The Study Of Mechanism For Self-Scramble Robot

The invention of robot stretches the ability of human beings to explore the world, expands the scope of the human action, narrows the distance between people and nature, and accelerates the technological progress of human society. Robot is multi-disciplinarily integrated high-tech product which involves in computer science, control theory, machinery, and electronic technology. It is a typical electromechanically integrated product. The development of robot technology will enable robot to replace human beings to complete any kind of work in tough working environment, which has far-reaching influence on the human society.Self-Scrambling Robot is one kind of special robots for special assignment, which is mainly used for climbing the vertical wall or spherical wall, able to carry the corresponding devices for such functions as wall cleaning, testing, pipeline laying, painting. It is a typical robot for climbing the vertical wall or spherical wall, in the purpose of replacing humans to work in such risky environments as in the industrial or petrochemical enterprises, the construction industry, fire departments and so on. Its research and development will bring broad prospects and good social values, which has been highly reflected. Many countries all over the world have started studies in this field, and many different types of self-climbing robots have been invented successfully at the domestic and overseas. Self-Scrambling Robot involves in such knowledge as robotics, artificial intelligence, sensing, control, visual, environmental identification, and modern design methods, therefore, it is a multi-interdisciplinary product. In addition, it also involves in a wide range of special technologies for the self-service functions of robots.In this paper, the purpose of the study is to design a new, highly reliable and widely applicable self-climbing robot that can automatically move and avoid obstacles. Based on the analysis of the research status quo at the domestic and overseas, a new mold of self-climbing robot comes into being, which applies a triangular framework structure, vacuum adsorption method and electric-pneumatic hybrid-driven power, fitting its working environment. The self-climbing robot achieves automatically climbing and avoiding obstacles by the cylinder rod's moving and the electric cylinder's relative movement. Stepper motor drives the worm and wheel to make the upper and lower parts of the self-climbing robot to rotate, and thus the robot achieves rotation in any angle. This paper minutely analyses the theoretical and practical problems of the robot in its development and application, and a prototype of self-climbing robot has been accomplished. The robot, characterized by strong ability to avoid obstacles, large capacity of load and rotation in any direction, is able to crawl along the vertical wall as well as some of the spherical curvatures of the wall.This paper applies theory to practice on the self-climbing robot, and has a kinematics analysis in view of the robot designed. Based on the studies of self-climbing robot, this paper has some help to the study of new structure and automatic movement of robot.