Caterpillar multi-sucker wall-climbing robot

A technology of a wall-climbing robot and multiple suction cups is applied in the field of wall-climbing robots, which can solve the problems of no independent suction cups, reduced energy utilization efficiency, and reduced vacuum degree of a public vacuum source, etc., and achieves the effect of improving the wall-climbing speed and saving electricity.

Inactive Publication Date: 2012-11-14
CHANGZHOU INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] When we make a glass curtain wall cleaning robot, we need a vacuum suction cup to make the cleaning robot attach to the glass curtain wall and move freely. The existing vacuum suction cups need to be connected with a vacuum generator and multiple electromagnetic control valves to control the vacuum suction cup. The connection of the vacuum source, the structure is complex
Generally, in order to enable the cleaning robot to walk on complex exterior walls, multiple vacuum suction cups are mostly used to form a suction cup array. At this time, the weakness of the public vacuum source is exposed. If there is a large gap, the suction cups in the suction cup array are not tightly sealed, which will cause the vacuum degree of the public vacuum source to drop and affect the use
[0003] Application number CN96205687.1 discloses an "automatic cleaning device for high-rise building walls". The cleaning device cannot

Method used

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  • Caterpillar multi-sucker wall-climbing robot
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  • Caterpillar multi-sucker wall-climbing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] Such as Figure 1-3 , a crawler-type wall-climbing robot with multiple suction cups, comprising: crawlers; it also includes: a normally closed electromagnetic vacuum chuck 1 suitable for being in a state to be adsorbed when powered on, and in an adsorbed state when powered off; The vacuum chucks 1 are evenly distributed on the track 2; it also includes a sucker control circuit, which is suitable for controlling the power-off of each electromagnetic vacuum chuck 1 that is in a suspended state and in contact with the curtain wall when the track 2 is rolling, and at the same time controls the contact Or the electromagnetic vacuum chuck that is about to leave the curtain wall is energized 1 .

[0033] The uniform distribution of the electromagnetic vacuum chuck 1 on the crawler belt 2 can be uniform distribution in the horizontal direction, or a uniform distribution in a matrix; or a crawler belt 2 composed of several adsorption joints with the same structure, and each adso...

Embodiment 2

[0048] See Figure 1-6 , on the basis of embodiment 1, the crawling method of the wall-climbing robot includes:

[0049] ① Initially, the sucker control circuit of the wall-climbing robot controls the electromagnetic coil 1-3 of the electromagnetic vacuum chuck 1 to be in a power-off state;

[0050] ② When the first sensor 3-1A located at the bottom of the front end of the wall-climbing robot detects that an electromagnetic vacuum chuck 1 on the crawler belt 2 is close to the curtain wall surface, the sucker control circuit controls the movement of the electromagnetic vacuum chuck 1 The electromagnetic coil 1-3 is energized, that is, the electromagnetic coil 1-3 attracts the piston 1-2 and drives the rubber sucker 1-6 to be in a state to be adsorbed, that is, the electromagnetic vacuum chuck 1 is in a state to be adsorbed; when the After the first sensor 3-1A detects that the electromagnetic vacuum chuck 1 is completely attached to the curtain wall, the chuck control circuit ...

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Abstract

The invention relates to a caterpillar multi-sucker wall-climbing robot which comprises a caterpillar track, normally-closed electromagnetic vacuum suckers and a sucker control circuit, wherein the normally-closed electromagnetic vacuum suckers are in a to-be-adsorbed state when the suckers are power-on, and in an adsorbed state when the suckers are power-off; the normally-closed electromagnetic vacuum suckers are uniformly distributed on the caterpillar track; and the sucker control circuit is suitable to be used for controlling each electromagnetic vacuum sucker (in an impending state and completely contacted with a curtain wall) to be in a power-off state and controlling the electromagnetic vacuum suckers (about to contact with or separate from the curtain wall) to be in a power-on state. Each sucker is an independent vacuum source, when the robot climbs a wall, a situation that the whole vacuum source is weakened because the robot meets cracks of ceramic tiles is not caused, and the normal operation of other suckers is not affected; and the electromagnetic vacuum suckers are in a to-be-adsorbed state when the suckers are power-on, and in an adsorbed state when the suckers are power-off, and when the robot climbs a wall, a power supply does not need to be supplied for the suckers (contacted with the wall) at the bottom of the caterpillar track, thus large amount of electricity is saved.

Description

technical field [0001] The invention relates to a crawler-type wall-climbing robot with multiple suction cups. Background technique [0002] When we make a glass curtain wall cleaning robot, we need a vacuum suction cup to make the cleaning robot attach to the glass curtain wall and move freely. The existing vacuum suction cups need to be connected with a vacuum generator and multiple electromagnetic control valves to control the vacuum suction cup. The connection of the vacuum source has a complex structure. Generally, in order to enable the cleaning robot to walk on complex exterior walls, multiple vacuum suction cups are mostly used to form a suction cup array. At this time, the weakness of the public vacuum source is exposed. If there is a large gap, the suction cups in the suction cup array are not tightly sealed, which will cause the vacuum degree of the public vacuum source to drop and affect the use. [0003] Application number CN96205687.1 discloses an "automatic ...

Claims

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Application Information

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IPC IPC(8): B62D55/265
Inventor 唐建敏
Owner CHANGZHOU INST OF TECH
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