The invention relates to the technical field of wall-climbing robots, and discloses a thousand-foot-imitated wall-climbing robot and a control method thereof. The wall-climbing robot comprises a base; the first driving motor is arranged in the base; the two supporting arms are arranged on the left side and the right side of the first driving motor respectively, and the left end and the right end of an output shaft of the first driving motor are connected with one ends of the two supporting arms respectively; the two swinging supporting legs are arranged below the supporting arms in a one-to-one correspondence mode, and one ends of the swinging supporting legs are hinged to the other ends of the supporting arms; the two flexible air bags are respectively arranged between the other ends of the corresponding swinging supporting legs and the supporting arms; the two permanent magnet wheels are arranged at the other ends of the swing supporting legs in a one-to-one correspondence mode, the permanent magnet wheels are used for being attracted to the surface of the steel part, a second driving motor is installed at each permanent magnet wheel, and the second driving motors are used for driving the permanent magnet wheels to rotate; and a plurality of expansion connectors.

    本发明涉及爬壁机器人技术领域,公开了一种仿千足虫式爬壁机器人及其控制方法。所述爬壁机器人包括:底座;第一驱动电机,设置在所述底座内;两个支撑臂,分别设置在所述第一驱动电机的左右两侧,所述第一驱动电机的输出轴的左右两端分别与两个所述支撑臂的一端连接;两个摆动支腿,一一对应设置在所述支撑臂的下方,所述摆动支腿的一端与所述支撑臂的另一端铰接;两个柔性气囊,分别设置在对应的所述摆动支腿和所述支撑臂的另一端之间;两个永磁轮,一一对应的设置在所述摆动支腿的另一端处,所述永磁轮用于吸附在钢制件表面,每个所述永磁轮处安装有一个第二驱动电机,所述第二驱动电机用于驱动所述永磁轮转动;以及多个扩展连接件。


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    Title :

    Thopoda-imitating wall-climbing robot and control method thereof


    Additional title:

    仿千足虫式爬壁机器人及其控制方法


    Contributors:
    SUN MINGGANG (author) / ZHAO GUIXIN (author) / MA SUIXIN (author) / WANG DECHENG (author) / ZHANG JIAN (author) / LIU ZHEN (author) / SHEN MENGMENG (author) / HAN HAO (author)

    Publication date :

    2024-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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