CN113733832B - A pneumatic adsorption device for realizing the flight of a wall-climbing robot - Google Patents
A pneumatic adsorption device for realizing the flight of a wall-climbing robot Download PDFInfo
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- CN113733832B CN113733832B CN202111129696.4A CN202111129696A CN113733832B CN 113733832 B CN113733832 B CN 113733832B CN 202111129696 A CN202111129696 A CN 202111129696A CN 113733832 B CN113733832 B CN 113733832B
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 65
- 230000000670 limiting effect Effects 0.000 claims abstract description 21
- 230000002093 peripheral effect Effects 0.000 claims abstract description 14
- 230000009194 climbing Effects 0.000 claims description 21
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 3
- 241001227561 Valgus Species 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 8
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- 239000000463 material Substances 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 239000004677 Nylon Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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- 230000002035 prolonged effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
本发明一种实现爬壁机器人飞行的气动力吸附装置，属于气动设计领域；包括缝隙限定结构、吸盘、电机、螺旋桨和连接座，所述吸盘的底端通过连接座与机器人机身连接；电机同轴安装于连接座上，其输出轴与螺旋桨同轴连接、且螺旋桨同轴设置于吸盘内，所述螺旋桨的浆盘半径是R；所述缝隙限定结构为设置于所述吸盘的唇口表面的半球形突起，用于限制吸盘与壁面的距离，其轴向高度为浆盘直径的5％；吸盘的周壁沿轴向从底端到唇口为扩张结构；所述唇口外翻，其轴向截面为圆心位于吸盘周壁外侧的凸圆弧段。本发明应用外翻圆弧段唇口的吸盘在近壁面产生的净吸附力(推力与负压力的合力)相比直壁型提升近50％，在空中平飞状态下，产生的升力相比提升约25％。
The present invention discloses an aerodynamic adsorption device for realizing the flight of a wall-climbing robot, which belongs to the field of aerodynamic design; it includes a gap limiting structure, a suction cup, a motor, a propeller and a connecting seat, wherein the bottom end of the suction cup is connected to the robot body through the connecting seat; the motor is coaxially mounted on the connecting seat, and its output shaft is coaxially connected to the propeller, and the propeller is coaxially arranged in the suction cup, and the propeller disk radius is R; the gap limiting structure is a hemispherical protrusion arranged on the lip surface of the suction cup, which is used to limit the distance between the suction cup and the wall, and its axial height is 5% of the diameter of the propeller disk; the peripheral wall of the suction cup is an expansion structure from the bottom end to the lip along the axial direction; the lip is turned outward, and its axial cross-section is a convex arc segment with the center located outside the peripheral wall of the suction cup. The net adsorption force (the combined force of thrust and negative pressure) generated by the suction cup with the outward-turned arc segment lip near the wall of the present invention is nearly 50% higher than that of the straight wall type, and the lift generated in the level flight state in the air is increased by about 25%.
Description
Technical Field
The invention belongs to the field of pneumatic design, and particularly relates to a pneumatic adsorption device for realizing flying of a wall climbing robot.
Background
Wall climbing robots have great research prospects in various fields, especially in the dangerous work industry. Through many years of researches, the wall climbing robot has multiple working modes and longer working time, but firstly, the adopted adsorption mode has poorer wall adaptability to different wall materials or slightly poorer flatness, and the adsorption mode has great energy consumption, and the adsorption technology using novel materials is still very immature, and secondly, the wall climbing robot is gradually applied in the reconnaissance field, compared with an unmanned plane capable of flying, but the flexibility, obstacle surmounting capability and working efficiency are slightly inferior, so that the design of a special adsorption device endows the wall climbing robot with stronger wall adaptability and flexible flying capability and has very important significance.
At present, the adsorption modes of the wall climbing robot generally comprise a magnetic adsorption mode, a vacuum adsorption mode, a negative pressure adsorption mode, a thrust adsorption mode generated by rotation of a propeller, a novel special material adsorption mode and the like. The magnetic adsorption method has strong adaptability to the concave-convex degree of the wall surface and has larger adsorption force, but the principle of the adsorption force requires that the wall surface is necessarily made of magnetic conductive materials, so the application environment of the adsorption method is severely limited, the vacuum adsorption method has no great limitation to the quality of the wall surface, but has higher requirement on the tightness, and when the wall surface is uneven, the adsorption force is reduced due to the fact that the adsorption disc attached to the wall surface is easily influenced by gaps to leak air. These methods do not have the condition that the robot has flying ability, and in principle, the propeller thrust adsorption method is closest to the aircraft, but the method consumes large energy and cannot work for a long time.
In this regard, the compound adsorption device mentioned in 20081027554. X provides a solution, which utilizes a combined device of a diversion duct, a negative pressure cavity and wheels to ensure that the negative pressure cavity can still realize stable adsorption with smaller power under the condition of a certain gap with the wall surface under the combined action of the reverse thrust and the negative pressure of the propeller, and the wall surface has strong adaptability. But it is heavy and also cannot achieve stable flight of the robot. There is therefore a need for an improvement in such devices to overcome the above-mentioned drawbacks.
The existing duct has very remarkable advantages for lifting force, but the adsorption effect is weak in an adherence state, the top suction can be realized under high power by utilizing the propeller thrust, but the effective acting area of negative pressure on the duct is very small when the vertical wall surface is adsorbed, so that the adsorption effect is difficult to realize. The existing sucker for the wall mobile robot utilizing the propeller thrust and the negative pressure can realize the wall adsorption with lower energy consumption and has extremely strong adaptability to the wall, but the utilization rate of the performance of the propeller lift force is not high, and the wall mobile robot can not fly easily like a common gyroplane.
Disclosure of Invention
The technical problems to be solved are as follows:
In order to avoid the defects of the prior art, the invention provides the aerodynamic adsorption device for realizing the flying of the wall climbing robot, which ensures that the wall climbing robot has good adsorption performance and stable flying capability by being matched with the propeller through the sucker specially designed, and realizes flexible wall surface movement by being matched with the wheels on the two sides of the machine body. And the utilization rate of energy is as high as possible when each function is realized, so as to improve the task duration.
The technical scheme of the invention is that the aerodynamic force adsorption device for realizing the flying of the wall climbing robot comprises a sucker, a motor, a propeller and a connecting seat, wherein the bottom end of the sucker is connected with the robot body through the connecting seat; the motor is coaxially arranged on the connecting seat, an output shaft of the motor is coaxially connected with the propeller, the propeller is coaxially arranged in the sucker, and the radius of a pulp disk of the propeller is R;
The peripheral wall of the sucker is of an expansion structure from the bottom end to the lip in the axial direction, the lip is turned outwards, and the axial section of the lip is a convex arc section with the center of the circle positioned at the outer side of the peripheral wall of the sucker.
The invention further adopts the technical scheme that the radius of the end face of the bottom end of the sucker is 0.996R, the axial height h of the midpoint of the sucker is 0.6R based on the end face of the bottom end of the sucker, the radius D of the inner wall of the sucker corresponding to the height of the sucker is 1.04R, the minimum clearance s between the tip of the propeller and the inner wall of the sucker is 2.33% of the diameter of the sucker, the axial height of the peak of the lip of the sucker is 0.51 times of the diameter of the sucker, and the radius D/2 of the circumference where the peak is located is 1.576R.
The further technical scheme of the invention is that the radius of the convex arc of the axial section of the lip is 0.3R.
The invention further adopts the technical scheme that a generatrix of the peripheral wall of the sucker is formed by smooth transition of two sections of curves, wherein the first section of curve is formed by 0.974R of axial height from the bottom end surface of the sucker to the peripheral wall of the sucker, the radius of the inner wall of the sucker is 1.34R, and the second section of curve is a convex arc section with a lip turned outwards.
The invention further adopts the technical scheme that the gap limiting structure is a bullseye bearing.
The connecting seat comprises a motor base and a sucker mounting base, wherein the motor base is positioned at the center, the sucker mounting base is of a semicircular structure, and the inner peripheral surface of the sucker mounting base is coaxially fixed on the periphery of the motor base through 3 common ribs arranged along the circumferential direction.
The invention further adopts the technical scheme that a reinforcing rib is arranged between the motor base and the sucker mounting base.
The invention further adopts the technical scheme that the diameter of the motor base is 0.57R, and the diameter of the disk mounting base is 0.998R.
According to the technical scheme, mortises are arranged on the peripheral surface of the bottom end of the sucker, correspond to the positions of the ribs on the connecting seat one by one, and are mutually matched and installed, so that the sucker and the connecting seat are fixed.
The invention further adopts the technical scheme that the axial height of the mortises is 0.09R.
Advantageous effects
The aerodynamic force adsorption device for realizing flying of the wall climbing robot has the beneficial effects that when the rigid non-deformed gap limiting structure is contacted with the wall surface, the lip plane of the suction cup and the wall surface keep a fixed narrow gap (namely 5% of the diameter of the propeller disc), the propeller rotates to generate negative pressure in the suction cup similar to a duct, and the pressure and the tiny propeller thrust at the moment act together to be transmitted to the body wheels through the connecting seat (the body movement and the maximum gap limiting mechanism are the most main sources of friction force due to the wheels), so that the wall surface attachment is realized. Compared with the technical scheme of 20081027554. X patent applying negative pressure adsorption, the lip section is an everting convex arc section instead of a straight wall section, and theoretical calculation and experimental verification results show that the suction cup applying the everting arc section lip has a straight wall type lifting force (the resultant force of the thrust and the negative pressure) which is approximately 50% compared with the net adsorption force generated by the near wall surface, and the lifting force generated by the suction cup applying the everting arc section lip has a lifting force which is approximately 25% compared with the lifting force generated by the suction cup in the air flat flight state. In addition, the suction force and the lifting force provided by the suction cup can be increased along with the increase of the radius of the everting section of the lip during the flat flying, and when the radius exceeds 0.3R, the suction force increases gradually and the lifting force starts to decrease.
Because the moving mechanism is different, compared with the gap limiting device in 20081027554. X patent, the gap limiting structure in the invention is only a hemispherical small protuberance on the suction cup lip, and under the condition that a plurality of suction cups act together in practical application, the stability of the suction cup lip plane and the wall surface at a fixed distance can be realized. The protrusion is in point contact with the wall surface, and the friction-blocking effect generated during movement is negligible. By studying the radius of the protrusions, it was found that the magnitude of the adsorption force increased with the decrease of the radius thereof up to 10% r, after which the adsorption force was decreased instead. Experiments also verify this point, that the adsorption force is maximal at 10% R.
In addition, under the interaction of the suction cup inner duct and the propeller, the propeller tip can form a propeller tip vortex at the propeller tip due to the pressure difference between the pressure surface and the inside of the propeller, and the aerodynamic efficiency of the propeller is lost, so compared with the scheme proposed in 20080227554. X, the invention also researches the gap between the propeller tip and the inner wall of the suction cup in order to further improve the efficiency of the propeller. After simulation calculation and experiments, it is found that for the suction cup propeller combination system in the invention, the reduction of the gap between the tip and the inner wall is an effective means for improving aerodynamic efficiency, when the gap is smaller than 7.5% of the propeller radius, the gap is more excellent in both lifting force and adsorption force, and the aerodynamic performance is gradually improved along with the reduction of the gap, but in practical tests, the problem of pitching and the like easily occurs due to the deformation of the blades after the gap is smaller than 2.33% of the diameter of the propeller disc.
Experiments prove that when the lip everting radius is 0.3R, the gap limiting structure radius is 10% R, and the lip everting radius is applied to the robot provided with four pneumatic adsorption devices and a set of two-wheel differential motion devices in the specific embodiment under the gap condition of 2.33% of the pulp disc diameter, the robot can realize stable vertical wall adsorption by less than 10% of throttle, realizes flexible wall movement by 15% of throttle, and can stably fly by only about 40% of throttle when flying in the air. In addition, the power consumed in the air flight is about 600 watts, the power consumed in the wall surface adsorption is about 40 watts, the power consumed in the wall surface adsorption process is only 1/15 of that in the air flight process, and the working time is greatly prolonged.
Drawings
FIG. 1 is a front view of the aerodynamic force absorbing device according to the present invention.
Fig. 2 is a schematic diagram illustrating the assembly of the suction cup and the connection base of the aerodynamic force absorbing device according to the present invention.
FIG. 3 is an axial side view of the inner wall surface of the suction cup of the aerodynamic suction device of the present invention.
The reference numerals indicate that 1, gap limiting structure, 2, semicircular arc section lip that turns up, 3, mortise, 4, connecting seat.
Detailed Description
The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The invention relates to a aerodynamic force adsorption device for realizing flying of a wall climbing robot, which is shown in fig. 1, and comprises a gap limiting structure 1, a sucker 2, a motor, a propeller and a connecting seat 4, wherein the bottom end of the sucker 2 is connected with a robot body through the connecting seat 4, the motor is coaxially arranged on the connecting seat 4, an output shaft of the motor is coaxially connected with the propeller, the propeller is coaxially arranged in the sucker, the radius of a pulp disc of the propeller is R, the gap limiting structure 1 is a hemispherical protrusion arranged on the surface of a lip of the sucker 2 and is used for limiting the distance between the sucker 2 and a wall surface, and the axial height H of the motor is 5% of the diameter of the pulp disc;
Referring to fig. 2 and 3, the connecting seat 4 comprises a motor base and a sucker mounting base, the motor base is located at the center, the sucker mounting base is of a semicircular ring structure and is used for realizing weight reduction, and the inner peripheral surface of the sucker mounting base is coaxially fixed on the periphery of the motor base through 3 common ribs and 1 reinforcing rib which are arranged along the circumferential direction. The circumference of the bottom end of the sucker 2 is provided with mortises, which are in one-to-one correspondence with the positions of the common ribs and the reinforcing ribs on the connecting seat 4 and are mutually matched and installed, so that the sucker 2 and the connecting seat 4 are fixed, and the axial height of the mortises is 0.09R. The motor base has a diameter of 0.57R and the disk mounting base has a diameter of 0.998R.
The peripheral wall of the sucker is of an expansion structure from the bottom end to the lip in the axial direction, the lip is turned outwards, the axial section of the lip is a convex arc section with the center of the circle positioned at the outer side of the peripheral wall of the sucker, and the radius of the convex arc is 0.3R.
The generating line of sucking disc 2 perisporium is formed by two sections curves smooth transition, and first section curve is from sucking disc bottom surface to sucking disc perisporium axial height department of 0.974R, and this sucking disc inner wall radius is 1.34R, and the second section curve is the protruding circular arc section of lip valgus.
The suction cup 2 is made of nylon materials and is in a similar duct shape, the wall thickness is 1mm, the radius of the end face at the bottom end of the suction cup is 0.996R, the axial height h of the middle point of the suction cup is 0.6R based on the end face at the bottom end of the suction cup 2, the radius D of the inner wall of the suction cup corresponding to the height of the suction cup is 1.04R, the minimum clearance s between the tip of the propeller and the inner wall of the suction cup is 2.33% of the diameter of the suction cup, the axial height of the top point of the lip of the suction cup is 0.51 times of the diameter of the suction cup, and the radius D/2 of the circumference where the top point is located is 1.576R.
Examples:
When the wall climbing robot works, the motor drives the propeller to rotate at a high speed in the sucker 2, the dynamic pressure rises and the static pressure drops according to the Bernoulli principle, the speed difference between the upper surface and the lower surface of the blade causes the static pressure difference to appear, so that a thrust effect is generated, a large amount of air flow is sucked into the sucker along the axial direction of the sucker under the action of the suction flow effect of the propeller, the air flow speed in the inlet section of the sucker is greatly increased, the pressure is lower than the atmospheric pressure outside the sucker, and a certain negative pressure is generated in the sucker, so that the sucker is subjected to the atmospheric pressure. The thrust direction is consistent with the pressure direction, so that the resultant force of the thrust direction and the pressure direction is the aerodynamic force of the designed aerodynamic force adsorption device.
The general wall climbing robot utilizes the propeller thrust to realize that adsorption type usually selects axial fan or centrifugal fan, but this type of thrust generating device is firstly bulky weight also big, and secondly need the motor power of matching to be extremely big generally, in addition one of the aim of the invention, realize the flight of robot, therefore to total weight 450 g's total weight, the rotor uses unmanned aerial vehicle to use duct oar, gemfan D three-blade oar, maximum oar dish radius is about 31.6mm, maximum thickness 10mm. The motor adopts TMOTOR F with 2.5 inch oar, and maximum power 316W, weight is less than 10g.
For the aerodynamic force adsorption device designed in the invention, the adsorption force is nonlinear superposition of thrust and negative pressure, when the aerodynamic force adsorption device is adsorbed close to the wall surface, the too large gap between the lip and the wall surface can lead to the reduction of the negative pressure in the sucker, the reduction of adsorption performance and the too small gap, the thrust force can be greatly weakened, and the reduction of adsorption capacity can also lead to the reduction of adsorption capacity, so that the most suitable gap needs to be determined, and the adsorption force is maximized. In addition, because four sets of aerodynamic force adsorption devices are used when the robot is integrally designed, and the crawling mechanism is designed to be of a double-wheel type, the gap between the lip and the wall surface is controlled by the wheels alone, and therefore the gap between the four suckers and the wall surface is difficult to ensure, the adsorption force is unstable, and therefore a gap limiting structure 1 needs to be added on each sucker so that the distance between each sucker 2 and the wall surface is always the same. The gap defining structure 1 finally designed after theoretical simulation calculation and experiment is a circular arc-shaped protrusion above the lip of the suction cup 2, the maximum height of which is 3mm, namely the optimal suction gap is 3mm, by considering the influence of friction force.
The connecting seat 4 is made of a carbon plate and comprises a motor base with the diameter of 18mm and a sucker mounting base with the minimum radius of 31.537, wherein the motor base is riveted with the motor. Similar to a duct, aerodynamic force generated by the aerodynamic force adsorption device is also influenced by air flow at an air outlet of the sucker, but the motor and the propeller cannot be directly fixed in the sucker, so that a motor base is connected with a sucker mounting base and a certain strength is required for connection, on the basis of ensuring air flow as much as possible, the aerodynamic force adsorption device is connected with the sucker mounting base through three common ribs and one reinforcing rib, the ribs are assembled with mortises reserved at the bottom end of the sucker, and the sucker is fixed on a machine body through the mounting base.
When the robot is converted into a wall adsorption mode from a flight mode, the sucker 2 needs to collide with the wall once, but in order to ensure the weight of the whole adsorption device, the wall thickness of the sucker is only 1mm in design, so that the sucker is made of nylon materials with good strength and toughness, and the sucker is in a similar duct shape comprising a propeller and a motor. For a general ducted propeller device, aerodynamic force is mainly influenced by parameters such as a radius of a ducted lip and a blade tip-duct gap, and the like, so that a great amount of theoretical calculation and experimental verification are carried out on the parameters to improve aerodynamic characteristics of the device, and finally, the parameters of the finally determined sucker are as follows, wherein the radius of the bottommost inner wall is 30.537mm, 4 corresponding mortises with the height of 3mm are arranged at the bottom according to the thickness and the position of a rib, the height of the center of the blade disc is 19mm based on the bottommost part of the sucker, the radius of the inner wall of the duct is 33.3mm, namely the minimum gap between the blade tip and the inner wall of the duct is 2.33% of the diameter of a blade disc, the fixed point height of the lip of the sucker is 35.572mm, the radius of the inner wall is 49.813mm, the radius of the inner wall of the sucker is 42.4mm at the position of the 30.764mm, the line from the bottommost end to the sucker is a smooth curve, and the sucker is continuously upwards at the position, and a semicircular arc mouth with the outwards turned-over radius of 9.533mm is formed.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (7)
1. The aerodynamic force adsorption device for realizing flying of the wall climbing robot comprises a sucker, a motor, a propeller and a connecting seat, wherein the bottom end of the sucker is connected with the robot body through the connecting seat, the motor is coaxially arranged on the connecting seat, an output shaft of the motor is coaxially connected with the propeller, the propeller is coaxially arranged in the sucker, the radius of a propeller disc of the propeller is R, and the aerodynamic force adsorption device is characterized by further comprising a gap limiting structure, wherein the gap limiting structure is a hemispherical protrusion arranged on the surface of a lip of the sucker and used for limiting the distance between the sucker and a wall surface, and the axial height H of the gap limiting structure is 5% of the diameter of the propeller disc;
The peripheral wall of the sucker is of an expansion structure from the bottom end to the lip in the axial direction, the lip is turned outwards, and the axial section of the lip is a convex arc section with the center of the circle positioned at the outer side of the peripheral wall of the sucker;
The radius of the end face of the bottom end of the suction cup is 0.996R, the axial height h of the midpoint of the suction cup is 0.6R based on the end face of the bottom end of the suction cup, the radius D of the inner wall of the suction cup corresponding to the height of the suction cup is 1.04R, the minimum clearance s between the tip of the propeller and the inner wall of the suction cup is 2.33% of the diameter of the suction cup, the axial height of the top point of the lip of the suction cup is 0.51 times of the diameter of the suction cup, and the radius D/2 of the circumference where the top point is 1.576R;
The radius of the convex arc of the axial section of the lip is 0.3R;
The generating line of sucking disc perisporium is formed by two sections curves smooth transition, and first section curve is from sucking disc bottom surface to sucking disc perisporium axial height department of 0.974R, and this sucking disc inner wall radius is 1.34R, and the second section curve is the protruding circular arc section of lip valgus.
2. The aerodynamic force absorbing device for realizing flying of a wall climbing robot according to claim 1, wherein the gap limiting structure is a bullseye bearing.
3. The aerodynamic force adsorption device for realizing flying of the wall climbing robot according to claim 1, wherein the connecting seat comprises a motor base and a sucker mounting base, the motor base is positioned at the center, the sucker mounting base is of a semicircular ring structure, and the inner peripheral surface of the sucker mounting base is coaxially fixed on the periphery of the motor base through 3 common ribs arranged along the circumferential direction.
4. The aerodynamic force adsorption device for realizing flying of the wall climbing robot according to claim 3, wherein a reinforcing rib is further arranged between the motor base and the sucker mounting base.
5. The aerodynamic force adsorption device for realizing flying of the wall climbing robot according to claim 3, wherein the diameter of the motor base is 0.57R, and the diameter of the sucker mounting base is 0.998R.
6. The aerodynamic force adsorption device for realizing flying of the wall climbing robot according to claim 1, wherein mortises are arranged on the circumferential surface of the bottom end of the sucker, are in one-to-one correspondence with the positions of the ribs on the connecting seat, and are mutually matched and installed to realize the fixation of the sucker and the connecting seat.
7. The aerodynamic adsorption device for realizing flying of a wall climbing robot according to claim 6, wherein the axial height of the mortises is 0.09R.
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| CN202111129696.4A CN113733832B (en) | 2021-09-26 | 2021-09-26 | A pneumatic adsorption device for realizing the flight of a wall-climbing robot |
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| CN202111129696.4A CN113733832B (en) | 2021-09-26 | 2021-09-26 | A pneumatic adsorption device for realizing the flight of a wall-climbing robot |
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| CN113733832B true CN113733832B (en) | 2025-03-25 |
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| CN101412415B (en) * | 2008-11-27 | 2010-08-18 | 北京理工大学 | Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof |
| WO2015145846A1 (en) * | 2014-03-26 | 2015-10-01 | シャープ株式会社 | Adsorption mechanism and travel device |
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