爬墙机器人外文翻译.docx
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爬墙机器人外文翻译.docx
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爬墙机器人外文翻译
Thedevelopmenttrendoftherobot
1.Preface:
Climbingrobotisanimportantbranchinthefieldofmobilerobot,flexiblemobileonverticalwall,replaceartificialundertheconditionofthelimittocompletevarioustasks,isoneofthehotspotinresearchoftherobot.Itismainlyusedinthenuclearindustry,petrochemicalindustry,shipbuilding,firedepartmentsandinvestigationactivities,suchasthebuildingexternalwallcleaning,materialstoragetankinpetrochemicalenterprisetestingandmaintenance,theouterwalloflargesteelplatespraypaint,andinbuildingaccidentrescueandrelief,etc.,andachievedgoodsocialbenefitsandeconomicbenefits,haswidedevelopmentprospects.
After30yearsofdevelopment,thefieldofrobotwhichhasemergedalargenumberoffruitfulresults,especiallysincethe1990s,especiallyrapiddevelopmentinthefieldofclimbingrobotathomeandabroad.Inrecentyears,duetothedevelopmentofavarietyofnewtechnology,therobotwhichsolvedmanytechnicalchallenges,greatlypromotethedevelopmentoftheclimbingrobot.Therobotdesignactivitiesofuniversitiesinourcountryalsohasawidedevelopment,thiskindofatmosphereforourrobotresearchanddevelopmentofspecialandprofessionaltalents'cultivationisofpositivesignificance.
2.Climbingrobotresearchstatusabroad
1966Japaneseprofessorwestlightwallmobilerobotprototypeisdevelopedforthefirsttime,andperformancesuccessinOsakaprefectureuniversity.Thisisakindofrelyonnegativepressureadsorptionclimbingrobot.Thenappearedvarioustypesofclimbingrobot,hasalreadybeguntothelate80sapplicationintheproduction.Japan'smostrapiddevelopmentinthedevelopmentofclimbingrobot,mainlyusedintheconstructionindustryandnuclearindustry.Suchas:
Japanshimizuconstructioncompanyhasdevelopedwiththeouterwallofthebuildingindustrycoatingwithceramictileoftherobot,theydevelopedbynegativepressureadsorptioncleaningclimbingrobot,onthesurfaceoftheglassfortheCanadianembassytoclean.Tokyouniversityoftechnologydevelopmentofthewirelessremotecontrolmagneticadsorptionclimbingrobot.InJapan'smiti"limithomeworkrobot"nationalresearchprojects,supportedbydayCDH,developedalargepotofnegativepressureadsorptionsurfaceinspectionrobotsusedinnuclearpowerplants,etc.
Othercountriesarealsoaddedtotheclimbingrobotresearchupsurge,suchas:
SeattleHenryRSeemannunderthefundingoftheBoeingcompanydevelopedavacuumadsorptioncrawler"AutoCrawler"robot.Onthetwotrackseachcontaininganumberofsmalladsorptionchamber,withthemovingofthecrawler,adsorptionchamberformcontinuousvacuumcavityandmakesthecrawlerwalkingagainstthewall.AmericanCaseWesternReserveUniversitydevelopedbyusingfourclimbingrobotprototype"legs".Similartothefirsttworobots,therobotdependsonfour"legs"onbiomimeticviscousmaterialstoadsorption,theprototypeisthefourlegswheelonthesoleofthefootevenspecialdistributionismoreadvantageoustotherobotstablecrawlingonthewall.Thequalityoftherobotisonly87g.Polytechnicschoolintheearly1990s,BritishPortsmouthhasdevelopedaclimbingrobotmultileggedwalkingtype.Adoptingmodulardesign,therobotiscomposedoftwosimilarmodules,eachmoduleincludestwomechanicallegsandlegcontroller.Accordingtothetaskneedtoinstalladifferentnumberoflegs,reconfigurableability.Mechanicallegsusingbionicsmechanism,simulationofthelargeanimalsarmmusclefunction,istwotype,includingupperandlowertwoandthreedouble-actingcylinder,withthreedegreesoffreedom.Goodstabilityandbearingcapacityisbig,therobot'slightweight,andcanspanbiggerobstacles.Inadditiontothelegononeendofvacuumcups,robotequippedwithsuctioncups,abdomenmassratioofpowderandmaketherobothasalargerloadof2:
1.
3.ClimbingrobotresearchstatusinChina
Chinaisalsoinasimilarstudysincethe1990s.In1988atthenational"863"hightechnologyprogram,underthesupportoftheroboticsinstituteofHarbininstituteoftechnologyhassuccessfullydevelopedtheuseofmagneticadsorptionandvacuumadsorptiontwoseriesoffivetypesofwallclimbingrobot.Successfuldevelopmentoftheourcountrythefirstwallclimbingrobotremotedetection,usingnegativepressureadsorption,omni-directionalmobilewheel,usedfornuclearwastestoragejarsofwallwelddefectdetection.Developedin1994fortallbuildingswallclimbingrobotcleaningCLR-Ⅰ,adoptstheomni-directionalmobilemechanism,therobotinsitucanarbitrarilychangethedirectionofmovement.AfterthedevelopmentoftheCLR-Ⅱ,drivenbytwoindependentways--coaxialtwo-wheeleddifferentialmechanism,throughthecoordinationoftworoundsofspeedcontroltorealizetheomni-directionalmobilerobot,therobotontologyandusingpowerlinecarriercommunicationmethodsbetweenthegroundcontrolstation.Above-mentionedthreeclimbingmachineadoptssinglesuctioncupstructure,springairsealed,ensurethecrawlrobotwithhighspeedandreliableadhesionability.In1995successfullydevelopedthemetalcorrosionbymagneticadsorptionclimbingrobot,structureofpermanentmagneticadsorption,accomplishedbytwotrackspositive&negativemobileturn.Therobotcandoforpetrochemicalenterprisestotheouterwallofthemetalmaterialstoragetanktospraypaint,sandblasting,aswellaswithautomaticdetectionsystemtotestthetankwallthickness.Developedin1997'sdetectionofwaterwallclimbingrobot,acircularpermanentmagnetadsorptionblockinconformitywiththetankwallarc,improvetheadsorptioncapacity,andimprovetheefficiencyoftheoperation.Shanghaiuniversityalsoconductedearlytallwallcleaningrobotresearch,successivelydevelopedaverticalwallclimbingrobotandsphericalwallclimbingrobot.Thesphericalwallclimbingrobotadoptsmanysuckers,negativepressureadsorption,6footindependentdrivinglegfeetwalkingstyle,canbeusedfordifferentradiusofcurvatureofthesphericalouterwallsince1996,theBeijinguniversityofaeronauticsandastronauticshassuccessfullydevelopedWASH2MAN,CLEANBOT1,SKYCLEAN,"hangingbaskettypewindowrobot"and"LanTianJietreasure"curtainwallcleaningrobotprototype.Forallthewindowisbrushedpneumaticrobot;Hangingbaskettypecleaningrobot,therobotdependsontheroofofthesafetylinetraction,attachedwiththenegativepressuremadebyfanrobotonthewallintheapplicationbackgroundofnationalgrandtheatreellipsoidceilingcleaningdevelopedsuitableforcomplexcurvedsurfacefromclimbingrobotprototype,theclimbingmechanism,mobilemechanism,cleaningrobothasmanysimilarities,butduetoitsspecialworkingenvironmentandmissionrequirements,intermsoftheoryandtechnologyhassomeparticularity.
4.Thekeytechnologyofrobot:
4.1adsorptionmechanism,adsorptionmechanismofactionistoproduceanupwardforcetobalancethegravityoftherobot,keepitonthewall.Currently,magneticadsorptionmethodsmainlyincludevacuumnegativepressureadsorption,adsorption,propellerthrustandbinderetc.Severalways.Duetotheadsorptionmethodseachhavelimitations,climbingrobotdevelopedbyoftentargetedstrong,appliesonlytoaspecifictask,difficulttogeneralize.Robotdesignneedtoworkontask,environment,choosetherightmeansofadsorption.Inrecentyears,peoplethroughthestudyoftheadsorptionmechanismofgeckoreptilessuchasthesolesofyourfeet,makingthepolymersynthesisofviscousmaterial,theuseofvanderWaalsforcebetweenthemoleculesandmolecularmaterials,canbeobtainedonthecontactareaofsmallhugeadsorptioncapacity,andhastheadvantagesofadsorptionhasnothingtodowiththesurfacematerialproperties.Shortlifebutatthemoment,theuseofthesematerials,theuseofacertainnumberoftimesafterloseviscosity,practical,needfurtherstudy.
4.2mobilemechanismandmotioncontrolsystem:
mobilemechanismandthemovementcontrolsystemofrobotwhichmajorwheeledmobilemechanism,morefoottype,suchascaterpillar,amongthem,thewheelandfoottypewhichhasbeenwidelyused,caterpillarmuchformagneticadsorptionmethod.Obstacleabilityiswallrobotwhichusedtoanimportantindicatorofperformance.Whenworksurfaceisconvex,groove,therobottogothroughtheseobstacles,wemusthaveenoughobstacleability.Allkindsofmobilemechanism,morefoottyperobotobstacle-navigationabilityisstronger,itseachlegsmallsuctioncupisplaced,whenfacedwithobstacles,cancontrolthe"leg",makethesmallsuctioncupacrosstheobstaclesonebyone.Wallmobilemechanismoftherobotcanmaketherobotonthepremiseofreliableadsorptioncanmoveonthewall.Duetotheparticularityofclimbingrobotworkinginwall,mobilemechanismandadsorptionmechanismexistscoupling,whichbroughtsomedifficultiestotherobot'smotioncontrol.Thanclimbingrobotsuckerfoottypeandlegswithasuctioncupattheend,everymovealegneedstobedone"toeliminatesuction-leg-Wallaceleg,leftleg-generateadsorptionforce"aseriesofactions.Inthisprocess,therobotmobilemechanismoftheactionshouldcoordinatewitheachother,andtheadsorptionmechanismtotoguaranteetheflexiblemobilerobotonthewall.Inaddition,thereisalsoamobilemechanismandadsorptionseparation,suchassinglesuctioncups,robotsuckeradsorption,sustainablecontinuousmovementofdrivingwheelmobilerobot,motioncontrolisrelativelysimple.
Energysupplyanddrivemode:
4.3thedrivingmodeofenergysupplyandenergysupplywaywithpeople
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