Linked Wall-Climbing Robot Modules for Uneven Surface Adhesion
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Solution Overview
Problem
Vacuum adhesion methods for robots moving on wall surfaces are hindered by gaps and irregularities, leading to reduced adhesion force and unstable movement.
Innovation Solution
A moving device comprising multiple vehicles with rotatable main wheels, an adhesion mechanism, and links that connect adjacent vehicles, allowing for pitch rotation and yaw adjustment to maintain adhesion on uneven surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If vacuum adhesion is used to move on wall surfaces, then adhesion force is improved, but adhesion stability deteriorates on surfaces with gaps and irregularities
Solution Approach 1:
The patent applies the dynamics principle by making the link extending perpendicular to the shaft axis rotatable relative to the main wheels. This rotational capability allows the link to dynamically adjust its orientation in response to wall surface irregularities and gaps, maintaining effective adhesion contact while accommodating surface variations that would otherwise compromise vacuum adhesion stability.
Solution Approach 2:
The patent divides the moving device into multiple independent vehicles, each with its own adhesion mechanism and rotatable link. This segmentation allows each vehicle to independently adapt to local surface conditions, ensuring that gaps or irregularities affecting one vehicle do not compromise the entire system's adhesion stability.
2Adaptability or versatility
If multiple vehicles are connected to move on wall surfaces, then mobility is improved, but device complexity increases
Solution Approach 1:
The link serves multiple functions: it connects adjacent vehicles, provides rotational adjustment capability, and acts as a structural support element. This multi-functionality reduces the need for additional specialized components, thereby limiting the increase in device complexity while maintaining enhanced mobility and adaptability across multiple vehicles.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device achieves stable movement on wall surfaces by adapting to gaps and irregularities through adjustable links and pitch rotation, enhancing adhesion and mobility.
Implementation Method 1
vacuum adhesion with a vacuum pump or fan
Implementation Method 2
the robot is adhered to the surface by the difference of pressure between the space and the atmosphere
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
A moving device for moving on a wall surface that includes at least two or more vehicles each having a body, two main wheels each disposed on the body and rotatable around a shaft for moving on a wall surface, two rotation drivers which rotate each of the two main wheels respectively, and an adhesion mechanism disposed on the body to adhere onto the wall surface; and a coupler that connects vehicles located adjacent to each other among the at least two or more vehicles in the traveling direction of each of the vehicles.