CN108860584A - A kind of negative pressure and the compound bio-robot adsorbent equipment and method of electrostatic - Google Patents
A kind of negative pressure and the compound bio-robot adsorbent equipment and method of electrostatic Download PDFInfo
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- CN108860584A CN108860584A CN201810616768.XA CN201810616768A CN108860584A CN 108860584 A CN108860584 A CN 108860584A CN 201810616768 A CN201810616768 A CN 201810616768A CN 108860584 A CN108860584 A CN 108860584A
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- electrostatic
- sucker
- film
- adsorbent equipment
- electrostatic film
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- 239000003463 adsorbent Substances 0.000 title claims abstract description 32
- 150000001875 compounds Chemical class 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001179 sorption measurement Methods 0.000 claims abstract description 43
- 239000012528 membrane Substances 0.000 claims abstract description 14
- 238000007789 sealing Methods 0.000 claims abstract description 10
- 238000010521 absorption reaction Methods 0.000 claims description 22
- 230000000694 effects Effects 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the compound bio-robot adsorbent equipment of a kind of negative pressure and electrostatic and methods.The device includes three layers of electrostatic film being sequentially arranged, elastic membrane, spring bearer plate, and elastic membrane provides flexible and support for entire adsorbent equipment；Spring bearer plate side is arranged electrostatic and module, check valve body, chain adapter tube, vacuum pump occurs, and sucker is arranged in electrostatic film side；Sucker is set to electrostatic film center, and the bottom of sucker is fixed on spring bearer plate, and sucker bottom takes over one end with chain by check valve body and is connected, and the other end of chain adapter tube accesses vacuum pump.This method is：Electrostatic occurs module and is fixed on spring bearer plate, and electrostatic film occurs the high-pressure electrostatic that module generates using electrostatic and provides electrostatic adsorption force, and provides sealing for sucker, obtains bigger negative-pressure adsorption power；Negative-pressure adsorption further shortens electrostatic film and is adsorbed at a distance from object while generating negative-pressure adsorption power, obtains bigger electrostatic adsorption force.The present invention can make unmanned plane realize that stabilization is quickly inhabited on the surface of different degree of roughness.
Description
Technical field
The present invention relates to bio-robot technical field, especially a kind of negative pressure and electrostatic composite bionic robot absorption dress
It sets and method.
Background technique
Flight absorption amphibious robot, can rapid flight in three dimensions simultaneously, and can be inhabited with lower power consumption
On the surface for being adsorbed object.Flight absorption amphibious robot is supervised in the scouting of public safety, rescue and national defence
The special duties fields such as survey have wider application scenarios and biggish application potential.
Traditional suction type includes negative-pressure adsorption, Electrostatic Absorption, mechanical crawl, magnetic suck and intermolecular force absorption
Deng.Chinese patent (CN 102390528, applying date 2011-10-21) discloses a kind of airflight and comprehensive absorption is miniature
Robot, the negative pressure adsorption equipment used has certain limitation, on hackly surface due to the leakage of sucker edge
Gas can reduce the vacuum degree in adsorbent chamber, to reduce adsorption capacity.In addition, Electrostatic Absorption is as a kind of suction type, it is acquired
Adsorption capacity it is relatively small, it is flexible preferably can adapt to more coarse surface, but it needs lasting to be close to be adsorbed surface
Biggish adsorption capacity could be obtained, use condition is more harsh.
Summary of the invention
The purpose of the present invention is to provide the compound bio-robot adsorbent equipment of a kind of negative pressure and electrostatic and methods, thus
Unmanned plane is set to realize that stabilization is quickly inhabited on the surface of different degree of roughness.
The technical solution for realizing the aim of the invention is as follows：A kind of negative pressure and the compound bio-robot of electrostatic adsorb dress
It sets, including the sucker that electrostatic film and its surface are arranged, sucker contacts generation negative pressure with surface is adsorbed, and provides pressure for electrostatic film
Power, electrostatic film generate electrostatic adsorption force, provide further sealing for sucker.
Further, which includes three layers of electrostatic film being sequentially arranged, elastic membrane, spring bearer plate, and the elastic membrane connects
Electrostatic film and spring bearer plate are connect, provides flexible and support for entire adsorbent equipment；Spring bearer plate side setting electrostatic generation module,
Check valve body, chain adapter tube, vacuum pump, sucker is arranged in electrostatic film side；
Sucker is set to electrostatic film centre, and sucker edge is connected with electrostatic film, and the bottom of sucker is fixed on spring bearer plate
On, and sucker bottom takes over one end with chain by check valve body and is connected, the other end of chain adapter tube accesses vacuum pump；Mould occurs for electrostatic
Block is fixed on spring bearer plate, and electrostatic film occurs the high-pressure electrostatic that module generates using electrostatic and provides electrostatic adsorption force, and is
Sucker provides sealing.
Further, the electrostatic film is round or rectangle, and the electrostatic film surface is in ring around sucker arrangement
The comb electrode of shape arrangement or the comb electrode of array arrangement, provide further sealing for sucker.
Further, the sucker can provide pressure by spring bearer plate for electrostatic film.
Further, the vacuum pump is fixed on air pump seat, and the inner wall of the chain adapter tube other end is controlled to a vacuum pump, link
The outer wall of the pipe other end is fixedly connected with air pump seat.
Further, the adsorbent equipment is connect by transiting rod with drone body.
Further, it is additionally provided with power supply, mission payload on the spring bearer plate, wherein power supply provides electricity for adsorbent equipment
Can, mission payload acquires corresponding data for acquiring data, including the use of image shot by camera and using Temperature Humidity Sensor.
A kind of negative pressure and the compound bio-robot adsorption method of electrostatic, including following procedure：
By unmanned plane electrostatic film is contacted with surface is adsorbed, Electrostatic Absorption and negative-pressure adsorption start simultaneously at work at this time
Make；
Electrostatic Absorption shortens electrostatic film and is adsorbed at a distance from surface, generates bigger adsorption capacity, while in Electrostatic Absorption
Under the action of, electrostatic film, which can cover, is adsorbed rough position on surface, prevents sucker gas leakage, is promoted true in sucker
Reciprocal of duty cycle；
Negative-pressure adsorption is also started to work, and vacuum pump constantly extracts the intracavitary air of suction cup sealed, and the adsorption capacity of generation passes through
Sucker bottom belt dynamic elasticity pressing plate function, to further act on electrostatic film, further shortens electrostatic film in elastic membrane
Be adsorbed at a distance from object.
Compared with prior art, the present invention its remarkable advantage is：(1) negative-pressure adsorption and Electrostatic Absorption combine, so that flying
Row absorption robot can obtain bigger adsorption capacity；(2) it can make unmanned plane on the surface of different degree of roughness, realize steady
It is fixed quickly to inhabit.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of negative pressure of the present invention and the compound bio-robot adsorbent equipment of electrostatic.
Fig. 2 is the rearview of negative pressure of the present invention and the compound bio-robot adsorbent equipment of electrostatic.
Fig. 3 is the main view of negative pressure of the present invention and the compound bio-robot adsorbent equipment of electrostatic.
Fig. 4 is the side view of negative pressure of the present invention and the compound bio-robot adsorbent equipment of electrostatic.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
In conjunction with Fig. 1~4, negative pressure of the invention and the compound bio-robot adsorbent equipment of electrostatic, including electrostatic film 2 and its
The sucker 8 of surface setting, sucker 8 contact generation negative pressure with surface is adsorbed, and electrostatic film 2 generates electrostatic adsorption force, mentions for sucker 8
For further sealing.
As a kind of specific example, negative pressure of the invention and the compound bio-robot adsorbent equipment of electrostatic, including three layers
Electrostatic film 2, elastic membrane 3, the spring bearer plate 4 being sequentially arranged, the elastic membrane 3 connect electrostatic film 2 and spring bearer plate 4, are entire
Adsorbent equipment provides flexible and support；4 side of spring bearer plate is arranged electrostatic and module 5, check valve body 9, chain adapter tube 10, vacuum occurs
Sucker 8 is arranged in pump 13,2 side of electrostatic film；
Sucker 8 is set to 2 centre of electrostatic film, and 8 edge of sucker is connected with electrostatic film 2, and the bottom of sucker 8 is fixed on elasticity
On pressing plate 4, and 8 bottom of sucker is connected by check valve body 9 with 10 one end of chain adapter tube, and the other end of chain adapter tube 10 accesses vacuum pump
13；Electrostatic occurs module 5 and is fixed on spring bearer plate 4, and electrostatic film 2 occurs the high-pressure electrostatic that module 5 generates using electrostatic and provides
Electrostatic adsorption force, and sealing is provided for sucker 8.
Further, the electrostatic film 2 is round or rectangle, and 2 surface of electrostatic film is in around the arrangement of sucker 8
The comb electrode of annular array or the comb electrode of array arrangement provide further sealing for sucker 8.
Further, the sucker 8 can be that electrostatic film 2 provides pressure by spring bearer plate 4.
Further, the vacuum pump 13 is fixed on air pump seat 11, the inner wall and vacuum pump 13 of 10 other end of chain adapter tube
Connection, the outer wall of 10 other end of chain adapter tube are fixedly connected with air pump seat 11.
Further, the adsorbent equipment is connect by transiting rod 7 with drone body 1.
Further, it is additionally provided with power supply 6, mission payload 12 on the spring bearer plate 4, wherein power supply 6 is adsorbent equipment
Electric energy is provided, mission payload 12 acquires phase for acquiring data, including the use of image shot by camera and using Temperature Humidity Sensor
The data answered.
Negative pressure of the present invention and the compound bio-robot adsorption method of electrostatic, including following procedure：
By unmanned plane 1 electrostatic film 2 is contacted with surface is adsorbed, Electrostatic Absorption and negative-pressure adsorption start simultaneously at this time
Work；
Electrostatic Absorption shortens electrostatic film 2 and is adsorbed at a distance from surface, generates bigger adsorption capacity, while in Electrostatic Absorption
Under the action of, electrostatic film 2, which can cover, is adsorbed rough position on surface, prevents 8 gas leakage of sucker, is promoted in sucker 8
Vacuum degree；
Negative-pressure adsorption is also started to work, and vacuum pump 13 constantly extracts the air in 8 seal chamber of sucker, and the adsorption capacity of generation is logical
It crosses 8 bottom belt dynamic elasticity pressing plate 4 of sucker to act in elastic membrane 3, to further act on electrostatic film 2, further shorten
Electrostatic film 2 be adsorbed at a distance from object.
With reference to the accompanying drawing and specific embodiment is described in further details the present invention.
Embodiment 1
In conjunction with Fig. 1~4, negative pressure of the invention and the compound bio-robot adsorbent equipment of electrostatic, including electrostatic film 2, bullet
Property film 3, spring bearer plate 4, electrostatic occur module 5, power supply 6, transiting rod 7, sucker 8, check valve body 9, chain adapter tube 10, air pump seat
11, mission payload 12 and vacuum pump 13.The adsorbent equipment is connect by transiting rod 7 with drone body 1.On adsorbent equipment
3 one side of elastic membrane is connect with electrostatic film 2, is connect on one side with spring bearer plate 4.Module 5 occurs for power supply 6, mission payload 12 and electrostatic
It is fixed on spring bearer plate 4.Vacuum pump 13 is fixed on air pump seat 11.Sucker 8 is located at electrostatic film centre, sucker edge with it is quiet
Electrolemma 2 is connected, and the bottom of sucker 8 and spring bearer plate 4 are fixed, and are connected by a check valve body 9 with chain adapter tube 10.Chain adapter tube
10 other end inner wall is connect with vacuum pump 13.The other end outer wall of chain adapter tube 10 is fixedly connected with air pump seat 11.
One, the function of each section：
Electrostatic film 2 occurs the electrostatic high-pressure that module 5 provides using electrostatic and generates electrostatic adsorption force, and provides for sucker 8
Better seal.Elastic membrane 3 connects electrostatic film 2 and spring bearer plate 3, and certain flexibility and support are provided for entire adsorption module.
Negative-pressure adsorption power is transmitted on electrostatic film by spring bearer plate 4, and provides installation site for other parts.Module 5 occurs for electrostatic
Generate certain electrostatic high-pressure, such as the electrostatic high-pressure of 5kv or 12kv.Power supply 6 provides energy required for adsorption module.It crosses
It crosses bar 7 and connects adsorption module and drone body.Sucker 8 is contacted with surface is adsorbed, and generates negative pressure.Check valve body 9 is in sucker 8
A half-duplex channel is formed between vacuum pump 13.Chain adapter tube 10 plays the role of a gas passage and support.Mission payload
12 are responsible for acquisition data, such as acquire corresponding data using image shot by camera or using Temperature Humidity Sensor.
When the invention works, the working region of Electrostatic Absorption is electrostatic film 2 and the region that is adsorbed surface and contacts.Negative pressure is inhaled
Attached working region is electrostatic film 2 plus sucker chamber.
Two, negative pressure of the present invention and the course of work of the compound bio-robot adsorbent equipment of electrostatic are as follows：
By unmanned plane 1 electrostatic film 2 is contacted with surface is adsorbed, Electrostatic Absorption and negative-pressure adsorption start simultaneously at this time
Work.Electrostatic Absorption shortens electrostatic film 2 and is adsorbed at a distance from surface, generates bigger adsorption capacity.Meanwhile in Electrostatic Absorption
Under effect, electrostatic film 2 can will be adsorbed some rough position coverings on surface, prevent sucker 8 due to these positions
And gas leakage is generated, promote the vacuum degree in sucker 8.Negative-pressure adsorption is also started to work, the 13 indoor sky of continuous extracting cavity of vacuum pump
The adsorption capacity of gas, generation is acted in elastic membrane 3 by 8 bottom belt dynamic elasticity pressing plate 4 of sucker, to further act on electrostatic
On film 2, further shortens electrostatic film 2 and be adsorbed at a distance from object, collective effect generates the bigger suction of work respectively than the two
Attached power and shorter adsorption time.
Claims (8)
1. a kind of negative pressure and the compound bio-robot adsorbent equipment of electrostatic, which is characterized in that including electrostatic film (2) and its surface
The sucker (8) of setting, sucker (8) contact generation negative pressure with surface is adsorbed, and provide pressure for electrostatic film (2), electrostatic film (2) produces
Raw electrostatic adsorption force provides further sealing for sucker (8).
2. negative pressure according to claim 1 and the compound bio-robot adsorbent equipment of electrostatic, which is characterized in that the device
Including three layers of electrostatic film being sequentially arranged (2), elastic membrane (3), spring bearer plate (4), the elastic membrane (3) connects electrostatic film (2)
With spring bearer plate (4), flexible and support is provided for entire adsorbent equipment；Spring bearer plate (4) side is arranged electrostatic and module occurs
(5), check valve body (9), chain take over (10), vacuum pump (13), and sucker (8) are arranged in electrostatic film (2) side；
Sucker (8) is set to electrostatic film (2) centre, and sucker (8) edge is connected with electrostatic film (2), and the bottom of sucker (8) is fixed
On spring bearer plate (4), and sucker (8) bottom takes over (10) one end with chain by check valve body (9) and is connected, and chain takes over (10)
The other end accesses vacuum pump (13)；Electrostatic occurs module (5) and is fixed on spring bearer plate (4), and electrostatic film (2) utilizes electrostatic
The high-pressure electrostatic that module (5) generates provides electrostatic adsorption force, and provides sealing for sucker (8).
3. negative pressure according to claim 2 and the compound bio-robot adsorbent equipment of electrostatic, which is characterized in that described quiet
Electrolemma (2) is round or rectangle, and pectination electricity arranged in a ring is arranged on electrostatic film (2) surface around sucker (8)
The comb electrode of pole or array arrangement provides further sealing for sucker (8).
4. negative pressure according to claim 2 and the compound bio-robot adsorbent equipment of electrostatic, which is characterized in that the suction
Disk (8) can be that electrostatic film (2) provide pressure by spring bearer plate (4).
5. negative pressure according to claim 3 and the compound bio-robot adsorbent equipment of electrostatic, which is characterized in that described true
Sky pump (13) is fixed on air pump seat (11), and the inner wall of chain adapter tube (10) other end is connect with vacuum pump (13), and chain takes over (10)
The outer wall of the other end is fixedly connected with air pump seat (11).
6. negative pressure according to claim 2 or 3 and the compound bio-robot adsorbent equipment of electrostatic, which is characterized in that institute
Adsorbent equipment is stated to connect by transiting rod (7) with drone body (1).
7. negative pressure according to claim 2 or 3 and the compound bio-robot adsorbent equipment of electrostatic, which is characterized in that institute
It states and is additionally provided with power supply (6), mission payload (12) on spring bearer plate (4), wherein power supply (6) provides electric energy for adsorbent equipment, appoints
Business load (12) acquires corresponding data for acquiring data, including the use of image shot by camera and using Temperature Humidity Sensor.
8. a kind of negative pressure and the compound bio-robot adsorption method of electrostatic, which is characterized in that including following procedure：
By unmanned plane (1) make electrostatic film (2) be adsorbed surface and contact, Electrostatic Absorption and negative-pressure adsorption start simultaneously at this time
Work；
Electrostatic Absorption shortens electrostatic film (2) and is adsorbed at a distance from surface, generates bigger adsorption capacity, while in Electrostatic Absorption
Under effect, electrostatic film (2), which can cover, is adsorbed rough position on surface, prevents sucker (8) gas leakage, promotes sucker
(8) vacuum degree in；
Negative-pressure adsorption is also started to work, and vacuum pump (13) constantly extracts the air in sucker (8) seal chamber, and the adsorption capacity of generation is logical
Sucker (8) bottom belt dynamic elasticity pressing plate (4) is crossed to act on elastic membrane (3), thus further act on electrostatic film (2), into
One step shortens electrostatic film (2) and is adsorbed at a distance from object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810616768.XA CN108860584A (en) | 2018-06-15 | 2018-06-15 | A kind of negative pressure and the compound bio-robot adsorbent equipment and method of electrostatic |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810616768.XA CN108860584A (en) | 2018-06-15 | 2018-06-15 | A kind of negative pressure and the compound bio-robot adsorbent equipment and method of electrostatic |
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| Publication Number | Publication Date |
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| CN108860584A true CN108860584A (en) | 2018-11-23 |
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| CN201810616768.XA Pending CN108860584A (en) | 2018-06-15 | 2018-06-15 | A kind of negative pressure and the compound bio-robot adsorbent equipment and method of electrostatic |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110127053A (en) * | 2019-05-08 | 2019-08-16 | 重庆大学 | Portable and collapsible flies-adsorbs patrol unmanned machine |
| CN110988264A (en) * | 2019-12-09 | 2020-04-10 | 中国商用飞机有限责任公司 | Portable pollutant detection device |
| CN111169628A (en) * | 2019-11-22 | 2020-05-19 | 西安理工大学 | Rotor unmanned aerial vehicle ceiling perches mechanism |
| CN112292558A (en) * | 2019-05-24 | 2021-01-29 | 松下知识产权经营株式会社 | Gas adsorption/desorption apparatus, object fixing device, unmanned aerial vehicle, pressure control method, and object holding method |
| WO2021219126A1 (en) * | 2020-05-01 | 2021-11-04 | The University Of Hong Kong | Methods of saving uav's energy consumption and improving its hovering accuracy |
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| CN201020628Y (en) * | 2007-04-06 | 2008-02-13 | 江苏省无锡建华机床厂 | Improved circular electric magnetic chuck |
| CN102430970A (en) * | 2011-11-07 | 2012-05-02 | 厦门大学 | Deep hole type pressure adjustable electromagnetic chuck |
| CN107688403A (en) * | 2016-08-03 | 2018-02-13 | 阳程科技股份有限公司 | Application of a surface device and applying method |
| CN207138931U (en) * | 2017-08-29 | 2018-03-27 | 重庆怡景实业有限公司 | Magnetic drill |
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2018
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| CN201020628Y (en) * | 2007-04-06 | 2008-02-13 | 江苏省无锡建华机床厂 | Improved circular electric magnetic chuck |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110127053A (en) * | 2019-05-08 | 2019-08-16 | 重庆大学 | Portable and collapsible flies-adsorbs patrol unmanned machine |
| CN110127053B (en) * | 2019-05-08 | 2021-03-26 | 重庆大学 | Portable foldable flying-adsorbing inspection unmanned aerial vehicle |
| CN112292558A (en) * | 2019-05-24 | 2021-01-29 | 松下知识产权经营株式会社 | Gas adsorption/desorption apparatus, object fixing device, unmanned aerial vehicle, pressure control method, and object holding method |
| CN112292558B (en) * | 2019-05-24 | 2023-09-22 | 松下知识产权经营株式会社 | Gas adsorption/desorption apparatus, object fixing device, unmanned aerial vehicle, pressure control method, and object holding method |
| CN111169628A (en) * | 2019-11-22 | 2020-05-19 | 西安理工大学 | Rotor unmanned aerial vehicle ceiling perches mechanism |
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| WO2021219126A1 (en) * | 2020-05-01 | 2021-11-04 | The University Of Hong Kong | Methods of saving uav's energy consumption and improving its hovering accuracy |
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