一種新型負(fù)壓式爬壁機器人吸附特性分析

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中圖分類號：TP242

DOI：10.3969/j.issn.1004-132X.2025.06.007 開放科學(xué)（資源服務(wù)）標(biāo)識碼（OSID）：i

Analysis of Adhesion Characteristics of Novel Negative-pressure Adhesion Wall-climbing Robots

DONG Weiguang1* LIU Aihua2 SONG Yifeng2

1.School of Transportation and Vehicle Engineering，Wuxi University，Wuxi，Jiangsu，214105

2.State Key Laboratory of Robotics，Shenyang Institute of Automation，Chinese Academy of Sciences，Shenyang，110016

Abstract： Addressing the challenge in optimizing the adhesion performance of wall-climbing robots based on negative pressure adhesion method due to the complexity of internal flow fields and difficulties in precise modeling，a flow field modeling method was proposed based on flow rate conservation.According to the structural characteristics of negative pressure adhesion systems of a wal-climbing robot，mathematical models of airflow field in negative pressure adhesion systems were built by combining the laws of thermodynamics and N-S equations using air flow rate as the related factor. Then，key influencing factors of adhesion performance were identified based on the model： sealing ring width，leakage gap height，and centrifugal pump power. The effective adhesion forces were changing with airflow of adhesion systems.Results of the simulation and prototype experiments show that the models constructed herein may accurately reflect the changing rules of adhesion performance，and may provide evidences for the optimization of adhesion performance of wall climbing robots with negative pressure adhesion method. Finally，according to the movement characteristics of the wall-climbing robots，adsorption performance optimization strategy was increasing the rated adsorption force to self gravity ratio while decreasing the effective adsorption force to self gravity ratio.

Key words： wal-climbing robot； negative-pressure adhesion; flow field model; flow analysis

0 引言

壁面爬行機器人（以下簡稱爬壁機器人）能夠代替操作人員在各種不同傾角的壁面上工作，達(dá)到提高工作效率、保護(hù)生命安全以及節(jié)約成本的目的[1-2]，其應(yīng)用場景包括船舶外表面除銹與噴涂、建筑物外表面清洗與檢測、油罐表面探傷與噴涂以及風(fēng)機葉片或水電大壩檢修與維護(hù)等[2]。（剩余11540字）