负压爬壁机器人吸附系统研究

中国机械工程 ›› 2012, Vol. 23 ›› Issue (18): 2160-2164,2168.

负压爬壁机器人吸附系统研究

彭晋民1;李济泽1;邵洁2;李军2

1.福建工程学院,福州,350108
2.北京理工大学,北京,100081

出版日期:2012-09-25 发布日期:2012-09-29
基金资助:
福建省教育厅科技项目（JA09180）
Fujian Provincial Science and Technology Program of Ministry of Education of China（No. JA09180）

#br# Absorption System of a Negative Pressure Wall Climbing Robot

Peng Jinmin1;Li Jize1;Shao Jie2;Li Jun2

1.Fujian University of Technology,Fuzhou,350108
2.Beijing Institute of Technology,Beijing,100081

Online:2012-09-25 Published:2012-09-29
Supported by:
Fujian Provincial Science and Technology Program of Ministry of Education of China（No. JA09180）

摘要/Abstract

摘要：

系统研究了爬壁机器人的负压吸附系统。针对负压爬壁机器人的吸附力利用效率,研究了其运动系统结构对吸附力配置的影响。根据吸附力利用效率的差异，提出了若干移动机构及密封机构的构成方案并分析了其综合性能。对负压吸附系统各个元件进行了热力学分析,阐述了吸附系统的气路状态变化过程，揭示了吸附原理的实质。利用CFD对吸附系统气流在流场中的状态变化进行了仿真。最后,通过研制的负压式爬壁机器人样机验证了吸附系统的可靠性和稳定性。

关键词: 爬壁机器人, 吸附力配置, 负压吸附, CFD仿真

Abstract:

A negative pressure absorption system of climbing robots was deeply studied.Based on the utilization rate of the negative pressure climbing robot,the impacts of locomotion system on adsorption force's allocation were studied.According to the differences in the utilization rate of adsorption force,a number of locomotion mechanisms and sealing devices were presented and their compositive performances were analyzed.Through the thermo-dynamic analysis of the component,the process of state changes in suction's flow field was described,and the principles of the adsorption system were revealed.In order to illustrate the essence of the adsorption force provided by suction system,the airflow state changes of the system
was simulated by CFD.A climbing robot was presented to verify the stability and reliability of the absorption system.

Key words: wall-climbing robot, adsorption force allocation, negative pressure adsorption, computational fluid dynamics(CFD) simulation

中图分类号:

TP24

彭晋民1, 李济泽1, 邵洁2, 李军2. 负压爬壁机器人吸附系统研究[J]. 中国机械工程, 2012, 23(18): 2160-2164,2168.

BANG Jin-Min-1, LI Ji-Ze-1, SHAO Ji-2, LI Jun-2. #br# Absorption System of a Negative Pressure Wall Climbing Robot[J]. China Mechanical Engineering, 2012, 23(18): 2160-2164,2168.

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