Sliding wall-climbing robot （SWCR） is applied worldwide for its continuous motion, however, considerable air leakage causes two problems： great power consumption and big noise, and they constraint the robot＇s comp...Sliding wall-climbing robot （SWCR） is applied worldwide for its continuous motion, however, considerable air leakage causes two problems： great power consumption and big noise, and they constraint the robot＇s comprehensive performance. So far, effective theoretical model is still lacked to solve the problems. The concept of SWCR＇s adsorption performance is presented, and the techniques of improving utilization rate of given adsorption force and utilization rate of power are studied respectively to improve SWCR＇s adsorption performance. The effect of locomotion mechanism selection and seal＇s pressure allocation upon utilization rate of given adsorption force is discussed, and the theoretical way for relevant parameters optimization are provided. The directions for improving utilization rate of power are pointed out based on the detail analysis results of suction system＇s thermodynamics and hydrodynamics. On this condition, a design method for SWCR-specific impeller is presented, which shows how the impeller＇s key parameters impact its aerodynamic performance with the aid of computational fluid dynamics （CFD） simulations. The robot prototype, BIT Climber, is developed, and its functions such as mobility, adaptability on wall surface, payload, obstacle ability and wall surface inspection are tested. Through the experiments for the adhesion performance of the robot adsorption system on the normal wall surface, at the impeller＇s rated rotating speed, the total adsorption force can reach 237.2 N, the average effective negative pressure is 3.02 kPa and the design error is 3.8% only, which indicates a high efficiency. Furthermore, it is found that the robot suction system＇s static pressure efficiency reaches 84% and utilization rate of adsorption force 81% by the experiment. This thermodynamics model and SWCR-specific impeller design method can effectively improve SWCR＇s adsorption performance and expand this robot applicability on the various walls. A sliding wall-climbing robot with high adhesion efficiency is developed, and this robot has the features of light body in weight, small size in structure and good capability in payload.展开更多
A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid m...A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid machine and a detecting system. The adsorption force is analyzed in details and its influencing factors are given. The robot prototype, which has the features of high ad- hesion efficiency, light body in weight, small size in structure and good capability in payload, is test- ed in outdoor and indoor environments. Through the experiments, the influences of the impeller slit and the seal clearance are discussed. In addition, the robot functions such as adsorption perform- ance, locomotion performance and wall adaptability are tested by experiments. The experiments have verified that the robot not only can climb on many types of wall surfaces, but also has outstand- ing locomotion ability and payload capacity.展开更多
The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. ...The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. Moreover, fuel consumption and the work intensity of divers will be reduced. In this paper, the current situation and the latest technology in China and abroad were analyzed;meanwhile, the typical characteristics of the underwater cleaning robot were introduced. According to the work principle of the underwater cleaning robot, the emphasis was put on the analysis and study of permanent-magnetic absorption, magnetic wheel, airproof and anticorrosion, underwater cleaning equipment and control system. The robot is easy in rotation and simple in control.展开更多
Once working at heights is dangerous,it is a significant accident.These accidents brought substantial economic losses and caused a large number of casualties.Therefore,it is essential to use wall-climbing robots to re...Once working at heights is dangerous,it is a significant accident.These accidents brought substantial economic losses and caused a large number of casualties.Therefore,it is essential to use wall-climbing robots to replace manual work at heights.The design of the wall-climbing robot is inspired by the climbing action of insects or animals.An intelligent bionic robot device can carry special equipment to operate on the wall and perform some dangerous operations instead of firefighters or inspection personnel more efficiently.The scope of application is vast.This paper firstly summarizes the research progress of wall-climbing robots with three different moving methods:wheel-climbing,crawler-based,and leg-footed robots;summarizes the applications and breakthroughs of four adsorption technologies:negative pressure,magnetic force,bionic and electrostatic;discusses the application of motion control algorithms in wall-climbing robots.Secondly,the advantages and disadvantages of different migration modes and adsorption methods are pointed out.The distribution and advantages of the combined application of different migration modes and adsorption methods are analyzed.In addition,the future development trend of wall-climbing robots and the promoting effect of bionic technology development on wall-climbing robots are proposed.The content of this paper will provide helpful guidance for the research of wall-climbing robots.展开更多
Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time,which can improve operation efficiency.However,traditional single-mode robots cannot ensure ...Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time,which can improve operation efficiency.However,traditional single-mode robots cannot ensure the stable attachment on complex wall surfaces.Inspired by the structure characteristics of flies and clingfishes,three bionic structures including the flexible spine wheel,the adhesive material and the adsorption system are proposed.Aiming at task requirements on multiple walls and based on the above three bionic structures,a wall-climbing robot with the composed mode of“grabbing+adhesion+adsorption”is presented v/a the law of mechanism configuration synthesis.Using static analysis,the safe attachment conditions for the robot on smooth and rough walls are that the adsorption force is 30 N or more.Based on Newton's Euler and Lagrange formulas,the dynamic equations of the robot on vertical walls are established to deduce that the maximum theoretical torque of the driving motor is 1.43 N·m at a uniform speed.Finally,the prototype of the wall-climbing robot is manufactured and tested on the vertical lime wall,coarse sandpaper wall and acrylic ceiling wall.Meanwhile,experiment results imply that the average maximum moving speed and the corresponding load are 7.19 cm·s-1 and 0.8 kg on the vertical lime wall,7.78 cm·s-1 and 0.6 kg on the coarse sandpaper wall,and 5.93 cm·s-1 and 0.2 kg on the acrylic ceiling wall respectively.These findings could provide practical reference for the robot’s application on walls.展开更多
基金supported by Ministry of Housing and Urban-Rural Development of China (Grant No. 2007-k8-6)National Natural Science of Foundation of China (Grant No. 60975070)
文摘Sliding wall-climbing robot （SWCR） is applied worldwide for its continuous motion, however, considerable air leakage causes two problems： great power consumption and big noise, and they constraint the robot＇s comprehensive performance. So far, effective theoretical model is still lacked to solve the problems. The concept of SWCR＇s adsorption performance is presented, and the techniques of improving utilization rate of given adsorption force and utilization rate of power are studied respectively to improve SWCR＇s adsorption performance. The effect of locomotion mechanism selection and seal＇s pressure allocation upon utilization rate of given adsorption force is discussed, and the theoretical way for relevant parameters optimization are provided. The directions for improving utilization rate of power are pointed out based on the detail analysis results of suction system＇s thermodynamics and hydrodynamics. On this condition, a design method for SWCR-specific impeller is presented, which shows how the impeller＇s key parameters impact its aerodynamic performance with the aid of computational fluid dynamics （CFD） simulations. The robot prototype, BIT Climber, is developed, and its functions such as mobility, adaptability on wall surface, payload, obstacle ability and wall surface inspection are tested. Through the experiments for the adhesion performance of the robot adsorption system on the normal wall surface, at the impeller＇s rated rotating speed, the total adsorption force can reach 237.2 N, the average effective negative pressure is 3.02 kPa and the design error is 3.8% only, which indicates a high efficiency. Furthermore, it is found that the robot suction system＇s static pressure efficiency reaches 84% and utilization rate of adsorption force 81% by the experiment. This thermodynamics model and SWCR-specific impeller design method can effectively improve SWCR＇s adsorption performance and expand this robot applicability on the various walls. A sliding wall-climbing robot with high adhesion efficiency is developed, and this robot has the features of light body in weight, small size in structure and good capability in payload.
基金Supported by National Natural Science Foundation of China(61273344)Ph.D. Programs Foundation of Ministry of Education of China(20121101110011)State Key Laboratory of Robotics and Systems(HIT)(SKLRS-2011-ZD-06)
文摘A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid machine and a detecting system. The adsorption force is analyzed in details and its influencing factors are given. The robot prototype, which has the features of high ad- hesion efficiency, light body in weight, small size in structure and good capability in payload, is test- ed in outdoor and indoor environments. Through the experiments, the influences of the impeller slit and the seal clearance are discussed. In addition, the robot functions such as adsorption perform- ance, locomotion performance and wall adaptability are tested by experiments. The experiments have verified that the robot not only can climb on many types of wall surfaces, but also has outstand- ing locomotion ability and payload capacity.
基金Key Project funded by Department of Science & Technology of Heilongjiang Province (GB03A507)
文摘The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. Moreover, fuel consumption and the work intensity of divers will be reduced. In this paper, the current situation and the latest technology in China and abroad were analyzed;meanwhile, the typical characteristics of the underwater cleaning robot were introduced. According to the work principle of the underwater cleaning robot, the emphasis was put on the analysis and study of permanent-magnetic absorption, magnetic wheel, airproof and anticorrosion, underwater cleaning equipment and control system. The robot is easy in rotation and simple in control.
基金funded by the Science and Technology Development Fund,Macao SAR(SKL-IOTSC-2018-2020)the Shanxi Science and Technology Major Project(Grant Number 20191101014).
文摘Once working at heights is dangerous,it is a significant accident.These accidents brought substantial economic losses and caused a large number of casualties.Therefore,it is essential to use wall-climbing robots to replace manual work at heights.The design of the wall-climbing robot is inspired by the climbing action of insects or animals.An intelligent bionic robot device can carry special equipment to operate on the wall and perform some dangerous operations instead of firefighters or inspection personnel more efficiently.The scope of application is vast.This paper firstly summarizes the research progress of wall-climbing robots with three different moving methods:wheel-climbing,crawler-based,and leg-footed robots;summarizes the applications and breakthroughs of four adsorption technologies:negative pressure,magnetic force,bionic and electrostatic;discusses the application of motion control algorithms in wall-climbing robots.Secondly,the advantages and disadvantages of different migration modes and adsorption methods are pointed out.The distribution and advantages of the combined application of different migration modes and adsorption methods are analyzed.In addition,the future development trend of wall-climbing robots and the promoting effect of bionic technology development on wall-climbing robots are proposed.The content of this paper will provide helpful guidance for the research of wall-climbing robots.
基金This work was supported by grants from Science and Technology Major Project of Anhui Province(17030901034)Jiangsu Key Research and Development Plan(BE2017067).
文摘Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time,which can improve operation efficiency.However,traditional single-mode robots cannot ensure the stable attachment on complex wall surfaces.Inspired by the structure characteristics of flies and clingfishes,three bionic structures including the flexible spine wheel,the adhesive material and the adsorption system are proposed.Aiming at task requirements on multiple walls and based on the above three bionic structures,a wall-climbing robot with the composed mode of“grabbing+adhesion+adsorption”is presented v/a the law of mechanism configuration synthesis.Using static analysis,the safe attachment conditions for the robot on smooth and rough walls are that the adsorption force is 30 N or more.Based on Newton's Euler and Lagrange formulas,the dynamic equations of the robot on vertical walls are established to deduce that the maximum theoretical torque of the driving motor is 1.43 N·m at a uniform speed.Finally,the prototype of the wall-climbing robot is manufactured and tested on the vertical lime wall,coarse sandpaper wall and acrylic ceiling wall.Meanwhile,experiment results imply that the average maximum moving speed and the corresponding load are 7.19 cm·s-1 and 0.8 kg on the vertical lime wall,7.78 cm·s-1 and 0.6 kg on the coarse sandpaper wall,and 5.93 cm·s-1 and 0.2 kg on the acrylic ceiling wall respectively.These findings could provide practical reference for the robot’s application on walls.
