Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof

Abstract

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.

Description

technical field The invention relates to an adsorption method between a wall-climbing robot and a wall, in particular to a non-linear composite adsorption method for a wall-climbing robot using reverse thrust and negative pressure adsorption and its realization. Background technique The wall-climbing robot is a robot that can replace human beings in dangerous and difficult-to-reach vertical wall and other extreme environments. For example, it can be used for cleaning the exterior wall surface of high-rise buildings and detecting the construction quality of the wall surface. Implement anti-terrorist reconnaissance and surveillance, etc. Wall-climbing robots generally rely on some kind of adsorption force to make them reliably adhere to the wall and move on the wall. Here, how to reliably adsorb is very critical. At present, the adsorption methods for wall-climbing robots generally include magnetic adsorption, vacuum adsorption, negative pressure adsorption, thrust adsorptio...

AI Technical Summary

Problems solved by technology

The propeller axis used by the robot using this principle must maintain a certain angle with the wall. The vertical component of the propeller thrust is used to balance the gravity, and the utilization efficiency of the thrust is high; the attitude and motion control methods of the robot are complicated.

To sum up, the problems of poor adsorption reliability, poor mobility and weak obstacle-crossing ability of wall-climbing robots on the wall surface are difficult to realize and low in reliability.

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