CN106218745A - A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot - Google Patents
A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot Download PDFInfo
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- CN106218745A CN106218745A CN201610750864.4A CN201610750864A CN106218745A CN 106218745 A CN106218745 A CN 106218745A CN 201610750864 A CN201610750864 A CN 201610750864A CN 106218745 A CN106218745 A CN 106218745A
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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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Abstract
A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot.It mainly solves, and existing power consumption is high, it is low to climb wall efficiency, poor stability, the most high technical problem of availability.Its drip irrigation device is: include robot outer wall (1), sealing gasket (2), driving means (3), centrifugal blower (4), robot outer wall is provided with opening, making robot outer wall and robot working face formation negative pressure cavity (5), robot is provided with pressure control device.It is mainly applied to robotics and automation control area.
Description
Technical field
The invention belongs to robotics and automation control area, a kind of use on climbing robot,
Can the device of self adaptation absorption affinity.
Background technology
Along with the development of modern science and technology, at multiple fields, such as anti-terrorism investigation, skyscraper detection, wall cleaning etc. all needs
Want to realize the robot of wall climbing function.This robot can freely advance on the wall of various angles, carries many simultaneously
Plant sensor and complete task.
At present from existing negative pressure climbing robot material object, see that the data of periodical and Patents data are found out, negative-pressure type
Climbing robot is simply by a whizzer pump, in robot kinematics, with constant rotary speed working；?
In the case of climbing robot negative pressure cavity obturation effect is constant, it is provided that constant absorption affinity, and if motor system driving force gram
Take the impacts such as the frictional force under this constant pressure effect and robot gravity, it is possible to realize freely transporting on vertical wall
Dynamic.
But, during actual climbing, due to the impact of the factors such as metope roughness, crackle, granule obstacle, climb wall
The negative pressure cavity of robot can not accomplish that obturation effect is constant, so, during climbing robot moves, robot bears
Pressure be change, in order to reach robot to be firmly pressed on metope all the time, so, designer often uses power
Big centrifugal pump, high-speed cruising, to provide the pressure that can deal with worst case.The when of thus causing, in usual cases, climb
Wall robot is also subjected to excessive adsorptive pressure, and what this excessive adsorptive pressure directly resulted in is to need corresponding mistake
Big motion driving force, the design of this cruelty will cause system energy consumption very big, and the battery electric quantity that climbing robot carries has
Limit, the working time is shorter.If increasing the battery electric quantity of robot, the weight of battery will certainly be increased, cause whole robot
Weight rise, the most again must continue to increase centrifugal pump power, become one design endless loop.
The Chinese patent of Application No. 200610151073.6 discloses a kind of small-sized wall-climbing based on negative-pressure adsorption principle
Robot;This robot uses sealed skirt sealing means, it is difficult to realize self-service attitude translation function.Application No. 01138618.
The Chinese patent of 5 discloses the implementation method of a kind of crawler-type multiple sucking disc wall climbing, and this robot volume is relatively big, and structure is multiple
Miscellaneous;CN97121896 discloses one " climbing robot ", and described robot utilizes propeller or ducted fan to drive at power
The dynamic lower thrust producing sensing wall, makes robot be affixed on wall;This climb the inefficient of wall mode, thus application is the most limited
System.
In a word, the power consumption of existing climbing robot is high, it is low to climb wall efficiency, and poor stability, availability is the highest.
Summary of the invention
It is an object of the invention to provide the negative pressure self-adaptive regulating of a kind of negative-pressure type climbing robot, climb for negative-pressure type
Wall robot is under different absorption environment, under corresponding different airtight conditions, for robot provide relatively stable, enough,
Suitably absorption affinity, by this Automatic adjusument measure, saves the energy consumption of robot.
The technical solution adopted for the present invention to solve the technical problems is: includes robot outer wall 1, sealing gasket 2, drive dress
Put 3, centrifugal blower 4, robot outer wall is provided with opening, makes robot outer wall and robot working face form negative pressure cavity 5, machine
Device people is provided with driving means, and driving means is installed pressure transducer 31, and centrifugal blower is arranged on robot outer wall, passes through
Centrifugal blower works, and adjusts the ratio of the gas extracted amount of air flue and the gas intake of metope contact surface gap air intake duct,
Reduce pressure in robot.
The present invention may also comprise robot outer wall 1, sealing gasket 2, driving means 3, centrifugal blower 4, and robot outer wall sets
Having opening, make robot outer wall and robot working face formation negative pressure cavity 5, robot is provided with air pressure automatic regulating valve 11,
Air pressure automatic regulating valve is arranged on robot outer wall, and when robot interior pressure is excessive, air pressure adjustment valve is at the work of pressure
Open under with, allow external air flow slowly flow into intracavity, i.e. increased the gas inlet amount of cavity, the gas in regulation cavity by valve
Pressure, thus regulate the atmospheric pressure suffered by cavity.
The robot outer wall 1 of the present invention includes sidewall, diapire, and the sidewall end face of robot is provided with sealing gasket, reduces
Robot functional contact plane gap, forms a closed environment in making robot.
Installing pressure transducer in inventive drive means, pressure transducer one end is connected with driving means, the other end
It is connected with centrifugal blower, reads the measured value of pressure transducer, the rotating speed of regulation centrifugal pump blower fan.
The air pressure automatic regulating valve of the present invention includes that automatic valve housing, ball sealer, spring, described automatic valve shell one end set
There is the ball sealer matched with automatic valve housing mouth, the fixing spring that connects in automatic valve housing, spring other end connection ball sealer,
Climbing robot pressure is excessive, and ball sealer is opened under the effect of the pressure, allows external air flow slowly flow into intracavity, in regulation cavity
Air pressure, thus regulate the atmospheric pressure suffered by cavity, after climbing robot pressure reduces, ball sealer is under the action of the spring
Guan Bi, forms a confined space in making robot.
Automatically controlled closed loop control method:
Wheel in robot fastens installation pressure transducer, reads pressure in real time by the processor in centrifugal blower driver and passes
The measured value of sensor, by computed in software pressure, in real time, regulates the rotating speed of centrifugal pump blower fan lentamente, i.e. adjusts air flue
The ratio of gas intake of gas extracted amount and metope contact surface gap air intake duct, thus reach to regulate negative pressure cavity negative pressure
The purpose of size.
Mechanical pressure automatic regulating valve
A kind of ARTMechanical gas pressure is installed at the negative pressure cavity of climbing robot and is automatically adjusted valve, exceed limit value at negative pressure cavity pressure
Time, i.e. climbing robot pressure is excessive, and air pressure adjustment valve is opened under the effect of the pressure, allows external air flow slowly flow into chamber
In, i.e. increased the gas inlet amount of cavity, the air pressure in regulation cavity by valve, thus regulate the atmospheric pressure suffered by cavity
Power.
The invention has the beneficial effects as follows: make climbing robot in the smooth situation of metope by closed loop feedback control mode
Under, reduce the rotating speed of centrifugal pump blower fan, reduce the contact pressure of climbing robot, and then the driving power of reduction motor control,
Thus reach to reduce the effect of energy consumption；On ill-conditioned coarse metope, can supplement rapidly according to real-time pressure value
Due to the uneven phenomenon causing regional area air inflow to increase in metope gap, improve rotation speed of fan in time, strengthen gas output, protect
Hold pressure balance, thus prevent climbing robot because the phenomenon that instantaneous pressure deficiency falls down from wall occurs；By gas
Pressing the most stable of automatic regulating valve holding chamber internal gas pressure, reliability is high, and system structure is simple, automatically takes in certain air,
Reduce climbing robot pressure, thus reduce motion driving force, energy consumption can be driven with movement toward economizing.It is mainly applied to climb wall
Robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the present invention；
Fig. 3 is the structural representation of air pressure automatic regulating valve of the present invention；
Fig. 4 is the working state figure of air pressure automatic regulating valve of the present invention.
In figure: 1-robot outer wall, 2-sealing gasket, 3-driving means, 4-centrifugal blower, 5-negative pressure cavity, 31-pressure sensing
Device, 11-air pressure automatic regulating valve.
Detailed description of the invention
With embodiment, the present invention is described in further details below in conjunction with the accompanying drawings.
Embodiment 1, refering to Fig. 1 to Fig. 4, the present invention includes robot outer wall 1, sealing gasket 2, driving means 3, centrifugal blower
4, robot outer wall is provided with opening, makes robot outer wall and robot working face formation negative pressure cavity 5, and robot is provided with and drives
Dynamic device, driving means is installed pressure transducer 31, and centrifugal blower is arranged on robot outer wall, by centrifugal blower work
Make, adjust the ratio of the gas extracted amount of air flue and the gas intake of metope contact surface gap air intake duct, reduce robot
Interior pressure.
Embodiment 2, refering to Fig. 1 to Fig. 4, the present invention may also comprise robot outer wall 1, sealing gasket 2, driving means 3, is centrifuged
Blower fan 4, robot outer wall is provided with opening, makes robot outer wall and robot working face formation negative pressure cavity 5, robot sets
Air pressure automatic regulating valve 11, air pressure automatic regulating valve is had to be arranged on robot outer wall, when robot interior pressure is excessive, air pressure
Control valve is opened under the effect of the pressure, allows external air flow slowly flow into intracavity, is i.e. entered by the gas of valve increase cavity
Tolerance, the air pressure in regulation cavity, thus regulate the atmospheric pressure suffered by cavity.Remaining is with other arbitrary enforcement of the present invention
Example or the combination of 2 above example.
Embodiment 3, refering to Fig. 1 to Fig. 4, the robot outer wall 1 of the present invention includes sidewall, diapire, the sidewall end of robot
Sealing gasket is installed on face, reduces robot functional contact plane gap, in making robot, form a closed environment.Remaining is same
Other any embodiment of the present invention or the combination of 2 above example.
Embodiment 4, refering to Fig. 1 to Fig. 4, inventive drive means is installed pressure transducer, pressure transducer one end
Being connected with driving means, the other end is connected with centrifugal blower, reads the measured value of pressure transducer, turning of regulation centrifugal pump blower fan
Speed.Remaining is with other any embodiment of the present invention or the combination of 2 above example.
Embodiment 5, refering to Fig. 1 to Fig. 4, the air pressure automatic regulating valve of the present invention includes automatic valve housing, ball sealer, bullet
Spring, described automatic valve shell one end is provided with the ball sealer matched with automatic valve housing mouth, fixing connection bullet in automatic valve housing
Spring, the spring other end connects ball sealer, and climbing robot pressure is excessive, and ball sealer is opened under the effect of the pressure, allows extraneous gas
Stream slowly flows into intracavity, the air pressure in regulation cavity, thus regulates the atmospheric pressure suffered by cavity, and climbing robot pressure subtracts
After little, ball sealer closes under the action of the spring, forms a confined space in making robot.Remaining is with other of the present invention
One embodiment or the combination of 2 above example.
Embodiment 6, refering to Fig. 1 to Fig. 4, what pressure transducer was arranged on driving wheel by the present invention program accepts on axle, logical
Crossing the pressure acquisition negative pressure cavity pressure to metope measuring live axle, centrifuge driver Real-time Collection is to pressure transducer
Numerical value, by the numerical value demarcated in advance and Theoretical Calculation, obtains the suitable rotation speed of fan of current time, is given centrifugal the most in real time
Driving electric current that blower fan is corresponding or driving voltage.Remaining is with other any embodiment of the present invention or the group of 2 above example
Close.
Embodiment 7, refering to Fig. 1 to Fig. 4, the present invention program arranges a regulation valve on robot negative pressure cavity, including peace
Dress sealing ring and automatic valve.Automatic valve is made up of housing, tension spring, spring anchorage bracket and ball sealer, when negative pressure cavity negative pressure
When power is more than fixed threshold, ball sealer is firmly strained by tension spring, blocks air intake duct, and air can not enter negative pressure from outside
Chamber.When in negative pressure cavity, negative pressure is gradually increased, during until being more than the pulling force of tension spring, ball sealer is pressed by under atmospheric pressure, spring
Being stretched, ball sealer can not fully seal, and automatic valve is opened, and atmosphere outside enters negative pressure cavity, when negative pressure cavity negative pressure is due to outward
Side air enters, and negative pressure reduces, and during less than negative threshold, automatic valve housing again drawn in by ball sealer by tension spring, automatically
Valve cuts out.Remaining is with other any embodiment of the present invention or the combination of 2 above example.
Claims (5)
1. a negative pressure self-adaptive regulating for negative-pressure type climbing robot, is characterized in that: it include robot outer wall (1),
Sealing gasket (2), driving means (3), centrifugal blower (4), robot outer wall is provided with opening, makes robot outer wall artificial with machine
Making plane and form negative pressure cavity (5), robot is provided with driving means, and driving means is installed pressure transducer (31), centrifugal wind
Machine is arranged on robot outer wall.
2. a negative pressure self-adaptive regulating for negative-pressure type climbing robot, is characterized in that: it include robot outer wall (1),
Sealing gasket (2), driving means (3), centrifugal blower (4), robot outer wall is provided with opening, makes robot outer wall artificial with machine
Making plane and form negative pressure cavity (5), robot is provided with air pressure automatic regulating valve (11), and air pressure automatic regulating valve is arranged on robot
On outer wall.
The negative pressure self-adaptive regulating of negative-pressure type climbing robot the most according to claim 1 and 2, is characterized in that: institute
State robot outer wall (1) and include sidewall, diapire, the sidewall end face of robot is provided with sealing gasket (2), reduce robot work
Contact plane gap.
The negative pressure self-adaptive regulating of negative-pressure type climbing robot the most according to claim 1, is characterized in that: described in drive
Installing pressure transducer on dynamic device, pressure transducer one end is connected with driving means, and the other end is connected with centrifugal blower.
The negative pressure self-adaptive regulating of negative-pressure type climbing robot the most according to claim 2, is characterized in that: described gas
Pressure automatic regulating valve includes that automatic valve housing, ball sealer, spring, described automatic valve shell one end are provided with and automatic valve housing mouth phase
The ball sealer of coupling, the fixing spring that connects in automatic valve housing, spring other end connection ball sealer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610750864.4A CN106218745A (en) | 2016-08-30 | 2016-08-30 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610750864.4A CN106218745A (en) | 2016-08-30 | 2016-08-30 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
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| CN106218745A true CN106218745A (en) | 2016-12-14 |
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| CN201610750864.4A Pending CN106218745A (en) | 2016-08-30 | 2016-08-30 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108889459A (en) * | 2018-08-08 | 2018-11-27 | 江苏同泽过滤科技有限公司 | A kind of centrifuge foundation-free negative pressure cavity installation holder structure |
| CN109571506A (en) * | 2019-01-05 | 2019-04-05 | 韩志勇 | One kind is climbed tree method |
| CN111959631A (en) * | 2020-08-28 | 2020-11-20 | 广东省智能制造研究所 | Wall-climbing robot and control method thereof |
| CN114704778A (en) * | 2021-04-21 | 2022-07-05 | 天圜工程有限公司 | Leak hunting instrument for pipeline maintenance |
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| CN206218047U (en) * | 2016-08-30 | 2017-06-06 | 湖南千智机器人科技发展有限公司 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108889459A (en) * | 2018-08-08 | 2018-11-27 | 江苏同泽过滤科技有限公司 | A kind of centrifuge foundation-free negative pressure cavity installation holder structure |
| CN109571506A (en) * | 2019-01-05 | 2019-04-05 | 韩志勇 | One kind is climbed tree method |
| CN109571506B (en) * | 2019-01-05 | 2021-12-28 | 李秉青 | Tree climbing method |
| CN111959631A (en) * | 2020-08-28 | 2020-11-20 | 广东省智能制造研究所 | Wall-climbing robot and control method thereof |
| CN114704778A (en) * | 2021-04-21 | 2022-07-05 | 天圜工程有限公司 | Leak hunting instrument for pipeline maintenance |
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Application publication date: 20161214 |