爬壁机器人吸附方式机理及其应用  

Mechanism and application of the adsorption mode for wall-climbing robots

作　　者：马涛 李虎 尚飞 孙博 MA Tao;LI Hu;SHANG Fei;SUN Bo(School of Mechanical Engineering,Inner Mongolia University of Science and Technology,Baotou 014010,China;Inner Mongolia First Machinery Group Co.,Ltd.,Baotou 014030,China;Inner Mongolia Key Laboratory of Intelligent Diagnosis and Control of Mechatronic Systems,Baotou 014010,China)

机构地区：[1]内蒙古科技大学机械工程学院,包头014010 [2]内蒙古第一机械集团有限公司,包头014030 [3]内蒙古自治区机电系统智能诊断与控制重点实验室,包头014010

出　　处：《机械传动》2025年第3期162-176,共15页Journal of Mechanical Transmission

基　　金：内蒙古自治区科技计划项目(2022YFSH0126);高校基本科研业务费项目(2023QNJS072)。

摘　　要：【目的】高空中壁面作业有一定的危险性,一旦发生事故,会造成人员伤亡和经济损失;采用爬壁机器人代替人工是很好的解决方法。爬壁机器人吸附的稳定性对其工作可靠性与效率有极大影响,因此,对吸附技术的研究是设计爬壁机器人的关键之一。目前,对于爬壁机器人吸附机理及其应用的研究尚未形成系统化的对比分析。【分析】介绍了常见几种吸附方式——磁吸附、负压吸附、静电吸附、仿生吸附的吸附机理以及各自研究进展,对比各种吸附方式的应用场合,分析了各种吸附方式的优缺点以及应用前景。对现有常用爬壁机器人的吸附方式进行了分析、总结、对比与展望,以期为爬壁机器人的研究提供有益指导。[Objective]High-altitude wall operations carry inherent risks,and accidents can lead to economic loss and casualties.Wall-climbing robots were utilized as a substitute for human labour presents an effective solution.The stability of the adhesion mechanism in wall-climbing robots significantly impacts their reliability and efficiency,making the study of adhesion technology a crucial aspect of their design.Research on the adhesion mechanisms of wall-climbing robots and their applications lacks a systematic comparative analysis.[Analysis]The adhesion mechanisms and research progress of several standard adhesion methods—magnetic adhesion,negative pressure adhesion,electrostatic adhesion,and biomimetic adhesion were introduced,and their application scenarios were compared.Each adhesion method’s advantages,disadvantages,and future prospects were analyzed.The adhesion methods of commonly used wall-climbing robots were analyzed,summarized,compared,and forecasted,aiming to provide valuable guidance for future research on wall-climbing robots.

关 键 词：爬壁机器人 吸附方式 吸附机理 移动方式 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]