微小型壁面检测爬壁机器人移动平台研究  

Mobile Platform of Miniature Wall-climbing Robot for Building Surface Inspection

作　　者：朱志宏[1] 李济泽[1] 彭晋民[1] 李军[2] 高学山[2] 

机构地区：[1]福建工程学院机电及自动化工程系,福州350108 [2]北京理工大学机电学院,北京100081

出　　处：《机械工程学报》2011年第3期49-54,共6页Journal of Mechanical Engineering

基　　金：福建省教育厅(JA0P180);国家住房和城乡建设部(2007-k8-6)资助项目

摘　　要：壁面移动机器人应用于建筑物表面质量检测,有利于提高工作效率,避免人身危险,故提出一种基于负压吸附原理的微小型壁面检测爬壁移动机器人,该机器人对不同的壁面具有一定的适应能力,而且吸附可靠,移动灵活。介绍机器人平台系统,对双轮单独驱动的移动机构进行运动学分析,还对应用于该机器人的负压吸附原理进行研究,从热力学角度提出负压吸附系统理论模型。此外,以腔内有效负压为设计指标,设计机器人专用离心叶轮,并对设计结果进行计算流体动力学验证。研制微小型壁面移动机器人的原理样机,通过试验测试,验证机器人样机的基本吸附效能及综合性能指标,实现机器人体积的小型化,使机器人的负载自重比接近4.0,证明叶轮设计方法、负压吸附系统以及移动机构设计等技术的正确性。Wall-climbing robot used in the building wall surface quality inspection helps to improve efficiency and avoids personal risk,so a miniature wall-climbing robot based on the principle of negative pressure adsorption is presented to perform video detection on building walls.This robot can adapt to different types of wall materials,being capable of reliable suction and flexible moving on the wall.The robot platform system is described,the kinematics of the moving mechanism is analyzed,the principle of negative pressure suction is studied and thermodynamic theoretical model is proposed.Furthermore,by taking the effective negative pressure in chamber as design index,a robot-dedicated centrifugal impeller is designed,and the results are verified via computational fluid dynamics simulations.Finally,the small-sized prototype of the robot is developed,and the basic adsorption efficiency and integrated performance index of the robot are verified through tests in a bid to realize miniaturization of the robot volume,so that the ratio of payload to robot weight can be close to 4.0,thereby proving the correctness of the designs of impeller negative pressure system and moving mechanism.

关 键 词：壁面移动机器人 负压吸附 离心叶轮 流体动力学 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]