Negative-pressure adsorption foot suitable for non-horizontal smooth wall surface wall-climbing robot

Abstract

The invention discloses a negative-pressure adsorption foot suitable for a non-horizontal smooth wall surface wall-climbing robot. The negative-pressure adsorption foot is characterized in that a sucking disc is arranged at the lower end of a sucking disc rod; the upper end of a negative-pressure sucking disc rod is connected with a piston; the upper part of the piston is connected with the lower end of a jacking and pressing spring; a sliding cavity which is used for assembling the sucking disc rod, the piston and the jacking and pressing spring is formed in a shell; the upper end of the jacking and pressing spring is in contact with the top wall of the sliding cavity in a jacking way; the piston of the sucking disc rod is assembled in the sliding cavity in a vertical sliding and sealing way; an inner cavity of the sucking disc rod is hollow; a sucking disc rod negative-pressure opening and a sucking disc rod atmosphere opening are formed in the wall surface of the sucking disc rod; a shell negative-pressure opening and a shell atmosphere opening are also formed in the wall surface of the shell; the distance difference of the distance between the sucking disc rod negative-pressure opening and the sucking disc rod atmosphere opening and the distance between the shell negative-pressure opening and the shell atmosphere opening is a displacement stroke of the piston; the shell negative-pressure opening is connected with a negative pressure generating device; an electromagnetic device which is used for driving the piston to move upwards to compress the spring through an electromagnetic principle is arranged in the shell outside the piston. The negative-pressure adsorption foot disclosed by the invention has the advantages that the structure is simplified, elements are fewer, the size is small, and the cost is lower.

Description

technical field [0001] The invention relates to a wall-climbing robot, in particular to a negative pressure adsorption foot of a wall-climbing robot. Background technique [0002] One of the key technologies of the wall-climbing robot is the design of wall adsorption and walking mechanism. Currently existing adsorption methods include negative pressure adsorption, electromagnetic adsorption, etc. Negative pressure adsorption is suitable for flat and smooth walls, while electromagnetic adsorption can only be applied to magnetically conductive walls. The existing negative pressure adsorption method generally adopts the form of a valve-controlled suction cup, which has a relatively complicated structure, many components, and a large volume. The wall-climbing robot with such a structure of adsorption feet is relatively large in size, and each adsorption foot needs a corresponding control valve, the control logic and timing are relatively complicated, and the cost is high. Con...

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Problems solved by technology

[0003] In order to overcome the disadvantages of the negative pressure adsorption method of the existing wall-climbing robot, which have complex structure, many components, large volume and high cost, the present invention provides a simplified structure, few components, small volume and low cost suitable for non-horizontal Negative pressure adsorption feet of a wall-climbing robot on a flat wall

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