30results about How to "Improve wall adaptability" patented technology

The invention relates to a bionic four-footed wall-climbing robot based on falcula attachment, and relates to the technical field of climbing robots. The bionic four-footed wall-climbing robot comprises a front robot body plate (3), a rear robot body plate (10), a connecting rod, a tail (12) and mechanical legs, and soles (6) are installed on the mechanical legs. The bionic four-footed wall-climbing robot is characterized in that each sole (6) comprises a sole base body (17), wherein the rear end of the sole base body (17) is installed on the corresponding mechanical leg through a damping rotating shaft (14), the axis of the damping rotating shaft (14) is parallel to the plane where the sole base body (17) is located, and the angle between the plane where the sole (6) is located and the plane where the corresponding mechanical leg is located can be adjusted by rotating the damping rotating shaft (14); a flexible connecting block (15) is installed at the front end of each sole base body (17) and provided with multiple protrusive flexible rectangular strips at the front end, and a falcula (16) is installed at the tail end of each flexible rectangular strip. The bionic four-footed wall-climbing robot is simple in structure, and easy to control and assemble.

The invention discloses a multi-rotator leg-wheeled multifunctional aerial robot and a motion planning method thereof. The robot comprises rotators A, B, C and D, rotator driving motors A, B, C and D, wall-climbing thighs A and B, wall-climbing legs A and B, hip joint driving motors A and B, knee joint driving motors A and B, a robot main body, a wall-surface running wheels A and B, a ground supporting rod, rotating supporting rods and a rigidity-strengthened ring. The motion planning process comprises the motion planning of the robot in flight state, the motion planning of the robot undergoing a change from the flight state to a wall climbing state, the motion planning of the robot in a wall climbing state, the motion planning of the robot crossing an obstacle during wall climbing, and the motion planning of the robot undergoing a change from the wall climbing state to the flight state. The robot realizes the fusion of a rotator type aircraft and a leg-wheeled movement mechanism, is simple in mechanical structure and easy to realize, and has the advantages of high stability, small volume, strong adaptability to wall surfaces, large obstacle crossing capacity, wide application range and the like.

The invention relates to the technical field of construction machinery, in particular to a nozzle device and spraying equipment. The nozzle device includes a mounting frame, a nozzle assembly and a driving mechanism, the nozzle assembly includes a fixed frame, a first nozzle and a second nozzle, the fixed frame is movably arranged on the mounting frame, and the first nozzle and the second nozzle are both arranged on a fixed on the frame; the driving mechanism is arranged on the mounting frame, and the output end of the driving mechanism is connected with the fixed frame through transmission. The spraying direction of the first nozzle intersects the spraying direction of the second nozzle; when the fixed frame and the installation frame are in the unfolded state, the spraying direction of the first nozzle is the same as that of the second nozzle. The nozzle device improves the spraying efficiency while improving the wall adaptability of the nozzle device, so that the spraying operation is more flexible.

The invention relates to a reverse thrust and negative pressure combined adsorption method applied to a wall-climbing robot and realization thereof. When a suction disk(1) of the wall-climbing robot is contacted with the wall surface, air flow enters a cavity(4) of the suction disk(1) from the gap between the suction disk(1) and the wall surface through a propeller(3) rotating at a high speed in a guiding channel, and is discharged from the guiding channel (5) in which the propeller(3) on the top of the suction disk(1) is arranged, and the superimposed effect of the adsorption force generateddue to the negative pressure state in the suction disk(1) and the reverse thrust generated due to the high-speed rotation of the propeller(3) in the guiding channel is formed, so that the adsorption force between the suction disk(1) of the wall-climbing robot and the wall surface is kept in the range of enough threshold value. The robot is ensured to be dynamically adsorbed on the wall surface, and flexibly moved. By the application of the theory and the realization method, the wall-climbing robot can realize small size, light weight, low noise, energy conservation, unnecessary complex suction disk sealing device and strong obstacle crossing capability.

The invention discloses an obstacle-crossing wall-climbing robot with a wall surface converting function. The obstacle-crossing wall-climbing robot comprises two single wall-climbing robot bodies and a pitching deflection mechanism; the two single wall-climbing robot bodies are connected through the pitching deflection mechanism in the middle; each single wall-climbing robot body comprises a brushless motor, a motor base, a motor supporting frame, centrifugal fan blades, a robot shell body, motion mechanisms and a sealing gasket. The brushless motors drive the centrifugal fan blades to rotate to pump out air inside the robot shell bodies, so that negative pressure is formed inside the robot shell bodies, and accordingly the robot bodies are adsorbed on the wall. The pitching deflection mechanism can assist the robot bodies to cross obstacles and turn. The double-body wall-climbing robot can move flexibly on the surface of the wall and can cross grooves and large protruding obstacles in the wall and complete conversion between the adjacent wall surfaces, so that the motion range of the wall-climbing robot is effectively increased.

The invention discloses a piezoelectric valveless micropump suction cup based on a parallel connection compliant mechanism. The piezoelectric valveless micropump suction cup based on the parallel connection compliant mechanism comprises a monocrystalline silicon substrate, a copper-based composite film, the compliant mechanism and a piezoelectric stack driver. The compliant mechanism is provided with a deformation displacement input part, a deformation displacement output part and a locating groove. The piezoelectric stack driver is fixedly clamped at a hollowed-out position in the upper portion of the deformation displacement input part and is closely attached to the deformation displacement input part. The copper-based composite film located on the upper layer and the monocrystalline silicon substrate located on the lower layer are bonded together and assembled through epoxy structure bonding glue to form a thin film micropump. The thin film micropump is clamped into the locating groove of the compliant mechanism and is sealed in a bonding mode. The lower end face of the deformation displacement output part is attached to the upper plane of the copper-based composite film in a bonding mode. The compliant mechanism amplifies unidirectional deformation displacement generated after the piezoelectric stack driver is powered on, and then transmits the unidirectional deformation displacement to the copper-based composite film to drive the thin film micropump to operate, gas in an adsorption cavity formed in the lower portion of the monocrystalline silicon substrate is extracted, and negative pressure of the suction cup is generated. The piezoelectric valveless micropump suction cup based on the parallel connection compliant mechanism is small in size, light in weight, free of noise, and capable of being used as an adsorption device of a wall-climbing robot.

The invention relates to a wall mobile robot based on airflow lift, which includes a lift generating device and a walking mechanism along the wall. The lift generating device includes a channel fan and guide vanes. and guide vanes are installed on the airflow direction adjustment frame, and the guide vanes are located at the air outlet of the channel fan; the lift direction adjustment ring of the lift direction adjustment mechanism is connected with the airflow direction adjustment frame through a T-shaped connector, and the lift direction adjustment drive motor is installed On the lift direction adjustment ring, the drive gear is connected with the walking mechanism along the wall which is movably installed on the lift direction adjustment ring through the lift direction adjustment ring. The invention is small in size, light in weight, low in noise, and strong in wall adaptability, and can reliably absorb and move walls on rough walls that cannot be absorbed by wall-climbing robots based on the principle of vacuum or negative pressure adsorption. , wall detection and other fields have broad application prospects.

The invention relates to a tiny multi-cavity negative pressure sucker driven by an embedded shape memory alloy wire driver in the technical field of special robots, comprising an embedded shape memory alloy wire driver, an elastic base material, an elastic body ring, a rigid body support layer and multiple cavity elastomeric base, which in turn are bonded together to form a multilayer structure. When the embedded shape memory alloy wire driver is energized and heated, the elastic matrix material is driven to deform, and the volume of the gas in the cavity formed by the elastic matrix material, the rigid body support layer and the elastic body ring becomes larger to form a negative pressure. The diffusion port on the rigid support layer communicates with the small cavity on the multi-cavity elastic body base, so negative pressure is also generated in the small cavity on the multi-cavity elastic body base. The invention avoids the disadvantages of the existing negative pressure sucker adsorption device that it is not easy to miniaturize, has high noise and low power-to-weight ratio, and provides a small, efficient, reliable adsorption device with excellent wall surface adaptability for micro-miniature wall-climbing robots.

The invention is applicable to the technical field of wall-climbing robots, and provides a derusting wall-climbing robot for a ship. The derusting wall-climbing robot aims at providing the technical problem that in the prior art, an existing derusting wall-climbing robot for the ship is poor in obstacle climbing capacity. The derusting wall-climbing robot for the ship comprises a washing plate, a caterpillar track making contact with the wall face of the ship, a drive assembly, a driven floating assembly with driven wheels, a floating connection assembly driving the washing plate to automatically move up and down relative to the wall face of the ship, and a pressing assembly providing pre-pressing force so as to press the caterpillar track. According to the derusting wall-climbing robot for the ship, driving wheels are driven by the drive assembly to drive the driven wheels to move, and therefore the caterpillar track is driven to walk on the wall face of the ship; when the derusting wall-climbing robot encounters obstacles in the walking process, the washing plate is driven by the floating connection assembly to climb the obstacles; meanwhile, the inner tension of the caterpillar track is increased, and therefore the center distance between the driving wheels and the driven wheels can be reduced and the caterpillar track can be tightly attached to the wall face of the ship to climb the obstacles, and the wall face adaptability of the derusting wall-climbing robot for the ship is improved.

The invention discloses a wall-climbing robot. Currently, wall-climbing robots are urgently needed for replacing manual operation. The wall-climbing robot comprises an equipment carrier platform, foottype obstacle crossing mechanisms, tracked crawling mechanisms and air distribution systems. Each air distribution system comprises hinge type flat-bottom skirted suckers, an air distribution plate and sucker connectors, wherein the air distribution plate synchronously rotates along with the corresponding tracked crawling mechanism; the n sucker connectors are fixed to tracks; the sucker connectors are spherically hinged to tail ends of the hinge type flat-bottom skirted suckers; the sucker connectors are hollow internally, one end of each sucker connector is internally communicated with thecorresponding hinge type flat-bottom skirted sucker, and the other end of each sucker connector is communicated with an air distribution hole of the air distribution plate through an air guide pipe. Alternate air suction of every two hinge type flat-bottom skirted suckers in the same group is changed through a two-position four-way reversing valve, and an air suction port of each two-position four-way reversing valve is communicate with a vacuum generator through an air delivery pipe. By adoption of the foot type obstacle crossing mechanisms, great obstacle crossing performance is achieved; owing to a difference between pressure intensity in each sucker cavity and pressure intensity of the external barometric pressure, the wall-climbing robot is attached on a concrete wall surface.