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畢 業(yè) 設(shè) 計(jì) 任 務(wù) 書
1．畢業(yè)設(shè)計(jì)課題的任務(wù)和要求：
為了減小或者避免工作環(huán)境的危險(xiǎn)性，石化行業(yè)采用爬壁機(jī)器人攜帶檢測裝置來對大型油罐外壁進(jìn)行維護(hù)。該同學(xué)主要承擔(dān)“油罐檢測爬壁機(jī)器人結(jié)構(gòu)設(shè)計(jì)”的設(shè)計(jì)任務(wù)。
設(shè)計(jì)要求：
（1）油罐檢測爬壁機(jī)器人的總體結(jié)構(gòu)；
（2）爬壁檢測機(jī)器人的吸附機(jī)構(gòu)；
（3）爬壁檢測機(jī)器人的移動(dòng)機(jī)構(gòu)；
（4）爬壁檢測機(jī)器人的抗傾覆機(jī)構(gòu)。
2．畢業(yè)設(shè)計(jì)課題的具體工作內(nèi)容（包括原始數(shù)據(jù)、技術(shù)要求、工作要求等）：
該機(jī)器人能在油罐表面靈活爬行，并攜帶超聲探頭對油罐進(jìn)行超聲探傷。
設(shè)計(jì)參數(shù)：
（1）機(jī)器人爬行速度0～2m/min
（2）最大有效負(fù)載：20kg
（3）機(jī)器人自身重量:≤100kg
具體工作內(nèi)容：
（1）制定總體設(shè)計(jì)方案；
（2）進(jìn)行吸附機(jī)構(gòu)、移動(dòng)機(jī)構(gòu)及抗傾覆機(jī)構(gòu)的設(shè)計(jì)；
（3）設(shè)計(jì)并完成所有零件工程圖、裝配圖；
（4）翻譯外文資料。
畢 業(yè) 設(shè) 計(jì) 任 務(wù) 書
3．對畢業(yè)設(shè)計(jì)課題成果的要求〔包括畢業(yè)設(shè)計(jì)、圖紙、實(shí)物樣品等)：
（1）裝配圖 1份
（2）零件工程圖 3份
（3）設(shè)計(jì)說明書 1份
（4）英文翻譯資料 1份
4．畢業(yè)設(shè)計(jì)課題工作進(jìn)度計(jì)劃：
起 迄 日 期
工 作 內(nèi) 容
2016年
2月29日 ~ 3月21日
3月30日 ~ 5月10日
5月11日 ~ 6月 1 日
6月 1日 ~ 6月 5 日
撰寫開題報(bào)告，確定技術(shù)方案
完成具體設(shè)計(jì)
撰寫設(shè)計(jì)說明書
畢業(yè)設(shè)計(jì)答辯
學(xué)生所在學(xué)院審查意見：
同意下發(fā)任務(wù)書
負(fù)責(zé)人：
2016年 2月 29日
The development trend of the robot
1. Preface:
Climbing robot is an important branch in the field of mobile robot, flexible mobile on vertical wall, replace artificial under the condition of the limit to complete various tasks, is one of the hotspot in research of the robot. It is mainly used in the nuclear industry, petrochemical industry, shipbuilding, fire departments and investigation activities, such as the building external wall cleaning, material storage tank in petrochemical enterprise testing and maintenance, the outer wall of large steel plate spray paint, and in building accident rescue and relief, etc., and achieved good social benefits and economic benefits, has wide development prospects.
After 30 years of development, the field of robot which has emerged a large number of fruitful results, especially since the 1990 s, especially rapid development in the field of climbing robot at home and abroad. In recent years, due to the development of a variety of new technology, the robot which solved many technical challenges, greatly promote the development of the climbing robot. The robot design activities of universities in our country also has a wide development, this kind of atmosphere for our robot research and development of special and professional talents' cultivation is of positive significance.
2. Climbing robot research status abroad
1966 Japanese professor west light wall mobile robot prototype is developed for the first time, and performance success in Osaka prefecture university. This is a kind of rely on negative pressure adsorption climbing robot. Then appeared various types of climbing robot, has already begun to the late 80 s application in the production. Japan's most rapid development in the development of climbing robot, mainly used in the construction industry and nuclear industry. Such as: Japan shimizu construction company has developed with the outer wall of the building industry coating with ceramic tile of the robot, they developed by negative pressure adsorption cleaning climbing robot, on the surface of the glass for the Canadian embassy to clean. Tokyo university of technology development of the wireless remote control magnetic adsorption climbing robot. In Japan's miti "limit homework robot" national research projects, supported by day CDH, developed a large pot of negative pressure adsorption surface inspection robots used in nuclear power plants, etc.
Other countries are also added to the climbing robot research upsurge, such as: Seattle Henry R Seemann under the funding of the Boeing company developed a vacuum adsorption crawler "AutoCrawler" robot. On the two tracks each containing a number of small adsorption chamber, with the moving of the crawler, adsorption chamber form continuous vacuum cavity and makes the crawler walking against the wall. American CaseWestern Reserve University developed by using four climbing robot prototype "legs". Similar to the first two robots, the robot depends on four "legs" on biomimetic viscous materials to adsorption, the prototype is the four legs wheel on the sole of the foot even special distribution is more advantageous to the robot stable crawling on the wall. The quality of the robot is only 87 g. Polytechnic school in the early 1990 s, British Portsmouth has developed a climbing robot multilegged walking type. Adopting modular design, the robot is composed of two similar modules, each module includes two mechanical legs and leg controller. According to the task need to install a different number of legs, reconfigurable ability. Mechanical legs using bionics mechanism, simulation of the large animals arm muscle function, is two type, including upper and lower two and three double-acting cylinder, with three degrees of freedom. Good stability and bearing capacity is big, the robot's lightweight, and can span bigger obstacles. In addition to the leg on one end of vacuum cups, robot equipped with suction cups, abdomen mass ratio of powder and make the robot has a larger load of 2:1.
3. Climbing robot research status in China
China is also in a similar study since the 1990 s. In 1988 at the national "863" high technology program, under the support of the robotics institute of Harbin institute of technology has successfully developed the use of magnetic adsorption and vacuum adsorption two series of five types of wall climbing robot. Successful development of the our country the first wall climbing robot remote detection, using negative pressure adsorption, omni-directional mobile wheel, used for nuclear waste storage jars of wall weld defect detection. Developed in 1994 for tall buildings wall climbing robot cleaning CLR - Ⅰ, adopts the omni-directional mobile mechanism, the robot in situ can arbitrarily change the direction of movement. After the development of the CLR - Ⅱ, driven by two independent ways -- coaxial two-wheeled differential mechanism, through the coordination of two rounds of speed control to realize the omni-directional mobile robot, the robot ontology and using power line carrier communication methods between the ground control station. Above-mentioned three climbing machine adopts single suction cup structure, spring air sealed, ensure the crawl robot with high speed and reliable adhesion ability. In 1995 successfully developed the metal corrosion by magnetic adsorption climbing robot, structure of permanent magnetic adsorption, accomplished by two tracks positive &negative mobile turn. The robot can do for petrochemical enterprises to the outer wall of the metal material storage tank to spray paint, sandblasting, as well as with automatic detection system to test the tank wall thickness. Developed in 1997's detection of water wall climbing robot, a circular permanent magnet adsorption block in conformity with the tank wall arc, improve the adsorption capacity, and improve the efficiency of the operation. Shanghai university also conducted early tall wall cleaning robot research, successively developed a vertical wall climbing robot and spherical wall climbing robot. The spherical wall climbing robot adopts many suckers, negative pressure adsorption, 6 foot independent driving leg feet walking style, can be used for different radius of curvature of the spherical outer wall since 1996, the Beijing university of aeronautics and astronautics has successfully developed WASH2 MAN, CLEANBOT 1, SKYCLEAN, "hanging basket type window robot" and "LanTianJie treasure" curtain wall cleaning robot prototype. For all the window is brushed pneumatic robot; Hanging basket type cleaning robot, the robot depends on the roof of the safety line traction, attached with the negative pressure made by fan robot on the wall in the application background of national grand theatre ellipsoid ceiling cleaning developed suitable for complex curved surface from climbing robot prototype, the climbing mechanism, mobile mechanism, cleaning robot has many similarities, but due to its special working environment and mission requirements, in terms of theory and technology has some particularity.
4. The key technology of robot:
4.1 adsorption mechanism, adsorption mechanism of action is to produce an upward force to balance the gravity of the robot, keep it on the wall. Currently, magnetic adsorption methods mainly include vacuum negative pressure adsorption, adsorption, propeller thrust and binder etc. Several ways. Due to the adsorption methods each have limitations, climbing robot developed by often targeted strong, applies only to a specific task, difficult to generalize. Robot design need to work on task, environment, choose the right means of adsorption. In recent years, people through the study of the adsorption mechanism of gecko reptiles such as the soles of your feet, making the polymer synthesis of viscous material, the use of van der Waals force between the molecules and molecular materials, can be obtained on the contact area of small huge adsorption capacity, and has the advantages of adsorption has nothing to do with the surface material properties. Short life but at the moment, the use of these materials, the use of a certain number of times after lose viscosity, practical, need further study.
4.2 mobile mechanism and motion control system: mobile mechanism and the movement control system of robot which major wheeled mobile mechanism, more foot type, such as caterpillar, among them, the wheel and foot type which has been widely used, caterpillar much for magnetic adsorption method. Obstacle ability is wall robot which used to an important indicator of performance. When work surface is convex, groove, the robot to go through these obstacles, we must have enough obstacle ability. All kinds of mobile mechanism, more foot type robot obstacle-navigation ability is stronger, its each leg small suction cup is placed, when faced with obstacles, can control the "leg", make the small suction cup across the obstacles one by one. Wall mobile mechanism of the robot can make the robot on the premise of reliable adsorption can move on the wall. Due to the particularity of climbing robot working in wall, mobile mechanism and adsorption mechanism exists coupling, which brought some difficulties to the robot's motion control. Than climbing robot sucker foot type and legs with a suction cup at the end, every move a leg needs to be done "to eliminate suction - leg - Wallace leg, left leg - generate adsorption force" a series of actions. In this process, the robot mobile mechanism of the action should coordinate with each other, and the adsorption mechanism to to guarantee the flexible mobile robot on the wall. In addition, there is also a mobile mechanism and adsorption separation, such as single suction cups, robot sucker adsorption, sustainable continuous movement of driving wheel mobile robot, motion control is relatively simple.
Energy supply and drive mode: 4.3 the driving mode of energy supply and energy supply way with people via the wire line for the machine to provide energy such as electricity, gas, also has a built-in battery, cylinders and so on. Drive ways mainly have the pneumatic motor and other several ways. Climbing robot is designed to adopt high efficiency quality than drive and source of power, especially the wireless control cases. Using motor drive, energy supply mainly include polymer lithium battery, nickel metal hydride batteries, electrochemical batteries and fuel cells. In addition, due to the energy of internal combustion engine - - gasoline, hydrogen fuel can have higher weight ratio, such as advanced micro internal combustion engine can also be applied to the climbing robot.
Safety problems: 4.4 the robot by interference, environmental change circumstances, how to ensure the safety of the robot is attached to the wall without falling, falling or after how to minimize the damage of the robot. The past buildings cleaning climbing robot, developed by most used by in carrying the car at the top of the tower, hoisting and wire rope of insurance system on the robot. Robot for some other purposes, such as detection with small climbing robot, the goal is not sure, cannot use the rope way of insurance, so need to study new way to prevent falling. Could consider using a parachute, small power into a pulp, fast supporting resistance drop plate, etc., these may be a future development direction of climbing robot safety measures.
5. Development trend of the robot
Hard drive, sensor and control the development of software technology has greatly promoted the development of climbing robot technology, the demand of the practical application is also put forward the challenge, the development of robot climbing robot development trend in the aggregate, basically has the following several aspects. (1) the development of new adsorption technology. Adsorption technology has been a bottleneck of the development of the robot, it determines the application range of the robot. (2) the task of robot from simplification to muti_function change direction. The past most climbing robot which is used for washing, spraying, detection and so on homework, homework tasks are often confined to a single task. Now people want climbing robot can equipped with a variety of tools, are working on different occasions. (3) the miniaturization, micromation is currently the trend of the development of the robot. On the premise of meet the functional requirements, small volume, light quality of robot can be less energy consumption, high flexibility, and in some special occasions are also need robot with small volume. (4) by the mooring operation development to the direction of untethered. Because the robot working space is generally larger, mooring operation greatly limits the robot working space, so, in order to improve the flexibility of robot and expand the working space, no cable is changed and is now and the future development trend of the robot. (5) by simple remote monitoring to intelligent direction. Combined with artificial intelligence, the robot can in a closed environment has a certain capacity for independent decision and complete the task, and have ego to protect ability, is the important direction of mobile robot, is also a important development direction of mobile robot climbing wall. (6) the adaptability of the reconfigurable robot is an important indicator. In order to make the robots could be used in different occasions, according to the mission requirements, under the condition of the system does not need to design, make full use of existing robot system, should make with reconfigurable robot, which has a modular structure. According to the mission requirements, the need of module is directly connected to form a new robot.
譯文：
1.引言：
爬壁機(jī)器人是移動(dòng)機(jī)器人領(lǐng)域的一個(gè)重要分支,可在垂直壁面上靈活移動(dòng),代替人工在極限條件下完成多種作業(yè)任務(wù),是當(dāng)前機(jī)器人領(lǐng)域研究的熱點(diǎn)之一。它主要應(yīng)用于核工業(yè)、石化工業(yè)、造船業(yè)、消防部門及偵查活動(dòng)等,如對高樓外壁面進(jìn)行清洗,對石化企業(yè)中的儲(chǔ)料罐外壁進(jìn)行檢測和維護(hù),對大面積鋼板進(jìn)行噴漆,以及在高樓事故中進(jìn)行搶險(xiǎn)救災(zāi)等，并且取得了良好的社會(huì)效益和經(jīng)濟(jì)效益，具有廣闊的發(fā)展前景。
經(jīng)過30多年的發(fā)展,爬壁機(jī)器人領(lǐng)域已經(jīng)涌現(xiàn)出一大批豐碩的成果,特別是20世紀(jì)90年代以來,國內(nèi)外在爬壁機(jī)器人領(lǐng)域中的發(fā)展尤為迅速。近年來,由于多種新技術(shù)的發(fā)展,爬壁機(jī)器人的許多技術(shù)難題得到解決,極大地推動(dòng)了爬壁機(jī)器人的發(fā)展。在我國各高校機(jī)器人設(shè)計(jì)活動(dòng)也已經(jīng)很廣的開展起來，這種氛圍對我國機(jī)器人的研制開發(fā)特別以及專業(yè)方面人才的培養(yǎng)是具有積極意義的。
2.國外爬壁機(jī)器人研究現(xiàn)狀
1966年日本的西亮教授首次研制成功壁面移動(dòng)機(jī)器人樣機(jī),并在大阪府立大學(xué)表演成功。這是一種依靠負(fù)壓吸附的爬壁機(jī)器人。隨后出現(xiàn)了各種類型的爬壁機(jī)器人,到80年代末期已經(jīng)開始在生產(chǎn)中應(yīng)用。日本在開發(fā)爬壁機(jī)器人方面發(fā)展最為迅速,主要應(yīng)用在建筑行業(yè)與核工業(yè)。如：日本清水建設(shè)公司開發(fā)了建筑行業(yè)用的外壁涂裝與貼瓷磚的機(jī)器人,他們研制的負(fù)壓吸附清洗玻璃面的爬壁機(jī)器人,曾為加拿大使館清洗。東京工業(yè)大學(xué)開發(fā)了無線遙控磁吸附爬壁機(jī)器人。在日本通產(chǎn)省"極限作業(yè)機(jī)器人"國家研究計(jì)劃支持下,日暉株式會(huì)社開發(fā)了用于核電站大罐的負(fù)壓吸附壁面檢查機(jī)器人等。
其他各國也加入到爬壁機(jī)器人研究的熱潮中如：美國西雅圖的Henry R Seemann在波音公司的資助下研制出一種真空吸附履帶式爬壁機(jī)器人“AutoCrawler”。其兩條履帶上各裝有數(shù)個(gè)小吸附室,隨著履帶的移動(dòng),吸附室連續(xù)地形成真空腔而使得履帶貼緊壁面行走。美國CaseWestern Reserve University研制的采用4個(gè)“腿輪”的爬壁機(jī)器人樣機(jī)。與前兩種機(jī)器人相似,該機(jī)器人依靠4個(gè)“腿輪”上的仿生粘性材料來吸附,樣機(jī)不同的是這4個(gè)腿輪上腳掌的特殊分布更有利于機(jī)器人在壁面上穩(wěn)定爬行。該機(jī)器人質(zhì)量僅有87 g。20世紀(jì)90年代初,英國樸次茅斯工藝學(xué)校研制了一種多足行走式的爬壁機(jī)器人。采用模塊化設(shè)計(jì),機(jī)器人由兩個(gè)相似的模塊組成,每個(gè)模塊包括兩個(gè)機(jī)械腿和腿部控制器?？筛鶕?jù)任務(wù)需要來安裝不同數(shù)量的腿,可重構(gòu)能力強(qiáng)。機(jī)械腿采用仿生學(xué)機(jī)構(gòu),模擬大型動(dòng)物臂部肌肉的功能,為兩節(jié)式,包括上、下兩個(gè)桿和3個(gè)雙作用氣缸,具有3個(gè)自由度。穩(wěn)定性好,承載能力大,利于機(jī)器人的輕量化,并能跨越較大的障礙物。除腿端部各有一真空吸盤外,機(jī)器人腹部設(shè)有吸盤, 使機(jī)器人具有較大的負(fù)載質(zhì)量比,可達(dá)2∶1。
3.國內(nèi)爬壁機(jī)器人研究現(xiàn)狀
中國也于20世紀(jì)90年代以來進(jìn)行類似的研究。1988年在國家“863”高技術(shù)計(jì)劃的支持下,哈爾濱工業(yè)大學(xué)機(jī)器人研究所先后研制成功了采用磁吸附和真空吸附兩個(gè)系列的5種型號(hào)壁面爬行機(jī)器人。研制成功的我國第一臺(tái)壁面爬行遙控檢測機(jī)器人,采用負(fù)壓吸附,全方位移動(dòng)輪,用于核廢液儲(chǔ)存罐罐壁焊縫缺陷檢測。1994年開發(fā)的用于高樓壁面清洗作業(yè)的爬壁機(jī)器人CLR-Ⅰ,采用全方位移動(dòng)機(jī)構(gòu),機(jī)器人在原地就可以任意改變運(yùn)動(dòng)方向。之后開發(fā)的CLR-Ⅱ,采用兩輪獨(dú)立驅(qū)動(dòng)方式———同軸雙輪差速機(jī)構(gòu), 通過對兩輪速度的協(xié)調(diào)控制實(shí)現(xiàn)機(jī)器人的全方位移動(dòng),機(jī)器人本體和地面控制站之間采用電力線載波通訊方式。上述3款爬壁機(jī)器人均采用單吸盤結(jié)構(gòu),彈簧氣囊密封,保證了機(jī)器人具有較高爬行速度和可靠的附著能力。1995年研制成功的金屬管防腐用磁吸附爬壁機(jī)器人,采用永磁吸附結(jié)構(gòu),靠兩條履帶的正反轉(zhuǎn)移動(dòng)來實(shí)現(xiàn)轉(zhuǎn)彎。該機(jī)器人可以為石化企業(yè)金屬儲(chǔ)料罐的外壁進(jìn)行噴漆、噴砂,以及攜帶自動(dòng)檢測系統(tǒng)對罐壁涂層厚度進(jìn)行檢測。1997年研制的水冷壁清檢測爬壁機(jī)器人,呈圓弧形永磁吸附塊與罐壁圓弧相吻合,提高了吸附力,也提高了作業(yè)的效率。上海大學(xué)也較早開展高樓壁面清洗作業(yè)機(jī)器人的研究,先后研制出垂直壁面爬壁機(jī)器人和球形壁面爬壁機(jī)器人。該球形壁面爬壁機(jī)器人采用多吸盤、負(fù)壓吸附、6足獨(dú)立驅(qū)動(dòng)腿足行走方式,可用于不同曲率半徑的球形外壁1996年以來,北京航空航天大學(xué)先后研制成功WASH2 MAN,CLEANBOT 1,SKYCLEAN,“吊籃式擦窗機(jī)器人”和“藍(lán)天潔寶”等幕墻清洗機(jī)器人樣機(jī)。為全氣動(dòng)擦窗機(jī)器人;吊籃式清洗機(jī)器人,機(jī)器人依靠樓頂上的安全吊索牽引移動(dòng),利用風(fēng)機(jī)產(chǎn)生的負(fù)壓使機(jī)器人貼附在壁面上以國家大劇院橢球形頂棚清洗為應(yīng)用背景研制的適用于復(fù)雜曲面的自攀爬式機(jī)器人樣機(jī),由攀爬機(jī)構(gòu)、移動(dòng)機(jī)構(gòu)、清機(jī)器人有許多相似之處,但由于其特殊的工作環(huán)境和任務(wù)要求,在理論和技術(shù)等方面又有一些特殊性。
4. 爬壁機(jī)器人的關(guān)鍵技術(shù)：
4.1吸附機(jī)構(gòu)：吸附機(jī)構(gòu)的作用是產(chǎn)生一個(gè)向上的力來平衡機(jī)器人的重力,使其保持在壁面上。目前,吸附方式主要有真空負(fù)壓吸附、磁吸附、螺旋槳推力及粘結(jié)劑等幾種方式。由于這些吸附方式各自都有局限性,所研制的爬壁機(jī)器人往往針對性較強(qiáng),只適用于某種特定任務(wù),較難通用化。機(jī)器人的設(shè)計(jì)需要針對工作任務(wù)、環(huán)境,選取合適的吸附方式。近年來,人們通過研究壁虎等爬行動(dòng)物腳掌的吸附機(jī)理,制作出高分子合成的粘性材料,這些材料利用分子與分子之間的范德華力,在很小的接觸面積上就可獲得巨大的吸附力,而且具有吸附力與表面材料特性無關(guān)的優(yōu)點(diǎn)。但目前這些材料的使用壽命較短, 使用一定次數(shù)之后就失去粘性,難以實(shí)用化,需要進(jìn)一步進(jìn)行研究。
4.2移動(dòng)機(jī)構(gòu)及運(yùn)動(dòng)控制系統(tǒng)：移動(dòng)機(jī)構(gòu)及運(yùn)動(dòng)控制系統(tǒng)爬壁機(jī)器人的移動(dòng)機(jī)構(gòu)主要有輪式、多足式、履帶式等,其中,輪式和足式使用較為廣泛,履帶式多用于磁吸附方式。越障能力是爬壁機(jī)器人壁面適應(yīng)性能的一個(gè)重要指標(biāo)。當(dāng)工作面上有凸起、溝槽時(shí),機(jī)器人要通過這些障礙物,就必須有足夠的越障能力。各種移動(dòng)機(jī)構(gòu)中,多足式機(jī)器人的越障能力較強(qiáng),其每個(gè)腿部都置有小吸盤,當(dāng)遇到障礙物時(shí),可控制各個(gè)“腿”,使小吸盤逐個(gè)跨過障礙物。壁面機(jī)器人的移動(dòng)機(jī)構(gòu)可以使機(jī)器人在可靠吸附的前提下能夠在壁面上靈活移動(dòng)。由于爬壁機(jī)器人工作于壁面的特殊性,移動(dòng)機(jī)構(gòu)常和吸附機(jī)構(gòu)存在耦合,這給機(jī)器人的運(yùn)動(dòng)控制帶來了一些困難。如多吸盤足式爬壁機(jī)器人,腿末端各有一個(gè)吸盤,每移動(dòng)一個(gè)腿需要完成“消除吸力—抬腿—邁腿—落腿—產(chǎn)生吸附力”一系列動(dòng)作。在此過程中,機(jī)器人移動(dòng)機(jī)構(gòu)的動(dòng)作要和吸附機(jī)構(gòu)相互協(xié)調(diào),才能保證機(jī)器人在壁面上的靈活移動(dòng)。此外,也有移動(dòng)機(jī)構(gòu)與吸附機(jī)構(gòu)分離的,如單吸盤爬壁機(jī)器人,吸盤可持續(xù)吸附,驅(qū)動(dòng)輪連續(xù)運(yùn)動(dòng)實(shí)現(xiàn)機(jī)器人的移動(dòng),運(yùn)動(dòng)控制較為簡單。
4.3能源供應(yīng)及驅(qū)動(dòng)方式：能源供應(yīng)及驅(qū)動(dòng)方式能源供應(yīng)方式有通過電線管路為機(jī) 器人提供電、氣等能源的方式,也有自帶電池、氣瓶等方式。驅(qū)動(dòng)方式主要有電機(jī)氣動(dòng)等幾種方式。爬壁機(jī)器人的設(shè)計(jì)盡量采用具有高功效質(zhì)量比的驅(qū)動(dòng)器和動(dòng)力源,特別是采用無線控制情況下。采用電機(jī)驅(qū)動(dòng)時(shí),能源供應(yīng)主要有聚合物鋰電池、鎳氫電池、電化學(xué)電池和燃料電池。此外,由于內(nèi)燃機(jī)的能源———汽油、氫等燃料具有較高的能重比,先進(jìn)的微型內(nèi)燃機(jī)也可應(yīng)用于爬壁機(jī)器人。
4.4安全問題：機(jī)器人在受到外界干擾、環(huán)境變化情況下,如何保證機(jī)器人安全附著于壁面而不至于墜落,或墜落后如何盡量減小機(jī)器人的損傷。過去所研制的高樓清洗爬壁機(jī)器人, 大都采用由置于高樓頂上的運(yùn)載小車、卷揚(yáng)機(jī)構(gòu)和系在機(jī)器人上的鋼絲繩組成保險(xiǎn)系統(tǒng)。而對于一些其他用途的機(jī)器人,比如偵查用的小型爬壁機(jī)器人,其目標(biāo)并不確定,不能采用保險(xiǎn)繩的方式,因而需要研究新的防墜落方式?？梢钥紤]采用降落傘、小功率螺旋降落漿、快速撐起阻降板等,這些可能會(huì)成為未來爬壁機(jī)器人安全措施的發(fā)展方向。
5.爬壁機(jī)器人的發(fā)展趨勢
驅(qū)動(dòng)、傳感、控制等硬軟件技術(shù)的發(fā)展極大地推動(dòng)了爬壁機(jī)器人技術(shù)的發(fā)展,實(shí)際應(yīng)用的需求也對爬壁機(jī)器人的發(fā)展提出了挑戰(zhàn),爬壁機(jī)器人的發(fā)展趨勢歸結(jié)起來主要有以下幾方面。(1)新型吸附技術(shù)的發(fā)展。吸附技術(shù)一直是爬壁機(jī)器人發(fā)展的一個(gè)瓶頸,它決定了機(jī)器人的應(yīng)用范圍。(2)爬壁機(jī)器人的任務(wù)由單一化向多功能化方向發(fā)展。過去所研制的爬壁機(jī)器人大多用于清洗、噴涂、檢測等作業(yè),作業(yè)任務(wù)往往只局限于單一的任務(wù)。而目前人們則希望爬壁機(jī)器人能夠裝備多種工具,在不同的場合進(jìn)行工作。(3)小型化、微型化是當(dāng)前爬壁機(jī)器人發(fā)展的趨勢。在滿足功能要求的前提下,體積小、質(zhì)量輕的機(jī)器人可較小能耗,具有較高靈活性,并且在某些特殊場合也需要機(jī)器人具有小的體積。(4)由帶纜作業(yè)向無纜化方向發(fā)展。由于爬壁機(jī)器人的作業(yè)空間一般都較大,帶纜作業(yè)極大地限制了機(jī)器人的作業(yè)空間,所以,為了提高機(jī)器人的靈活性和擴(kuò)大工作空間,無纜化成為現(xiàn)在和未來爬壁機(jī)器人的發(fā)展趨勢。(5)由簡單遠(yuǎn)距離遙控向智能化方向發(fā)展。與人工智能相結(jié)合,使機(jī)器人在封閉環(huán)境中能夠具有一定的自主決策能力, 完成任務(wù),并具有自我保護(hù)能力,是移動(dòng)機(jī)器人發(fā)展的重要方向,也是爬壁移動(dòng)機(jī)器人的重要發(fā)展方向。(6)可重構(gòu)是機(jī)器人適應(yīng)能力的一項(xiàng)重要指標(biāo)。為了使機(jī)器人能夠應(yīng)用于不同場合,根據(jù)任務(wù)需求,在不需要重新設(shè)計(jì)系統(tǒng)條件下,充分利用已有的機(jī)器人系統(tǒng),應(yīng)使機(jī)器人具有可重構(gòu)性,即具有模塊化結(jié)構(gòu)。根據(jù)任務(wù)需求,把需要的模塊直接連接起來組成新的機(jī)器人。