The invention relates to a negative pressure adsorption device for a wall-climbing robot, and belongs to the technical field of wall-climbing robots. Comprising a magnetorheological elastomer driving mechanism, a silica gel suction cup and a film electrode mechanism. The magneto-rheological elastomer driving mechanism comprises a tubular shell, a middle body, a coil, a magneto-rheological elastomer, a cylindrical steel block and a permanent magnet. The flexible film electrode mechanism is in a circular ring shape and comprises an upper-layer film, an electrode and a lower-layer film, and the stretchable electrode is fixed between the upper-layer film and the lower-layer film. The size of the magnetic field is controlled by adjusting the reverse current of the coil, the magnetorheological elastomer is controlled to deform downwards to block the axial through hole of the middle body, the negative pressure in the silica gel suction cup is maintained, and controllable adsorption is achieved. Electrodes of the film electrode mechanism are connected with high voltage and generate electrostatic adsorption with the wall surface, the characteristic length of the gap is reduced, gas leakage is reduced, and adsorption on the rough wall surface is achieved. The invention has the advantages of fast response speed, low power consumption and no noise, and is suitable for wall surfaces with different materials and roughness.

    本发明涉及一种用于爬壁机器人的负压吸附装置,属于爬壁机器人技术领域。包括磁流变弹性体驱动机构、硅胶吸盘和薄膜电极机构。磁流变弹性体驱动机构包括管状的外壳、中间体、线圈、磁流变弹性体、圆柱钢块和永磁铁。柔性的薄膜电极机构为圆环状,包括上层薄膜、电极和下层薄膜,可拉伸的电极被固定在上层薄膜和下层薄之间。本发明通过调节线圈反向电流大小控制磁场大小,控制磁流变弹性体向下变形堵住中间体轴向的通孔,维持硅胶吸盘内部负压,实现可控吸附。薄膜电极机构的电极接通高压,与壁面产生静电吸附,减小间隙的特征长度,减少气体泄漏,实现在粗糙壁面上的吸附。本发明响应速度快,功耗低,无噪音,适用于不同材质和粗糙度的壁面使用。


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    Title :

    Negative pressure adsorption device for wall-climbing robot


    Additional title:

    一种用于爬壁机器人的负压吸附装置


    Contributors:
    SUN SHUAISHUAI (author) / DAI YUDONG (author) / YANG JIAN (author)

    Publication date :

    2022-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F16B DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES , Vorrichtungen zum Befestigen oder Sichern von Konstruktionselementen oder Maschinenteilen, z.B. Nägel, Bolzen, Schrauben, Sprengringe, Klemmen, Klammern oder Keile / B62D MOTOR VEHICLES , Motorfahrzeuge



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