Multi-cavity suction wheel and leg combined wall climbing robot

Abstract

The invention discloses a multi-cavity suction wheel and leg combined wall climbing robot. The wall climbing robot comprises a multi-cavity negative-pressure suction chassis, a wheel-type movement mechanism, a three-section type obstacle-surmounting arm and a control module. The multi-cavity negative-pressure suction chassis comprises a plurality of negative-pressure suction cavities. The negative-pressure suction cavities are each composed of a suction cup and a mini-type vacuum pump and used for sucking the robot to the wall. The wheel-type movement mechanism is installed on the multi-cavity negative-pressure suction chassis and used for driving the robot to move forwards and backwards and steer. The three-section type obstacle-surmounting arm is of a three-section three-degree-of-freedom structure. One end of the three-section type obstacle-surmounting arm is fixed to the multi-cavity negative-pressure suction chassis. The other end of the three-section type obstacle-surmounting arm is provided with a suction cup so as to suck the robot to the wall. The control module comprises a battery, a digital transmission module and a drive board, wherein the battery is used for supplying power, the digital transmission module is used for providing a remote control function, and the drive board is used for driving the wheel-type movement mechanism and the three-section type obstacle-surmounting arm to act and driving the multi-cavity negative-pressure suction chassis and the suction cup of the three-section type obstacle-surmounting arm to be sucked on the wall. The multi-cavity suction wheel and leg combined wall climbing robot has high wall adaptability and suction reliability, and the wheel and leg combined design achieves the requirements for speed and obstacle surmounting.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a multi-cavity adsorption wheel-leg combined wall-climbing robot. Background technique [0002] A wall-climbing robot is a robot that can move and work on a vertical wall. The wall-climbing robot can replace human beings to clean the building wall, paint the shell of the ship, detect the inner and outer walls of the storage tank, military investigation, and high-altitude firefighting, etc., reducing the danger of the staff. Wall-climbing robots have broad application prospects in construction, bridges, shipbuilding, and military fields. [0003] Wall-climbing robots, especially negative-pressure adsorption wall-climbing robots, have high requirements on the stability of wall adsorption. Once the robot loses its adsorption force when working on the wall, it will cause interruption of work at least, and cause damage to equipment falling and threats to surrounding personnel. Safety...

AI Technical Summary

Problems solved by technology

[0004] The existing wheel-leg interchangeable wall-climbing parallel robots, crawler suction cup wall-climbing robots, all-pneumatic vacuum adsorption wall-climbing robots and negative pressure adsorption wall-climbing robots lack the means to cross wall obstacles; negative pressure adsorption bionic wall-climbing robots The robot has a large number of joints and relies entirely on the adsorption feet to move, and the movement speed is slow; the bionic obstacle-climbing robot has a large number of joints and a small number of freedom in the obstacle-climbing mechanism, the control is complex and the obstacle-breaking method is single, and the centrifugal fan used has high power consumption The disadvantage of high noise, the reliability of single negative pressure chamber is also poor

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