CN100422029C - Small-sized wall-climbing robot based on negative pressure absorption principle - Google Patents
Small-sized wall-climbing robot based on negative pressure absorption principle Download PDFInfo
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- CN100422029C CN100422029C CNB2006101510736A CN200610151073A CN100422029C CN 100422029 C CN100422029 C CN 100422029C CN B2006101510736 A CNB2006101510736 A CN B2006101510736A CN 200610151073 A CN200610151073 A CN 200610151073A CN 100422029 C CN100422029 C CN 100422029C
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Abstract
The invention relates to a small wall robot based on passive pressure adsorption theory, wherein it comprises one reversed main fan motor whose axle is mounted with eccentric fan; the main fan motor is mounted in the passive chamber formed by skirt and sealing skirt; the passive chamber has four-wheel driving device and glue absorber; the battery is outside the chamber. The invention has small volume and low noise, without cable, with wide application. And it uses inactive sealing method without positive pressure loss.
Description
One, technical field
What the present invention relates to is a kind of robot, specifically a kind of microminiature climbing robot.
Two, background technology
Along with development of science and technology, fields such as anti-terrorism scouting, skyscraper detection, high-altitude rescue press for the robot that can realize climbing the wall function.This climbing robot portability multiple sensors is finished detection mission.
The most of volume of the wall-climbing device philtrum of current report is bigger, utilizes the more of the attached principle of magnetic, and this kind robot can only be creeped at the magnetic conduction face, and relatively heavier, consumes energy is many, generally is difficult to accomplish not have cableization.There is the small-sized wall-climbing robot of a kind of employing " wind spout " principle in Israel, and volume is very little, no cable, but noise is bigger, is difficult to reach application request in anti-terrorism investigation field.
Three, summary of the invention
The object of the present invention is to provide a kind of simple in structurely, compact, energy consumption is low, and noise is little, can realize not having the small-sized wall-climbing robot based on negative-pressure adsorption principle of cableization.
The present invention seeks to realize like this: the small-sized wall-climbing robot based on negative-pressure adsorption principle comprises an inverted main air blower electrical motor, the axle of main air blower electrical motor is gone up centrifugal fan is installed, the main air blower motor mounting is in the negative pressure cabin that is made of width of cloth skirt and sealed skirt, four wheel drive propulsive mechanism and glue adsorbing mechanism are installed in the negative pressure cabin, be provided with supplying cell out of my cabin in negative pressure, the glue adsorbing mechanism is installed in the negative pressure cabin by support, the composition of glue adsorbing mechanism comprises glue storage cavity, heating chamber and go out offset plate, be provided with leading rod and secondary guide between glue storage cavity and the support, secondary guide between glue storage cavity and the support is provided with memorial alloy and pushes away spring, and the secondary guide of support opposite side is provided with the antagonistic force spring.
The present invention can also comprise some architectural features like this:
1, below centrifugal fan, is provided with streamlined reefer housing.
2, four of the four wheel drive propulsive mechanism advance wheel to be complete water-tight structure, and each advances wheel to be installed on the stay bearing plate, and the propulsion electric machine sealing is installed in and advances in the wheel.
3, be provided with soft abrasion resistant leakproofing material in the edge in negative pressure cabin.
The present invention utilizes negative-pressure adsorption principle, by an inverted main air blower motor drives centrifugal fan high speed revolution, cooperate width of cloth skirt and sealed skirt to produce enough negative pressure, realize robot freely creeping at wall by the four wheel drive propulsive mechanism that advances wheel and advance the wheel electrical motor to form.After reaching the target location, start the glue adsorbing mechanism, robot can be sticked on the wall, close the main air blower electrical motor simultaneously, thereby the realization noiseless is hidden for a long time.
Negative pressure of the present invention produces mechanism and adopts the inverted mounting means of motor, has reduced the height of robot to greatest extent.The main air blower electrical motor is inverted and is installed in the robot negative pressure cabin, and centrifugal fan is directly installed on the motor main shaft, streamlined reefer housing is arranged below the centrifugal fan, and centrifugal fan selects commentaries on classics at a high speed, forms the negative pressure that robot needs in the negative pressure cabin that the width of cloth skirt and sealed skirt are constituted.
Propulsive mechanism of the present invention adopts four-wheel to advance.Four advance wheel to adopt complete water-tight structure, are installed on the stay bearing plate, and propulsion electric machine is sealed in the wheel, can realize that according to different orders robot advances, retreats and rotates.
What the present invention adopted is a kind of passive sealing means that does not have the positive pressure loss, adopts soft abrasion resistant leakproofing material, when negative pressure produces, and this kind material direct contact wall, very little negative pressure just can be pressed in metope with it, and the big more bonded assembly of negative pressure is tight more.For preventing that flexible material from directly being sucked robot negative pressure cavity inside, in this edge of materials, the top of slit pasted a square fixed frame around robot.Such sealing means, the positive pressure overwhelming majority that can to greatest extent centrifugal fan be produced all acts on the drive wheel, has improved the carrying load ability of robot greatly.Allow sealed skirt and drive wheel in diff-H control, certain error to be arranged simultaneously, greatly the difficulty of processing of Jiang Diing.
The present invention has also designed the glue adsorbing mechanism, this mechanism's glue storage cavity is marked with the very big hot-fusible pressure-sensitive adhesive of a kind of viscosity, by heating chamber heating, peptizationization, utilize memorial alloy to push away spring promotion plastic squeeze plate again glue is extruded, antagonistic force spring and support provide reaction thrust that robot is bonded on the wall.Secondary guide and leading rod guarantee not take place the jam phenomenon in pushing away the glue process.Close the main air blower electrical motor, robot can be realized noiseless, long-term absorption.Add hot glue once more, open main air blower, under the effect of spring, the glue adsorbing mechanism leaves metope, is withdrawn into the robot cavity, and robot just can move freely.
Based on a small-sized wall-climbing robot of principle of the invention design-calculated.Oad 320mm * 280mm, deadweight 3kg, noise 70dB.Main air blower motor drives centrifugal fan rotates with certain speed during work, and the combination seal skirt makes in the robot negative pressure cabin and to produce certain negative pressure, thereby provides positive pressure to wall for robot.Centrifugal blower is the big flow blower fan of low speed, has the low characteristics of noise.After negative pressure produced, robot acted on the pressure major part of wall and advances on the wheel, drove 4 propulsion electric machines this moment and can realize that robot advances, retreats and action such as rotation.The glue adsorbing mechanism uses ceramic heating flake that the glue heating is dissolved, and adopts memorial alloy and spring to cooperatively interact and realizes pushing away the glue action, thereby robot is pasted on the wall, and can close the effect that main air blower has reached energy-conservation and long-term absorption this moment.When robot needs when mobile once more, glue is reheated dissolve, start main air blower simultaneously, robot promptly can move freely.
The present invention is based on small size, low noise, and no cableization has broad application prospects at aspects such as anti-terrorism scouting, high building detections.Centrifugal blower adopts inverted motor-driven, and propulsive mechanism adopts four wheel drive.Adopt the passive sealing means of no positive pressure loss, rely on the glue adsorbing mechanism to realize long-term adsorption function.
Four, description of drawings
Fig. 1 and Fig. 2 are structural representations of the present invention;
Fig. 3 is the structural representation of four wheel drive propulsive mechanism;
Fig. 4 is the structural representation that negative pressure of the present invention produces mechanism;
Fig. 5 is the block diagram of Fig. 4;
Fig. 6 is the structural representation of glue adsorbing mechanism;
Fig. 7 is the block diagram of Fig. 6.
Five, concrete real-time mode
For a more detailed description to the present invention for example below in conjunction with accompanying drawing:
In conjunction with Fig. 1 and Fig. 2, composition based on the small-sized wall-climbing robot of negative-pressure adsorption principle comprises an inverted main air blower electrical motor 6, centrifugal fan 1 is installed on the main shaft of main air blower electrical motor, the main air blower motor mounting is in the negative pressure cabin that is made of width of cloth skirt 2 and sealed skirt 4, four wheel drive propulsive mechanism 5 and glue adsorbing mechanism 7 are installed in the negative pressure cabin, are provided with supplying cell 3 out of my cabin in negative pressure.In conjunction with Fig. 4 and Fig. 5, below centrifugal fan, be provided with streamlined reefer housing 9.In conjunction with Fig. 3, four of the four wheel drive propulsive mechanism advance wheel to be complete water-tight structure, and each advances wheel to be installed on the stay bearing plate 10, and propulsion electric machine 8 sealings are installed in and advance in the wheel.In conjunction with Fig. 6 and Fig. 7, the glue adsorbing mechanism is installed in the negative pressure cabin by support 18, its composition comprises glue storage cavity 15, heating chamber 11 and goes out offset plate 14, be provided with leading rod 13 and secondary guide 12 between glue storage cavity and the support, secondary guide between glue storage cavity and the support is provided with memorial alloy and pushes away spring 16, and the secondary guide of support opposite side is provided with antagonistic force spring 17.Be provided with soft abrasion resistant leakproofing material in the edge in negative pressure cabin.
Claims (5)
1. small-sized wall-climbing robot based on negative-pressure adsorption principle, comprise an inverted main air blower electrical motor, the axle of main air blower electrical motor is gone up centrifugal fan is installed, it is characterized in that: the main air blower motor mounting is in the negative pressure cabin that is made of width of cloth skirt and sealed skirt, four wheel drive propulsive mechanism and glue adsorbing mechanism are installed in the negative pressure cabin, be provided with supplying cell out of my cabin in negative pressure, the glue adsorbing mechanism is installed in the negative pressure cabin by support, the composition of glue adsorbing mechanism comprises glue storage cavity, heating chamber and go out offset plate, be provided with leading rod and secondary guide between glue storage cavity and the support, secondary guide between glue storage cavity and the support is provided with memorial alloy and pushes away spring, and the secondary guide of support opposite side is provided with the antagonistic force spring.
2. the small-sized wall-climbing robot based on negative-pressure adsorption principle according to claim 1 is characterized in that: be provided with streamlined reefer housing below centrifugal fan.
3. the small-sized wall-climbing robot based on negative-pressure adsorption principle according to claim 1 and 2, it is characterized in that: four of the four wheel drive propulsive mechanism advance wheel to be complete water-tight structure, each advances wheel to be installed on the stay bearing plate, and the propulsion electric machine sealing is installed in and advances in the wheel.
4. the small-sized wall-climbing robot based on negative-pressure adsorption principle according to claim 1 and 2 is characterized in that: be provided with soft abrasion resistant leakproofing material in the edge in negative pressure cabin.
5. the small-sized wall-climbing robot based on negative-pressure adsorption principle according to claim 3 is characterized in that: be provided with soft abrasion resistant leakproofing material in the edge in negative pressure cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101510736A CN100422029C (en) | 2006-11-27 | 2006-11-27 | Small-sized wall-climbing robot based on negative pressure absorption principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101510736A CN100422029C (en) | 2006-11-27 | 2006-11-27 | Small-sized wall-climbing robot based on negative pressure absorption principle |
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| Publication Number | Publication Date |
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| CN1994805A CN1994805A (en) | 2007-07-11 |
| CN100422029C true CN100422029C (en) | 2008-10-01 |
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| CNB2006101510736A Expired - Fee Related CN100422029C (en) | 2006-11-27 | 2006-11-27 | Small-sized wall-climbing robot based on negative pressure absorption principle |
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| CN101367413B (en) * | 2007-08-17 | 2010-10-13 | 高汉光 | Multifunctional robot for climbing wall |
| CN101293541B (en) * | 2008-03-31 | 2010-04-21 | 浙江大学 | Telecontrol wall-climbing cleaning robot |
| CN101317744B (en) * | 2008-07-18 | 2010-06-09 | 哈尔滨工业大学 | Wall surface cleaning robot based on positive-negative pressure adsorption principle |
| CN102211626A (en) * | 2010-04-08 | 2011-10-12 | 李远达 | Wall climbing robot airflow adsorption technology and walk operation platform |
| CN102476664A (en) * | 2010-11-22 | 2012-05-30 | 中国科学院沈阳自动化研究所 | Wheel foot type wall climbing robot mechanism |
| CN103303383B (en) * | 2013-06-05 | 2015-10-28 | 西安电子科技大学 | A kind of sliding type multicup wall-lcimbing robot |
| CN104802873B (en) * | 2014-01-29 | 2017-08-29 | 浙江大学 | One kind climbing robot vehicle |
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| CN104908833B (en) * | 2015-06-03 | 2017-03-22 | 马鞍山聚力科技有限公司 | Adsorption device of detection robot |
| CN104859743B (en) * | 2015-06-03 | 2017-01-18 | 马鞍山聚力科技有限公司 | Detection robot based on negative pressure adsorption |
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| CN107310649A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The dual-purpose Detecting Robot Pan Bi mechanisms of wall are climbed in a kind of pole-climbing |
| CN106181646B (en) * | 2016-07-11 | 2018-04-10 | 中国电子科技集团公司第二十八研究所 | One kind climbs wall sanding and polishing machine people |
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| CN109531629B (en) * | 2018-11-15 | 2021-04-02 | 厦门朴蜂智能科技有限公司 | High-altitude outer wall operation robot applying negative pressure adsorption safety device |
| CN109973759B (en) * | 2019-04-19 | 2021-06-08 | 哈尔滨工业大学 | Adsorption type omnidirectional mobile robot walking along wall surface of straight pipeline |
| CN110077483B (en) * | 2019-05-16 | 2021-10-19 | 哈尔滨工业大学 | Negative pressure adsorption robot and variable adsorption force curved surface motion control method |
| CN110308725B (en) * | 2019-07-04 | 2022-07-12 | 广东电网有限责任公司 | GIS maintenance robot and adsorption force control method and related device thereof |
| CN111605639B (en) * | 2020-06-30 | 2023-08-04 | 吉林大学 | Novel wall climbing vehicle with wall edge detection and steering functions |
| CN112046229A (en) * | 2020-08-18 | 2020-12-08 | 广东电网有限责任公司 | Self-adaptive adjustment tree climbing wheel and control method thereof |
| CN112285503B (en) * | 2020-10-26 | 2023-04-14 | 国网江苏省电力有限公司电力科学研究院 | GIS/GIL partial discharge detection device |
| CN116142341B (en) * | 2023-01-28 | 2024-07-12 | 四川大学 | Wall climbing robot for surface adsorption and sensor placement |
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| CN1994805A (en) | 2007-07-11 |
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Granted publication date: 20081001 Termination date: 20121127 |