Negative Climbing Robot And Control Technology

With the development of society, technology are constantly progress 。 With the rapid development of electronic technology in the past 10 years,Robot technology is not just for the traditional industrial areas。Research direction gradually toward the robot can be used in the special environment of the special robot. Climbing robot is one of the typical examples.First, this paper summarized the research results available in wall-climbing robots.Devised an easy disassembly, easy to assemble, it can be applied to different materials wall climbing robot adsorption system. In order to make the robot move better complete adsorption and the two most important functions, the robot uses a vacuum adsorption of work, moving means four-wheel drive, making the robot adsorption and moving more stable and reliable.Second, robot adsorption system for the core component of the impeller design, the use of CFD simulation mode, the rotation of the impeller housing to change the negative pressure inside the robot simulation. In ensuring the stability of the robot premise adsorption, through simulation, manufacturing a plurality of impeller models.Third, in the design of hardware and software, we designed a small and reliable robots driving and control circuitry to be mounted directly inside the housing of the robot, the robot can conveniently control.On the software side, transplant uC / OS-II operating system.It implements the control method of multiple tasks simultaneously.By writing PC software can control the manner and direction as well as the movement of the robot adsorption. After installed on the robot with a camera and ultrasonic modules for autonomous robots path planning and obstacle avoidance technology laid the foundation.Finally, through experimental platform robot, mobile robot and adsorption properties are examined. Results show the effectiveness of mobility, adsorption systems, sealing mechanism and other technologies.