中国机械工程 ›› 2025, Vol. 36 ›› Issue (06): 1198-1205.DOI: 10.3969/j.issn.1004-132X.2025.06.007

• 机械基础工程 • 上一篇    下一篇

一种新型负压式爬壁机器人吸附特性分析

董伟光1*;刘爱华2;宋屹峰2   

  1. 1.无锡学院交通与车辆工程学院,无锡,214105
    2.中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳,110016

  • 出版日期:2025-06-25 发布日期:2025-08-01
  • 作者简介:董伟光*(通信作者),男,1984年生,博士、助理研究员。主要研究方向为机器人机构学、道路交通安全与事故预防技术。E-mail:860357@cwxu.edu.cn。
  • 基金资助:
    国家自然科学基金(52075529);无锡学院引进人才科研启动专项经费(2024r034)

Analysis of Adhesion Characteristics of Novel Negative-pressure Adhesion Wall-climbing Robots

DONG Weiguang1*;LIU Aihua2;SONG Yifeng2   

  1. 1.School of Transportation and Vehicle Engineering,Wuxi University,Wuxi,Jiangsu,214105
    2.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of
    Sciences,Shenyang,110016

  • Online:2025-06-25 Published:2025-08-01

摘要: 针对负压吸附式爬壁机器人内部流场复杂、精准建模困难导致的吸附性能优化难题,提出一种基于流量守恒思维的流场建模方法。根据爬壁机器人负压吸附系统结构特点,融合热力学定律和N-S方程,以空气流量为关联要素,构建了吸附系统流场数学模型。利用该模型提取了吸附性能的关键影响因素:密封圈宽度、泄漏缝隙高度、离心泵功率,通过改变吸附系统空气流量来改变有效吸附力。仿真与样机试验表明,所构建的模型能够正确反映吸附性能的变化规律,可以为负压吸附式爬壁机器人结构及吸附性能优化提供依据。根据爬壁机器人运动特点提出了吸附性能优化策略:增大额定吸附力自重比的同时减小有效吸附力自重比。

关键词: 爬壁机器人, 负压吸附, 流场模型, 流量分析

Abstract: Addressing the challenge in optimizing the adhesion performance of wall-climbing robots based on negative pressure adhesion method due to the complexity of internal flow fields and difficulties in precise modeling, a flow field modeling method was proposed based on flow rate conservation. According to the structural characteristics of negative pressure adhesion systems of a wall-climbing robot, mathematical models of airflow field in negative pressure adhesion systems were built by combining the laws of thermodynamics and N-S equations using air flow rate as the related factor. Then, key influencing factors of adhesion performance were identified based on the model: sealing ring width, leakage gap height, and centrifugal pump power. The effective adhesion forces were changing with airflow of adhesion systems. Results of the simulation and prototype experiments show that the models constructed herein may accurately reflect the changing rules of adhesion performance, and may provide evidences for the optimization of adhesion performance of wall climbing robots with negative pressure adhesion method. Finally, according to the movement characteristics of the wall-climbing robots, adsorption performance optimization strategy was increasing the rated adsorption force to self gravity ratio while decreasing the effective adsorption force to self gravity ratio.

Key words: wall-climbing robot, negative-pressure adhesion, flow field model, flow analysis

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