection assembly is connected with the driving assembly, the detection assembly is used for detecting the rotating angle of the driving assembly, at least the other part of the detection assembly is connected with the climbing assembly, and the detection assembly is used for detecting the rotating angle of the climbing wheel; and the angle variation of the elastic driving part is determined according to the difference between the detected rotation angle of the driving assembly and the rotation angle of the climbing wheel. The problem that the running state of the wall-climbing robot is difficult to judge in the prior art is solved.

    本发明提供了一种阻抗控制的爬壁机器人和阻抗控制方法,阻抗控制的爬壁机器人包括贴壁装置和至少一个爬升装置,爬升装置用于带动贴壁装置在壁面上移动,爬升装置包括:爬升组件,爬升组件包括爬升轮;驱动组件,驱动组件包括弹性驱动件,弹性驱动件具有弹性镂空区域,驱动组件通过弹性驱动件与爬升轮驱动连接;检测组件,检测组件的至少一部分与驱动组件连接,检测组件用于检测驱动组件的转动角度,检测组件的至少另一部分与爬升组件连接,检测组件用于检测爬升轮的转动角度,根据检测得到的驱动组件的转动角度以及爬升轮的转动角度的差值确定弹性驱动件的角度变化量。本发明解决了现有技术中爬壁机器人运行状态难以判断的问题。


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    Title :

    Impedance-controlled wall-climbing robot and impedance control method


    Additional title:

    阻抗控制的爬壁机器人和阻抗控制方法


    Contributors:
    ZHANG HENGYUAN (author) / WANG LIXIN (author) / MA PENGFEI (author) / XU XIANYI (author) / LIU FUQIANG (author) / FANG YUNLONG (author) / HUANG JINGLIANG (author) / WU SHANQIANG (author)

    Publication date :

    2023-08-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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