CN206218047U - 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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- CN206218047U CN206218047U CN201620972202.7U CN201620972202U CN206218047U CN 206218047 U CN206218047 U CN 206218047U CN 201620972202 U CN201620972202 U CN 201620972202U CN 206218047 U CN206218047 U CN 206218047U
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Abstract
A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot.It is mainly that the existing power consumption of solution is high, climb that wall efficiency is low, and stability is poor, the not high technical problem of availability.Its drip irrigation device is：Including robot outer wall（1）, sealing gasket（2）, drive device（3）, centrifugal blower（4）, robot outer wall is provided with opening, robot outer wall is formed negative pressure cavity with robot working face（5）, robot is provided with pressure control device.It is mainly and is applied to robot technology and automation control area.
Description
Technical field
The invention belongs to robot technology and automation control area, particularly a kind of use on climbing robot,
It is capable of the device of self adaptation absorption affinity.
Background technology
With the development of modern science and technology, in multiple fields, such as anti-terrorism investigation, skyscraper detection, wall cleaning etc. is all needed
The robot of wall climbing function can be realized.This robot freely can advance on the wall of various angles, while carrying many
Plant sensor and complete task.
At present from existing negative pressure climbing robot it is in kind, see that the data and Patents data of periodical are found out, suction type
Climbing robot is simply by a whizzer pump, in robot kinematics, with constant rotary speed working；
In the case that climbing robot negative pressure cavity obturation effect is constant, there is provided constant absorption affinity, as long as and kinematic system driving force gram
Taking frictional force and robot gravity under constant pressure effect etc. influences, it is possible to realize freely transporting on vertical wall
It is dynamic.
But, during actual climbing, due to the influence of the factors such as metope roughness, crackle, particle obstacle, climb wall
The negative pressure cavity of robot can not possibly accomplish that obturation effect is constant, so, during climbing robot is moved, robot bears
Pressure be change, robot can be firmly pressed on metope all the time to reach, so, designer often use power
Big centrifugal pump, high-speed cruising can deal with the pressure of worst case to provide.Thus when causing, in usual cases, climb
Wall robot is also subjected to excessive adsorptive pressure, and what this excessive adsorptive pressure was directly resulted in is to need corresponding mistake
Big motion driving force, this barbarous design will cause system energy consumption very big, and the battery electric quantity that climbing robot is carried 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, then again must continue to increase centrifugal pump power, as 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;The robot uses sealed skirt sealing means, it is difficult to realize self-service attitude translation function.Application No. 01138618.
5 Chinese patent discloses a kind of implementation method of crawler-type multiple sucking disc wall climbing, and the robot volume is larger, and structure is multiple
It is miscellaneous;CN97121896 is disclosed a kind of " climbing robot ", and described robot is driven using propeller or ducted fan in power
The thrust of wall is pointed in dynamic lower generation, robot is affixed on wall;It is this to climb the less efficient of wall mode, thus application is big limited
System.
In a word, the power consumption of existing climbing robot is high, climb that wall efficiency is low, and stability is poor, and availability is not high.
The content of the invention
The purpose of this utility model is to provide a kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot, is negative pressure
Formula climbing robot is corresponded under different airtight conditions, for robot provides relatively stable, enough under different absorption environment
, suitable absorption affinity, by this Automatic adjusument measure, save the energy consumption of robot.
The utility model solves the technical scheme that its technical problem used：Including robot outer wall 1, sealing gasket 2, drive
Dynamic device 3, centrifugal blower 4, robot outer wall are provided with opening, make robot outer wall with robot working face formation negative pressure cavity
5, robot is provided with drive device, and pressure sensor 31 is installed in drive device, and centrifugal blower is arranged on robot outer wall,
Worked by centrifugal blower, adjust the ratio of the gas extracted amount of gas off-take and the gas intake of metope contact surface gap air intake duct
Example, reduces pressure in robot.
The utility model may also comprise robot outer wall 1, sealing gasket 2, drive device 3, centrifugal blower 4, robot outer wall
Opening is provided with, 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 in pressure
Effect is lower to open, and allows external air flow slowly to flow into chamber, i.e., increase the gas inlet amount of cavity by valve, in regulation cavity
Air pressure, so as to adjust the atmospheric pressure suffered by cavity.
Robot outer wall 1 of the present utility model includes side wall, bottom wall, and sealing gasket is provided with the sidewall end face of robot,
Robot functional contact plane gap is reduced, makes to form a closed environment in robot.
Pressure sensor is installed, pressure sensor one end is connected with drive device, separately in drive device of the present utility model
One end is connected with centrifugal blower, reads the measured value of pressure sensor, adjusts the rotating speed of centrifugal pump blower fan.
Air pressure automatic regulating valve of the present utility model includes automatic valve chest, ball sealer, spring, the automatic valve chest one
End is provided with the ball sealer matched with automatic valve chest mouth, and spring is fixedly connected in automatic valve chest, and the connection of the spring other end is close
Blocking, climbing robot pressure is excessive, and ball sealer is opened under the effect of the pressure, allows external air flow slowly to flow into chamber, regulation
Air pressure in cavity, so as to adjust the atmospheric pressure suffered by cavity, after climbing robot pressure reduces, ball sealer is in spring
The lower closure of effect, makes to form a confined space in robot.
Automatically controlled closed loop control method：
Installation pressure sensor is fastened in the wheel of robot, pressure is read by the processor on centrifugal blower driver in real time
The measured value of force snesor, pressure is calculated by software, in real time, lentamente adjusts the rotating speed of centrifugal pump blower fan, that is, adjust out
The ratio of the gas extracted amount of air flue and the gas intake of metope contact surface gap air intake duct, bears so as to reach regulation negative pressure cavity
The purpose of the size of pressure.
Mechanical pressure automatic regulating valve
A kind of ARTMechanical gas pressure is installed at the negative pressure cavity of climbing robot and automatically adjusts valve, limit is exceeded in negative pressure cavity pressure
During definite value, 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 to flow into
In chamber, i.e., increase the gas inlet amount of cavity, the air pressure in regulation cavity, so as to adjust the air suffered by cavity by valve
Pressure.
The beneficial effects of the utility model are：Cause that climbing robot is smooth in metope by closed loop feedback control mode
In the case of, reduce the rotating speed of centrifugal pump blower fan, reduce the contact of climbing robot, and then reduce the driving of motion control and move
Power, the effect of energy consumption is reduced so as to reach；On ill-conditioned coarse metope, can be according to real-time pressure value, rapidly
Supplement causes the increased phenomenon of regional area air inflow because metope gap is uneven, and rotation speed of fan is improved in time, increases outlet
Amount, keeps pressure balance, so as to prevent climbing robot because the phenomenon that instantaneous pressure deficiency falls down from wall occurs；It is logical
Stablizing relatively for air pressure in air pressure automatic regulating valve holding chamber is crossed, reliability is high, system architecture is simple, and certain sky is taken in automatically
Gas, reduces climbing robot pressure, so as to reduce motion driving force, can drive energy consumption with movement toward economizing.It is mainly and is applied to
Climbing robot.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is structural representation of the present utility model；
Fig. 3 is the structural representation of the utility model air pressure automatic regulating valve；
Fig. 4 is the working state figure of the utility model air pressure automatic regulating valve.
In figure：1- robots outer wall, 2- sealing gaskets, 3- drive devices, 4- centrifugal blowers, 5- negative pressure cavities, 31- pressure sensings
Device, 11- air pressure automatic regulating valves.
Specific embodiment
The utility model is described in further details with reference to the accompanying drawings and examples.
Embodiment 1, refering to Fig. 1 to Fig. 4, the utility model includes robot outer wall 1, sealing gasket 2, drive device 3, centrifugation
Blower fan 4, robot outer wall is provided with opening, makes robot outer wall and robot working face formation negative pressure cavity 5, is set in robot
There is drive device, pressure sensor 31 is installed in drive device, centrifugal blower is arranged on robot outer wall, by centrifugal blower
Work, adjusts the ratio of the gas intake of the gas extracted amount and metope contact surface gap air intake duct of gas off-take, reduces machine
Pressure in people.
Embodiment 2, refering to Fig. 1 to Fig. 4, the utility model may also comprise robot outer wall 1, sealing gasket 2, drive device 3,
Centrifugal blower 4, robot outer wall is provided with opening, makes robot outer wall with robot working face formation negative pressure cavity 5, robot
Air pressure automatic regulating valve 11 is provided with, air pressure automatic regulating valve is arranged on robot outer wall, when robot interior pressure is excessive,
Air pressure adjustment valve is opened under the effect of the pressure, allows external air flow slowly to flow into chamber, i.e., increase the gas of cavity by valve
Body air inflow, the air pressure in regulation cavity, so as to adjust the atmospheric pressure suffered by cavity.Remaining with it is of the present utility model other
Any embodiment or 2 combinations of above example.
Embodiment 3, refering to Fig. 1 to Fig. 4, robot outer wall 1 of the present utility model includes side wall, bottom wall, the side of robot
Sealing gasket is installed on wall end face, robot functional contact plane gap is reduced, makes to form a closed environment in robot.Its
The remaining combination with other any embodiments of the present utility model or 2 above example.
Embodiment 4, refering to Fig. 1 to Fig. 4, installs pressure sensor, pressure sensor in drive device of the present utility model
One end is connected with drive device, and the other end is connected with centrifugal blower, reads the measured value of pressure sensor, adjusts centrifugal pump blower fan
Rotating speed.Remaining with other any embodiments of the present utility model or 2 above example combination.
Embodiment 5, refering to Fig. 1 to Fig. 4, air pressure automatic regulating valve of the present utility model include automatic valve chest, ball sealer,
Spring, the automatic valve shell one end is provided with the ball sealer matched with automatic valve chest mouth, is fixedly connected in automatic valve chest
Spring, spring other end connection ball sealer, climbing robot pressure is excessive, and ball sealer is opened under the effect of the pressure, allows the external world
Air-flow is slowly flowed into chamber, the air pressure in regulation cavity, so that the atmospheric pressure suffered by cavity is adjusted, climbing robot pressure
After reduction, ball sealer is closed under the action of the spring, makes to form a confined space in robot.Remaining is with of the present utility model
Other any embodiments or 2 combinations of above example.
Embodiment 6, refering to Fig. 1 to Fig. 4, the present invention program accepting on axle installed in driving wheel by pressure sensor is led to
The pressure for crossing measurement live axle obtains pressure of the negative pressure cavity to metope, centrifuge driver Real-time Collection to pressure sensor
Numerical value, by the advance numerical value demarcated and theoretical calculation, obtains current time suitable rotation speed of fan, and centrifugation is then given in real time
The corresponding driving current of blower fan or driving voltage.Remaining is with other any embodiments of the present utility model or 2 above example
Combination.
Embodiment 7, refering to Fig. 1 to Fig. 4, the present invention program sets a regulating valve, including peace on robot negative pressure cavity
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 tensed by tension spring, blocks air intake duct, and air can not enter negative pressure from outside
Chamber.When negative pressure gradually increases in negative pressure cavity, until more than tension spring pulling force when, ball sealer is pushed by atmospheric pressure, spring
It is stretched, ball sealer can not be fully sealed, automatic valve is opened, and atmosphere outside enters negative pressure cavity, when negative pressure cavity negative pressure is due to outer
Side air enters, and negative pressure is reduced, and during less than negative threshold, ball sealer is drawn in automatic valve chest by tension spring again, automatically
Valve is closed.Remaining with other any embodiments of the present utility model or 2 above example combination.
Claims (5)
1. a kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot, it is characterized in that：It includes robot outer wall（1）、
Sealing gasket（2）, drive device（3）, centrifugal blower（4）, robot outer wall is provided with opening, makes robot outer wall artificial with machine
Make plane and form negative pressure cavity（5）, robot is provided with drive device, pressure sensor installed in drive device（31）, wind is centrifuged
Machine is arranged on robot outer wall.
2. the negative pressure self-adaptive regulating of negative-pressure type climbing robot according to claim 1, it is characterized in that：The drive
Pressure sensor is installed on dynamic device, pressure sensor one end is connected with drive device, and the other end is connected with centrifugal blower.
3. a kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot, it is characterized in that：It includes robot outer wall（1）、
Sealing gasket（2）, drive device（3）, centrifugal blower（4）, robot outer wall is provided with opening, makes robot outer wall artificial with machine
Make plane and form negative pressure cavity（5）, robot is provided with air pressure automatic regulating valve（11）, air pressure automatic regulating valve is installed in robot
On outer wall.
4. the negative pressure self-adaptive regulating of the negative-pressure type climbing robot according to claim 1 or 3, it is characterized in that：Institute
State robot outer wall（1）Including side wall, bottom wall, sealing gasket is installed on the sidewall end face of robot（2）, reduce robot work
Contact plane gap.
5. the negative pressure self-adaptive regulating of negative-pressure type climbing robot according to claim 3, it is characterized in that：The gas
Pressure automatic regulating valve includes automatic valve chest, ball sealer, spring, and the automatic valve shell one end is provided with and automatic valve chest mouthful phase
The ball sealer of matching, is fixedly connected spring, spring other end connection ball sealer in automatic valve chest.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620972202.7U CN206218047U (en) | 2016-08-30 | 2016-08-30 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201620972202.7U CN206218047U (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 |
|---|---|---|---|---|
| CN106218745A (en) * | 2016-08-30 | 2016-12-14 | 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 |
| CN109572848A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN110077483A (en) * | 2019-05-16 | 2019-08-02 | 哈尔滨工业大学 | A kind of negative-pressure adsorption robot and become adsorption capacity non-plane motion control method |
| WO2020240791A1 (en) * | 2019-05-30 | 2020-12-03 | 東京計器株式会社 | Movement device |
-
2016
- 2016-08-30 CN CN201620972202.7U patent/CN206218047U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106218745A (en) * | 2016-08-30 | 2016-12-14 | 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 |
| CN109572848A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN110077483A (en) * | 2019-05-16 | 2019-08-02 | 哈尔滨工业大学 | A kind of negative-pressure adsorption robot and become adsorption capacity non-plane motion control method |
| CN110077483B (en) * | 2019-05-16 | 2021-10-19 | 哈尔滨工业大学 | Negative pressure adsorption robot and variable adsorption force curved surface motion control method |
| WO2020240791A1 (en) * | 2019-05-30 | 2020-12-03 | 東京計器株式会社 | Movement device |
| KR20220016093A (en) * | 2019-05-30 | 2022-02-08 | 도쿄 케이키 가부시키가이샤 | mobile device |
| KR102614992B1 (en) * | 2019-05-30 | 2023-12-19 | 도쿄 케이키 가부시키가이샤 | mobile device |
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