Wheel type negative-pressure adsorption wall-climbing robot capable of crossing obstacles and obstacle crossing method of wheel type negative-pressure adsorption wall-climbing robot

Abstract

The invention discloses a wheel type negative pressure adsorption type wall-climbing robot capable of crossing obstacles. The wheel type negative pressure adsorption type wall-climbing robot comprises a robot body, the robot body is connected with a measuring device, lifting devices and a moving device; the three groups of lifting devices are connected with a negative pressure generating device; and each lifting device controls the negative pressure generating device to ascend and descend. An obstacle crossing method comprises the steps that when the robot advances and data of an ultrasonic distance measuring sensor reaches a preset value, an electromagnet is powered on, and the robot starts crossing obstacles; a first negative pressure fan of a first adsorption chamber stops rotating, and a second negative pressure fan and a third negative pressure fan are switched to a high-speed gear; when the movement distance equals the distance between the adsorption chambers, the second negative pressure fan stops, the adsorption chambers rise, and the first adsorption chamber and the third adsorption chamber are in high-speed gears; and when the movement distance equals the distance between the adsorption chambers again, the negative pressure fan of the third chamber stops, the third adsorption chamber rises, the first adsorption chamber and the third adsorption chamber are in high-speed gears, and the robot completely crosses the obstacle. The robot and the obstacle crossing method thereof have the characteristics of fast and free movement, obstacle crossing and high negative pressure adsorption stability.

Description

technical field [0001] The invention belongs to the technical field of wall-climbing robots, and in particular relates to a wheeled negative pressure adsorption wall-climbing robot capable of surmounting obstacles and an obstacle surmounting method thereof. Background technique [0002] The wheeled negative pressure adsorption wall-climbing robot has the characteristics of fast moving speed and is not limited by the material of the wall surface. It can replace human beings to carry out wall operations in dangerous environments, and has high use value. The main indicators to measure the performance of wall-climbing robots are the stability of adsorption and the flexibility of movement. Improving the adsorption stability of the robot often sacrifices the flexibility of its movement, making the robot unable to complete complex tasks such as overcoming obstacles and crossing trenches; while robots that can walk quickly and freely and have strong wall adaptability are prone to D...

AI Technical Summary

Problems solved by technology

Improving the adsorption stability of the robot often sacrifices the flexibility of its movement, making the robot unable to complete complex tasks such as overcoming obstacles and crossing trenches; while robots that can walk quickly and freely and have strong wall adaptability are prone to Turning rollover, overturning and other dangerous situations

The contradiction between the two will cause inherent defects in the design of wall-climbing robots, thus limiting the application scope and development prospects of current wheeled negative pressure adsorption wall-climbing robots

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