摘要
For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical propellers to provide adsorption force.The symmetrical driving structure can provide smooth thrust for the DHWCR,so that the robot can be absorbed to the wall surface with different roughness.A left and right control frame with multiple degrees of freedom is designed,which can adjust the fixed position of the brushless propeller motor in the front and back directions,realize the continuous adjustable thrust direction of the robot,and improve the flexibility of the robot movement.Using the front wheel steering mechanism with universal joint,the steering control of the DHWCR is realized by differential control.In the vertical to ground transition,the front and rear brushless motors can provide the pull up and oblique thrust,so that the DHWCR can smoothly transition to the vertical wall.The motion performance and adaptability of the DHWCR in the horizontal ground and vertical wall environment are tested.The results show that the DHWCR can switch motion between the horizontal ground and vertical wall,and can stably adsorb on the vertical wall with flexible attitude control.The DHWCR can move at a fast speed.The speed on the horizontal ground is higher than that on the vertical wall,which verifies the feasibility and reliability of the DHWCR moving stably on the vertical wall.
基金
supported by the Key Research Development and Promotion Special Project of Henan Province,under Grant 212102310119 and 212102210358
Scientific Research Foundation for High-level Talents of Henan Institute of Technology,under Grant KQ1869
2021 Provincial Higher Education Teaching Reform General Project"Research and Practice of Grassroots Teaching Management Construction in Local Application-oriented Universities under the Background of Professional Certification",under Grant SJGY20210520
University-Industry Collaborative Education Program,under Grant 202101187010 and 202102120046
Innovation and Entrepreneurship Training Program for College Students of Henan Province,under Grant 202211329011
Educational and Teaching Reform Research and Practice Project of Henan Institute of Technology,under Grant 2021-YB023 and JJXY-2021005
Innovative Education Curriculum Construction Project of Henan Institute of Technology,under Grant CX-2021-005
2022 Xinxiang Federation of Social Sciences Research topic,under Grant SKL-2022-254 and SKL-2022-228
2022 Annual Research Topic of Henan Federation of Social Sciences,under Grant SKL-2022-2692
2022 Annual Research Project of Henan Federation of Social Sciences:"Research on Rural Revitalization Strategy of Financial Service Model Innovation in Henan Province",under Grant SKL-2022-2692.
