A negative pressure adsorption wall-climbing robot

Abstract

The utility model belongs to wall -climbing robot technical field especially relates to a kind of negative pressure adsorption wall -climbing robot, including robot body;Culvert component, it is set in robot body, the air inlet of culvert component is opened at the bottom end of robot body, the air outlet of culvert component is opened at the top end of robot body and towards the tail end of robot body;Turbulence component, it is fixedly set at the bottom end of robot body around;Filtering component, it is fixedly set at the bottom end of robot body, and filtering component cover is set in the air inlet of culvert component.The utility model can improve the stability in the process that robot climbs wall.

Description

Technical Field

[0001] This utility model belongs to the field of wall-climbing robot technology, and in particular relates to a negative pressure adsorption wall-climbing robot. Background Technology

[0002] Negative pressure adsorption wall-climbing robots are intelligent devices that utilize atmospheric pressure differences to achieve stable movement on vertical or inclined surfaces. Their development stems from the need for safe and efficient alternatives to manual labor in scenarios such as construction and industrial facility inspection. Traditional methods, such as scaffolding or suspended platforms, suffer from high costs and poor flexibility, while technologies like magnetic adsorption and chemical adhesion are limited by material availability or pollution risks. The miniaturization of vacuum pumps in the 1980s spurred breakthroughs in negative pressure adsorption technology. By creating a low-pressure zone within a sealed cavity using a fan or vacuum pump, combined with flexible sealing materials to adapt to non-magnetic surfaces such as glass and concrete, this became the mainstream solution.

[0003] Traditional robots rely heavily on centrifugal fans operating at full load to maintain adsorption, resulting in high energy consumption, noise levels, and short lifespan. Especially when the wall surface is tilted or its roughness varies, the fan lacks dynamic adjustment capabilities and cannot optimize air pressure according to actual working conditions, leading to energy waste. Furthermore, existing sealing structures are poorly adaptable to complex wall surfaces, and localized leaks can easily cause adsorption failure. Although some technologies attempt to use flexible materials to improve adhesion, they rely on complex mechanical adjustment devices, increasing system complexity and maintenance costs.

[0004] Therefore, a negative pressure adsorption wall-climbing robot needs to be designed to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a negative pressure adsorption wall-climbing robot to solve the above problems and improve the stability of the robot during wall climbing.

[0006] To achieve the above objectives, this utility model provides the following solution: a negative pressure adsorption wall-climbing robot, comprising...

[0007] The robot itself;

[0008] A ducted assembly is disposed within the robot body. The air inlet of the ducted assembly is located at the bottom end of the robot body, and the air outlet of the ducted assembly is located at the top end of the robot body and faces the tail end of the robot body.

[0009] A flow-disrupting component is fixedly installed around the bottom of the robot body.

[0010] The filter assembly is fixedly installed at the bottom of the robot body.

[0011] According to this utility model, a negative pressure adsorption wall-climbing robot is provided, wherein a chassis is fixedly connected to the bottom of the robot body, the chassis is rectangular, and wheels are respectively provided at the two long sides of the chassis.

[0012] According to this utility model, a negative pressure adsorption wall-climbing robot is provided. The duct component includes an inclined tube. One end of the inclined tube is fixedly connected to the chassis. The inclined tube is inclined and the other end faces the tail end of the robot body. A duct fan is provided at the other end of the inclined tube. The air outlet of the duct fan is located at the top of the robot body and faces the tail end of the robot body.

[0013] According to this utility model, a negative pressure adsorption wall-climbing robot is provided. The ducted fan includes an outer shell support, which is fixedly connected to the end of the inclined tube. A ducted motor is fixedly connected to the end of the outer shell support away from the inclined tube. The output shaft of the ducted motor faces the inclined tube and is fixedly connected to several ducted propellers.

[0014] According to this utility model, a negative pressure adsorption wall-climbing robot is provided, wherein the turbulence component includes a skirt, which is adapted to the chassis and fixedly connected to the bottom of the chassis around the perimeter.

[0015] According to this utility model, a negative pressure adsorption wall-climbing robot is provided, wherein the filter component includes an isolation net, which is fixedly connected to the bottom of the chassis.

[0016] According to this utility model, a negative pressure adsorption wall-climbing robot is provided with an air inlet on the chassis, the air inlet of the duct component corresponds to the air inlet, and the isolation net is installed on the air inlet.

[0017] According to this utility model, a negative pressure adsorption wall-climbing robot is provided at the tail end of the robot body, and a speed controller and a power interface are provided on the speed controller.

[0018] Compared with the prior art, the present invention has the following advantages and technical effects:

[0019] This utility model's wall-climbing robot has a wide range of applications, can move on walls of various materials, and is relatively lightweight. The airflow distribution can be optimized by the set turbulence component, and combined with the negative pressure formed by the inclined duct component, it can support the wall-climbing robot to move and turn stably on vertical and inverted surfaces. It can also safely cross gaps and obstacles on vertical surfaces. The set filter component can prevent particles such as gravel from entering the duct component, extending the robot's service life. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall design of this utility model;

[0022] Figure 2 This is a schematic diagram of the bottom of the present invention;

[0023] Figure 3 This is a schematic diagram of the duct component of this utility model;

[0024] Figure 4 This is an exploded view of the present invention;

[0025] Figure 5 This is a schematic diagram of the air outlet of the ducted fan of this utility model;

[0026] Figure 6 This is a schematic diagram of the air inlet of the ducted fan of this utility model;

[0027] Figure 7 This is a schematic diagram of the utility model in use.

[0028] The components include: 1. Robot body; 2. Ducted fan; 3. Speed ​​controller; 4. Knob; 5. Power interface; 6. Skirt; 7. Wheels; 8. Chassis; 9. Ducted motor; 10. Ducted propeller; 11. Inclined pipe; 12. Air inlet; and 13. Isolation net. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Reference Figures 1 to 7 As shown, this utility model provides a negative pressure adsorption wall-climbing robot, including...

[0032] Robot body 1;

[0033] The duct component is installed inside the robot body 1. The air inlet of the duct component is located at the bottom of the robot body 1, and the air outlet of the duct component is located at the top of the robot body 1 and faces the tail end of the robot body 1.

[0034] A flow-disrupting component is fixedly installed around the bottom of the robot body 1.

[0035] The filter assembly is fixedly installed at the bottom of the robot body 1.

[0036] The robot body 1 has a streamlined shape.

[0037] The robot body 1 also includes a control system, the circuitry of which is located inside the robot body 1.

[0038] Furthermore, a chassis 8 is fixedly connected to the bottom of the robot body 1. The chassis 8 is rectangular, and wheels 7 are respectively provided at the two long sides of the chassis 8.

[0039] Furthermore, the duct assembly includes an inclined tube 11, one end of which is fixedly connected to the chassis 8. The inclined tube 11 is inclined and the other end faces the tail end of the robot body 1. The other end of the inclined tube 11 is provided with a duct fan 2. The air outlet of the duct fan 2 is located at the top of the robot body 1 and faces the tail end of the robot body 1.

[0040] Furthermore, the ducted fan 2 includes a housing support, which is fixedly connected to the end of the inclined tube 11. A ducted motor 9 is fixedly connected to the end of the housing support away from the inclined tube 11. The output shaft of the ducted motor 9 faces the inclined tube 11 and is fixedly connected to several ducted propellers 10.

[0041] Furthermore, the spoiler assembly includes a skirt 6, which is adapted to and fixedly connected to the bottom perimeter of the chassis 8.

[0042] Furthermore, the filter assembly includes a barrier mesh 13, which is fixedly connected to the bottom of the chassis 8.

[0043] Furthermore, an air inlet 12 is provided on the chassis 8, and the air inlet of the duct assembly corresponds to the air inlet 12. An isolation net 13 is placed over the air inlet 12.

[0044] Furthermore, the robot body 1 is equipped with a speed controller 3 and a power interface 5 at its tail end, and the speed controller 3 is equipped with a knob 4.

[0045] The speed controller 3 is connected to the ducted fan 2 and is used to control the speed of the ducted fan 2, thereby adjusting the negative pressure.

[0046] The suction force of this wall-climbing robot is formed by the thrust of the ducted fan 2 and the negative pressure generated by the rapid flow of air under the chassis 8. Under ideal conditions, the suction force is evenly distributed on the robot's chassis 8, and the resultant force after superposition with gravity is obliquely downward. Gravity also generates a torque with the robot's rear wheel as the fulcrum. Therefore, when the robot rotates, the front wheel tends to detach from the wall, resulting in less force on the front wheel and excessive force on the rear wheel. This would place higher demands on the power. If the front wheel experiences less force, the excess power is difficult to utilize, which restricts the robot's climbing and control. In the design, the inclined pipe 11 is installed on the chassis 8, and the duct fan 2 is installed on the inclined pipe 11, so as to achieve the effect of the duct fan 2 being placed at an angle. When the wall-climbing robot is on the vertical surface, this installation can make the air outlet face downward, thereby generating an upward thrust. This thrust can be decomposed into a force opposite to the direction of gravity and a normal force perpendicular to the wall. Of course, the normal force will be smaller compared with the vertically arranged duct fan 2. After the inclined installation, the balance of the internal forces of the system remains unchanged, but the force distribution is more uniform than that of the vertically arranged duct fan 2, which can improve the mobility of the wall-climbing robot.

[0047] Because the concentrated thrust of the ducted fan 2 can deform the base plate of the wall-climbing robot, this invention narrows the span of the wheels 7 to reduce deformation, making the chassis 8 rectangular. However, this results in uneven airflow distribution under the robot chassis 8, with airflow being drawn in from all sides below the chassis 8, preventing the ducted fan 2 from functioning optimally. Furthermore, while considering airflow distribution, the robot's ability to navigate uneven walls must also be taken into account. Therefore, this invention uses soft sponge attached to the edges of the chassis 8, forming a skirt 6 around the chassis 8. The sponge should not be too thick, leaving gaps between it and the wall to block some airflow, thereby improving the airflow distribution under the robot. Testing has shown that this increases negative pressure, making the robot's adhesion more stable. Moreover, due to the sponge's high flexibility, deformation of the sponge does not affect the robot when moving on rough walls.

[0048] During the wall-climbing robot's movement, due to the very rapid airflow beneath the chassis 8, small particles such as gravel on the wall can be sucked into the ducted fan 2, potentially damaging the ducted propeller 10 and ducted motor 9 inside the fan 2. Therefore, this invention installs a fine mesh 13 at the air inlet 12 of the chassis 8 to prevent gravel and other particles from entering the ducted fan 2, thus extending the robot's service life.

[0049] The working process of this utility model is as follows:

[0050] First, attach a safety rope to the robot. Secure one end of the rope to the wall, and pass the other end through the tether hole at the front of the robot. One person holds the safety rope, passing it through the tether hole, and retracts or extends it as the robot moves to ensure safety during engineering applications, especially outdoors. Connect the power cord to a power outlet, and connect the other end to the robot's power interface 5. Turn on the remote control. Then, mount the robot on the wall. There are two methods: one is to lift the robot and press it against the wall, rotating knob 4 clockwise. The speed of the ducted fan 2 will gradually increase, and the speed controller 3 will display the speed in real time. Stop rotating knob 4 and release when the robot is stably attached. The other method is to place the robot on the ground, rotate knob 4, and the ducted fan 2 will stop rotating when it reaches a certain speed. Use the remote control to control the robot to move forward. The robot can pass corners and continue moving along the wall. Once the robot is mounted on the wall, you can use the remote control to control its direction of travel, including forward / backward straight movement and left / right turns. When you stop using the robot, first press down on the robot on the vertical surface with both hands, or use the remote control to return the robot to the ground. Turn the knob 4 counterclockwise to turn off the duct fan 2, unplug the power cord, turn off the power interface 5, and then remove the wall-climbing robot from the safety rope.

[0051] Figure 7 This is a diagram of the robot's movement from the elevation. A safety rope is in front of the robot, one end fixed to the wall, and the other end passed through the robot's lanyard hole and held in the hand. Behind the robot is the power cord. The ducted fan 2 is tilted, with the air outlet pointing downwards at an angle; gaps are left between the bottom perimeter skirt 6 and the wall.

[0052] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0053] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements to the technical solutions of the present utility model made by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope of the present utility model.

Claims

1. A negative pressure adsorption wall-climbing robot, characterized in that, include Robot body (1); A duct assembly is disposed inside the robot body (1). The air inlet of the duct assembly is located at the bottom end of the robot body (1), and the air outlet of the duct assembly is located at the top end of the robot body (1) and faces the tail end of the robot body (1). A flow-disrupting component is fixedly installed around the bottom of the robot body (1); The filter assembly is fixedly installed at the bottom end of the robot body (1); The bottom end of the robot body (1) is fixedly connected to a chassis (8). The chassis (8) is rectangular, and wheels (7) are respectively provided at the two long sides of the chassis (8). The aerodynamic component includes a skirt (6), which is adapted to and fixedly connected to the chassis (8) around the bottom of the chassis (8), and a gap is left between the skirt (6) and the wall.

2. The negative pressure adsorption wall-climbing robot according to claim 1, wherein, The duct assembly includes an inclined tube (11), one end of which is fixedly connected to the chassis (8). The inclined tube (11) is inclined and the other end faces the tail end of the robot body (1). A duct fan (2) is provided at the other end of the inclined tube (11). The air outlet of the duct fan (2) is located at the top of the robot body (1) and faces the tail end of the robot body (1).

3. The negative pressure adsorption wall-climbing robot according to claim 2, wherein, The ducted fan (2) includes an outer casing support, which is fixedly connected to the end of the inclined tube (11). A ducted motor (9) is fixedly connected to one end of the outer casing support away from the inclined tube (11). The output shaft of the ducted motor (9) faces the inclined tube (11) and is fixedly connected to several ducted propellers (10).

4. The negative pressure adsorption wall-climbing robot according to claim 1, characterized in that, The filter assembly includes an isolation mesh (13), which is fixedly connected to the bottom of the chassis (8).

5. A negative pressure adsorption wall-climbing robot according to claim 4, characterized in that, An air inlet (12) is provided on the chassis (8), the air inlet of the duct assembly corresponds to the air inlet (12), and the isolation net (13) is covered on the air inlet (12).

6. The negative pressure adsorption wall-climbing robot according to claim 1, characterized in that, The robot body (1) is equipped with a speed controller (3) and a power interface (5) at its tail end, and a knob (4) is provided on the speed controller (3).

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