CN109677499A - A kind of clearance-type negative-pressure adsorption climbing robot - Google Patents
A kind of clearance-type negative-pressure adsorption climbing robot Download PDFInfo
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- CN109677499A CN109677499A CN201910114479.4A CN201910114479A CN109677499A CN 109677499 A CN109677499 A CN 109677499A CN 201910114479 A CN201910114479 A CN 201910114479A CN 109677499 A CN109677499 A CN 109677499A
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- pressure adsorption
- choked flow
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 41
- 230000009194 climbing Effects 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000007789 sealing Methods 0.000 claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims description 5
- 239000002245 particle Substances 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 5
- 230000005291 magnetic effect Effects 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 2
- 239000003302 ferromagnetic material Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000003463 adsorbent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000003566 sealing material Substances 0.000 description 1
- 235000015096 spirit Nutrition 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- 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
Abstract
The present invention is a kind of clearance-type negative-pressure adsorption climbing robot, including bottom plate, depression generator, sealing device, moving device and electric control gear, and moving device is double-crawler type structure；Bottom plate includes upper plate and lower plate, upper plate covers on lower plate, lower plate is hung below upper plate by pillar, lower plate center is provided with air inlet hole, lower plate edge and upper plate surrounding are not connected to that there are gaps, water conservancy diversion cavity is formed between upper and lower bottom plate, and crawler travel slot is symmetrical set centered on air inlet hole on lower plate；The sealing device includes deflector and choked flow mechanism, and the deflector inclination is installed in the gap of upper and lower bottom plate surrounding, and choked flow mechanism is installed on lower plate bottom surface, and choked flow mechanism lower surface is uniformly distributed a number of seal convexity.The robot can be suitably used for common wall surface, while solve the contradiction between the process adsorption capacity of negative-pressure adsorption and resistance, can be flexibly mobile in wall surface.
Description
Technical field:
The invention belongs to climbing robot field, especially a kind of clearance-type negative-pressure adsorption climbing robot
Background technique:
The research and application of climbing robot have extremely important engineering background and boundless application prospect.
Currently, climbing robot suction type has magnetic suck, vacuum suction, negative-pressure adsorption etc..
Wherein, magnetic suck is only applicable to the wall surface of ferromagnetic material, has very high requirement to wall surface material.Such as Publication No.
A kind of magnetic adsorption wall climbing robot of CN108749943A constitutes adsorbent equipment by electromagnet, is only applicable to ferromagnetic material
Wall surface, it is not applicable for common metope, there is significant limitation.It is a kind of to need suitable for the novel robot of various metopes
Invention.
Vacuum cap type climbing robot generates pull of vacuum using sucker, and robot cannot phase when being in adsorbed state
It is mobile for wall surface, it is only applicable to interrupted move mode.Such as a kind of sucked type wall-climbing device of Publication No. CN106275122B
People controls air pump device air-breathing by electric control gear, and the gas in sucker is discharged, and makes sucker and forms vacuum between the walls, inhales
Gas is vented this process and significantly increases power consumption, and the adsorption capacity in robot adsorption process becomes the resistance in walking process simultaneously
Power is only applicable to interrupted move mode.
In negative-pressure adsorption, there is sealed negative-pressure adsorption wall climbing robot sealing device to be in contact with wall surface, what adsorption capacity increased
Walking resistance increases simultaneously.Such as a kind of climbing robot of Publication No. CN106828649A, using the negative pressure cavity of sealing, machine
Resistance is big when people moves, and uses wheeled construction, maintains certain adsorption capacity more difficult, loading poor.And the diameter meeting of wheel
Increase robot relative to the torque of wall surface, the stability and safety relative reduction for running robot.Without sealed negative-pressure
The negative pressure device walking resistance of absorption is small, but generate negative pressure it is also small, to provide enough adsorption capacities necessarily require it is high-power
The blower of big flow which results in draught fan impeller diameter is big, and drives the motor quality of blower also big, directly results in robot
The increase of weight.Contradiction between robot adsorption capacity and walking resistance is urgently to be resolved.
That there are still wall surfaces is poor for applicability for traditional suction type such as magnetic suck, vacuum suction, negative-pressure adsorption at present, can not be continuous
The problems such as movement, robot ambulation resistance is big.For prior art problem, the invention proposes a kind of novel embodiments.
Summary of the invention:
In view of the problems of the existing technology, the purpose of the present invention is to provide a kind of clearance-type negative-pressure adsorption wall-climbing devices
People, the robot can be suitably used for common wall surface, while solve the contradiction between the process adsorption capacity of negative-pressure adsorption and resistance, provide
A kind of embodiment for the robot that can be flexibly moved in wall surface.
To achieve the above object, the technical scheme is that
A kind of clearance-type negative-pressure adsorption climbing robot, including bottom plate, depression generator, sealing device, moving device
And the depression generator and moving device are powered and the electric control gear of real-time control, the depression generator
Including high-speed motor and centrifugal fan, which is characterized in that
The moving device is double-crawler type structure, including left and right crawler belt；
The bottom plate includes upper plate and lower plate, and the upper plate covers on lower plate, and lower plate is outstanding by pillar
It being hung below upper plate, lower plate center is provided with air inlet hole, and lower plate edge and upper plate surrounding are not connected to there are gap,
Water conservancy diversion cavity is formed between upper and lower bottom plate, is symmetrical set two on lower plate centered on air inlet hole for being embedded in moving device
Left and right crawler belt crawler travel slot, and on the corresponding side of upper plate be arranged crawler belt install transition groove；
The sealing device includes deflector and choked flow mechanism, and the deflector inclination is installed on upper and lower bottom plate surrounding
Gap in, choked flow mechanism is installed on lower plate bottom surface, and choked flow mechanism lower surface is uniformly distributed a number of seal convexity.
The surface of the left and right crawler belt is rubber material, and the left and right crawler belt is concordant with choked flow mechanism lower end surface.
Deflector and the angle of upper plate side are 45 °.
The choked flow mechanism is rubber or mane sealing ring with raised particle.
One driving motor, two driving motor constant speed, driving motor output shaft connection are installed respectively on two crawler belts of left and right
Crawler belt, one end is arranged driving wheel on crawler belt, and one end is arranged driven wheel, is a driving wheel and one driven on two crawler belts of abutting end
Wheel.
Electric control gear can adjust the revolving speed of high-speed motor according to the degree of roughness of wall surface.
Compared with prior art, the beneficial effects of the present invention are:
The present invention provides a kind of clearance-type negative-pressure adsorption climbing robot, including bottom plate, depression generator, sealing dress
It sets, five moving device, electric control gear parts, overcomes the contradiction between traditional climbing robot adsorption capacity and walking resistance,
Frictional force and robot while guaranteeing the safety of robot negative-pressure adsorption when mitigation robot ambulation being capable of continuous, spirits
It lives, stablizes, fast and efficiently walks on metope.Selection crawler type can be preferably sealed, by crawler belt in bottom plate,
The effect of sealing is played while serving as walking mechanism, can substantially reduce its volume, while can guarantee excellent sealing again.
Pass through the improvement to traditional negative pressure adsorption machine device people, in the case where high-speed motor provides identical negative pressure, robot
Adsorption capacity obtained very big promotion, the design of choked flow mechanism is so that the weight bearing of robot increases to 2.5kg from 1.5kg, significantly
Improve the weight bearing ability of robot
It is greatly reduced the walking resistance of robot in traveling process simultaneously, provides one kind for robot wall surface operation
Implementable solution.
Detailed description of the invention:
Fig. 1 is a kind of schematic perspective view of clearance-type negative-pressure adsorption climbing robot provided by the invention；
Fig. 2 is a kind of bottom deck assembly structural schematic diagram provided by the invention；Fig. 2 (a) is what upper and lower bottom plate was combined
Structural schematic diagram, Fig. 2 (b) are the schematic perspective view of lower plate；Fig. 2 (c) is the schematic perspective view of upper plate；
Fig. 3 is a kind of structural schematic diagram of depression generator provided by the invention；
Fig. 4 is a kind of structural schematic diagram of sealing device provided by the invention；
Fig. 5 is a kind of structural schematic diagram of moving device provided by the invention；
Schematic diagram when Fig. 6 is a kind of movement provided by the invention.
Fig. 7 is negative-pressure adsorption principle figure；
Label is described as follows in figure:
1- bottom plate, 11- upper plate, 111- crawler belt installation transition groove, 12- lower plate, 121- lower plate air inlet hole,
122- crawler travel slot, 13- water conservancy diversion cavity,
2- depression generator, 21- high-speed motor, 22- centrifugal fan, 221- centrifugal fan air inlet, 222- are centrifugal
Fan outlet,
3- sealing device, 31- deflector, 32- choked flow mechanism,
4- moving device, 41- fixed mechanism, 42- driving motor, 421- left driving motor, 422- right driving motor, 43-
Crawler belt, 441- driving wheel, 442- driven wheel.
Specific embodiment:
The present invention is explained further below with reference to examples and drawings, but not in this, as to the application protection scope
It limits.
Clearance-type negative-pressure adsorption climbing robot of the present invention, including bottom plate, depression generator, sealing device, dress of advancing
It sets and the depression generator and moving device is powered and the electric control gear of real-time control, the negative pressure fill
It sets including high-speed motor and centrifugal fan,
The moving device is double-crawler type structure, including left and right crawler belt 43 and its fixed mechanism 41 and driving motor 42；
The bottom plate includes upper plate and lower plate, and the upper plate covers on lower plate, and lower plate is outstanding by pillar
It being hung below upper plate, lower plate center is provided with air inlet hole, and lower plate edge and upper plate surrounding are not connected to there are gap,
Water conservancy diversion cavity is formed between upper and lower bottom plate, is symmetrical set two on lower plate centered on air inlet hole for being embedded in moving device
Left and right crawler belt concave structure crawler travel slot 122, and on the corresponding side of upper plate be arranged crawler belt install transition it is recessed
Slot 111；
The sealing device includes deflector and choked flow mechanism, and the deflector inclination is installed on upper and lower bottom plate surrounding
Gap in, choked flow mechanism is installed on lower plate bottom surface, and choked flow mechanism lower surface is uniformly distributed a number of seal convexity；
Fixed mechanism and driving motor and the upper plate of the moving device are fixed, and left and right crawler belt is embedded in the spill of lower plate
It is in crawler travel slot in structure, moving device support climbing robot makes its lower plate bottom surface and wall surface keep certain interval,
The left and right crawler belt equally has the function of obstruction air-flow, and the track surface is rubber material；
The electric control gear, using lithium battery as power supply, be control device and depression generator high speed motor and
The driving motor of the moving device is powered, and electric control gear is by being built-in with the programmable automatic controller or central processing of memory
Device and interlock circuit composition.Electric control gear can adjust motor speed according to negative pressure, it can according to the degree of roughness tune of wall surface
Save the revolving speed of high-speed motor.
The depression generator high speed motor is seized with centrifugal fan to be connected, and high-speed motor is screwed in upper
Bottom plate, centrifugal fan air inlet is corresponding with the air inlet hole of lower plate, when high-speed motor drives centrifugal fan high speed rotation, gas
Stream enters from air inlet, and the water conservancy diversion cavity between diameter upper and lower bottom plate is flowed out from upper and lower bottom plate gap location.It is main during negative-pressure adsorption
It to drive centrifugal fan to rotate using high-speed motor, the gas of robot bottom is discharged, thus realize negative pressure, high-speed motor
Revolving speed is faster, and the negative pressure being capable of providing is bigger, so that bigger adsorption capacity can be also generated, but high-speed motor revolving speed increases
Such as weight increase is brought, noise increases the problems such as energy consumption increases, therefore is also not and is the bigger the better, and needs according to robot
Weight selects suitable high-speed motor, and robot weight is about 2.5kg in experimentation of the present invention, and high-speed motor revolving speed is
20000r/min, under relatively small revolving speed, low energy consumption, and noise is low.
Fig. 1 instantiates a kind of stereochemical structure of clearance-type negative-pressure adsorption climbing robot, including bottom plate 1, and the bottom plate 1 wraps
Include upper plate 11 and lower plate 12；Depression generator 2, the depression generator 2 include high-speed motor 21 and centrifugal fan
22, wherein centrifugal fan includes centrifugal fan air inlet 221 and centrifugal fan air outlet 222；Sealing device 3, the sealing dress
Setting 3 includes deflector 31 and choked flow mechanism 32；Moving device 4, the moving device 4 are double-crawler type structure, including left and right
Crawler belt 43 and its fixed mechanism 41 and driving motor 42, and the depression generator 2, moving device 4 are powered and
The electric control gear of real-time control.
Fig. 2 is a kind of bottom deck assembly structural schematic diagram provided by the invention, and upper plate 11 covers on lower plate 12, is gone to the bottom
Plate 12 hangs on the lower section of upper plate 11 by pillar, and 12 center of lower plate is provided with air inlet hole 121,12 edge of lower plate with it is upper
11 surrounding of bottom plate is not connected to there are gap, water conservancy diversion cavity 13 is formed between upper and lower bottom plate, respectively there are a spill in 12 two sides of lower plate
Crawler travel slot 122 is used to be embedded in the crawler belt 43 of the moving device 4.
Fig. 3 is a kind of structural schematic diagram of depression generator provided by the invention, 2 high speed motor of depression generator
21 seize with centrifugal fan 22 and are connected, and high-speed motor 21 is screwed in upper plate 11, and centrifugal fan air inlet 221 is under
Bottom plate air inlet hole 121 is corresponding, and when high-speed motor 21 drives 22 high speed rotation of centrifugal fan, air-flow is from centrifugal fan air inlet
221 enter, and are thrown away by centrifugal fan air outlet 222, flow through the water conservancy diversion cavity 13 between upper and lower bottom plate, from upper and lower bottom plate gap location
Outflow.
Fig. 4 is a kind of structural schematic diagram of sealing device provided by the invention；Deflector 31 in sealing device 3 (is led
Stream mechanism is the inclined-plane for being adhered to lower plate, and the gas flow guiding in order to throw away centrifugal fan is hindered to sealing device side
Gas is hindered further to leak, deflector is installed in the gap of upper and lower bottom plate, at an angle with 12 plane of lower plate, makes gas
Stream flows out at a certain angle, the height between the volume of the selection of angle here and robot water conservancy diversion cavity, sealing device and wall surface
The revolving speed in gap and motor between degree, sealing device and wall surface brings the factors such as the variation of wind speed related, needs according to emulation
As a result optimal solution is obtained, the embodiment of the present invention is about 45 ° using the angle of deflector.
Choked flow mechanism 32 is installed on 12 bottom surface of lower plate, to hinder air flow direction centrifugal fan air inlet 221, the choked flow
Rubber or mane sealing ring with raised particle can be used in mechanism 32；The area of choked flow mechanism and the area of lower plate are identical,
Also for hindering gas to leak the negative pressuren zone into robot bottom, as long as the particle that the shape of choked flow mechanism meets for protrusion
And be staggered, using the rubber of protrusion in experiment.
Fig. 5 is a kind of structural schematic diagram of moving device provided by the invention；The fixed mechanism 41 of moving device 4, left drive
Dynamic motor 421, right driving motor 422 and upper plate 11 are fixed, and left and right crawler belt 43 is embedded in the crawler travel of the spill of lower plate 12
It in slot 122, drives driving wheel 441 to rotate by driving motor, and then drives the rotation of driven wheel 442 to realize and advance.Moving device 4
Support climbing robot makes its 12 bottom surface of lower plate and wall surface keeps certain interval, the left and right crawler belt 43 and choked flow mechanism lower end surface
Concordantly, equally have the function of hindering air-flow, the track surface is rubber material.A drive is installed respectively on two crawler belts of left and right
Dynamic motor, when robot turns to, two driving motor direction of rotation are on the contrary, driving motor output shaft connecting band track, on crawler belt
Driving wheel is arranged in one end, and it is a driving wheel and a driven wheel on two crawler belts of abutting end that driven wheel, which is arranged, in one end.
Electric control gear is the power supply of driving motor 42 of 2 high speed motor 21 of depression generator and moving device 4.
Schematic diagram when Fig. 6 is a kind of movement provided by the invention.The motion principle of climbing robot in the present invention are as follows:
Entire climbing robot is first in original state, and then depression generator 2 works, and robot is made to be adsorbed on work wall surface
On.Left driving motor 421 and right driving motor 422, drive driving wheel 441 rotate, and then drive driven wheel 442 rotation to
Move crawler belt 43.In motion process, 2 non-stop run of depression generator provides negative pressure, and crawler belt is providing its frictional force
Meanwhile by differential control, the forward or backward of climbing robot and the function of steering can be realized.
So-called clearance-type is exactly that robot sealing device bottom is not in contact with wall surface, so that it may play very in brief
Good sealing effect, the force of sliding friction for the generation that is in contact so as to avoid sealing material with wall surface, hinders to reduce walking
Power.
The main operational principle of clearance-type negative-pressure adsorption is as follows:
R is distance of the centrifugal fan air inlet to upper plate one end in Fig. 7, and a is water conservancy diversion angle, and h is sealing device and wall
The distance between face, b are distance of the deflector lower extreme point to upper plate neighboring edge.
High-speed motor drive centrifugal fan rotation, gas from centrifugal fan air inlet flow into, under turning effort by from
The air outlet of heart fan is thrown away, and passes through the gas of deflector and inlet (gap between robot bottom and sealing device)
Convection current is formed, hinders ambient atmos to further flow into robot bottom negative pressuren zone, maintains the stabilization of negative pressure.And make robot bottom
Portion is not in contact with wall surface, so as to realize in identical motor speed, forms bigger adsorption capacity, is expert at simultaneously
During walking, walking resistance is smaller.
Robot lower plate, which sticks, choked flow mechanism, and choked flow mechanism further stops gas to flow into bottom negative pressuren zone.
In addition robot bottom plate opens up crawler travel slot, and robot crawler belt is embedded in crawler travel slot, while playing obstruction gas
Stream flows into the effect of robot bottom negative pressuren zone.
The application realizes slit seal, and cooperates crawler belt installation site by deflector, choked flow mechanism, further protects
Sealing effect is demonstrate,proved, these three aspect the active balances contradiction between adsorption capacity and resistance, effects are preferable.
The present invention does not address place and is suitable for the prior art.
Claims (6)
1. a kind of clearance-type negative-pressure adsorption climbing robot, including bottom plate, depression generator, sealing device, moving device with
And the depression generator and moving device are powered and the electric control gear of real-time control, the depression generator packet
Include high-speed motor and centrifugal fan, which is characterized in that
The moving device is double-crawler type structure, including left and right crawler belt；
The bottom plate includes upper plate and lower plate, and the upper plate covers on lower plate, and lower plate is hung on by pillar
Below upper plate, lower plate center is provided with air inlet hole, and lower plate edge and upper plate surrounding are not connected to that there are gaps, up and down
Water conservancy diversion cavity is formed between bottom plate, is symmetrical set two on lower plate centered on air inlet hole for being embedded in a left side for moving device
The crawler travel slot of right-hand track chiain, and crawler belt is set on the corresponding side of upper plate, transition groove is installed；
The sealing device includes deflector and choked flow mechanism, and the deflector inclination is installed between upper and lower bottom plate surrounding
In gap, choked flow mechanism is installed on lower plate bottom surface, and choked flow mechanism lower surface is uniformly distributed a number of seal convexity.
2. clearance-type negative-pressure adsorption climbing robot according to claim 1, which is characterized in that the table of the left and right crawler belt
Face is rubber material, and the left and right crawler belt is concordant with choked flow mechanism lower end surface.
3. clearance-type negative-pressure adsorption climbing robot according to claim 1, which is characterized in that deflector and upper plate
The angle of side is 45 °.
4. clearance-type negative-pressure adsorption climbing robot according to claim 1, which is characterized in that the choked flow mechanism is tool
There are the rubber or mane sealing ring of raised particle.
5. clearance-type negative-pressure adsorption climbing robot according to claim 1, which is characterized in that on two crawler belts of left and right respectively
One driving motor is installed, two driving motor constant speed, driving motor output shaft connecting band track, one end setting is actively on crawler belt
Driven wheel is arranged in wheel, one end, is a driving wheel and a driven wheel on two crawler belts of abutting end.
6. clearance-type negative-pressure adsorption climbing robot according to claim 1, which is characterized in that electric control gear can be according to wall
The degree of roughness in face adjusts the revolving speed of high-speed motor.
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| CN201910114479.4A CN109677499B (en) | 2019-02-14 | 2019-02-14 | Intermittent negative pressure adsorption wall climbing robot |
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| CN201910114479.4A CN109677499B (en) | 2019-02-14 | 2019-02-14 | Intermittent negative pressure adsorption wall climbing robot |
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| CN109677499A true CN109677499A (en) | 2019-04-26 |
| CN109677499B CN109677499B (en) | 2024-01-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110308725A (en) * | 2019-07-04 | 2019-10-08 | 广东电网有限责任公司 | A kind of GIS robot for overhauling and its absorption force control method and relevant apparatus |
| CN110341825A (en) * | 2019-07-05 | 2019-10-18 | 广州供电局有限公司 | Climbing robot |
| CN111188506A (en) * | 2020-01-21 | 2020-05-22 | 常州机电职业技术学院 | Negative pressure rotation type glass curtain wall cleaning device |
| CN111845995A (en) * | 2020-08-28 | 2020-10-30 | 广东省智能制造研究所 | Low-noise negative-pressure wall-climbing robot |
| CN116968835A (en) * | 2023-09-25 | 2023-10-31 | 中国电子科技南湖研究院 | Wind pressure adjusting method and system of wall climbing robot and wall climbing robot |
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| CN111188506A (en) * | 2020-01-21 | 2020-05-22 | 常州机电职业技术学院 | Negative pressure rotation type glass curtain wall cleaning device |
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