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Vacuum suction wall-climbing robot and using method thereof
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A wall-climbing robot and vacuum adsorption technology, which is applied in the field of wall-climbing robots, can solve problems such as low efficiency, long cycle time, and poor safety, and achieve the effect of reducing weight
Active Publication Date: 2016-01-13
BEIJING INSTITUTE OF TECHNOLOGYGY +2
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Problems solved by technology
The traditional manual method is still used for the inspection of the tunnel surface lining. The manual method has problems such as high labor intensity, long cycle, low efficiency, and poor safety.
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Embodiment 1
[0028] Embodiment 1: see attached figure 1 , a vacuum adsorption wall-climbing robot, which includes: a box body 1, a transmission mechanism 2, a guide mechanism 3, an adsorption mechanism 4 and a detection radar 5;
[0029] The box body 1 is divided into upper and lower layers;
[0030] The transmission mechanism 2 is divided into two sets of synchronous belts 11 crossing in a cross shape, and each set of synchronous belts 11 is driven by the motor 8; the two sets of synchronous belts 11 are respectively installed on the upper and lower layers of the box body 1;
[0031] The guide mechanism 3 cooperates with the timing belt 11 in the transmission mechanism 2, and is also installed on the upper and lower layers of the box body 1;
[0032] The adsorption mechanism 4 is installed at both ends of each group of synchronous belts 11 , including: an electric push rod 21 and a suction cup group 25 below the electric push rod 21 , and the suction cup group 25 is controlled by a solen...
Embodiment 2
[0037] Embodiment 2: the use method of vacuum adsorption wall climbing robot, it is based on the vacuum adsorption wall climbing robot that is used for tunnel wall lining detection as described in embodiment 1, and its use method is as follows:
[0038] Step 1, the state of the robot is initialized, and one of the timing belts 11 is defined as the x guide rail, and the other is the y guide rail;
[0039] Step 2, make the expansion and contraction of the electric push rod 21 in the adsorption mechanism 4 be in a proper position, so that the suction cups of the suction cup groups 25 at the ends of the x and y guide rails are attached to the wall and are all in the adsorption state;
[0040] Step 3, the suction cup of the y-rail is released, and the vacuum pressure switch is detected to detect the vacuum degree in the suction cup. When the vacuum degree is less than a certain threshold, the suction cup of the y-rail is lifted to make the y-rail turn into a moving state;
[0041] ...
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Abstract
The invention belongs to the technical field of intelligent robots and specifically provides a wall-climbing robot and a using method thereof. The vacuum suction wall-climbing robot comprises a box body (1), a transmission mechanism (2), guide mechanisms (3) and suction mechanisms (4). The transmission mechanism (2) comprises two synchronous belt sets (11) in square crossing. Each synchronous belt set (11) is driven by a motor (8). The suction mechanisms (4) are installed on the two ends of the synchronous belt sets (11). Each suction mechanism comprises an electric push rod (21) and a sucker group (25) arranged under the electric push rod (21), wherein the suction and the release of the sucker group (25) are controlled by a solenoid value. Through coordinated control of the motor at one end of each guide rail, the suckers and the solenoids for controlling the suction of the suckers, the motors can drive the guide rails to move linearly in certain directions; the solenoid valves for the suckers can achieve the suction and the release of the suckers, so that the robot can move continuously in the certain directions.
Description
technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a wall-climbing robot and a using method thereof. Background technique [0002] Lining status detection of railway operating tunnels is of vital significance to the railway department to grasp the defects and defects of the tunnel lining status, which is directly related to the safety of traffic operation, and all domestic and foreign railway departments attach great importance to it. The traditional manual method is still used for the inspection of tunnel surface lining. The manual method has problems such as high labor intensity, long cycle, low efficiency and poor safety. With the upgrading and transformation of my country's industrial structure, manual operation no longer meets the requirements of social and environmental development, and it is necessary to find a better method to replace manual operation. Contents of the invention [0003] The objec...
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Application Information
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