Research on omni-directional moving adsorption mechanism and its application in wall-climbing robot

Aiming at the demand of glass curtain wall cleaning, an Omni-directional moving adsorption mechanism with moving, adsorption, climbing obstacle, surface-to-surface conversions functions was developed. The mechanism incorporates one motor, one driving module, one steering module. This Omni-directional moving adsorption mechanism can make the wall climbing robot not only run towards all directions in line but also rotate along definite angle at its original position without changing its posture. The vacuum coupling delivery adsorption system is designed to provide necessary adsorption force for the robot. The climbing obstacle ability and the surface-to-surface conversion course of the mechanism are analyzed. Mobile safety analysis and kinematical analysis of the wall-climbing robot with above Omni-directional moving adsorption mechanisms are discussed. The wall-climbing robot with above mechanisms can be used for operation of glass curtain plane wall and curved wall of large curvature with hidden window frames and no window frames, which is with high moving velocity, stable adsorption capability and strong wall adaptability.