爬墙机器设计—机器结构设计
爬墙机器设计—结构设计
摘
文设计种涵道风扇负压吸盘吸附系统体轮式爬墙机器爬墙机器结构设计研究方首先提出基负压吸附原理机器结构设计方案求根求尺寸首先爬墙机器硬件设备机械结构进行合理排布设计体化机器底板运动组件进行Proe软件建模通ProeMDX模块爬墙机器进行虚拟模型运动仿真检验基机械结构合理性行性
关键词：爬墙机器负压吸附机器结构
Wall Climbing Robot DesignStructural Design
Abstract
This paper designs a wheeled wall climbing robot with ducted fan and negative pressure suction cup as the main body of the adsorption system The structural design of the wall climbing robot is my main research direction Firstly the structural design scheme and requirements of the robot based on the negative pressure adsorption principle are proposed According to the requirements and sizes the hardware equipment and mechanical structure of the wall climbing robot are arranged reasonably the integrated robot base plate is designed independently and the Proe software modeling is carried out on the robot base plate and the main moving components Finally the MDX module of Proe is used to simulate the motion of the virtual model of the wall climbing robot to verify the rationality and feasibility of the basic mechanical structure
Keyword Wall climbing robot Negative pressure adsorption Robot structure Ducted fan
目 录
目 录 2
1 绪 1
11 引言 1
12研究背景意义 1
13国外发展状况发展趋势 2
131国外研究现状 2
132国研究现状 3
14 研究容目标 4
15 章结 4
2 爬墙机器总体设计方案 5
21文研究容 5
22爬墙机器总体设计方案 5
221系统总体设计求 5
222结构设计技术路线 5
23爬墙机器组成系统 5
24章结 6
3爬墙机器结构设计 7
31移动方式 7
32移动机构 7
33结构硬件布置 8
34硬件设备 9
342硬件外部设备区域安装 10
35 章结 10
4 Proe建模 11
41 Proe建模软件介绍 11
42 Proe软件总体设计 11
43机器底板建模设计 12
44驱动组件 13
441步进电机 13
442电机安装板组件 14
45 涵道风扇组件 15
46 组件 17
461涵道风扇装夹套 17
462联轴器 18
463万轮 18
464车体外壳 19
47章结 19
5 仿真设计 20
51运动仿真准备 20
52 Proe中机构运动模块 21
53 机器运动仿真 21
53 章结 25
6 结 26
61设计总结 26
62足处 26
63展 26
参考文献 27
致 谢 28
附录1 相关设计件二维图纸 29
附录2 总装二维图纸 32
附录3 英文文献翻译 32
1 绪
11 引言
文针爬墙机器研究话题展开探究作研究者应该首先明确爬墙机器基概念类机器倾斜者直接垂直墙壁灵活移动机器该类机器助特殊设计身吸附功移动功利实现正石油化工业核工业造船业等存型工业设施设备行业蓬勃发展种特殊机器接受系列作业务拥广阔发展前景
爬墙机器领域年发展没岁月白白流逝20世纪90年代开始着工业机器控制技术传感器技术机械结构制造应等方面实质科技推进国外爬墙机器技术难题突破针应环境种样机械结构吸附方式涌现良发展势头国高校纷纷成立爬墙墙机器研究项目组爬墙机器究性广阔发展空间机器行业开发研制专业培养具积极性意义
12研究背景意义
结合石化工业联合发布关国石油化学工业实际济运行情况相关报告指出2019年12月底国石油化工类企业发展良约26271家企业形成规模该行业产业关联度高推动全球济发展核心力量种特殊具中坚位行业采型储存设备方面致力建筑研究相关组织明确提出直2017年国陆超高层建筑完成情况理想中两百米建筑约700栋左右中六栋建筑高达六百米时相关国际数明确指出国超高层建筑规划建成两百米建筑占世界总数量45说着国工业化程度断加深建筑行业迅速发展许型工业设备高层建筑巍然耸立派生问题存—长期表露外壁面难免会然灾害受损害气候环境产生腐蚀性损伤进行工维护保护设施安装工作具危险性高操作难度高效率低等问题工进行高楼厦外高层擦洗时绳索捆绑腰间者采吊篮搭非常容易发生安全事引发员伤亡等幢高楼厦完全清洁工作耗时数周工作效率低情况耗费巨资[1]
图12 型油罐高空作业
相较工利爬墙机器进行高空作业错收益：
（1）爬墙机器灵活度高非工吊篮般工调节作业位置
（2）高度爬墙机器身工作造成极少影响限制高空作业灵活展开高空作业员工作负担减高空作业员培养难度高心理素求高等问题解决
（3）面积壁面工作时间长爬墙机器工作时长足节省工员换班时间带良济效益
爬墙机器设计产业化极改善工现状爬壁机器设计制造涉机械电子气压液压信息通讯等领域知识技术重结合程度高研究课题爬墙机器发展利技术领域交流合作
13国外发展状况发展趋势
131国外研究现状
相较国国外爬墙类机器研究工作起步较早时国外研究爬墙机器时候极注意力放吸附方法具体运行模式方面物理机械电子等领域相交性幅提升热衷爬墙式机器研究国家日代表发展起步早时投入实际应早实1978年时候日已助机械技术完成核电站壁污物清理工作研制爬墙机器更服务高空作业初代爬墙机器仅单吸盘具走功铰车拉动辅助移动模式续研究基础日相关组研发出独立行走爬墙机器机器样单吸盘结构移动模式摒弃辅助机构赖创新突破该组研发第二代机器均具备单真空腔必须保障壁面整够保障爬行稳定性旦壁面裂缝者凹凸等情况法稳定爬行日组三年时间完成第三代产品开发第三代爬墙机器采履带移动模式时移动组织位置设置真空吸盘相较第二代机器三代机器吸附性更时着更理想化移动水东京某企业研究出型煤气罐机器该机器煤气罐焊缝情况检查工作中发挥着重作考虑机器外框架八具备吸盘脚时分布状态放射状气缸驱动力促进脚运动直流伺服阀辅助传统机构运动机器身负载力增强
着爬墙机器国铺展式研究发展机器存色样结构形态吸附方式久前Toyohashi University of Technology 机械工程系副教授tomoaki mashimo博士剑桥学工程系机器专业Fumiya iida博士研究团队已成功开发出种水蛭形状机器LEeCH该类机器轻易举实现垂直墙壁爬行操作特点完成墙面渡操作包括互相垂直壁面渡薄壁正反面渡种水蛭机器处联状态三柔软子形成技术含量高保障柔性长度效控制需控制处舵机传动装置供时配合柔性体意弯曲伸长发挥结构控制两类转变优势种仿生吸附爬墙机器时实现垂直墙壁爬行水方灵活渡备受业青睐具显著变形连续紧凑控制爬墙机器翻墙柔性机器鼻祖说现
研究中爬墙机器种类特丰富根吸附移动方式组合产生种类爬壁机器例 框架式吸盘爬壁机器轮式磁吸附爬壁机器履带式吸盘爬壁机器等类间特色[2]
图131 水蛭爬墙机器
132国研究现状
国研究爬墙机器方面起始时间赶西方国家然研究差距肯定存研究取成功然值肯定例哈工北理工华南理工等院校爬墙机器研究方面取傲成绩时应机样制成中哈尔滨工业学六足爬墙机器研究设计工作中极出色款设计六足机器助中枢系统发生器工作属仿生控制算法种助款爬墙机器腿部结构系统反反复复运动令系统断转变原始状态实实际行走环节中腿腿间关系发生改变属种基CPG算法爬墙机器独立性强传感器赖程度时越障力更强存应缺陷着相繁杂驱动程序实际运算力求高哈工注意弊端想方设法优化整体机械结构试图改善运算足劣势外哈工爬墙式机器吸附方式方面研究工作开展较深入例托静电吸附原理爬墙机器等
方面国科学院沈阳市研究董伟光五年前成功研发出轮足式复合爬墙机器爬墙机器托行星轮系结构负压模块真空模块机结合起实际移动环节中助密封腔部三轮移动机构直线层面移动者灵活转然助真空吸附组织形成双足移动相似抬腿移动核心优势光滑外表保障三轮移动机构迅速移动目利实现便遇阻碍情况然助双足运动模式轻松越
华南理工学提出六足爬墙机器基耗目标优化转矩分配方法寻找机器安全位姿[3]见国爬墙机器发展迅速技术趋成熟时拥众设计理念方法
14 研究容目标
文爬墙机器机械结构硬件系统作研究设计
第章：章绪选择课题背景出发先分析爬墙机器高程度工业化意义根国外研究现状牵引出爬墙机器致研究容次研究工作开拓思路接研究设计进行导
第二章：爬墙机器硬件结构设计整体方案进行阐述先介绍文研究基求研究结构技术路线总结整体设计方案
第三章：根整体设计方案求进行关键部件选择解释介绍根选元器件尺寸进行机器体结构排布
第四章：章机器机械结构部件结构进行分析介绍Proe款3D建模软件机械结构模块进行建模
第五章：章构成爬墙机器结构零部件进行集合组装条件限情况弱化样机调试基Proe软件爬墙机器运动件仿真机器部硬件结构排查干涉检测运动仿真
第六章：总结次研究弊端足处未展
15 章结
章首先述选课题背景研究表明爬墙机器具实意义究性世界出发选例分析概括国外爬墙机器研究现状介绍文章节安排研究容
2 爬墙机器总体设计方案
21文研究容
文种基涵道风扇负压发生装置单负压腔体爬墙机器进行探究STM32F407芯片作控制系统核心两独立步进电机驱动轮实现差速轮转文中机器机械结构方面进行研究设计
22爬墙机器总体设计方案
221系统总体设计求
设计合理结构选济适元器件配合合适机构硬件限度发挥出涵道负压吸附装置性爬墙机器具独立行走吸附墙体力通STM32F407uCOSIII操作系统联系工作机器基整墙体根指示运动
文中研究爬墙机器设计求：
（1）阅读量文献前提爬墙机器基运动方式进行确定根参数合理排布硬件基保证运动静力吸附墙体吸附运动结构行
（2）设计合理STM32单片机程序烧入基实现通红外遥控控制步进电机速度正反转停止状态切换求精准性高通控制完成基动作
（3）爬墙机器定避障力通手机蓝牙发送指令实现实时通信外设置蜂鸣器方便监控
222结构设计技术路线
查阅相关文献满足设计求济性出发路线进行工作：
（1）通确定机器驱动移动方式根合理性进行机器移动机构排布确保机器独立行走力
（2）根选器件尺寸质量等参数设计合适机器底盘部分动作部件进行布置设计固定架夹装器等安装机构硬件保持模块工作稳定性化机器工作时部件物理干涉
（3）利建模软件设计件进行建模制作样机进行3D印文件准备条件限进行运动仿真查否实现基功期进行硬件调试改进
23爬墙机器组成系统
爬墙机器系统分机械硬件系统软件（编程控制）系统中研究方硬件系统细分机械体电机供电电池通信模块传感器模块电机驱动模块等机器功实现赖两系统配合工作
图23 硬件系统工作原理图
24章结
章首先组成核心方面简单阐述爬墙机器总体设计方案介绍总体设计求根结构设计方划出路线简单介绍爬墙机器系统
3爬墙机器结构设计
31移动方式
前国外研究爬墙机器移动方式致分轮式履带式足式三类轮式爬墙机器继承轮式车灵活转方便控制难度低特点轮轴固定吸附底盘高度物理干涉较加定控距缓震系统会俗吸附性稳定性履带式爬墙机器拥整履带机构凹凸壁面良消化力保障机器吸附力苦履带材料厚重设计需面积吸附底盘增加类爬墙机器重量履带式转功轮式灵活足式爬墙机器具出色越障力步态规划繁琐需舵机数量控制系统复杂程度相较高控制位情况难达较高运行速度设计轮式机器带错见成果
32移动机构
结构简易实现轮式爬墙机器功少化材料赋予爬墙机器良吸附力出发点考虑常见三轮四轮结构图32示
图32三轮四轮机构简易图
图32（b）中四轮结构相三轮结构更衡性遇凹凸行走面易侧倒考虑轮缘会受更阻力降低电机输出功率基础采独立电机驱动轮相三轮式机器质量更增加工作负载
图32（a）中三轮布置常见两种：
（1）两前轮连接驱动轮轮连接舵机转轮种布置安排赖轮转前轮动止增加机器转角度灵活性低
（2）两前轮独立电机驱动动轮轮轮万轮转灵活便控制调节种布置作业定墙面覆盖率求机器种错选择
次设计采独立电机驱动两轮动轮万轮移动机构布置方案
33结构硬件布置
次设计出爬墙机器减少料轻便结构济性考虑负压腔器件安装板底板进行体化设计采涵道风扇负压发生装置快速运行赋予机器吸附力反映涵道工作时定危险合理布置硬件设备仅会影响机器性严重时造成设备障机械结构破损情况
涵道风扇负压发生器入风口必然位负压腔方确定应安装底板方控制系统相关硬件设置负压腔会涵道产生流体力产生固定稳甚脱落负压吸附机器点轮子安装位置研究中存轮子设计负压腔体例子图331
图331 置轮负压机器
类爬墙机器数底板面积负压腔密封性吸附力稳定电机扭力足次研究设计机器相体型负压发生赖涵道风机持续输出驱动轮设计负压腔轮胎会机器工作均匀受力机器正常运动影响轮胎设置负压腔外结合述总体结构布置图332示
图332 硬件布置示意图
34硬件设备
排布硬件模块结构需先选型确定器件模块通尺寸等参数具体化硬件设备底板占空间根硬件工作性质进行排布设计出合理机器机械结构次设计机器运动组件选择28BYJ48步进电机4S 4300KV型50mm涵道风扇两赋予机器移动功吸附功运动发生器组件机器进行吸附力调节供电测距报警硬件列表341
硬件设备
尺寸
重量
橡胶轮×2
直径65mm轮胎宽度27mm
68g
寸万轮
轮宽15mm高度33mm轮直径25mm
约36g
4S 1800mah 25C
涵道风扇电池组
35mm×28mm×110mm
130g
40A盈电调
30mm×70mm×9mm
48g
舵机测试仪
30mm×37mm×10mm
约6g
stm32控板
95mm×75mm
约50g
ULN2003驱动模块×2
32mm×34mm
136g
锂电池供电模块
60mm×31mm×11mm
35g
超声波模块
45mm×20mm（3mm）
约10g
源蜂鸣器模块
32mm*13mm
8g
表341 机器硬件模块尺寸参数
342硬件外部设备区域安装
保障爬墙机器衡器抗颠覆力硬件布置应该位置相称模块硬件正常运行易拆卸组装操作接线方便情况重量分布均匀根节硬件组件参数机器进行概结构排布硬件进行安放区域设计次研究爬墙机器硬件布置致图342示
图342 外部设备固定区域构想图
中1电机安装区域2外置65mm驱动轮3涵道风扇电池组定位区域4涵道风扇装夹台5万轮安装区域6涵道风扇定位区域7封装锂电池电调舵机测试仪蜂鸣器蓝牙模块安装区域8超声波测距模块控板电机驱动模块安装区域实际设计中区域应根布置硬件工作情况保持定间距化众器件结构物理干涉设计中会定位孔模块进行底板孔步设置外部分带固定孔位硬件锂电池组涵道风扇电池组等设置高度合适矩形凸台定位定位区域周围设计孔意尼龙锁扎带加固定
35 章结
章首先通明确爬墙机器移动方式进行轮式移动结构安排根需硬件模块尺寸制定定位分布方案
4 Proe建模
41 Proe建模软件介绍
Proe软件全称ProEngineer操作软件款美国参数技术公司开发集计算机辅助设计计算机辅助制造计算机辅助工程（CADCAMCAE）身三维建模软件拥草图绘制组件制作装配钣金件设计等式模块独立模块化方式满足设计需求众三维造型设计软件中落风机械设计业界者青睐Proe占优势参数化数库统模型设计中模型分解限特征限参数完全约束外建模程中模块单数库模块间会根特征修改步参数意味着组件装配工程图输出程中修改某零件尺寸时装配图工程图相应部件会步尺寸需重新修改特征设置约束模型设计灵活变更方便
42 Proe软件总体设计
机器部件机械装配图图421示机器运动部件底板减速电机电机支架65mm橡胶轮联轴器涵道风扇涵道装夹件万轮外壳组成
图42 机器装配图
43机器底板建模设计
图431图432机器体建模体化底板体时具负压腔涵道风扇装夹机构万轮安装板等机械结构3D印构想中选择塑料材料
图431 机器底板
图432 机器底板底部
设计基考虑素：
负压腔：图43示机器负压腔涵道风扇接口引流通道底板底部边缘突起构成原理作负压发生器够机器底板部空气抽出底板部压强部产生差值负压生成吸附力机器吸附接触壁面保证机器运动时轻易发生倾覆[4]中负压腔涵道接口涵道风扇引流圈直径约1mm—2mm方便涵道风扇安装接入接入选择合适海绵条胶条作密封机构进行接口缝隙贴紧密封根电机安装高度驱动轮直径底板边缘凸起挡板设计距接触面约5mm—8mm厚度10mm三轮爬墙机器衡性相足运动时遇整壁面难免会倾侧造成壁面底板摩擦碰撞留合适高度选择济实惠海绵条胶条进行粘贴密封保证负压腔密封性时代机械磨损
涵道风扇装夹机构：夹装柱机台构配合装夹套作涵道风扇安装定位涵道风扇工作时通螺栓连接横力矩柱台机构设置相装夹套提供支撑受力面连接孔缓涵道风扇运作时反作力保证机构会外力断裂受破坏
万轮安装板：安装板孔位根选择寸万轮设计万轮安装板凸台高度根电机安装高度驱动轮直径进行确定确保机器底板面保持相行吸附系统产生文丘里效应伯努利原理种体现根伯努利原理流体流速方压强流速方压强[5]万轮安装板高度设置低高负压腔壁面缝隙等会造成机器整体吸附力均影响机器衡性吸附力外万轮活动腔根万轮尺寸定保证万轮墙体转腔体发生摩擦碰撞
底板存三外壳安装卡扣插入孔孔设置较安装外壳时便卡扣梁插入减少弹性变形外底板方凸起3mm孔应尺寸硬件模块定位辅助机构
44驱动组件
441步进电机
步进电机电脉信号转变角位移线位移开环控制元件脉驱动适合数字微型计算机控制做种基脉控制数字元件[6]次设计采28BYJ48步进电机尺寸建模图441示
图441步进电机尺寸线建模图
442电机安装板组件
选电机配套安装机构需根电机42mm安装孔设计电机固定安装支架建模图442M4六角螺栓M4螺母连接电机安装板
图442 电机安装板组件
45 涵道风扇组件
次设计选POWERFUN牌50mm11叶涵道风扇涵道风扇涵道旋翼相涵道桨叶起定保护作具安全性高结构更加紧凑气动效率高噪音低等特点[7]次设计选POWERFUN牌50mm11叶涵道风扇实物图431示提供970g推力
图451 涵道风扇实物图
中组件包括：
14300KV4S电机负压发生装置电机工作电流40A满载功率达670W重57g搭配1800MAH 25C电池组
2 空涵道腔体外径554mm径514mm采PA66工程塑胶材料涵道包裹运作浆叶具说优点外次设计机器减少器件间物理干涉降低机器运作危险性等
3 导流圈直径63mm引导气流适应负压腔减少风力损失外桨叶直径507mm11叶风扇叶产生风力结构
涵道风扇组件相关建模图：
图452 涵道风扇组件建模
图453 涵道风扇装配
46 组件
461涵道风扇装夹套
涵道风扇裸露电芯电机设置安装架固定涵道风扇需装夹结构选择涵道外壁进行套装通伸出底板安装柱台进行螺栓连接装夹套径542mm外径60mm通M4螺栓螺母配合底板固定连接装夹套涵道风扇工作时承受推力进行3D印应选择轻质铝合金材料
图461 装夹套
462联轴器
考虑机器工作程中定负载直接电机伸出轴连接轮毂会中心孔受力根电机伸出轴选5mm六角联轴器配合M4螺栓进行电机伸出轴固定连接轮子选宽度27mm外径66mm玩具橡胶轮子通中心外孔M4六角螺栓联轴器连接
图462 联轴器建模
463万轮
次设计中作动轮万轮提供支撑辅助变功机器吸附墙体工作时提供较静摩擦力
图463 万轮组装
464车体外壳
车体外壳高度约57mm方涵道风扇伸出口样进行设计保证出风口畅通提高涵道负压发生器性效率外壳设卡扣卡扣连接件种结构形式螺钉相需额外配螺母加工设计件螺纹[8]图464示
图464 车外壳建模
47章结
章简单介绍Proe建模软件该软件进行机器设计建模阐述机器组件安装罗列出组件建模图片
5 仿真设计
51运动仿真准备
3D模型设计中进行零件配合检查排机械结构间干涉重步骤运动仿真前应先行考虑机器组装尚未投入工作时零件间静态配合Proe软件中置干涉检查功步骤：
1 开总体装配图点击分析栏选择模型全局干涉
2 弹出窗口中包括面组选项开
3 点击预览钮钮
4 点击预览零件间出现干涉会信息提示栏里显示点击零件编号模型中加亮特征互相干涉零件
图511 静态干涉检测步骤
次机器模型设计检测中出现螺栓螺母孔间干涉图512分析：次三维建模中螺栓螺母间保证节距截面正确性没进行紧固件数精确传输符合实体装配中配螺栓螺母非精准配套螺纹紧固件均存法避免干涉建模中规格相符螺纹紧固件存干涉常见逐排查机器零件间干涉
512 静态干涉结果
52 Proe中机构运动模块
机械设计领域中计算机进行运动仿真设计产品进行机构运行图技术参数进行输出非常关键设计步骤制造成型程中许缺陷法预测单单进行实验验证会增加成延长生产周期然计算机辅助技术数字化模拟成型技术设计制造带便利[9]计算机检验产品设计缺陷早发现进行模型修改研发制造员设计产品模型制造节省时间精力毋需产品样机中进行检测分析助缩短投入生产需时间幅度提高工作效率次设计中机器机械结构方面进行模拟Proe软件中机构运动学模块机器进行运动仿真干涉检测运动轨迹等模拟
53 机器运动仿真
文材料校核环境素涉较少验证机械结构运动行性硬件间干涉情况机构运动仿真模块进行动态干涉检测致步骤：
（1）导入组装图处应注意步进电机伸出轴万轮轴应体分开建模然组装定义销钉连接约束动态仿真中应留机构运动度外应机器驱动轮相距中点建立基准点通槽连接功运动轨迹进行机构连接非约束
（2）点击应程序栏选择机构进入机构运动模块
（3）驱动轮万轮涵道风扇叶片运动轨迹起始点加入伺服电机定义根右手定设置机器前进时机构旋转方运动轴设置速度模选择常数50转运动仿真时转弯方伺服电机定义模数设定应相调
（4）通快模块查机器基运动情况误进行运动部件分析定义回放模块进行部分碰撞检测设置碰撞时动画结束相关螺纹紧固件外选择运动部件进行运动仿真
次机器运动仿真结果理想回放正常
图531 进入机构运动仿真模块
图532 转弯轨迹伺服电机定义
图533 左转时左轮伺服电机定义
图534 分析定义设置
图535 直线运动仿真
图535 曲线运动仿真
53 章结
章作设计机器建模仿真分析通Proe置全局干涉功检测机器建模结构否合理机构运动学模块碰撞检测功机器运动中组件进行干涉分析
6 结
61设计总结
文保证爬墙机器工作运行机械结构行性机构方面研究种涵道风扇负压发生装置单负压腔体爬墙机器验证机械结构合理性文研究成果总结：
（1） 符合设计求选择三轮布置移动机构设置万轮动轮配合两独立步进电机驱动轮进行控制赋予设计爬墙机器移动机构操作性灵活性硬件结构料减少易实现机器吸附功时达济性目
（2） 根器件布置设计出机器体相关安装机构外壳等机械零件负压腔壁面接触面积高度进行定范围控制相关密封措施提供便捷增加负压腔利率提高吸附性时结构相紧凑确保硬件固定安装正常
（3） 通Proe三维软件机器仿真验证机器部硬件干涉
总说次设计成功设计出种爬墙机器合理结构体现机器运动吸附功实现机械结构行总体装配突出干涉硬件布置安排较合理研究知识收益深入接触爬墙机器工作原理结构设计问题
62足处
次设计中存未涉相关知识原理相信果时间资金充足情况更佳结构设计拓展度更高结构优化考虑机器结构设计未涉研究方欠缺考虑足处：
（1）缺少样机调试环节机械结构具体谈材料方研究应该配合材料性结构力学分析校核进行机构合理性验证
（2）运动力学方具体分析计算法整体验证机器运动力
63展
研究者修改工作应结合足处展开爬墙机器涉机械设计控制原理电路设计等众领域机电配合求较高值断深究交叉领域研究课题希通课题研究实现知识水力增值定会虚心诚恳积极进取姿态接受建议思考学
参考文献
[1] 孙锦山气动爬壁机器机构设计控制系统研究[D]浙江工业学20066
[2] 赵兴飞气驱爬壁机器理实验研究[D]重庆学20046
[3] 魏武蔡钊雄邓高燕基耗目标优化足爬墙机器足力控制研究[J]中国机械工程201223(9)12891295
[4] 齐晓龙负压吸附式爬墙机器关键参数确定方法研究[J]甘肃电气工程学院2018(4)58
[5] 景江红卢启勇陈杰伯努利原理生活中应[J]科学技术创新2020(03)2728
[6] 李毅航刘权兵徐重瑶张国步进电机控制器[D]长春工程学院20117
[7] 丛伟涵道风扇气动特性优化研究[D]南航航空学20137
[8] 陈燕塑料卡扣设计研究CAD应模块开发[D]江南学20066
[9] 吕雪牛海霞基ProE清洁机器爬壁机构设计[J]黄河科技学院学报201921(05)5254
[10]孙立新杨兴宇杨改文高菲菲王传龙基负压吸附船体清刷机器研究[J]机床液压201947(17)5659
[11]肖世贵章亚男沈林勇宋薇钱晋武种双体负压吸附爬壁机器研究[J]工业控制计算机201831(06)8587
[12]Qiang ZhouXin Li Experimental investigation on climbing robot using rotationflow adsorption unit[J] Robotics and Autonomous Systems2018105
[13]刘明芹戴永雄黄文攀型吸附式爬壁机器机械结构衡性[J]机械设计制造2011(5)146148
[14]王园宇武利生李元宗壁面清洗机器发展趋势浅析[J]引进咨询2002(4)34
[15]孟宪宇董华伦爬壁机器结构设计曲面磁力吸附关键技术研究[J]制造业动化201840(06)1922+39
[16]志奇 负压吸附式爬壁机器设计研究[D]华北电力学2018
[17]王富杰孙静王吉岱伊晓丽壁面移动机器移动方式移动机构研究进展[J]机械传动201236(06)115120
附录1 相关设计件二维图纸
图电机安装板二维图
图底板二维图
图涵道装夹板二维图
附录2 总装二维图纸
附录3 英文文献翻译
The development trend of the robot
1 Preface
Climbing robot is an important branch in the field of mobile robot flexible mobile on vertical wall replace artificial under the condition of the limit to complete various tasks is one of the hotspot in research of the robot It is mainly used in the nuclear industry petrochemical industry shipbuilding fire departments and investigation activities such as the building external wall cleaning material storage tank in petrochemical enterprise testing and maintenance the outer wall of large steel plate spray paint and in building accident rescue and relief etc and achieved good social benefits and economic benefits has wide development prospects
After 30 years of development the field of robot which has emerged a large number of fruitful results especially since the 1990 s especially rapid development in the field of climbing robot at home and abroad In recent years due to the development of a variety of new technology the robot which solved many technical challenges greatly promote the development of the climbing robot The robot design activities of universities in our country also has a wide development this kind of atmosphere for our robot research and development of special and professional talents＇ cultivation is of positive significance
2 Climbing robot research status abroad
1966 Japanese professor west light wall mobile robot prototype is developed for the first time and performance success in Osaka prefecture university This is a kind of rely on negative pressure adsorption climbing robot Then appeared various types of climbing robot has already begun to the late 80 s application in the production Japan＇s most rapid development in the development of climbing robot mainly used in the construction industry and nuclear industry Such as Japan shimizu construction company has developed with the outer wall of the building industry coating with ceramic tile of the robot they developed by negative pressure adsorption cleaning climbing robot on the surface of the glass for the Canadian embassy to clean Tokyo university of technology development of the wireless remote control magnetic adsorption climbing robot In Japan＇s miti limit homework robot national research projects supported by day CDH developed a large pot of negative pressure adsorption surface inspection robots used in nuclear power plants etc
Other countries are also added to the climbing robot research upsurge such as Seattle Henry R Seemann under the funding of the Boeing company developed a vacuum adsorption crawler AutoCrawler robot On the two tracks each containing a number of small adsorption chamber with the moving of the crawler adsorption chamber form continuous vacuum cavity and makes the crawler walking against the wall American CaseWestern Reserve University developed by using four climbing robot prototype legs Similar to the first two robots the robot depends on four legs on biomimetic viscous materials to adsorption the prototype is the four legs wheel on the sole of the foot even special distribution is more advantageous to the robot stable crawling on the wall The quality of the robot is only 87 g Polytechnic school in the early 1990 s British Portsmouth has developed a climbing robot multilegged walking type Adopting modular design the robot is composed of two similar modules each module includes two mechanical legs and leg controller According to the task need to install a different number of legs reconfigurable ability Mechanical legs using bionics mechanism simulation of the large animals arm muscle function is two type including upper and lower two and three doubleacting cylinder with three degrees of freedom Good stability and bearing capacity is big the robot＇s lightweight and can span bigger obstacles In addition to the leg on one end of vacuum cups robot equipped with suction cups abdomen mass ratio of powder and make the robot has a larger load of 21
3 Climbing robot research status in China
China is also in a similar study since the 1990 s In 1988 at the national 863 high technology program under the support of the robotics institute of Harbin institute of technology has successfully developed the use of magnetic adsorption and vacuum adsorption two series of five types of wall climbing robot Successful development of the our country the first wall climbing robot remote detection using negative pressure adsorption omnidirectional mobile wheel used for nuclear waste storage jars of wall weld defect detection Developed in 1994 for tall buildings wall climbing robot cleaning CLR Ⅰ adopts the omnidirectional mobile mechanism the robot in situ can arbitrarily change the direction of movement After the development of the CLR Ⅱ driven by two independent ways coaxial twowheeled differential mechanism through the coordination of two rounds of speed control to realize the omnidirectional mobile robot the robot ontology and using power line carrier communication methods between the ground control station Abovementioned three climbing machine adopts single suction cup structure spring air sealed ensure the crawl robot with high speed and reliable adhesion ability In 1995 successfully developed the metal corrosion by magnetic adsorption climbing robot structure of permanent magnetic adsorption accomplished by two tracks positive &negative mobile turn The robot can do for petrochemical enterprises to the outer wall of the metal material storage tank to spray paint sandblasting as well as with automatic detection system to test the tank wall thickness Developed in 1997＇s detection of water wall climbing robot a circular permanent magnet adsorption block in conformity with the tank wall arc improve the adsorption capacity and improve the efficiency of the operation Shanghai university also conducted early tall wall cleaning robot research successively developed a vertical wall climbing robot and spherical wall climbing robot The spherical wall climbing robot adopts many suckers negative pressure adsorption 6 foot independent driving leg feet walking style can be used for different radius of curvature of the spherical outer wall since 1996 the Beijing university of aeronautics and astronautics has successfully developed WASH2 MAN CLEANBOT 1 SKYCLEAN hanging basket type window robot and LanTianJie treasure curtain wall cleaning robot prototype For all the window is brushed pneumatic robot Hanging basket type cleaning robot the robot depends on the roof of the safety line traction attached with the negative pressure made by fan robot on the wall in the application background of national grand theatre ellipsoid ceiling cleaning developed suitable for complex curved surface from climbing robot prototype the climbing mechanism mobile mechanism cleaning robot has many similarities but due to its special working environment and mission requirements in terms of theory and technology has some particularity
4 The key technology of robot
41 adsorption mechanism adsorption mechanism of action is to produce an upward force to balance the gravity of the robot keep it on the wall Currently magnetic adsorption methods mainly include vacuum negative pressure adsorption adsorption propeller thrust and binder etc Several ways Due to the adsorption methods each have limitations climbing robot developed by often targeted strong applies only to a specific task difficult to generalize Robot design need to work on task environment choose the right means of adsorption In recent years people through the study of the adsorption mechanism of gecko reptiles such as the soles of your feet making the polymer synthesis of viscous material the use of van der Waals force between the molecules and molecular materials can be obtained on the contact area of small huge adsorption capacity and has the advantages of adsorption has nothing to do with the surface material properties Short life but at the moment the use of these materials the use of a certain number of times after lose viscosity practical need further study
42 mobile mechanism and motion control system mobile mechanism and the movement control system of robot which major wheeled mobile mechanism more foot type such as caterpillar among them the wheel and foot type which has been widely used caterpillar much for magnetic adsorption method Obstacle ability is wall robot which used to an important indicator of performance When work surface is convex groove the robot to go through these obstacles we must have enough obstacle ability All kinds of mobile mechanism more foot type robot obstaclenavigation ability is stronger its each leg small suction cup is placed when faced with obstacles can control the leg make the small suction cup across the obstacles one by one Wall mobile mechanism of the robot can make the robot on the premise of reliable adsorption can move on the wall Due to the particularity of climbing robot working in wall mobile mechanism and adsorption mechanism exists coupling which brought some difficulties to the robot＇s motion control Than climbing robot sucker foot type and legs with a suction cup at the end every move a leg needs to be done to eliminate suction leg Wallace leg left leg generate adsorption force a series of actions In this process the robot mobile mechanism of the action should coordinate with each other and the adsorption mechanism to to guarantee the flexible mobile robot on the wall In addition there is also a mobile mechanism and adsorption separation such as single suction cups robot sucker adsorption sustainable continuous movement of driving wheel mobile robot motion control is relatively simple
Energy supply and drive mode 43 the driving mode of energy supply and energy supply way with people via the wire line for the machine to provide energy such as electricity gas also has a builtin battery cylinders and so on Drive ways mainly have the pneumatic motor and other several ways Climbing robot is designed to adopt high efficiency quality than drive and source of power especially the wireless control cases Using motor drive energy supply mainly include polymer lithium battery nickel metal hydride batteries electrochemical batteries and fuel cells In addition due to the energy of internal combustion engine gasoline hydrogen fuel can have higher weight ratio such as advanced micro internal combustion engine can also be applied to the climbing robot
Safety problems 44 the robot by interference environmental change circumstances how to ensure the safety of the robot is attached to the wall without falling falling or after how to minimize the damage of the robot The past buildings cleaning climbing robot developed by most used by in carrying the car at the top of the tower hoisting and wire rope of insurance system on the robot Robot for some other purposes such as detection with small climbing robot the goal is not sure cannot use the rope way of insurance so need to study new way to prevent falling Could consider using a parachute small power into a pulp fast supporting resistance drop plate etc these may be a future development direction of climbing robot safety measures
5 Development trend of the robot
Hard drive sensor and control the development of software technology has greatly promoted the development of climbing robot technology the demand of the practical application is also put forward the challenge the development of robot climbing robot development trend in the aggregate basically has the following several aspects (1) the development of new adsorption technology Adsorption technology has been a bottleneck of the development of the robot it determines the application range of the robot (2) the task of robot from simplification to muti_function change direction The past most climbing robot which is used for washing spraying detection and so on homework homework tasks are often confined to a single task Now people want climbing robot can equipped with a variety of tools are working on different occasions (3) the miniaturization micromation is currently the trend of the development of the robot On the premise of meet the functional requirements small volume light quality of robot can be less energy consumption high flexibility and in some special occasions are also need robot with small volume (4) by the mooring operation development to the direction of untethered Because the robot working space is generally larger mooring operation greatly limits the robot working space so in order to improve the flexibility of robot and expand the working space no cable is changed and is now and the future development trend of the robot (5) by simple remote monitoring to intelligent direction Combined with artificial intelligence the robot can in a closed environment has a certain capacity for independent decision and complete the task and have ego to protect ability is the important direction of mobile robot is also a important development direction of mobile robot climbing wall (6) the adaptability of the reconfigurable robot is an important indicator In order to make the robots could be used in different occasions according to the mission requirements under the condition of the system does not need to design make full use of existing robot system should make with reconfigurable robot which has a modular structure According to the mission requirements the need of module is directly connected to form a new robot
译文：
1引言：
爬壁机器移动机器领域重分支垂直壁面灵活移动代工极限条件完成种作业务前机器领域研究热点应核工业石化工业造船业消防部门侦查活动等高楼外壁面进行清洗石化企业中储料罐外壁进行检测维护面积钢板进行喷漆高楼事中进行抢险救灾等取良社会效益济效益具广阔发展前景
30年发展爬壁机器领域已涌现出批丰硕成果特20世纪90年代国外爬壁机器领域中发展尤迅速年种新技术发展爬壁机器许技术难题解决极推动爬壁机器发展国高校机器设计活动已广开展起种氛围国机器研制开发特专业方面培养具积极意义
2国外爬壁机器研究现状
1966年日西亮教授首次研制成功壁面移动机器样机阪府立学表演成功种负压吸附爬壁机器出现种类型爬壁机器80年代末期已开始生产中应日开发爬壁机器方面发展迅速应建筑行业核工业：日清水建设公司开发建筑行业外壁涂装贴瓷砖机器研制负压吸附清洗玻璃面爬壁机器加馆清洗东京工业学开发线遥控磁吸附爬壁机器日通产省极限作业机器国家研究计划支持日晖株式会社开发核电站罐负压吸附壁面检查机器等
国加入爬壁机器研究热潮中：美国西雅图Henry R Seemann波音公司资助研制出种真空吸附履带式爬壁机器AutoCrawler两条履带装数吸附室着履带移动吸附室连续形成真空腔履带贴紧壁面行走美国CaseWestern Reserve University研制采4腿轮爬壁机器样机前两种机器相似该机器4腿轮仿生粘性材料吸附样机4腿轮脚掌特殊分布更利机器壁面稳定爬行该机器质量仅87 g20世纪90年代初英国朴次茅斯工艺学校研制种足行走式爬壁机器采模块化设计机器两相似模块组成模块包括两机械腿腿部控制器根务需安装数量腿重构力强机械腿采仿生学机构模拟型动物臂部肌肉功两节式包括两杆3双作气缸具3度稳定性承载力利机器轻量化跨越较障碍物腿端部真空吸盘外机器腹部设吸盘 机器具较负载质量达2∶1
3国爬壁机器研究现状
中国20世纪90年代进行类似研究1988年国家863高技术计划支持哈尔滨工业学机器研究先研制成功采磁吸附真空吸附两系列5种型号壁面爬行机器研制成功国第台壁面爬行遥控检测机器采负压吸附全方位移动轮核废液储存罐罐壁焊缝缺陷检测1994年开发高楼壁面清洗作业爬壁机器CLRⅠ采全方位移动机构机器原意改变运动方开发CLRⅡ采两轮独立驱动方式———轴双轮差速机构 通两轮速度协调控制实现机器全方位移动机器体面控制站间采电力线载波通讯方式述3款爬壁机器均采单吸盘结构弹簧气囊密封保证机器具较高爬行速度附着力1995年研制成功金属防腐磁吸附爬壁机器采永磁吸附结构两条履带正反转移动实现转弯该机器石化企业金属储料罐外壁进行喷漆喷砂携带动检测系统罐壁涂层厚度进行检测1997年研制水冷壁清检测爬壁机器呈圆弧形永磁吸附块罐壁圆弧相吻合提高吸附力提高作业效率海学较早开展高楼壁面清洗作业机器研究先研制出垂直壁面爬壁机器球形壁面爬壁机器该球形壁面爬壁机器采吸盘负压吸附6足独立驱动腿足行走方式曲率半径球形外壁1996年北京航空航天学先研制成功WASH2 MANCLEANBOT 1SKYCLEAN吊篮式擦窗机器蓝天洁宝等幕墙清洗机器样机全气动擦窗机器吊篮式清洗机器机器楼顶安全吊索牵引移动利风机产生负压机器贴附壁面国家剧院椭球形顶棚清洗应背景研制适复杂曲面攀爬式机器样机攀爬机构移动机构清机器许相似处特殊工作环境务求理技术等方面特殊性
4 爬壁机器关键技术：
41吸附机构：吸附机构作产生力衡机器重力保持壁面目前吸附方式真空负压吸附磁吸附螺旋桨推力粘结剂等种方式吸附方式局限性研制爬壁机器针性较强适某种特定务较难通化机器设计需针工作务环境选取合适吸附方式年通研究壁虎等爬行动物脚掌吸附机理制作出高分子合成粘性材料材料利分子分子间范德华力接触面积获巨吸附力具吸附力表面材料特性关优点目前材料寿命较短 定次数失粘性难实化需进步进行研究
42移动机构运动控制系统：移动机构运动控制系统爬壁机器移动机构轮式足式履带式等中轮式足式较广泛履带式磁吸附方式越障力爬壁机器壁面适应性重指标工作面凸起沟槽时机器通障碍物必须足够越障力种移动机构中足式机器越障力较强腿部置吸盘遇障碍物时控制腿吸盘逐跨障碍物壁面机器移动机构机器吸附前提够壁面灵活移动爬壁机器工作壁面特殊性移动机构常吸附机构存耦合机器运动控制带困难吸盘足式爬壁机器腿末端吸盘移动腿需完成消吸力—抬腿—迈腿—落腿—产生吸附力系列动作程中机器移动机构动作吸附机构相互协调保证机器壁面灵活移动外移动机构吸附机构分离单吸盘爬壁机器吸盘持续吸附驱动轮连续运动实现机器移动运动控制较简单
43源供应驱动方式：源供应驱动方式源供应方式通电线路机 器提供电气等源方式带电池气瓶等方式驱动方式电机气动等种方式爬壁机器设计量采具高功效质量驱动器动力源特采线控制情况采电机驱动时源供应聚合物锂电池镍氢电池电化学电池燃料电池外燃机源———汽油氢等燃料具较高重先进微型燃机应爬壁机器
44安全问题：机器受外界干扰环境变化情况保证机器安全附着壁面坠落坠落量减机器损伤研制高楼清洗爬壁机器 采置高楼顶运载车卷扬机构系机器钢丝绳组成保险系统途机器侦查型爬壁机器目标确定采保险绳方式需研究新防坠落方式考虑采降落伞功率螺旋降落浆快速撑起阻降板等会成未爬壁机器安全措施发展方
5爬壁机器发展趋势
驱动传感控制等硬软件技术发展极推动爬壁机器技术发展实际应需求爬壁机器发展提出挑战爬壁机器发展趋势结起方面(1)新型吸附技术发展吸附技术直爬壁机器发展瓶颈决定机器应范围(2)爬壁机器务单化功化方发展研制爬壁机器清洗喷涂检测等作业作业务局限单务目前希爬壁机器够装备种工具场合进行工作(3)型化微型化前爬壁机器发展趋势满足功求前提体积质量轻机器较耗具较高灵活性某特殊场合需机器具体积(4)带缆作业缆化方发展爬壁机器作业空间般较带缆作业极限制机器作业空间提高机器灵活性扩工作空间缆化成现未爬壁机器发展趋势(5)简单远距离遥控智化方发展工智相结合机器封闭环境中够具定决策力 完成务具保护力移动机器发展重方爬壁移动机器重发展方(6)重构机器适应力项重指标机器够应场合根务需求需重新设计系统条件充分利已机器系统应机器具重构性具模块化结构根务需求需模块直接连接起组成新机器
文档香网(httpswwwxiangdangnet)户传
《香当网》用户分享的内容，不代表《香当网》观点或立场，请自行判断内容的真实性和可靠性！
该内容是文档的文本内容，更好的格式请下载文档
爬墙机器设计—机器结构设计
爬墙机器设计—结构设计
摘
文设计种涵道风扇负压吸盘吸附系统体轮式爬墙机器爬墙机器结构设计研究方首先提出基负压吸附原理机器结构设计方案求根求尺寸首先爬墙机器硬件设备机械结构进行合理排布设计体化机器底板运动组件进行Proe软件建模通ProeMDX模块爬墙机器进行虚拟模型运动仿真检验基机械结构合理性行性
关键词：爬墙机器负压吸附机器结构
Wall Climbing Robot DesignStructural Design
Abstract
This paper designs a wheeled wall climbing robot with ducted fan and negative pressure suction cup as the main body of the adsorption system The structural design of the wall climbing robot is my main research direction Firstly the structural design scheme and requirements of the robot based on the negative pressure adsorption principle are proposed According to the requirements and sizes the hardware equipment and mechanical structure of the wall climbing robot are arranged reasonably the integrated robot base plate is designed independently and the Proe software modeling is carried out on the robot base plate and the main moving components Finally the MDX module of Proe is used to simulate the motion of the virtual model of the wall climbing robot to verify the rationality and feasibility of the basic mechanical structure
Keyword Wall climbing robot Negative pressure adsorption Robot structure Ducted fan
目 录
目 录 2
1 绪 1
11 引言 1
12研究背景意义 1
13国外发展状况发展趋势 2
131国外研究现状 2
132国研究现状 3
14 研究容目标 4
15 章结 4
2 爬墙机器总体设计方案 5
21文研究容 5
22爬墙机器总体设计方案 5
221系统总体设计求 5
222结构设计技术路线 5
23爬墙机器组成系统 5
24章结 6
3爬墙机器结构设计 7
31移动方式 7
32移动机构 7
33结构硬件布置 8
34硬件设备 9
342硬件外部设备区域安装 10
35 章结 10
4 Proe建模 11
41 Proe建模软件介绍 11
42 Proe软件总体设计 11
43机器底板建模设计 12
44驱动组件 13
441步进电机 13
442电机安装板组件 14
45 涵道风扇组件 15
46 组件 17
461涵道风扇装夹套 17
462联轴器 18
463万轮 18
464车体外壳 19
47章结 19
5 仿真设计 20
51运动仿真准备 20
52 Proe中机构运动模块 21
53 机器运动仿真 21
53 章结 25
6 结 26
61设计总结 26
62足处 26
63展 26
参考文献 27
致 谢 28
附录1 相关设计件二维图纸 29
附录2 总装二维图纸 32
附录3 英文文献翻译 32
1 绪
11 引言
文针爬墙机器研究话题展开探究作研究者应该首先明确爬墙机器基概念类机器倾斜者直接垂直墙壁灵活移动机器该类机器助特殊设计身吸附功移动功利实现正石油化工业核工业造船业等存型工业设施设备行业蓬勃发展种特殊机器接受系列作业务拥广阔发展前景
爬墙机器领域年发展没岁月白白流逝20世纪90年代开始着工业机器控制技术传感器技术机械结构制造应等方面实质科技推进国外爬墙机器技术难题突破针应环境种样机械结构吸附方式涌现良发展势头国高校纷纷成立爬墙墙机器研究项目组爬墙机器究性广阔发展空间机器行业开发研制专业培养具积极性意义
12研究背景意义
结合石化工业联合发布关国石油化学工业实际济运行情况相关报告指出2019年12月底国石油化工类企业发展良约26271家企业形成规模该行业产业关联度高推动全球济发展核心力量种特殊具中坚位行业采型储存设备方面致力建筑研究相关组织明确提出直2017年国陆超高层建筑完成情况理想中两百米建筑约700栋左右中六栋建筑高达六百米时相关国际数明确指出国超高层建筑规划建成两百米建筑占世界总数量45说着国工业化程度断加深建筑行业迅速发展许型工业设备高层建筑巍然耸立派生问题存—长期表露外壁面难免会然灾害受损害气候环境产生腐蚀性损伤进行工维护保护设施安装工作具危险性高操作难度高效率低等问题工进行高楼厦外高层擦洗时绳索捆绑腰间者采吊篮搭非常容易发生安全事引发员伤亡等幢高楼厦完全清洁工作耗时数周工作效率低情况耗费巨资[1]
图12 型油罐高空作业
相较工利爬墙机器进行高空作业错收益：
（1）爬墙机器灵活度高非工吊篮般工调节作业位置
（2）高度爬墙机器身工作造成极少影响限制高空作业灵活展开高空作业员工作负担减高空作业员培养难度高心理素求高等问题解决
（3）面积壁面工作时间长爬墙机器工作时长足节省工员换班时间带良济效益
爬墙机器设计产业化极改善工现状爬壁机器设计制造涉机械电子气压液压信息通讯等领域知识技术重结合程度高研究课题爬墙机器发展利技术领域交流合作
13国外发展状况发展趋势
131国外研究现状
相较国国外爬墙类机器研究工作起步较早时国外研究爬墙机器时候极注意力放吸附方法具体运行模式方面物理机械电子等领域相交性幅提升热衷爬墙式机器研究国家日代表发展起步早时投入实际应早实1978年时候日已助机械技术完成核电站壁污物清理工作研制爬墙机器更服务高空作业初代爬墙机器仅单吸盘具走功铰车拉动辅助移动模式续研究基础日相关组研发出独立行走爬墙机器机器样单吸盘结构移动模式摒弃辅助机构赖创新突破该组研发第二代机器均具备单真空腔必须保障壁面整够保障爬行稳定性旦壁面裂缝者凹凸等情况法稳定爬行日组三年时间完成第三代产品开发第三代爬墙机器采履带移动模式时移动组织位置设置真空吸盘相较第二代机器三代机器吸附性更时着更理想化移动水东京某企业研究出型煤气罐机器该机器煤气罐焊缝情况检查工作中发挥着重作考虑机器外框架八具备吸盘脚时分布状态放射状气缸驱动力促进脚运动直流伺服阀辅助传统机构运动机器身负载力增强
着爬墙机器国铺展式研究发展机器存色样结构形态吸附方式久前Toyohashi University of Technology 机械工程系副教授tomoaki mashimo博士剑桥学工程系机器专业Fumiya iida博士研究团队已成功开发出种水蛭形状机器LEeCH该类机器轻易举实现垂直墙壁爬行操作特点完成墙面渡操作包括互相垂直壁面渡薄壁正反面渡种水蛭机器处联状态三柔软子形成技术含量高保障柔性长度效控制需控制处舵机传动装置供时配合柔性体意弯曲伸长发挥结构控制两类转变优势种仿生吸附爬墙机器时实现垂直墙壁爬行水方灵活渡备受业青睐具显著变形连续紧凑控制爬墙机器翻墙柔性机器鼻祖说现
研究中爬墙机器种类特丰富根吸附移动方式组合产生种类爬壁机器例 框架式吸盘爬壁机器轮式磁吸附爬壁机器履带式吸盘爬壁机器等类间特色[2]
图131 水蛭爬墙机器
132国研究现状
国研究爬墙机器方面起始时间赶西方国家然研究差距肯定存研究取成功然值肯定例哈工北理工华南理工等院校爬墙机器研究方面取傲成绩时应机样制成中哈尔滨工业学六足爬墙机器研究设计工作中极出色款设计六足机器助中枢系统发生器工作属仿生控制算法种助款爬墙机器腿部结构系统反反复复运动令系统断转变原始状态实实际行走环节中腿腿间关系发生改变属种基CPG算法爬墙机器独立性强传感器赖程度时越障力更强存应缺陷着相繁杂驱动程序实际运算力求高哈工注意弊端想方设法优化整体机械结构试图改善运算足劣势外哈工爬墙式机器吸附方式方面研究工作开展较深入例托静电吸附原理爬墙机器等
方面国科学院沈阳市研究董伟光五年前成功研发出轮足式复合爬墙机器爬墙机器托行星轮系结构负压模块真空模块机结合起实际移动环节中助密封腔部三轮移动机构直线层面移动者灵活转然助真空吸附组织形成双足移动相似抬腿移动核心优势光滑外表保障三轮移动机构迅速移动目利实现便遇阻碍情况然助双足运动模式轻松越
华南理工学提出六足爬墙机器基耗目标优化转矩分配方法寻找机器安全位姿[3]见国爬墙机器发展迅速技术趋成熟时拥众设计理念方法
14 研究容目标
文爬墙机器机械结构硬件系统作研究设计
第章：章绪选择课题背景出发先分析爬墙机器高程度工业化意义根国外研究现状牵引出爬墙机器致研究容次研究工作开拓思路接研究设计进行导
第二章：爬墙机器硬件结构设计整体方案进行阐述先介绍文研究基求研究结构技术路线总结整体设计方案
第三章：根整体设计方案求进行关键部件选择解释介绍根选元器件尺寸进行机器体结构排布
第四章：章机器机械结构部件结构进行分析介绍Proe款3D建模软件机械结构模块进行建模
第五章：章构成爬墙机器结构零部件进行集合组装条件限情况弱化样机调试基Proe软件爬墙机器运动件仿真机器部硬件结构排查干涉检测运动仿真
第六章：总结次研究弊端足处未展
15 章结
章首先述选课题背景研究表明爬墙机器具实意义究性世界出发选例分析概括国外爬墙机器研究现状介绍文章节安排研究容
2 爬墙机器总体设计方案
21文研究容
文种基涵道风扇负压发生装置单负压腔体爬墙机器进行探究STM32F407芯片作控制系统核心两独立步进电机驱动轮实现差速轮转文中机器机械结构方面进行研究设计
22爬墙机器总体设计方案
221系统总体设计求
设计合理结构选济适元器件配合合适机构硬件限度发挥出涵道负压吸附装置性爬墙机器具独立行走吸附墙体力通STM32F407uCOSIII操作系统联系工作机器基整墙体根指示运动
文中研究爬墙机器设计求：
（1）阅读量文献前提爬墙机器基运动方式进行确定根参数合理排布硬件基保证运动静力吸附墙体吸附运动结构行
（2）设计合理STM32单片机程序烧入基实现通红外遥控控制步进电机速度正反转停止状态切换求精准性高通控制完成基动作
（3）爬墙机器定避障力通手机蓝牙发送指令实现实时通信外设置蜂鸣器方便监控
222结构设计技术路线
查阅相关文献满足设计求济性出发路线进行工作：
（1）通确定机器驱动移动方式根合理性进行机器移动机构排布确保机器独立行走力
（2）根选器件尺寸质量等参数设计合适机器底盘部分动作部件进行布置设计固定架夹装器等安装机构硬件保持模块工作稳定性化机器工作时部件物理干涉
（3）利建模软件设计件进行建模制作样机进行3D印文件准备条件限进行运动仿真查否实现基功期进行硬件调试改进
23爬墙机器组成系统
爬墙机器系统分机械硬件系统软件（编程控制）系统中研究方硬件系统细分机械体电机供电电池通信模块传感器模块电机驱动模块等机器功实现赖两系统配合工作
图23 硬件系统工作原理图
24章结
章首先组成核心方面简单阐述爬墙机器总体设计方案介绍总体设计求根结构设计方划出路线简单介绍爬墙机器系统
3爬墙机器结构设计
31移动方式
前国外研究爬墙机器移动方式致分轮式履带式足式三类轮式爬墙机器继承轮式车灵活转方便控制难度低特点轮轴固定吸附底盘高度物理干涉较加定控距缓震系统会俗吸附性稳定性履带式爬墙机器拥整履带机构凹凸壁面良消化力保障机器吸附力苦履带材料厚重设计需面积吸附底盘增加类爬墙机器重量履带式转功轮式灵活足式爬墙机器具出色越障力步态规划繁琐需舵机数量控制系统复杂程度相较高控制位情况难达较高运行速度设计轮式机器带错见成果
32移动机构
结构简易实现轮式爬墙机器功少化材料赋予爬墙机器良吸附力出发点考虑常见三轮四轮结构图32示
图32三轮四轮机构简易图
图32（b）中四轮结构相三轮结构更衡性遇凹凸行走面易侧倒考虑轮缘会受更阻力降低电机输出功率基础采独立电机驱动轮相三轮式机器质量更增加工作负载
图32（a）中三轮布置常见两种：
（1）两前轮连接驱动轮轮连接舵机转轮种布置安排赖轮转前轮动止增加机器转角度灵活性低
（2）两前轮独立电机驱动动轮轮轮万轮转灵活便控制调节种布置作业定墙面覆盖率求机器种错选择
次设计采独立电机驱动两轮动轮万轮移动机构布置方案
33结构硬件布置
次设计出爬墙机器减少料轻便结构济性考虑负压腔器件安装板底板进行体化设计采涵道风扇负压发生装置快速运行赋予机器吸附力反映涵道工作时定危险合理布置硬件设备仅会影响机器性严重时造成设备障机械结构破损情况
涵道风扇负压发生器入风口必然位负压腔方确定应安装底板方控制系统相关硬件设置负压腔会涵道产生流体力产生固定稳甚脱落负压吸附机器点轮子安装位置研究中存轮子设计负压腔体例子图331
图331 置轮负压机器
类爬墙机器数底板面积负压腔密封性吸附力稳定电机扭力足次研究设计机器相体型负压发生赖涵道风机持续输出驱动轮设计负压腔轮胎会机器工作均匀受力机器正常运动影响轮胎设置负压腔外结合述总体结构布置图332示
图332 硬件布置示意图
34硬件设备
排布硬件模块结构需先选型确定器件模块通尺寸等参数具体化硬件设备底板占空间根硬件工作性质进行排布设计出合理机器机械结构次设计机器运动组件选择28BYJ48步进电机4S 4300KV型50mm涵道风扇两赋予机器移动功吸附功运动发生器组件机器进行吸附力调节供电测距报警硬件列表341
硬件设备
尺寸
重量
橡胶轮×2
直径65mm轮胎宽度27mm
68g
寸万轮
轮宽15mm高度33mm轮直径25mm
约36g
4S 1800mah 25C
涵道风扇电池组
35mm×28mm×110mm
130g
40A盈电调
30mm×70mm×9mm
48g
舵机测试仪
30mm×37mm×10mm
约6g
stm32控板
95mm×75mm
约50g
ULN2003驱动模块×2
32mm×34mm
136g
锂电池供电模块
60mm×31mm×11mm
35g
超声波模块
45mm×20mm（3mm）
约10g
源蜂鸣器模块
32mm*13mm
8g
表341 机器硬件模块尺寸参数
342硬件外部设备区域安装
保障爬墙机器衡器抗颠覆力硬件布置应该位置相称模块硬件正常运行易拆卸组装操作接线方便情况重量分布均匀根节硬件组件参数机器进行概结构排布硬件进行安放区域设计次研究爬墙机器硬件布置致图342示
图342 外部设备固定区域构想图
中1电机安装区域2外置65mm驱动轮3涵道风扇电池组定位区域4涵道风扇装夹台5万轮安装区域6涵道风扇定位区域7封装锂电池电调舵机测试仪蜂鸣器蓝牙模块安装区域8超声波测距模块控板电机驱动模块安装区域实际设计中区域应根布置硬件工作情况保持定间距化众器件结构物理干涉设计中会定位孔模块进行底板孔步设置外部分带固定孔位硬件锂电池组涵道风扇电池组等设置高度合适矩形凸台定位定位区域周围设计孔意尼龙锁扎带加固定
35 章结
章首先通明确爬墙机器移动方式进行轮式移动结构安排根需硬件模块尺寸制定定位分布方案
4 Proe建模
41 Proe建模软件介绍
Proe软件全称ProEngineer操作软件款美国参数技术公司开发集计算机辅助设计计算机辅助制造计算机辅助工程（CADCAMCAE）身三维建模软件拥草图绘制组件制作装配钣金件设计等式模块独立模块化方式满足设计需求众三维造型设计软件中落风机械设计业界者青睐Proe占优势参数化数库统模型设计中模型分解限特征限参数完全约束外建模程中模块单数库模块间会根特征修改步参数意味着组件装配工程图输出程中修改某零件尺寸时装配图工程图相应部件会步尺寸需重新修改特征设置约束模型设计灵活变更方便
42 Proe软件总体设计
机器部件机械装配图图421示机器运动部件底板减速电机电机支架65mm橡胶轮联轴器涵道风扇涵道装夹件万轮外壳组成
图42 机器装配图
43机器底板建模设计
图431图432机器体建模体化底板体时具负压腔涵道风扇装夹机构万轮安装板等机械结构3D印构想中选择塑料材料
图431 机器底板
图432 机器底板底部
设计基考虑素：
负压腔：图43示机器负压腔涵道风扇接口引流通道底板底部边缘突起构成原理作负压发生器够机器底板部空气抽出底板部压强部产生差值负压生成吸附力机器吸附接触壁面保证机器运动时轻易发生倾覆[4]中负压腔涵道接口涵道风扇引流圈直径约1mm—2mm方便涵道风扇安装接入接入选择合适海绵条胶条作密封机构进行接口缝隙贴紧密封根电机安装高度驱动轮直径底板边缘凸起挡板设计距接触面约5mm—8mm厚度10mm三轮爬墙机器衡性相足运动时遇整壁面难免会倾侧造成壁面底板摩擦碰撞留合适高度选择济实惠海绵条胶条进行粘贴密封保证负压腔密封性时代机械磨损
涵道风扇装夹机构：夹装柱机台构配合装夹套作涵道风扇安装定位涵道风扇工作时通螺栓连接横力矩柱台机构设置相装夹套提供支撑受力面连接孔缓涵道风扇运作时反作力保证机构会外力断裂受破坏
万轮安装板：安装板孔位根选择寸万轮设计万轮安装板凸台高度根电机安装高度驱动轮直径进行确定确保机器底板面保持相行吸附系统产生文丘里效应伯努利原理种体现根伯努利原理流体流速方压强流速方压强[5]万轮安装板高度设置低高负压腔壁面缝隙等会造成机器整体吸附力均影响机器衡性吸附力外万轮活动腔根万轮尺寸定保证万轮墙体转腔体发生摩擦碰撞
底板存三外壳安装卡扣插入孔孔设置较安装外壳时便卡扣梁插入减少弹性变形外底板方凸起3mm孔应尺寸硬件模块定位辅助机构
44驱动组件
441步进电机
步进电机电脉信号转变角位移线位移开环控制元件脉驱动适合数字微型计算机控制做种基脉控制数字元件[6]次设计采28BYJ48步进电机尺寸建模图441示
图441步进电机尺寸线建模图
442电机安装板组件
选电机配套安装机构需根电机42mm安装孔设计电机固定安装支架建模图442M4六角螺栓M4螺母连接电机安装板
图442 电机安装板组件
45 涵道风扇组件
次设计选POWERFUN牌50mm11叶涵道风扇涵道风扇涵道旋翼相涵道桨叶起定保护作具安全性高结构更加紧凑气动效率高噪音低等特点[7]次设计选POWERFUN牌50mm11叶涵道风扇实物图431示提供970g推力
图451 涵道风扇实物图
中组件包括：
14300KV4S电机负压发生装置电机工作电流40A满载功率达670W重57g搭配1800MAH 25C电池组
2 空涵道腔体外径554mm径514mm采PA66工程塑胶材料涵道包裹运作浆叶具说优点外次设计机器减少器件间物理干涉降低机器运作危险性等
3 导流圈直径63mm引导气流适应负压腔减少风力损失外桨叶直径507mm11叶风扇叶产生风力结构
涵道风扇组件相关建模图：
图452 涵道风扇组件建模
图453 涵道风扇装配
46 组件
461涵道风扇装夹套
涵道风扇裸露电芯电机设置安装架固定涵道风扇需装夹结构选择涵道外壁进行套装通伸出底板安装柱台进行螺栓连接装夹套径542mm外径60mm通M4螺栓螺母配合底板固定连接装夹套涵道风扇工作时承受推力进行3D印应选择轻质铝合金材料
图461 装夹套
462联轴器
考虑机器工作程中定负载直接电机伸出轴连接轮毂会中心孔受力根电机伸出轴选5mm六角联轴器配合M4螺栓进行电机伸出轴固定连接轮子选宽度27mm外径66mm玩具橡胶轮子通中心外孔M4六角螺栓联轴器连接
图462 联轴器建模
463万轮
次设计中作动轮万轮提供支撑辅助变功机器吸附墙体工作时提供较静摩擦力
图463 万轮组装
464车体外壳
车体外壳高度约57mm方涵道风扇伸出口样进行设计保证出风口畅通提高涵道负压发生器性效率外壳设卡扣卡扣连接件种结构形式螺钉相需额外配螺母加工设计件螺纹[8]图464示
图464 车外壳建模
47章结
章简单介绍Proe建模软件该软件进行机器设计建模阐述机器组件安装罗列出组件建模图片
5 仿真设计
51运动仿真准备
3D模型设计中进行零件配合检查排机械结构间干涉重步骤运动仿真前应先行考虑机器组装尚未投入工作时零件间静态配合Proe软件中置干涉检查功步骤：
1 开总体装配图点击分析栏选择模型全局干涉
2 弹出窗口中包括面组选项开
3 点击预览钮钮
4 点击预览零件间出现干涉会信息提示栏里显示点击零件编号模型中加亮特征互相干涉零件
图511 静态干涉检测步骤
次机器模型设计检测中出现螺栓螺母孔间干涉图512分析：次三维建模中螺栓螺母间保证节距截面正确性没进行紧固件数精确传输符合实体装配中配螺栓螺母非精准配套螺纹紧固件均存法避免干涉建模中规格相符螺纹紧固件存干涉常见逐排查机器零件间干涉
512 静态干涉结果
52 Proe中机构运动模块
机械设计领域中计算机进行运动仿真设计产品进行机构运行图技术参数进行输出非常关键设计步骤制造成型程中许缺陷法预测单单进行实验验证会增加成延长生产周期然计算机辅助技术数字化模拟成型技术设计制造带便利[9]计算机检验产品设计缺陷早发现进行模型修改研发制造员设计产品模型制造节省时间精力毋需产品样机中进行检测分析助缩短投入生产需时间幅度提高工作效率次设计中机器机械结构方面进行模拟Proe软件中机构运动学模块机器进行运动仿真干涉检测运动轨迹等模拟
53 机器运动仿真
文材料校核环境素涉较少验证机械结构运动行性硬件间干涉情况机构运动仿真模块进行动态干涉检测致步骤：
（1）导入组装图处应注意步进电机伸出轴万轮轴应体分开建模然组装定义销钉连接约束动态仿真中应留机构运动度外应机器驱动轮相距中点建立基准点通槽连接功运动轨迹进行机构连接非约束
（2）点击应程序栏选择机构进入机构运动模块
（3）驱动轮万轮涵道风扇叶片运动轨迹起始点加入伺服电机定义根右手定设置机器前进时机构旋转方运动轴设置速度模选择常数50转运动仿真时转弯方伺服电机定义模数设定应相调
（4）通快模块查机器基运动情况误进行运动部件分析定义回放模块进行部分碰撞检测设置碰撞时动画结束相关螺纹紧固件外选择运动部件进行运动仿真
次机器运动仿真结果理想回放正常
图531 进入机构运动仿真模块
图532 转弯轨迹伺服电机定义
图533 左转时左轮伺服电机定义
图534 分析定义设置
图535 直线运动仿真
图535 曲线运动仿真
53 章结
章作设计机器建模仿真分析通Proe置全局干涉功检测机器建模结构否合理机构运动学模块碰撞检测功机器运动中组件进行干涉分析
6 结
61设计总结
文保证爬墙机器工作运行机械结构行性机构方面研究种涵道风扇负压发生装置单负压腔体爬墙机器验证机械结构合理性文研究成果总结：
（1） 符合设计求选择三轮布置移动机构设置万轮动轮配合两独立步进电机驱动轮进行控制赋予设计爬墙机器移动机构操作性灵活性硬件结构料减少易实现机器吸附功时达济性目
（2） 根器件布置设计出机器体相关安装机构外壳等机械零件负压腔壁面接触面积高度进行定范围控制相关密封措施提供便捷增加负压腔利率提高吸附性时结构相紧凑确保硬件固定安装正常
（3） 通Proe三维软件机器仿真验证机器部硬件干涉
总说次设计成功设计出种爬墙机器合理结构体现机器运动吸附功实现机械结构行总体装配突出干涉硬件布置安排较合理研究知识收益深入接触爬墙机器工作原理结构设计问题
62足处
次设计中存未涉相关知识原理相信果时间资金充足情况更佳结构设计拓展度更高结构优化考虑机器结构设计未涉研究方欠缺考虑足处：
（1）缺少样机调试环节机械结构具体谈材料方研究应该配合材料性结构力学分析校核进行机构合理性验证
（2）运动力学方具体分析计算法整体验证机器运动力
63展
研究者修改工作应结合足处展开爬墙机器涉机械设计控制原理电路设计等众领域机电配合求较高值断深究交叉领域研究课题希通课题研究实现知识水力增值定会虚心诚恳积极进取姿态接受建议思考学
参考文献
[1] 孙锦山气动爬壁机器机构设计控制系统研究[D]浙江工业学20066
[2] 赵兴飞气驱爬壁机器理实验研究[D]重庆学20046
[3] 魏武蔡钊雄邓高燕基耗目标优化足爬墙机器足力控制研究[J]中国机械工程201223(9)12891295
[4] 齐晓龙负压吸附式爬墙机器关键参数确定方法研究[J]甘肃电气工程学院2018(4)58
[5] 景江红卢启勇陈杰伯努利原理生活中应[J]科学技术创新2020(03)2728
[6] 李毅航刘权兵徐重瑶张国步进电机控制器[D]长春工程学院20117
[7] 丛伟涵道风扇气动特性优化研究[D]南航航空学20137
[8] 陈燕塑料卡扣设计研究CAD应模块开发[D]江南学20066
[9] 吕雪牛海霞基ProE清洁机器爬壁机构设计[J]黄河科技学院学报201921(05)5254
[10]孙立新杨兴宇杨改文高菲菲王传龙基负压吸附船体清刷机器研究[J]机床液压201947(17)5659
[11]肖世贵章亚男沈林勇宋薇钱晋武种双体负压吸附爬壁机器研究[J]工业控制计算机201831(06)8587
[12]Qiang ZhouXin Li Experimental investigation on climbing robot using rotationflow adsorption unit[J] Robotics and Autonomous Systems2018105
[13]刘明芹戴永雄黄文攀型吸附式爬壁机器机械结构衡性[J]机械设计制造2011(5)146148
[14]王园宇武利生李元宗壁面清洗机器发展趋势浅析[J]引进咨询2002(4)34
[15]孟宪宇董华伦爬壁机器结构设计曲面磁力吸附关键技术研究[J]制造业动化201840(06)1922+39
[16]志奇 负压吸附式爬壁机器设计研究[D]华北电力学2018
[17]王富杰孙静王吉岱伊晓丽壁面移动机器移动方式移动机构研究进展[J]机械传动201236(06)115120
附录1 相关设计件二维图纸
图电机安装板二维图
图底板二维图
图涵道装夹板二维图
附录2 总装二维图纸
附录3 英文文献翻译
The development trend of the robot
1 Preface
Climbing robot is an important branch in the field of mobile robot flexible mobile on vertical wall replace artificial under the condition of the limit to complete various tasks is one of the hotspot in research of the robot It is mainly used in the nuclear industry petrochemical industry shipbuilding fire departments and investigation activities such as the building external wall cleaning material storage tank in petrochemical enterprise testing and maintenance the outer wall of large steel plate spray paint and in building accident rescue and relief etc and achieved good social benefits and economic benefits has wide development prospects
After 30 years of development the field of robot which has emerged a large number of fruitful results especially since the 1990 s especially rapid development in the field of climbing robot at home and abroad In recent years due to the development of a variety of new technology the robot which solved many technical challenges greatly promote the development of the climbing robot The robot design activities of universities in our country also has a wide development this kind of atmosphere for our robot research and development of special and professional talents＇ cultivation is of positive significance
2 Climbing robot research status abroad
1966 Japanese professor west light wall mobile robot prototype is developed for the first time and performance success in Osaka prefecture university This is a kind of rely on negative pressure adsorption climbing robot Then appeared various types of climbing robot has already begun to the late 80 s application in the production Japan＇s most rapid development in the development of climbing robot mainly used in the construction industry and nuclear industry Such as Japan shimizu construction company has developed with the outer wall of the building industry coating with ceramic tile of the robot they developed by negative pressure adsorption cleaning climbing robot on the surface of the glass for the Canadian embassy to clean Tokyo university of technology development of the wireless remote control magnetic adsorption climbing robot In Japan＇s miti limit homework robot national research projects supported by day CDH developed a large pot of negative pressure adsorption surface inspection robots used in nuclear power plants etc
Other countries are also added to the climbing robot research upsurge such as Seattle Henry R Seemann under the funding of the Boeing company developed a vacuum adsorption crawler AutoCrawler robot On the two tracks each containing a number of small adsorption chamber with the moving of the crawler adsorption chamber form continuous vacuum cavity and makes the crawler walking against the wall American CaseWestern Reserve University developed by using four climbing robot prototype legs Similar to the first two robots the robot depends on four legs on biomimetic viscous materials to adsorption the prototype is the four legs wheel on the sole of the foot even special distribution is more advantageous to the robot stable crawling on the wall The quality of the robot is only 87 g Polytechnic school in the early 1990 s British Portsmouth has developed a climbing robot multilegged walking type Adopting modular design the robot is composed of two similar modules each module includes two mechanical legs and leg controller According to the task need to install a different number of legs reconfigurable ability Mechanical legs using bionics mechanism simulation of the large animals arm muscle function is two type including upper and lower two and three doubleacting cylinder with three degrees of freedom Good stability and bearing capacity is big the robot＇s lightweight and can span bigger obstacles In addition to the leg on one end of vacuum cups robot equipped with suction cups abdomen mass ratio of powder and make the robot has a larger load of 21
3 Climbing robot research status in China
China is also in a similar study since the 1990 s In 1988 at the national 863 high technology program under the support of the robotics institute of Harbin institute of technology has successfully developed the use of magnetic adsorption and vacuum adsorption two series of five types of wall climbing robot Successful development of the our country the first wall climbing robot remote detection using negative pressure adsorption omnidirectional mobile wheel used for nuclear waste storage jars of wall weld defect detection Developed in 1994 for tall buildings wall climbing robot cleaning CLR Ⅰ adopts the omnidirectional mobile mechanism the robot in situ can arbitrarily change the direction of movement After the development of the CLR Ⅱ driven by two independent ways coaxial twowheeled differential mechanism through the coordination of two rounds of speed control to realize the omnidirectional mobile robot the robot ontology and using power line carrier communication methods between the ground control station Abovementioned three climbing machine adopts single suction cup structure spring air sealed ensure the crawl robot with high speed and reliable adhesion ability In 1995 successfully developed the metal corrosion by magnetic adsorption climbing robot structure of permanent magnetic adsorption accomplished by two tracks positive &negative mobile turn The robot can do for petrochemical enterprises to the outer wall of the metal material storage tank to spray paint sandblasting as well as with automatic detection system to test the tank wall thickness Developed in 1997＇s detection of water wall climbing robot a circular permanent magnet adsorption block in conformity with the tank wall arc improve the adsorption capacity and improve the efficiency of the operation Shanghai university also conducted early tall wall cleaning robot research successively developed a vertical wall climbing robot and spherical wall climbing robot The spherical wall climbing robot adopts many suckers negative pressure adsorption 6 foot independent driving leg feet walking style can be used for different radius of curvature of the spherical outer wall since 1996 the Beijing university of aeronautics and astronautics has successfully developed WASH2 MAN CLEANBOT 1 SKYCLEAN hanging basket type window robot and LanTianJie treasure curtain wall cleaning robot prototype For all the window is brushed pneumatic robot Hanging basket type cleaning robot the robot depends on the roof of the safety line traction attached with the negative pressure made by fan robot on the wall in the application background of national grand theatre ellipsoid ceiling cleaning developed suitable for complex curved surface from climbing robot prototype the climbing mechanism mobile mechanism cleaning robot has many similarities but due to its special working environment and mission requirements in terms of theory and technology has some particularity
4 The key technology of robot
41 adsorption mechanism adsorption mechanism of action is to produce an upward force to balance the gravity of the robot keep it on the wall Currently magnetic adsorption methods mainly include vacuum negative pressure adsorption adsorption propeller thrust and binder etc Several ways Due to the adsorption methods each have limitations climbing robot developed by often targeted strong applies only to a specific task difficult to generalize Robot design need to work on task environment choose the right means of adsorption In recent years people through the study of the adsorption mechanism of gecko reptiles such as the soles of your feet making the polymer synthesis of viscous material the use of van der Waals force between the molecules and molecular materials can be obtained on the contact area of small huge adsorption capacity and has the advantages of adsorption has nothing to do with the surface material properties Short life but at the moment the use of these materials the use of a certain number of times after lose viscosity practical need further study
42 mobile mechanism and motion control system mobile mechanism and the movement control system of robot which major wheeled mobile mechanism more foot type such as caterpillar among them the wheel and foot type which has been widely used caterpillar much for magnetic adsorption method Obstacle ability is wall robot which used to an important indicator of performance When work surface is convex groove the robot to go through these obstacles we must have enough obstacle ability All kinds of mobile mechanism more foot type robot obstaclenavigation ability is stronger its each leg small suction cup is placed when faced with obstacles can control the leg make the small suction cup across the obstacles one by one Wall mobile mechanism of the robot can make the robot on the premise of reliable adsorption can move on the wall Due to the particularity of climbing robot working in wall mobile mechanism and adsorption mechanism exists coupling which brought some difficulties to the robot＇s motion control Than climbing robot sucker foot type and legs with a suction cup at the end every move a leg needs to be done to eliminate suction leg Wallace leg left leg generate adsorption force a series of actions In this process the robot mobile mechanism of the action should coordinate with each other and the adsorption mechanism to to guarantee the flexible mobile robot on the wall In addition there is also a mobile mechanism and adsorption separation such as single suction cups robot sucker adsorption sustainable continuous movement of driving wheel mobile robot motion control is relatively simple
Energy supply and drive mode 43 the driving mode of energy supply and energy supply way with people via the wire line for the machine to provide energy such as electricity gas also has a builtin battery cylinders and so on Drive ways mainly have the pneumatic motor and other several ways Climbing robot is designed to adopt high efficiency quality than drive and source of power especially the wireless control cases Using motor drive energy supply mainly include polymer lithium battery nickel metal hydride batteries electrochemical batteries and fuel cells In addition due to the energy of internal combustion engine gasoline hydrogen fuel can have higher weight ratio such as advanced micro internal combustion engine can also be applied to the climbing robot
Safety problems 44 the robot by interference environmental change circumstances how to ensure the safety of the robot is attached to the wall without falling falling or after how to minimize the damage of the robot The past buildings cleaning climbing robot developed by most used by in carrying the car at the top of the tower hoisting and wire rope of insurance system on the robot Robot for some other purposes such as detection with small climbing robot the goal is not sure cannot use the rope way of insurance so need to study new way to prevent falling Could consider using a parachute small power into a pulp fast supporting resistance drop plate etc these may be a future development direction of climbing robot safety measures
5 Development trend of the robot
Hard drive sensor and control the development of software technology has greatly promoted the development of climbing robot technology the demand of the practical application is also put forward the challenge the development of robot climbing robot development trend in the aggregate basically has the following several aspects (1) the development of new adsorption technology Adsorption technology has been a bottleneck of the development of the robot it determines the application range of the robot (2) the task of robot from simplification to muti_function change direction The past most climbing robot which is used for washing spraying detection and so on homework homework tasks are often confined to a single task Now people want climbing robot can equipped with a variety of tools are working on different occasions (3) the miniaturization micromation is currently the trend of the development of the robot On the premise of meet the functional requirements small volume light quality of robot can be less energy consumption high flexibility and in some special occasions are also need robot with small volume (4) by the mooring operation development to the direction of untethered Because the robot working space is generally larger mooring operation greatly limits the robot working space so in order to improve the flexibility of robot and expand the working space no cable is changed and is now and the future development trend of the robot (5) by simple remote monitoring to intelligent direction Combined with artificial intelligence the robot can in a closed environment has a certain capacity for independent decision and complete the task and have ego to protect ability is the important direction of mobile robot is also a important development direction of mobile robot climbing wall (6) the adaptability of the reconfigurable robot is an important indicator In order to make the robots could be used in different occasions according to the mission requirements under the condition of the system does not need to design make full use of existing robot system should make with reconfigurable robot which has a modular structure According to the mission requirements the need of module is directly connected to form a new robot
译文：
1引言：
爬壁机器移动机器领域重分支垂直壁面灵活移动代工极限条件完成种作业务前机器领域研究热点应核工业石化工业造船业消防部门侦查活动等高楼外壁面进行清洗石化企业中储料罐外壁进行检测维护面积钢板进行喷漆高楼事中进行抢险救灾等取良社会效益济效益具广阔发展前景
30年发展爬壁机器领域已涌现出批丰硕成果特20世纪90年代国外爬壁机器领域中发展尤迅速年种新技术发展爬壁机器许技术难题解决极推动爬壁机器发展国高校机器设计活动已广开展起种氛围国机器研制开发特专业方面培养具积极意义
2国外爬壁机器研究现状
1966年日西亮教授首次研制成功壁面移动机器样机阪府立学表演成功种负压吸附爬壁机器出现种类型爬壁机器80年代末期已开始生产中应日开发爬壁机器方面发展迅速应建筑行业核工业：日清水建设公司开发建筑行业外壁涂装贴瓷砖机器研制负压吸附清洗玻璃面爬壁机器加馆清洗东京工业学开发线遥控磁吸附爬壁机器日通产省极限作业机器国家研究计划支持日晖株式会社开发核电站罐负压吸附壁面检查机器等
国加入爬壁机器研究热潮中：美国西雅图Henry R Seemann波音公司资助研制出种真空吸附履带式爬壁机器AutoCrawler两条履带装数吸附室着履带移动吸附室连续形成真空腔履带贴紧壁面行走美国CaseWestern Reserve University研制采4腿轮爬壁机器样机前两种机器相似该机器4腿轮仿生粘性材料吸附样机4腿轮脚掌特殊分布更利机器壁面稳定爬行该机器质量仅87 g20世纪90年代初英国朴次茅斯工艺学校研制种足行走式爬壁机器采模块化设计机器两相似模块组成模块包括两机械腿腿部控制器根务需安装数量腿重构力强机械腿采仿生学机构模拟型动物臂部肌肉功两节式包括两杆3双作气缸具3度稳定性承载力利机器轻量化跨越较障碍物腿端部真空吸盘外机器腹部设吸盘 机器具较负载质量达2∶1
3国爬壁机器研究现状
中国20世纪90年代进行类似研究1988年国家863高技术计划支持哈尔滨工业学机器研究先研制成功采磁吸附真空吸附两系列5种型号壁面爬行机器研制成功国第台壁面爬行遥控检测机器采负压吸附全方位移动轮核废液储存罐罐壁焊缝缺陷检测1994年开发高楼壁面清洗作业爬壁机器CLRⅠ采全方位移动机构机器原意改变运动方开发CLRⅡ采两轮独立驱动方式———轴双轮差速机构 通两轮速度协调控制实现机器全方位移动机器体面控制站间采电力线载波通讯方式述3款爬壁机器均采单吸盘结构弹簧气囊密封保证机器具较高爬行速度附着力1995年研制成功金属防腐磁吸附爬壁机器采永磁吸附结构两条履带正反转移动实现转弯该机器石化企业金属储料罐外壁进行喷漆喷砂携带动检测系统罐壁涂层厚度进行检测1997年研制水冷壁清检测爬壁机器呈圆弧形永磁吸附块罐壁圆弧相吻合提高吸附力提高作业效率海学较早开展高楼壁面清洗作业机器研究先研制出垂直壁面爬壁机器球形壁面爬壁机器该球形壁面爬壁机器采吸盘负压吸附6足独立驱动腿足行走方式曲率半径球形外壁1996年北京航空航天学先研制成功WASH2 MANCLEANBOT 1SKYCLEAN吊篮式擦窗机器蓝天洁宝等幕墙清洗机器样机全气动擦窗机器吊篮式清洗机器机器楼顶安全吊索牵引移动利风机产生负压机器贴附壁面国家剧院椭球形顶棚清洗应背景研制适复杂曲面攀爬式机器样机攀爬机构移动机构清机器许相似处特殊工作环境务求理技术等方面特殊性
4 爬壁机器关键技术：
41吸附机构：吸附机构作产生力衡机器重力保持壁面目前吸附方式真空负压吸附磁吸附螺旋桨推力粘结剂等种方式吸附方式局限性研制爬壁机器针性较强适某种特定务较难通化机器设计需针工作务环境选取合适吸附方式年通研究壁虎等爬行动物脚掌吸附机理制作出高分子合成粘性材料材料利分子分子间范德华力接触面积获巨吸附力具吸附力表面材料特性关优点目前材料寿命较短 定次数失粘性难实化需进步进行研究
42移动机构运动控制系统：移动机构运动控制系统爬壁机器移动机构轮式足式履带式等中轮式足式较广泛履带式磁吸附方式越障力爬壁机器壁面适应性重指标工作面凸起沟槽时机器通障碍物必须足够越障力种移动机构中足式机器越障力较强腿部置吸盘遇障碍物时控制腿吸盘逐跨障碍物壁面机器移动机构机器吸附前提够壁面灵活移动爬壁机器工作壁面特殊性移动机构常吸附机构存耦合机器运动控制带困难吸盘足式爬壁机器腿末端吸盘移动腿需完成消吸力—抬腿—迈腿—落腿—产生吸附力系列动作程中机器移动机构动作吸附机构相互协调保证机器壁面灵活移动外移动机构吸附机构分离单吸盘爬壁机器吸盘持续吸附驱动轮连续运动实现机器移动运动控制较简单
43源供应驱动方式：源供应驱动方式源供应方式通电线路机 器提供电气等源方式带电池气瓶等方式驱动方式电机气动等种方式爬壁机器设计量采具高功效质量驱动器动力源特采线控制情况采电机驱动时源供应聚合物锂电池镍氢电池电化学电池燃料电池外燃机源———汽油氢等燃料具较高重先进微型燃机应爬壁机器
44安全问题：机器受外界干扰环境变化情况保证机器安全附着壁面坠落坠落量减机器损伤研制高楼清洗爬壁机器 采置高楼顶运载车卷扬机构系机器钢丝绳组成保险系统途机器侦查型爬壁机器目标确定采保险绳方式需研究新防坠落方式考虑采降落伞功率螺旋降落浆快速撑起阻降板等会成未爬壁机器安全措施发展方
5爬壁机器发展趋势
驱动传感控制等硬软件技术发展极推动爬壁机器技术发展实际应需求爬壁机器发展提出挑战爬壁机器发展趋势结起方面(1)新型吸附技术发展吸附技术直爬壁机器发展瓶颈决定机器应范围(2)爬壁机器务单化功化方发展研制爬壁机器清洗喷涂检测等作业作业务局限单务目前希爬壁机器够装备种工具场合进行工作(3)型化微型化前爬壁机器发展趋势满足功求前提体积质量轻机器较耗具较高灵活性某特殊场合需机器具体积(4)带缆作业缆化方发展爬壁机器作业空间般较带缆作业极限制机器作业空间提高机器灵活性扩工作空间缆化成现未爬壁机器发展趋势(5)简单远距离遥控智化方发展工智相结合机器封闭环境中够具定决策力 完成务具保护力移动机器发展重方爬壁移动机器重发展方(6)重构机器适应力项重指标机器够应场合根务需求需重新设计系统条件充分利已机器系统应机器具重构性具模块化结构根务需求需模块直接连接起组成新机器
文档香网(httpswwwxiangdangnet)户传
《香当网》用户分享的内容，不代表《香当网》观点或立场，请自行判断内容的真实性和可靠性！
该内容是文档的文本内容，更好的格式请下载文档
