|本期目录/Table of Contents|

[1]齐晓龙.负压吸附式爬墙机器人关键参数确定方法的研究[J].工业仪表与自动化装置,2018,(04):58-60.[doi:1000-0682（2018）04-0000-00]
　QI xiaolong.The study of method for determining key parameters of vacuum adsorption climbing robot[J].Industrial Instrumentation & Automation,2018,(04):58-60.[doi:1000-0682（2018）04-0000-00]
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负压吸附式爬墙机器人关键参数确定方法的研究

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2018年04期
页码:
58-60
栏目:
出版日期:
2018-08-15

文章信息/Info

Title:
The study of method for determining key parameters of vacuum adsorption climbing robot
作者:
齐晓龙
陇东学院 电气工程学院，甘肃 庆阳 745000
Author(s):
QI xiaolong
Electrical Engineering College, Longdong University, Gansu Qingyang 745000, China
关键词:
爬墙机器人; 负压吸附; 努伯利方程; 涵道风扇
Keywords:
climbing robot;  adsorption;  nuboli equation;  ducted fan
分类号:
TP242
DOI:
1000-0682（2018）04-0000-00
文献标志码:
A
摘要:
通过对负压吸附式爬壁机器人静止在墙面上的物理模型进行分析，得出负压吸附式爬墙机器人设计中机器人质量、底盘面积、底盘周长、负压发生器间隙、接触面摩擦系数及负压产生装置的风量等关键参数之间的理论关系，同时给出了求解最小压强差和最大间距的理论计算公式。通过实验样机设计验证了理论关系式的正确性，同时给出了各参数的确定方法，为负压吸附式爬墙机器人的设计提供了理论指导。
Abstract:
Based on the physical model of vacuum adsorption type wall climbing robot is still on the wall are analyzed in this paper, the theory of the relationship between negative pressure adsorption climbing robot robot design quality, area, perimeter, chassis chassis negative pressure generator clearance, friction coefficient and the negative pressure generating device is the key parameters such as the air volume at the same time, the formula to calculate the minimum the pressure difference and the maximum spacing theory is given. The correctness of the prototype verify the theoretical formula, and gives a method to determine the parameters, provides a theoretical guidance to the design of climbing robot for negative pressure adsorption.

参考文献/References:

[1] Wang M, Qi Y, Jiang W, et al. Research on Omni- Directional Moving Adsorption Mechanism and its Application in Wall-Climbing Robot[C].New York,USA: International Conference on Information Science and Technology, 2013: 220-225.

[2] Nansai S,Mohan R E. A Survey of Wall Climbing Robots: Recent Advances and Challenges[J].Robotics, 2016,5(3):14.
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[5] Ma Y, Li F, Gao X, et al. Design of A Negative Pressure Absorption Wall-Climbing Robot with the μC/OS-II System [C]. New York,USA:2013 Sixth International Sympo -sium on Computational Intelligence and Design,2013:281-284.
[6] 吴善强,陈晓东,李满天.等.爬壁机器人的力学分析与实验[J].精密仪器,2008,16(3):478-482.
[7] 伍悦滨,朱蒙生.工程流体力学泵与风机[M].北京:化学工业出版社,2006:72-73.
[8] 李建波,高正,唐正飞,等.涵道风扇升力系统的升阻特性试验研究[J].南京航空航天大学学报,2004, 36(2):164-168.
[9] 徐立新,徐良军,张明路,等.擦玻璃机器人负压吸附特性研究[J].真空科学与技术学报,2017,37(4): 357-360.

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备注/Memo

备注/Memo:
收稿日期：2017-12-15
作者简介：齐晓龙(1980)，男，讲师，硕士研究生，主要研究方向为嵌入式系统设计。
更新日期/Last Update: 2018-08-15