CN109677499B - Intermittent negative pressure adsorption wall climbing robot - Google Patents
Intermittent negative pressure adsorption wall climbing robot Download PDFInfo
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- CN109677499B CN109677499B CN201910114479.4A CN201910114479A CN109677499B CN 109677499 B CN109677499 B CN 109677499B CN 201910114479 A CN201910114479 A CN 201910114479A CN 109677499 B CN109677499 B CN 109677499B
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 52
- 230000009194 climbing Effects 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 238000007789 sealing Methods 0.000 claims abstract description 46
- 230000000903 blocking effect Effects 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 239000002245 particle Substances 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000005291 magnetic effect Effects 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 2
- 239000003302 ferromagnetic material Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 239000003566 sealing material Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention relates to a gap type negative pressure adsorption wall climbing robot which comprises a bottom plate, a negative pressure generating device, a sealing device, a travelling device and an electric control device, wherein the travelling device is of a double-crawler type structure; the bottom plate comprises an upper bottom plate and a lower bottom plate, the upper bottom plate is covered on the lower bottom plate, the lower bottom plate is hung below the upper bottom plate through a support column, an air inlet is formed in the center of the lower bottom plate, gaps are not formed between the peripheral edges of the lower bottom plate and the periphery of the upper bottom plate, a diversion cavity is formed between the upper bottom plate and the lower bottom plate, and crawler travelling grooves are symmetrically arranged on the lower bottom plate left and right by taking the air inlet as the center; the sealing device comprises a flow guiding mechanism and a flow blocking mechanism, wherein the flow guiding mechanism is obliquely arranged in a gap around the upper bottom plate and the lower bottom plate, the flow blocking mechanism is arranged on the bottom surface of the lower bottom plate, and a plurality of sealing bulges are uniformly distributed on the lower surface of the flow blocking mechanism. The robot is applicable to a common wall surface, solves the contradiction between the adsorption force and the resistance in the process of negative pressure adsorption, and can flexibly move on the wall surface.
Description
Technical field:
the invention belongs to the field of wall climbing robots, and particularly relates to a gap type negative pressure adsorption wall climbing robot
The background technology is as follows:
the research and application of the wall climbing robot have extremely important engineering application background and very wide application prospect. At present, the adsorption mode of the wall climbing robot comprises magnetic adsorption, vacuum adsorption, negative pressure adsorption and the like.
The magnetic adsorption is only suitable for the wall surface of ferromagnetic materials, and has high requirements on the wall surface materials. For example, a magnetic adsorption wall climbing robot with publication number CN108749943a, an adsorption device is formed by electromagnets, which is only applicable to wall surfaces made of ferromagnetic materials, and is not applicable to common wall surfaces, and has great limitation. A novel robot applicable to various wall surfaces is to be invented.
The vacuum chuck type wall climbing robot generates vacuum suction by utilizing the chuck, and the robot can not move relative to the wall surface when in a suction state, and is only suitable for an intermittent movement mode. The sucking disc formula wall climbing robot of publication number CN106275122B is through the air pump device suction of electric control device control, with the gaseous discharge in the sucking disc, makes between sucking disc and the wall formation vacuum, and this process of breathing in and exhausting has very big increased the consumption, and the adsorption affinity of robot adsorption process becomes the resistance in the walking process simultaneously, only is applicable to intermittent movement mode.
In the negative pressure adsorption, a sealing device of the sealed negative pressure adsorption wall climbing robot is in contact with the wall surface, so that the adsorption force is increased and the walking resistance is increased. For example, a wall climbing robot with publication number CN106828649a adopts a sealed negative pressure cavity, and the robot has high resistance during movement, and adopts a wheel type structure, so that it is difficult to maintain a certain adsorption force, and the load is poor. And the diameter of the wheels can increase the torque of the robot relative to the wall surface, so that the running stability and safety of the robot are relatively reduced. The negative pressure device without sealing negative pressure adsorption has small walking resistance, but the generated negative pressure is also small, and a high-power and high-flow fan is required to provide enough adsorption force, so that the diameter of a fan impeller is large, the mass of a motor driving the fan is also large, and the weight of the robot is directly increased. The contradiction between the robot adsorption force and the walking resistance is to be solved.
At present, the traditional adsorption modes such as magnetic adsorption, vacuum adsorption, negative pressure adsorption and the like still have the problems that the applicability of the wall surface is poor, the continuous movement is impossible, the walking resistance of the robot is high and the like. The present invention proposes a novel embodiment in view of the prior art.
The invention comprises the following steps:
aiming at the problems existing in the prior art, the invention aims to provide a clearance type negative pressure adsorption wall climbing robot which can be suitable for a common wall surface, solves the contradiction between the adsorption force and the resistance in the process of negative pressure adsorption, and provides an implementation scheme of the robot which can flexibly move on the wall surface.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the intermittent negative pressure adsorption wall climbing robot includes base plate, negative pressure generator, sealing device, running device and electric controller for power supply and real-time control of the negative pressure generator and the running device, and the negative pressure generator includes high speed motor and centrifugal fan,
the advancing device is of a double-crawler type structure and comprises left and right crawler belts;
the bottom plate comprises an upper bottom plate and a lower bottom plate, the upper bottom plate is covered on the lower bottom plate, the lower bottom plate is suspended below the upper bottom plate through a support column, an air inlet hole is formed in the center of the lower bottom plate, gaps are not reserved between the edges of the periphery of the lower bottom plate and the periphery of the upper bottom plate, a diversion cavity is formed between the upper bottom plate and the lower bottom plate, two crawler travelling grooves for embedding left and right crawlers of the travelling device are symmetrically arranged on the lower bottom plate by taking the air inlet hole as the center, and crawler installation transition grooves are formed on the corresponding side surfaces of the upper bottom plate;
the sealing device comprises a flow guiding mechanism and a flow blocking mechanism, wherein the flow guiding mechanism is obliquely arranged in a gap around the upper bottom plate and the lower bottom plate, the flow blocking mechanism is arranged on the bottom surface of the lower bottom plate, and a plurality of sealing bulges are uniformly distributed on the lower surface of the flow blocking mechanism.
The surfaces of the left and right tracks are made of rubber materials, and the left and right tracks are flush with the lower end surfaces of the flow blocking mechanisms.
The included angle between the flow guiding mechanism and the side surface of the upper bottom plate is 45 degrees.
The flow blocking mechanism is a rubber or bristle sealing ring with raised particles.
The left and right tracks are respectively provided with a driving motor, the two driving motors are at constant speed, the output shafts of the driving motors are connected with the tracks, one end of each track is provided with a driving wheel, the other end of each track is provided with a driven wheel, and the two tracks at the adjacent ends are provided with a driving wheel and a driven wheel.
The electric control device can adjust the rotating speed of the high-speed motor according to the roughness degree of the wall surface.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a gap type negative pressure adsorption wall climbing robot which comprises a bottom plate, a negative pressure generating device, a sealing device, a travelling device and an electric control device, overcomes the contradiction between the adsorption force and the travelling resistance of the traditional wall climbing robot, ensures the negative pressure adsorption safety of the robot, reduces the friction force when the robot travels, and can continuously, flexibly, stably, rapidly and efficiently travel on a wall surface. The crawler belt type sealing device has the advantages that the crawler belt type sealing device can be used for sealing better, the crawler belt is embedded in the bottom plate, the sealing effect is achieved when the crawler belt type sealing device serves as a travelling mechanism, the size of the crawler belt type sealing device can be obviously reduced, and meanwhile good sealing can be guaranteed.
Through the improvement of the traditional negative pressure adsorption robot, under the condition that the high-speed motor provides the same negative pressure, the adsorption force of the robot is greatly improved, and the design of the flow blocking mechanism enables the load of the robot to be increased from 1.5kg to 2.5kg, so that the load bearing capacity of the robot is greatly improved
Meanwhile, the walking resistance of the robot in the advancing process is greatly reduced, and an implementation scheme is provided for the wall surface operation of the robot.
Description of the drawings:
FIG. 1 is a schematic perspective view of a gap type negative pressure adsorption wall climbing robot provided by the invention;
FIG. 2 is a schematic view of a base plate assembly according to the present invention; fig. 2 (a) is a schematic structural diagram of the upper and lower base plates combined together, and fig. 2 (b) is a schematic structural diagram of the lower base plate in a three-dimensional manner; FIG. 2 (c) is a schematic perspective view of the upper plate;
FIG. 3 is a schematic diagram of a negative pressure generating device according to the present invention;
FIG. 4 is a schematic structural view of a sealing device according to the present invention;
fig. 5 is a schematic structural diagram of a travelling device according to the present invention;
fig. 6 is a schematic diagram of an exercise according to the present invention.
FIG. 7 is a schematic diagram of negative pressure adsorption;
the labels in the figures are illustrated below:
1-bottom plate, 11-upper bottom plate, 111-track installation transition groove, 12-lower bottom plate, 121-air inlet hole of lower bottom plate, 122-track running groove, 13-diversion cavity,
2-negative pressure generating device, 21-high speed motor, 22-centrifugal fan, 221-centrifugal fan air inlet, 222-centrifugal fan air outlet,
3-sealing device, 31-diversion mechanism, 32-choke mechanism,
4-travelling device, 41-fixed mechanism, 42-driving motor, 421-left driving motor, 422-right driving motor, 43-track, 441-driving wheel, 442-driven wheel.
The specific embodiment is as follows:
the present invention is further explained below with reference to examples and drawings, but is not to be construed as limiting the scope of the present application.
The invention relates to a gap type negative pressure adsorption wall climbing robot, which comprises a bottom plate, a negative pressure generating device, a sealing device, a travelling device and an electric control device for supplying power to and controlling the negative pressure generating device and the travelling device in real time, wherein the negative pressure generating device comprises a high-speed motor and a centrifugal fan,
the travelling device is of a double-crawler type structure and comprises a left crawler 43, a right crawler 43, a fixing mechanism 41 and a driving motor 42;
the bottom plate comprises an upper bottom plate and a lower bottom plate, the upper bottom plate is covered on the lower bottom plate, the lower bottom plate is suspended below the upper bottom plate through a support column, an air inlet hole is formed in the center of the lower bottom plate, the periphery of the lower bottom plate is not connected with the periphery of the upper bottom plate, a flow guide cavity is formed between the upper bottom plate and the lower bottom plate, two crawler belt walking grooves 122 which are used for being embedded into concave structures of left and right crawler belts of the travelling device are symmetrically arranged on the lower bottom plate by taking the air inlet hole as the center, and crawler belt installation transition grooves 111 are formed on corresponding side surfaces of the upper bottom plate;
the sealing device comprises a flow guiding mechanism and a flow blocking mechanism, wherein the flow guiding mechanism is obliquely arranged in a gap around the upper bottom plate and the lower bottom plate, the flow blocking mechanism is arranged on the bottom surface of the lower bottom plate, and a plurality of sealing bulges are uniformly distributed on the lower surface of the flow blocking mechanism;
the fixing mechanism and the driving motor of the travelling device are fixed with the upper base plate, the left and right caterpillar tracks are embedded into the concave structure of the lower base plate, namely the caterpillar track travelling groove, the travelling device supports the wall climbing robot to keep a certain gap between the bottom surface of the lower base plate and the wall surface, the left and right caterpillar tracks also have the effect of blocking air flow, and the surface of the caterpillar track is made of rubber;
the electric control device adopts a lithium battery as a power supply to supply power to a high-speed motor in the control device and the negative pressure generating device and a driving motor of the advancing device, and consists of a programmable automatic controller or a central processing unit with a built-in memory and related circuits. The electric control device can adjust the rotating speed of the motor according to the negative pressure, namely, the rotating speed of the high-speed motor can be adjusted according to the roughness degree of the wall surface.
The high-speed motor is connected with the centrifugal fan shaft in the negative pressure generating device, the high-speed motor is fixed on the upper base plate through screws, the air inlet of the centrifugal fan corresponds to the air inlet hole of the lower base plate, when the high-speed motor drives the centrifugal fan to rotate at a high speed, air flow enters from the air inlet, flows out from the flow guide cavity between the upper base plate and the lower base plate, and flows out from the gap between the upper base plate and the lower base plate. In the negative pressure adsorption process, the high-speed motor is mainly used for driving the centrifugal fan to rotate, so that the gas at the bottom of the robot is discharged, negative pressure is realized, the higher the rotating speed of the high-speed motor is, the higher the negative pressure can be provided, and the larger the adsorption force can be generated, but the higher the rotating speed of the high-speed motor is, the problems such as weight increase, noise increase, energy consumption increase and the like are also caused, so that the higher the rotating speed is, the better the problem is, the proper high-speed motor is not needed to be selected according to the weight of the robot, the weight of the robot is about 2.5kg in the experimental process, the rotating speed of the high-speed motor is 20000r/min, and the low energy consumption and the low noise are realized under the relatively small rotating speed.
Fig. 1 illustrates a three-dimensional structure of a gap type negative pressure adsorption wall climbing robot, which comprises a bottom plate 1, wherein the bottom plate 1 comprises an upper bottom plate 11 and a lower bottom plate 12; a negative pressure generating device 2, the negative pressure generating device 2 comprising a high-speed motor 21 and a centrifugal fan 22, wherein the centrifugal fan comprises a centrifugal fan air inlet 221 and a centrifugal fan air outlet 222; a sealing device 3, wherein the sealing device 3 comprises a diversion mechanism 31 and a flow blocking mechanism 32; the travelling device 4 is of a double-crawler type structure, and comprises a left crawler 43, a right crawler 43, a fixing mechanism 41, a driving motor 42 and an electric control device for supplying power to the negative pressure generating device 2 and the travelling device 4 and controlling the negative pressure generating device in real time.
Fig. 2 is a schematic structural diagram of a base plate assembly provided by the invention, an upper base plate 11 is covered on a lower base plate 12, the lower base plate 12 is suspended below the upper base plate 11 through a support, an air inlet hole 121 is formed in the center of the lower base plate 12, the peripheral edge of the lower base plate 12 is not connected with the periphery of the upper base plate 11, a diversion cavity 13 is formed between the upper base plate and the lower base plate, and concave crawler running grooves 122 are respectively formed on two sides of the lower base plate 12 and are used for embedding crawler tracks 43 of the travelling device 4.
Fig. 3 is a schematic structural diagram of a negative pressure generating device provided by the invention, in the negative pressure generating device 2, a high-speed motor 21 is connected with a centrifugal fan 22 in a shaft, the high-speed motor 21 is fixed on an upper base plate 11 through screws, a centrifugal fan air inlet 221 corresponds to a lower base plate air inlet 121, when the high-speed motor 21 drives the centrifugal fan 22 to rotate at a high speed, air flow enters from the centrifugal fan air inlet 221, is thrown out through a centrifugal fan air outlet 222, flows through a diversion cavity 13 between the upper base plate and the lower base plate, and flows out from a gap between the upper base plate and the lower base plate.
FIG. 4 is a schematic structural view of a sealing device according to the present invention; the air guiding mechanism 31 in the sealing device 3 (the air guiding mechanism is an inclined plane adhered to the lower bottom plate, in order to guide the air thrown out by the centrifugal fan to the side edge of the sealing device and prevent the air from further leakage, the air guiding mechanism is arranged in the gap between the upper bottom plate and the lower bottom plate and forms a certain angle with the plane of the lower bottom plate 12, so that the air flows out at a certain angle, wherein the angle is selected according to factors such as the volume of the air guiding cavity of the robot, the height between the sealing device and the wall surface, the gap between the sealing device and the wall surface, the wind speed change caused by the rotating speed of the motor, and the like, and the optimal solution needs to be obtained according to the simulation result.
A flow blocking mechanism 32 is mounted on the bottom surface of the lower base plate 12 to block the air flow to the air inlet 221 of the centrifugal fan, and the flow blocking mechanism 32 can use rubber or bristle sealing rings with raised particles; the area of the flow blocking mechanism is the same as that of the lower bottom plate, and the shape of the flow blocking mechanism is only required to meet the requirement that the flow blocking mechanism is formed by protruding particles and is staggered, and protruding rubber is adopted in the experiment.
Fig. 5 is a schematic structural diagram of a travelling device according to the present invention; the fixing mechanism 41, the left driving motor 421 and the right driving motor 422 of the travelling device 4 are fixed with the upper base plate 11, the left and right tracks 43 are embedded into the concave track travelling grooves 122 of the lower base plate 12, and the driving motor drives the driving wheel 441 to rotate, so that the driven wheel 442 is driven to rotate to realize forward movement. The travelling device 4 supports the wall climbing robot so that a certain gap is kept between the bottom surface of the lower bottom plate 12 and the wall surface, the left and right tracks 43 are flush with the lower end surface of the flow blocking mechanism, the effect of blocking air flow is achieved, and the surfaces of the tracks are made of rubber. The left and right tracks are respectively provided with a driving motor, when the robot turns, the rotation directions of the two driving motors are opposite, the output shafts of the driving motors are connected with the tracks, one end of each track is provided with a driving wheel, the other end of each track is provided with a driven wheel, and the two tracks at the adjacent ends are provided with a driving wheel and a driven wheel.
The electric control device supplies power to the high-speed motor 21 in the negative pressure generating device 2 and the driving motor 42 of the travelling device 4.
Fig. 6 is a schematic diagram of an exercise according to the present invention. The motion principle of the wall climbing robot in the invention is as follows: the whole wall climbing robot is firstly in an initial state, and then the negative pressure generating device 2 works, so that the robot is adsorbed on the working wall surface. The left driving motor 421 and the right driving motor 422 drive the driving wheel 441 to rotate, and further drive the driven wheel 442 to rotate, so that the crawler belt 43 moves. In the movement process, the negative pressure generating device 2 works uninterruptedly to provide negative pressure, and the crawler belt can realize the functions of advancing or retreating and steering of the wall climbing robot through differential control while providing friction force.
The clearance type robot sealing device has the advantages that the bottom of the robot sealing device is not contacted with the wall surface, so that a good sealing effect can be achieved, sliding friction force generated by contact of the sealing material and the wall surface is avoided, and walking resistance is reduced.
The main working principle of the gap type negative pressure adsorption is as follows:
in fig. 7, R is the distance from the air inlet of the centrifugal fan to one end of the upper bottom plate, a is the flow guiding angle, h is the distance between the sealing device and the wall surface, and b is the distance from the lower end point of the flow guiding mechanism to the adjacent edge of the upper bottom plate.
The high-speed motor drives the centrifugal fan to rotate, gas flows in from the air inlet of the centrifugal fan, is thrown out through the air outlet of the centrifugal fan under the rotating action, forms convection with the gas at the inlet (a gap between the bottom of the robot and the sealing device) through the flow guiding mechanism, prevents the external gas from further flowing into the negative pressure area at the bottom of the robot, and maintains the stability of the negative pressure. And the bottom of the robot is not contacted with the wall surface, so that larger adsorption force can be formed under the condition of the same motor rotation speed, and meanwhile, the walking resistance is smaller in the walking process.
The robot lower bottom plate is adhered with the choke mechanism, and the choke mechanism further stops the inflow of gas in the bottom negative pressure area.
In addition, the robot bottom plate is provided with a crawler travel groove, and the robot crawler is embedded into the crawler travel groove and plays a role in blocking airflow from flowing into a negative pressure area at the bottom of the robot.
According to the sealing device, gap type sealing is achieved through the flow guide mechanism and the flow blocking mechanism, the crawler installation position is matched, the sealing effect is further guaranteed, the contradiction between the adsorption force and the resistance is effectively balanced, and the sealing device is good in effect.
The invention is applicable to the prior art where it is not described.
Claims (6)
1. The intermittent negative pressure adsorption wall climbing robot includes base plate, negative pressure generator, sealing device, running device and electric controller for power supply and real-time control of the negative pressure generator and the running device, and the negative pressure generator includes high speed motor and centrifugal fan,
the advancing device is of a double-crawler type structure and comprises left and right crawler belts;
the bottom plate comprises an upper bottom plate and a lower bottom plate, the upper bottom plate is covered on the lower bottom plate, the lower bottom plate is suspended below the upper bottom plate through a support column, an air inlet hole is formed in the center of the lower bottom plate, gaps are not reserved between the edges of the periphery of the lower bottom plate and the periphery of the upper bottom plate, a diversion cavity is formed between the upper bottom plate and the lower bottom plate, two crawler travelling grooves for embedding left and right crawlers of the travelling device are symmetrically arranged on the lower bottom plate by taking the air inlet hole as the center, and crawler installation transition grooves are formed on the corresponding side surfaces of the upper bottom plate;
the sealing device comprises a flow guiding mechanism and a flow blocking mechanism, wherein the flow guiding mechanism is obliquely arranged in a gap around the upper bottom plate and the lower bottom plate, the flow blocking mechanism is arranged on the bottom surface of the lower bottom plate, and a plurality of sealing bulges are uniformly distributed on the lower surface of the flow blocking mechanism;
the main working principle of the intermittent negative pressure adsorption is as follows:
the high-speed motor drives the centrifugal fan to rotate, gas flows in from the air inlet of the centrifugal fan, is thrown out through the air outlet of the centrifugal fan under the rotation effect, forms an inlet with a gap between the bottom of the robot and the sealing device, forms convection with the gas at the inlet through the flow guide mechanism, prevents the external gas from further flowing into a negative pressure area at the bottom of the robot, and maintains the stability of negative pressure; the bottom of the robot is not contacted with the wall surface, so that larger adsorption force can be formed under the condition of the same motor rotation speed, and meanwhile, the walking resistance is smaller in the walking process;
the gap type sealing is realized through the flow guiding mechanism and the flow blocking mechanism, and the sealing effect is further ensured by matching with the installation position of the crawler belt, and the three aspects effectively balance the contradiction between the adsorption force and the resistance.
2. The intermittent negative pressure adsorption wall climbing robot according to claim 1, wherein the surfaces of the left and right tracks are made of rubber, and the left and right tracks are flush with the lower end face of the choke mechanism.
3. The intermittent negative pressure adsorption wall climbing robot of claim 1, wherein the angle between the diversion mechanism and the side surface of the upper base plate is 45 °.
4. The intermittent negative pressure suction wall climbing robot of claim 1, wherein the flow blocking mechanism is a rubber or bristle sealing ring with raised particles.
5. The intermittent negative pressure adsorption wall climbing robot according to claim 1, wherein a driving motor is respectively arranged on the left crawler belt and the right crawler belt, the two driving motors are at constant speed, the output shafts of the driving motors are connected with the crawler belts, a driving wheel is arranged at one end of each crawler belt, a driven wheel is arranged at one end of each crawler belt, and a driving wheel and a driven wheel are arranged on the two crawler belts at the adjacent ends.
6. The intermittent negative pressure adsorption wall climbing robot according to claim 1, wherein the electric control device can adjust the rotation speed of the high-speed motor according to the roughness of the wall surface.
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| CN110308725B (en) * | 2019-07-04 | 2022-07-12 | 广东电网有限责任公司 | GIS maintenance robot and adsorption force control method and related device thereof |
| CN110341825B (en) * | 2019-07-05 | 2021-02-02 | 广东电网有限责任公司广州供电局 | Wall-climbing robot |
| CN111188506A (en) * | 2020-01-21 | 2020-05-22 | 常州机电职业技术学院 | Negative pressure rotation type glass curtain wall cleaning device |
| CN111845995A (en) * | 2020-08-28 | 2020-10-30 | 广东省智能制造研究所 | Low-noise negative-pressure wall-climbing robot |
| CN116968835B (en) * | 2023-09-25 | 2023-12-26 | 中国电子科技南湖研究院 | Wind pressure adjusting method and system of wall climbing robot and wall climbing robot |
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