CN113232739A - Detection wall-climbing robot based on negative pressure adsorption - Google Patents
Detection wall-climbing robot based on negative pressure adsorption Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- 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 belongs to the field of non-ferromagnetic structure body surface detection robots, and relates to a negative pressure adsorption detection wall-climbing robot which comprises a chassis, a negative pressure adsorption generating device, a traveling device and a detection device, wherein a hole is formed in the middle of the chassis, the negative pressure adsorption generating device is connected with the chassis and positioned at the upper end of the hole to cover the hole, a soft sealing device is arranged on the periphery of the lower end of the chassis, the traveling device is arranged at four corners of the chassis, and the detection device is further arranged on the chassis. The wall climbing robot has the advantages that the wall climbing robot can be effectively ensured to stably climb in a negative pressure adsorption mode, the safety detection function is realized by carrying the detection device, and an implementable scheme is provided for the detection of the surface of the large structure.
Description
Technical Field
The invention belongs to the field of non-ferromagnetic structure body surface detection robots, and relates to a detection wall-climbing robot based on negative pressure adsorption.
Background
Non-ferromagnetic structures are widely used in human society, and large structures such as bridges and wind power are often non-ferromagnetic. With the continuous development of high-tech informatization, the requirement on the industrial index of a non-ferromagnetic structure body is increasingly raised, and more large-scale structure body materials adopt composite materials with excellent performances such as high temperature resistance, corrosion resistance, fatigue resistance and the like.
The method has important significance for the safety use of health detection of large structures such as bridges, dams and the like, but has the defects of low efficiency, high cost and certain danger due to the fact that the safety detection is mainly carried out in a manual detection mode at present because of large size and severe environment.
Although a magnetic adsorption type wall climbing detection device has been applied to a large structure made of ferromagnetic metal material, a wall climbing robot for detecting a large structure made of non-ferromagnetic material is still under research and development.
Disclosure of Invention
Object of the Invention
In order to solve the problems of high cost, low efficiency and danger of a manual detection mode in the prior art, the invention provides a detection wall-climbing robot which can vertically walk on the surface of a large structure based on a negative pressure adsorption principle.
Technical scheme
The utility model provides an adsorbed detection wall climbing robot of negative pressure, includes the chassis, negative pressure adsorbs generating device, advancing device and detection device, the chassis middle part is equipped with the hole, and negative pressure adsorbs generating device and is connected and lie in the upper end in hole with the hole cover the hole with the chassis, and the lower extreme on chassis is equipped with soft sealing device all around, and four bights on chassis are equipped with advancing device, still is provided with detection device on the chassis.
Furthermore, the chassis comprises a chassis connecting piece and a negative pressure cavity, the negative pressure adsorption generating device comprises a ducted fan and a fan connecting piece, the middle height of the chassis connecting piece and the middle height of the negative pressure cavity are higher than the surrounding height, the fan connecting piece, the chassis connecting piece and the negative pressure cavity are connected together from top to bottom, two fixing lugs are arranged on two sides of the fan connecting piece, two inserting lugs are arranged on two sides of the ducted fan, and the inserting lugs on two sides of the ducted fan are respectively inserted into the fixing lugs on two sides of the fan connecting piece and are fixedly connected together.
Furthermore, the duct fan is composed of a high-speed direct current brushless motor, fan blades and a cylindrical duct, the high-speed direct current brushless motor is fixed at the upper end of the cylindrical duct, and the fan blades are fixed on a motor shaft of the high-speed direct current brushless motor.
Further, the advancing device comprises a roller and a driving motor, a motor shaft of the driving motor is connected with the roller through a coupling, the driving motor is horizontally arranged and connected with an installation support, the installation support is L-shaped, the bottom of the installation support is connected to the chassis connecting piece, and the bottom of the roller is lower than the bottom of the negative pressure cavity. Furthermore, the soft sealing device comprises bristle sealing rings and soft silica gel sheets, the bottom of the negative pressure cavity is connected with a circle of bristle sealing rings, the height of the bristle sealing rings is higher than or equal to the height of the bottom of the roller, four sides of the bottom of the negative pressure cavity are also connected with four soft silica gel sheets in an adhering mode, and the height of the soft silica gel sheets is higher than or equal to the height of the bottom of the roller.
Furthermore, the negative pressure adsorption generating device and the advancing device are connected with an electric control device for power supply and control, and the electric control device is arranged on the chassis.
Further, the electric control device comprises a motor drive module I, L298N of L298N, a motor drive module II of STM32, a single chip microcomputer of LM2596S, a voltage reduction module of HC-05 and a Bluetooth module, wherein in the circuit of the electric control device: the STM32 singlechip is used as a main control chip, and the STM32 singlechip is connected with an L298N motor driving module I and an L298N motor driving module II and is used for driving a motor;
the STM32 singlechip is connected with the LM2596S voltage reduction module and used for converting the power supply voltage of the 12V lithium battery into 5V voltage and supplying power to the STM 32;
the STM32 singlechip is connected with the HC-05 Bluetooth module to realize the remote control function.
Further, a PB1 pin of an STM32 singlechip is connected with an IN1 pin of an L298N motor driving module I, a PB0 pin of an STM32 singlechip is connected with an IN N pin of the L298 8672 motor driving module I, a PA N pin of the STM N singlechip is connected with an IN N pin of the L298N motor driving module I, a PA N pin of the STM N singlechip is connected with an ENB pin of the L298N motor driving module I, a VCC3V N pin of the STM N singlechip is connected with a VCC pin of the L298N motor driving module I, a V +12V power supply of the L298N motor driving module I, a GND pin of the STM N singlechip is connected with an GND 8672 pin of the L298 motor driving module I, a pin of the L298B 298A + 7 motor driving module I, and GND +12V power supply of the L298B motor driving module I, and GND pins 298B + 7B of the L298B motor driving module I, and GND driving module I of the STM N are connected with a +12V power supply, and GND driving module I, and GND of the STM N, B-two pins are connected with a motor B2;
the PB pin of STM singlechip is connected with the IN pin of L298 motor drive module II, the PA/TIM _ CH pin of STM singlechip is connected with the ENB pin of L298 motor drive module II, the VCC3V pin of STM singlechip is connected with the VCC pin of L298 motor drive module II, the V + pin of L298 motor drive module II is connected with the +12V power supply, the GND pin of STM singlechip is connected with the GND pin of L298 motor drive module II, the A +, A-and A-two pins of L298 motor drive module II are connected with motor B, the B + of L298 motor drive module II, B-two pins are connected with a motor B4;
the 5V pin of the STM32 singlechip is connected with the VOUT + pin of the LM2596S voltage reduction module, the GND pin of the STM32 singlechip is connected with the VOUT-pin of the LM2596S voltage reduction module, the VIN + pin of the LM2596S voltage reduction module is connected with the positive pole of a +12V power supply, and the VIN-pin of the LM2596S voltage reduction module is connected with the GND pin of the STM32 singlechip;
the VCC3V3 pin of STM32 singlechip is connected with HC-05 bluetooth module's VCC pin, the PA10/USART1_ RX pin of STM32 singlechip is connected with HC-05 bluetooth module's TXD pin, the PA9/USART1_ TX pin of STM32 singlechip is connected with HC-05 bluetooth module's RXD pin, the GND pin of STM32 singlechip is connected with HC-05 bluetooth module's GND pin.
A method for wall climbing detection by using the wall climbing detection robot with negative pressure adsorption comprises the following steps: the detection device is started, the electric control device transmits a signal to enable the traveling device to operate, and then the traveling device moves and detects on the climbing wall.
Advantages and effects
By adopting a negative pressure adsorption mode, the climbing robot can be effectively ensured to stably climb; the flexible sealing device is adopted to realize good sealing, and the load bearing capacity of the wall climbing robot is improved when the high-speed direct current brushless motor provides the same negative pressure condition; the wall-climbing robot can flexibly, quickly and stably walk on different planes by adopting wheel type motion; the safety detection function is realized by carrying the detection device, and an implementable scheme is provided for the detection of the surface of the large-scale structure.
Drawings
The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.
FIG. 1 is a schematic perspective view of a wall-climbing detection robot based on negative pressure adsorption;
FIG. 2 is a schematic perspective view of a ducted fan;
FIG. 3 is a schematic view of the positional relationship between the ducted blower, the blower connection member and the negative pressure chamber;
FIG. 4 is a schematic view of the structure of the chassis attachment;
FIG. 5 is a schematic view of the assembled structure of FIG. 3;
FIG. 6 is a schematic view showing a structure of connecting the chassis link with the traveling device;
FIG. 7 is a schematic front view of a wall-climbing detection robot based on negative pressure adsorption;
FIG. 8 is a schematic bottom view of the wall-climbing detection robot based on negative pressure adsorption;
fig. 9 is a schematic top view of the wall-climbing detection robot based on negative pressure adsorption;
FIG. 10 is a schematic side view of a wall-climbing detection robot based on negative pressure adsorption;
FIG. 11 is a schematic view of a traveling apparatus;
FIG. 12 is a schematic view of negative pressure adsorption;
fig. 13 is a schematic diagram of a circuit module of the electric control device.
Description of reference numerals: 1-chassis connecting piece, 2-negative pressure adsorption generating device, 3-advancing device, 4-soft sealing device, 5-electric control device, 6-detection device, 21-ducted fan, 22-fan connecting piece, 23-negative pressure cavity, 31-roller, 32-driving motor, 33-shaft coupling, 34-mounting bracket, 41-bristle sealing ring, 42-soft silica gel sheet, 211-high-speed direct current brushless motor, 212-fan blade, 213-cylindrical duct, 311-left front roller, 312-right front roller, 313-left rear roller, 314-right rear roller, 321-left front driving motor, 322-right front driving motor, 323-left rear driving motor and 324-right rear driving motor.
Detailed Description
As shown in fig. 1-11, a negative pressure adsorption detection wall-climbing robot comprises a chassis, a negative pressure adsorption generating device 2, a traveling device 3 and a detection device 6, wherein a hole is formed in the middle of the chassis, the negative pressure adsorption generating device 2 is connected with the chassis and positioned at the upper end of the hole to cover the hole, a soft sealing device 4 is arranged around the lower end of the chassis, the traveling device 3 is arranged at four corners of the chassis, and the detection device 6 is further arranged on the chassis. The chassis comprises chassis connecting piece 1 and negative pressure cavity 23, negative pressure adsorbs generating device 2 comprises duct fan 21 and fan connecting piece 22, the height in the middle of chassis connecting piece 1 and negative pressure cavity 23 is higher than height all around, fan connecting piece 22, chassis connecting piece 1 and negative pressure cavity 23 are in the same place through bolted connection from top to bottom, the both sides of fan connecting piece 22 are equipped with two fixed ears, the both sides of duct fan 21 are equipped with two and insert the ear, the ear of inserting of duct fan 21 both sides inserts respectively in the fixed ear of fan connecting piece 22 both sides and is in the same place through bolted connection. The ducted fan 21 is composed of a high-speed dc brushless motor 211, fan blades 212, and a cylindrical duct 213, the high-speed dc brushless motor 211 is fixed to the upper end of the cylindrical duct 213, and the fan blades 212 are fixed to the motor shaft of the high-speed dc brushless motor 211, and 12 fan blades are used in this embodiment. The traveling device 3 is composed of a roller 31 and a driving motor 32, a motor shaft of the driving motor 32 is connected with the roller 31 through a coupling 33, the driving motor 32 is horizontally arranged and is connected with a mounting bracket 34 through a screw, the mounting bracket 34 is L-shaped, the bottom of the mounting bracket 34 is connected to the chassis connecting piece 1 through a bolt, and the bottom of the roller 31 is lower than the bottom of the negative pressure cavity 23. The soft sealing device 4 comprises a bristle sealing ring 41 and a soft silica gel sheet 42, the bottom of the negative pressure cavity 23 is connected with a rectangular circle of bristle sealing ring 41 in an adhering mode, the height of the bristle sealing ring 41 is higher than or equal to the bottom height of the roller 31, the bristle sealing ring 41 forms a primary sealing effect, four sides of the bottom of the negative pressure cavity 23 are connected with four soft silica gel sheets 42 in an adhering mode, the height of each soft silica gel sheet 42 is higher than or equal to the bottom height of the roller 31, the soft silica gel sheets 42 further enhance the sealing effect, and the negative pressure state in the negative pressure cavity 23 can be effectively maintained. When the negative pressure adsorption generating device 2 operates, gas in the negative pressure cavity 23 is extracted, and gas flow is sucked from the gap of the incompletely sealed flexible sealing device 4 and discharged from the top of the cylindrical duct 213 to form the pressure difference between the inside and the outside of the negative pressure cavity 23, thereby realizing negative pressure adsorption. The high-speed direct current brushless motor 211 of the negative pressure adsorption generating device 2 and the driving motor 32 of the advancing device 3 are connected with an electric control device 5 for power supply and control, the electric control device 5 is arranged on the chassis, and the detection device 6 is preferably a camera provided with a power supply and a control switch.
As shown in fig. 13, first, the letters explain: in the figure, M1 is an L298N motor driving module I; m2 is a L298N motor driving module II; the STM32 is an STM32 single chip microcomputer; j is LM2596S voltage reduction module; k is an HC-05 Bluetooth module. The electric control device 5 comprises an L298N motor driving module I, L298N motor driving module II, an STM32 single chip microcomputer, an LM2596S voltage reduction module and an HC-05 Bluetooth module, and in the electric control device circuit: the STM32 singlechip is used as a main control chip, and the STM32 singlechip is connected with an L298N motor driving module I and an L298N motor driving module II and is used for driving a motor; the STM32 singlechip is connected with the LM2596S voltage reduction module and used for converting the power supply voltage of the 12V lithium battery into 5V voltage and supplying power to the STM 32; the STM32 singlechip is connected with the HC-05 Bluetooth module to realize the remote control function. The L298N motor driving module I and the L298N motor driving module II are both L298N motor driving modules of Ujia technology; the LM2596S voltage reduction module is an LM2596S-DC-DC-5V model number of Shenzhen science and technology electronic Limited; the HC-05 Bluetooth module is HC-05D model of Guangzhou Hui information technology.
PB1 pin of STM32 singlechip is connected with IN1 pin of L298N motor drive module I, PB0 pin of STM32 singlechip is connected with IN N pin of L298 8672 motor drive module I, PA N pin of STM N singlechip is connected with IN N pin of L298N motor drive module I, PA N pin of STM N singlechip is connected with ENB pin of L298N motor drive module I, PA N pin of STM N singlechip is connected with VCC3V N pin of L298N motor drive module I, V + pin of L N motor drive module I is connected with +12V power supply, PB N pin of STM N is connected with GND 8672 motor drive module I of L298 motor drive module I, GND 3V N pin of L298 motor drive module I is connected with GND +12V power supply of L298 motor drive module I, GND motor drive module I and GND 3B + N B of L298 motor drive module I, GND motor drive module I of L298 motor drive module I are connected with GND N B +12V pin of L N, and GND, the STM N B, and GND motor drive module I are connected with GND 3B, and GND 3B of L298B of STM N, and GND motor drive module I, and GND are connected with the STM N, and GND motor drive module I, and GND of STM N, and GND of the STM N, and GND drive module I, and the STM N of the STM N, and the STM N of the STM N, and the STM is connected with the motor drive module I, and the motor drive module I, the motor drive module I are connected with the motor drive module I, the motor drive module I is connected with the motor drive module I, the motor module I is connected with the motor module I, the motor module I, b-two pins are connected with a motor B2;
the PB pin of STM singlechip is connected with the IN pin of L298 motor drive module II, the PA/TIM _ CH pin of STM singlechip is connected with the ENB pin of L298 motor drive module II, the VCC3V pin of STM singlechip is connected with the VCC pin of L298 motor drive module II, the V + pin of L298 motor drive module II is connected with the +12V power supply, the GND pin of STM singlechip is connected with the GND pin of L298 motor drive module II, the A +, A-and A-two pins of L298 motor drive module II are connected with motor B, the B + of L298 motor drive module II, B-two pins are connected with a motor B4;
the 5V pin of the STM32 singlechip is connected with the VOUT + pin of the LM2596S voltage reduction module, the GND pin of the STM32 singlechip is connected with the VOUT-pin of the LM2596S voltage reduction module, the VIN + pin of the LM2596S voltage reduction module is connected with the positive pole of a +12V power supply, and the VIN-pin of the LM2596S voltage reduction module is connected with the GND pin of the STM32 singlechip;
the VCC3V3 pin of STM32 singlechip is connected with HC-05 bluetooth module's VCC pin, the PA10/USART1_ RX pin of STM32 singlechip is connected with HC-05 bluetooth module's TXD pin, the PA9/USART1_ TX pin of STM32 singlechip is connected with HC-05 bluetooth module's RXD pin, the GND pin of STM32 singlechip is connected with HC-05 bluetooth module's GND pin.
A method for detecting wall climbing by a negative pressure adsorption detection wall climbing robot comprises the following steps: the surface of the chassis provided with the soft sealing device 4 faces the climbing wall, the advancing device 3 is in contact with the climbing wall, then the negative pressure adsorption generating device 2 is operated, the negative pressure adsorption generating device 2 is continuously pumped from the climbing wall side to the other side, the detection wall climbing robot with negative pressure adsorption can be integrally adsorbed on the wall, the detection device 6 is started according to the principle shown in figure 12, the advancing device 3 is operated by transmitting a signal to the electric control device 5, and then the robot acts and detects on the climbing wall.
Specifically, when a negative pressure state is formed in the negative pressure cavity 23 and is adsorbed on the wall, the electric control device 5 controls the left front driving motor 321 and the left rear driving motor 323 to operate simultaneously, and the electric control device 5 controls the right front driving motor 322 and the right rear driving motor 324 to operate simultaneously; and then the corresponding left front roller 311 and left rear roller 313 are driven to rotate simultaneously, the right front roller 312 and right rear roller 314 rotate simultaneously, and the straight movement and the steering are realized by controlling the rotating speed of the rollers at the two sides. The detection device 6 continuously takes pictures or photographs or performs other detection modes to achieve the purpose of detecting and recording data.
The negative pressure adsorption has the advantages of high moving speed, flexible and convenient control and capability of adapting to various types of rough and uneven wall surface environments.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that various changes and modifications can be made on the basis of the above description, and all embodiments cannot be exhaustive, and obvious changes and modifications included in the technical solutions of the present invention are within the scope of the present invention.
Claims (9)
1. The utility model provides an adsorbed detection wall climbing robot of negative pressure which characterized in that: the device comprises a chassis, a negative pressure adsorption generating device (2), a traveling device (3) and a detection device (6), wherein a hole is formed in the middle of the chassis, the negative pressure adsorption generating device (2) is connected with the chassis and is located at the upper end of the hole to cover the hole, a soft sealing device (4) is arranged on the periphery of the lower end of the chassis, the traveling device (3) is arranged at four corners of the chassis, and the detection device (6) is further arranged on the chassis.
2. The negative pressure adsorption detection wall-climbing robot according to claim 1, characterized in that: the negative pressure adsorption generating device is characterized in that the chassis is composed of a chassis connecting piece (1) and a negative pressure cavity (23), the negative pressure adsorption generating device (2) is composed of a ducted fan (21) and a fan connecting piece (22), the middle height of the chassis connecting piece (1) and the negative pressure cavity (23) is higher than the height of the periphery of the chassis connecting piece, the fan connecting piece (22), the chassis connecting piece (1) and the negative pressure cavity (23) are connected together from top to bottom, two fixing lugs are arranged on two sides of the fan connecting piece (22), two inserting lugs are arranged on two sides of the ducted fan (21), and the inserting lugs on two sides of the ducted fan (21) are respectively inserted into the fixing lugs on two sides of the fan connecting piece (22) and are fixedly connected together.
3. The negative pressure adsorption detection wall-climbing robot according to claim 2, characterized in that: the ducted fan (21) is composed of a high-speed direct current brushless motor (211), fan blades (212) and a cylindrical duct (213), the high-speed direct current brushless motor (211) is fixed at the upper end of the cylindrical duct (213), and the fan blades (212) are fixed on a motor shaft of the high-speed direct current brushless motor (211).
4. The negative pressure adsorption detection wall-climbing robot according to claim 2, characterized in that: marching device (3) comprise gyro wheel (31) and driving motor (32), and the motor shaft and gyro wheel (31) of driving motor (32) link together through shaft coupling (33), and driving motor (32) level sets up and is connected with installing support (34), and installing support (34) are the L type, and the bottom of installing support (34) is connected on chassis connecting piece (1), and the bottom height of gyro wheel (31) is less than the bottom surface height of negative pressure chamber (23).
5. The negative pressure adsorption detection wall-climbing robot according to claim 4, wherein: the soft sealing device (4) comprises bristle sealing rings (41) and soft silica gel sheets (42), the bottom of the negative pressure cavity (23) is connected with a circle of bristle sealing rings (41), the height of each bristle sealing ring (41) is higher than or equal to the height of the bottom of the roller (31), four sides of the bottom of the negative pressure cavity (23) are further connected with four soft silica gel sheets (42) in an adhering mode, and the height of each soft silica gel sheet (42) is higher than or equal to the height of the bottom of the roller (31).
6. The negative pressure adsorption detection wall-climbing robot according to claim 1, characterized in that: the negative pressure adsorption generating device (2) and the advancing device (3) are connected with an electric control device (5) for power supply and control, and the electric control device (5) is arranged on the chassis.
7. The negative pressure adsorption detection wall-climbing robot according to claim 6, wherein: electrically controlled device (5) includes L298N motor drive module I, L298N motor drive module II, STM32 singlechip, LM2596S step-down module and HC-05 bluetooth module, among the electrically controlled device circuit:
the STM32 singlechip is used as a main control chip, and the STM32 singlechip is connected with an L298N motor driving module I and an L298N motor driving module II and is used for driving a motor;
the STM32 singlechip is connected with the LM2596S voltage reduction module and used for converting the power supply voltage of the 12V lithium battery into 5V voltage and supplying power to the STM 32;
the STM32 singlechip is connected with the HC-05 Bluetooth module to realize the remote control function.
8. The negative pressure adsorption detection wall-climbing robot according to claim 7, wherein: PB1 pin of STM32 singlechip is connected with IN1 pin of L298N motor drive module I, PB0 pin of STM32 singlechip is connected with IN N pin of L298 8672 motor drive module I, PA N pin of STM N singlechip is connected with IN N pin of L298N motor drive module I, PA N pin of STM N singlechip is connected with ENB pin of L298N motor drive module I, VCC3V N pin of STM N singlechip is connected with VCC pin of L298N motor drive module I, V + pin of L298 motor drive module I is connected with +12V power supply, PA N pin of STM N is connected with GND 8672 pin of L298 motor drive module I, GND 298A + pin of L N motor drive module I is connected with GND N B +12V power supply, GND N B pin of L298 motor drive module I is connected with GND N B + of L298 motor drive module I, GND N B, GND motor drive module I is connected with GND N B + 12B, and GND N B of L298B, and GND N B are connected with L298B, and GND motor drive module I, and GND 3B are connected with L, and GND N of STM N, and L, and GND 3B are connected with the STM N, and GND motor drive module I, and GND 3B of STM N, and GND 3B are connected with the STM N, and GND motor drive module I, and GND 3B of STM 72, and the STM N, and GND 3B are connected with the STM N, and GND drive module I, and the STM N, and the STM 72, and the STM is connected with the STM 72, and the STM is connected with the STM drive module I, and the STM N, and the STM is connected with the STM N, the STM drive module I, the STM is connected with the STM, and the STM is connected with the STM, and the STM of the STM is connected with the STM N, and the STM drive module I, and the STM N, the STM is connected with the STM, the motor drive module I, the STM N, the STM is connected with the STM N, the STM, b-two pins are connected with a motor B2;
the PB pin of STM singlechip is connected with the IN pin of L298 motor drive module II, the PA/TIM _ CH pin of STM singlechip is connected with the ENB pin of L298 motor drive module II, the VCC3V pin of STM singlechip is connected with the VCC pin of L298 motor drive module II, the V + pin of L298 motor drive module II is connected with the +12V power supply, the GND pin of STM singlechip is connected with the GND pin of L298 motor drive module II, the A +, A-and A-two pins of L298 motor drive module II are connected with motor B, the B + of L298 motor drive module II, B-two pins are connected with a motor B4;
the 5V pin of the STM32 singlechip is connected with the VOUT + pin of the LM2596S voltage reduction module, the GND pin of the STM32 singlechip is connected with the VOUT-pin of the LM2596S voltage reduction module, the VIN + pin of the LM2596S voltage reduction module is connected with the positive pole of a +12V power supply, and the VIN-pin of the LM2596S voltage reduction module is connected with the GND pin of the STM32 singlechip;
the VCC3V3 pin of STM32 singlechip is connected with HC-05 bluetooth module's VCC pin, the PA10/USART1_ RX pin of STM32 singlechip is connected with HC-05 bluetooth module's TXD pin, the PA9/USART1_ TX pin of STM32 singlechip is connected with HC-05 bluetooth module's RXD pin, the GND pin of STM32 singlechip is connected with HC-05 bluetooth module's GND pin.
9. A method for wall-climbing detection by using the negative pressure adsorption detection wall-climbing robot according to claim 6, characterized in that: the climbing robot has the advantages that one face of the chassis provided with the soft sealing device (4) faces the climbing wall, the advancing device (3) is in contact with the climbing wall, the negative pressure adsorption generating device (2) is operated next, the negative pressure adsorption generating device (2) is continuously pumped from the climbing wall side to the other side, the negative pressure adsorption detection wall climbing robot can be integrally adsorbed on the wall, the detection device (6) is started, the advancing device (3) is operated by transmitting signals to the electric control device (5), and then the climbing wall acts and detects.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771979A (en) * | 2021-09-27 | 2021-12-10 | 北京理工大学 | Reverse thrust adsorption wall-climbing robot |
| CN113771982A (en) * | 2021-11-10 | 2021-12-10 | 滨州学院 | Wall-climbing robot for detecting surface defects of aircraft |
| CN114308937A (en) * | 2022-01-13 | 2022-04-12 | 国网湖南省电力有限公司 | GIS internal pipeline detection cleaning robot |
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| CN113771982A (en) * | 2021-11-10 | 2021-12-10 | 滨州学院 | Wall-climbing robot for detecting surface defects of aircraft |
| CN114308937A (en) * | 2022-01-13 | 2022-04-12 | 国网湖南省电力有限公司 | GIS internal pipeline detection cleaning robot |
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