CN105460097A - Climbing machine vehicle - Google Patents
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- CN105460097A CN105460097A CN201410464542.4A CN201410464542A CN105460097A CN 105460097 A CN105460097 A CN 105460097A CN 201410464542 A CN201410464542 A CN 201410464542A CN 105460097 A CN105460097 A CN 105460097A
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Abstract
The invention discloses a climbing machine vehicle which comprises a vehicle body, wherein the vehicle body is provided with wheels; the end, facing a wall surface, of the vehicle body is connected and fixed with an adsorption mechanism; the adsorption mechanism comprises a shell; a cavity with a circular cross section is formed in the shell; the cavity is provided with a closed end surface and an open end surface; the open end surface forms an end surface for adsorbing the wall surface; the closed end surface is fixedly arranged at the end, facing the wall surface, of the vehicle body; a rotating power source is installed on the end, opposite to the wall surface, of the vehicle body; blades arranged in the cavity are connected with an output shaft of the rotating power source; the closed end surface is in an airtight state; the blades are linearly distributed along the axis of the cavity; and a soft flexible sealing structure is arranged between the outer edge of the open end surface and the wall surface. According to the invention, fluff strips are arranged between the outer edge of the adsorption mechanism and the wall surface to form flow resistance which can prevent the outside air from back flowing into the cavity of the adsorption mechanism, thereby eliminating the influence of back flow to the rotating flow in the cavity.
Description
Technical field
The present invention relates to a kind of climbing robot vehicle.
Background technology
Climbing robot vehicle is the car body can walked on vertical wall and top ceiling.Climbing robot vehicle plays an important role in a lot of specific occasion.Such as, we install sonsicope on car body, and climbing robot vehicle just can replace people to carry out the work such as the flaw detection of building (bridge, culvert etc.), significantly reduces operating cost, shortens man-hour.
In order to allow climbing robot vehicle seek connections with on metope, climbing car needs applying adsorption affinity on metope.Climbing robot vehicle seeks connections with the situation of vertical wall, and adsorption affinity makes to produce friction force between car body and metope, and friction force not only overcomes car body self gravitation but also provides the propulsive effort needed for body movement; Seek connections with the situation at courtyard wall at climbing robot vehicle, the adsorption affinity of a part directly overcomes the gravity of car body self, and remaining adsorption affinity makes to produce friction force between car body and wall, for the motion of car body provides propulsive effort.
Application number is that the patent of invention of CN201210405689 discloses a kind of climbing robot, and this robot is provided with magnetic chuck, and produces adsorption affinity by magnetic chuck.But its shortcoming is: the metope that this robot can be climbed must be the metope that magnetic field can produce suction, therefore its application has significant limitation.
Summary of the invention
In order to the shortcoming that the application limitation overcoming the existence of existing climbing robot vehicle is little, the invention provides a kind of climbing robot vehicle.
The technical solution used in the present invention is:
Climbing robot vehicle, comprise car body, car body is installed and is provided with wheel, car body is connected and fixed towards one end of metope and an adsorbing mechanism, it is characterized in that: described adsorbing mechanism comprises a housing, cross-sectional plane is had to be circular cavity in housing, cavity has a Closed End and an open end, described open end forms the end face of absorption metope, described Closed End is installed in car body one end towards metope, one end of car body metope dorsad is provided with rotational power source, be arranged on the output shaft of the flabellum connection of rotating propulsion source in cavity, described Closed End is airtight conditions, described flabellum linearly distributes along the axis of described cavity, soft flexible sealing structure is provided with between the outer rim of described open end and metope.
Preferably, described flexible sealing structure is fluff strip or soft hairbrush.
Preferably, the outside face of described flabellum is coated with flexible material.
Preferably, described flabellum adopts the resilient material preparation of good toughness.
Preferably, the medial surface of described housing offers a sinking space, and the leading section of described flabellum stretches in described sinking space.
Preferably, the output shaft in described rotational power source is installed with a flabellum adapter plate, the upper end of described flabellum is fixed on described flabellum adapter plate.Preferred, the cross-sectional plane of described flabellum adopts the cross section structure with large moment of flexure.More preferred, the cross-sectional plane of described flabellum is right-angled trapezium.
Preferably, the side opening of described housing is provided with foreign matter discharge orifice, and described foreign matter discharge orifice connects the foreign matter collection string bag be arranged on outside housing, and the described foreign matter collection string bag adopts sir-tight flexible material to prepare.
Preferably, described wheel adopts drive wheel.
Beneficial effect of the present invention is embodied in:
1, the benefit arranging fluff strip is:
(1) fluff strip forms a flow resistance between the outer rim and metope of adsorbing mechanism, and this flow resistance can stop the air inversion of outside to enter the cavity of adsorbing mechanism, thus eliminates the impact of adverse current on the rotational flow in cavity;
(2) fluff strip eliminates adverse current, and flabellum does not just need to consume extra energy in the circulation of adverse current yet, and the entirety power consumption of therefore climbing robot vehicle also improves;
(3) because fluff strip sealing eliminates adverse current, so the amplitude that the adsorption affinity of adsorbing mechanism declines along with the increase of spacing diminishes, as shown in Figure 2.So we significantly can increase the spacing between parts and metope such as housing, flabellum of adsorbing mechanism, improve the obstacle climbing ability of climbing robot vehicle;
(4) when flabellum is when doing high speed rotary motion, flabellum is once touch with metope, and flabellum all can be destroyed, thus causes adsorbing mechanism to lose efficacy.After arranging the flexible sealing of fluff strip, we significantly can improve the spacing between adsorbing mechanism and metope, thus reduce the probability that the parts such as housing, flabellum of adsorbing mechanism and metope occur to touch, and improve the safety of climbing robot.
2, the benefit of flabellum outside face flexible material parcel: when foreign matter and flabellum collide; flexible material can absorb impulsive force during collision; thus protect flabellum; even if ensure that foreign matter enters adsorbing mechanism; adsorbing mechanism still can keep normal working, improves the safety performance of climbing robot vehicle.
3, flabellum adopts the benefit that good toughness or soft resilient material make: Cowhells rubber, soft silica gel etc. are all more typical materials, these materials can withstand shocks, collide, even if thus ensure that foreign matter enters adsorbing mechanism, adsorbing mechanism still can keep normal working, improves the safety performance of climbing robot vehicle.
4, process a sinking space in the inner side of housing, the front end of flabellum is stretched and is entered in the space of depression, is increased the length of flabellum thus to greatest extent.The area covered after such flabellum rotating bending is greater than the situation of not setting up sinking space, thus can set up the rotational flow of air to greatest extent in cavity, improves adsorption affinity.
5, a flabellum fixed disc is set up, the bottom of flabellum is fixed, the area covered after such flabellum rotating bending is greater than the situation not arranging flabellum fixed disc, thus can set up the rotational flow of air to greatest extent in cavity, improves adsorption affinity.
6, in order to solve the problem of flabellum distortion, the flabellum Cross section Design (such as, right-angled trapezium Cross section Design) of larger moment of flexure is adopted.
7, offer foreign matter discharge orifice and the foreign matter collection string bag in the side of the housing of adsorbing mechanism, and in order to prevent the air of outside from entering cavity by the string bag and discharge orifice and disturbing the swirling eddy in cavity, the string bag adopts sir-tight material to make.Like this, as long as foreign matter is through discharge orifice, foreign matter will enter discharge orifice and finally drop in the collection string bag under the driving of centnifugal force, and the foreign matter entering the string bag is just difficult to again enter cavity by discharge orifice.The setting of foreign matter discharge orifice and the collection string bag can reduce the impact of foreign matter on adsorbing mechanism to greatest extent, and climbing robot vehicle is stably creeped on the metope having foreign matter to come off.
8, when wheel adopts full drive wheel, when robot vehicle is static to seek connections with on metope or upwards traveling time, forward and backward drive wheel can both produce a friction force upwards, overcomes car body gravity and the motion of drive machines car.That is, adsorption affinity all effectively produces useful friction force, 100% ground make use of adsorption affinity.
Accompanying drawing explanation
Fig. 1 a is the structural representation of adsorbing mechanism of the present invention.
Fig. 1 b is the upward view of Fig. 1 a.
Fig. 1 c is the climbing robot vehicle throwing over barrier schematic diagram not arranging fluff strip.
Fig. 2 does not arrange the adsorbing mechanism of flexible sealing structure and is provided with the adsorption affinity-spaced relationship curve comparison figure of adsorbing mechanism of flexible sealing structure.
Fig. 3 a is the air flow schematic diagram of the present invention when not arranging fluff strip between adsorbing mechanism and metope.
Fig. 3 b is spacing size and distribution of pressure graph of a relation between adsorbing mechanism and metope.
The climbing schematic diagram of the climbing robot vehicle that Fig. 4 is metope when being concave and convex plane.
Fig. 5 is the integral structure schematic diagram of the embodiment of the present invention 1.
Fig. 6 is the schematic diagram of the embodiment of the present invention 2.
Fig. 7 a is schematic diagram when flabellum is static in the embodiment of the present invention 3.
Fig. 7 b is schematic diagram when flabellum rotates in the embodiment of the present invention 3.
Fig. 7 c is the distribution of pressure graph of a relation of rigidity flabellum of the present invention and soft flabellum radial position.
Fig. 8 is the schematic diagram of the embodiment of the present invention 4.
Fig. 9 is the schematic diagram of the embodiment of the present invention 5.
Figure 10 a is the schematic cross-section of distortion when flabellum rotates in embodiment 5.
Figure 10 b is that in embodiment 5, flabellum cross section is the schematic diagram of right-angled trapezium.
Figure 11 is the schematic diagram of the embodiment of the present invention 6.
Figure 12 a is the stressed schematic diagram that in embodiment 7, wheel adopts drive wheel and flower wheel array mode.
Figure 12 b is the stressed schematic diagram that in the embodiment of the present invention 7, wheel adopts full drive wheel mode.
Detailed description of the invention
Embodiment 1
With reference to Fig. 1 a-1b and Fig. 5, climbing robot vehicle, comprise car body 1, car body 1 front and back end is installed and is provided with wheel 2, car body 1 is connected and fixed towards one end of metope 3 and an adsorbing mechanism 4, described adsorbing mechanism 4 comprises a housing, cross-sectional plane is had to be circular cavity in housing, cavity has a Closed End and an open end, described open end forms the end face of absorption metope, described Closed End is installed in car body one end towards metope, one end of car body metope dorsad is provided with rotational power source 41, be arranged on the output shaft of the flabellum 42 connection of rotating propulsion source in cavity, described Closed End is airtight conditions, described flabellum 42 linearly distributes along the axis of described cavity, flexible sealing structure 4 is provided with between the outer rim of described open end and metope 3.
Preferably, described flexible sealing structure 4 is fluff strip or soft hairbrush.
Spacing between the open end of adsorbing mechanism 4 and metope evaluates an important indicator of climbing robot vehicle.Clearly, when the height of the obstacle that metope exists is greater than the design pitch between the open end of adsorbing mechanism and metope, climbing robot vehicle cannot by this obstacle, as illustrated in figure 1 c.Therefore, the design pitch between the bottom surface of adsorbing mechanism and metope is larger, and the traversable obstacle of climbing robot vehicle institute is higher, and that is, the obstacle climbing ability of climbing robot vehicle is stronger.We can improve the obstacle climbing ability of robot by the spacing increased between the bottom surface of adsorbing mechanism and metope, but the problem brought is: the increase of spacing can cause the reduction of adsorption affinity, as shown in the A curve of Fig. 2.
We study discovery by experiment, and the increase of spacing can cause the distribution of pressure between adsorbing mechanism and metope to change, as shown in Figure 3 b.When spacing is zero, namely adsorbing mechanism is close to the situation of adsorption plane, and the air that the flabellum of rotation orders about in cavity does rotational flow, under the influence of centrifugal force, can form the distribution of pressure of a depression in cavity, center pressure is lower than Radinal pressure, and Radinal pressure equals bar pressure.When there is spacing between adsorbing mechanism and metope, the change that the distribution of pressure shape of depression can extend outside.We study by experiment and find, after distribution of pressure produces the change of Fig. 3 b, the air of outside can be close to metope adverse current and enter cavity, and then throw away cavity after being accelerated rotation by flabellum.Fig. 3 a is the air flow schematic diagram between adsorbing mechanism and adsorption plane.Exactly because the distribution of pressure of the formation depression of this backflow phenomena stretches out caused.Extend difference of pressure between negative pressure outside cavity and the bar pressure in the external world by air intake cavity.Air inversion disturbs the rotational flow in cavity after entering cavity, cause the circumferential velocity component of rotational flow to reduce, and then cause the distribution of pressure of the depression in cavity to tighten to barometric pressure direction, reduce adsorption affinity.Generally speaking, there is spacing between adsorbing mechanism and metope can cause negative pressure to extend outside, thus the air of outside flows to cavity and the rotational flow hindered and damaged in cavity and negative pressure distribution thereof in the sucking action subinverse of negative pressure, therefore, the adsorption affinity of adsorbing mechanism is finally caused to reduce, as shown in the A curve in Fig. 2.In addition, flabellum is in acceleration and throw away adverse current and enter in the process of the air in cavity, and flabellum needs to expend extra energy, and the power consumption which results in climbing robot vehicle increases.Further, if metope is uneven whole, between adsorbing mechanism and metope, spacing becomes asymmetric in a circumferential direction, and namely some local spacing is large, some local spacing little (as shown in Figure 4).The air that the local adverse current that spacing is larger enters adsorbing mechanism is more, and the local adverse current that spacing is less enters the charge air of adsorbing mechanism then less.Uneven adverse current circumferentially can aggravate to disturb the rotational flow in cavity, and can cause the center of adsorption affinity substantial deviation adsorbing mechanism.These are all unfavorable for the stable traveling of climbing robot vehicle on metope.
Based on researching and analysing above, we learn, what stop adverse current is the key point increasing adsorption affinity, improve the stability of climbing robot vehicle.If adopt the sealing means such as traditional rubber ring or rubber coating between adsorbing mechanism and metope, although rubber ring or rubber coating can block adverse current, obstacle is but difficult to by such hermetically-sealed construction.In addition, rubber ring or rubber coating have elastomeric material, and they will certainly be subject to coming from metope and perpendicular to the Contact reaction-force of metope, this Contact reaction-force balances the adsorption affinity of a part.Further, this Contact reaction-force produces the friction force hindering car body traveling further.That is, rubber ring or rubber coating not only reduce the adsorption affinity consuming a part, also create the negative effect hindering body movement.We notice, the negative pressure (namely extending to the pressure portion outside cavity) producing adverse current is very little, only need the flow resistance formed between the outer rim and metope of adsorbing mechanism to a certain degree, just can reach the effect blocking adverse current well, there is no need to adopt rubber ring or the structure of rubber coating to implement sealing completely.Based on above analysis, the technical scheme that the present embodiment adopts installs soft flexible sealing structure 4 in the outer rim of adsorbing mechanism.Flexible sealing structure can be selected and be similar to the material such as fine hair, soft hairbrush.For example, flexible sealing structure can be fluff strip, and fluff strip one end is bonded at the outer rim bottom surface of adsorbing mechanism, and the other end contacts with metope.Even if uneven whole metope, fluff strip also can be close to metope all the time, makes do not have gap between metope and fluff strip.Therefore, fluff strip sealing can reduce the amplitude that spacing increases the adsorption affinity decline caused well, as shown in the B curve in Fig. 2.On the one hand, because fluff strip is soft, the contact force produced between it and metope is very little, and therefore, fluff strip can not consume adsorption affinity, also can not bring impact to the motion of car body on metope.Further, obstacle also can pass easily through fluff strip.
Embodiment 2
When climbing robot vehicle and creeping on metope, rotational power source 41 drives flabellum 42 to do High Rotation Speed.If now there is foreign matter (the gravelstone grain etc. that such as metope comes off) to enter cavity, can there is fierce collision with flabellum in foreign matter, cause flabellum damaged.Flabellum breakage very likely causes adsorbing mechanism to lose efficacy.In order to solve this technical barrier, the present embodiment adopts flexible material 5 to wrap up the way of flabellum, and as shown in Figure 6, all the other embodiments are identical with embodiment 1.
When foreign matter and flabellum collide; flexible material can absorb impulsive force during collision, thus protects flabellum, even if ensure that foreign matter enters adsorbing mechanism; adsorbing mechanism still can keep normal working, improves the safety performance of climbing robot vehicle.
Embodiment 3
When climbing robot vehicle and creeping on metope, rotational power source drives flabellum to do High Rotation Speed.If now there is foreign matter (the gravelstone grain etc. that such as metope comes off) to enter cavity, can there is fierce collision with flabellum in foreign matter, cause flabellum damaged.Flabellum breakage very likely causes adsorbing mechanism to lose efficacy.In order to solve this technical barrier, the technical scheme that the present embodiment adopts is: use the resilient material of good toughness to make flabellum, all the other embodiments are identical with embodiment 1.
With reference to figure 7a ~ Fig. 7 b, Cowhells rubber, silica gel, elastic steel sheet etc. are all more typical materials.These materials can withstand shocks, collide and not damaged, even if thus ensure that foreign matter enters adsorbing mechanism, adsorbing mechanism still can keep normal working, improves the safety performance of climbing robot vehicle.
Embodiment 4
With reference to figure 7a and Fig. 7 b, the resilient material of good toughness makes flabellum can bring another technical matters again.When flabellum does High Rotation Speed flabellum both sides can mineralization pressure poor, the pressure namely towards the flabellum face of hand of rotation can higher than the flabellum face of hand of rotation dorsad.Under the effect of this difference of pressure, the flabellum of the resilient material of good toughness can produce bending, and the straight-line distance from the root of flabellum to flabellum end can shorten.Flabellum after bending and the distance between case inside face increase, and form a space not having flabellum to cover.In the space covered not having flabellum, the speed component that rotates in a circumferential direction of air is very faint, thus result in this space and do not have obvious distribution of pressure, and, pressures near atmospheric in this space, makes the distribution of pressure in cavity overall to the deflation of barometric pressure direction, as shown in Figure 7 c.
With reference to figure 8, researching and analysing based on distribution of pressure, we can learn, the resilient material of good toughness makes flabellum and the distribution of the negative pressure in cavity can be caused to weaken, and active area reduces, thus causes adsorption affinity to weaken.In order to address this problem, key is the length increasing flabellum as much as possible, enables the flabellum after rotating bending cover more area.The present embodiment processes a sinking space 43 in the inner side of housing, and the front end of flabellum is stretched and entered in the space of depression, is increased the length of flabellum thus to greatest extent.After flabellum rotates, flabellum length in sinking space can make up flabellum well and bend caused flabellum area coverage and diminish, enable the open end of housing to greatest extent cover by the flabellum that rotates, thus form negative pressure distribution to greatest extent and produce adsorption affinity.All the other embodiments are identical with embodiment 3.
The area that the flabellum of the present embodiment covers after rotating bending is greater than embodiment 3, thus can set up the rotational flow of air to greatest extent in cavity, improves adsorption affinity.
Embodiment 5
With reference to figure 7a and Fig. 7 b, the resilient material of good toughness makes flabellum can bring another technical matters again.When flabellum does High Rotation Speed flabellum both sides can mineralization pressure poor, the pressure namely towards the flabellum face of hand of rotation can higher than the flabellum face of hand of rotation dorsad.Under the effect of this difference of pressure, the flabellum of good toughness or soft flexible material can produce bending, and the straight-line distance from the root of flabellum to flabellum end can shorten.Flabellum after bending and the distance between case inside face increase, and form a space not having flabellum to cover.In the space covered not having flabellum, the speed component that rotates in a circumferential direction of air is very faint, thus result in this space and do not have obvious distribution of pressure, and, pressures near atmospheric in this space, makes the distribution of pressure in cavity overall to the deflation of barometric pressure direction, as shown in Figure 7 c.In order to solve the problem, flabellum part can adopt the structure shown in Fig. 9.This vibrational power flow flabellum adapter plate 44, this adapter plate and rotational power source output shaft are connected to a fixed, and the upper end of this adapter plate and every a slice flabellum is connected and fixed.The present embodiment eliminates flabellum distortion in a rotational direction by the fixing end face increasing flabellum, thus guarantees the area coverage of rotary fan.Adapter plate can be plectane.In order to reduce the weight of adapter plate as far as possible, the area hollow out that we can will not have flabellum fixing yet.All the other embodiments are identical with embodiment 3.
But after increasing flabellum adapter plate, flexible flabellum and adapter plate in the vertical direction form the structure of a cantilever beam, and therefore when High Rotation Speed, under the effect of the difference of pressure of flabellum both sides, flexible flabellum there will be distortion as shown in Figure 10 a.After such distortion appears in flabellum, the inclination angle of crushed element can apply a downward squeese pressure to air, which results in the pressure increase of the air below flabellum and between metope, finally causes adsorption affinity to weaken.In order to solve the problem of flabellum distortion, the present embodiment can adopt the flabellum Cross section Design with large moment of flexure, than right-angled trapezium Cross section Design as shown in fig. lob.
Embodiment 6
Once there be foreign matter (the gravelstone grain etc. that such as metope comes off) to enter the housing of adsorbing mechanism, foreign matter just easily rests in housing, can cause problems such as disturbing flabellum to rotate, to make a noise.And along with foreign matter is cumulative, the problems referred to above will become more serious, very likely damage adsorbing mechanism.For this reason, the solution that the present embodiment adopts is: offer foreign matter discharge orifice 45 in the side of the housing of adsorbing mechanism, and discharge orifice is connected with the foreign matter collection string bag 46 be arranged on outside housing, as shown in figure 11, all the other embodiments are identical with embodiment 3.
In order to prevent the air of outside from entering cavity by the string bag and discharge orifice and disturbing the swirling eddy in cavity, we use sir-tight material to make the string bag.After foreign matter enters housing, foreign matter rotates under the driving of flabellum, and under the influence of centrifugal force foreign matter by the inner surface got rid of to cavity.As long as foreign matter is through discharge orifice, foreign matter will enter discharge orifice and finally drop in the collection string bag under the driving of centnifugal force.The foreign matter collection string bag adopts sir-tight flexible material to prepare.Just be difficult to again enter cavity by discharge orifice once the foreign matter entering the string bag.Discharge orifice and the collection string bag can be arranged in many places according to actual needs, and the size of discharge orifice also can increase according to actual conditions or reduce.The setting of foreign matter discharge orifice and the collection string bag can reduce the impact of foreign matter on adsorbing mechanism to greatest extent, and climbing robot vehicle is stably creeped on the metope having foreign matter to come off.
Embodiment 7
Car body is installed and is provided with wheel, for traveling on metope.Usually, the car body on road surface can adopt the mode of drive wheel and flower wheel combination, and the trailing wheel of such as general-utility car is drive wheel, and front-wheel is flower wheel.In the present invention, the wheel of climbing robot vehicle is all set to drive wheel and can brings better effect.We illustrate its reason for the car body of Figure 12 a and Figure 12 b.Force analysis is carried out to climb robot vehicle for object, in the vertical direction of metope, robot vehicle is subject to adsorption affinity that adsorbing mechanism produces and the metope counter-force (being designated as metope counter-force 1 and metope counter-force 2 respectively) suffered by front and rear wheel, and their relation is: adsorption affinity=metope counter-force 1+ metope counter-force 2.Metope counter-force makes to produce friction force between robot vehicle and metope.For climbing robot vehicle, we need to produce to greatest extent and utilize friction force to overcome the gravity of robot vehicle and to provide power for the traveling of robot vehicle.In view of the working environment of climbing robot vehicle and common vehicle is different, we think, what the drive wheel that climbing robot vehicle can not use common vehicle to commonly use and flower wheel combined walks line mode, and should adopt full drive wheel walk line mode.
What first the drive wheel shown in consideration Figure 12 a and flower wheel combined walks line mode (such as: front-wheel is driven, back-wheel drive), we find, when robot vehicle is static to seek connections with on metope or upwards traveling time, drive wheel produces a friction force upwards, overcomes car body gravity and the motion of drive machines car.But flower wheel but produces the friction force that is hindered robot vehicle motion downwards.The metope counter-force 2 of drive wheel is only had to create useful friction force, that is, only the adsorption affinity of some has played effect, and another part adsorption affinity (the metope counter-force 1 of flower wheel) does not only play a role, and also creates and hinders robot vehicle to seek connections with and the resistance of traveling.
What next we considered the full drive wheel shown in Figure 12 b walks line mode.When robot vehicle is static to seek connections with on metope or upwards traveling time, forward and backward drive wheel can both produce a friction force upwards, overcomes car body gravity and the motion of drive machines car.That is, whole (the metope counter-force 1+ metope counter-forces 2) of adsorption affinity all effectively produces useful friction force, and 100% ground make use of adsorption affinity.
Based on above analysis, the present embodiment is all set to drive wheel the wheel for traveling.
Content described in this specification sheets embodiment is only enumerating the way of realization of inventive concept; protection scope of the present invention should not be regarded as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention also and conceive the equivalent technologies means that can expect according to the present invention in those skilled in the art.
Claims (9)
1. climb robot vehicle, comprise car body, car body is installed and is provided with wheel, car body is connected and fixed towards one end of metope and an adsorbing mechanism, it is characterized in that: described adsorbing mechanism comprises a housing, cross-sectional plane is had to be circular cavity in housing, cavity has a Closed End and an open end, described open end forms the end face of absorption metope, described Closed End is installed in car body one end towards metope, one end of car body metope dorsad is provided with rotational power source, be arranged on the output shaft of the flabellum connection of rotating propulsion source in cavity, described Closed End is airtight conditions, described flabellum linearly distributes along the axis of described cavity, soft flexible sealing structure is provided with between the outer rim of described open end and metope.
2. climb robot vehicle as claimed in claim 1, it is characterized in that: described flexible sealing structure is fluff strip or soft hairbrush.
3. climb robot vehicle as claimed in claim 1 or 2, it is characterized in that: the outside face of described flabellum is coated with flexible material.
4. climb robot vehicle as claimed in claim 1 or 2, it is characterized in that: described flabellum adopts the resilient material preparation of good toughness.
5. climb robot vehicle as claimed in claim 4, it is characterized in that: the medial surface of described housing offers a sinking space, the leading section of described flabellum stretches in described sinking space.
6. climb robot vehicle as claimed in claim 4, it is characterized in that: the output shaft in described rotational power source is installed with a flabellum adapter plate, the upper end of described flabellum is fixed on described flabellum adapter plate.
7. climb robot vehicle as claimed in claim 6, it is characterized in that: the cross-sectional plane of described flabellum adopts the cross section structure with large moment of flexure.
8. the climbing robot vehicle as described in one of claim 3 ~ 7, it is characterized in that: the side opening of described housing is provided with foreign matter discharge orifice, described foreign matter discharge orifice connects the foreign matter collection string bag be arranged on outside housing, and the described foreign matter collection string bag adopts sir-tight flexible material to prepare.
9. climb robot vehicle as claimed in claim 8, it is characterized in that: described wheel adopts drive wheel.
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| CN106080825A (en) * | 2016-07-20 | 2016-11-09 | 浙江大学 | A kind of square cyclone adsorbing device and climbing robot based on this device |
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| CN107651032A (en) * | 2017-11-02 | 2018-02-02 | 西南大学 | A kind of more adaptation external corner climbing robots |
| CN111907671A (en) * | 2020-08-21 | 2020-11-10 | 浙江大学 | Gap-adjustable amphibious sucker |
| CN114524069A (en) * | 2022-01-12 | 2022-05-24 | 浙江大学 | Micro-milling forming anchoring mechanism based on micro-needle array |
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| CN106938691A (en) * | 2017-02-16 | 2017-07-11 | 浙江大学 | Centrifugal impeller sucker under water |
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| CN107651032A (en) * | 2017-11-02 | 2018-02-02 | 西南大学 | A kind of more adaptation external corner climbing robots |
| CN107651032B (en) * | 2017-11-02 | 2023-11-14 | 西南大学 | Multi-adaptation external corner climbing robot |
| CN111907671A (en) * | 2020-08-21 | 2020-11-10 | 浙江大学 | Gap-adjustable amphibious sucker |
| CN111907671B (en) * | 2020-08-21 | 2024-02-06 | 浙江大学 | Amphibious sucking disc with adjustable gap |
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