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Adaptive wall-climbing robot for complex environment

A technology for wall-climbing robots and complex environments, applied in the field of robots, can solve the problems of high energy consumption, poor stability and weak adsorption capacity of the independent gas distribution scheme, so as to improve the adsorption capacity of the device and the overall endurance of the robot, and maintain the sealed vacuum performance. , the effect of strong wrapping ability

Active Publication Date: 2021-06-22
CENT SOUTH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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  • Adaptive wall-climbing robot for complex environment
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Embodiment Construction

[0030] In order to facilitate the understanding of the present invention, the present invention will be described more fully and in detail below in conjunction with the accompanying drawings and preferred embodiments, but the protection scope of the present invention is not limited to the following specific embodiments.

[0031] Such as figure 1 As shown, the self-adaptive wall-climbing robot for complex environments in this embodiment includes a robot body, a working unit 3, a multi-porous self-adaptive suction cup 4, a gas distribution mechanism, and a vacuum generating mechanism. The robot body includes a body 1 , a crawler running mechanism 2 installed on both sides of the body 1 , a power system and a transmission system for driving the crawler running mechanism 2 .

[0032] Such as Figure 2-Figure 4 As shown, the porous adaptive suction cup 4 is densely distributed on the crawler belt 201, and the porous adaptive suction cup 4 includes a porous flexible adsorption plat...

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Abstract

The invention discloses an adaptive wall-climbing robot facing complex environments, which comprises a robot body, a multi-porous self-adaptive suction cup, a gas distribution mechanism, and a vacuum generating mechanism. Porous flexible adsorption plate, bottom plate, differential pressure one-way valve cavity, rectangular boss, vacuum adsorption tube, fixed plate, slider, large anti-skid nut, fixed bolt, small anti-skid nut, air distribution mechanism including air distribution groove, track During the movement, it is always fixed by the negative pressure in the air distribution groove, and is close to the bottom of the air distribution groove. The porous self-adaptive suction cup on the track moves with the track to dynamically seal the two ends of the air distribution groove. The vacuum generating mechanism is used Due to the negative pressure generated by vacuuming during adsorption, it can realize the full contact between the multi-porous self-adaptive suction cup on the wall-climbing robot and the uneven surface, and the fixed-point distribution of the suction cup in contact with the ground can effectively reduce the gas loss of the vacuum generator. .

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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 曾维栋王秋陈明松蔺永诚吴敏杰
Owner CENT SOUTH UNIV
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