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

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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

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SHUI LINQI / YAN KUN / HU ZHONGKAI / DUAN HAO / YANG CHANGPENG / TANG YILONG

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.

一种可越障的轮式负压吸附型爬壁机器人，包括机器人本体；机器人本体与测量装置、抬升装置和移动装置相连；三组抬升装置与负压发生装置相连；抬升装置控制负压发生装置的上升与下降；越障方法的步骤：机器人前进时，超声波测距传感器的数据达到预定值时，电磁铁通电，机器人开始越障；吸附腔室一的负压风机一停止转动，负压风机二、三切换至高速挡；运动距离等于吸附腔室间距时，负压风机二停止，该吸附腔室升起，吸附腔室一、三为高速挡；运动距离再次等于吸附腔室间距时，第三个腔室负压风机停止，吸附腔室三升起，吸附腔室一、三为高速挡，机器人完全越过障碍；具有快速自由移动，翻越障碍，负压吸附稳定性强的特点。

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Title :

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

Additional title:

一种可越障的轮式负压吸附型爬壁机器人及其越障方法

Contributors:

SHUI LINQI (author) / YAN KUN (author) / HU ZHONGKAI (author) / DUAN HAO (author) / YANG CHANGPENG (author) / TANG YILONG (author)

Publication date :

2021-09-07

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese