Full-pneumatic vacuum absorption type wall-climbing robot

Abstract

A full-pneumatic vacuum absorption type wall-climbing robot mainly solves the technical problems that an existing wall-climbing robot is large in energy dissipation, difficult in wall face transition, loud in noise, small in torque, low in loading resistant capacity and the like. According to the technical scheme, the full-pneumatic vacuum absorption type wall-climbing robot comprises four limbs, a robot body capable of being compressed in a certain range, a pneumatic system, sucking disc sets (16) connected with the limbs and vacuum generators (10) arranged on the limbs, the limbs are mounted on the two sides of the robot body in a front-and-back symmetrical layout mode, the front portion and the rear portion of the robot body can be compressed in a certain range, one end of a limb bottom plate connected with the robot body is directly hinged on the robot body, and the other end of the limb bottom plate is connected with the robot body through a buffering device (2). The full-pneumatic vacuum absorption type wall-climbing robot can be mainly applied to wall operation of tall buildings and anti-terrorist investigation and detection under complex environments.

Description

technical field [0001] The invention relates to a wall-climbing robot, in particular to an all-pneumatic vacuum adsorption type wall-climbing robot. Background technique [0002] With the wide application and rapid development of various robots in various fields, the wall-climbing robot has attracted more and more attention as an automatic mechanical device that can replace manual limit operations on vertical walls. [0003] At present, various wall-climbing robots have been developed at home and abroad. The driving methods include motor drive and pneumatic drive. Generally, electric energy is used to provide energy, and the electric energy is converted into gas internal energy or mechanical energy through the motor. However, the rotation of the motor has certain mechanical noise and electromagnetic noise. In addition, for the wall-climbing robot driven by the motor, the motor not only has a large mass, which increases the mass of the robot, but also has a relatively small ...

AI Technical Summary

Problems solved by technology

However, there are still many problems with various wall-climbing robots. For example, the crawler-type wall-climbing robot does not have the ability to transition the wall and cross obstacles; the wall-climbing robot based on the principle of negative pressure adsorption adopts a negative pressure overall sliding method, and the adsorption surface wears a lot. The energy consumption is large, and there is no wall transition ability; although the biped wall-climbing robot has strong ability to overcome obstacles, it has weak load-bearing capacity; the rotor-type wall-climbing robot is not only difficult to control the direction, but also fails immediately after the power disappears; imitation gecko based on van der Waals force There are many over-constraint problems during the operation of multi-legged wall-climbing robots, and the problem of making materials still needs further research and solution

[0005] Therefore, wall-climbing robot technology still has deficiencies in many aspects, especially technical problems such as high noise, small motion torque, low load resistance, difficult wall transition, and high energy consumption.

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