The invention discloses a self-adaptive wall-climbing robot for a complex environment. The robot comprises a robot body, porous self-adaptive suckers, an air distribution mechanism and a vacuum generation mechanism. The porous self-adaptive suckers are densely distributed on a crawler belt. Each porous self-adaptive sucker comprises a porous flexible adsorption plate, a bottom plate, a differential pressure one-way valve cavity, a rectangular boss, a vacuum adsorption pipe, a fixing plate, a sliding block, a large anti-skid nut, a fixing bolt and a small anti-skid nut. The air distribution mechanism comprises an air distribution groove, and the crawler belt is always fixed by negative pressure in the air distribution groove in the moving process and is tightly attached to the bottom of theair distribution groove. The porous self-adaptive suckers on the crawler belt move along with the crawler belt to dynamically seal the two ends of the air distribution groove, the vacuum generation mechanism is used for vacuumizing to generate negative pressure during adsorption, and an air distribution scheme that the porous self-adaptive suckers on the wall-climbing robot make full contact withan uneven surface and the suckers are distributed to a portion making contact with the ground at a fixed point can be achieved. And a gas loss of the vacuum generator can be effectively reduced.
本发明公开了一种面向复杂环境的自适应爬壁机器人,包括机器人本体,多孔隙自适应吸盘、配气机构、真空发生机构,多孔隙自适应吸盘密布在履带上,多孔隙自适应吸盘包括多孔隙柔性吸附板、底板、压差单向阀腔体、矩形凸台、真空吸附管、固定板、滑块、大防滑螺母、固定螺栓、小防滑螺母,配气机构包括配气槽,履带运动过程中始终被配气槽内的负压所固定,紧贴在配气槽底部,履带上的多孔隙自适应吸盘跟随履带一起运动,对配气槽两端进行动态密封,真空发生机构用于抽真空产生吸附时的负压,可以实现爬壁机器人上多孔隙自适应吸盘与不平整表面的充分接触,定点配给与地面接触部分吸盘的配气方案,可以有效降低真空发生器的气体损耗。
Self-adaptive wall-climbing robot for complex environment
面向复杂环境的自适应爬壁机器人
2020-12-04
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |