Research on omni-directional moving adsorption mechanism and its application in wall-climbing robot

2013 IEEE Third International Conference on Information Science and Technology (ICIST) Pub Date : 2013-03-23 DOI:10.1109/ICIST.2013.6747539

Meiting Wang, Yongfeng Qi, Wei Jiang, Shengquan Li, Honghui Cheng, Jiatong Bao, Liuyan Lu

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引用次数: 3

Abstract

Aiming at the demand of glass curtain wall cleaning, an Omni-directional moving adsorption mechanism with moving, adsorption, climbing obstacle, surface-to-surface conversions functions was developed. The mechanism incorporates one motor, one driving module, one steering module. This Omni-directional moving adsorption mechanism can make the wall climbing robot not only run towards all directions in line but also rotate along definite angle at its original position without changing its posture. The vacuum coupling delivery adsorption system is designed to provide necessary adsorption force for the robot. The climbing obstacle ability and the surface-to-surface conversion course of the mechanism are analyzed. Mobile safety analysis and kinematical analysis of the wall-climbing robot with above Omni-directional moving adsorption mechanisms are discussed. The wall-climbing robot with above mechanisms can be used for operation of glass curtain plane wall and curved wall of large curvature with hidden window frames and no window frames, which is with high moving velocity, stable adsorption capability and strong wall adaptability.

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全向移动吸附机理及其在爬壁机器人中的应用研究

针对玻璃幕墙清洗的需求，研制了一种具有移动、吸附、爬障、面对面转化等功能的全方位移动吸附机构。该机构包括一个电机、一个驱动模块、一个转向模块。这种全方位移动吸附机构可以使爬壁机器人在不改变姿态的情况下，既可以向各个方向直线运动，又可以在原来的位置作一定角度的旋转。设计真空耦合输送吸附系统，为机器人提供必要的吸附力。分析了机构的爬越障碍能力和面对面转换过程。对具有上述全方位移动吸附机理的爬壁机器人进行了移动安全性分析和运动学分析。具有上述机构的爬壁机器人可用于玻璃幕墙平面墙和大曲率有隐窗框和无窗框的曲面墙的作业，移动速度快，吸附能力稳定，墙面适应性强。

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来源期刊

2013 IEEE Third International Conference on Information Science and Technology (ICIST)

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