SUMMARYA novel wall-climbing robot with multiple attachment modes is proposed. For uneven surfaces, the mechanical model of a spine wheel is brought out to grab the surfaces with its multi-spines. For smooth surfaces, an adhesive belt is obtained by the industrial synchronous belt and the polyurethane material to adhere to the surfaces. To avoid the robot overturning, an adsorption device with flexible skirt edge is presented. In addition, the normal force and motor torque are evaluated respectively. Finally, the prototype of the wall-climbing robot is manufactured and tested, and the experimental results show that the robot could climb the wall surface 0–360° with a maximum load of 0.5 kg.

中文翻译：

---

由脊轮、胶带和涡流吸盘组成的仿生爬墙机器人的研制

发明内容提出了一种具有多种附着方式的新型爬壁机器人。对于凹凸不平的表面，使用脊轮的机械模型来抓取具有多脊的表面。对于光滑的表面，通过工业同步带和聚氨酯材料粘附在表面上得到粘合带。为避免机器人倾覆，提出了一种具有柔性裙边的吸附装置。此外，分别评估法向力和电机扭矩。最后，制作并测试了爬墙机器人样机，实验结果表明，该机器人可以在最大载荷为0.5 kg的情况下0~360°爬墙。