Wall surface adsorption device

Abstract

The invention provides a wall surface adsorption device which can improve the safety and reliability of wall surface operation. The wall surface adsorption device comprises a carrying mechanism used for driving the wall surface adsorption device to move; the adsorption assembly is borne on the carrying mechanism, and the adsorption assembly is used for being adsorbed to the wall surface; the push rod assembly is connected with the carrying mechanism and arranged on the side, away from the wall face, of the adsorption assembly in the first direction, the push rod assembly can push the adsorption assembly to move in the first direction, and the first direction is parallel to the normal vector of the wall face.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular, to a wall adsorption device. Background Art

[0002] With the development of science and technology, large-scale machinery and equipment are increasingly used in various industries. However, when large-scale machinery and equipment need to be operated in high-altitude areas, workers often need to be transported to high places to work. This operation method has a high risk factor and low work efficiency. Even if robots are used for operations, in many cases, it is necessary to manually install fixed points on the wall in advance to assist the robot in completing the work on the wall. This operation method still has certain risks.

[0003] Therefore, it is necessary to provide a device to improve the safety and reliability of wall operations. Summary of the invention

[0004] The present application provides a wall adsorption device, which can improve the safety and reliability of wall operations.

[0005] In the first aspect, a wall adsorption device is provided, comprising: a carrying mechanism, the carrying mechanism is used to drive the wall adsorption device to move; an adsorption component, the adsorption component is carried on the carrying mechanism, and the adsorption component is used to adsorb to the wall; a push rod assembly, the push rod assembly is connected to the carrying mechanism and is arranged on a side of the adsorption component away from the wall in a first direction, the push rod assembly can push the adsorption component to move in the first direction, and the first direction is parallel to the normal vector of the wall.

[0006] On the one hand, the transport mechanism can transport the adsorption component to the position where the fixed point needs to be installed, and there is no need for manual high-altitude operations, which can improve the safety of wall operations; on the other hand, when the transport mechanism moves to the position where the fixed point needs to be installed, the push rod assembly can push the adsorption component to the wall, so that the adsorption component fits the wall, improves the adsorption strength of the adsorption component and the wall, and is conducive to improving the reliability of wall operations. The wall adsorption device provided in the embodiment of the present application can realize the installation of fixed points on the high-altitude wall through ground control, which improves the safety and reliability of wall operations while also helping to improve the efficiency of wall operations.

[0007] In some embodiments, the adsorption assembly includes a control module and an adsorption module, and the control module is used to control the adsorption module to adsorb to the wall surface.

[0008] The control module can realize automatic control of the adsorption component. When the transport mechanism transports the adsorption component to a high place, there is no need for manual high-altitude operations, which improves the safety and reliability of wall operations.

[0009] In some embodiments, the adsorption module includes a magnetic base and a protrusion, the side of the magnetic base facing the wall is used for adsorption with the wall, and the protrusion protrudes from the surface of the magnetic base; the control module includes a first transmission mechanism and a driving mechanism, the driving mechanism is arranged in cooperation with the first transmission mechanism to drive the first transmission mechanism to move, and the first transmission mechanism is connected to the protrusion in a transmission manner.

[0010] The transmission connection between the first transmission mechanism and the protrusion can realize the electric control of the adsorption of the adsorption module to the wall. When the adsorption assembly is transported to a high altitude, the adsorption or detachment of the magnetic base to the wall can be controlled without manual operation, which is beneficial to improving the safety of wall operations.

[0011] In some embodiments, the control module includes a second transmission mechanism, the second transmission mechanism has a groove, the shape of the groove matches the shape of the protrusion, at least part of the protrusion is accommodated in the groove and is fixedly connected to the second transmission mechanism, and the first transmission mechanism is transmission-connected to the protrusion via the second transmission mechanism.

[0012] The first transmission mechanism and the second transmission mechanism can realize automatic control of the adsorption and shedding of the adsorption module. The transmission connection between the first transmission mechanism and the second transmission mechanism can also make the arrangement of the driving module and the adsorption module more reasonable.

[0013] In some embodiments, the adsorption module includes a suction cup and a ventilation channel, and the suction cup is arranged on the side of the adsorption module facing the wall; the control module includes a vacuum pump, and the vacuum pump is connected to the suction cup through the ventilation channel for extracting air inside the suction cup.

[0014] The adsorption component is adsorbed to the wall surface by vacuum adsorption, so that the wall adsorption device provided in the embodiment of the present application can be applied to a wider range of walls, and adsorption can be achieved on a variety of different high-altitude wall surfaces, reducing the risk of high-altitude wall operations.

[0015] In some embodiments, the push rod assembly includes a first movable part, a second movable part and a first elastic part, wherein the first elastic part is connected to the first movable part at one end toward the adsorption assembly in the first direction, and is connected to the second movable part at one end away from the adsorption assembly in the first direction.

[0016] The first elastic part arranged between the first movable part and the second movable part can play a buffering role, which can effectively reduce the wear of the push rod assembly and the adsorption assembly, reduce the possibility of damage to the wall surface, and extend the service life of the wall adsorption device.

[0017] In some embodiments, the push rod assembly includes a connecting portion, wherein a side of the connecting portion along the first direction facing the adsorption assembly is connected to the adsorption assembly, and a side of the connecting portion along the first direction away from the adsorption assembly is connected to the carrying mechanism.

[0018] The connecting portion can improve the stability of the adsorption component on the carrying mechanism, so that the adsorption component is not easy to fall from the carrying mechanism during the process of moving with the carrying component and moving toward the wall in the first direction, thereby improving the safety of the adsorption process of the adsorption component and the wall.

[0019] In some embodiments, the push rod assembly includes a second elastic portion, and the second elastic portion is disposed in at least a portion of the surrounding area of ​​the connecting portion. When the connecting portion is connected to the adsorption assembly, the second elastic portion is in a compressed state.

[0020] The second elastic part can provide a thrust to push the adsorption component toward the wall surface, so that the adsorption component can have good contact with the wall surface, which is beneficial to improving the adsorption effect between the adsorption component and the wall surface.

[0021] In some embodiments, the wall adsorption device includes: a bracket, the bracket is connected to the carrier mechanism and is arranged on a side of the adsorption component away from the wall along the first direction, and the push rod component is connected to the carrier mechanism through the bracket;

[0022] A support plate is connected to the transport mechanism and is disposed on a side of the adsorption component facing the ground along the direction of gravity, and the adsorption component is supported on the support plate.

[0023] The bracket can provide support for the connecting part and the second elastic part, which is conducive to pushing the adsorption component toward the wall. At the same time, the support plate can provide support for the adsorption component in the direction of gravity, and it is not easy to fall off from the carrying mechanism during the movement of the carrying mechanism along the wall in the vertical direction, thereby improving the safety and reliability of wall operation.

[0024] In a second aspect, a wall working device is provided, comprising: a wall adsorption device as described in any embodiment of the first aspect above, wherein the adsorption component is adsorbed on the wall; and a working component, wherein the working component is carried on the adsorption component and is used to work on the wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of a wall adsorption device provided in this application.

[0026] Figure 2 It is a three-dimensional structural schematic diagram of an adsorption component and a push rod component provided by the present application.

[0027] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure of the adsorption component and the push rod component in the AA direction.

[0028] Figure 4 It is a three-dimensional structural schematic diagram of a push rod assembly provided by the present application.

[0029] Figure 5 yes Figure 4 Schematic diagram of the cross-sectional structure of the push rod assembly in the BB direction.

[0030] Figure 6 It is a three-dimensional structural schematic diagram of an adsorption component, a push rod component and a bracket provided in the present application.

[0031] Figure 7 yes Figure 6 Schematic diagram of the adsorption assembly, push rod assembly and bracket in the second direction.

[0032] Figure 8 yes Figure 7 Schematic diagram of the cross-sectional structure of the structure in the CC direction. DETAILED DESCRIPTION

[0033] The following detailed description and drawings of the embodiments of the present application are used to illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0034] In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, are only for the convenience of describing the present application and simplifying the description, 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 cannot be understood as limiting the present application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but within the tolerance range. "Parallel" is not strictly parallel, but within the tolerance range. All technical and scientific terms used in the present application have the same meaning as those generally understood by technicians in the technical field of the present application; the terms used in the present application and in the specification of the application are only for the purpose of describing specific embodiments, and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0035] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0036] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0037] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist, and B exists. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0038] The term "multiple" as used in this application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple sheets" refers to more than two sheets (including two sheets).

[0039] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0040] The wall operation method and device provided in the embodiments of the present application can be applied to flat or curved surfaces, and are particularly suitable for vertical, inclined or inaccessible walls. Specifically, it can be applied to the surfaces of equipment such as ship hulls, oil storage tanks, water storage tanks, bridges, high towers, and wind turbine towers, and can also be applied to the surfaces of large industrial equipment (such as boilers, reactors, etc.).

[0041] Figure 1 The wall adsorption device 1 provided in the embodiment of the present application is shown. Figure 1As shown, the wall adsorption device 1 includes a carrier mechanism 10, an adsorption assembly 20 and a push rod assembly 30. The carrier mechanism 10 is used to drive the wall adsorption device 1 to move, and the adsorption assembly 20 is carried on the carrier mechanism 10, and the adsorption assembly 20 is used to adsorb to the wall. The push rod assembly 30 is connected to the carrier mechanism 10 and is arranged on a side of the adsorption assembly 20 away from the wall in a first direction Z. The push rod assembly 30 can push the adsorption assembly 20 to move in the first direction Z, and the first direction Z is parallel to the normal vector of the wall.

[0042] The carrier mechanism 10 refers to the part of the wall adsorption device 1 that can carry the adsorption component 20 and the push rod component 30 to move. The carrier mechanism 10 can drive the wall adsorption device 1 to move as a whole. By controlling the carrier mechanism 10, the carrier mechanism 10 can carry the adsorption component 20 and the push rod component 30 to the position where the operation needs to be performed. The carrier mechanism 10 can be, for example, a wall climbing robot that can move on the wall; the carrier mechanism 10 can also be, for example, a drone that can transport the adsorption component 20 and the push rod component 30 to the position where the operation needs to be performed in the sky.

[0043] The adsorption component 20 is carried on the carrier 10, and moves with the carrier 10 to the position where the operation needs to be performed. In some embodiments, the adsorption component 20 and the carrier 10 can be fixedly connected, that is, when the adsorption component 20 is adsorbed on the wall, the carrier 10 and the adsorption component 20 are fixed on the wall together; in other embodiments, the adsorption component 20 and the carrier 10 can be detachably connected, that is, when the adsorption component 20 is adsorbed on the wall, the carrier 10 can be detached from the adsorption component 20, the adsorption component 20 remains in the position adsorbed on the wall, and the carrier 10 moves to other positions.

[0044] The push rod assembly 30 is a structure in the wall adsorption device 1 that assists the adsorption assembly 20 in adsorption to the wall. The push rod assembly 30 is connected to the carrier mechanism 10, and also moves together with the carrier mechanism 10 to the position where the operation needs to be performed. In the process of the carrier mechanism 10 transporting the adsorption assembly 20 to a high altitude, the adsorption assembly 20 can have a certain distance from the wall. The push rod assembly 30 is arranged on the side of the adsorption assembly 20 that is away from the wall in the first direction Z. When the push rod assembly 30 moves toward the wall along the first direction Z, it can push the adsorption assembly 20, so that the adsorption assembly 20 can approach the wall and fit with the wall.

[0045] The first direction Z is parallel to the normal vector of the wall. When the wall is a plane, the first direction Z can be perpendicular to the wall. When the wall is a curved surface, the first direction Z is as close to the curved surface as possible, that is, the first direction Z is parallel to the normal vector of the curved surface.

[0046] In one possible implementation, the adsorption component 20 can achieve adsorption with the wall surface when it is in contact with the wall surface. For example, the surfaces of the adsorption component 20 in contact with the wall surface are male and female surfaces of a bonding structure, and the adsorption component 20 is adsorbed with the wall surface by applying pressure to the adsorption component 20 through the push rod assembly 30. In another possible implementation, the adsorption component 20 generates adsorption capacity through electric control, and the adsorption component 20 is in contact with the wall surface under the push of the push rod assembly 30, and is adsorbed with the wall surface through the adsorption capacity generated by the electric control. For example, the adsorption component 20 can achieve adsorption with the wall surface through magnetic adsorption, vacuum adsorption, etc.

[0047] On the one hand, the carrier mechanism 10 can transport the adsorption assembly 20 to the position where the fixed point needs to be installed, and no manual high-altitude operation is required, which can improve the safety of wall operations; on the other hand, when the carrier mechanism 10 moves to the position where the fixed point needs to be installed, the push rod assembly 30 can push the adsorption assembly 20 to the wall, so that the adsorption assembly 20 fits the wall, improves the adsorption strength of the adsorption assembly 20 and the wall, and is conducive to improving the reliability of wall operations. The wall adsorption device 1 provided in the embodiment of the present application can realize the installation of fixed points on the high-altitude wall through ground control, which improves the safety and reliability of wall operations while also helping to improve the efficiency of wall operations.

[0048] According to some embodiments of the present application, optionally, the adsorption assembly 20 includes a control module 210 and an adsorption module 220, and the control module 210 is used to control the adsorption module 220 to adsorb to the wall.

[0049] The adsorption module 220 in the adsorption assembly 20 refers to a structure that contacts and adsorbs on the wall surface, and the control module 210 in the adsorption assembly 20 refers to a structure that controls the adsorption capacity of the adsorption module 220. The control module 210 can more accurately control the adsorption and detachment between the adsorption module 220 and the wall surface. At the same time, the control module 210 controls the adsorption between the adsorption module 220 and the wall surface, which is conducive to achieving stable adsorption between the adsorption module 220 and the wall surface.

[0050] The control module 210 can realize automatic control of the adsorption assembly 20. When the transport mechanism 10 transports the adsorption assembly 20 to a high place, there is no need for manual high-altitude operations, thereby improving the safety and reliability of wall operations.

[0051] According to some embodiments of the present application, optionally, the adsorption module 220 includes a magnetic base 221 and a protrusion 222, the side of the magnetic base 221 facing the wall is used for adsorption with the wall, and the protrusion 222 protrudes from the surface of the magnetic base 221. The control module 210 includes a first transmission mechanism 211 and a driving mechanism 212, the driving mechanism 212 is arranged in cooperation with the first transmission mechanism 211, and is used to drive the first transmission mechanism 211 to move, and the first transmission mechanism 211 is in transmission connection with the protrusion 222.

[0052] In a possible implementation, the adsorption component 20 can achieve adsorption with the wall surface by magnetic adsorption, and the control module 210 in the adsorption component 20 controls the adsorption module 220 to generate magnetism and adsorb with the wall surface.

[0053] Figure 2 The schematic diagram of the three-dimensional structure of the adsorption assembly 20 and the push rod assembly 30 is shown. Figure 3 for Figure 2 The schematic diagram of the cross-sectional structure of the structure along the AA direction. Figure 2 and Figure 3 As shown, the side of the magnetic base 221 perpendicular to the first direction Z and facing the wall can generate magnetism and adsorb to the wall; the surface of the magnetic base 221 is provided with a protrusion 222, which can cooperate with the structure in the control module 210 to control the generation and disappearance of the magnetism of the magnetic base 221. For example, the magnetic base 221 can be specifically a magnetic table base, and the protrusion 222 can be specifically a control handle in the magnetic table base, and the magnetism of the magnetic base 221 can be changed by rotating the protrusion 222.

[0054] The protrusion 222 is disposed on the surface of the magnetic base 221. In some embodiments, the protrusion 222 may protrude from the surface of the magnetic base 221 that is not adsorbed to the wall. The protrusion 222 may cooperate with the control module 210, and the control module 210 may rotate the protrusion 222.

[0055] In some embodiments, the control module 210 may include a driving mechanism 212, which is connected to the protrusion 222 to drive the rotation of the protrusion 222. For example, the driving mechanism 212 may be a motor, and the shaft of the motor is fixedly connected to the protrusion 222. When the shaft of the motor rotates, the protrusion 222 also rotates at the same time, so that the adsorption module 220 generates magnetism or loses magnetism.

[0056] In other embodiments, the control module 210 may include a first transmission mechanism 211 and a driving mechanism 212, and the driving mechanism 212 transmits power to the protruding portion 222 through the first transmission mechanism 211. For example, the first transmission mechanism 211 may be a gear, and the protruding portion 222 is provided with a toothed structure meshing with the first transmission mechanism 211, and the first transmission mechanism 211 and the protruding portion 222 drive the protruding portion 222 to move through gear transmission. Optionally, the transmission method between the first transmission mechanism 211 and the protruding portion 222 may also be a belt drive, a chain drive, etc.

[0057] The movement of the first transmission mechanism 211 is driven by the driving mechanism 212. For example, if the driving mechanism 212 is a motor and the first transmission mechanism 211 is a gear, the hub of the first transmission mechanism 211 can be matched with the rotating shaft of the motor, and the rotating shaft of the motor drives the first transmission mechanism 211 to rotate.

[0058] The transmission connection between the first transmission mechanism 211 and the protrusion 222 can realize the electric control of the adsorption of the adsorption module 220 to the wall. When the adsorption component 20 is transported to a high altitude, the adsorption or detachment of the magnetic base 221 to the wall can be controlled without manual operation, which is beneficial to improving the safety of wall operations.

[0059] According to some embodiments of the present application, optionally, the control module 210 includes a second transmission mechanism 213, the second transmission mechanism 213 has a groove, the shape of the groove matches the shape of the protrusion 222, at least a portion of the protrusion 222 is accommodated in the groove and is fixedly connected to the second transmission mechanism 213, and the first transmission mechanism 211 is transmission-connected to the protrusion 222 via the second transmission mechanism 213.

[0060] The second transmission mechanism 213 is a structure that cooperates with the adsorption module 220 . The second transmission mechanism 213 is fixedly connected to the protrusion 222 in the adsorption module 220 . When the second transmission mechanism 213 moves, the protrusion 222 also moves with the second transmission mechanism 213 .

[0061] In some embodiments, the first transmission mechanism 211 may be a gear, and the second transmission mechanism 213 may be a gear meshing with the first transmission mechanism 211. The driving mechanism 212 drives the first transmission mechanism 211 to rotate, and the first transmission mechanism 211 drives the second transmission mechanism 213 to rotate through gear meshing.

[0062] The second transmission mechanism 213 is a gear, and its hub portion has a groove, which matches the protrusion 222. Figure 2For example, the protrusion 222 is a cylindrical structure, the center of the wheel hub also has a cylindrical groove, and the second transmission mechanism 213 is sleeved on the protrusion 222. Optionally, in the opening direction of the groove, the groove can penetrate the second transmission mechanism 213. In some embodiments, a latch can be provided, and the latch penetrates the protrusion 222 and the wheel hub at the same time, so that the protrusion 222 and the wheel hub are difficult to produce a large relative movement. During the rotation of the second transmission mechanism 213, the wheel hub drives the protrusion 222 to rotate together.

[0063] In some embodiments, more transmission mechanisms may be provided between the first transmission mechanism 211 and the second transmission mechanism 213 according to actual conditions. For example, if the first transmission mechanism 211 and the second transmission mechanism 213 are both gears, then at least one gear may be provided between the first transmission mechanism 211 and the second transmission mechanism 213 according to the arrangement of the control module 210 and the adsorption module 220 inside the adsorption assembly 20 to achieve power transmission between the first transmission mechanism 211 and the second transmission mechanism 213.

[0064] The first transmission mechanism 211 and the second transmission mechanism 213 can realize automatic control of the adsorption and detachment of the adsorption module 220. The transmission connection between the first transmission mechanism 211 and the second transmission mechanism 213 can also make the arrangement of the driving module and the adsorption module 220 more reasonable.

[0065] According to some embodiments of the present application, optionally, the adsorption module 220 includes a suction cup and a ventilation channel, and the suction cup is disposed on a side of the adsorption module 220 facing the wall;

[0066] The control module 210 includes a vacuum pump, which is connected to the suction cup through a ventilation channel and is used to extract air from the suction cup.

[0067] In a possible implementation, the adsorption component 20 can achieve adsorption with the wall surface by vacuum adsorption, and the control module 210 in the adsorption component 20 controls the suction cup in the adsorption module 220 to perform vacuum adsorption with the wall surface.

[0068] Specifically, the adsorption module 220 includes a suction cup and a ventilation channel. The suction cup is arranged on the side of the adsorption module 220 facing the wall along the first direction Z. The ventilation channel connects the suction cup and the vacuum pump in the control module 210. The vacuum pump can extract or release the air in the suction cup through the ventilation channel, so that vacuum adsorption can be achieved between the suction cup and the wall.

[0069] The adsorption component 20 is adsorbed to the wall surface by vacuum adsorption, so that the wall adsorption device 1 provided in the embodiment of the present application can be applied to a wider range of walls, and adsorption can be achieved on a variety of different high-altitude wall surfaces, thereby reducing the risk of high-altitude wall operations.

[0070] According to some embodiments of the present application, optionally, the push rod assembly 30 includes a first movable part 301, a second movable part 302 and a first elastic part 303, and the first elastic part 303 is connected to the first movable part 301 at one end facing the adsorption assembly 20 in the first direction Z, and is connected to the second movable part 302 at one end facing away from the adsorption assembly 20 in the first direction Z.

[0071] In some embodiments, the push rod assembly 30 may be a long strip-shaped structure extending along the first direction Z, and the push rod assembly 30 may move in the first direction Z by a driving module such as a motor.

[0072] In other embodiments, the first movable portion 301 and the second movable portion 302 of the push rod assembly 30 are separate structures and are connected via the first elastic portion 303 . Figure 4 FIG. 2 shows an exploded structural diagram of the push rod assembly 30. Figure 5 for Figure 4 Schematic diagram of the cross-sectional structure of the structure in the BB direction. Figures 2 to 5 As shown, when the push rod assembly 30 needs to move toward the wall along the first direction Z, the second movable part 302 is controlled to move along the wall, and the force applied to the second movable part 302 acts on the first elastic part 303. On the one hand, the end of the first elastic part 303 facing away from the wall in the first direction Z is compressed, and on the other hand, the end of the first elastic part 303 facing the wall in the first direction Z transmits the applied force to the first movable part 301, and pushes the first movable part 301 to move in the first direction Z.

[0073] In a possible implementation, the two ends of the first elastic part 303 in the first direction Z can be fixedly connected to the first movable part 301 and the second movable part 302 respectively, and when the push rod assembly 30 moves in the direction away from the wall surface in the first direction Z, the second movable part 302 can drive the first movable part 301 to move in the same direction through the first elastic part 303. Optionally, the two ends of the first elastic part 303 in the first direction Z can be detachably connected to the first movable part 301 and the second movable part 302 respectively, that is, when one end of the first elastic part 303 in the first direction Z is compressed by force, the force received can be transmitted to the other end.

[0074] When the push rod assembly 30 pushes the adsorption assembly 20, in order to make the adsorption assembly 20 fit closely with the wall, the travel distance of the push rod assembly 30 in the first direction Z is usually slightly greater than the distance between the adsorption assembly 20 and the wall. The first elastic part 303 can absorb this part of the distance, and can also better transmit the force applied by the push rod assembly 30 to the adsorption assembly 20. In addition, when setting the automatic control program of the push rod assembly 30, the distance moved by the second movable part 302 is usually a fixed value, and the distance between the adsorption assembly 20 and the wall may have a certain deviation from the fixed value due to factors such as manual installation. The first elastic part 303 can also absorb this part of the distance, reducing the loss of the push rod assembly 30 and / or the adsorption assembly 20 caused by the push rod assembly 30 in the process of pushing the adsorption assembly 20, and can also reduce the possibility of damage to the wall.

[0075] The first elastic portion 303 disposed between the first movable portion 301 and the second movable portion 302 can play a buffering role, which can effectively reduce the wear of the push rod assembly 30 and the adsorption assembly 20, reduce the possibility of damage to the wall surface, and extend the service life of the wall adsorption device 1.

[0076] According to some embodiments of the present application, optionally, the push rod assembly 30 includes a connecting portion 310, wherein a side of the connecting portion 310 along the first direction Z toward the adsorption assembly 20 is connected to the adsorption assembly 20, and a side along the first direction Z away from the adsorption assembly 20 is connected to the carrying mechanism 10.

[0077] Figure 6 Another stereoscopic structure of a push rod assembly 30 and an adsorption assembly 20 is shown. Figure 7 for Figure 6 2 is a view of the structure in the second direction Y, where the second direction Y is perpendicular to the surface of the carrier mechanism 10 on which the adsorption assembly 20 is disposed. Figure 8 yes Figure 7 Schematic diagram of the cross-sectional structure of the view in the CC direction.

[0078] like Figures 6 to 8 As shown, the connection between the connecting portion 310 and the adsorption component 20 can be detachable, and the connection between the connecting portion 310 and the carrying mechanism 10 can be fixed. Specifically, when the carrying mechanism 10 transports the wall adsorption device 1 to a high place, the connecting portion 310 and the adsorption component 20 can be in an adsorption state, so that the adsorption component 20 is stably carried on the carrying mechanism 10; when the adsorption component 20 needs to be adsorbed to the wall, the connecting portion 310 is separated from the adsorption component 20, so that the adsorption component 20 can move toward the wall.

[0079] In some embodiments, the connection portion 310 and the adsorption component 20 may be electromagnetically connected, for example, and the connection and separation between the connection portion 310 and the adsorption component 20 may be achieved by controlling the power on and off of the connection portion 310 .

[0080] The connecting portion 310 can improve the stability of the adsorption component 20 on the transport mechanism 10, so that the adsorption component 20 is not easy to fall off the transport mechanism 10 during the movement of the transport component and the movement toward the wall in the first direction Z, thereby improving the safety of the adsorption process between the adsorption component 20 and the wall.

[0081] According to some embodiments of the present application, optionally, the push rod assembly 30 includes a second elastic portion 320, and the second elastic portion 320 is disposed in at least a portion of the surrounding area of ​​the connecting portion 310. When the connecting portion 310 is connected to the adsorption assembly 20, the second elastic portion 320 is in a compressed state.

[0082] exist Figures 6 to 8 In the structure shown, the second elastic part 320 is sleeved around the connecting part 310, and the two ends of the second elastic part 320 abut against the carrier mechanism 10 and the adsorption component 20 respectively. For example, one end of the second elastic part 320 is fixedly connected to the carrier mechanism 10, and the other end abuts against the adsorption component 20 in a detachable manner; optionally, the end of the second elastic part 320 fixedly connected to the carrier mechanism 10 can be directly connected to the carrier mechanism 10, or can be connected to the carrier mechanism 10 through a rotating plate connected to the carrier mechanism 10. For another example, one end of the second elastic part 320 is fixedly connected to the adsorption component 20, and the other end abuts against the carrier mechanism 10 in a detachable manner.

[0083] In some embodiments, the second elastic portion 320 may also be disposed in the central area of ​​the connecting portion 310. Specifically, the connecting portion 310 may be provided with a groove, and at least part of the second elastic portion 320 is accommodated in the groove, one end of the second elastic portion 320 is connected or abutted against the bottom wall of the groove, and the other end of the second elastic portion 320 abuts against the adsorption assembly 20. In some embodiments, the second elastic portion 320 may be disposed at intervals in the surrounding area of ​​the connecting portion 310.

[0084] When the adsorption component 20 moves with the carrier mechanism 10 to the position to be adsorbed on the wall, the connection part 310 remains connected to the adsorption component 20, and one end of the second elastic part 320 abuts against the adsorption component 20, and the other end is connected to the carrier mechanism 10, and is in a compressed state between the adsorption component 20 and the carrier mechanism 10. When the adsorption component 20 moves with the carrier mechanism 10 to the position to be adsorbed on the wall, the connection part 310 is disconnected from the adsorption component 20, and the compressed second elastic part 320 releases the elastic pressure, pushing the adsorption component 20 toward the wall in the first direction Z.

[0085] The second elastic portion 320 can provide a thrust to push the adsorption component 20 toward the wall surface, so that the adsorption component 20 can have good contact with the wall surface, which is beneficial to improving the adsorption effect between the adsorption component 20 and the wall surface.

[0086] According to some embodiments of the present application, optionally, the wall adsorption device 1 includes a bracket 40 and a support plate 41. The bracket 40 is connected to the carrier mechanism 10 and is disposed on a side of the adsorption assembly 20 that is away from the wall along the first direction Z, and the push rod assembly 30 is connected to the carrier mechanism 10 through the bracket 40. The support plate 41 is connected to the carrier mechanism 10 and is disposed on a side of the adsorption assembly 20 that is facing the ground along the gravity direction, and the adsorption assembly 20 is carried on the support plate 41.

[0087] The bracket 40 is fixedly connected to the carrier mechanism 10, and the push rod assembly 30 is connected to the carrier mechanism 10 through the bracket 40. The bracket 40 is arranged opposite to the adsorption assembly 20. In some embodiments, the push rod assembly 30 is arranged between the bracket 40 and the adsorption assembly 20. In other embodiments, the push rod assembly 30 can pass through the bracket 40, a part of which is connected to the bracket 40, and a part of which can move relative to the bracket 40 to push the adsorption assembly 20. For example, the push rod assembly 30 can have a shell fixedly connected to the bracket 40, and the part of the push rod assembly 30 that can move in the first direction Z moves in the shell.

[0088] The support plate 41 is connected to the carrier mechanism 10. Specifically, the support plate 41 can be fixedly connected to the carrier mechanism 10, or can be connected to the bracket 40 to achieve the connection between the support plate 41 and the carrier mechanism 10. The support plate 41 is used to carry the adsorption assembly 20, so that the adsorption assembly 20 can remain stable on the carrier mechanism 10. In particular, when the carrier mechanism 10 carries the adsorption assembly 20 and moves along a vertical or inclined wall, the support plate 41 is arranged on the side of the adsorption assembly 20 facing the ground in the direction of gravity, so that the support plate 41 can support the adsorption assembly 20 in the direction of gravity.

[0089] The bracket 40 can provide support for the connecting portion 310 and the second elastic portion 320, which is conducive to pushing the adsorption component 20 toward the wall. At the same time, the support plate 41 can provide support for the adsorption component 20 in the direction of gravity, and it is not easy to fall off from the transport mechanism 10 during the movement of the transport mechanism 10 along the wall in the vertical direction, thereby improving the safety and reliability of wall operation.

[0090] The embodiment of the present application also provides a wall surface working device, comprising the wall surface adsorption device 1 and a working component as described in any of the above embodiments, wherein the adsorption component 20 is adsorbed on the wall surface, and the working component is carried on the adsorption component 20 for working on the wall surface.

[0091] The working component can be a structure that needs to work on the wall surface. For example, the working component can be a component that can clean, paint, remove rust, repair, etc. The adsorption component 20 provides a fixed point for the working component on the wall surface, so that the working component can perform various operations on the wall surface at high altitude with the position of the adsorption component 20 as a fulcrum.

[0092] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A wall adsorption device, characterized in that: include: A transport mechanism (10), the transport mechanism (10) being used to drive the wall adsorption device to move; An adsorption component (20), the adsorption component (20) being carried on the carrier mechanism (10), and the adsorption component (20) being used for adsorption with the wall surface; A push rod assembly (30), the push rod assembly (30) is connected to the carrying mechanism (10), and is arranged on a side of the adsorption assembly (20) facing away from the wall in a first direction (Z). The push rod assembly (30) can push the adsorption assembly (20) to move in the first direction (Z), and the first direction (Z) is parallel to the normal vector of the wall.

2. The wall adsorption device according to claim 1, characterized in that: The adsorption component (20) comprises a control module (210) and an adsorption module (220), wherein the control module (210) is used to control the adsorption module (220) to be adsorbed onto the wall surface.

3. The wall adsorption device according to claim 2, characterized in that: The adsorption module (220) comprises a magnetic base (221) and a protrusion (222), wherein a side of the magnetic base (221) facing the wall surface is used for adsorption with the wall surface, and the protrusion (222) protrudes from the surface of the magnetic base (221); The control module (210) comprises a first transmission mechanism (211) and a driving mechanism (212); the driving mechanism (212) is arranged in cooperation with the first transmission mechanism (211) and is used to drive the first transmission mechanism (211) to move; the first transmission mechanism (211) is in transmission connection with the protrusion (222).

4. The wall adsorption device according to claim 3, characterized in that: The control module (210) comprises a second transmission mechanism (213), the second transmission mechanism (213) having a groove, the shape of the groove matching the shape of the protrusion (222), at least a portion of the protrusion (222) being accommodated in the groove and fixedly connected to the second transmission mechanism (213), and the first transmission mechanism (211) being transmission-connected to the protrusion (222) via the second transmission mechanism (213).

5. The wall adsorption device according to claim 2, characterized in that: The adsorption module (220) comprises a suction cup and a ventilation channel, and the suction cup is arranged on a side of the adsorption module (220) facing the wall; The control module (210) comprises a vacuum pump, which is connected to the suction cup via the ventilation channel and is used to extract air from the interior of the suction cup.

6. The wall adsorption device according to any one of claims 1 to 5, characterized in that: The push rod assembly (30) includes a first movable part (301), a second movable part (302) and a first elastic part (303), wherein the first elastic part (303) is connected to the first movable part (301) at one end facing the adsorption assembly (20) in the first direction (Z), and is connected to the second movable part (302) at one end facing away from the adsorption assembly (20) in the first direction (Z).

7. The wall adsorption device according to any one of claims 1 to 5, characterized in that: The push rod assembly (30) comprises a connecting portion (310), wherein a side of the connecting portion (310) facing the adsorption assembly (20) along the first direction (Z) is connected to the adsorption assembly (20), and a side of the connecting portion (310) facing away from the adsorption assembly (20) along the first direction (Z) is connected to the transport mechanism (10).

8. The wall adsorption device according to claim 7, characterized in that: The push rod assembly (30) includes a second elastic portion (320), and the second elastic portion (320) is arranged in at least a portion of the surrounding area of ​​the connecting portion (310). When the connecting portion (310) is connected to the adsorption assembly (20), the second elastic portion (320) is in a compressed state.

9. The wall adsorption device according to any one of claims 1 to 8, characterized in that: The wall adsorption device comprises: a bracket (40), the bracket (40) being connected to the carrier mechanism (10) and being arranged on a side of the adsorption assembly (20) away from the wall surface along the first direction (Z), and the push rod assembly (30) being connected to the carrier mechanism (10) via the bracket (40); A support plate (41), the support plate (41) is connected to the transport mechanism (10), and is arranged on a side of the adsorption component (20) facing the ground along the gravity direction, and the adsorption component (20) is supported on the support plate (41).

10. A wall working device, characterized in that: include: The wall adsorption device according to any one of claims 1 to 9, wherein the adsorption component (20) is adsorbed on the wall surface; An operating component, the operating component is carried on the adsorption component (20) and is used to operate on the wall surface.

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