一种爬壁机器人无源真空吸附和行走装置的研制
朱志强，熊艳红
（湖北职业技术学院，湖北 孝感 432000）
摘要：研制一种无源真空多功能爬壁车，探索一种爬壁车的新型运动吸附方案和一种无真空动力源的真空吸附方式和爬壁车新型履带式的移动方式。该设备无需真空动力源（真空泵等），靠杠杆和凸轮机构使吸盘发生变形，吸附力自动产生和消除，通过两侧32个对称布置的吸盘组件，配合对称布置的吸盘凸缘导槽和吸盘拨杆滑槽，在电机驱动下能在光滑的墙壁上灵活的行进。作为一种能在垂直外壁进行作业的移动平台，该设备可搭载多种工具执行多种任务，能代替人在一些危险、劳动强度大的场合工作，可从事如清洗壁面、设备检测、反恐、侦察、防爆等工作。
关键词：爬壁机器人；无源真空吸附；爬壁车
中图分类号：TP242.3 文献标志码：A doi：10.3969/j.issn.1006-0316.2017.07.009
文章编号：1006－0316 (2017) 07－0040－03
Development of a Passive Vacuum Adsorption and Walking Device for Climbing Wall Robot
ZHU Zhiqiang，XIONG Yanhong
( Hubei Polytechnic Institute, Xiaogan 432000, China )
Abstract：Develop a passive vacuum multifunctional climbing wall car, to explore a new sports adsorption climbing wall car scheme and a way of no vacuum power vacuum adsorption and movement of climbing wall car new crawler. The equipment without vacuum power source (vacuum pump, etc.) on leverage and deformation in the suction cups, CAM mechanism automatically generate adsorption force and eliminating, through 32 symmetrically arranged on both sides of sucker components, with symmetrical layout guide and chuck chuck flange shifter lever chute, under the motor driver can travel on the wall of the smooth and flexible. To operate as a vertical outer wall in the mobile platform, the equipment is capable of carrying a variety of tools to perform multiple tasks, can take the place of people work in some dangerous, labor intensity big, can be engaged in such as wall cleaning, equipment testing, anti-terrorism, reconnaissance, explosion-proof, etc.
Key words：climbing robot；passive vacuum adsorption；the climbing wall car
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收稿日期：2016－07－06
基金项目：湖北省教育厅科学技术研究项目“无源真空吸附多功能爬壁车及蜘蛛侠装置的研制”（B2015179）
作者简介：朱志强（1981－），男，河南周口人，硕士，副教授，主要研究方向为机械设计。
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