CN104802873B - One kind climbing robot vehicle - Google Patents
One kind climbing robot vehicle Download PDFInfo
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- CN104802873B CN104802873B CN201410043193.9A CN201410043193A CN104802873B CN 104802873 B CN104802873 B CN 104802873B CN 201410043193 A CN201410043193 A CN 201410043193A CN 104802873 B CN104802873 B CN 104802873B
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- hollow cylinder
- car body
- metope
- cover plate
- robot vehicle
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
Robot vehicle is climbed the invention discloses one kind, including car body, car body front and back end installation settings has wheel, the end face of car body towards metope is connected with an adsorbing mechanism, described adsorbing mechanism includes body, and described body is to be provided with a cover plate above hollow cylinder, described hollow cylinder, the upper surface of described cover plate is connected with car body, and the described lower surface of cover plate and the upper end face closure of hollow cylinder is connected；Tangential nozzle is provided with the internal face of described hollow cylinder；Leave gap between the lower surface of described hollow cylinder and metope, the first exhaust runner that described gap is formed between hollow cylinder lower surface outer rim and metope, the inside of described first exhaust flow passage hollow cylinder and periphery environment.The climbing robot vehicle of the present invention can be adsorbed on various metopes, and high adsorption capacity has a wide range of application.
Description
Technical field
Robot vehicle is climbed the present invention relates to one kind.
Background technology
It is the car body that can be walked on vertical wall and ceiling to climb robot vehicle, is played in many specific occasions
Important effect.Such as, we install reflectoscope on car body, and climbing robot vehicle can just replace people large-scale to carry out
The work such as the flaw detection of building (bridge, culvert etc.), significantly reduce operating cost, shorten man-hour.
In order to allow climbing robot vehicle to seek connections with metope, it would be desirable to apply the oppressive force of a sensing metope to car body.
Climbing robot vehicle seeks connections with the situation of vertical wall, and oppressive force makes to produce frictional force between car body and metope, and frictional force not only overcomes
Driving force needed for car body self gravitation and offer body movement；Climbing robot vehicle is sought connections with the situation of courtyard wall, and one
Partial oppressive force directly overcomes the gravity of car body itself, and remaining oppressive force makes to produce frictional force between car body and wall,
Driving force is provided for the motion of car body.
Number of patent application discloses a kind of climbing robot vehicle people, robot peace for CN201210405689 patent of invention
Absorption affinity is produced equipped with magnechuck, and by magnechuck.But, it has the disadvantage：The metope that the robot can be climbed must
Must be that magnetic field can produce the metope of suction, therefore its application has significant limitation.
The content of the invention
For the small shortcoming of the application limitation for overcoming existing climbing robot vehicle to exist, the present invention provides a kind of climbing machine
Car.
The technical solution adopted by the present invention is：
One kind climbing robot vehicle, including car body, car body front and back end installation settings has a wheel, car body towards metope end face with
One adsorbing mechanism is connected, and described adsorbing mechanism includes body, it is characterised in that：Described body is hollow cylinder,
A cover plate is provided with above described hollow cylinder, the upper surface of described cover plate is connected with car body, described cover plate
Lower surface and the upper end face closure of hollow cylinder connect；Tangential nozzle is provided with the internal face of described hollow cylinder；Institute
Gap is left between the lower surface for the hollow cylinder stated and metope, described gap forms hollow cylinder lower surface outer rim and metope
Between first exhaust runner, inside and the periphery environment of described first exhaust flow passage hollow cylinder.
Further, described car body upper surface is provided with motor, the screw rod that described motor is driven by it with it is described
Cover plate is connected；Described screw rod is threadedly coupled with described cover plate；Pressure tap, institute are offered on described cover plate and hollow cylinder
The pressure tap stated is connected with pressure sensor.
Further, offered on described car body and lead, described guiding are provided with pilot hole, described pilot hole
Post one end is fixedly connected through described pilot hole with the upper surface of described cover plate, and described lead can be in described guiding
Slided in hole.
Further, toroidal membrane is provided with below described hollow cylinder, the upper surface of described toroidal membrane passes through
Cushion block is fixedly connected with the lower surface outer rim of hollow cylinder；First row is formed between the lower surface of described toroidal membrane and metope
Flow channel；Described cushion block covers the area of toroidal membrane, and the spacing between described cushion block and cushion block forms hollow circle
Second exhaust runner between cylinder lower surface outer rim and toroidal membrane, the inside of described second exhaust flow passage hollow cylinder
With periphery environment.
Further, the lower surface outer rim of described toroidal membrane is provided with compliant spacer.
Further, described compliant spacer is fluff strip.
Further, described tangential nozzle is connected by pipe with high-pressure fluid source.
Beneficial effects of the present invention are embodied in：
1st, set after first exhaust runner, the centrifugal force of rotational flow makes inside cavity formation less than periphery environmental pressure
Low pressure is distributed, and low pressure distribution makes car body by the oppressive force of a sensing metope, and vertical wall is sought connections with climbing robot vehicle
Situation, oppressive force makes to produce frictional force between car body and metope, and frictional force not only overcomes car body self gravitation but also provides car body
Driving force needed for motion.
2nd, by adjusting the height of the spacing between hollow cylinder lower surface and metope, i.e. first exhaust runner, car can be made
Oppressive force suffered by body is all the time at or approximately at maximum oppressive force.
3rd, the toroidal membrane and the compliant spacer installed in the lower surface of toroidal membrane set in the lower surface of hollow cylinder
Play a part of be：Compliant spacer has blocked the air in the flowing for flowing through metope, hollow cylinder to flow through toroidal membrane and hollow
Second exhaust runner discharge between cylinder, it is thus eliminated that the disorderly flowing caused by the bumps of metope and out-of-flatness, from
And the influence of the bumps and out-of-flatness of metope to the rotational flow in hollow cylinder is inhibited to greatest extent.
Brief description of the drawings
Fig. 1 a are the schematic diagrames of the embodiment of the present invention 1.
Fig. 1 b are profile of the hollow cylinder at the position of tangential nozzle.
Fig. 2 a are the schematic diagrames of the embodiment of the present invention 2.
Fig. 2 b are the height of the first exhaust runner between hollow cylinder and metope and each surface pressure in the embodiment of the present invention 2
Graph of a relation between distribution.
Fig. 3 a are the schematic diagrames of the embodiment of the present invention 3.
There is schematic diagram during barrier in front of Fig. 3 b robot vehicles of the present invention.
Fig. 4 a are tangential nozzle of the invention and turbo-jet engine connection diagram.
Fig. 4 b are tangential nozzle of the invention and engine fuel connection diagram.
Embodiment
Embodiment 1
Reference picture 1a and Fig. 1 b, one kind climbing robot vehicle, including car body 2, the front and back end installation settings of car body 2 have wheel 3, car
The end face of body 2 towards metope 1 is connected with an adsorbing mechanism, and described adsorbing mechanism includes body, and described body is
Hollow cylinder 4, the top of described hollow cylinder 4 is provided with a cover plate 5, and the upper surface of described cover plate 5 is connected solid with car body 2
Fixed, the described lower surface of cover plate 5 is connected with the upper end face closure of hollow cylinder 4；Set on the internal face of described hollow cylinder 4
It is equipped with tangential nozzle 41；Gap is left between the lower surface of described hollow cylinder 4 and metope 1, described gap forms hollow
First exhaust runner 42 between the lower surface outer rim of cylinder 4 and metope 1, described first exhaust runner 42 connects hollow cylinder
Internal and periphery environment.
Ensuing explanation for convenience, we are labeled some key points to car body, referring to Fig. 1 a.Suffered by car body
To oppressive force be the pressure distribution that is formed on A-B faces, C-D faces and E-F faces of air flow (if being not specific to, here
Pressure refers both to gauge pressure) produced by power sum.
Air rotates after nozzle at high speeds ejection in hollow cylinder, then, in the presence of the centrifugal force of rotational flow,
The pressure distribution of depression can be formed in hollow cylinder.When the height of first exhaust runner is suitable height, hollow cylinder internal pressure
Power distribution would be at the state less than environmental pressure.Low pressure distribution applies an oppressive force and acted on car body.Also, air
There is the velocity component of circumferencial direction when entering first exhaust runner, discharged as air flows through first exhaust runner,
It is zero that this velocity component can gradually weaken in the presence of viscous friction.We are by analyzing fluid motion equation formula (i.e.
Navier-Stokes equations) understand, the velocity component of circumferencial direction can influence the pressure distribution in grate flow channel.Work as first row
When the height of flow channel is in suitable height, the velocity component of circumferencial direction can in first exhaust runner (i.e. section A-B and E-
F sections) form faint low pressure distribution.Low pressure distribution can apply an oppressive force and act on car body, so as to increase car body
The summation of suffered oppressive force.
Also, the first exhaust runner formed between hollow cylinder lower surface and metope is so that between hollow cylinder and metope
In the absence of contact, so that car body can be travelled successfully on metope.
The situation of vertical wall is sought connections with climbing robot vehicle, oppressive force makes to produce frictional force between car body and metope, rubs
Power not only overcomes car body self gravitation but also provides the driving force needed for body movement；Sought connections with climbing robot vehicle in courtyard wall
Situation, a part of oppressive force directly overcomes the gravity of car body itself, and remaining oppressive force makes to produce between car body and metope
Raw frictional force, driving force is provided for the motion of car body.
Embodiment 2
Reference picture 2a and 2b, on the basis of above-described embodiment 1, motor 6 is installed in the described upper surface of car body 2, described
The screw rod 61 that is driven by it of motor 6 be connected with described cover plate 5；Described screw rod 61 is threadedly coupled with described cover plate 5；
Pressure tap is offered on described cover plate 5 and hollow cylinder 4, described pressure tap is connected with pressure sensor 7.Described car body
Offered on 2 and lead 8 is provided with pilot hole, described pilot hole, described one end of lead 8 passes through described pilot hole
It is fixedly connected with the upper surface of described cover plate 5, described lead 8 can be slided in described pilot hole.
Oppressive force suffered by car body is bigger, and the contact force of wheel and metope is bigger, metope to wheel frictional force also
Bigger, therefore, how to improve oppressive force suffered by car body is to climb a major issue in robot vehicle design.
Fig. 2 b are the pressure distributions in 3 faces actually measured in the case of the height of different first exhaust runners
Schematic diagram.It was found that the air-flow of rotation forms the pressure point of a depression in hollow cylinder on the C-D faces in hollow cylinder
Cloth, also, the pressure distribution of the depression can be influenceed by the pressure in A-B faces and E-F faces.When between hollow cylinder and metope
When gap ratio is less, meeting when the first exhaust runner between lower surface outer rim and metope that air passes through hollow cylinder flows out
The high pressure distribution for being higher than periphery environmental pressure, the high pressure point are formed on A-B faces and E-F faces in the presence of viscous friction drag
Cloth not only can apply the repulsive force of a dorsad metope to machine car body, but also can make the C-D faces low pressure point in hollow cylinder
Cloth is moved to high pressure direction, and these all can cause the oppressive force suffered by car body significantly to weaken.If we suitably increase spacing
Words, the VISCOUS FLOW resistance of first exhaust runner reduces, so as to reduce the distribution of the high pressure in first exhaust runner, while
Pressure distribution in hollow cylinder can just moved to low pressure direction.When spacing increases to optimum value, first exhaust runner
The interior low pressure distribution that can form slightly less than environmental pressure, and low pressure in hollow cylinder is then generally in minimum state, now
Oppressive force suffered by car body has also just reached maximum.If however, we continue to increase spacing, it has been found that low pressure is distributed
In the trend gradually weakened, its reason is that the air of periphery environment can countercurrently enter first exhaust runner and flow into hollow cylinder
Interior, the state of the air rotational flow in destruction hollow cylinder, rotational flow state will weaken hollow cylinder after being destroyed
Interior low pressure distribution.According to above result of study, we learn, the spacing setting between hollow cylinder and metope is extremely important.
In order that the oppressive force suffered by car body is all the time at or approximately at maximum oppressive force, the scheme that we take is to use
Automatically adjust the mode of the height of first exhaust passage.On the basis of embodiment 1, a motor, motor are fixed on car body
Axle processes screw thread, and cover plate central machined screwed hole with matching, by under screw-driven band motor vehicles bodies after motor rotation
Cover plate and the hollow cylinder motion in portion.The upper surface of cover plate, which is installed, secures lead, and lead stretches into processing on car body
Pilot hole, lead can be slided in pilot hole.Lead and pilot hole limit cover plate and hollow cylinder when mobile
Time will not run-off the straight.One or several pressure taps, pressure tap and pressure sensor phase are processed on hollow cylinder and cover plate
Connection.Motor adjusts the pressure signal surveyed according to pressure sensor the spacing between hollow cylinder lower surface and metope,
That is the height of first exhaust runner, in order to make the oppressive force suffered by car body all the time at or approximately at maximum oppressive force.
Next the necessity of this design is illustrated.
We come consider car body wheel occur gas leak phenomenon situation.After wheel gas leakage, the radius of wheel can diminish, from
And cause the spacing of car body and metope to reduce, also have led to the first exhaust runner that hollow cylinder lower surface is constituted with metope
Reduced height.Viscous friction drag increase when this can cause the air to flow through first exhaust runner, then, first exhaust runner
The pressure distribution in interior (i.e. A-B faces and E-F faces) can be moved to high pressure direction, and then cause pressure distribution in hollow cylinder to height
Direction movement is pressed, the low pressure distribution for also having led to C-D faces weakens.In order to solve this problem, the present embodiment is using regulation
The mode of the height of first exhaust runner.We are detected in hollow cylinder and grate flow channel in real time using pressure sensor
Interior pressure change, and the height of first exhaust runner is adjusted according to the change of pressure.Embodiment shown in Fig. 2 a is used
Two pressure sensors detect the pressure of two positions respectively.One pressure sensor sets on cover plate and surveyed by pressure tap
Amount is close to the pressure of the center of hollow cylinder, the pressure change in the C-D faces that the pressure sensor can reflect in hollow cylinder
Change situation；One pressure sensor is arranged on hollow cylinder, passes through the pressure change in pressure measurement hole measurement first exhaust runner.
In case of climbing the tire of robot vehicle and occur gas leakage, two pressure sensors will detect that the rise of pressure, now,
We are accomplished by suitably increasing the height of first exhaust runner, so as to reduce the viscous friction drag of first exhaust runner, drop
The pressure in (A-B faces and E-F faces) in low first exhaust runner, also, and then make pressure distribution in hollow cylinder to low pressure side
To movement, the pressure distribution in C-D faces is also just reduced.We can increase the height of first exhaust runner until two pressure are passed
The detected value of sensor minimizes value, so that it is guaranteed that the oppressive force suffered by car body is at or approximately at maximum.
Embodiment 3
Reference picture 3a, on the basis of above-described embodiment 1, the lower section of described hollow cylinder 4 is provided with toroidal membrane 9,
The upper surface of described toroidal membrane 9 is fixedly connected by cushion block 10 with the lower surface outer rim of hollow cylinder 4；Described annular every
First exhaust runner is formed between the lower surface of plate 9 and metope；Described cushion block 10 covers the area of toroidal membrane 9, institute
The second exhaust runner between spacing formation hollow cylinder lower surface outer rim and toroidal membrane between the cushion block and cushion block stated, institute
The inside for the second exhaust flow passage hollow cylinder stated and periphery environment.The lower surface outer rim of described toroidal membrane 9 is set
There is compliant spacer 11.Compliant spacer 11 is made up of soft material, and one end of flexible material is fixed on the lower end of toroidal membrane
Face, the other end is in contact with metope.For example, flexible gasket can be fluff strip, and fluff strip one end is bonded at toroidal membrane
Lower surface, the other end is in contact with metope.Even uneven whole metope, fluff strip can also be close to metope, make metope
There is no gap between fluff strip.On the one hand, because fluff strip is soft, influence will not be brought on motion of the car body on metope.
Fluff strip forms a very big flow resistance in the first exhaust runner between metope and toroidal membrane.Though fluff strip itself
So there is also space, but it has been enough to hinder the air in hollow cylinder to be discharged from first exhaust runner, almost all of sky
Gas all flows through the discharge of second exhaust runner.Its reason is：When the height of second exhaust runner is set as Appropriate by us, in
Pressure near empty cylinder inner wall face is closely atmospheric pressure, that is to say, that the entrance and exit of first exhaust runner it
Between and in the absence of very big pressure differential, therefore, fluff strip be enough to block air in hollow cylinder by first exhaust runner to
Outer discharge, then, almost all of air can all be discharged from smooth second exhaust runner.
When the metope that robot vehicle is climbed is uneven whole, if being not provided with compliant spacer, air is flowing through wall
When first exhaust runner between face and toroidal membrane is discharged, uneven whole metope can make the air in first exhaust runner
Flowing gets muddled.Disorderly flowing can produce high pressure distribution in first exhaust runner, and the high pressure is distributed in circumferencial direction
On be probably asymmetric.High pressure distribution in first exhaust runner can not only apply a repulsive force and act on hollow cylinder
On, but also the pressure distribution in hollow cylinder can be made to be moved to high pressure direction.These can all weaken the compressing suffered by car body
Power, is unfavorable for car body absorption on metope.Set after compliant spacer (such as fluff strip), compliant spacer is fitted with metope all the time,
Therefore, it is possible to form a very big flow resistance between hollow cylinder and metope, the flow resistance can prevent air from first exhaust
Runner is discharged, then, and almost all of air can flow through the discharge of second exhaust runner.Compliant spacer is set to bring good as follows
Place：
(1) because having blocked the air flow in first exhaust runner, the disorder in first exhaust runner is eliminated
Flowing, also just inhibits the concavo-convex and out-of-flatness of metope to the shadow produced by the rotational flow in hollow cylinder to greatest extent
Ring；
(2) spacing of chassis (i.e. the lower surface of adsorbing mechanism) between metope of robot vehicle is the bigger the better.Spacing is bigger,
Robot vehicle can be just crossed than larger obstacle.For example, as shown in Figure 3 b, there is square barrier in front of robot vehicle.Such as
If the lower surface of fruit adsorbing mechanism and the height for being smaller than barrier of metope, then obviously robot vehicle is to cross
This barrier.Compliant spacer has blocked the air flow in first exhaust runner, then, the height of first exhaust runner is just
It can suitably increase, also can just increase the lower surface of adsorbing mechanism and the spacing of metope, getting over for robot vehicle is improved so as to reach
Barrier ability.
In order to reach preferable sealing effectiveness, we are generally arranged on compliant spacer the periphery of toroidal membrane.So, ring
There will be a gap space (BB ' and E ' E faces in figure) without compliant spacer between the lower surface of shape dividing plate and metope.
When the height of second exhaust runner is in optimum height, faint low pressure distribution can be formed in second exhaust runner.And because the
Two grate flow channels are close to A-B faces and E-F faces, so faint low pressure can be formed in B-B ' faces and E-E ' faces, so as to improve car
Oppressive force suffered by body.
Further, according to the pressure condition in each face, the height of second exhaust runner is designed to self-adjustable structure shape
Formula, to ensure the oppressive force suffered by car body at or approximately at maximum.
Above-described embodiment 1~3 is required for spraying high velocity air from tangential nozzle and could being formed in hollow cylinder revolving at a high speed
The flowing turned.Generally, nozzle is connected by we by tracheae with high-pressure air source supplies so as to obtain air-flow.High-pressure air source is typically
Pressure-air is produced using air compressor.Because compressor is very heavy, we, which can not possibly fix compressor, pacifies
On climbing robot vehicle, we can only be by the way of compressor be separated with climbing robot vehicle.Following problem can so be brought：
(1) tracheae between compressor and robot vehicle can limit the moving range of robot vehicle；(2) robot vehicle can only have air compressor
In the case of could work, which limits climbing robot vehicle the scope of application；(3) air compressor by tracheae to robot vehicle
During supplying air-flow, tracheae can be produced along journey crushing, and tracheae is longer, and crushing is bigger, and this can cause the outlet of tracheae
Locate the insufficient pressure of (entrance of i.e. tangential nozzle).
In order to solve problem above, the problem of we solve supply high-pressure air source using engine fuel.Fuel delivery
Machine produces high pressure draught using the explosive combustion of fuel (such as, gasoline, diesel oil etc.).Fig. 4 a are using small sized turbine jet hair
Motivation 411 replaces high-pressure air source.Small sized turbine jet engine is arranged on the tangent position of hollow cylinder by we.Small-sized whirlpool
The gas produced when turbine is by fuel combustion is injected into hollow cylinder at a high speed, so as to form rotation in hollow cylinder
Flowing.It is then to be used as high-pressure air source using an engine fuel 412 shown in Fig. 4 b, nozzle passes through tracheae and fuel delivery
Machine is connected.Engine fuel produces high pressure draught by burning and exploding, and the high pressure draught is connected with nozzle by tracheae
Connect.The problem of this technical scheme can solve to be previously mentioned well：(1) engine fuel small volume and lightweight, can
To be directly installed on car body, therefore, car body need not be connected with external device (ED) equipment, and moving range can not be limited；
(2) in filling after fuel, climbing robot vehicle just can anywhere normal work, the scope of application is wider；(3) engine fuel
It is mounted directly and is fixed on car body, the tracheae between engine and nozzle is very short, almost can be without considering the pressure in tracheae
Power is lost, and therefore, the inlet pressure of nozzle can be protected.
Embodiment described in this specification is all situation about being worked under atmospheric environment.The climbing robot vehicle of the present invention also may be used
To be operated in the environment of liquid, such as, climbing robot vehicle of the invention can be operated in deep-sea, when robot vehicle is operated in deep-sea
When in environment, we can supply High-Pressure Water using water pump to tangential nozzle, and current are after nozzle ejection in hollow cylinder
Interior formation rotational flow.The principle for producing oppressive force is identical with embodiment 1~3.Here, we are by high-pressure air source or high pressure liquid
Body source is referred to as high-pressure fluid source.
In order to increase oppressive force, adsorbing mechanism is not limited to one or multiple.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Scope is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention is also and in art technology
Personnel according to present inventive concept it is conceivable that equivalent technologies mean.
Claims (5)
1. one kind climbing robot vehicle, including car body, car body front and back end installation settings has a wheel, and car body is towards the end face of metope and one
Adsorbing mechanism is connected, and described adsorbing mechanism includes body, it is characterised in that：Described body is hollow cylinder, institute
A cover plate is provided with above the hollow cylinder stated, the upper surface of described cover plate is connected with car body, described cover plate
The upper end face closure of lower surface and hollow cylinder is connected；Tangential nozzle is provided with the internal face of described hollow cylinder；It is described
Hollow cylinder lower surface and metope between leave gap, described gap formed hollow cylinder lower surface outer rim and metope it
Between first exhaust runner, inside and the periphery environment of described first exhaust flow passage hollow cylinder；Described hollow circle
The lower section of cylinder is provided with toroidal membrane, and the upper surface of described toroidal membrane is consolidated by the lower surface outer rim of cushion block and hollow cylinder
Fixed connection；Described cushion block covers the area of toroidal membrane, and the spacing between described cushion block and cushion block forms hollow circle
Second exhaust runner between cylinder lower surface outer rim and toroidal membrane, the inside of described second exhaust flow passage hollow cylinder
With periphery environment；The lower surface outer rim of described toroidal membrane is provided with compliant spacer.
2. a kind of climbing robot vehicle as claimed in claim 1, it is characterised in that：Described car body upper surface is provided with motor,
The screw rod that described motor is driven by it is connected with described cover plate；Described screw rod is threadedly coupled with described cover plate；Institute
Pressure tap is offered on the cover plate and hollow cylinder stated, described pressure tap is connected with pressure sensor.
3. a kind of climbing robot vehicle as claimed in claim 2, it is characterised in that：Pilot hole, institute are offered on described car body
Lead is provided with the pilot hole stated, described lead one end passes through the upper surface of described pilot hole and described cover plate
It is fixedly connected, described lead can be slided in described pilot hole.
4. a kind of climbing robot vehicle as claimed in claim 1, it is characterised in that：Described compliant spacer is fluff strip.
5. a kind of climbing robot vehicle as claimed in claim 1, it is characterised in that：Described tangential nozzle passes through pipe and high pressure
Fluid source is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410043193.9A CN104802873B (en) | 2014-01-29 | 2014-01-29 | One kind climbing robot vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410043193.9A CN104802873B (en) | 2014-01-29 | 2014-01-29 | One kind climbing robot vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104802873A CN104802873A (en) | 2015-07-29 |
| CN104802873B true CN104802873B (en) | 2017-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410043193.9A Active CN104802873B (en) | 2014-01-29 | 2014-01-29 | One kind climbing robot vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109199270A (en) * | 2018-09-25 | 2019-01-15 | 柳州市中晶科技有限公司 | climbing robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60219172A (en) * | 1984-04-13 | 1985-11-01 | Fuji Electric Co Ltd | Vacuum adsorption type travelling car |
| JPH08310461A (en) * | 1995-05-19 | 1996-11-26 | Hitachi Zosen Corp | Suction device |
| CN100422029C (en) * | 2006-11-27 | 2008-10-01 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN102211626A (en) * | 2010-04-08 | 2011-10-12 | 李远达 | Wall climbing robot airflow adsorption technology and walk operation platform |
| CN103802905A (en) * | 2012-11-07 | 2014-05-21 | 王也 | Multi-cavity crab-type negative-pressure wall-climbing robot |
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2014
- 2014-01-29 CN CN201410043193.9A patent/CN104802873B/en active Active
Non-Patent Citations (2)
| Title |
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| チャックの基礎特性》.2007,第38卷(第1期),第1-6页. * |
| 黎シン等.旋回流を用いた非接触搬送系に関する研究.《ボルテックス・ * |
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