Method and device for testing adsorption force of negative pressure adsorption type climbing robot

Abstract

The invention belongs to the technical field of climbing robots, and provides a negative pressure adsorption type climbing robot adsorption force test method and a test device thereof, and the method comprises the following steps: controlling a frame to switch among an inverted state, a side state and a positive state according to a test environment of simulating a horizontal wall surface, simulating a vertical wall surface and testing maximum adsorption force; the climbing robot is installed between the force measuring hanging piece and the middle adsorption plate; the height position of the middle adsorption plate is adjusted, so that the climbing robot is in an adsorption balance state; when the outer frame is in an inverted state and a side-arranged state respectively, adsorption force experiments under different fan rotating speeds, different leakage rates and different middle adsorption plates are performed on the climbing robot; and when the outer frame is in an upright state, the climbing robot is subjected to a maximum adsorption force experiment. According to the invention, working environments in various practical applications can be simulated, the change of the adsorption force can be evaluated in real time, and the adsorption force performance of the climbing robot under different working conditions can be accurately evaluated.

Description

Technical Field

[0001] The present invention belongs to the technical field of climbing robots, and in particular relates to a method and a testing device for the adsorption force of a negative pressure adsorption climbing robot. Background Art

[0002] At present, wall-climbing robots are widely used in industrial and civilian fields. Negative pressure climbing robots use the negative pressure adsorption principle to complete various tasks, such as cleaning, inspection and maintenance, on complex surfaces such as building exterior walls, ceilings, and pipes. Adsorption force is a key factor affecting whether the robot can work stably, but in actual applications, adsorption force is affected by many factors, including wall materials, surface roughness, fan speed, negative pressure value, leakage, etc. Existing adsorption force test methods usually only focus on a single factor, and it is difficult to comprehensively and accurately evaluate the adsorption performance of the robot in the actual environment. In particular, when faced with different material surfaces, fan speeds, and changes in leakage, the accuracy and adaptability of existing test methods are often insufficient. Summary of the invention

[0003] The purpose of the present invention is to provide a negative pressure adsorption climbing robot adsorption force testing method and a testing device thereof, so as to solve the above-mentioned problems, so as to achieve the purpose of simulating the working environment in various practical applications, evaluating the adsorption force changes in real time, and accurately evaluating the adsorption force performance of the climbing robot under different working conditions.

[0004] To achieve the above object, the present invention provides the following solution: a negative pressure adsorption climbing robot adsorption force testing device, comprising:

[0005] An outer frame, wherein a plurality of adjustable rods are vertically arranged at the inner bottom of the outer frame, and a middle adsorption plate is detachably connected to the top of the adjustable rods;

[0006] A force measuring assembly, comprising a plurality of force measuring mounting parts arranged on the top of the outer frame and a pressure measuring part arranged on the intermediate adsorption plate, wherein the climbing robot is arranged between the plurality of force measuring mounting parts and the intermediate adsorption plate;

[0007] The negative pressure leakage measuring component comprises an air relief valve component arranged on the suction cup of the climbing robot and a negative pressure sensor arranged in the suction cup of the climbing robot, wherein the air relief valve component is used to simulate the leakage of the suction cup of the climbing robot.

[0008] Preferably, the adjustable rod includes an outer sleeve vertically fixedly connected to the inner bottom of the outer frame, the top of the outer sleeve is slidably connected to a telescopic rod, the inner bottom of the outer sleeve is fixedly connected to a motor, the output shaft of the motor is coaxially fixedly connected to a screw rod, the screw rod passes through the bottom of the telescopic rod and is transmission-connected to the telescopic rod, and the telescopic rod is detachably connected to the intermediate adsorption plate.

[0009] Preferably, the force measuring mounting component comprises a force sensor fixedly connected to the top of the inner side of the outer frame, and a test end of the force sensor is fixedly connected to a hook, and the hook is used to connect the climbing robot;

[0010] The pressure measuring member comprises a film sensor, which is arranged on a side of the middle adsorption plate away from the adjustable rod, and the film sensor is arranged corresponding to the wheels of the climbing robot.

[0011] Preferably, the air relief valve component comprises an electromagnetic valve fixedly penetrating the suction cup of the climbing robot, and one end of the electromagnetic valve away from the suction cup is connected to a flow meter.

[0012] A method for testing the adsorption force of a negative pressure adsorption climbing robot, the method comprising the following steps:

[0013] According to the test environment, the control frame is switched between the inverted state, the side state and the upright state to simulate the horizontal wall, simulate the vertical wall and test the maximum adsorption force;

[0014] The climbing robot is installed between a plurality of force measuring mounting parts and an intermediate adsorption plate;

[0015] The height position of the middle adsorption plate is adjusted by an adjustable rod, and the climbing robot is placed in an adsorption equilibrium state by observing the indications of a number of force measuring mounting parts and pressure measuring parts;

[0016] When the outer frame is in an inverted state, the climbing robot is subjected to adsorption force experiments under different fan speeds, different leakage amounts, and different intermediate adsorption plate materials in a simulated horizontal wall environment;

[0017] When the outer frame is in the side position, the climbing robot is subjected to adsorption force experiments under different fan speeds, different leakage amounts, and different intermediate adsorption plate materials in a simulated vertical wall environment;

[0018] When the outer frame is in the upright position, an adsorption force test is performed on the climbing robot at the maximum fan speed.

[0019] Preferably, the operation steps of conducting an adsorption force experiment at the maximum fan speed of the climbing robot include:

[0020] S1, place the outer frame forward;

[0021] S2, hanging a plurality of force measuring mounting parts on the top of the climbing robot;

[0022] S3, extending the adjustable rod to make the middle adsorption plate contact with the climbing robot until the readings of the multiple force measuring mounting parts are all zero;

[0023] S4, retracting the adjustable rod to separate the middle adsorption plate from the climbing robot, and measuring the gravity of the climbing robot through a plurality of force measuring mounting parts;

[0024] S5, starting the fan of the climbing robot and adjusting it to the maximum speed, hanging a heavy object on the bottom of the middle adsorption plate until the middle adsorption plate is separated from the climbing robot, and recording the weight of the heavy object at this time;

[0025] S6. Calculate the total adsorption force according to the following formula:

[0026] F=G+G 重物

[0027] Among them, G 重物 is the gravity of the mounted weight, F is the total adsorption force, and G is the gravity of the climbing robot.

[0028] Preferably, the operation steps of performing an adsorption force experiment when the climbing robot simulates a horizontal wall environment include:

[0029] S1, inverted outer frame;

[0030] S2, attaching a plurality of force measuring mounting parts to the top of the climbing robot, starting the fan of the climbing robot, and making the climbing robot adsorb on the middle adsorption plate;

[0031] S3, adjusting the fan speed of the adjustable rod and the climbing robot, so that the middle adsorption plate contacts the wheels of the climbing robot, and the readings of the pressure measuring member and several force measuring mounting members are all zero, which is in an adsorption equilibrium state;

[0032] S4, setting the fan speed of the climbing robot to different values, and recording the values ​​of the corresponding negative pressure sensor, several force measuring mounting parts and pressure measuring parts in sequence at different speeds;

[0033] S5, adjusting the opening of the air relief valve to different values, and repeating step S4;

[0034] S6. Calculate the total adsorption force according to the following formula:

[0035] F 吸 =F 1 +G+F 支

[0036] Among them, F 吸 is the total adsorption force, G is the gravity of the climbing robot, and F 1 is the indication of several force measuring mounts, F 支 Indication of the pressure measuring device.

[0037] Preferably, in step S1, before inverting the outer frame, the intermediate adsorption plate of different panels is first replaced, and then the outer frame is inverted. Subsequently, steps S2 to S6 are performed to conduct adsorption force experiments under different intermediate adsorption plate panels when simulating a horizontal wall environment.

[0038] Preferably, the operation steps of conducting an adsorption force experiment of a climbing robot simulating a vertical wall environment include:

[0039] S1, side outer frame;

[0040] S2, attaching a plurality of force measuring mounting parts to the top of the climbing robot, starting the fan of the climbing robot, and making the climbing robot adsorb on the middle adsorption plate;

[0041] S3, adjusting the fan speed of the adjustable rod and the climbing robot, so that the middle adsorption plate contacts the wheels of the climbing robot, and the readings of the pressure measuring member and several force measuring mounting members are all zero, which is in an adsorption equilibrium state;

[0042] S4, setting the fan speed of the climbing robot to different values, and recording the values ​​of the corresponding negative pressure sensor, several force measuring mounting parts and pressure measuring parts in sequence at different speeds;

[0043] S5, adjusting the opening of the air relief valve to different values, and repeating step S4;

[0044] S6. Calculate the total adsorption force according to the following formula:

[0045] F 吸 =F 1 +F 支

[0046] Among them, F 吸 is the total adsorption force, F 1 is the value of several force measuring mounts, F 支 Indication of the pressure measuring device.

[0047] Preferably, in step S1, before placing the outer frame on the side, the intermediate adsorption plate of different panels is replaced first, and then the outer frame is placed on the side, and then steps S2 to S6 are performed to conduct adsorption force experiments under different intermediate adsorption plate panels when simulating a vertical wall environment.

[0048] Compared with the prior art, the present invention has the following advantages and technical effects:

[0049] 1. The present invention provides a multivariable testing platform by combining multiple factors such as fan speed, adsorption surface material, negative pressure value and leakage amount, which can comprehensively and accurately measure the adsorption force of the negative pressure adsorption climbing robot, making up for the shortcomings of single test conditions and incomplete data in the prior art, and can also truly reflect the performance of the robot in a complex environment.

[0050] 2. By adopting a combination of a force measuring mount, a pressure measuring component and a negative pressure sensor, the present invention can accurately capture the actual contact force and adsorption force between the robot and the intermediate adsorption plate, thereby improving the reliability and accuracy of the test results.

[0051] 3. The testing device of the present invention supports replacement of the intermediate adsorption plate of different plates, can simulate various practical application scenarios, and improves the adaptability and extensiveness of the testing device.

[0052] 4. The testing device of the present invention has a simple structure, is easy to operate, can quickly conduct multiple experiments, reduces human errors in the testing process, and improves experimental efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 is a schematic diagram of a testing device of the present invention;

[0055] Figure 2 It is a schematic diagram of a negative pressure leakage measurement assembly of the present invention;

[0056] Figure 3 is a schematic diagram of an adjustable rod of the present invention;

[0057] Figure 4 The placement state of the test device of the present invention when simulating a horizontal wall environment;

[0058] Figure 5 The placement state of the test device of the present invention when simulating a vertical wall environment;

[0059] Among them, 1. outer frame; 2. lower support plate; 3. adjustable rod; 4. middle adsorption plate; 5. upper fixed plate; 6. force sensor; 7. hook; 8. negative pressure chamber; 9. solenoid valve; 10. negative pressure sensor; 11. climbing robot; 12. film sensor; 13. outer sleeve; 14. telescopic rod; 15. motor; 16. screw; 17. electromagnet; 18. iron sheet. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0062] Embodiment 1:

[0063] Reference Figure 1-Figure 3 The present invention provides a negative pressure adsorption climbing robot adsorption force testing device, comprising:

[0064] An outer frame 1, wherein a plurality of adjustable rods 3 are vertically arranged at the inner bottom of the outer frame 1, and a middle adsorption plate 4 is detachably connected to the top of the adjustable rods 3;

[0065] The force measuring assembly includes a plurality of force measuring mounting parts arranged on the top of the outer frame 1 and a pressure measuring part arranged on the middle adsorption plate 4, and the climbing robot 11 is arranged between the plurality of force measuring mounting parts and the middle adsorption plate 4;

[0066] The negative pressure leakage measuring component includes a relief valve component arranged on the suction cup of the climbing robot 11 and a negative pressure sensor 10 arranged in the suction cup of the climbing robot 11. The relief valve component is used to simulate the leakage of the suction cup of the climbing robot 11.

[0067] The outer frame 1 is constructed of aluminum alloy profiles and can provide a solid testing platform; the main function of the adjustable rod is to adjust the distance between the intermediate adsorption plate 4 and the outer frame 1; the main function of the force measuring mount is to measure the pulling force generated by the climbing robot 11 on the top of the outer frame 1; the main function of the pressure measuring part is to measure the pressure of the wheels of the climbing robot 11 on the intermediate adsorption plate 4; the main function of the air release valve is to simulate the different degrees of air release of the suction cup of the climbing robot 11 during operation; a negative pressure chamber 8 is formed between the suction cup of the climbing robot 11 and the intermediate adsorption plate 4, and the main function of the negative pressure sensor 10 is to measure the negative pressure value in the negative pressure chamber 8.

[0068] Further optimization scheme, such as Figure 1 As shown, the top and bottom of the outer frame 1 are fixedly connected with an upper fixing plate 5 and a lower supporting plate 2 respectively.

[0069] A further optimized solution is that the adjustable rod 3 includes an outer sleeve 13 vertically fixedly connected to the inner bottom of the outer frame 1, the top of the outer sleeve 13 is slidably connected to the telescopic rod 14, the inner bottom of the outer sleeve 13 is fixedly connected to a motor 15, the output shaft of the motor 15 is coaxially fixedly connected to a screw rod 16, the screw rod 16 passes through the bottom of the telescopic rod 14 and is transmission-connected to the telescopic rod 14, and the telescopic rod 14 is detachably connected to the middle adsorption plate 4.

[0070] like Figure 1 As shown, four groups of adjustable rods 3 are provided, and the bottoms of the four groups of outer sleeves 13 can be fixedly connected to the four corners of the lower support plate 2 by bolts.

[0071] According to a further optimization scheme, an electromagnet 17 is embedded in the top of the telescopic rod 14, and iron sheets 18 are embedded in the four corners of the middle adsorption plate 4 close to the telescopic rod 14, and four groups of electromagnets 17 are respectively arranged corresponding to the four groups of iron sheets.

[0072] When it is necessary to replace the intermediate adsorption plate 4 with a different plate, the intermediate adsorption plate 4 can be removed by cutting off the power supply to the electromagnet 17. At the same time, the intermediate adsorption plate 4 to be used is placed in a suitable position so that the iron sheet 18 fits the electromagnet 17, and then the electromagnet 17 is powered on to finally replace the intermediate adsorption plate 4.

[0073] A control system is also provided, and the control system is electrically connected to the electromagnet 17 and the motor 15 .

[0074] When it is necessary to move the middle adsorption plate 4 toward the upper fixed plate 5, the tester can control the four motors 15 to rotate synchronously through the control system. The motor 15 drives the screw rod 16 to rotate, thereby pushing the telescopic rod 14 outward through the bolt transmission, so that the middle adsorption plate 4 moves toward the upper fixed plate 5 and always remains parallel to the upper fixed plate 5.

[0075] Further optimizing the scheme, the force measuring mounting part includes a force sensor 6 fixedly connected to the top of the inner side of the outer frame 1, and the test end of the force sensor 6 is fixedly connected with a hook 7, and the hook 7 is used to connect the climbing robot 11;

[0076] The pressure measuring component includes a film sensor 12 . The film sensor 12 is arranged on a side of the middle adsorption plate 4 away from the adjustable rod 3 . The film sensor 12 is arranged corresponding to the wheels of the climbing robot 11 .

[0077] like Figure 1 As shown, the force sensor 6 is fixedly connected to the upper fixing plate 5 , and the film sensor 12 is reasonably arranged so as to be in contact with each wheel of the climbing robot 11 .

[0078] According to a further optimized solution, three groups of force sensors 6 are provided and are evenly arranged on the upper fixing plate 5 in the form of an equilateral triangle.

[0079] As a further optimized solution, the air release valve member includes a solenoid valve 9 fixedly passed through the suction cup of the climbing robot 11, and one end of the solenoid valve 9 away from the suction cup is connected to a flow meter (not shown in the figure).

[0080] like Figure 2 As shown, the main function of the flow meter is to measure the amount of leaked gas.

[0081] Embodiment 2:

[0082] A method for testing the adsorption force of a negative pressure adsorption climbing robot, the method comprising the following steps:

[0083] According to the test environment, the outer frame 1 is controlled to switch between an inverted state, a sideways state, and an upright state to simulate a horizontal wall, simulate a vertical wall, and test the maximum adsorption force;

[0084] The climbing robot 11 is installed between a plurality of force measuring mounting parts and the middle adsorption plate 4;

[0085] The height position of the middle adsorption plate 4 is adjusted by the adjustable rod 3, and the climbing robot 11 is placed in an adsorption equilibrium state by observing the indications of a number of force measuring mounting parts and pressure measuring parts;

[0086] When the outer frame 1 is in an inverted state, the climbing robot 11 is subjected to adsorption force experiments under different fan speeds, different leakage amounts, and different intermediate adsorption plates 4 in a simulated horizontal wall environment;

[0087] When the outer frame 1 is in a side-mounted state, the climbing robot 11 is subjected to an adsorption force experiment under different fan speeds, different leakage amounts, and different intermediate adsorption plates 4 in a simulated vertical wall environment;

[0088] When the outer frame 1 is in an upright state, an adsorption force test is performed on the climbing robot 11 at the maximum fan speed.

[0089] To further optimize the scheme, the operation steps of conducting the adsorption force experiment at the maximum fan speed of the climbing robot 11 include:

[0090] S1, placing the outer frame 1 forward;

[0091] S2, hanging a plurality of force measuring mounting parts on the top of the climbing robot 11;

[0092] The hook 7 is hung on the top of the climbing robot 11, and the force sensor 6 should be kept vertical to the middle adsorption plate 4 and the top of the climbing robot 11 to ensure accurate measurement.

[0093] S3, extending the adjustable rod 3, so that the middle adsorption plate 4 contacts the climbing robot 11, until the readings of the plurality of force measuring mounting parts are all zero;

[0094] By controlling the motor 15 to rotate and the telescopic rod 14 to move, the wheels of the climbing robot 11 are made to contact the middle adsorption plate, so that the reading of the force sensor 6 is zero, and the calibration of the force sensor is completed, providing an accurate benchmark for subsequent measurements.

[0095] S4, retract the adjustable rod 3 to separate the middle adsorption plate 4 from the climbing robot 11, and measure the gravity of the climbing robot 11 through a plurality of force measuring mounting parts;

[0096] The control motor 15 makes the telescopic rod 14 descend, so that the wheels of the climbing robot 11 are separated from the middle adsorption plate 4. At this time, the sum of the readings of the three groups of force sensors 6 is the gravity G of the climbing robot 11.

[0097] S5, start the fan of the climbing robot 11 and adjust it to the maximum speed, hang a heavy object on the bottom of the middle adsorption plate 4 until the middle adsorption plate 4 is separated from the climbing robot 11, and record the weight of the heavy object at this time;

[0098] The climbing robot 11 is adsorbed to the middle adsorption plate 4 at the maximum speed. After that, a heavy object such as a dumbbell is mounted on the middle adsorption plate 4 until the middle adsorption plate 4 falls off. The total weight of the last mounted object is recorded, which is G 重物 .

[0099] The bottom of the middle adsorption plate 4 can be pre-buried with a hook or other structure to facilitate the mounting of heavy objects.

[0100] S6. Calculate the total adsorption force according to the following formula:

[0101] F=G+G 重物

[0102] Among them, G 重物 is the gravity of the mounted heavy object, F is the total adsorption force, and G is the gravity of the climbing robot 11.

[0103] Further optimization scheme, such as Figure 4 As shown, the operation steps of performing the adsorption force experiment when the climbing robot 11 simulates a horizontal wall environment include:

[0104] S1, inverted outer frame 1;

[0105] S2, attaching a plurality of force measuring mounting parts to the top of the climbing robot 11, starting the fan of the climbing robot 11, so that the climbing robot 11 is just adsorbed on the middle adsorption plate 4;

[0106] The hook 7 is hung on the top of the climbing robot 11, and the force sensor 6 should be kept vertical to the middle adsorption plate 4 and the top of the climbing robot 11 to ensure accurate measurement.

[0107] S3, adjusting the fan speed of the adjustable rod 3 and the climbing robot 11, so that the middle adsorption plate 4 is in contact with the wheels of the climbing robot 11, so that the readings of the pressure measuring member and the plurality of force measuring mounting members are all zero, and the adsorption is in a balanced state;

[0108] By making the wheels of the climbing robot 11 just contact with the middle adsorption plate 4, at this time, the readings of the three force sensors 6 are zero, and the reading of the film sensor 12 is also zero, indicating that the adsorption force and gravity are in a state of mutual balance.

[0109] S4, setting the fan speed of the climbing robot 11 to different values, and recording the values ​​of the corresponding negative pressure sensor 10, several force measuring mounting parts and pressure measuring parts in sequence at different speeds;

[0110] The fan speed is set to different values ​​(e.g., 10000rpm, 20000rpm, 30000rpm, 40000rpm, 50000rpm, etc.) to simulate the negative pressure conditions at different fan speeds. At each set speed, by recording the reading of the negative pressure sensor 10, the negative pressure data in the negative pressure chamber 8 at different speeds can be obtained. At the same time, since the adsorption force of the climbing robot 11 on the middle adsorption plate 4 is different at different fan speeds, the values ​​of the three groups of force sensors 6 and the film sensor 12 will change accordingly.

[0111] By recording the negative pressure value of the negative pressure sensor 10 at each speed, the sum of the readings of the three groups of force sensors 6 (i.e., F 1 ) and the reading of the film sensor 12 (i.e. F 支 ), the total adsorption force can be calculated and the relationship between the fan speed and the adsorption force can be analyzed.

[0112] During the fan speed adjustment process, it is necessary to ensure that the fan speed is stable to avoid excessive adjustment causing airflow fluctuations and affecting the measurement data. After each adjustment of the fan speed, it is necessary to stabilize for a few seconds to ensure that the negative pressure in the negative pressure chamber 8 reaches a stable state before starting measurement.

[0113] S5, adjusting the opening of the air relief valve to different values, and repeating step S4;

[0114] When conducting adsorption force tests under different leakage amounts, the opening of the solenoid valve 9 can be set to 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90% and 100% respectively. On this basis, the fan speed is adjusted to different values, and the above step S4 is repeated. The test is performed again to analyze the influence of the leakage amount on the adsorption force.

[0115] S6. Calculate the total adsorption force according to the following formula:

[0116] F 吸 =F 1 +G+F 支

[0117] Among them, F 吸 is the total adsorption force, G is the gravity of the climbing robot 11, and F 1 is the indication of several force measuring mounts, F 支 Indication of the pressure measuring device.

[0118] To further optimize the solution, in step S1, before inverting the outer frame 1, first replace the intermediate adsorption plate 4 with a different plate material, then invert the outer frame 1, and then perform steps S2 to S6 to conduct an adsorption force experiment under different intermediate adsorption plates 4 in a simulated horizontal wall environment.

[0119] To further optimize the solution, during the test, the material of the middle adsorption plate 4 can be replaced in turn with smooth ceramic tiles, ceramic tiles with convex and concave patterns on the surface, smooth glass, frosted glass, photosensitive resin, cement board, smooth metal plate, and metal plate with convex and concave patterns on the surface.

[0120] Further optimization scheme, such as Figure 5 As shown, the operation steps of performing the adsorption force experiment when the climbing robot 11 simulates a vertical wall environment include:

[0121] S1, side outer frame 1;

[0122] S2, attaching a plurality of force measuring mounting parts to the top of the climbing robot 11, starting the fan of the climbing robot 11, so that the climbing robot 11 is just adsorbed on the middle adsorption plate 4;

[0123] The hook 7 is hung on the top of the climbing robot 11, and the force sensor 6 should be kept vertical to the middle adsorption plate 4 and the top of the climbing robot 11 to ensure accurate measurement.

[0124] S3, adjusting the fan speed of the adjustable rod 3 and the climbing robot 11, so that the middle adsorption plate 4 is in contact with the wheels of the climbing robot 11, so that the readings of the pressure measuring member and the plurality of force measuring mounting members are all zero, and the adsorption is in a balanced state;

[0125] By making the wheels of the climbing robot 11 just contact with the middle adsorption plate 4, at this time, the readings of the three force sensors 6 are zero, and the reading of the film sensor 12 is also zero, indicating that the adsorption force and gravity are in a state of mutual balance.

[0126] S4, setting the fan speed of the climbing robot 11 to different values, and recording the values ​​of the corresponding negative pressure sensor 10, several force measuring mounting parts and pressure measuring parts in sequence at different speeds;

[0127] The fan speed is set to different values ​​(e.g., 10000rpm, 20000rpm, 30000rpm, 40000rpm, 50000rpm, etc.) to simulate the negative pressure conditions at different fan speeds. At each set speed, by recording the reading of the negative pressure sensor 10, the negative pressure data in the negative pressure chamber 8 at different speeds can be obtained. At the same time, since the adsorption force of the climbing robot 11 on the middle adsorption plate 4 is different at different fan speeds, the values ​​of the three groups of force sensors 6 and the film sensor 12 will change accordingly.

[0128] By recording the negative pressure value of the negative pressure sensor 10 at each speed, the sum of the readings of the three groups of force sensors 6 (i.e., F 1 ) and the reading of the film sensor 12 (i.e. F 支 ), the total adsorption force can be calculated and the relationship between the fan speed and the adsorption force can be analyzed.

[0129] S5, adjusting the opening of the air relief valve to different values, and repeating step S4;

[0130] When conducting adsorption force tests under different leakage amounts, the opening of the solenoid valve 9 can be set to 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90% and 100% respectively. On this basis, the fan speed is adjusted to different values, and the above step S4 is repeated. The test is performed again to analyze the influence of the leakage amount on the adsorption force.

[0131] S6. Calculate the total adsorption force according to the following formula:

[0132] F 吸 =F 1 +F 支

[0133] Among them, F 吸 is the total adsorption force, F 1 is the value of several force measuring mounts, F 支 Indication of the pressure measuring device.

[0134] To further optimize the solution, in step S1, before placing the outer frame 1 on the side, first replace the intermediate adsorption plate 4 with different panels, then place the outer frame 1 on the side, and then perform steps S2 to S6 to conduct an adsorption force experiment under different intermediate adsorption plates 4 in a simulated vertical wall environment.

[0135] To further optimize the solution, the same test is performed to simulate the horizontal wall environment. During the test, the material of the middle adsorption plate 4 can be replaced in turn with smooth ceramic tiles, ceramic tiles with convex and concave patterns on the surface, smooth glass, frosted glass, photosensitive resin, cement board, smooth metal plate, and metal plate with convex and concave patterns on the surface.

[0136] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0137] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A negative pressure adsorption climbing robot adsorption force testing device, characterized in that: include: An outer frame (1), wherein a plurality of adjustable rods (3) are vertically arranged at the inner bottom of the outer frame (1), and the tops of the adjustable rods (3) are detachably connected to intermediate adsorption plates (4); A force measuring assembly, comprising a plurality of force measuring mounting parts arranged on the top of the outer frame (1) and a pressure measuring part arranged on the intermediate adsorption plate (4), wherein the climbing robot (11) is arranged between the plurality of force measuring mounting parts and the intermediate adsorption plate (4); A negative pressure leakage measurement assembly comprises a relief valve component arranged on a suction cup of a climbing robot (11) and a negative pressure sensor (10) arranged in the suction cup of the climbing robot (11), wherein the relief valve component is used to simulate the leakage of the suction cup of the climbing robot (11).

2. The negative pressure adsorption climbing robot adsorption force testing device according to claim 1, characterized in that: The adjustable rod (3) comprises an outer sleeve (13) vertically fixedly connected to the inner bottom of the outer frame (1); the top of the outer sleeve (13) is slidably connected to a telescopic rod (14); the inner bottom of the outer sleeve (13) is fixedly connected to a motor (15); the output shaft of the motor (15) is coaxially fixedly connected to a screw rod (16); the screw rod (16) passes through the bottom of the telescopic rod (14) and is transmission-connected to the telescopic rod (14); the telescopic rod (14) is detachably connected to the intermediate adsorption plate (4).

3. The negative pressure adsorption climbing robot adsorption force testing device according to claim 2, characterized in that: The force measuring mounting component comprises a force sensor (6) fixedly connected to the top of the inner side of the outer frame (1), a test end of the force sensor (6) is fixedly connected to a hook (7), and the hook (7) is used to connect to the climbing robot (11); The pressure measuring component comprises a thin film sensor (12), the thin film sensor (12) being arranged on a side of the intermediate adsorption plate (4) away from the adjustable rod (3), and the thin film sensor (12) being arranged corresponding to the wheels of the climbing robot (11).

4. The negative pressure adsorption climbing robot adsorption force testing device according to claim 1, characterized in that: The air release valve component comprises an electromagnetic valve (9) fixedly penetrating the suction cup of the climbing robot (11); one end of the electromagnetic valve (9) away from the suction cup is connected to a flow meter.

5. A method for testing the adsorption force of a negative pressure adsorption climbing robot, based on the device for testing the adsorption force of a negative pressure adsorption climbing robot according to claim 1, characterized in that: The method comprises the following steps: According to the test environment, the outer frame (1) is controlled to switch between an inverted state, a sideways state, and an upright state to simulate a horizontal wall, simulate a vertical wall, and test a maximum adsorption force; The climbing robot (11) is installed between a plurality of force measuring mounting parts and the middle adsorption plate (4); The height position of the middle adsorption plate (4) is adjusted by means of an adjustable rod (3), and the climbing robot (11) is placed in an adsorption equilibrium state by observing the readings of a plurality of force measuring mounting parts and pressure measuring parts; When the outer frame (1) is in an inverted state, the climbing robot (11) is subjected to an adsorption force experiment under different fan speeds, different leakage amounts, and different intermediate adsorption plates (4) in a simulated horizontal wall environment; When the outer frame (1) is in a side-mounted state, the climbing robot (11) is subjected to an adsorption force experiment under different fan speeds, different leakage amounts, and different intermediate adsorption plates (4) in a simulated vertical wall environment; When the outer frame (1) is in an upright state, an adsorption force test is performed on the climbing robot (11) at the maximum fan speed.

6. A method for testing the adsorption force of a negative pressure adsorption climbing robot according to claim 5, characterized in that: The operation steps of conducting an adsorption force experiment of a climbing robot (11) at a maximum fan speed include: S1, placing the outer frame (1) forward; S2, hanging a plurality of force measuring mounting parts on the top of the climbing robot (11); S3, extending the adjustable rod (3) to make the middle adsorption plate (4) contact the climbing robot (11) until the readings of the plurality of force measuring mounting parts are all zero; S4, retracting the adjustable rod (3) to separate the middle adsorption plate (4) from the climbing robot (11), and measuring the gravity of the climbing robot (11) through a plurality of force measuring mounting parts; S5, starting the fan of the climbing robot (11) and adjusting it to the maximum speed, hanging a heavy object on the bottom of the middle adsorption plate (4), until the middle adsorption plate (4) is separated from the climbing robot (11), and recording the weight of the heavy object at this time; S6. Calculate the total adsorption force according to the following formula: F=G+G 重物 Among them, G 重物 is the gravity of the mounted weight, F is the total suction force, and G is the gravity of the climbing robot (11).

7. A method for testing the adsorption force of a negative pressure adsorption climbing robot according to claim 5, characterized in that: The operation steps of conducting an adsorption force experiment of a climbing robot (11) simulating a horizontal wall environment include: S1, inverted outer frame (1); S2, connecting a plurality of force measuring mounting parts to the top of the climbing robot (11), starting the fan of the climbing robot (11), and making the climbing robot (11) adsorb on the middle adsorption plate (4); S3, adjusting the fan speed of the adjustable rod (3) and the climbing robot (11) so that the middle adsorption plate (4) contacts the wheels of the climbing robot (11), and the readings of the pressure measuring member and the plurality of force measuring mounting members are all zero, and the climbing robot is in an adsorption equilibrium state; S4, setting the fan speed of the climbing robot (11) to different values, and recording the values ​​of the corresponding negative pressure sensor (10), a plurality of force measuring mounting parts and a pressure measuring part in sequence at different speeds; S5, adjusting the opening of the air relief valve to different values, and repeating step S4; S6. Calculate the total adsorption force according to the following formula: F 吸 =F1+G+F 支 Among them, F 吸 is the total adsorption force, G is the gravity of the climbing robot (11), F1 is the reading of several force measuring mounting parts, and F 支 Indication of the pressure measuring device.

8. A method for testing the adsorption force of a negative pressure adsorption climbing robot according to claim 7, characterized in that: In the step S1, before inverting the outer frame (1), the intermediate adsorption plate (4) of different plates is first replaced, and then the outer frame (1) is inverted. Subsequently, steps S2 to S6 are performed to conduct an adsorption force experiment under different intermediate adsorption plates (4) in a simulated horizontal wall environment.

9. The method for testing the adsorption force of a negative pressure adsorption climbing robot according to claim 5, characterized in that: The operation steps of conducting an adsorption force experiment of a climbing robot (11) simulating a vertical wall environment include: S1, side outer frame (1); S2, connecting a plurality of force measuring mounting parts to the top of the climbing robot (11), starting the fan of the climbing robot (11), and making the climbing robot (11) adsorb on the middle adsorption plate (4); S3, adjusting the fan speed of the adjustable rod (3) and the climbing robot (11) so that the middle adsorption plate (4) contacts the wheels of the climbing robot (11), and the readings of the pressure measuring member and the plurality of force measuring mounting members are all zero, and the climbing robot is in an adsorption equilibrium state; S4, setting the fan speed of the climbing robot (11) to different values, and recording the values ​​of the corresponding negative pressure sensor (10), a plurality of force measuring mounting parts and a pressure measuring part in sequence at different speeds; S5, adjusting the opening of the air relief valve to different values, and repeating step S4; S6. Calculate the total adsorption force according to the following formula: F 吸 =F1+F 支 Among them, F 吸 is the total adsorption force, F1 is the value of several force measuring mounts, and F 支 Indication of the pressure measuring device.

10. A method for testing the adsorption force of a negative pressure adsorption climbing robot according to claim 9, characterized in that: In the step S1, before the outer frame (1) is placed on the side, the intermediate adsorption plate (4) of different plates is replaced first, and then the outer frame (1) is placed on the side. Subsequently, steps S2 to S6 are performed to conduct an adsorption force experiment under different intermediate adsorption plates (4) in a simulated vertical wall environment.

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