CN102416985A - Wall-climbing robot based on improved flexible electric control adsorption technology - Google Patents
Wall-climbing robot based on improved flexible electric control adsorption technology Download PDFInfo
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- CN102416985A CN102416985A CN2011103139421A CN201110313942A CN102416985A CN 102416985 A CN102416985 A CN 102416985A CN 2011103139421 A CN2011103139421 A CN 2011103139421A CN 201110313942 A CN201110313942 A CN 201110313942A CN 102416985 A CN102416985 A CN 102416985A
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Abstract
The invention discloses a wall-climbing robot based on an improved flexible electric control adsorption technology. The wall-climbing robot comprises a conductive driven wheel, an adsorption crawler, and a driving wheel. The conductive driven wheel and the driving wheel are parallelly fixed to a frame, and can rotate around a shaft; the adsorption crawler forms an enclosed circle, and is tensioned on the conductive driven wheel and the driving wheel; the conductive driven wheel provides power for the adsorption crawler; and the driving wheel is used for driving the adsorption crawler to rotate. The wall-climbing robot can move on vertical wall surfaces made of different materials and having different roughness.
Description
Technical field
The present invention relates to a kind of improved automatically controlled adsorption technology, it has combined the ERG electric current to become the electrorheological property of glue.Utilize the absorption crawler belt of this fabrication techniques that metope is had bigger adsorption affinity, can adapt to the different materials metope better, and have certain self-cleaning function.With this technology serves as that the single suction that the basis makes attaches the crawler belt climbing robot, can climb the metopes such as wooden, glass, cement concrete, iron and steel and plastics of different roughness, and it is low to consume energy.
Background technology
At present, traditional climbing robot according to suction type be divided into vacuum cap type absorption, magnetic echos bionical absorption.Vacuum cap type absorption requires the absorption plane smooth, and is very little to coarse plane adsorption affinity; Magnetic attaches and can only work to the plane that can be magnetized, and it is very big to keep the absorption power consumption; Bionically be adsorbed on many material face and need verify, break away from complicatedly during motion, energy consumption is very high, and the absorption array preparation is complicated.Automatically controlled absorption is a kind of later-model adsorption technology, and is strong to the adaptive faculty of different materials, different roughness metope, and certain adsorption affinity is arranged.
Summary of the invention
Not strong to the wall adaptive capacity in order to overcome traditional climbing robot, the big problem that consumes energy the invention discloses a kind of climbing robot based on improved automatically controlled adsorption technology.This robot can be climbed metopes such as wooden, glass, cement concrete, iron and steel and the plastics of different roughness, and it is low to consume energy.
The technical solution adopted for the present invention to solve the technical problems is:
This climbing robot comprises physical construction, absorption crawler belt, control structure and power supply.Physical construction is made up of robot frame, driving wheel, conduction follower and balance tail.Robot frame is used for supported mechanical construction, adsorption plant, control structure and power supply.Driving wheel is positioned at the below of framework, by the steering wheel chain drive; The conduction follower is positioned at the framework top, and two ends are the metallic conduction electrode, and the centre is an insulating material; Two have the balance tail of certain camber and certain degree of hardness to be positioned at base of frame.The absorption crawler belt becomes glue by electrode, PVC film and ERG electric current and forms.Positive and negative electrode is distributed on the PVC film, and the ERG electric current becomes glue and is distributed on electrode and the PVC film.Control structure is a radio control circuit.Power supply is made up of battery pack and DC-DC electric pressure converter.
This climbing robot utilizes improved automatically controlled adsorption technology, and it has combined the ERG electric current to become the electrorheological property of glue.Utilize the absorption crawler belt of this fabrication techniques that metope is had bigger adsorption affinity, can adapt to the different materials metope better, and have certain self-cleaning function.In Fig. 1, when the absorption crawler belt did not have extra electric field, the absorption crawler belt did not have adsorption affinity to metope.When applying high voltage (1.5KV-5KV); Positive and negative electrode spaced apart induces relative with electrode and opposite polarity induced charge on metope; Electric charge on the positive and negative electrode and the induced charge on the metope attract each other, and make the absorption crawler belt to metope certain adsorption affinity arranged; The glue of ERG electric current change is simultaneously strengthened under the effect of electric field outside; Electric rheological effect takes place; Electric current becomes particulate and shrinks into that the ERG electric current becomes in the glue, increased the area of contact that the ERG electric current becomes glue and metope, thereby; The absorption crawler belt just is adsorbed on the metope better, and supports climbing robot and on metope, move.Simultaneously, electric current change particulate outstanding on the contact surface can also protect contact surface not receive the pollution of foreign material such as dust, fine particle, thereby realizes the self-cleaning function of contact surface.
The invention has the beneficial effects as follows and can climb various material face walls, energy consumption is low, does not receive metope roughness and impurity effect.
Description of drawings
Fig. 1 is that the crawler belt principle schematic is adsorbed in the present invention.
Fig. 2 is a climbing robot front elevation of the present invention.
Fig. 3 is a climbing robot lateral plan of the present invention.
Fig. 4 is that the present invention climbs wall absorption crawler belt front elevation.
1.PVC film among the figure, the 2.ERG electric current becomes glue, 3. material face, 4. electrode, 5. conduction follower, 6. absorption crawler belt, 7. framework, 8. driving wheel, 9. power supply and control circuit, 10. balance tail.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is elaborated.
With reference to figure 1 and Fig. 4, the structural representation for absorption crawler belt 6 is distributed in electrode 4 on PVC film 1, then, on PVC film 1 and electrode 4, evenly coats the ERG electric current and becomes glue 2, processes needed absorption crawler belt.In Fig. 1, when not adding high potential on the electrode 4 for example during direct current 1.5KV-5KV, the absorption crawler belt does not have adsorption affinity to material face 3.When applying high voltage, positive and negative electrode 4 spaced apart induces on material face 3 and electrode 4 relative and opposite polarity induced charges.Induced charge on electric charge on the electrode 4 and the material face 3 attracts each other, and makes the absorption crawler belt to material face 3 certain adsorption affinity arranged; Simultaneously the ERG electric current becomes glue 2 and strengthens outside under the effect of electric field, and electric rheological effect takes place, and electric current becomes particulate and shrinks into that the ERG electric current becomes in the glue 2, has increased the ERG electric current and has become the area of contact of glue 2 and material face 3, thereby material face 3 is produced adsorption affinitys.Thereby absorption crawler belt 6 just can be adsorbed on the metope better.
Preferred embodiment, PVC film 1 thickness is 0.01mm-0.5mm, representative value 0.02mm.The flexible electrode that electrode 4 can adopt metallic paper, conducting polymer composite or processed by the utter misery technology.Electrode 4 thickness are 0.01mm-0.5mm, representative value 0.01mm; Electrode 4 width 0.5mm-100mm, representative value 12mm.Electrode 4 spacing 0.5mm-15mm, representative value 8mm.The ERG electric current usually by the non-conductive particulate of high resiliency insulating gel and high-k for example becomes glue 2, the TiO of employing silica gel and high-k
2At highfield 0.5-5KV/cm, representative value is to be mixed and made under the 1.5KV/cm, and method for making is a prior art, and the present invention does not do qualification to this.
Fig. 2 and Fig. 3 are respectively climbing robot front elevation of the present invention and lateral plan, and climbing robot comprises conduction follower 5, absorption crawler belt 6, driving wheel 8, power supply and control circuit 9, balance tail 10.Conduction follower 5 and driving wheel 8 secured in parallel are on framework 7; Conduction follower 5 can rotate around the axis with driving wheel 8; Absorption crawler belt 6 forms closed circumference; Stretch-draw is on conduction follower 5 and driving wheel 8, and conduction follower 5 provides for example direct current 1.5KV-5KV of electric power to the absorption crawler belt, and driving wheel 8 is used to drive said absorption crawler belt 6 and rotates.
Power supply and control circuit 9 connected high potentials, and absorption crawler belt 6 contact the acquisition power line voltage through the conductive electrode with conduction follower 5 right ends, presses at forceful electric power under the effect of direct current 1.5KV-5KV for example; 6 pairs of metopes of absorption crawler belt produce certain adsorption affinity; When control circuit 9 is received remote signal, driving wheel 8 is under the steering wheel chain gear, and driving wheel 8 rotates; Drive absorption crawler belt 6, this climbing robot can be moved on metope forward or backward.
Should be understood that, concerning those of ordinary skills, can improve or conversion, and all these improvement and conversion all should belong to the protection domain of accompanying claims of the present invention according to above-mentioned explanation.
Claims (6)
1. the climbing robot based on improved flexible electronic control adsorption technology is characterized in that, comprises conduction follower, absorption crawler belt, driving wheel.Conduction follower and driving wheel secured in parallel are on framework; Conduction follower and driving wheel can rotate around the axis, and the absorption crawler belt forms closed circumference, and stretch-draw is on conduction follower and driving wheel; The conduction follower provides electric power to the absorption crawler belt, and driving wheel is used to drive said absorption crawler belt and rotates.
2. climbing robot according to claim 1 is characterized in that, said absorption crawler belt comprises that electrode, ERG electric current become glue and PVC film; Electrode gap is distributed on the PVC film, on PVC film and electrode, evenly coats the ERG electric current and become glue, process needed absorption crawler belt, during use, on said electrode, apply high potential.
3. climbing robot according to claim 2 is characterized in that, the high potential that applies on the said electrode is 1.5KV-5KV.
4. climbing robot according to claim 2 is characterized in that, said PVC film thickness is 0.01mm-0.5mm; Thickness of electrode is 0.01mm-0.5mm electrode width 0.5mm-100mm; Electrode separation 0.5mm-15mm.
5. climbing robot according to claim 2 is characterized in that, said PVC film thickness is 0.02mm; Thickness of electrode is 0.01mm; Electrode width is 12mm; Electrode separation is 8mm.
6. according to the arbitrary described climbing robot of claim 1 to 5, it is characterized in that, also comprise two balance tails.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011103139421A CN102416985A (en) | 2011-10-17 | 2011-10-17 | Wall-climbing robot based on improved flexible electric control adsorption technology |
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| CN2011103139421A CN102416985A (en) | 2011-10-17 | 2011-10-17 | Wall-climbing robot based on improved flexible electric control adsorption technology |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785720A (en) * | 2012-08-21 | 2012-11-21 | 常州工学院 | Tracked multi-sucker wall-climbing robot and climbing method thereof |
| CN104071246A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Vehicle body used for wall-climbing robot |
| CN104071249A (en) * | 2014-07-11 | 2014-10-01 | 哈尔滨工业大学（威海） | Double-caterpillar-band wall-climbing monitoring robot |
| CN106985925A (en) * | 2017-03-24 | 2017-07-28 | 北京航空航天大学 | A kind of vertical surface climbing task platform based on Electrostatic Absorption |
| CN107724255A (en) * | 2017-08-30 | 2018-02-23 | 江苏工程职业技术学院 | A kind of adsorbed wall-climbing robot concrete reinforcement method |
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| CN101462562A (en) * | 2009-01-14 | 2009-06-24 | 哈尔滨工业大学 | Single crawler type wall climbing robot based on electrostatic absorption principle |
| US7554787B2 (en) * | 2006-06-05 | 2009-06-30 | Sri International | Wall crawling devices |
| CN201914347U (en) * | 2010-09-21 | 2011-08-03 | 长春理工大学 | Multi-cavity negative-pressure-adsorption type wall-climbing robot |
| CN102167102A (en) * | 2011-04-08 | 2011-08-31 | 上海电机学院 | Suction cup type pneumatic wall-climbing robot |
| CN102211626A (en) * | 2010-04-08 | 2011-10-12 | 李远达 | Wall climbing robot airflow adsorption technology and walk operation platform |
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2011
- 2011-10-17 CN CN2011103139421A patent/CN102416985A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7554787B2 (en) * | 2006-06-05 | 2009-06-30 | Sri International | Wall crawling devices |
| CN101462562A (en) * | 2009-01-14 | 2009-06-24 | 哈尔滨工业大学 | Single crawler type wall climbing robot based on electrostatic absorption principle |
| CN102211626A (en) * | 2010-04-08 | 2011-10-12 | 李远达 | Wall climbing robot airflow adsorption technology and walk operation platform |
| CN201914347U (en) * | 2010-09-21 | 2011-08-03 | 长春理工大学 | Multi-cavity negative-pressure-adsorption type wall-climbing robot |
| CN102167102A (en) * | 2011-04-08 | 2011-08-31 | 上海电机学院 | Suction cup type pneumatic wall-climbing robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785720A (en) * | 2012-08-21 | 2012-11-21 | 常州工学院 | Tracked multi-sucker wall-climbing robot and climbing method thereof |
| CN104071246A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Vehicle body used for wall-climbing robot |
| CN104071249A (en) * | 2014-07-11 | 2014-10-01 | 哈尔滨工业大学（威海） | Double-caterpillar-band wall-climbing monitoring robot |
| CN106985925A (en) * | 2017-03-24 | 2017-07-28 | 北京航空航天大学 | A kind of vertical surface climbing task platform based on Electrostatic Absorption |
| CN107724255A (en) * | 2017-08-30 | 2018-02-23 | 江苏工程职业技术学院 | A kind of adsorbed wall-climbing robot concrete reinforcement method |
| CN107724255B (en) * | 2017-08-30 | 2019-04-26 | 江苏工程职业技术学院 | A kind of adsorbed wall-climbing robot concrete reinforcement method |
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Application publication date: 20120418 |