Design And Study On Climbing Robot Based On Negative Pressure Suction

In the field of mobile robots,wall-climbing robots are a significant branch,which combines the adsorption technology,mobile technology and control technology.During walking,the robot can install auxiliary equipment on the airframe to complete the corresponding tasks,which greatly expands the application of the mobile robot and can replace the manual operation in high altitude and other dangerous environments.This paper designs a wall-climbing robot based on suction,single sucker type and three-wheel movement.It generates enough adsorption force through centrifugal fan,and it can adsorb on vertical or inclined wall,and it can adapt to a certain range of curved surfaces.The paper proposed the technical parameters about the robot,compares the characteristics of different adsorption methods,and proposes a design scheme for a wall-climbing robot using a single suction cup and negative pressure adsorption.Then,Pro/e software was used to build a three-dimensional digital model of the robot.The adsorption system,the moving mechanism and the mechanical structure were designed.The main body of the mechanical structure of the wall-climbing robot was assembled and finally the robot prototype was processed.Firstly,analyzing the adaptability of the robot to the curved surface,according to the possible failure conditions such as slipping and overturning,the robot's force analysis and the dynamic model of the robot in the vertical direction is established.Then counting that: the minimum adsorption force needed for adsorption safety adsorption conditions,the driving torque required for robot motion,verifying the selection of the drive motor is reasonable.Using MATLAB software to simulate,the results show the minimum adsorption force at different attitude angles is 2.1-2.3 times of the body gravity.The FLUENT software was used to simulate the centrifugal fan.Under certain initial conditions,the flow of fluid in the flow channel was simulated and the pressure and velocity distribution inside the flow field was simulated.The results show that the flow channel design of the fan is basically satisfied requirements.The main hardware circuit design of climbing robot is completed,including driving circuit,battery voltage detection circuit and wireless communication module circuit.The negative pressure sensor is used to control the adsorption system closed-loop.The robot differential control theory is analyzed to find the turning radius and driving Wheel speed of the relationship.Adsorption experiments in the laboratory environment show that the wall-climbing robot can stably adsorb both the plane and the surface of the gap,and can move up and down flexibly.The negative pressure adsorption force is about 100 N and can be carried on a flat wall 2kg load;the experimental results basically meet the design requirements.