For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical prop...For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical propellers to provide adsorption force.The symmetrical driving structure can provide smooth thrust for the DHWCR,so that the robot can be absorbed to the wall surface with different roughness.A left and right control frame with multiple degrees of freedom is designed,which can adjust the fixed position of the brushless propeller motor in the front and back directions,realize the continuous adjustable thrust direction of the robot,and improve the flexibility of the robot movement.Using the front wheel steering mechanism with universal joint,the steering control of the DHWCR is realized by differential control.In the vertical to ground transition,the front and rear brushless motors can provide the pull up and oblique thrust,so that the DHWCR can smoothly transition to the vertical wall.The motion performance and adaptability of the DHWCR in the horizontal ground and vertical wall environment are tested.The results show that the DHWCR can switch motion between the horizontal ground and vertical wall,and can stably adsorb on the vertical wall with flexible attitude control.The DHWCR can move at a fast speed.The speed on the horizontal ground is higher than that on the vertical wall,which verifies the feasibility and reliability of the DHWCR moving stably on the vertical wall.展开更多
The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some pr...The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some problems when applied to wall climbing robots.This paper analyzes and improves this theory,and the improved internally balanced theory satisfies the requirements of the adsorption mechanism significantly.Finally,a practical prototype is proposed based on this method,and both the analysis using ANSYS and the experiment results justify the design validity.展开更多
In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tra...In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tracked wall climbing robot is a remotely controlled robot.All the control devices can be installed on the robot body.All the permanent magnetic units are arranged on the light track.In order to illustrate the relationship between the tension degree and the adsorption performance,when absorbed on the vertical surface and 180⁃degree inverted surface,the static force analysis of the robot is presented.Finally,experiments were demonstrated to prove that higher tension degree of tracks can make adsorption performance better.展开更多
The magnetic circuit of a kind of permanent magnetic sucker attached to the tracks of a wall climbing robot was researched. The formula of the attractive force of sucker to a wall was derived and the relationship betw...The magnetic circuit of a kind of permanent magnetic sucker attached to the tracks of a wall climbing robot was researched. The formula of the attractive force of sucker to a wall was derived and the relationship between the force and the air gaps was analyzed. Furthermore the effect of the parameters of the magnetic sucker on the sucker’s performance was discussed. The experiments show that proper selections of the sucker’s structural parameters can provide sufficient attractive force so as to make the wall climbing robot move safely on the steel wall surface.展开更多
A bio-inspired suction cup actuated by shape memory alloy(SMA)for miniature wall climbing robots is developed based on studying characteristics of biological suction apparatus.Some fast control strategies are introduc...A bio-inspired suction cup actuated by shape memory alloy(SMA)for miniature wall climbing robots is developed based on studying characteristics of biological suction apparatus.Some fast control strategies are introduced to improve negative pressure response.Theoretic model of the suction cup is built,and simulation and experiments results indicate the effectiveness of the fast control strategies.The largest negative pressure of the suction cup can reach 14 000 Pa,and its generating and cancelling just need 5 s.Research results indicate the suction cup can be used as an adhesion mechanism for miniature wall climbing robots.展开更多
基金supported by the Key Research Development and Promotion Special Project of Henan Province,under Grant 212102310119 and 212102210358Scientific Research Foundation for High-level Talents of Henan Institute of Technology,under Grant KQ1869+7 种基金2021 Provincial Higher Education Teaching Reform General Project"Research and Practice of Grassroots Teaching Management Construction in Local Application-oriented Universities under the Background of Professional Certification",under Grant SJGY20210520University-Industry Collaborative Education Program,under Grant 202101187010 and 202102120046Innovation and Entrepreneurship Training Program for College Students of Henan Province,under Grant 202211329011Educational and Teaching Reform Research and Practice Project of Henan Institute of Technology,under Grant 2021-YB023 and JJXY-2021005Innovative Education Curriculum Construction Project of Henan Institute of Technology,under Grant CX-2021-0052022 Xinxiang Federation of Social Sciences Research topic,under Grant SKL-2022-254 and SKL-2022-2282022 Annual Research Topic of Henan Federation of Social Sciences,under Grant SKL-2022-26922022 Annual Research Project of Henan Federation of Social Sciences:"Research on Rural Revitalization Strategy of Financial Service Model Innovation in Henan Province",under Grant SKL-2022-2692.
文摘For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical propellers to provide adsorption force.The symmetrical driving structure can provide smooth thrust for the DHWCR,so that the robot can be absorbed to the wall surface with different roughness.A left and right control frame with multiple degrees of freedom is designed,which can adjust the fixed position of the brushless propeller motor in the front and back directions,realize the continuous adjustable thrust direction of the robot,and improve the flexibility of the robot movement.Using the front wheel steering mechanism with universal joint,the steering control of the DHWCR is realized by differential control.In the vertical to ground transition,the front and rear brushless motors can provide the pull up and oblique thrust,so that the DHWCR can smoothly transition to the vertical wall.The motion performance and adaptability of the DHWCR in the horizontal ground and vertical wall environment are tested.The results show that the DHWCR can switch motion between the horizontal ground and vertical wall,and can stably adsorb on the vertical wall with flexible attitude control.The DHWCR can move at a fast speed.The speed on the horizontal ground is higher than that on the vertical wall,which verifies the feasibility and reliability of the DHWCR moving stably on the vertical wall.
文摘The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some problems when applied to wall climbing robots.This paper analyzes and improves this theory,and the improved internally balanced theory satisfies the requirements of the adsorption mechanism significantly.Finally,a practical prototype is proposed based on this method,and both the analysis using ANSYS and the experiment results justify the design validity.
基金the Beijing Natural Science Foundation(Grant No.3194047)the Joint Program of Beijing Municipal Foundation and Education Commission(Grant No.KZ202010009015)the National Natural Science Foundation of China(Grant No.51775002).
文摘In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tracked wall climbing robot is a remotely controlled robot.All the control devices can be installed on the robot body.All the permanent magnetic units are arranged on the light track.In order to illustrate the relationship between the tension degree and the adsorption performance,when absorbed on the vertical surface and 180⁃degree inverted surface,the static force analysis of the robot is presented.Finally,experiments were demonstrated to prove that higher tension degree of tracks can make adsorption performance better.
基金Doctoral Fund of the National EducationCommittee
文摘The magnetic circuit of a kind of permanent magnetic sucker attached to the tracks of a wall climbing robot was researched. The formula of the attractive force of sucker to a wall was derived and the relationship between the force and the air gaps was analyzed. Furthermore the effect of the parameters of the magnetic sucker on the sucker’s performance was discussed. The experiments show that proper selections of the sucker’s structural parameters can provide sufficient attractive force so as to make the wall climbing robot move safely on the steel wall surface.
基金National Science and Technology Foundations of China(No.61075086,No.60875058)the Hi-Tech Research and Development Programof China(863 Program)(No.2009AA04Z221)
文摘A bio-inspired suction cup actuated by shape memory alloy(SMA)for miniature wall climbing robots is developed based on studying characteristics of biological suction apparatus.Some fast control strategies are introduced to improve negative pressure response.Theoretic model of the suction cup is built,and simulation and experiments results indicate the effectiveness of the fast control strategies.The largest negative pressure of the suction cup can reach 14 000 Pa,and its generating and cancelling just need 5 s.Research results indicate the suction cup can be used as an adhesion mechanism for miniature wall climbing robots.
