Obstacle-crossing wall-climbing robot with wall surface converting function

Abstract

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.

Description

technical field [0001] The invention relates to the technical field of a negative pressure adsorption wall-climbing robot, in particular to an obstacle-surmounting and wall-climbing robot with a wall surface conversion function. Background technique [0002] The wall-climbing robot organically combines ground mobile technology and adsorption technology, and can carry special tools to replace humans to work on vertical walls such as buildings and industrial facilities with a certain height from the ground. It can be widely used in industry, rescue, investigation, Wall cleaning and other fields. At present, wall-climbing robots mainly use wall adsorption technologies such as magnetic adsorption, bionic adsorption, and negative pressure adsorption. Magnetic adsorption can generate great adsorption force, but it will not form adsorption force on the wall surface of non-magnetic material, and the scope of application is greatly limited; bionic adsorption materials are sensitive ...

AI Technical Summary

Problems solved by technology

[0003] The Chinese patent application number 201520825743.2 discloses a new type of combined wall-climbing robot with turnable corners, including two wall-climbing robots and a corner mechanism, which can realize the conversion between different walls, but only one corner mechanism cannot cross the wall In addition, the front and rear wheel bases of the two robots are relatively large, and it is very inconvenient to rely on wheel differential steering

[0004] The Chinese patent with the application number 201010217822.7 discloses a modular bionic wall-climbing robot, which adopts the form of negative pressure vacuum adsorption and is composed of joint modules and vacuum adsorption modules. Higher finish requirements, when there are damages or grooves on the wall, the adsorption function will not work, it cannot be used on uneven and brick walls, and the scope of use is limited

[0005] In short, most of the existing wall-climbing robots can only work on a single wall, have poor adaptability to walls of different materials, and have weak ability to cross obstacles on walls. Although some wall-climbing robots can complete the transition between different walls, However, the structure is complex, it is inconvenient to turn on the wall, and the moving speed is relatively slow

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