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Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof

A technology of a wall-climbing robot and a robot body, applied in the field of wall-climbing robots, can solve the problems of low moving speed, reduce efficiency, increase invalid load, etc., and achieve the effects of reducing weight, solving sealing bottleneck, and reducing invalid load.

Active Publication Date: 2012-03-28
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the limitation of the adsorption mechanism, it is only suitable for moving on smooth surfaces, and the moving speed is low
In addition, two feet are connected together, and one robot is always the burden of the other robot, which increases the invalid load and reduces the efficiency
That's a fatal drawback for battery-powered wall-climbing robots

Method used

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  • Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof
  • Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof
  • Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] Embodiment 1 Combining with the example of surmounting obstacles at the corner of the exterior wall, the second wall-climbing robot WR2 assists the first wall-climbing robot WR1 to move from the wall surface A of the exterior wall to the other side B of the exterior wall, such as Figure 7 As shown, the specific steps are:

[0046] (a) At first, two wall-climbing robots of the present invention are reconstructed. The first wall-climbing robot WR1 notifies the nearby second wall-climbing robot WR2 to move over through the wireless digital receiver 17, as Figure 7 (a). The two wall-climbing robots are reconfigured as a whole through the above-mentioned reconfigurable wall-climbing robot connection process, as shown in Figure 7 (b).

[0047] (b) The two wall-climbing robots WR1 and WR2 are in the adsorption working state. The second wall-climbing robot WR2 switches to the heavy load mode with large adsorption force as described above, and the centrifugal pump motor of...

Embodiment 2

[0052] Embodiment 2 An example of two wall-climbing robots WR1 and WR2 respectively crossing the narrow step obstacle of the outdoor wall. For the reconfigurable wall-climbing robot given in the embodiment, the height that can cross the step obstacle is about 9cm. Narrow steps can be crossed directly, and steps with a width greater than 20cm need to be passed on the steps. combine Figure 8 As shown, the specific steps are,

[0053] (a) First, two wall-climbing robots of the present invention are reconstructed. Such as Figure 8 (a), two independent reconfigurable wall-climbing robots reconstruct the two wall-climbing robots as a whole through the above-mentioned reconfigurable wall-climbing robot connection process, such as Figure 8 (b).

[0054] (b) The two wall-climbing robots WR1 and WR2 are in the adsorption working state. The second wall-climbing robot WR2 switches to the heavy load mode with large adsorption force as described above, and the centrifugal pump motor...

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Abstract

The invention discloses a reconfigurable wall climbing robot and a collaborative obstacle-detouring method thereof. The reconfigurable wall climbing robot comprises an adaptive seal skirt, a sealing lining, a centrifugal pump, a centrifugal pump motor, a centrifugal pump motor driver, a robot body, and the like, wherein the seal skirt is vertically fixed on the periphery of the lower bottom surface of the robot body; the robot body is provided with a through hole, the air inlet of the centrifugal pump is corresponding to the through hole of the robot body and fixedly arranged on the robot body, and an output shaft of the centrifugal pump motor is connected with the centrifugal pump; and the sealing lining is arranged on the lower bottom surface of the robot body and located between the through hole and the seal skirt. In the invention, each reconfigurable wall climbing robot is an independent individual, and can independently complete tasks such as reconnaissance and the like under the condition of no barrier; and when a certain wall climbing robot is required to detour an obstacle, two independent reconfigurable wall climbing robots can collaboratively complete an obstacle-detouring task through being combined to be a whole.

Description

technical field [0001] The invention belongs to the technical field of wall-climbing robots, in particular to a reconfigurable wall-climbing robot and a collaborative obstacle-surmounting method thereof. Background technique [0002] The wall-climbing robot is a platform and carrier for three-dimensional space movement, which can replace humans to perform these dangerous operations. Therefore, the research of wall-climbing robot has been paid great attention by countries all over the world. A. Nishi of Miyazaki University in Japan [A. Nishi, "Development of wall-climbing robots", Computer and Electrical Engineering, 22(2): 123-149, 1996.] developed a wall-climbing robot based on the principle of propulsion to generate suction. And put forward measures to overcome the influence of wind speed. However, the efficiency of the propulsion method to generate the adsorption force is not high, the noise is large, and it is easily affected by the outside world. There are also resea...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
Inventor 杜姗姗刘永龚毅杨衍舒
Owner NANJING UNIV OF SCI & TECH
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