CN102211626A - Wall climbing robot airflow adsorption technology and walk operation platform - Google Patents
Wall climbing robot airflow adsorption technology and walk operation platform Download PDFInfo
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- CN102211626A CN102211626A CN 201010142281 CN201010142281A CN102211626A CN 102211626 A CN102211626 A CN 102211626A CN 201010142281 CN201010142281 CN 201010142281 CN 201010142281 A CN201010142281 A CN 201010142281A CN 102211626 A CN102211626 A CN 102211626A
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Abstract
The invention discloses an adsorption technology using air flow negative pressure and a wall climbing robot operation platform which realizes adsorption and walking on a wall surface by using the adsorption technology. In the platform, high-speed air flow is generated by using gaps between an adsorption disk and the wall surface by a fan, so negative pressure is generated due to flow rate difference of two sides of the adsorption disk and the adsorption and walking on the wall surface is finished under the friction action of walling wheels and the wall surface. The adsorption between the robot and the wall surface in a gap way is realized by fully using air flow negative pressure, so that the adsorption efficiency is high; self weight is light, and relatively large redundant load is achieved so as to meet the wide climbing operation requirements; the wall climbing robot operation platform is suitable for wall surfaces made of various materials, such as glass, metal, ceramic tiles, coating, cement and the like; the wall climbing robot operation platform can be applied to an arc wall surface with a small curved surface; and the wall climbing robot operation platform has a simple structure, and low manufacturing cost and is favorable for industrial production and popularization.
Description
Technical field:
The present invention relates to a kind of climbing robot adsorption technology and walking job platform that utilizes air-negative-pressure.
Background technology:
Climbing robot can be applicable to fields such as curtain wall cleaning, wallcovering operation, high building fire fighting, public security investigation.Climbing robot should possess the basic function of wall absorption and walking, also must provide the actv. operating load outside overcoming self gravitation in addition.
Existing suction type mainly contains attached two kinds of negative-pressure adsorption and magnetic.The attached mode of magnetic is not suitable for the non-magnetic wall.The negative-pressure adsorption mode is divided into vacuum cap type and dynamic negative-pressure absorption type again, vacuum cap type only be applicable to smooth surface and travel mechanism's complexity such as glass, metal, be subjected to cost and device deadweight restriction to be difficult to popularization and application; The dynamic negative-pressure absorption type is to be adsorbed on the wall by the fan aspirated negative pressure that produces in cavity, though this mode is not subjected to the restriction of wall material, but because adsorption affinity mainly passes through the negative pressure realization in the cavity, so and the absorption surface gap is little and adsorption affinity is limited, be difficult to provide useful load.Also have fan thrust to adhere in addition or the mode of fan thrust accessory attachment also exists fan power is required problem high, can heterodyne.
CN101412415A has announced a kind of reaction thrust and negative pressure combined adsorption method " climbing robot ", and its existing problems are as follows: at first, propeller thrust is limited as a main adhesive ability, and the efficient low energy consumption is big; Secondly desire adopts negative pressure cavity to realize air-negative-pressure in utilization, certainly leads to turbulent flow, the adhesive ability that can not effectively utilize current difference to produce.
In sum, in the suction type climbing robot adsorption technology of announcing at present and job platform, also there is not one can realize unlike material wall absorption walking and capacity weight is provided, so be difficult to be applied to climb widely wall operation field.
Summary of the invention:
The present invention is a kind of climbing robot job platform that utilizes the adsorption technology of air-negative-pressure and utilize this adsorption technology realization wall walking.
Utilize fan between suction tray and wall gap, to produce high velocity air, produce negative pressure, under road wheel and the effect of wall friction power, finish the absorption and the walking of wall by suction tray two sides current difference.
Characteristics of the present invention:
1. in card during near wall, can be similar to and think that air does permanent flowing, realize and the gapped absorption of wall the adsorption efficiency height so can make full use of air-negative-pressure;
2. from heavy and light, there is load more more than needed to satisfy and climbs the wall job requirements widely;
3. be suitable for various material walls such as glass, metal, ceramic tile, coating, cement;
4. can be applicable to the curved wall of little curved surface;
5. simple in structure, cost is low to help producing and popularization.
Description of drawings:
Accompanying drawing 1 is climbing robot job platform birds-eye view and 1-1 cutaway view;
Accompanying drawing 2 is climbing robot job platform inner structure scheme drawings.
Wherein 1 is suction tray, and 2 is the fan power group, and 3 is road wheel, and 4 is shell, and 5 for the application operational module patches groove, and 6 is the travel controls module, and 7 are the walking power pack, and 8 is power supply.
The specific embodiment:
The present invention realizes adsorbing and the concrete implementing method of walking specifically describes as follows in conjunction with the accompanying drawings:
The enforcement of adsorption function: the high velocity air that utilizes fan power group 2 to produce produces high velocity air between suction tray 1 and wall gap, produce negative pressure by suction tray 1 two sides relative velocity difference, road wheel 3 produces friction force with wall, finishes absorption when climbing robot platform gravity and heavy burden and friction force balance.
The enforcement of travel controls: road wheel 3 by about two groups the walking power plant modules 5 servo motor driven, travel controls module 6 receives the synchronous or backward rotation of servomotor of two groups of walking power plant modules 5 about operator's instruction and control by wired or wireless mode, finish and advance, retreat, turn to, finish the walking action.
The present invention has preset the application operational module and has patched groove 5 on platform, to patch the widening parts of various operation function demands.
Claims (3)
1. utilize the climbing robot adsorption technology of air-negative-pressure, it is characterized in that: utilize fan between suction tray and wall gap, to produce high velocity air, produce negative pressure by suction tray two sides current difference, suction function is in road wheel, and road wheel and the effect of wall friction power realize the absorption of wall down;
2. utilize the adsorption technology of air-negative-pressure to realize the climbing robot job platform that absorption and wall are walked, it is characterized in that: utilize fan between suction tray and wall gap, to produce high velocity air, produce negative pressure by suction tray two sides current difference, suction function is realized the climbing robot job platform of wall absorption walking in road wheel under road wheel and the effect of wall friction power;
3. all utilize that the inside and outside current difference of card produces that negative pressure finishes absorption climb the wall apparatus for work all in claim 1, in 2 protection domains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010142281 CN102211626A (en) | 2010-04-08 | 2010-04-08 | Wall climbing robot airflow adsorption technology and walk operation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010142281 CN102211626A (en) | 2010-04-08 | 2010-04-08 | Wall climbing robot airflow adsorption technology and walk operation platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102211626A true CN102211626A (en) | 2011-10-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010142281 Pending CN102211626A (en) | 2010-04-08 | 2010-04-08 | Wall climbing robot airflow adsorption technology and walk operation platform |
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| CN (1) | CN102211626A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102416985A (en) * | 2011-10-17 | 2012-04-18 | 郑州轻工业学院 | Wall-climbing robot based on improved flexible electric control adsorption technology |
| CN103507870A (en) * | 2012-06-29 | 2014-01-15 | 中国科学院合肥物质科学研究院 | Wall-climbing robot with passive compression structure and biomimetic claws |
| CN103935418A (en) * | 2014-05-09 | 2014-07-23 | 张培贵 | Carrying machine |
| CN104802872A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing machine vehicle |
| CN104802873A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing mechanism vehicle |
| CN105460097A (en) * | 2014-09-12 | 2016-04-06 | 浙江大学 | Climbing machine vehicle |
| CN105835976A (en) * | 2016-05-13 | 2016-08-10 | 中国东方电气集团有限公司 | Magnetic adsorption driving wheel group device capable of achieving automatic axis included angle adjustment |
| CN106639267A (en) * | 2015-10-28 | 2017-05-10 | 苏州宝时得电动工具有限公司 | Wall surface processing robot |
| CN109677499A (en) * | 2019-02-14 | 2019-04-26 | 河北工业大学 | A kind of clearance-type negative-pressure adsorption climbing robot |
| CN110308725A (en) * | 2019-07-04 | 2019-10-08 | 广东电网有限责任公司 | A kind of GIS robot for overhauling and its absorption force control method and relevant apparatus |
| CN112478109A (en) * | 2020-10-30 | 2021-03-12 | 浙江大学 | Bernoulli sucking disc suitable for underwater operation |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
-
2010
- 2010-04-08 CN CN 201010142281 patent/CN102211626A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102416985A (en) * | 2011-10-17 | 2012-04-18 | 郑州轻工业学院 | Wall-climbing robot based on improved flexible electric control adsorption technology |
| CN103507870B (en) * | 2012-06-29 | 2015-09-16 | 中国科学院合肥物质科学研究院 | A kind of climbing robot with passive compressing structure and bionical claw |
| CN103507870A (en) * | 2012-06-29 | 2014-01-15 | 中国科学院合肥物质科学研究院 | Wall-climbing robot with passive compression structure and biomimetic claws |
| US9738337B2 (en) | 2014-01-29 | 2017-08-22 | Zhejiang University | Climbing robot vehicle |
| CN104802872B (en) * | 2014-01-29 | 2017-01-04 | 浙江大学 | Climbing robot vehicle |
| WO2015113492A1 (en) * | 2014-01-29 | 2015-08-06 | 浙江大学 | Climbing robot vehicle |
| CN104802872A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing machine vehicle |
| CN104802873A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing mechanism vehicle |
| CN103935418B (en) * | 2014-05-09 | 2016-06-08 | 张培贵 | Airborne carrier |
| CN103935418A (en) * | 2014-05-09 | 2014-07-23 | 张培贵 | Carrying machine |
| CN105460097A (en) * | 2014-09-12 | 2016-04-06 | 浙江大学 | Climbing machine vehicle |
| CN106639267A (en) * | 2015-10-28 | 2017-05-10 | 苏州宝时得电动工具有限公司 | Wall surface processing robot |
| CN105835976A (en) * | 2016-05-13 | 2016-08-10 | 中国东方电气集团有限公司 | Magnetic adsorption driving wheel group device capable of achieving automatic axis included angle adjustment |
| CN105835976B (en) * | 2016-05-13 | 2018-05-18 | 中国东方电气集团有限公司 | A kind of magnetic suck driving wheel group device of axis angle automatic adjustment |
| CN109677499A (en) * | 2019-02-14 | 2019-04-26 | 河北工业大学 | A kind of clearance-type negative-pressure adsorption climbing robot |
| CN109677499B (en) * | 2019-02-14 | 2024-01-16 | 河北工业大学 | Intermittent negative pressure adsorption wall climbing robot |
| CN110308725A (en) * | 2019-07-04 | 2019-10-08 | 广东电网有限责任公司 | A kind of GIS robot for overhauling and its absorption force control method and relevant apparatus |
| 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 |
| CN112478109A (en) * | 2020-10-30 | 2021-03-12 | 浙江大学 | Bernoulli sucking disc suitable for underwater operation |
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Application publication date: 20111012 |