Study on a wall-climbing robot by applying negative pressure adherence using a seal mechanism to reduce friction (Limit of application condition for adherence to wall)

Abstract

This study investigates a wall-climbing machine to reduce the friction between a seal and a wall surface. The climbing machine uses the adhesion mechanism of negative pressure generated by the blower impeller. A side wall created by flexible bellows, which are connected to the seal from the top outer wall of the climbing machine to maintain negative pressure, can reduce the force with which the seal pushes against the wall. However, in order to prevent the seal from sliding off owing to gravity, it is necessary to press the seal against the wall with springs. Therefore, this seal pressing force causes energy loss because of friction between the seal and the wall when moving the machine. To further reduce the friction, a sealing mechanism using the negative pressure in the machine is developed, and the effect of the mechanism is investigated experimentally in this report. The ratio of the dynamic friction force of the seal with the friction-reducing mechanism to that of the wheel was less than 10%. It was confirmed that the climbing machine using a small power motor can climb a vertical wall made of plywood independently with the battery installed. The conditions of the adhesion limit in the experiment were consistent with theoretical one obtained.

Keywords

• locomotive robot
• negative pressure adherision
• wall climbing
• frictional force
• seal mechanism
• blower impeller