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Slide rail guided suction cup retractable worm-like wall-climbing robot device

A technology of wall-climbing robots and suction cups, which is applied in the field of wall-climbing robots, can solve the problems of many degrees of freedom in the system, difficult control, and insufficient load, and achieve the effects of long battery life, large contact area, and good scalability

Active Publication Date: 2021-08-13
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The device has a guide rail slider structure, which has high stability and can maintain linear motion under external loads; its disadvantages are: there is only one guide rail, which is prone to torsional deformation under external loads, and the electromagnet absorbs The scope of application of the structure is small. For metal walls and non-metal materials that are not attracted by magnets, this robot cannot be applied at all.
The disadvantage is that the system has many degrees of freedom, the control is difficult, the rigidity is poor, and it is difficult to maintain linear motion when the external load is large
[0013] Scientific research institutions around the world have done a lot of cutting-edge research on climbing robots, but there are still many difficult problems, including insufficient load, high requirements on wall properties, poor steering performance, etc.

Method used

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  • Slide rail guided suction cup retractable worm-like wall-climbing robot device
  • Slide rail guided suction cup retractable worm-like wall-climbing robot device
  • Slide rail guided suction cup retractable worm-like wall-climbing robot device

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Embodiment Construction

[0042] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0043] A kind of embodiment of the flexible worm-like wall-climbing robot device of the sliding rail guide sucker design of the present invention, as Figure 1 to Figure 6 As shown, it includes the first adsorption unit 1, the second adsorption unit 2, the third adsorption unit 3, the first telescopic link assembly, the second telescopic link assembly, the first guide shaft 27, the second guide shaft 28, the first Left slider 29, first right slider 30, second left slider 31, second right slider 32, third left slider 33, third right slider 34, electric air pump 35, first electromagnetic valve 36, The second solenoid valve 37, the third solenoid valve 38, the first relay 39, the second relay 40, the third relay 41 and the controller 42; the first adsorption unit 1, the second adsorption unit 2 and ...

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Abstract

A slide rail-guided suction cup telescopic worm-like wall-climbing robot device belongs to the field of wall-climbing robots, and includes a plurality of adsorption units, a plurality of telescopic link assemblies, a guide shaft, a slider, an electric air pump, a solenoid valve, a controller, and the like. The device realizes the wall-climbing function of the robot imitating the movement of worms. The device can absorb and move vertically. It adopts a multi-unit structure so that only one unit needs to be moved for each action. It not only has a large area of ​​adsorption and contact with the wall, but also climbs stably and reliably. The mass is dispersed to each unit and has a strong load capacity. , good scalability, low cost, easy control, low energy consumption, long battery life, suitable for robots used for wall operations.

Description

technical field [0001] The invention belongs to the field of wall-climbing robots, and in particular relates to a structural design of a slide rail-guided suction cup telescopic worm-like wall-climbing robot device. Background technique [0002] In recent years, many mobile robots have been produced, such as multi-legged mobile robots, underwater robots, etc., and more and more tasks are completed by robotic equipment. In reality, most of the existing robots stay on the ground to work, and there are still many tasks to be completed on the vertical wall. It is difficult to arrange the existing robots to complete in a short time. The safety rope climbs to a high place and operates at high risk. Therefore, in order to solve the difficult problem of climbing walls faced by existing robot equipment, domestic and foreign robot researchers and engineers have begun to develop wall-climbing robots. After years of exploration, a group of wall-climbing robots with different shapes an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B62D57/024
CPCB25J9/00B25J9/0009B62D57/024
Inventor 杨文昊杨诚乐张瑞杰张文增
Owner TSINGHUA UNIV
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