CN111605639A - Novel wall climbing vehicle with wall edge detection and steering functions - Google Patents
Novel wall climbing vehicle with wall edge detection and steering functions Download PDFInfo
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- CN111605639A CN111605639A CN202010612807.6A CN202010612807A CN111605639A CN 111605639 A CN111605639 A CN 111605639A CN 202010612807 A CN202010612807 A CN 202010612807A CN 111605639 A CN111605639 A CN 111605639A
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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
Abstract
The invention discloses a novel wall climbing vehicle with wall edge detection and steering functions, which comprises: the vehicle body comprises a cylinder part and two end covers, wherein the two end covers are respectively connected with two ends of the cylinder part in a sealing way; wherein the barrel portion comprises a first side, a second side, a third side and a fourth side; the first side surface, the second side surface and the third side surface are vertically connected in sequence, and the fourth side surface is connected between the first side surface and the third side surface; a first channel that passes through from the first side to the third side; a second channel that passes through from the second side to the fourth side; the three groups of wheels are respectively arranged on the first side surface, the second side surface and the third side surface; wherein each set of wheels comprises a plurality of wheels; the wheel driving mechanism drives wheels to rotate; three fans; the two fans are symmetrically arranged in the first channel and are respectively close to the first side face and the third side face; another fan is disposed within the second channel and adjacent the fourth side.
Description
Technical Field
The invention belongs to the technical field of wall climbing vehicles, and particularly relates to a novel wall climbing vehicle with wall edge detection and steering functions.
Background
The wall climbing vehicle can be used for wall cleaning, tank metal derusting, home decoration wall painting, large furniture painting, wall surface flaw detection, fire-fighting material conveying and the like, and can also be used for carrying a camera to finish other novel operation purposes such as high-altitude shooting, mobile monitoring and the like.
The principle that the existing wall climbing vehicle is adsorbed on the wall surface is mostly a magnetic adsorption type and a molecular force adsorption type, the former provides the corresponding requirement of magnetism or magnetism induction for the wall surface, so that the use scene is single, the latter utilizes a viscous material, the wall surface is required to have high smoothness, and the service life of the wall climbing vehicle is to be prolonged.
Disclosure of Invention
The invention aims to provide a novel wall climbing vehicle with wall edge detection and steering functions, which adopts a negative pressure adsorption mode, utilizes a fan driven by a high-speed motor to suck out air in a cavity of the wall climbing vehicle, and utilizes atmospheric pressure to press the wall climbing vehicle on a wall surface; only the wall surface is required to be smooth, the requirement on the wall surface smoothness is not high, and the application range of the wall climbing vehicle can be expanded.
The technical scheme provided by the invention is as follows:
the utility model provides a possess the wall side and detect and turn to novel wall climbing car of function, includes:
the vehicle body comprises a cylinder part and two end covers, wherein the two end covers are respectively connected with two ends of the cylinder part in a sealing manner;
wherein the barrel portion comprises a first side, a second side, a third side, and a fourth side; the first side surface, the second side surface and the third side surface are vertically connected in sequence, and the fourth side surface is connected between the first side surface and the third side surface;
a first channel that passes through from the first side to the third side;
a second channel that passes through from the second side to the fourth side;
three sets of wheels mounted on the first, second, and third sides, respectively;
wherein each set of wheels comprises a plurality of wheels;
the wheel driving mechanism drives the wheels to rotate;
a first fan disposed in the first channel and adjacent to the third side;
the second fan is arranged in the second channel and is close to the fourth side surface;
a third fan disposed in the first channel and adjacent to the first side; the third fan and the first fan are symmetrically arranged;
when the first side face is close to the wall face, the first channel can generate negative pressure under the action of the first fan, so that the wall climbing vehicle is adsorbed on the wall face and can run along the wall face through wheels;
when the second side surface is close to the wall surface, the second channel can generate negative pressure under the action of the second fan, so that the wall climbing vehicle is adsorbed on the wall surface and can run along the wall surface through wheels;
when the third side is close to the wall surface, the first channel can generate negative pressure under the action of the third fan, so that the wall climbing vehicle is adsorbed on the wall surface and can run along the wall surface through the wheels.
Preferably, the first channel and the second channel are each cylindrical; wherein the content of the first and second substances,
the axis of the first channel is perpendicular to the first side surface;
the axis of the second channel is perpendicular to the second side.
Preferably, the fourth side is parallel to the second side; and the first side, the second side, the third side and the fourth side are the same in size;
wherein a central axis of the first channel passes through the centers of the first side and the third side simultaneously; the central axis of the second channel passes through the centers of the second side and the fourth side simultaneously.
Preferably, two ends of the first channel and one end of the second channel are respectively provided with a sealing skirt; the sealing skirt is of an annular structure and is coaxially arranged with the first channel or the second channel;
wherein the sealing skirt of the second channel is disposed on the second side.
Preferably, a support seat is arranged on the fourth side surface.
Preferably, the number of wheels in each group is four, and four wheels are provided around the containment skirt.
Preferably, the wheel drive mechanism includes:
the plurality of hub motors are arranged in one-to-one correspondence with the wheels; the hub motor is embedded in the wheel;
the first side surface, the second side surface and the third side surface are respectively and fixedly provided with a bearing at two sides of each wheel; and two ends of a wheel shaft of the wheel are respectively installed in the bearings in a matching way.
Preferably, the wheel drive mechanism includes:
two first wheel axles mounted on the first side face, and the two first wheel axles are arranged in parallel;
two second wheel shafts mounted on the second lateral side, and the two second wheel shafts are arranged in parallel with the first wheel shaft;
two third wheel axles mounted on the third side and arranged parallel to the second wheel axle;
the wheels are respectively arranged at two ends of the first wheel shaft, two ends of the second wheel shaft and two ends of the third wheel shaft; and
a drive motor having a power take-off shaft proximate to and disposed parallel to the first wheel axle;
the power output shaft is in power transmission with the adjacent first wheel shaft, the two first wheel shafts, the first wheel shaft and the adjacent second wheel shaft, the two second wheel shafts, the second wheel shaft and the adjacent third wheel shaft, and the two third wheel shafts sequentially through a belt or a transmission shaft.
Preferably, the novel wall climbing vehicle that possesses wall limit and detect and turn to function still includes:
and the plurality of ultrasonic radars are respectively arranged at the joint of the first side surface and the second side surface and the joint of the second side surface and the third side surface.
Preferably, when the fan is working, the rotation speed of the fan is controlled as follows:
in the formula, P0At atmospheric pressure, P1To target pressure within the skirt adsorbed on the wall surface, l is the distance between the end surface of the skirt and the wall surface to which it is adsorbed, ξ is the gas viscosity coefficient, R1Is the inner ring radius of the sealing skirt, R2The radius of the outer ring of the sealing skirt, g is the gravitational acceleration, T is the absolute temperature of the gas, and k is the fan inherent proportionality coefficient.
The invention has the beneficial effects that:
the novel wall climbing vehicle with the wall edge detection and steering functions adopts a negative pressure adsorption mode, utilizes the fan driven by the high-speed motor to suck out air in the cavity of the wall climbing vehicle, and utilizes atmospheric pressure to press the wall climbing vehicle on a wall surface; only the wall surface is required to be smooth, the requirement on the wall surface smoothness is not high, and the environmental requirement for using the wall climbing vehicle is reduced, so that the application range of the wall climbing vehicle can be expanded.
Drawings
Fig. 1 is a schematic view of the external shape of the wall climbing vehicle.
Fig. 2 is a general structural schematic diagram of the wall climbing vehicle.
Fig. 3 is a schematic view of a first channel and a second channel of the electric wall climbing vehicle.
Fig. 4 is a schematic view of a fan according to the present invention.
Fig. 5 is a schematic view of the wheel mounting of the wall climbing vehicle driven by the in-wheel motor according to the present invention.
Fig. 6 is a schematic view of the installation of the wheels of the belt-driven wall climbing vehicle.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1 to 3, the present invention provides a novel wall climbing vehicle with wall edge detection and steering functions, which mainly comprises a vehicle body 100, a plurality of wheels 200 and three fans. In the present embodiment, the vehicle body 100 is a cube structure, and the vehicle body 100 is enclosed by a cylindrical body and two end covers 110 symmetrically arranged; the cartridge body includes a first side 130, a second side 140, a third side 150, and a fourth side 160, which are vertically connected in sequence. Two end caps 110 are hermetically connected to both ends of the barrel portion, respectively.
Preferably, the junction between the first side 130 and the second side 140, the junction between the second side 140 and the third side 150, the junction between the third side 150 and the fourth side 160, the junction between the fourth side 160 and the first side 130, and the junctions between the two end caps 110 and the four sides are respectively transited through arc surfaces, so as to prevent the climbing vehicle from damaging the wall surface.
A first channel 310 and a second channel 320 are respectively arranged in the vehicle body 100, and the first channel 310 penetrates from the first side surface 130 to the third side surface 150; the second channel 320 extends through the second side 140 to the fourth side 160. Wherein the first channel 310 and the second channel 320 are both cylindrical channels.
A set of wheels 200 are respectively arranged on the first side 130, the second side 140 and the third side 150; wherein the number of wheels 200 per set is four and the four wheels 200 on each side surround the ports provided in the first and second channels 310, 320. Meanwhile, a wheel driving mechanism is further arranged in the wall climbing vehicle and used for driving the wheels 200 to rotate.
Three fans 310a, 310b, and 320a are disposed in the first passage 310 and the second passage 320; wherein, the fans 310a and 310b are symmetrically disposed at both ends of the first channel 310, that is, the fans 310a and 310b are disposed near the first side 130 and the third side 150, respectively. The fan 320a is disposed within the second channel 320 and adjacent to the fourth side 160. The three fans 310a, 310b and 320a are identical in structure and installation.
As shown in FIG. 4, taking the fan 310a as an example, the structure of the fan is further described, wherein the fan 310a is composed of a high-speed motor 310aa, an output shaft 310ab, a fan central shaft 310ac and a plurality of fan blades 310 ad; the fan central shaft 310ac is in interference fit with an output shaft 310ab of the high-speed motor to realize rigid connection; the high-speed motor 310aa is provided with a fixing platform 310ae for assembly, a connecting member (not shown in the figure) matched with the fixing platform 310ae is arranged at a corresponding position of the first channel 310, and the fixing platform 310ae is fixedly connected to the connecting member through a bolt 310af, so that the fan 310a is fixed in the first channel 130. The blades of the three fans 310a, 310b, and 320a are all disposed toward the inner side of the corresponding tunnel, and the high-speed motors of the three fans 310a, 310b, and 320a are disposed near the corresponding vehicle body sides, respectively.
When the first side surface 130 is close to the wall surface, the fan 310b in the first channel 310 starts to rotate, so that negative pressure can be generated in the first channel 310 under the action of the fan 310b, the wall climbing vehicle is adsorbed on the wall surface, and can run along the wall surface through the wheels 200 on the first side surface 130; at this time, the fans 310b and 320a do not operate. When the second side 140 is close to the wall surface, the fan 320a in the first channel 320 starts to rotate, so that negative pressure can be generated in the first channel 320 under the action of the fan 320a, the wall climbing vehicle is adsorbed on the wall surface, and can run along the wall surface through the wheels 200 on the second side 140; at this time, the fans 310a and 310b do not operate. When the third side 150 is close to the wall surface, the fan 310a in the first channel 310 starts to rotate, so that negative pressure can be generated in the first channel 310 under the action of the fan 310a, the wall climbing vehicle is adsorbed on the wall surface, and can run along the wall surface through the wheels 200 on the third side 150; at this time, the fans 310b and 320a do not operate.
The wall climbing vehicle is further provided with an ultrasonic radar 410 and an ultrasonic radar 420, the ultrasonic radar 410 is arranged on a transition arc surface at the junction of the first side surface 130 and the second side surface 140, and the ultrasonic radar 420 is arranged on a transition arc surface at the junction of the second side surface 140 and the third side surface 150. For example, when the first side 130 of the wall climbing vehicle travels along a vertical wall to the top of a room (i.e., travels vertically upward from the side wall to the top wall), the ultrasonic radars 410 and 420 transmit distance information to the host computer. After the upper computer receives the signal, a reversing instruction is executed: the fan 310b is stopped; the fan 320a is started to enable the second side 140 to be adsorbed on the top wall, so that the vertical adsorption function of the wall climbing vehicle is realized, the 4 wheels 200 on the second side 140 are changed into advancing wheels to drive the wall climbing vehicle to advance, and the wall climbing vehicle can continue to advance on the top wall.
As a further preference, the axis of the first channel 310 is perpendicular to the first side 130; the axis of the second channel 320 is perpendicular to the second side 140; and the central axis of the first channel 130 passes through the centers of the first side 130 and the third side 150 at the same time; the central axis of the second channel 320 passes through the centers of both the second side 140 and the fourth side 160. Meanwhile, the central axes of the fans 310a, 310b are disposed coaxially with the first passage 310, and the central axis of the fan 320a is disposed coaxially with the second passage 320. Through the optimization setting, the wall climbing vehicle can be guaranteed to have a better adsorption effect on the wall surface, and the walking stability of the wall climbing vehicle is guaranteed.
As shown in fig. 2, in the present embodiment, both ends of the first channel 310 are provided with sealing skirts 330 and 340, respectively; the upper end of the second channel 320 is provided with a sealing skirt 350; namely, a sealing skirt 330 and a sealing skirt 340 are disposed on the first side 130 and the third side 150, respectively; a sealing skirt 350 is disposed on the second side 140. The sealing skirts 330, 340 and 350 are annular structures and are arranged coaxially with the first channel or the second channel, and the inner diameters of the sealing skirts 330, 340 and 350 are equal to those of the first channel 310 and the second channel 320; the sealing skirts 330, 340 and 350 may be made of a soft material, such as plastic, and are adhesively bonded to the outer portions of the first and second channels 310 and 320, and the sealing skirts 330, 340 and 350 are provided with silicone, teflon supporting ribs or pig hairs. The installation seals skirt 330, 340 and 350 can effectively improve the vacuum in the climbing car cavity to further improve climbing car to the adsorbed stability of wall, reduce the rotational speed and the power demand to the fan.
More preferably, a support base 161 is mounted on the fourth side surface 160, and the support base 161 is symmetrically disposed on both sides of the fourth side surface 160. The bottom that sets up supporting seat 161 adopts the rubber material, can play the effect of anticollision and buffering for the safety landing when climbing the placing and normal use of wall car. The support seat 161 can prevent the wall climbing vehicle from falling off due to too large wall gap, insufficient battery power and the like, and can effectively protect the ultrasonic sensor and other valuable devices which can be carried on the vehicle.
As shown in fig. 5, in the present embodiment, the wheel drive mechanism includes: a plurality of in-wheel motors provided in one-to-one correspondence with the wheels 200; the hub motor is embedded in the wheel 200; independent driving of each wheel 200 is achieved. Each wheel 200 is provided with a wheel shaft 210, and bearings 220 are fixedly arranged on the first side surface 130, the second side surface 140 and the third side surface 150 at two sides of each wheel 200; both ends of the wheel shaft 210 of the wheel 200 are respectively fitted in bearings 220. The bearing 220 is a micro deep groove ball bearing, and the wheel shaft 210 is connected with the micro deep groove ball bearing, so that the wheel 200 can rotate freely.
The wall climbing vehicle carrying the hub motor is strong in power performance, has strong traveling capacity, is suitable for the wall climbing vehicle with large self quality, and has better traveling effect on the wall surface with poor flatness.
As shown in fig. 6, in another embodiment, the wheel drive mechanism includes: two first wheel shafts 230, both ends of which are respectively mounted on the first side surface 130 through bearings, and the two first wheel shafts 230 are arranged in parallel; two second wheel shafts 240 having both ends mounted on the second side surface 140 through bearings, respectively, and both the second wheel shafts 240 being arranged in parallel with the first wheel shaft 230; two third wheel shafts 250 are respectively bearing-mounted on the third side 150 at both ends thereof, and both the third wheel shafts 250 are arranged in parallel with the second wheel shaft 240. Wherein, the wheels 200 are respectively and coaxially and fixedly mounted at two ends of the first wheel shaft 230, the second wheel shaft 240 and the third wheel shaft 250; the driving motor 260 is fixedly installed in the vehicle body, and the driving motor 260 has a power output shaft 261, the power output shaft 261 being adjacent to the first wheel axle 230 and being disposed in parallel with the first wheel axle 230. Wherein, the power output shaft 261 is coaxially and fixedly provided with a belt pulley, and the two ends of the first wheel shaft 230 and the second wheel shaft 240 and the third wheel shaft 250 are provided with two belt pulleys; the power output shaft 261 transmits power between its adjacent first wheel shaft 230 through a belt 201, between two first wheel shafts 230 through a belt 202, between a first wheel shaft 230 (the first wheel shaft 230 near the second wheel shaft 240) and its adjacent second wheel shaft 240 through a belt 203, between two second wheel shafts 240 through a belt 204, between a second wheel shaft 240 (the second wheel shaft 240 near the third wheel shaft 250) and its adjacent third wheel shaft 250 through a belt 205, and between two third wheel shafts 250 through a belt 206 or a belt 206.
The first side 130, the second side 140 and the third side 150 are respectively provided with a bearing seat corresponding to the bearings of the first wheel shaft 230, the second wheel shaft 240 and the third wheel shaft 250, and the bearings are fixedly installed in the bearing seats.
In another embodiment, a plurality of belt mechanisms are replaced with a plurality of transmission shaft mechanisms for power transmission between the wheel shafts.
As shown in fig. 3, in order to ensure that the climbing car is in a good adsorption state, the fan in the working state needs to keep a certain speed n to continuously rotate, so that a stable pressure P is finally formed in the channel where the fan in the working state is located1And the leakage amount of the gas in the sealed cavity is equal to the air suction amount of the fan. P1Value less than atmospheric pressure P0Generally 0.5 to 0.8P0The specific numerical value is closely related to the size of the vehicle body, the load of the vehicle body and the smoothness degree of the wall. In practical use, P can be tested in the horizontal direction of the side wall surface1The value is calibrated, and the specific method comprises the following steps: p set by the system is enabled by changing the rotating speed n of the fan1From atmospheric pressure P0Gradually decreases, when the wall climbing vehicle can be stably adsorbed on the wall surface and does not influence the advancing operation, the P at the moment1The value is the target value (P used in the formula)1Value), P during operation1There may be an adjustment of + -3%.
Let atmospheric pressure be P0Then the negative pressure value in the channel is:
Pnegative pole＝P0-P1；
The gas leakage rate of the sealing skirt part is as follows:
under the condition of maintaining the negative pressure of the sealed cavity, when the fan normally operates, the gas required to be pumped by the fan is QmThe air extraction quantity of the fan is in direct proportion to the rotating speed, i.e. Qm＝kP1n。
Wherein l is the gap height in m, ξ is the gas viscosity coefficient, R1Inner diameter for the seal chamber to surround, unit: m; r2Outside diameter for the seal chamber to surround, unit: m; p0Standard atmospheric pressure, unit: bar; p1For the pressure in the seal chamber, unit: bar; qmIs the gas leakage rate, unit: m is3S; g is the acceleration of gravity, unit: m/s2(ii) a T is the absolute temperature of the gas, in units: k; n is the fan speed, unit: r/min; k is the inherent fan proportionality coefficient, unit: m is3Bar/r; the k value is related to the number of fan blades and the blade structure, and the value of the purchased finished product can be provided by the manufacturer. The independently designed non-standard fan can also be obtained by engineering calibration measurement, and the specific method comprises the following steps: in a long and straight glass wind tunnel, one end of the inlet is connected with the atmosphere, and one end of the outlet is connected with the atmosphereIs connected to the constant pressure chamber. Setting fixed pressure for constant pressure chamber at outlet end, starting fans, adjusting different rotation speeds n of several groups of fans, measuring air velocity at inlet, and calculating corresponding air extraction rate QmAnd fitting to obtain the inherent proportionality coefficient k of the fan. Under the implementation condition of the invention, the value of k is 50-500.
Namely, when the fan works, the rotating speed of the fan is controlled as follows:
in another embodiment, the control logic for controlling the fan in real time is controlled in a closed loop while the fan is operating. Pressure sensors are arranged in the first channel and the second channel and used for reading the pressure P in the channels in real timet. When P is presentt＜P1In the process, the rotating speed of the fan can be properly increased by 5 percent on the basis of the controlled basic rotating speed of the fan, so that the wall climbing vehicle is prevented from falling due to gas leakage caused by poor sealing. When P is presentt＞P1In the process, the rotating speed of the fan can be properly reduced by 5 percent on the basis of the controlled basic rotating speed of the fan, so that the wall climbing vehicle is prevented from being adsorbed too tightly and cannot normally advance. According to the collected pressure PtThe real-time fan rotating speed is dynamically adjusted, and the robustness of the system can be effectively enhanced.
According to the wall climbing vehicle provided by the invention, the fans are arranged in the first channel and the second channel of the vehicle body to form the negative pressure cavity, and the four wheels are respectively arranged on the three side surfaces of the vehicle body, so that the wall climbing vehicle can freely walk between vertical wall surfaces, and can contact with a larger wall surface area in a single travel, and the traveling track of the wall climbing vehicle can cover four walls and a ceiling in a room.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. The utility model provides a possess the wall limit and detect and turn to novel wall climbing car of function which characterized in that includes:
the vehicle body comprises a cylinder part and two end covers, wherein the two end covers are respectively connected with two ends of the cylinder part in a sealing manner;
wherein the barrel portion comprises a first side, a second side, a third side, and a fourth side; the first side surface, the second side surface and the third side surface are vertically connected in sequence, and the fourth side surface is connected between the first side surface and the third side surface;
a first channel that passes through from the first side to the third side;
a second channel that passes through from the second side to the fourth side;
three sets of wheels mounted on the first, second, and third sides, respectively;
wherein each set of wheels comprises a plurality of wheels;
the wheel driving mechanism drives the wheels to rotate;
a first fan disposed in the first channel and adjacent to the third side;
the second fan is arranged in the second channel and is close to the fourth side surface;
a third fan disposed in the first channel and adjacent to the first side; the third fan and the first fan are symmetrically arranged;
when the first side face is close to the wall face, the first channel can generate negative pressure under the action of the first fan, so that the wall climbing vehicle is adsorbed on the wall face and can run along the wall face through wheels;
when the second side surface is close to the wall surface, the second channel can generate negative pressure under the action of the second fan, so that the wall climbing vehicle is adsorbed on the wall surface and can run along the wall surface through wheels;
when the third side is close to the wall surface, the first channel can generate negative pressure under the action of the third fan, so that the wall climbing vehicle is adsorbed on the wall surface and can run along the wall surface through the wheels.
2. The novel wall climbing vehicle with the wall edge detecting and steering function according to claim 1, wherein the first channel and the second channel are respectively cylindrical;
wherein an axis of the first channel is perpendicular to the first side;
the axis of the second channel is perpendicular to the second side.
3. The novel wall climbing vehicle with the wall edge detecting and steering function according to claim 2, wherein the fourth side surface is parallel to the second side surface; and the first side, the second side, the third side and the fourth side are the same in size;
wherein a central axis of the first channel passes through the centers of the first side and the third side simultaneously; the central axis of the second channel passes through the centers of the second side and the fourth side simultaneously.
4. The novel wall climbing vehicle with the wall edge detecting and steering function according to claim 3, wherein sealing skirts are respectively arranged at two ends of the first channel and one end of the second channel; the sealing skirt is of an annular structure and is coaxially arranged with the first channel or the second channel;
wherein the sealing skirt of the second channel is disposed on the second side.
5. The novel wall climbing vehicle with the wall edge detecting and steering function as claimed in claim 4, wherein a support seat is arranged on the fourth side surface.
6. The novel wall climbing vehicle with the wall edge detecting and steering function according to claim 5, wherein the number of the wheels in each group is four, and four wheels are arranged around the sealing skirt.
7. The novel wall climbing vehicle with the wall edge detecting and steering function according to claim 6, wherein the wheel driving mechanism comprises:
the plurality of hub motors are arranged in one-to-one correspondence with the wheels; the hub motor is embedded in the wheel;
the first side surface, the second side surface and the third side surface are respectively and fixedly provided with a bearing at two sides of each wheel; and two ends of a wheel shaft of the wheel are respectively installed in the bearings in a matching way.
8. The novel wall climbing vehicle with the wall edge detecting and steering function according to claim 6, wherein the wheel driving mechanism comprises:
two first wheel axles mounted on the first side face, and the two first wheel axles are arranged in parallel;
two second wheel shafts mounted on the second lateral side, and the two second wheel shafts are arranged in parallel with the first wheel shaft;
two third wheel axles mounted on the third side and arranged parallel to the second wheel axle;
the wheels are respectively arranged at two ends of the first wheel shaft, two ends of the second wheel shaft and two ends of the third wheel shaft; and
a drive motor having a power take-off shaft proximate to and disposed parallel to the first wheel axle;
the power output shaft is in power transmission with the adjacent first wheel shaft, the two first wheel shafts, the first wheel shaft and the adjacent second wheel shaft, the two second wheel shafts, the second wheel shaft and the adjacent third wheel shaft, and the two third wheel shafts sequentially through a belt or a transmission shaft.
9. The novel wall climbing vehicle with the wall edge detecting and steering function according to claim 7 or 8, further comprising:
and the plurality of ultrasonic radars are respectively arranged at the joint of the first side surface and the second side surface and the joint of the second side surface and the third side surface.
10. The novel wall climbing vehicle with the wall edge detecting and steering function according to claim 9, wherein when the first fan, the second fan or the third fan is operated, the rotation speed of the first fan, the second fan or the third fan in an operating state is controlled to be:
in the formula, P0At atmospheric pressure, P1To target pressure within the skirt adsorbed on the wall surface, l is the distance between the end surface of the skirt and the wall surface to which it is adsorbed, ξ is the gas viscosity coefficient, R1Is the inner ring radius of the sealing skirt, R2The radius of the outer ring of the sealing skirt, g is the gravitational acceleration, T is the absolute temperature of the gas, and k is the fan inherent proportionality coefficient.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113187028A (en) * | 2021-04-02 | 2021-07-30 | 北京黑蚁兄弟科技有限公司 | Constant-pressure water supply and power supply device and aerial work mobile robot |
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