WO2015113492A1 - 攀爬机器车 - Google Patents

攀爬机器车 Download PDF

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Publication number
WO2015113492A1
WO2015113492A1 PCT/CN2015/071693 CN2015071693W WO2015113492A1 WO 2015113492 A1 WO2015113492 A1 WO 2015113492A1 CN 2015071693 W CN2015071693 W CN 2015071693W WO 2015113492 A1 WO2015113492 A1 WO 2015113492A1
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WIPO (PCT)
Prior art keywords
hollow cylinder
end surface
cover plate
vehicle body
exhaust runner
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2015/071693
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English (en)
French (fr)
Inventor
黎鑫
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Zhejiang University ZJU
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Zhejiang University ZJU
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Filing date
Publication date
Application filed by Zhejiang University ZJU filed Critical Zhejiang University ZJU
Priority to EP15743878.9A priority Critical patent/EP3093224B1/en
Priority to JP2016557181A priority patent/JP6189551B2/ja
Priority to US14/906,451 priority patent/US9738337B2/en
Publication of WO2015113492A1 publication Critical patent/WO2015113492A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/04—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track having other than ground-engaging propulsion means, e.g. having propellers

Definitions

  • the invention relates to a climbing machine.
  • a climbing machine is a body that can walk on vertical walls and ceilings and plays an important role in many specific situations. For example, we installed an ultrasonic flaw detector on the car body, and the climbing machine can replace the person to perform flaw detection inspection of large buildings (bridges, culverts, etc.), which greatly reduces the operating cost and shortens the working hours.
  • the invention patent of the patent application No. CN201210405689 discloses a climbing robot who is equipped with an electromagnetic chuck and generates an adsorption force through an electromagnetic chuck.
  • the disadvantage is that the wall that the robot can climb must be a wall whose magnetic field can generate suction, so its application has great limitations.
  • the present invention provides a climbing machine.
  • the climbing machine includes a vehicle body, and the front and rear ends of the vehicle body are installed with wheels, and one end of the vehicle body facing the wall surface is fixedly connected with an adsorption mechanism, and the adsorption mechanism includes a body, wherein the body is a hollow cylinder, a cover plate is disposed above the hollow cylinder, an upper end surface of the cover plate is fixedly connected to the vehicle body, and a lower end surface of the cover plate is spaced apart from the first block and the hollow circle
  • the outer edge of the upper end surface of the cylinder is fixedly connected; the inner wall surface of the hollow cylinder is provided with a tangential nozzle; the spacing between the first spacer and the first spacer forms the outer edge of the upper end surface of the hollow cylinder a first exhaust flow passage between the lower end surface of the hollow cylinder and the wall surface; the gap is formed between the outer edge of the lower end surface of the hollow cylinder and the wall surface a second exhaust runner; the first exhaust runner and the second exhaust runner respectively communicate with an interior and
  • the upper end surface of the vehicle body is mounted with a motor, and the motor is connected to the cover plate through a screw driven thereby; the screw is screwed to the cover plate; the hollow cylinder and the hollow cylinder A pressure measuring hole is opened on the cover plate, and the pressure measuring hole is connected with the pressure sensor.
  • the vehicle body is connected to the hollow cylinder through a connecting rod, and the connecting rod is disposed on an outer edge of an upper end surface of the hollow cylinder; and the connecting rod is processed with a screw at both ends thereof.
  • the middle section is a cylinder, a step is arranged between the cylinder and the screw, and the screws at the two ends are respectively screwed and fixed with the vehicle body and the hollow cylinder, and the through hole is opened at the position of the corresponding connecting rod on the cover plate, The through hole and the cylinder of the intermediate portion of the connecting rod are slidingly fitted, and the distance between the cover plate and the hollow cylinder forms a first exhaust flow path.
  • the vehicle body is provided with a guiding hole
  • the guiding hole is provided with a guiding post
  • one end of the guiding post is fixedly connected to the upper end surface of the cover plate through the guiding hole,
  • the guide post is slidable within the guide hole.
  • the outer edge of the lower end surface of the hollow cylinder is provided with a soft gasket.
  • the soft gasket is a pile strip.
  • annular partition is disposed under the hollow cylinder, and an upper surface of the annular partition is fixedly connected to an outer edge of a lower end surface of the hollow cylinder by a second spacer; the second spacer is covered a partial area of the annular partition, the spacing between the second spacer and the second spacer forms a third exhaust runner between the outer edge of the lower end surface of the hollow cylinder and the annular partition, the third The exhaust runner communicates with the inner and outer environment of the hollow cylinder; the flexible gasket is disposed at the lower end of the annular diaphragm surface.
  • first spacer and the second spacer are respectively disposed at equal intervals between the lower end surface of the cover plate and the outer edge of the upper end surface of the hollow cylinder, and the annular spacer and the hollow Between the lower end faces of the cylinder.
  • the tangential nozzle is connected to a high pressure fluid source through a tube;
  • the high pressure fluid source comprises a high pressure gas source and a high pressure liquid source
  • the high pressure gas source may be an air compressor, a fuel engine or a worm jet engine.
  • the machine, the high pressure liquid source may be a high pressure water pump.
  • the local high pressure distribution formed on the lower surface of the cover can be eliminated, thereby ensuring that a pressing force is applied to the vehicle body.
  • the pressing force When the climbing machine car is attached to the vertical wall surface, the pressing force generates friction between the car body and the wall surface, and the friction force not only overcomes the gravity of the car body but also provides the driving force required for the body movement.
  • the second exhaust runner is disposed so that no contact occurs between the lower end surface of the hollow cylinder and the wall surface, so that the vehicle body can smoothly travel on the wall surface.
  • the pressing force of the vehicle body can always be At or near maximum compression.
  • the arrangement of the flexible gasket blocks the flow of the exhaust gas in the second exhaust runner between the wall surface and the hollow cylinder, thereby eliminating the unevenness of the wall due to the unevenness of the wall in the second exhaust runner.
  • the turbulent flow minimizes the influence of the unevenness and unevenness of the wall on the pressure distribution; and the flexible gasket also blocks the air flow from the outside into the hollow cylinder, maximally protecting The swirling flow in the hollow cylinder.
  • Fig. 1a is a schematic view of Embodiment 1 of the present invention.
  • Figure 1b is a cross-sectional view of the hollow cylinder at the position of the tangential nozzle
  • Fig. 1c is a distribution diagram of flow velocity components in the circumferential direction formed by the gas on the C-G plane and the D-H plane in the first embodiment of the present invention.
  • FIG. 2 is a pressure distribution comparison diagram in which the first exhaust runner is not provided and the first exhaust runner is disposed.
  • Fig. 3 is a flow chart showing the flow of dense air in the vicinity of the inner wall surface of the hollow cylinder after the first exhaust runner is provided in the present invention.
  • Figure 4 is a schematic view of Embodiment 2 of the present invention.
  • Figure 5 is a schematic view of Embodiment 3 of the present invention.
  • Fig. 6 is a schematic view showing a fourth embodiment of the present invention (a soft gasket is provided on the basis of the second embodiment).
  • Fig. 7 is a schematic view showing an obstacle in front of the machine cart of the present invention.
  • Figure 8 is a schematic view of Embodiment 5 of the present invention.
  • Fig. 9 is a pressure distribution diagram in which a third exhaust flow path is provided and a third exhaust flow path is not provided.
  • Figure 10a is a schematic view showing the connection of the tangential nozzle of the present invention to a worm gear jet engine.
  • Figure 10b is a schematic illustration of the connection of the tangential nozzle of the present invention to a fuel engine.
  • the climbing machine includes a vehicle body 2, and the front and rear ends of the vehicle body 2 are mounted with wheels 3, and one end of the vehicle body 2 facing the wall surface 1 is fixedly connected with an adsorption mechanism.
  • the absorbing mechanism includes a body, the body is a hollow cylinder 4, a cover plate 5 is disposed above the hollow cylinder 4, and a tangential nozzle 41 is disposed on an inner wall surface of the hollow cylinder 4;
  • the upper end surface of the cover plate 5 is fixedly connected to the vehicle body 2;
  • the lower end surface of the cover plate 5 is fixedly connected to the outer edge of the upper end surface of the hollow cylinder 4 through the spaced apart first spacers 43;
  • the spacing between the spacer 43 and the first spacer 43 forms a first exhaust runner 44 between the outer edge of the upper end surface of the hollow cylinder and the lower end surface of the cover, and the first exhaust runner 44 communicates The inner and outer environment of the hollow cylinder.
  • the lower end surface of the hollow cylinder 4 is left between the wall surface and the wall surface There is a gap which forms a second exhaust runner 42 between the outer edge of the lower end face of the hollow cylinder and the wall, and the second exhaust runner 42 communicates with the interior and peripheral environment of the hollow cylinder.
  • the air is ejected from the nozzle at a high speed and rotates along the circular wall surface in the hollow cylinder. A portion of the rotated air is exhausted through the first exhaust runner and another portion is exhausted through the second exhaust runner. Both the first exhaust runner and the second exhaust runner play a very important role, and the effects of the two exhaust runners are described in detail below.
  • the pressing force of the vehicle body is the sum of the forces generated by the air flow on the A-B surface, the pressure distribution formed on the C-D surface and the E-F surface (unless specifically, the pressure here refers to the gauge pressure).
  • the first exhaust runner is primarily responsible for the pressure distribution affecting the C-D plane.
  • the air rotates in the hollow cylinder, so that the air in the center of the hollow cylinder is thrown by the centrifugal force to the outer circumference, which makes the air in the center portion thin, and the air near the inner wall surface of the hollow cylinder becomes dense. That is to say, a pressure distribution of a concave shape having a central low outer circumference is formed in the hollow cylinder (as shown in FIG. 2). If there is no first exhaust runner, the pressure distribution on the periphery of the C-D plane will be high, that is, the gauge pressure is greater than zero.
  • This high pressure portion not only exerts a repulsive force on the vehicle body, but also moves the depressed pressure distribution in the hollow cylinder as a whole in the high pressure direction. These will weaken the pressure on the car body.
  • Providing the first exhaust runner between the upper end surface of the hollow cylinder and the cover plate can greatly increase the pressing force.
  • the first exhaust runner communicates with the inner and outer environment of the hollow cylinder, and the air thrown by the centrifugal force of the swirling airflow to the outer peripheral wall flows into and flows through the first exhaust runner, and is concentrated on the inner wall of the hollow cylinder.
  • the dense air in the vicinity forms a flow as shown in Fig. 3, so that the high pressure near the inner wall surface of the hollow cylinder can be lowered.
  • Fig. 1b is a distribution diagram of the flow velocity components in the circumferential direction formed in the first exhaust runner (i.e., the C-G section and the D-H section).
  • the velocity component in the circumferential direction can affect the pressure distribution in the radial direction.
  • the height of the first exhaust runner is at a suitable height
  • the flow velocity component in the circumferential direction creates a weak low pressure distribution in the first exhaust runner.
  • the low pressure distribution formed in the first exhaust runner can move the pressure distribution of the C-D plane in the low pressure direction as shown in FIG.
  • the first exhaust runner can increase the compression force that the vehicle body is subjected to.
  • the second exhaust runner formed between the lower end surface of the hollow cylinder and the wall surface allows there is no contact between the hollow cylinder and the wall surface, so that the vehicle body can smoothly travel on the wall surface. It is assumed that if there is no second exhaust runner, contact is formed between the lower end surface of the hollow cylinder and the wall surface to generate friction, and the frictional force hinders the vehicle body from traveling on the wall surface; and, if there is a wall surface If an obstacle such as a bump is formed, the hollow cylinder collides with the obstacle and the vehicle body is caught.
  • a further function of the second exhaust runner is to enable a weak low pressure distribution of the A-B face and the E-F face. A portion of the air is exhausted through the second exhaust runner.
  • the air has a circumferential flow velocity component as it enters the second exhaust runner, and as the air flows outward through the second exhaust runner, this flow rate component is gradually weakened to zero by the viscous friction.
  • the velocity component in the circumferential direction can affect the pressure distribution in the radial direction.
  • the flow velocity component in the circumferential direction can form a weak low pressure distribution in the second exhaust runner (i.e., the A-B section and the E-F section).
  • the low pressure distribution is capable of exerting a pressing force on the vehicle body, thereby increasing the sum of the pressing forces of the vehicle body.
  • a motor 6 is mounted on the upper end surface of the vehicle body 2, and the motor 6 is connected to the cover plate 5 through a screw 61 driven thereby; 61 is screwed to the cover plate 5; the cover plate 5 is provided with a pressure measuring hole, and the pressure measuring hole is connected with the pressure sensor 7; the cover plate passes through the connecting rod 9 Connected to the hollow cylinder 4, the connecting rod 9 is provided at the outer edge of the upper end surface of the hollow cylinder 4.
  • the connecting rod 9 is machined with a screw at both ends, the middle portion is a cylinder, a step is arranged between the cylinder and the screw, and the screws at the two ends are respectively fixedly connected with the vehicle body and the hollow cylinder, and the cover plate corresponds to
  • the connecting rod is provided with a through hole, and the through hole is slidingly engaged with the cylindrical portion of the intermediate portion of the connecting rod, and the distance between the cover plate and the upper end surface of the hollow cylinder forms a first exhaust flow path.
  • Embodiment 1 After the air is rotated in the hollow cylinder, a part of the air is discharged through the first exhaust flow path between the hollow cylinder and the cover plate, and a part of the air passes between the hollow cylinder and the wall surface.
  • the second exhaust runner is discharged.
  • This embodiment is a further improvement of Embodiment 1, which automatically adjusts the height of the first exhaust runner.
  • the hollow cylinder is fixed to the vehicle body by a plurality of connecting rods.
  • the connecting rod is machined with a screw at both ends, the middle portion is a cylinder, and there is a step between the cylinder and the screw.
  • a through hole is formed in the position of the corresponding connecting rod on the cover plate, and the intermediate portion of the through hole and the connecting rod is a sliding fit. Therefore, the connecting rod limits the cover so that it does not tilt when moving.
  • One or several pressure measuring holes are processed in the hollow cylinder or the cover plate, and the pressure measuring holes are connected with the pressure sensor.
  • the motor will adjust the height of the first exhaust runner according to the pressure signal measured by the pressure sensor, in order to keep the pressing force of the vehicle body at or near the maximum pressing force. Next, an example of the necessity of this design is given.
  • the present embodiment takes a manner of adjusting the height of the first exhaust runner.
  • a pressure sensor to detect pressure changes in the hollow cylinder and in the exhaust runner in real time, and adjust the height of the first exhaust runner according to the change in pressure.
  • the embodiment shown in Fig. 4 uses three pressure sensors to respectively detect the pressures at three positions, and one pressure sensor is connected through a pressure measuring hole provided at an intermediate position of the first exhaust flow path, the pressure sensor can reflect the first a change in pressure in the exhaust runner; a pressure sensor is connected by a pressure tap provided near a central position of the hollow cylinder, the pressure sensor being capable of reflecting a change in pressure within the hollow cylinder; a pressure sensor being disposed in the hollow cylinder Above, the pressure change in the second exhaust runner is measured through the pressure tap. For example, in the case of a gas leak in a tire of a climbing machine, three pressure sensors will detect an increase in pressure. At this time, we need to appropriately increase the height of the first exhaust runner to make the air flow.
  • the viscous frictional resistance experienced by the first exhaust runner decreases, thereby reducing the pressure distribution within the first exhaust runner.
  • more air flows through the first exhaust runner thereby reducing the flow of air through the second exhaust runner, thereby reducing the number of The pressure distribution in the second exhaust runner.
  • the present embodiment employs a method of adjusting the height of the second exhaust runner.
  • a pressure sensor to detect pressure changes in the hollow cylinder and in the exhaust runner in real time, and adjust the height of the second exhaust runner according to the change in pressure.
  • a soft gasket is attached to the lower end surface of the hollow cylinder facing the wall surface.
  • the soft gasket is made of a soft material, one end of which is fixed on the hollow cylinder and the other end is in contact with the wall surface.
  • the flexible gasket may be a pile strip with one end attached to the hollow cylinder and the other end in contact with the wall surface. Even for uneven walls, the pile can be placed against the wall so that there is no gap between the wall and the pile. On the one hand, because the pile is soft, it does not affect the movement of the car body on the wall.
  • the fluffing strip creates a very large flow resistance between the wall and the hollow cylinder.
  • the pile itself has a gap, it is enough to block the air in the hollow cylinder from being discharged from the second exhaust runner because when we set the height of each exhaust runner to a suitable value, The pressure in the exhaust runner is very close to atmospheric pressure, that is, there is no large pressure difference between the pressure in the exhaust runner and the ambient pressure. Therefore, the flow resistance generated by the pile is sufficient to block the hollow.
  • the air in the cylinder is discharged outward through the second exhaust runner, so that almost all of the air is discharged from the flat first exhaust runner.
  • the unevenness of the wall will be caused when the air is discharged from the second exhaust runner between the hollow cylinder and the wall.
  • the air flow in the exhaust runner is disturbed.
  • Turbulent The chaotic flow creates a high pressure distribution within the second exhaust runner and the high pressure distribution may be asymmetrical in the circumferential direction.
  • the high pressure distribution in the second exhaust runner not only exerts a repulsive force on the hollow cylinder, but also causes the pressure distribution in the hollow cylinder to move in the high pressure direction. These will weaken the pressure exerted by the car body, which is not conducive to the car body being adsorbed on the wall.
  • the soft gasket blocks the air in the hollow cylinder from being discharged outward through the second exhaust runner, so that almost all of the air is discharged from the flat first exhaust runner.
  • an annular partition 46 is disposed below the hollow cylinder 4, and the upper end surface of the annular partition 46 passes through the second spacer 47.
  • the lower end surface of the hollow cylinder 4 is fixedly connected; the lower end surface of the annular partition 46 forms a second exhaust flow path with the wall surface; and the second spacer 47 covers a part of the area of the annular partition 46.
  • the spacing between the second spacer 47 and the second spacer 47 forms a third exhaust runner between the outer edge of the lower end surface of the hollow cylinder and the annular partition, and the third exhaust runner is connected
  • the lower end surface of the annular partition is provided with a soft gasket, and the soft gasket may be a pile strip.
  • the purpose of providing the third exhaust runner is to reduce the pressure of the portion (the BB' and the E'E plane in the drawing) of the A-B surface and the E-F surface without the soft gasket.
  • the following is a detailed description.
  • the third exhaust runner can discharge the dense air near the inlet of the runner, thereby reducing the pressure near the inlet of the runner. Further, since the flow path is close to the A-B surface and the E-F surface, the pressure on the B-B' surface and the E-E' surface can be lowered.
  • c is a pressure distribution in which the third exhaust runner is not provided
  • d is a pressure distribution after the third exhaust runner is disposed, and as a result, it is shown that the pressure distribution as a whole moves in the low pressure direction after the third exhaust runner is disposed. A weak low pressure also appeared on the B-B' face and the E-E' face. These factors can increase the pressure on the machine.
  • the height of the third exhaust runner is designed to be automatically adjustable to ensure that the pressing force experienced by the vehicle body is at or near a maximum.
  • the air pipe between the compressor and the machine car will limit the range of movement of the machine car; (2) the machine car can only work if there is an air compressor, which limits the climbing The scope of application of the crawling machine; (3) During the process of supplying airflow to the machine car through the air pipe, the air pipe will generate pressure loss along the path, and the longer the air pipe, the greater the pressure loss, which will lead to the exit of the air pipe. The pressure at the inlet of the tangential nozzle is insufficient.
  • FIG. 10a is a small turbojet engine 411 instead of a high pressure gas source.
  • the small turbine engine injects gas generated during combustion of the fuel into the hollow cylinder at a high speed, thereby forming a swirling flow in the hollow cylinder.
  • a fuel engine 412 is utilized as a high pressure gas source, and the nozzle is connected to the fuel engine through a gas pipe.
  • the fuel engine produces a high pressure gas stream by combustion and explosion, which is connected to the nozzle through the gas pipe.
  • This technical solution can solve the above mentioned problems well: (1)
  • the fuel engine is small in size and light in weight, and can be directly mounted on the vehicle body. Therefore, the vehicle body does not need to be connected to external device equipment, and the moving range is It will not be restricted; (2) After filling with fuel, the climbing machine can work normally anywhere and has a wider range of applications; (3)
  • the fuel engine is directly mounted on the vehicle body, and the air pipe between the engine and the nozzle Very short, almost no need to consider the pressure loss in the trachea, therefore, the inlet pressure of the nozzle can be guaranteed.
  • the embodiments described in this specification are all operating in an atmospheric environment.
  • the climbing machine of the present invention can also operate in a liquid environment, for example, the climbing machine of the present invention can work in the deep sea.
  • the water flow is ejected from the nozzle and forms a swirling flow in the hollow cylinder.
  • the principle of generating a pressing force is the same as that of Embodiment 1-5.
  • the adsorption mechanism is not limited to one, and may be plural.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Cooling, Air Intake And Gas Exhaust, And Fuel Tank Arrangements In Propulsion Units (AREA)
  • Manipulator (AREA)
  • Vehicle Body Suspensions (AREA)
  • Exhaust Gas After Treatment (AREA)
  • Actuator (AREA)

Abstract

一种攀爬机器车，包括车体（2），车体前后端安装设置有车轮（3），车体面向墙面的一端与一吸附机构连接固定，该吸附机构包括有本体，该本体为中空圆筒（4），该中空圆筒的上方设置有一盖板（5），该盖板的上端面与车体连接固定，该盖板的下端面通过间隔设置的第一垫块（43）与中空圆筒的上端面外缘固定连接；该中空圆筒的内壁面上设置有切向喷嘴（41）；该第一垫块与第一垫块之间的间距形成中空圆筒的上端面外缘与盖板下端面之间的第一排气流道（44）；该中空圆筒下端面与墙面之间留有间隙，该间隙形成中空圆筒下端面外缘与墙面之间的第二排气流道（42）。攀爬机器车能吸附在各种墙面上，吸附能力强，应用范围广。

Description

攀爬机器车 技术领域
本发明涉及一种攀爬机器车。
背景技术
攀爬机器车是能够在垂直墙面和天花板上行走的车体，在很多特定的场合中发挥着重要的作用。比如，我们在车体上安装超声探伤仪，攀爬机器车就能够代替人来进行大型建筑物(桥梁，涵洞等)的探伤检验等工作，极大地降低了作业成本，缩短了工时。
为了让攀爬机器车攀附在墙面上，我们需要对车体施加一个指向墙面的压迫力。攀爬机器车攀附垂直墙面的情况，压迫力使车体和墙面之间产生摩擦力，摩擦力不仅克服车体自身重力而且提供车体运动所需的驱动力；攀爬机器车攀附在天井壁面的情况时，一部分的压迫力直接克服了车体自身的重力，剩余的压迫力使车体和壁面之间产生摩擦力，为车体的运动提供驱动力。
专利申请号为CN201210405689的发明专利公开了一种攀爬机器车人，该机器人安装有电磁吸盘，并通过电磁吸盘产生吸附力。但是，其缺点是：该机器人所能攀爬的墙面必须是磁场能够产生吸力的墙面，因此它的应用具有很大的局限性。
发明内容
为了克服现有攀爬机器车存在的应用局限性小的缺点，本发明提供一种攀爬机器车。
本发明采用的技术方案是：
攀爬机器车，包括车体，车体前后端安装设置有车轮，车体面向墙面的一端与一吸附机构连接固定，所述的吸附机构包括有本体，其特征在于：所述的本体为中空圆筒，所述的中空圆筒的上方设置有一盖板，所述的盖板的上端面与车体连接固定，所述的盖板的下端面通过间隔设置的第一垫块与中空圆筒的上端面外缘固定连接；所述的中空圆筒的内壁面上设置有切向喷嘴；所述的第一垫块与第一垫块之间的间距形成中空圆筒的上端面外缘与盖板下端面之间的第一排气流道；所述的中空圆筒下端面与墙面之间留有间隙，所述的间隙形成中空圆筒下端面外缘与墙面之间的第二排气流道；所述的第一排气流道、第二排气流道分别连通中空圆筒的内部与外周环境。
进一步，所述的车体上端面安装有电机，所述的电机通过其驱动的螺杆与所述的盖板连接；所述的螺杆与所述的盖板螺纹连接；所述的中空圆筒以及盖板上开设有测压孔，所述的测压孔与压力传感器连接。
进一步，所述的车体通过连接杆与所述的中空圆筒连接，所述的连接杆设置在所述的中空圆筒的上端面外缘；所述的连接杆的两端加工有螺杆，中间段是圆柱体，圆柱体和螺杆之间设有台阶，两端的螺杆分别与车体和中空圆筒螺纹连接固定，所述的盖板上对应连接杆的位置开设有通孔，所述的通孔和连接杆的中间段的圆柱体滑动配合，盖板与中空圆筒之间的间距形成第一排气流道。
进一步，所述的车体上开设有导向孔，所述的导向孔内设置有导向柱，所述的导向柱一端穿过所述的导向孔与所述的盖板的上端面固定连接，所述的导向柱可在所述的导向孔内滑动。
进一步，所述的中空圆筒的下端面外缘设置有柔软垫片。
进一步，所述柔软垫片为绒毛条。
进一步，所述的中空圆筒的下方设置有环形隔板，所述的环形隔板的上表面通过第二垫块与中空圆筒的下端面外缘固定连接；所述的第二垫块遮盖环形隔板的部分面积，所述的第二垫块与第二垫块之间的间距形成中空圆筒下端面外缘与环形隔板之间的第三排气流道，所述的第三排气流道连通中空圆筒的内部与外周环境；所述的柔性垫片设置在环形隔板的下端 面。
进一步，所述的第一垫块、第二垫块分别等间距设置在所述的盖板的下端面与中空圆筒的上端面外缘之间以及所述的环形隔板与所述的中空圆筒的下端面之间。
进一步，所述的切向喷嘴通过管子与高压流体源连接；所述的高压流体源包括高压气源和高压液体源，所述的高压气源可以是空气压缩机、燃料发动机或蜗轮喷气发动机等机器，所述的高压液体源可以是高压水泵。
本发明的有益效果体现在：
1、设置第一排气流道后，可消除盖板下表面形成的局部高压分布，从而确保施加一压迫力在车体上。在攀爬机器车攀附垂直墙面时，压迫力使车体和墙面之间产生摩擦力，摩擦力不仅克服车体自身重力而且提供车体运动所需的驱动力。
2、设置第二排气流道，使中空圆筒的下端面和墙面之间不发生接触，因此车体能够顺利地在墙面上行驶。
3、通过调节中空圆筒与盖板之间的第一排气流道的高度以及中空圆筒与墙面之间的第二排气流道的高度，可使车体所受到的压迫力始终处于或接近最大压迫力。
4、柔性垫片的设置阻断了墙面和中空圆筒之间的第二排气流道内的排气流动，从而也就消除了第二排气流道里因墙面的凹凸不平整所引起的紊乱流动，最大限度地抑制了墙面的凹凸及不平整对压力分布所产生的影响；并且，柔性垫片也阻断了空气从外面逆流进入中空圆筒内的空气流动，最大限度地保护了中空圆筒内的旋转流动。
5、设置第三排气流道后，可降低环形隔板与墙面之间没有柔性垫片部分的压力，从而可增加机器车所受到的压迫力。
附图说明
图1a是本发明实施例1的示意图。
图1b是中空圆筒在切向喷嘴的位置处的剖面图
图1c是本发明实施例1中气体在C-G面和D-H面所形成的圆周方向的流速分量的分布图。
图2是未设置第一排气流道和设置第一排气流道的压力分布对比图。
图3是本发明设置第一排气流道后中空圆筒内壁面附近的稠密空气的流动示意图。
图4是本发明实施例2的示意图。
图5是本发明实施例3的示意图。
图6是本发明实施例4的示意图(在实施例2的基础上设置柔软垫片)。
图7是本发明机器车的前方有障碍物时的示意图。
图8是本发明实施例5的示意图。
图9是设置第三排气流道与未设置第三排气流道的压力分布图。
图10a是本发明切向喷嘴与蜗轮喷气发动机连接示意图。
图10b是本发明切向喷嘴与燃料发动机连接示意图。
具体实施方式
实施例1
参照图1a，图1b和图1c，攀爬机器车，包括车体2，车体2前后端安装设置有车轮3，车体2面向墙面1的一端与一吸附机构连接固定，所述的吸附机构包括有本体，所述的本体为中空圆筒4，所述的中空圆筒4的上方设置有一盖板5，所述的中空圆筒4的内壁面上设置有切向喷嘴41；所述的盖板5的上端面与车体2连接固定；所述的盖板5的下端面通过间隔设置的第一垫块43与中空圆筒4的上端面外缘固定连接；所述的第一垫块43与第一垫块43之间的间距形成中空圆筒的上端面外缘与盖板下端面之间的第一排气流道44，所述的第一排气流道44连通中空圆筒的内部与外周环境。所述的中空圆筒4下端面与墙面之间留 有间隙，所述的间隙形成中空圆筒下端面外缘与墙面之间的第二排气流道42，所述的第二排气流道42连通中空圆筒的内部与外周环境。
切向喷嘴的上流供给加压空气后，空气从喷嘴高速喷出并沿着中空圆筒内的圆形壁面做旋转流动。旋转后的空气的一部分会通过第一排气流道排出，另一部分会通过第二排气流道排出。第一排气流道和第二排气流道都起到非常重要的作用，下面详细说明两个排气流道的作用。
为了方便接下来的说明，我们对车体的一些关键点进行标注，参见图1a。车体所受到的压迫力是空气流动在A-B面，C-D面和E-F面上所形成的压力分布(不特指的话，这里的压力均指表压)所产生的力之和。
第一排气流道的作用：
第一排气流道主要是影响C-D面的压力分布。空气在中空圆筒内旋转，于是，中空圆筒内的中心部空气会被离心力抛甩至外周，这就使得中心部的空气变得稀薄，而中空圆筒内侧壁面附近的空气变得稠密，也就是说，中空圆筒内会形成中心低外周高的凹陷形状的压力分布(如图2所示)。如果没有第一排气流道的话，C-D面的外周的压力分布会出现高压，即，表压大于零。这一高压部分不仅会施加一个排斥力作用在车体上，还会使中空圆筒内的凹陷状的压力分布整体向高压方向移动。这些都会削弱车体所受的压迫力。在中空圆筒的上端面和盖板之间设置第一排气流道能够大幅提高压迫力。第一排气流道连通中空圆筒的内部和外部环境，被旋转气流的离心力抛甩至外周壁面的空气会流入并流经第一排气流道排出，疏导了聚集在中空圆筒内壁面附近的稠密空气，形成了如图3所示的流动，从而能够降低中空圆筒内壁面附近的高压。又因为第一排气流道与C-D面处在同一截面上，因此，C-D面是该流动的最下游，于是，C-D面的压力比其他截面要低。另外，空气在进入第一排气流道时具有圆周方向的流速分量，随着空气流经第一排气流道向外排出，这一流速分量会在粘性摩擦的作用下逐渐减弱为零。图1b是在第一排气流道内(即C-G段和D-H段)所形成的圆周方向的流速分量的分布图。我们通过分析流体运动方程式(即Navier-Stokes方程)可知，圆周方向的流速分量能够影响半径方向上的压力分布。当第一排气流道的高度处于适宜高度时，圆周方向的流速分量会在第一排气流道内形成微弱的低压分布。又因为第一排气流道与C-D面处于同一截面上，所以在第一排气流道内形成的低压分布能够使C-D面的压力分布向低压方向移动，如图2所示。综上，第一排气流道能够提高车体所受到的压迫力。
第二排气流道的作用：
中空圆筒下端面和墙面之间形成的第二排气流道使得中空圆筒和墙面之间不存在接触，从而使得车体能够顺利地在墙面上行驶。假设如果没有第二排气流道，那么中空圆筒的下端面和墙面之间就会产生接触从而产生摩擦力，摩擦力会阻碍车体在墙面上行驶；并且，如果墙面上有凸起等障碍物的话，中空圆筒会和障碍物发生碰撞导致车体被卡住。第二排气流道的又一作用是能够使A-B面和E-F面产生微弱的低压分布。一部分的空气会通过第二排气流道排出。空气在进入第二排气流道时具有圆周方向的流速分量，随着空气流经第二排气流道向外排出，这一流速分量会在粘性摩擦的作用下逐渐减弱为零。我们通过分析流体运动方程式(即Navier-Stokes方程)可知，圆周方向的流速分量能够影响半径方向上的压力分布。当第二排气流道的高度处于适宜高度时，圆周方向的流速分量能够在第二排气流道内(即A-B段和E-F段)形成微弱的低压分布。该低压分布能够施加一个压迫力作用在车体上，从而增大车体所受的压迫力的总和。
实施例2
参照图4，在上述实施例1的基础上，在所述的车体2上端面安装电机6，所述的电机6通过其驱动的螺杆61与所述的盖板5连接；所述的螺杆61与所述的盖板5螺纹连接；所述的盖板5上开设有测压孔，所述的测压孔与压力传感器7连接；所述的盖板通过连接杆9 与所述的中空圆筒4连接，所述的连接杆9设置在所述的中空圆筒4的上端面的外缘。所述的连接杆9的两端加工有螺杆，中间段是圆柱体，圆柱体和螺杆之间设有台阶，两端的螺杆分别与车体和中空圆筒连接固定，所述的盖板上对应连接杆的位置开设有通孔，所述的通孔和连接杆的中间段的圆柱体滑动配合，盖板与中空圆筒的上端面之间的间距形成第一排气流道。
在本实施例中，空气在中空圆筒内做旋转流动之后，一部分空气通过中空圆筒和盖板之间的第一排气流道排出，一部分空气通过中空圆筒和墙面之间的第二排气流道排出。本实施例是实施例1的进一步改进方案，该方案可自动调节第一排气流道的高度。
在本实施例中，中空圆筒通过多根连接杆与车体固定。连接杆的两端加工有螺杆，中间段是圆柱体，圆柱体和螺杆之间有台阶。盖板上对应连接杆的位置加工了通孔，通孔和连接杆的中间段圆柱体是滑动配合，因此，连接杆限制了盖板使其在移动的时候不会发生倾斜。在中空圆筒或是盖板上加工一个或若干个测压孔，测压孔与压力传感器相连接。电机将根据压力传感器所测的压力信号来调节第一排气流道的高度，目的是为了使车体所受到的压迫力始终处于或接近最大压迫力。接下来举例说明这一设计的必要性。
我们来考虑车体的车轮发生漏气现象的情况。车轮漏气后，车轮的半径会变小，从而导致车体与墙面的间距缩小，也就导致了中空圆筒的下端面与墙面所组成的第二排气流道的高度缩小。这会导致空气流经第二排气流道时的粘性摩擦阻力增大，于是，第二排气流道内(即A-B面和E-F面)的压力分布会向高压方向移动。另外，因为第二排气流道的粘性摩擦阻力增大，于是，部分的空气会转至盖板和中空圆筒之间的第一排气流道排出。更多的空气流量流经第一排气流道会导致第一排气流道内(即C-G面和D-H面)的压力分布向高压方向移动，进而导致C-D面的压力分布向高压方向移动。以上所述的因素会削弱车体所受到的压迫力。为了解决这一问题，本实施方案采取调节第一排气流道的高度的方式。我们利用压力传感器实时地检测出中空圆筒内以及排气流道内的压力变化，并根据压力的变化来调节第一排气流道的高度。
图4所示的实施例使用了三个压力传感器分别检测出三个位置的压力，一个压力传感器通过设置在第一排气流道的中间位置的测压孔连接，该压力传感器能够反映第一排气流道内的压力变化情况；一个压力传感器通过设置在靠近中空圆筒的中心位置的测压孔连接，该压力传感器能够反映中空圆筒内的压力变化情况；一个压力传感器设置在中空圆筒上，通过测压孔测量第二排气流道内的压力变化。以攀爬机器车的轮胎发生漏气的情况为例，三个压力传感器将会检测到压力的升高，此时，我们就需要适当地增大第一排气流道的高度，使空气流经第一排气流道时所受到的粘性摩擦阻力减小，从而降低第一排气流道内的压力分布。另外，第一排气流道的高度增加后，更多的空气流经第一排气流道排出，从而也就减小了流经第二排气流道的空气流量，因此，可以降低第二排气流道内的压力分布。综上，我们可以增加第一排气流道的高度直至三个压力传感器的检测值降至最低值，从而确保车体所受到的压迫力处于或接近最大值。
实施例3
参照图5，在上述实施例1的基础上，在所述的车体2上端面安装电机6，所述的电机6通过其驱动的螺杆61与所述的盖板5连接；所述的螺杆61与所述的盖板5螺纹连接；所述的盖板5和中空圆筒4上开设有测压孔，所述的测压孔与压力传感器7连接。所述的车体2上开设有导向孔，所述的导向孔内设置有导向柱8，所述的导向柱8一端穿过所述的导向孔与所述的盖板5的上端面固定连接，所述的导向柱8可在所述的导向孔内滑动。
在本实施例中，空气在中空圆筒内做旋转流动之后，一部分空气通过中空圆筒和盖板之间的第一排气流道排出，一部分空气通过中空圆筒和墙面之间的第二排气流道排出。本实施 例是实施例1的进一步改进方案，该方案可自动调节第二排气流道的高度。盖板通过垫块和中空圆筒固定连接成为一个整体。在车体上固定一个电机，电机轴加工螺纹，盖板中心加工了与之相配合的螺纹孔，电机转动后通过螺纹传动带动车体下部的盖板和中空圆筒移动。盖板的上表面安装固定了导向柱，导向柱伸入加工在车体上的导向孔，导向柱可在导向孔中做滑动。导向柱和导向孔限制了盖板和中空圆筒在移动的时候不会发生倾斜。在中空圆筒以及盖板上加工一个或若干个测压孔，测压孔与压力传感器相连接。电机将根据压力传感器所测的压力信号来调节第二排气流道的高度，目的是为了使车体所受到的压迫力始终处于或接近最大压迫力。接下来举例说明这一设计的必要性。
我们来考虑车体的车轮发生漏气现象的情况。车轮漏气后，车轮的半径会变小，从而导致车体与墙面的间距缩小，也就导致了中空圆筒与墙面所组成的第二排气流道的高度缩小。这会导致空气流经第二排气流道时的粘性摩擦阻力增大，于是，第二排气流道内(即A-B面和E-F面)的压力分布会向高压方向移动。另外，因为第二排气流道的粘性摩擦阻力增大，于是，部分的空气转至盖板和中空圆筒之间的第一排气流道排出。更多的空气流量流经第一排气流道会导致第一排气流道内(即C-G面和D-H面)的压力分布向高压方向移动，进而导致C-D面的压力分布向高压方向移动。以上所述的因素会削弱车体所受到的压迫力。为了解决这一问题，本实施方案采用调节第二排气流道的高度的方式。我们利用压力传感器实时地检测出中空圆筒内以及排气流道内的压力变化，并根据压力的变化来调节第二排气流道的高度。
图5所示的实施例使用了三个压力传感器分别检测出三个位置的压力，一个压力传感器通过设置在第一排气流道的中间位置的测压孔连接，该压力传感器能够反映第一排气流道内的压力变化情况；一个压力传感器通过设置在靠近中空圆筒的中心位置的测压孔连接，该压力传感器能够反映中空圆筒内的压力变化情况；一个压力传感器设置在中空圆筒上，通过测压孔测量第二排气流道内的压力变化。以攀爬机器车的轮胎发生漏气的情况为例，三个压力传感器将会检测到压力的升高，此时，我们就需要适当地增大第二排气流道的高度，从而减小第二排气流道的粘性摩擦阻力，降低第二排气流道内(A-B面和E-F面)的压力。另外，又因为第二排气流道的排气阻力降低，因此，更多的空气流经第二排气流道排出，从而减小了第一排气流道的排气量，这能够降低第一排气流道内的压力，也就降低了C-D面的压力分布。我们可以增加第二排气流道的高度直至三个压力传感器的检测值降至最低值，从而确保车体所受到的压迫力处于或接近最大值。
实施例4
参考图6，在实施例2的基础上，在所述的中空圆筒4的下端面外缘上设置柔软垫片45。
本实施例中，中空圆筒面向墙面的下端面安装了柔软垫片。柔软垫片是由柔软的材料构成，柔软材料的一端固定在中空圆筒上，另一端与墙面相接触。举例来说，柔性垫片可以是绒毛条，绒毛条一端粘在中空圆筒上，另一端与墙面相接触。即便是凹凸不平整的墙面，绒毛条也可以紧贴墙面，使墙面和绒毛条之间没有缝隙。一方面，因为绒毛条柔软，不会对车体在墙面上的运动带来影响。绒毛条在墙面和中空圆筒之间形成了一个非常大的流阻。绒毛条自身虽然也存在着空隙，但已经足以阻断中空圆筒内的空气从第二排气流道排出，其原因是：当我们将各排气流道的高度设定为适宜值时，排气流道内的压力是非常接近大气压的，也就是说，排气流道内的压力和外周环境压力之间并不存在很大的压力差，因此，绒毛条所产生的流阻足以阻断中空圆筒内的空气通过第二排气流道向外排出，于是，几乎所有的空气都会从平整的第一排气流道排出。
当机器车攀爬的墙面是凹凸不平的时候，若不设置柔性垫片，则空气从中空圆筒和墙面之间的第二排气流道排出时，墙面的不平整的凹凸会使排气流道里的空气流动发生紊乱。紊 乱的流动会在第二排气流道内产生高压分布，且该高压分布在圆周方向上可能是不对称的。第二排气流道内的高压分布不仅会施加一个排斥力作用在中空圆筒上，而且还会使中空圆筒内的压力分布向高压方向移动。这些都会削弱车体所受到的压迫力，不利于车体吸附在墙面上。设置柔软垫片后(比如绒毛条)，柔软垫片始终与墙面贴合，因此能够在中空圆筒和墙面之间形成一个非常大的流阻，该流阻能够阻止空气流经第二排气流道排出。设置柔软垫片能带来如下好处：
(1)因为阻断了第二排气流道里的空气流动，所以消除了第二排气流道里的紊乱流动，也就最大限度地抑制了墙面的凹凸及不平整对中空圆筒内的旋转流动所产生的影响；
(2)机器车的底盘(即吸附机构的下端面)和墙面之间的间距越大越好。间距越大，机器车就能够越过比较大的障碍。举例来说，如图7所示，机器车的前方有方块障碍物。如果中空圆筒和墙面的间距小于障碍物的高度的话，那么很显然机器车是无法越过这个障碍物的。柔软垫片阻断了第二排气流道内的空气流动，那么，第二排气流道的高度就可以适当增加，也就能够增大中空圆筒的下端面和墙面的间距，从而达到提高机器车的越障能力。
柔软垫片阻断了中空圆筒内的空气通过第二排气流道向外排出，于是，几乎所有的空气都会从平整的第一排气流道排出。我们需要适当调节第一排气流道的高度来确保C-D面的压力处于最低状态，进而确保车体所受到的压迫力处于或接近最大值。
实施例5
参照图8和图9，在上述实施例4的基础上，在所述的中空圆筒4的下方设置有环形隔板46，所述的环形隔板46的上端面通过第二垫块47与中空圆筒4的下端面外缘固定连接；所述的环形隔板46的下端面与墙面形成第二排气流道；所述的第二垫块47遮盖环形隔板46的部分面积，所述的第二垫块47与第二垫块47之间的间距形成中空圆筒下端面外缘与环形隔板之间的第三排气流道，所述的第三排气流道连通中空圆筒的内部与外周环境。所述环形隔板的下端面设置有柔软垫片，所述柔软垫片可以是绒毛条。
在本实施例中，设置第三排气流道的目的在于降低A-B面以及E-F面上没有柔软垫片的部分(图中的BB’和E’E面)的压力。以下是详细说明。
为了达到较好的密封效果，我们通常把柔性垫片设置在环形隔板下端面的外周。那么，环形隔板和墙面之间就会存在一个没有柔软垫片的缝隙空间(图中的BB’和E’E面)。在这个缝隙空间里会形成高压分布，形成的原因是：旋转流动的离心力将空气抛甩至外周；如果外周没有排气的流道的话，外周就会形成高压。我们根据该思路并通过实验验证发现，采用柔软垫片阻断了环形隔板的下端面和墙面之间的第二排气流道内的空气流动之后，A-B’-B-E-E’-F面的压力分布整体向高压方向移动，如图9所示，缝隙空间形成微弱高压分布，该高压分布会作用一个排斥力在环形隔板上，从而削弱了机器车所受的压迫力。在中空圆筒上增设第三排气流道后，该流道连通中空筒体内部和外周环境，并且尽量靠近A-B面和E-F面。第三排气流道能够将流道入口处附近的稠密空气疏导排出，因此能够降低流道入口处附近的压力。又因为该流道靠近A-B面和E-F面，所以能够降低B-B’面和E-E’面的压力。图9中，c是未设置第三排气流道的压力分布，d是设置第三排气流道后的压力分布，结果显示设置第三排气流道后压力分布整体向低压方向移动，B-B’面和E-E’面也出现了微弱低压。这些因素能够增加机器车所受到的压迫力。
进一步，根据各面的压力情况，第三排气流道的高度设计成可自动调节的结构形式，以确保车体所受到的压迫力处于或接近最大值。
参考图10a和图10b，上述实施例1～5中都需要从切向喷嘴喷出高速气流才能在中空圆筒内形成高速旋转的流动。通常，我们将喷嘴通过气管与高压气源连接从而获得气流供给。高压气源通常是采用空气压缩机来产生高压空气。因为压缩机非常沉重，所以我们不可能把 压缩机固定安装在攀爬机器车上，我们只能采用压缩机和攀爬机器车分离的方式。这样会带来如下问题：(1)压缩机和机器车之间的气管会限制机器车的移动范围；(2)机器车只能在有空气压缩机的情况下才能工作，这就限制了攀爬机器车的适用范围；(3)空气压缩机通过气管向机器车供给气流的过程中，气管会产生沿程压损，且气管越长，压损就越大，这会导致气管的出口处(即切向喷嘴的入口)的压力不足。
为了解决以上问题，我们采用燃料发动机来解决供给高压气源的问题。燃料发动机利用燃料(比如，汽油，柴油等)的爆炸燃烧来产生高压气流。图10a是采用小型涡轮喷气发动机411来代替高压气源。我们将小型涡轮喷气发动机安装在中空圆筒的切线位置。小型涡轮发动机将燃料燃烧时产生的气体高速喷射进入中空圆筒内，从而在中空圆筒内形成旋转的流动。图10b所示则是利用一个燃料发动机412来作为高压气源，喷嘴通过气管与燃料发动机相连接。燃料发动机通过燃烧和爆炸来产生高压气流，该高压气流与喷嘴通过气管相连接。这一技术方案能够很好地解决以上所提到的问题：(1)燃料发动机体积小和重量轻，可以直接安装在车体上，因此，车体不需要与外部装置设备相连接，移动范围不会受到限制；(2)充填上燃料后，攀爬机器车就可以在任何地方正常工作，适用范围更广；(3)燃料发动机直接安装固定在车体上，发动机和喷嘴之间的气管非常短，几乎可以不用考虑气管里的压力损失，因此，喷嘴的入口压力能够得到保障。
本说明书所述的实施例都是在大气环境下工作的情况。本发明的攀爬机器车也可以工作在液体的环境，比如，本发明的攀爬机器车可以工作在深海里。当机器车工作在液体环境里时，我们可以采用水泵来向切向喷嘴供给高压水流，水流从喷嘴喷出后在中空圆筒内形成旋转流动。产生压迫力的原理与实施例1-5相同。在此，我们将高压气源或是高压液体源统称为高压流体源。
为了增大压迫力，吸附机构不限于一个，也可以是多个。
本说明书实施例所述的内容仅仅是对发明构思的实现形式的列举，本发明的保护范围不应当被视为仅限于实施例所陈述的具体形式，本发明的保护范围也及于本领域技术人员根据本发明构思所能够想到的等同技术手段。

Claims (9)

  1. 攀爬机器车，包括车体，车体前后端安装设置有车轮，车体面向墙面的一端与一吸附机构连接固定，所述的吸附机构包括有本体，其特征在于：所述的本体为中空圆筒，所述的中空圆筒的上方设置有一盖板，所述的盖板的上端面与车体连接固定，所述的盖板的下端面通过间隔设置的第一垫块与中空圆筒的上端面外缘固定连接；所述的中空圆筒的内壁面上设置有切向喷嘴；所述的第一垫块与第一垫块之间的间距形成中空圆筒的上端面外缘与盖板下端面之间的第一排气流道；所述的中空圆筒下端面与墙面之间留有间隙，所述的间隙形成中空圆筒下端面外缘与墙面之间的第二排气流道；所述的第一排气流道、第二排气流道分别连通中空圆筒的内部与外周环境。
  2. 如权利要求1所述的攀爬机器车，其特征在于：所述的车体上端面安装有电机，所述的电机通过其驱动的螺杆与所述的盖板连接；所述的螺杆与所述的盖板螺纹连接；所述的中空圆筒以及盖板上开设有测压孔，所述的测压孔与压力传感器连接。
  3. 如权利要求2所述的攀爬机器车，其特征在于：所述的车体通过连接杆与所述的中空圆筒连接，所述的连接杆设置在所述的中空圆筒的上端面外缘；所述的连接杆的两端加工有螺杆，中间段是圆柱体，圆柱体和螺杆之间设有台阶，两端的螺杆分别与车体和中空圆筒螺纹连接固定，所述的盖板上对应连接杆的位置开设有通孔，所述的通孔和连接杆的中间段的圆柱体滑动配合，盖板与中空圆筒之间的间距形成第一排气流道。
  4. 如权利要求2所述的攀爬机器车，其特征在于：所述的车体上开设有导向孔，所述的导向孔内设置有导向柱，所述的导向柱一端穿过所述的导向孔与所述的盖板的上端面固定连接，所述的导向柱可在所述的导向孔内滑动。
  5. 如权利要求3或4所述的攀爬机器车，其特征在于：所述的中空圆筒的下端面外缘设置有柔软垫片。
  6. 如权利要求5所述的攀爬机器车，其特征在于：所述的柔软垫片为绒毛条。
  7. 如权利要求3或4所述的攀爬机器车，其特征在于：所述的中空圆筒的下方设置有环形隔板，所述的环形隔板的上端面通过第二垫块与中空圆筒的下端面外缘固定连接；所述的第二垫块遮盖环形隔板的部分面积，所述的第二垫块与第二垫块之间的间距形成中空圆筒下端面外缘与环形隔板之间的第三排气流道，所述的第三排气流道连通中空圆筒的内部与外周环境；所述的环形隔板的下端面设置柔软垫片。
  8. 如权利要求7所述的攀爬机器车，其特征在于：所述的第一垫块、第二垫块分别等间距设置在所述的盖板的下端面与中空圆筒的上端面外缘之间以及所述的环形隔板的上端面与所述的中空圆筒的下端面之间。
  9. 如权利要求1所述的攀爬机器车，其特征在于：所述的切向喷嘴通过管子与高压流体源连接。
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US20160347383A1 (en) 2016-12-01
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