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提出了一种爬壁机器人的运动吸附方案,利用反移动凸轮机构,以简单的机械方式实现了吸附组件在装置运动过程中相对于壁面的自动吸附与脱离;同时利用履带式运动机构,保证了机器人运动的平稳、连续与效率。方案对每个吸附组件所需的吸附力进行了理论分析并引进了真空系数的概念,在分析了运动吸附装置吸附能力的基础上,进而找出了真空系数,吸附组件和壁面间摩擦因数以及所需吸附组件的数量之间的关系,给出了计算反移动凸轮机构中柱塞行程的方法,为方案的实现奠定了基础。最后,给出了验证实例,验证了方案的可行性。
A kind of motion adsorption scheme of climbing robot is proposed. By using anti-moving cam mechanism, the adsorption and separation of adsorption module relative to the wall surface can be achieved by simple mechanical means. At the same time, by using the track-type motion mechanism, Robotic movement is smooth, continuous and efficient. Based on the analysis of the adsorption capacity of the motion adsorption device, the vacuum coefficient, the friction coefficient between the adsorption module and the wall, and The relationship between the required number of components to be adsorbed, a method of calculating the stroke of the piston in the anti-moving cam mechanism is given, which lays a foundation for the realization of the solution. Finally, a verification example is given to verify the feasibility of the scheme.