CN104590416A - Vacuum negative pressure adsorption system and method for multi-legged wall climbing robot - Google Patents
Vacuum negative pressure adsorption system and method for multi-legged wall climbing robot Download PDFInfo
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- CN104590416A CN104590416A CN201410763739.8A CN201410763739A CN104590416A CN 104590416 A CN104590416 A CN 104590416A CN 201410763739 A CN201410763739 A CN 201410763739A CN 104590416 A CN104590416 A CN 104590416A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a vacuum negative pressure adsorption system and method for a multi-legged wall climbing robot. The system comprises vacuum cup channels which are connected with a controller, and each vacuum cup channel comprises a vacuum generator, a vacuum check valve, a filter, a solenoid valve, a safe valve and vacuum cups, wherein the vacuum generator, the vacuum check valve, the filter, the solenoid valve, the safe valve and the vacuum cups are sequentially connected through vacuum pipelines. The vacuum generators and the solenoid valves are connected with the controller. By the adoption of the multiple-cup closed-loop control structure, the wall climbing robot can have high loading and obstacle crossing capacity, and has the advantages of being low in noise and high in efficiency.
Description
Technical field
The present invention relates to Mechanical course field, be specifically related to a kind of negative pressure of vacuum adsorption system and method for polypody wall-surface mobile robot.
Background technology
Wall-surface mobile robot can realize moving freely on wall must possess absorption and locomotive function.Suction type point mainly contains vacuum suction, magnetic suck and thrust by adsorption function and adsorbs three classes.
Although magnetic suck mode can produce larger adsorption affinity, and restriction that is not concavo-convex by wall or crack, be only applicable to the wall that magnetic conductive material is formed, Applicable scope is limited.Thrust absorption provides a thrust to be attached on wall by robot with devices such as screw propellers to robot, this suction type has widely applicable, not by the material of wall, the restriction of smooth surface degree, but the device volume producing thrust is large, noise is large, efficiency is low.Traditional vacuum list suction type has the requirement of certain smoothness to wall, obstacle climbing ability is poor, for complicated wall environment or run into larger groove, concavo-convex time, suction tray negative pressure be difficult to maintain.
Summary of the invention
In order to overcome the shortcoming of prior art existence with not enough, the invention provides a kind of negative pressure of vacuum adsorption system and method for polypody wall-surface mobile robot.
The present invention adopts following technical scheme:
A negative pressure of vacuum adsorption system for polypody wall-surface mobile robot, comprises multiple vacuum cup path, and described multiple vacuum cup path is connected with controller respectively.
Described vacuum cup path comprises the vacuum generator, vacuum check valve, filter, electromagnetic valve, safety valve and the vacuum cup that are connected by vacuum line successively, and described vacuum generator, electromagnetic valve are connected with controller respectively.
Also comprise B/P EGR Back Pressure Transducer EGR, described B/P EGR Back Pressure Transducer EGR is arranged in the middle of the vacuum line of safety valve and vacuum cup, and described B/P EGR Back Pressure Transducer EGR is connected with controller.
A negative pressure of vacuum adsorption method for polypody wall-surface mobile robot, each sucker is fixed on the one leg of robot, and has fixing label, and sucker is known relative to the position of body;
In adsorption process, the real-time negative pressure value that controller feeds back according to B/P EGR Back Pressure Transducer EGR, ensure that any time has at least three suckers not on same straight line to adsorb wall simultaneously, controller controls sucker air-breathing or the venting of corresponding label, ensures that robot can adsorb safely;
Sucker can not normal sorption time, controller controls the connection that safety valve disconnects vacuum cup and vacuum line, and meanwhile, B/P EGR Back Pressure Transducer EGR feeds back to controller the negative pressure value of vacuum cup, controller is taked other gaits or is carried out exception treatment, ensures the safety of wall-surface mobile robot.
Beneficial effect of the present invention:
Bridge surface material is not permeability magnetic material usually, and surface is also rough, by negative pressure of vacuum adsorption system of the present invention, can improve wall-surface mobile robot absorption and moving process in safety and applicability; Multi-sucker closed loop controlling structure is adopted to make wall-surface mobile robot can have larger load and obstacle climbing ability, there is the feature that noise is low, efficiency is high simultaneously, solve the contradiction between traditional adsorption system applicability, safety and obstacle climbing ability, load-carrying capacity.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 1, a kind of negative pressure of vacuum adsorption system of polypody wall-surface mobile robot, be mainly used in the wall-surface mobile robot of bridge climbing, comprise multiple vacuum cup path, be generally six sucker paths, described multiple vacuum cup path is connected with controller 1 respectively, each vacuum cup path comprises the vacuum generator 2, vacuum check valve 3, filter 4, electromagnetic valve 5, safety valve 6, B/P EGR Back Pressure Transducer EGR 7 and the vacuum cup 8 that are connected by vacuum line successively, and described vacuum generator 2, B/P EGR Back Pressure Transducer EGR 7, electromagnetic valve 5 are connected with controller 1 respectively.
The connected sum that controller 1 controls vacuum generator 2 cuts off, vacuum generator 2 is connected to vacuum check valve 3 by vacuum pipe, vacuum check valve 3 ensure that gas can only one-way conduction, vacuum check valve 3 is connected to filter 4 by vacuum pipe, reduce noise when gas is exerted pressure, electromagnetic valve 5 is connected to safety valve 6 by vacuum pipe, safety valve 6 is connected to robotic vacuum sucker by vacuum pipe, B/P EGR Back Pressure Transducer EGR 7 is arranged on the vacuum pipe that safety valve 6 is connected with vacuum cup 8, six suckers are arranged on the podarthrum of six legs of climbing wall mobile robot respectively.
Described B/P EGR Back Pressure Transducer EGR 7 is arranged in the branch pipe(tube) of multiple described vacuum cup respectively, for detecting the negative pressure value of each described vacuum cup, when vacuum cup described in certain adsorbs sudden failure, cut off the path between this vacuum cup 8 and negative pressure line of all the other vacuum cups described by described safety valve, ensure the safety of described negative pressure of vacuum adsorption system.Described B/P EGR Back Pressure Transducer EGR 7 is the suctorial negative pressure value information feed back of institute to controller, and form closed loop control, described controller 1 coordinates air-breathing and the venting of the control sucker of described wall-surface mobile robot gait, realizes robot wall adsorption and locomotive function.
A kind of negative pressure of vacuum adsorption method of polypody wall-surface mobile robot, when Article 1 leg will adsorb, controller 1 sends control signal, and vacuum generator 2 is communicated with, electromagnetic valve 5 is closed, vacuum cup 8 negative pressure value rises, and in this process, vacuum generator 2 works always, until the negative pressure value of vacuum cup is stabilized in a fixed value, B/P EGR Back Pressure Transducer EGR 7 vacuum cup is stablized after negative pressure value feed back to controller, controller 1 confirms sucker normal sorption, then adsorption process terminates.
When one leg will exit (movement), controller 1 sends control signal, vacuum generator 2 cuts off and quits work, electromagnetic valve 5 is opened, sucker is communicated with ambient atmosphere, and negative pressure value quickly falls to zero, and B/P EGR Back Pressure Transducer EGR feeds back to controller sucker negative pressure value, controller confirms that vacuum cup is normally exitted, and deflation course terminates.
When adsorption process can not make vacuum cup normal sorption due to accident, as negative pressure value is too low, safety valve disconnects the connection of vacuum cup and other vacuum lines, simultaneously B/P EGR Back Pressure Transducer EGR 7 feeds back to controller the negative pressure value of now vacuum cup, controller is taked other gaits or is carried out exception treatment, ensures the safety of wall-surface mobile robot.
Described negative pressure of vacuum adsorption system, described B/P EGR Back Pressure Transducer EGR 7 feeds back to described controller the real-time negative pressure value of the described each sucker recorded, described controller 1 with the real-time negative pressure value of described each sucker for reference, ensure when planning gait any time have at least three not on same straight line sucker normally work, ensure the safety of wall-surface mobile robot in gait walking process.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not limited by the examples; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (5)
1. a negative pressure of vacuum adsorption system for polypody wall-surface mobile robot, is characterized in that, comprises multiple vacuum cup path, and described multiple vacuum cup path is connected with controller respectively.
2. adsorption system according to claim 1, it is characterized in that, described vacuum cup path comprises the vacuum generator, vacuum check valve, filter, electromagnetic valve, safety valve and the vacuum cup that are connected by vacuum line successively, and described vacuum generator, electromagnetic valve are connected with controller respectively.
3. adsorption system according to claim 2, is characterized in that, also comprises B/P EGR Back Pressure Transducer EGR, and described B/P EGR Back Pressure Transducer EGR is arranged in the middle of the vacuum line of safety valve and vacuum cup, and described B/P EGR Back Pressure Transducer EGR is connected with controller.
4. the method for the adsorption system according to any one of claim 1-3, is characterized in that,
Each sucker is fixed on the one leg of robot, and has fixing label, and sucker is known relative to the position of body;
In adsorption process, the real-time negative pressure value that controller feeds back according to B/P EGR Back Pressure Transducer EGR, ensure that any time has at least three suckers not on same straight line to adsorb wall simultaneously, controller controls sucker air-breathing or the venting of corresponding label, ensures that robot can adsorb safely.
5. method according to claim 4, it is characterized in that, sucker can not normal sorption time, controller controls the connection that safety valve disconnects vacuum cup and vacuum line, simultaneously, B/P EGR Back Pressure Transducer EGR feeds back to controller the negative pressure value of vacuum cup, and controller is taked other gaits or carried out exception treatment, ensures the safety of wall-surface mobile robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410763739.8A CN104590416A (en) | 2014-12-12 | 2014-12-12 | Vacuum negative pressure adsorption system and method for multi-legged wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410763739.8A CN104590416A (en) | 2014-12-12 | 2014-12-12 | Vacuum negative pressure adsorption system and method for multi-legged wall climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN104590416A true CN104590416A (en) | 2015-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410763739.8A Pending CN104590416A (en) | 2014-12-12 | 2014-12-12 | Vacuum negative pressure adsorption system and method for multi-legged wall climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184454A (en) * | 2016-08-31 | 2016-12-07 | 厦门华蔚物联网科技有限公司 | A kind of intelligent travel in high sky robot |
| CN107600374A (en) * | 2017-09-15 | 2018-01-19 | 大连海事大学 | A kind of deep-sea is remotely controlled strong adsorption device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59220468A (en) * | 1983-05-30 | 1984-12-11 | Hitachi Ltd | Vacuum adsorption walking machine |
| US20010013434A1 (en) * | 2000-02-16 | 2001-08-16 | Hopkins Kathleen Garrubba | Adherent Robot |
| CN102152819A (en) * | 2011-03-17 | 2011-08-17 | 上海市七宝中学 | Walking method for wall-climbing robot |
| CN102826138A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Negative-pressure adsorption module with automatic altitude detection capacity and self-adaptive capacity to adsorbed surface |
| CN203937754U (en) * | 2014-05-15 | 2014-11-12 | 苏州工业园区职业技术学院 | Sucker pneumatic circuit for climbing robot |
-
2014
- 2014-12-12 CN CN201410763739.8A patent/CN104590416A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59220468A (en) * | 1983-05-30 | 1984-12-11 | Hitachi Ltd | Vacuum adsorption walking machine |
| US20010013434A1 (en) * | 2000-02-16 | 2001-08-16 | Hopkins Kathleen Garrubba | Adherent Robot |
| CN102152819A (en) * | 2011-03-17 | 2011-08-17 | 上海市七宝中学 | Walking method for wall-climbing robot |
| CN102826138A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Negative-pressure adsorption module with automatic altitude detection capacity and self-adaptive capacity to adsorbed surface |
| CN203937754U (en) * | 2014-05-15 | 2014-11-12 | 苏州工业园区职业技术学院 | Sucker pneumatic circuit for climbing robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184454A (en) * | 2016-08-31 | 2016-12-07 | 厦门华蔚物联网科技有限公司 | A kind of intelligent travel in high sky robot |
| CN107600374A (en) * | 2017-09-15 | 2018-01-19 | 大连海事大学 | A kind of deep-sea is remotely controlled strong adsorption device |
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Application publication date: 20150506 |