ИСТИНА

When mobile robots are moving vertically on complex ferromagnetic or non-ferromagnetic surfaces, such as ceilings, walls, inclined surfaces, contact with surfaces can be achieved by means of coupling devices that generate various levels of vacuum, which provide pressure using a vacuum pump. The controlled formation of vacuum makes it possible to adapt the contact to surfaces of various qualities and properties. The article discusses the processes of vacuum generation by means of a centrifugal pump and a turbine, as well as the action of a system developed on the basis of a contact due to a vacuum pump designed to carry out motion on vertical surfaces. The process of obtaining rarefied air in the chamber and the possibility of controlling the contacting force by changing the size of the gap between the surfaces of the movement of the robot and end of vacuum contact device are analyzed. Experimental characteristics of pressure, separation force, and changes in the evacuation process are presented.