Self-adaptive wall-climbing robot for complex environment

Abstract

The invention discloses a self-adaptive wall-climbing robot for a complex environment. The robot comprises a robot body, porous self-adaptive suckers, an air distribution mechanism and a vacuum generation mechanism. The porous self-adaptive suckers are densely distributed on a crawler belt. Each porous self-adaptive sucker comprises a porous flexible adsorption plate, a bottom plate, a differential pressure one-way valve cavity, a rectangular boss, a vacuum adsorption pipe, a fixing plate, a sliding block, a large anti-skid nut, a fixing bolt and a small anti-skid nut. The air distribution mechanism comprises an air distribution groove, and the crawler belt is always fixed by negative pressure in the air distribution groove in the moving process and is tightly attached to the bottom of theair distribution groove. The porous self-adaptive suckers on the crawler belt move along with the crawler belt to dynamically seal the two ends of the air distribution groove, the vacuum generation mechanism is used for vacuumizing to generate negative pressure during adsorption, and an air distribution scheme that the porous self-adaptive suckers on the wall-climbing robot make full contact withan uneven surface and the suckers are distributed to a portion making contact with the ground at a fixed point can be achieved. And a gas loss of the vacuum generator can be effectively reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an adaptive wall-climbing robot facing complex environments. Background technique [0002] The wall-climbing robot is a kind of special robot. Its main function is to help people complete some high-risk tasks in high-altitude environments and extreme environments. According to different adsorption methods, wall-climbing robots can be roughly divided into four types: bionic adsorption type, magnetic adsorption type, thrust adsorption type and negative pressure adsorption type. Among them, the most adaptable to the wall is the negative pressure adsorption type. This type of robot mostly uses adsorption chambers or vacuum suction cups to achieve negative pressure adsorption, and realizes basic actions such as linear movement and steering through crawler tracks, wheels and other walking mechanisms. The vast majority of robots that use vacuum suction cups to achieve negative pressure ...

AI Technical Summary

Problems solved by technology

[0004] In view of the phenomenon that the vacuum suction cup on the crawler wall-climbing robot has rough surfaces such as tunnels and bridges, and there are uneven gaps and obstacles on the walls, the adsorption capacity is weak and the stability is poor, and the gas loss of the rotary gas distribution scheme in the existing active gas distribution scheme is large. , low efficiency, high energy consumption and high manufacturing cost of the independent gas distribution scheme, the present invention provides an adaptive wall-climbing robot for complex environments, which can realize self-adaptive adsorption on various complex surfaces, and effectively improve the adsorption capacity and The gas distribution efficiency of the system reduces the energy consumption in use

Images