CN101412415B - Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof - Google Patents
Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof Download PDFInfo
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- CN101412415B CN101412415B CN200810227554XA CN200810227554A CN101412415B CN 101412415 B CN101412415 B CN 101412415B CN 200810227554X A CN200810227554X A CN 200810227554XA CN 200810227554 A CN200810227554 A CN 200810227554A CN 101412415 B CN101412415 B CN 101412415B
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Abstract
The invention relates to a reverse thrust and negative pressure combined adsorption method applied to a wall-climbing robot and realization thereof. When a suction disk(1) of the wall-climbing robot is contacted with the wall surface, air flow enters a cavity(4) of the suction disk(1) from the gap between the suction disk(1) and the wall surface through a propeller(3) rotating at a high speed in a guiding channel, and is discharged from the guiding channel (5) in which the propeller(3) on the top of the suction disk(1) is arranged, and the superimposed effect of the adsorption force generated due to the negative pressure state in the suction disk(1) and the reverse thrust generated due to the high-speed rotation of the propeller(3) in the guiding channel is formed, so that the adsorption force between the suction disk(1) of the wall-climbing robot and the wall surface is kept in the range of enough threshold value. The robot is ensured to be dynamically adsorbed on the wall surface, and flexibly moved. By the application of the theory and the realization method, the wall-climbing robot can realize small size, light weight, low noise, energy conservation, unnecessary complex suction disk sealing device and strong obstacle crossing capability.
Description
Technical Field
The invention relates to a wall-climbing robot and a wall surface adsorption method, in particular to a nonlinear composite adsorption method of a wall-climbing robot by adopting reverse thrust and negative pressure adsorption and an implementation thereof.
Background
The wall climbing robot can replace human beings to work in dangerous and inaccessible extreme environments such as vertical wall surfaces and the like, and can be used for cleaning the outer wall surface of a high building, detecting the building quality of the wall surface, carrying out anti-terrorism reconnaissance monitoring on suspicious rooms in the building from the outside of the high building and the like.
Wall climbing robots generally rely on some sort of attraction force to reliably attach to and move on a wall surface, where it is critical how to reliably attract. Currently, the suction method of the wall climbing robot generally includes a magnetic suction method, a vacuum suction method, a negative pressure suction method, a thrust suction method by rotation of a propeller, a suction method using a viscous material, and the like. The wall-climbing robot adopting the magnetic adsorption mode can only be used for a magnetic-conductivity wall surface, and is large in application limitation. The vacuum adsorption mode is suitable for the leg-type moving wall-climbing robot, the moving speed is very low, and the robot is large in size and not convenient to carry. Although the negative pressure adsorption mode is relatively flexible in movement, the requirement on the wall surface is high, and if large ravines or large bulges exist on the wall surface, the robot cannot pass through the negative pressure adsorption mode. In addition, the wall-climbing robot adopting the negative pressure adsorption mode has strict requirements on the sealing conditions of the sucker cavity. The robot that utilizes sticky material to adsorb the wall still exists in the research room stage, and its shortcoming is that the clean or self-cleaning problem of material can't be solved.
The closest to the present invention in principle is a wall-climbing robot (Akira Nishi et al, university of kawasaki, 1991) that uses thrust generated by rotation of a propeller to perform suction, as shown in fig. 1. The axis of the propeller used by the robot adopting the principle and the wall surface need to keep a certain included angle, the vertical component of the propeller thrust is used for balancing gravity, and the utilization efficiency of the thrust is high; the control method for the attitude and the motion of the robot is complex.
In conclusion, the wall climbing robot has the problems of poor adsorption reliability, poor flexible mobility and weak obstacle crossing capability on the wall surface, and is high in implementation difficulty and low in reliability.
Disclosure of Invention
The invention provides a nonlinear composite adsorption method comprehensively utilizing negative pressure adsorption and reverse thrust action and an implementation thereof, which can improve the adsorption reliability, flexible movement and obstacle crossing capability of a wall climbing robot.
The invention aims to provide a composite adsorption method which is simple in structure, does not need to be sealed by a sucking disc, has strong adaptability to wall surfaces and is applied to a wall-climbing robot and an implementation of the composite adsorption method.
The adsorption method comprises the following steps: generating reverse thrust by using static pressure difference caused by relative speed difference of two sides of a propeller rotating at high speed in the diversion duct, wherein the pressure in a negative pressure cavity at the inflow position of the propeller is lower than the atmospheric pressure outside the sucker, so that a certain negative pressure is generated in the negative pressure cavity of the sucker, and the positive pressure of the atmospheric pressure on the sucker is obtained; the composite effect of the reverse thrust and the positive pressure is the adsorption force to the wall surface; when the adsorption force is within a sufficient threshold value, namely not lower than the critical adsorption force of the adsorption force (the critical condition is that the friction force between the robot moving device and the wall surface is balanced with the total weight of the system under the action of the adsorption force), the robot moving device can be adsorbed on the wall surface.
The device for realizing the adsorption method comprises a sucker, a propeller, a negative pressure cavity, a diversion duct and a gap adjusting device; the sucking disc is in seamless connection with the diversion duct, the sucking disc surrounds the diversion duct at the periphery of the inflow position, a space formed between the sucking disc and the wall surface is a negative pressure cavity, a gap adjusting device is arranged between the sucking disc and the wall surface, and the gap adjusting device is in contact with the wall surface and can adjust the distance between the sucking disc and the wall surface; the propellers are placed in the duct, the axes of the propellers are overlapped, and the axes of the propellers are vertical to the wall surface; when the robot is in a working state, the propeller in the diversion duct rotates at a high speed, so that airflow enters the negative pressure cavity from a gap between the suction disc and the wall surface and is discharged through the diversion duct in the center of the suction disc, a superposition effect of the adsorption force generated by the negative pressure state in the suction disc and the reverse thrust obtained by the high-speed rotation of the propeller in the diversion duct is formed, and the total adsorption force of the robot suction disc on the wall surface is within an enough threshold value. I.e. not below the critical adsorption force of the adsorption force. And then the optimal distance is kept between the sucker and the wall surface by reasonably arranging the gap adjusting device, so that the total adsorption force can reach the maximum value. When the robot crosses a large obstacle, the robot can be in a floating state on the wall surface, so that the robot can be dynamically adsorbed on the wall surface and can flexibly move. The technical scheme of the invention can be that the propellers are one or more, namely the total adsorption force is improved, or in order to obtain the same thrust and improve the efficiency, a propeller cascade mode can be adopted, a plurality of propellers can be axially connected in series in a duct, and the propellers can be uniformly distributed on the plane of the sucking disc.
The following provides a further quantitative analysis of the present disclosure. Assuming that the pressure (suction force) against the wall surface acting on the effective area S of the suction cup is FsThe pressure of the atmospheric pressure to the suction cup due to the negative pressure state in the suction cup cavity is FpThe pressure generated by the propeller is FtThen the following equation holds:
Fs＝Fp+Ft
wherein the pressure F in the above equationsIs a function related to the air gap between the robot's chuck and the wall, the air flow, the flow rate parameters, etc.
The invention comprises a propeller generating thrust, a sucker utilizing negative pressure effect, a duct playing a role in guiding flow, and a supporting device (which can be a wheel or a crawler belt and the like) bearing total adsorption force.
For the static equilibrium equation of the shell and the impeller of the robot in the axial row, the
Fs＝Fp+Ft (a)
Wherein, FsTo total adsorption force, FtFor propeller thrust, FpIs a negative pressure. Negative pressure being suction cup S2Distributed force of
Wherein, P0For atmospheric pressure, P (x, y) is a function of the static pressure distribution within the adsorption system.
For the fluid in the system in the axial column momentum equation, then
Wherein,
ρ is the fluid density, considered constant, which is the fluid axial velocity vector. S1Covering the upper surface of the wall with suction cups, S2Inner surface of the suction cup (thickness neglected), S3Is a circular plane of the ducted fluid outlet.
Expanding the left term with equal sign of the formula (c) by using the Reynolds transport theorem
Wherein,
is the fluid velocity vector. V is the total amount of fluid in the adsorption system, and S is the boundary of V. Because the propeller rotates at a constant speed when the system works normally, the first item on the right side of the (d) equation is 0 according to the symmetry, and only S is used3Has an axial velocity of fluid and S3For circular surface, the second term on the right side of the equation (d) is derived, then
Where i is the axial unit vector. Simultaneous (a-e) to obtain an expression of total adsorption force, having
The influence of the height h of the gap between the sucker and the wall surface on the total adsorption force can be qualitatively analyzed from the formula (f): when h is too small, the fluid damping is increased, the flow is affected, and S is greatly limited3Axial velocity u ofaTherefore, the first term on the right side of the expression (f) is affected, resulting in a decrease in the total adsorption force. When h is too large, although the flow rate can be secured, the fluid velocity under the suction cup is decreased due to the too large cross-sectional area of the suction cup, thereby increasing S1The hydrostatic pressure of (f) is too large to cause the total adsorptionThe force drops. In practical application, the maximum total adsorption force can be obtained by reasonably setting the size of h, as shown in figure 2.
The suction cup is provided with a negative pressure cavity and a duct, and the propeller is arranged in the duct of the suction cup. Static pressure difference is generated by means of the relative speed difference of the two sides of the propeller, thrust is generated due to the static pressure difference, and meanwhile, the pressure in the negative pressure cavity is correspondingly lower than the atmospheric pressure outside the sucker, so that certain negative pressure is generated in the negative pressure cavity of the sucker, and the positive pressure of the atmospheric pressure on the sucker is obtained. The composite effect of the reverse thrust and the positive pressure obtains the adsorption force between the wall-climbing robot and the wall surface.
The invention has the beneficial effects that the reverse thrust of the propeller and the negative pressure adsorption are combined, so that the advantages of the propeller and the negative pressure adsorption are complementary, the advantages of the propeller and the negative pressure adsorption are mutually gained and compensated, and the maximum efficiency is exerted. Compared with the negative pressure adsorption mode in the background technology, the scheme of the invention does not need a complex sucker sealing structure, has strong adaptability to the wall surface, and can greatly improve the obstacle crossing capability of the wall-climbing robot when moving on the wall surface; compared with a vacuum adsorption mode, the movable wall surface is more flexible to move on the wall surface; compared with the propeller thrust adsorption method provided by Akira and the like, the propeller thrust adsorption method provided by the invention has the advantages that the propeller axis is vertical to the wall surface, the motion posture of the robot is convenient to control, the design and manufacturing difficulty is reduced, and the system reliability is improved.
Drawings
FIG. 1 propeller thrust adsorption mode;
FIG. 2 is an analysis diagram of the adsorption principle of the present invention;
FIG. 3 is a three-dimensional view of an embodiment of the present invention;
FIG. 4 is a block diagram of a multi-stage propeller blade series implementation of an embodiment of the present invention;
wherein, the device comprises 1-a sucker, 2-a wall surface, 3-a propeller, 4-a negative pressure cavity, 5-a flow guide duct and 6-a gap adjusting device.
Detailed Description
When the method is applied to a wall climbing robot, an embodiment can be described by combining the attached figures 2, 3 and 4: the propeller axis is perpendicular to the wall surface and is used for providing axial airflow and reverse thrust, the sucking disc positioned at the inflow position of the propeller is used for providing negative pressure suction, the sucking disc is provided with a negative pressure cavity and a flow guide duct which generate negative pressure, the propeller is positioned in the flow guide duct and is matched and connected with an output shaft of the motor, and the sucking disc and the flow guide duct opening are integrally connected in a seamless mode. When the sucker 1 of the wall climbing robot is in a working state on the wall surface 2, the propeller motor drives the propeller 3 arranged in the flow guide duct 5 to rotate at a high speed, so that air flow enters the negative pressure cavity 4 of the sucker from a gap between the sucker 1 and the wall surface 2 and is discharged through the flow guide duct 5 in the center of the sucker 1, and a force superposition effect generated by the comprehensive action of the adsorption force generated in the negative pressure state in the sucker 1 and the reverse thrust obtained by the high-speed rotation of the propeller 3 in the flow guide duct 5 is formed, namely, the adsorption force acted on the wall surface by the sucker is the nonlinear superposition of the adsorption force generated by the negative pressure in the sucker and the reverse thrust generated by the rotation of the propeller, so that the total adsorption force of the sucker 1 of the robot on the wall surface 2 is within a sufficient threshold value and cannot be lower than the critical adsorption force of the adsorption force, and the optimal distance between the sucker 1 and the wall surface 2 is kept by reasonably arranging the gap adjusting device, the total adsorption force can be maximized. When the robot crosses a large obstacle, the robot can be in a state similar to 'floating' on the wall surface, and under the condition that moving mechanisms such as wheels (or tracks) are installed, the robot can be ensured to be dynamically adsorbed on the wall surface and can move flexibly.
In order to obtain the same thrust and improve the efficiency, a propeller cascade mode can be adopted, a plurality of propellers can be axially connected in series in the duct 5, see fig. 4, and the propellers can also be uniformly distributed on the plane of the suction cup.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (3)
1. A device which is applied to a wall climbing robot and uses a reverse thrust and negative pressure composite adsorption method comprises a sucker (1), a propeller (3), a negative pressure cavity (4) and a diversion duct (5); the sucking disc (1) is connected with the diversion duct (5) in a seamless mode, the sucking disc (1) surrounds the diversion duct (5) at the periphery of the inflow position of the diversion duct, and a space formed between the sucking disc (1) and the wall surface (2) is a negative pressure cavity (4); the propeller (3) is arranged in the diversion duct (5), the axes of the propeller and the diversion duct are superposed, and the axis of the propeller (3) is vertical to the wall surface (2); when the suction cup is in a working state, the propeller (3) in the diversion duct (5) rotates at a high speed, so that airflow enters the negative pressure cavity (4) from a gap between the suction cup (1) and the wall surface (2) and is discharged through the diversion duct (5) in the center of the suction cup (1), a superposition effect of adsorption force generated by the suction cup (1) in a negative pressure state and reverse thrust obtained by the propeller (3) in the diversion duct (5) rotating at a high speed is formed, and the total adsorption force of the suction cup (1) on the wall surface (2) is within a threshold value; the method is characterized in that: the device also comprises a gap adjusting device (6), wherein the gap adjusting device (6) is arranged between the sucker (1) and the wall surface (2), is in contact with the wall surface (2) and is used for adjusting the distance between the sucker (1) and the wall surface (2).
2. The apparatus of claim 1, wherein: the total adsorption force on the wall surface (2) is changed by adjusting the gap adjusting device (6).
3. The apparatus of claim 2, wherein: the propellers (3) are one, two or more than two, and when the propellers are two or more than two, the propellers (3) are connected in series or in parallel.
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| CN200810227554XA CN101412415B (en) | 2008-11-27 | 2008-11-27 | Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof |
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| CN200810227554XA CN101412415B (en) | 2008-11-27 | 2008-11-27 | Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof |
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| CN101412415B true CN101412415B (en) | 2010-08-18 |
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