一种新型负压式爬壁机器人吸附特性分析
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中图分类号：TP242
DOI：10.3969/j.issn.1004-132X.2025.06.007 开放科学（资源服务）标识码（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
壁面爬行机器人（以下简称爬壁机器人）能够代替操作人员在各种不同倾角的壁面上工作，达到提高工作效率、保护生命安全以及节约成本的目的[1-2]，其应用场景包括船舶外表面除锈与喷涂、建筑物外表面清洗与检测、油罐表面探伤与喷涂以及风机叶片或水电大坝检修与维护等[2]。（剩余11540字）