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Multi- sucker vacuum adsorption climbing wall suction chamber is equipped with multiple independent robot . Sucker each constitute a separate room , thus combines the advantages of multi- and single sucker sucker foot wheel , so that the robot is not only moving fast , and reliable absorption , the more impaired ability, adaptability to the wall . Not even part of the sucker adsorption , adsorption of other suckers as usual , to ensure that the robot moves in the wall safe, reliable, and walking , wall and adsorption with no sliding . However, when a robot to do a sharp turn , the existence of a sliding wall between the track and the adsorption zone will be subject to greater wear. The main advantage of a variety of other thrust robot is its ability to adapt to a variety of wall and has a strong obstacle avoidance capability , but this robot load capacity is very poor and difficult to control , now it seems there is a large distance away from the actual application .
Vacuum suction to achieve roughly three ways: vacuum suction , suction cups and no sliding seals sealed suction cups . Wherein the sliding seal commonly used pneumatic rubber suction cups seal skirt , by adjusting the set pressure in the gas seal suitable , preferably the seal rings can bridge the gap between the suction cup and the wall , so that a suction chamber formed in sealed environment on uneven wall has some ability to adapt. For the smooth surface , the friction coefficient of the glass wall , the use of a sliding seal suction cups has certain advantages :
1 , easy to implement continuous motion , helping improve the speed of movement ;
2 , the high degree of vacuum suction cups , which will help to reduce the overall size and weight of the robot ;
3 sucker for small strips of glass surface has a certain gap adaptability ;
4 , between the suction cup and glass surface friction is small, a small resistance movement , can reduce sucker wear ; Therefore, the design of the glass curtain wall cleaning robot can prioritize sliding seal suction cups .
Though the vacuum level in sucker of SWCR is relatively low, it often requires a larger airflow to serve in suction system due to the dynamic seal which results in noticeable shortcomings—great power consumption and big noise which seriously restricts the robot’s overall performance, so the problem how to improve the adsorption performance becomes a key technique that should be considered. SWCR’s adsorption performance contains two aspects:
(1)Suction system’s ability to turn power consumed by gas source machinery (usually impeller) into adsorption force, called the utilization rate of power;
(2) Mainbody’s ability to turn adsorption force into propulsion, called the utilization rate of adsorption force.
A lot of efforts are made to improve SWCR’s adsorption performance. “City Climber” robots [19–20] have experienced the development of type I, II, III. City Climber I uses a soft brush sealing skirt to avoid the problem that robot using pneumatic tyre as seal tends to get stuck when adsorptionforce is too big, allowing the robot to work in high-suction state to increase load capacity. In addition, the robot is equipped with a novel device connecting vacuum chamber with seal—the isolation ring which is made from foam and plays a key role in optimizing the distribution of adsorption reaction force on wheels and seal, improving the utilization rate of adsorption and enhancing the locomotion ability. Three wheels are placed on both sides of City Climber III’s body. The middle wheel is independently controlled by motor, while the front and the rear are connected with the middle through a belt, which not only increases the contact friction, but also avoids the wheels’ skid. Such mechanism can actually improve the capability of turning adsorption force into static friction (propulsion). Alicia II[23–24] uses a sealing device of “sandwich” structure made from teflon/bristle. From the perspective of adsorption performance, this “maze”-type seal with a high flow resistance is able to maintain vacuum enough in the sucker at a small leakage rate. In addition, Alicia II makes use of special ball bearings to maintain balance with two differential-driving wheels placed on the body’s middle line, and this geometric distribution turns adsorption into available friction force to the greatest degree. In 2008, HILLENBRAND, et al[22], developed CROMSCI, 80 cm in diameter and 25 kg in mass, for large-scale concrete construction testing. In order to ensure its reliable adhesion, the vacuum chamber is physically separated into one large cavity and seven small ones, the large cavity joints gas source and seven small cavities which directly contact with the wall. When some of the small cavities fail to keep vacuum enough, the control system will close corresponding channels according to the signals of feedback sensors, thus it will ensure the overall suction reliability. So far, all attempts made in these robots enhance adsorption performance objectively, but theoretical foundation is still lacked to guide practicing.
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