CN104058016A - Vacuum adsorption system for wall climbing robot - Google Patents
Vacuum adsorption system for wall climbing robot Download PDFInfo
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- CN104058016A CN104058016A CN201410214308.6A CN201410214308A CN104058016A CN 104058016 A CN104058016 A CN 104058016A CN 201410214308 A CN201410214308 A CN 201410214308A CN 104058016 A CN104058016 A CN 104058016A
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- climbing robot
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Abstract
The invention discloses a vacuum adsorption system for a wall climbing robot. The vacuum adsorption system comprises a sucking disc system, a vacuum pump and a pneumatic circuit, wherein the sucking disc system comprises a plurality of sucking discs and an air distribution plate device; the air distribution plate device comprises an air distribution plate, a seal felt and an air distribution interface; the seal felt is tightly jointed with the inner surface of the air distribution plate; the air distribution interface is arranged on the lower side of the air distribution plate; the vacuum pump and the air distribution interface are connected with each other through the pneumatic circuit; the pneumatic circuit comprises a control device, a vacuum generator, a vacuum supply valve and a vacuum disruption vale. Through the manner, the vacuum adsorption system for the wall climbing robot, provided by the invention, has the advantages of scientific structure, ingenious design, reasonable configuration, advanced function, automatic control, safety, reliability, economy, practicability and the like, and has wide market outlook for popularization of the vacuum adsorption systems for the wall climbing robots.
Description
Technical field
The present invention relates to mechanical automation field, particularly relate to a kind of vacuum suction system for climbing robot.
Background technology
Along with scientific and technological progress, industrial robot has obtained widely using in every field, and wherein, with it, the outstanding advantages in industries such as nuke industry, building, fire-fightings more and more receives people's concern to climbing robot.
The application of climbing robot on clean high-rise building wall surface, can find out the development along with control and mechanical & electrical technology, this can instead of manual the appearance of wall surface cleaning robot of work people is freed from heavy, dangerous high building cleaning, reduce the cleaning cost of skyscraper, enhance productivity, also promote the development of cleaning industry, bring suitable social benefit, economic benefit simultaneously.But this is only an application of climbing robot, in recent years, along with widespread use and the development of multi-form robot in every field, climbing robot is as the robot that can carry out operation on steep slope, the good characteristic that can become a kind of robot apparatus of high-altitude limit operation with it, is more and more subject to people's attention.Sum up, climbing robot mainly can be applied to following
:
(1) can be applicable to spray huge metope, installation ceramic tile, wall flaw detection, wall reparation lift face, wall cleaning, cleaning glass window wall etc. at construction trade;
(2) can be applicable to carry fire-fighting equipment at fire department, transmit relief goods, carry out height rescue work;
(3) can be used for nuclear waste storage tank to carry out the dangerous work such as sight control, thickness measuring and seam inspection at nuke industry;
(4) the inside and outside wall that can be used for vertical metal can or spherical tank in petroleum chemical enterprise checks or sand blasting, spray paint anticorrosion;
(5) ship building industry can be used for spraying the inside and outside wall of hull, to the inside and outside wall of hull check, hull inside and outside wall is clean etc.;
(6) in rescue and relief work, can be applicable to transport escape apparatus, transmit food water provisions etc. to high-altitude trapped personnel;
(7), in aerospace, can be used for space probation, Aerospace Satellite maintenance etc.
As can be seen here, the application of climbing robot relates generally to the people's livelihood, nuke industry, shipbuilding industry etc., and in these fields, is serving as very important work, can promote the raising of productive force, the life that improves the people and service conditions.The research and development of climbing robot structural principle can be the manufacturing of wall robot and the progressive effect of playing guidance and promoting of upgrading; In addition, the research scientific findings of climbing robot correlation technique can directly apply to or drive the progress of relevant chain industry, promotes on the whole the development of productive force, improves the people's quality of life.
In a word, active research and development climbing robot technology, making great efforts exploitation and manufacture and design the needs that the climbing robot that can be converted into reality potential productivity is productive force development, is that people's living standard and service conditions are improved and the needs that improve, and Ye Shi China rejuvenates China by applying scientific and technological advances, the needs of technological advance.The scientific research of this technology will produce huge economic value and social value with innovation.
Climbing robot is realized has three kinds of modes to the absorption of wall, and vacuum suction, magnetic echo thrust absorption.What vacuum suction was comparatively conventional is sucker absorption method, utilizes bar pressure that robot is adsorbed on wall, and this method is used for creeping on the robot of glass wall, and vacuum suction method is divided into again the single sucking disc and two kinds of versions of multi-sucker.In the time that wall is more coarse, the robot of vacuum suction mode easily produces the phenomenon of gas leakage, therefore the attached modes of magnetic that use that change into more, magnetic absorption method can be divided into two kinds of electromagnet and permanent magnets, the convex-concave strong adaptability of magnetic suction type to wall, but magnetic adsorption type robot is only applicable to permeability magnetic material wall.The thrust that mode of thrust absorption utilizes robot self to produce is adsorbed on wall it, this mode structure comparatively complexity and functional reliability lower.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of vacuum suction system for climbing robot, by adopting the vacuum suction system of multi-sucker formula to be used as the adsorption system of climbing robot, overcome the shortcoming that existing magnetic adsorption type robot is only applicable to permeability magnetic material wall, and enough adsorption affinitys are provided, safe and reliable to ensure, save manpower and materials, intelligent optimization, efficiency raising, safe and practical, had market outlook widely popularizing of the vacuum suction system for climbing robot.
For solving the problems of the technologies described above, the invention provides a kind of vacuum suction system for climbing robot, comprise: sucker system, vacuum pump and pneumatic circuit, described sucker system comprises some suckers and distribution disc device, described distribution disc device comprises gas distribution plate, seal felt and distribution interface, described seal felt fits tightly the inside face in described gas distribution plate, described distribution interface is arranged at the downside of described gas distribution plate, described pneumatic circuit connects described vacuum pump and described distribution interface, and comprise control setup, vacuum generator, vacuum feed valve and vacuum breaker valve, described vacuum generator and described vacuum feed valve are connected in series, described vacuum generator is connected in series vacuum filter, described vacuum breaker valve is connected in series vac switch, described vacuum feed valve and described vacuum breaker valve parallel join.
In a preferred embodiment of the present invention, described some suckers include steel ball and manual governing valve.
In a preferred embodiment of the present invention, the two ends of described steel ball are fixedly connected with by spring respectively.
In a preferred embodiment of the present invention, the arranged outside of described steel ball has rubber band, and the diameter of the lateral cross section of described rubber band increases from inside to outside successively.
In a preferred embodiment of the present invention, described manual governing valve is connected with ventilation flue.
In a preferred embodiment of the present invention, the quantity of described some suckers is 16.
In a preferred embodiment of the present invention, described gas distribution plate is connected with gas distribution plate fixed link, and the top of described gas distribution plate fixed link is provided with screw thread.
In a preferred embodiment of the present invention, the top of described gas distribution plate is provided with air distribution hole.
In a preferred embodiment of the present invention, described control setup is PLC circuit.
The invention has the beneficial effects as follows: the present invention for the vacuum suction system of climbing robot there is scientific structure, modern design, configuration is reasonable, function is advanced, automatic control, the advantage such as safe and reliable, economical and practical, on the vacuum suction system for climbing robot universal, has market outlook widely.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing, wherein:
Fig. 1 is the structural representation of vacuum suction system one preferred embodiment for climbing robot of the present invention;
Fig. 2 is the structural representation of the distribution disc device of vacuum suction system one preferred embodiment for climbing robot of the present invention;
Fig. 3 is the structural representation of the pneumatic circuit of vacuum suction system one preferred embodiment for climbing robot of the present invention;
Fig. 4 is the structural representation of some suckers of vacuum suction system one preferred embodiment for climbing robot of the present invention;
In accompanying drawing, the mark of each parts is as follows: 1, sucker system, 11, steel ball, 12, manual governing valve, 13, rubber band, 14, the first spring, 15, the second spring, 16, ventilation flue, 2, vacuum pump, 20, gas distribution plate, 21, seal felt, 22, air distribution hole, 3, pneumatic circuit, 31, vacuum generator, 32, vacuum feed valve, 33, vacuum breaker valve, 34, flow regulating valve, 35, vac switch, 36, vacuum filter.
Detailed description of the invention
To the technical scheme in the embodiment of the present invention be clearly and completely described below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making all other embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention comprises:
For a vacuum suction system for climbing robot, comprising: sucker system 1, vacuum pump 2 and pneumatic circuit 3.
Described sucker system 1 comprises some suckers and distribution disc device, described distribution disc device comprises gas distribution plate 20, seal felt 21 and distribution interface, described seal felt 21 fits tightly in the inside face of described gas distribution plate 20, described distribution interface is arranged at the downside of described gas distribution plate 20, described pneumatic circuit 3 connects described vacuum pump 2 and described distribution interface, and comprise control setup, vacuum generator 31, vacuum feed valve 32 and vacuum breaker valve 33, described vacuum generator 31 is connected in series with described vacuum feed valve 32, described vacuum generator 31 is connected in series vacuum filter 36, described vacuum breaker valve 36 is connected in series vac switch 35, described vacuum feed valve 32 and described vacuum breaker valve 33 parallel joins.
Some suckers are made up of steel ball 11, manual governing valve 12, rubber band 13, the first spring 14, the second spring 15, ventilation flue 16.In the time ignoring gas friction and position, obtained by Bernou1li equation:
?
In formula: the speed that V is gas, K is air pressure coefficient of compressibility, P is pressure,
for density, C is constant.Before robot work, can set air-flow by ventilation flue's speed by manual modulation valve according to character and the load carrying ability of work wall; At machine man-hour, when the air pressure in ventilation flue reduces, there are several suckers (having 4 groups of suckers while normally work) in the situation in effective absorption simultaneously, sucker is adsorbed in wall under the effect of bar pressure.And sucker on gap will communicate with atmosphere, therefore V value will increase, and gas enters sucker, and sucker departs from wall.
In formula:
for gas density, Q is flow,
for the change amount of gas flow rate, g is acceleration due to gravity, and k is that spring is bent strong coefficient,
for compression displacement.:
The effect of gas distribution plate structure is to complete bleeding of sucker and air inlet at wall-climbing device man-hour, gas distribution plate structure mainly contains gas distribution plate 20, seal felt 21, distribution interface composition, gas distribution plate 20 is fixed on lower body by gas distribution plate fixed link, and seal felt 21 is close to the inside face of gas distribution plate 20; Distribution interface is installed on the downside of gas distribution plate 20, for complete to be about to the work of entering or the sucker of the state of deactivating complete bleed, air inlet work.
Pneumatic circuit 3 refers to by vacuum pump 2 to the pneumatic system gas distribution plate distribution interface, comprises vacuum filter 36, vacuum feed valve 32, vacuum breaker valve 33, vac switch 35 etc.Above-mentioned a set of vacuum generator 31 assemblies can only be connected with a distribution interface, need the such equipment of two covers in order to complete distribution to two distribution interfaces.But, sucker at an orchestration interface of actual wall-climbing device man-hour need to produce vacuum, another one need to be destroyed vacuum just, therefore for the solenoid directional control valve of simplified structure and cost-saving two four-ways of can connecting in pneumatic circuit, this solenoid directional control valve and vacuum feed valve 32, vacuum breaker valve 33 are controlled work by PLC, have worked in coordination with the distribution to two orchestration interfaces.In the time that needs produce vacuum, electromagnetic valve energising; In the time that needs destroy vacuum relieving wall, electromagnetic valve power-off, electromagnetic valve energising.These vacuum control elements can form one, form a vacuum generator assembly.
Preferably, described some suckers include steel ball 11 and manual governing valve 12.
Preferably, the two ends of described steel ball 11 are fixedly connected with by spring respectively, and spring comprises the first spring 14 and the second spring 15.
Preferably, the arranged outside of described steel ball 11 has rubber band 13, and the diameter of the lateral cross section of described rubber band 13 increases from inside to outside successively.
Preferably, described manual governing valve 12 is connected with ventilation flue 16.
Preferably, the quantity of described some suckers is 16.
Preferably, described gas distribution plate 20 is connected with gas distribution plate fixed link, and the top of described gas distribution plate fixed link is provided with screw thread, and the centre that gas distribution plate fixed link can extend through Athey wheel is fixed on lower body.
Preferably, the top of described gas distribution plate 20 is provided with air distribution hole 22, in the time that corresponding sucker enters or deactivates state, by air distribution hole 22 complete they bleed, air inlet is worked; Gas distribution plate 22 is also provided with air distribution connector, and air distribution connector is installed in the air distribution hole 22 of gas distribution plate 20 downsides, on air distribution connector, connects and derives from the breather pipe of pneumatic circuit, can complete that sucker is bled, air inlet function.
Preferably, described control setup is PLC circuit.
In order to determine load-carrying capacity and the safety performance of sucker type wall climbing robot, must analyze the suffered power of robot.
Robot, in the time of work, has two kinds of dangerous situations to occur: a kind of situation is its landing from metope in the time that it moves on glass wall; Another kind of situation be sucker due to the top contact owing to being subject to the too large disengaging metope of tilting moment, cause tumbling of robot.In design, the adsorbing mechanism of robot is stressed should avoid landing and the two kinds of situations generations of tumbling, and calculates for simplifying the analysis, has only considered Static Adsorption situation here.
(1) avoid robot landing from metope.According to the characteristic of friction force, under same operating mode, maximum static friction force is greater than force of sliding friction, so have:
G < min(
，
) =
= Nμ
In formula: μ---minimized friction factor;
N---the positive pressure between two mating surfacess.
(2) avoid robot to turn down from glass curtain wall updip.Under the effect of disturbing moment, should meet:
> 0 ( i = 1，…，4)
Suppose to act on power on support wheel without a moment's thought, think that wall only acts on the antagonistic force of robot on the sucker contacting with wall, thus under static state, robot at x, y direction is stressed meets respectively:
Suffered balancing torque is (taking O point as reference point):
And the degree of vacuum of supposing each sucker is balanced, the suction acting on sucker is:
V =
= sv
In formula: s---every group of adsorption area that sucker is total;
V---the degree of vacuum in work sucker.
Calculate for convenient
, suppose several agreed termses, establish the bearing force acting on sucker
(i=1 ..., 5) and form a pair of couple, and from
arrive
ratio increase, above hypothesis can be represented by the formula into:
-
=
-
( i = 1，2)
Simultaneous solution formula obtains
(i=1 ..., 4) and expression:
In theory, as long as meet
> 0, condition (2) satisfies condition, and tries to achieve:
The condition that robot is firm to be adsorbed on driving surface (not from glass wall landing or tumble) should meet:
G < min(
，
)
In theory:
= 5μV
f c2 =
In the time climbing the exploitation of wall machine and design, can be according to concrete size p, d determines
,
size, and determine whether to meet and climb the condition that the not landing of wall machine is not tumbled.(in the time calculating, based on security consideration, the typical friction factor of glass and interambulacrum is pressed subtotal μ=0. 11.）
Going out according to computational analysis the situation that most probable causes danger is (1) or (2).In the situation that ensureing subsidiary risk safety, ensure that the most dangerous situation can not occur, guarantee climbing robot is worked safely thus.Consider that robot first group of sucker in the time of obstacle detouring may occur to leak and the uneven leakage causing of wall, should increase in addition safety factor, in the time of design, while considering to only have 4 groups of sucker groups work below, robot still can adsorb safely.Therefore, ensure the safety of robot, guarantee:
Or be expressed as:
In formula: G---the quality that robot and load are total;
---act on the summation of suction on robot sucker,
=4V;
λ = 1/ μ；
N---safety factor.
The present invention for the beneficial effect of the vacuum suction system of climbing robot is:
One, by adopting the vacuum suction system of sucker absorption method as adsorption plant, utilize bar pressure that robot is adsorbed on wall, be used in and creep on the robot of glass wall, grab the stability of wall and the rapidity of walking, intelligent optimization, convenient and practical thereby improved;
Two, by adopting vacuum pump by completing the absorption to sucker, the control of disengaging for air circuit and gas distribution plate, control, safety and stability automatically;
Three, with respect to the general vacuum suction system for climbing robot, the multi-sucker grouping work for climbing robot here, make the to divide into groups sucker division of labor is clear and definite, realizes successively respectively sucker and grabs the alternate mode that wall, sucker loosen, and walking is stable, safe and reliable.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (9)
1. the vacuum suction system for climbing robot, it is characterized in that, comprise: sucker system, vacuum pump and pneumatic circuit, described sucker system comprises some suckers and distribution disc device, described distribution disc device comprises gas distribution plate, seal felt and distribution interface, described seal felt fits tightly the inside face in described gas distribution plate, described distribution interface is arranged at the downside of described gas distribution plate, described pneumatic circuit connects described vacuum pump and described distribution interface, and comprise control setup, vacuum generator, vacuum feed valve and vacuum breaker valve, described vacuum generator and described vacuum feed valve are connected in series, described vacuum generator is connected in series vacuum filter, described vacuum breaker valve is connected in series vac switch, described vacuum feed valve and described vacuum breaker valve parallel join.
2. the vacuum suction system for climbing robot according to claim 1, is characterized in that, described some suckers include steel ball and manual governing valve.
3. the vacuum suction system for climbing robot according to claim 2, is characterized in that, the two ends of described steel ball are fixedly connected with by spring respectively.
4. the vacuum suction system for climbing robot according to claim 2, is characterized in that, the arranged outside of described steel ball has rubber band, and the diameter of the lateral cross section of described rubber band increases from inside to outside successively.
5. multi-function according to claim 2 family treater, is characterized in that, described manual governing valve is connected with ventilation flue.
6. the vacuum suction system for climbing robot according to claim 1, is characterized in that, the quantity of described some suckers is approximately 16.
7. the vacuum suction system for climbing robot according to claim 1, is characterized in that, described gas distribution plate is connected with gas distribution plate fixed link, and the top of described gas distribution plate fixed link is provided with screw thread.
8. the vacuum suction system for climbing robot according to claim 1, is characterized in that, the top of described gas distribution plate is provided with air distribution hole.
9. the vacuum suction system for climbing robot according to claim 1, is characterized in that, described control setup is PLC circuit.
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| CN201410214308.6A CN104058016A (en) | 2014-05-21 | 2014-05-21 | Vacuum adsorption system for wall climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104888388A (en) * | 2015-01-09 | 2015-09-09 | 广西大学 | Wall-climbing, detecting and mutually-controlling fire-fighting robot |
| CN106043486A (en) * | 2016-07-06 | 2016-10-26 | 重庆交通大学 | Crawling robot used for concrete cable bent tower apparent crack detection |
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| CN106043486A (en) * | 2016-07-06 | 2016-10-26 | 重庆交通大学 | Crawling robot used for concrete cable bent tower apparent crack detection |
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Application publication date: 20140924 |