A method, device, equipment and medium for calculating negative pressure adsorption force of a wall-climbing robot

By conducting in-depth analysis of the flow process of air fluid in the negative pressure adsorption device of the wall-climbing robot and introducing the fluid momentum equation, the problem of large error in the calculation of negative pressure adsorption force is solved, and a more accurate calculation of negative pressure adsorption force is achieved.

CN118643765BActive Publication Date: 2025-03-21LIAONING TECHNICAL UNIVERSITY
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Patent Information

Application Number
CN202410794748.7
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-06-19
Publication Date
2025-03-21
Estimated Expiration
2044-06-19

AI Technical Summary

Technical Problem

The existing wall-climbing robots that use negative pressure adsorption have not studied the sub-rate velocity of air fluids in scenarios with better wall conditions, resulting in a large error in the calculation results of negative pressure adsorption force.

Method used

By analyzing the overall flow process of air fluid in the negative pressure adsorption device of the wall-climbing robot, the fluid momentum equation is introduced, and the expression used to calculate the negative pressure adsorption force is obtained by combining the momentum change rate of the air fluid and the fluid channel pressure difference formula.

Benefits of technology

It improves the accuracy of negative pressure adsorption force calculation, reduces errors, and can more accurately analyze the air fluid movement state and negative pressure adsorption force during the movement of the wall-climbing robot.

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Abstract

The present invention discloses a method, device, equipment and medium for calculating the negative pressure adsorption force of a wall-climbing robot, which relates to the technical field of wall-climbing robots and includes the following steps: analyzing the overall flow process of air fluid in the negative pressure adsorption device to obtain a first expression for characterizing the motion state of the air fluid; introducing the fluid momentum equation to obtain a second expression for characterizing the negative pressure adsorption force and the air fluid velocity; establishing a differential equation group to obtain a fluid channel pressure difference formula; combining the second expression and the fluid channel pressure difference formula to obtain the negative pressure adsorption force during the motion of the wall-climbing robot. Based on the basic theoretical foundations of fluid mechanics and aerodynamics, the present invention analyzes the motion state of the air fluid during the motion of the wall-climbing robot, and at the same time introduces the fluid momentum equation to obtain the relationship between the negative pressure adsorption force and the air fluid velocity, and finally obtains a calculation formula for the negative pressure adsorption force of the wall-climbing robot applied to the composite wellbore structure.
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