A wall-climbing robot that intelligently adjusts suction and support position

Abstract

The present invention provides a wall-climbing robot that can intelligently adjust the suction force and support position. Through the setting of the support device, the expansion or contraction of the support device and the adjustment of the support position can jointly realize the gradual reduction of the real-time suction force and approach the required critical adsorption force. Thereby reducing the energy consumption of the wall-climbing robot and the physical consumption of the negative pressure cylinder, the cooperating design of the gear and the rack set of the present invention has a relatively simple structure, and can realize the lifting rod of the first negative pressure device or the second negative pressure device. Realize that the first negative pressure device or the second negative pressure device alternately adsorbs the wall surface, and at the same time the second negative pressure device or the first negative pressure device rises from the wall and performs translation, and the first negative pressure device or the second negative pressure device is sequentially raised and lowered, And the forward movement of the robot is realized through the positive and negative rotation of the first left gear and the first right gear.

Description

technical field [0001] The invention belongs to the field of wall-climbing robots, in particular to a wall-climbing robot that intelligently adjusts suction and support positions. Background technique [0002] A wall-climbing robot is an automated robot that can climb on a vertical wall and complete its work. The wall-climbing robot is also called the wall mobile robot. Because the vertical wall operation exceeds the human limit, it is also called the limit operation robot abroad. A wall-climbing robot must have two basic functions of adsorption and movement, and the common adsorption methods include negative pressure adsorption and permanent magnet adsorption. Among them, the negative pressure method can be adsorbed on the wall surface through the negative pressure generated in the suction cup, and is not limited by the wall surface material. The permanent magnet adsorption method has two methods: permanent magnet and electromagnet, which are only suitable for adsorption o...

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Problems solved by technology

[0003] The application with the application number CN201810070033.1 discloses a wall-climbing robot and its working method. The adsorption and movement of the wall-climbing robot are realized through the electromagnet arranged at the bottom of the body and the rollers used to drive the body to move. At the same time, the electromagnet The adsorption force can be adjusted according to the actual working conditions, which will not cause unnecessary movement obstacles due to excessive adsorption force, and can save power at the same time; although the above wall-climbing robot can easily adjust the adsorption force of the electromagnet, due to the The above-mentioned robot is limited to iron walls with a thickness greater than a certain value, and at the same time, it cannot provide support when the wall-climbing robot is stationary, which is inconvenient for the operation of the wall-climbing robot

[0004] The application document with the application number CN201910166915.2 discloses a curtain wall cleaning robot with planar movement. The robot is equipped with a cleaning mechanism and a vacuum suction cup assembly. The weight of the robot is greatly reduced, which is convenient for the robot to carry out high-altitude operations. However, the mechanism settings of the above-mentioned robots are relatively complicated. Due to the leg-type adsorption structure model, the linear motion requires complex control, and the motion trajectory is difficult to control.

[0005] It can be seen that the negative pressure adsorption wall-climbing robot in the prior art is not highly intelligent, and the adsorption force cannot be adjusted according to the actual working conditions. On the one hand, the long-term high-load operation of the suction cup structure is prone to seal failure, and on the other hand, the energy loss is also high; and there is no corresponding protection device for high-altitude operations, and the robot, wall-climbing robot and operator cannot be protected to a certain extent after the adsorption device fails. safety is not guaranteed

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