Caterpillar multi-sucker wall-climbing robot

Abstract

The invention relates to a caterpillar multi-sucker wall-climbing robot which comprises a caterpillar track, normally-closed electromagnetic vacuum suckers and a sucker control circuit, wherein the normally-closed electromagnetic vacuum suckers are in a to-be-adsorbed state when the suckers are power-on, and in an adsorbed state when the suckers are power-off; the normally-closed electromagnetic vacuum suckers are uniformly distributed on the caterpillar track; and the sucker control circuit is suitable to be used for controlling each electromagnetic vacuum sucker (in an impending state and completely contacted with a curtain wall) to be in a power-off state and controlling the electromagnetic vacuum suckers (about to contact with or separate from the curtain wall) to be in a power-on state. Each sucker is an independent vacuum source, when the robot climbs a wall, a situation that the whole vacuum source is weakened because the robot meets cracks of ceramic tiles is not caused, and the normal operation of other suckers is not affected; and the electromagnetic vacuum suckers are in a to-be-adsorbed state when the suckers are power-on, and in an adsorbed state when the suckers are power-off, and when the robot climbs a wall, a power supply does not need to be supplied for the suckers (contacted with the wall) at the bottom of the caterpillar track, thus large amount of electricity is saved.

Description

technical field [0001] The invention relates to a crawler-type wall-climbing robot with multiple suction cups. Background technique [0002] When we make a glass curtain wall cleaning robot, we need a vacuum suction cup to make the cleaning robot attach to the glass curtain wall and move freely. The existing vacuum suction cups need to be connected with a vacuum generator and multiple electromagnetic control valves to control the vacuum suction cup. The connection of the vacuum source has a complex structure. Generally, in order to enable the cleaning robot to walk on complex exterior walls, multiple vacuum suction cups are mostly used to form a suction cup array. At this time, the weakness of the public vacuum source is exposed. If there is a large gap, the suction cups in the suction cup array are not tightly sealed, which will cause the vacuum degree of the public vacuum source to drop and affect the use. [0003] Application number CN96205687.1 discloses an "automatic ...

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Problems solved by technology

[0002] When we make a glass curtain wall cleaning robot, we need a vacuum suction cup to make the cleaning robot attach to the glass curtain wall and move freely. The existing vacuum suction cups need to be connected with a vacuum generator and multiple electromagnetic control valves to control the vacuum suction cup. The connection of the vacuum source, the structure is complex

Generally, in order to enable the cleaning robot to walk on complex exterior walls, multiple vacuum suction cups are mostly used to form a suction cup array. At this time, the weakness of the public vacuum source is exposed. If there is a large gap, the suction cups in the suction cup array are not tightly sealed, which will cause the vacuum degree of the public vacuum source to drop and affect the use

[0003] Application number CN96205687.1 discloses an "automatic cleaning device for high-rise building walls". The cleaning device cannot stay on the wall due to the low degree of cleaning

[0004] Application No. 01274743.2 discloses a "wall-climbing robot combining a single suction cup and a crawler-type multi-suction cup". sucker

[0005] In order to overcome the above shortcomings, it is necessary to prepare an independent vacuum source for each suction cup or install a pressure detection device for real-time control, which will increase the complexity and cost of the system, and if this robot uses an independent power supply, the vacuum source must be It works all the time, so it relies on a large amount of electricity to maintain the vacuum. Therefore, if an independent power supply is used, the robot cannot continue to work for a long time. If an external power supply is used, it will cause inconvenience to hoisting; The weaker the mobile ability of the wall robot, this contradiction will inevitably reduce the efficiency of energy utilization

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