Automated adsorption inversion walking mechanism and method

Abstract

The application discloses an adsorption overturning walking mechanism and method, two symmetrical regular triangle adsorption overturning walking mechanisms are installed on the two sides of a scrubbing mechanism, the regular triangle adsorption overturning walking mechanism comprises a suction disc one, a suction disc two, a suction disc three, a walking motor and a vacuum pump, the back surfaces of the suction disc one, the suction disc two and the suction disc three are vertically fixedly connected to connecting plates one, two and three respectively, the connecting plates one, two and three are connected to a rack plate through rotating shafts, the three rotating shafts are arranged in a regular triangle butt joint mode, the connecting plate three is connected to the walking motor through an incomplete tooth and a complete tooth gear transmission mechanism, a motor shaft of the walking motor is provided with a notch wheel driving mechanism for driving the connecting plates one, two and three to overturn, the vacuum pump is connected to the suction disc one, the suction disc two and the suction disc three through electric valves and pipelines respectively, and the vacuum pump is installed on the connecting plate three. The adsorption overturning mechanism is stable and reliable in walking, overturning and walking are rapid, and the obstacle crossing ability is greatly improved.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel reflective ring cleaning robots, and relates to an automatic adsorption, flipping and walking mechanism and method. Background Technology

[0002] Highway tunnel reflectors are ring-shaped devices that serve as warnings during vehicle traffic. Their reflective principle relies on glass microspheres in the reflective coating, causing light refraction and diffraction, thus alerting drivers to the tunnel walls. However, over time, dust and other dirt buildup reduces their reflectivity. Traditional cleaning methods for tunnel reflectors often involve closing half of the lane and using heavy-duty aerial ladder trucks combined with manual labor, which is time-consuming and labor-intensive. Existing tunnel reflector cleaning equipment primarily uses clamping mechanisms, which are slow, bulky, and prone to slipping due to the complex back surfaces of existing reflectors, failing to meet the requirements for intelligent tunnel reflector cleaning. As of December 28, 2018, China's total highway mileage reached 140,000 kilometers, ranking first globally. This has led to a surge in the number of tunnel reflectors, creating a significant cleaning challenge. Existing cleaning methods cannot adequately address this issue, creating an urgent need for a reliable tunnel reflector cleaning device. When using automated cleaning robots, existing robot locomotion mechanisms cannot overcome obstacles. Although adsorption-based cleaning robots are widely used for cleaning glass curtain walls, and their technology is mature, safe, and reliable, applying adsorption technology to cleaning tunnel reflectors avoids the study of the complex working conditions on the back of tunnel reflectors. However, the adsorption method of robots for cleaning glass curtain walls has difficulties in moving and has poor obstacle-crossing ability. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic adsorption, flipping and walking mechanism and method to solve the technical problems existing in the prior art.

[0004] The technical solution adopted in this invention is as follows: an automatic adsorption and flipping walking mechanism. The adsorption and flipping walking mechanism consists of two equilateral triangular adsorption and flipping walking mechanisms symmetrically installed on both sides of the scrubbing mechanism. The equilateral triangular adsorption and flipping walking mechanism includes a suction cup 1, a suction cup 2, a suction cup 3, a walking motor, and a vacuum pump. The backs of suction cup 1, suction cup 2, and suction cup 3 are respectively vertically fixed to connecting plate 1, connecting plate 2, and connecting plate 3. Connecting plate 1, connecting plate 2, and connecting plate 3 are all connected to the frame plate through a rotating shaft, and the three rotating shafts are arranged in an equilateral triangular arrangement. Connecting plate 3 is connected to the walking motor through an incomplete gear and a complete gear transmission mechanism. The motor shaft of the walking motor is equipped with a grooved wheel drive mechanism to drive connecting plate 1, connecting plate 2, and connecting plate 3 to flip. The vacuum pump is connected to suction cup 1, suction cup 2, and suction cup 3 through electric valves and pipes respectively, and the vacuum pump is installed on connecting plate 3.

[0005] Preferably, the aforementioned incomplete and complete gear transmission mechanism includes three rotating shafts extending from the frame plate and respectively connecting to three driven incomplete gears. The three driven incomplete gears are respectively meshed with three driving incomplete gears. The three driving incomplete gears are respectively rotatably connected to the three gear shafts. The three gear shafts are fixedly connected to the frame plate and arranged in a triangular pattern. The three gear shafts are respectively rotatably connected to the three driven gears. The three driven gears are respectively fixedly connected to the corresponding three driving incomplete gears. All three driven gears mesh with the driving gears. The driving gears are fixedly connected to the motor shaft of the travel motor, and the motor shaft is rotatably connected to the frame plate.

[0006] Preferably, the aforementioned grooved wheel drive mechanism includes a V-shaped double shift fork fixedly connected to the motor shaft of the travel motor. The double shift fork is embedded in the travel motor and fixedly connected to two mating shift grooves. The two mating shift grooves are respectively provided on connecting plate one and connecting plate three and connecting plate two and connecting plate three. The rotation of the motor can cause the connecting plate to rotate. The ends of connecting plate one, connecting plate two and connecting plate three are all provided with two V-shaped shift grooves.

[0007] Preferably, the three rotating shafts connecting suction cup one, suction cup two, and suction cup three are hinged to the frame fixing plate on the opposite side, the tail end of the walking motor is fixedly connected to the fixing plate, and the fixing plate is connected to the suspension point of the wiping mechanism.

[0008] Preferably, the battery box and the controller are fixedly connected to the connecting plate one and the connecting plate two.

[0009] Preferably, the inner side length of the suction cup cavity of suction cup one, suction cup two and suction cup three is set to 136mm in length and 68mm in width.

[0010] The control method for the automatic adsorption and flipping walking mechanism is as follows: The automatic adsorption and flipping walking mechanism is placed at the bottom of the tunnel reflector, and adsorbed onto the tunnel reflector at this position. Clamping mechanisms are located at both ends of the tunnel reflector. The equipment is then started. Under the action of the motor, the incomplete gear mechanism (composed of incomplete gears) and the dial mechanism (composed of a fork and a dial groove) are driven to flip. The suction cups reach a vacuum degree of -53KPa under the action of a vacuum pump. Taking the coefficient of dynamic friction as f=0.1, and considering extreme cases where the intelligent flipping cleaning robot of this invention can be vertically adsorbed onto the tunnel reflector, calculations show that the two suction cups can adsorb a vertical force of 98N, which can suspend the robot, weighing approximately 5kg, on the tunnel reflector. The robot moves forward using a flipping + adsorption method. For linear movement: the suction cups at the rear workstations on both sides need to first generate a stable vacuum of -53KPa to attach the robot to the tunnel reflector. Then, the suction cup at the front workstation is degassed by the vacuum pump controlled by the controller. After that, the controller controls the motor to rotate the suction cups at the rear workstations on both sides 120 degrees to the reset position. At this time, the suction cup at the next workstation of the two suction cups on both sides rotates 60 degrees under the action of the Geneva wheel mechanism and moves from the middle workstation to the working workstation. The suction cup at the original front workstation rotates 60 degrees under the action of the Geneva wheel mechanism and moves from the reset position to the middle workstation. Following the above steps, the robot flips and moves forward on the tunnel reflector. For turning: the speed of the motors on both sides of the robot is controlled to be different, so that the speed of the inner motor is less than that of the outer motor. Under the action of the suspension mechanism, the turning effect is achieved.

[0011] The beneficial effects of this invention are as follows: Compared with the prior art, the adsorption-flipping walking mechanism of this invention provides stable and reliable walking. Like a walking wheel, it moves quickly on the reflector, and its flipping movement greatly improves obstacle-crossing ability. It also avoids the need to consider the complex structure behind the reflector. The incomplete and complete gear mechanisms perform the main motion, while the grooved wheel mechanism performs the reset motion. During the flipping motion, one grooved wheel's suction cup is always in contact with the tunnel reflector. During the flipping process, the intelligent robot performs a 360-degree revolution, and the grooved wheel performs a 120-degree reciprocating swing. After the next grooved wheel is in contact with the reflector for a period of time, the previous grooved wheel performs a reset motion, achieving the overall reciprocating rolling motion of the mechanism. Simultaneously, the adsorption part also works. The next grooved wheel is in contact with the reflector for a period of time for adsorption. After adsorption is complete, the previous grooved wheel stops adsorption and resets. The adsorption part uses a vacuum pump device, which generates negative pressure on each grooved wheel through air pipes, thereby adsorbing the mechanism onto the tunnel reflector. The adsorption capacity of the wheel is controlled by controlling the negative pressure value of the adsorption chamber of each grooved wheel. Attached Figure Description

[0012] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0013] Figure 2This is a side view of the structure of the present invention;

[0014] Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure of the middle AA section;

[0015] Figure 4 This is a top view of the structure of the present invention;

[0016] Figure 5 This is a bottom-view structural diagram of the present invention;

[0017] Figure 6 This is a schematic diagram of the front structure of the present invention;

[0018] Figure 7 This is a three-dimensional structural diagram of the scrubbing mechanism;

[0019] Figure 8 This is a side view of the scrubbing mechanism.

[0020] Figure 9 A schematic diagram of a single-sided three-dimensional structure of the adsorption flipping and walking mechanism;

[0021] Figure 10 A three-dimensional structural diagram of the adsorption flipping and walking mechanism from another perspective on one side;

[0022] Figure 11 A schematic diagram of the side structure of the adsorption flipping and walking mechanism;

[0023] Figure 12 This is a rear view schematic diagram of the adsorption-flipping and walking mechanism;

[0024] Figure 13 for Figure 11 Schematic diagram of the cross-sectional structure of AA. Detailed Implementation

[0025] The present invention will be further described below with reference to specific embodiments.

[0026] Example 1: As Figure 1-13As shown, the automatic adsorption and flipping walking mechanism 2 consists of two equilateral triangular adsorption and flipping walking mechanisms symmetrically installed on both sides of the scrubbing mechanism 1. Each equilateral triangular adsorption and flipping walking mechanism includes a suction cup 1 201, a suction cup 202, a suction cup 3 203, a walking motor 204, and a vacuum pump 205. The backs of suction cups 1 201, 202, and 3 203 are vertically fixed to connecting plates 1 206, 207, and 3 208, respectively. Connecting plates 1 206, 207, and 3 208 are all connected to the frame plate 209 via a rotating shaft 210, with the three rotating shafts 210 arranged in an equilateral triangular arrangement. Connecting plate 3 208 is connected to the frame plate 209 via incomplete teeth. The fully geared transmission mechanism is connected to the walking motor 204. The motor shaft of the walking motor 204 is equipped with a grooved wheel drive mechanism to drive the connecting plate 1 206, connecting plate 207 and connecting plate 3 208 to rotate. The vacuum pump 205 is connected to suction cup 1 201, suction cup 202 and suction cup 3 203 respectively through electric valves and pipes. The vacuum pump 205 is installed on the connecting plate 3 208. Each suction cup is equipped with a corresponding electric air inlet valve and exhaust valve for easy independent control. This adsorption and rotation mechanism moves smoothly and reliably. The incomplete gear and fully geared gear mechanisms perform the main motion, and the grooved wheel mechanism performs the reset motion. During the rotation motion of this mechanism, there is always a grooved wheel suction cup in contact with the tunnel reflector. During the flipping process, the intelligent robot performs a 360-degree revolution, while the slotted wheel oscillates 120 degrees back and forth. After the rear slotted wheel is attached to the reflector for a period of time, the front slotted wheel resets, enabling the entire mechanism to roll back and forth. Simultaneously with the flipping motion, the adsorption mechanism also operates. The rear slotted wheel is attached to the reflector for a period of time for adsorption. After adsorption is complete, the front slotted wheel stops adsorption and resets. The adsorption mechanism uses a vacuum pump device to generate negative pressure on each slotted wheel through air pipes, thereby adsorbing the mechanism onto the tunnel reflector. The adsorption capacity of the wheel is controlled by controlling the negative pressure value of the adsorption chamber of each slotted wheel.

[0027] Furthermore, the aforementioned incomplete and complete gear transmission mechanism includes three rotating shafts 210 extending from the frame plate 209 and respectively connecting to three driven incomplete gears 211. Each of the three driven incomplete gears 211 meshes with a driving incomplete gear 212. The three driving incomplete gears 212 are rotatably connected to three gear shafts 213. The three gear shafts 213 are fixedly connected to the frame plate 209 and arranged in a triangular pattern. Each of the three gear shafts 213 is rotatably connected to three driven gears 214. The three driven gears 214... Each of the three pairs of incomplete gears 212 is fixedly connected to a corresponding driving gear 212. The three driven gears 214 mesh with the driving gear 215, which is fixedly connected to the motor shaft of the walking motor 204. This motor shaft is rotatably connected to the frame plate 209. The arrangement and number of teeth of the three pairs of incomplete gears must meet the conditions for rotation. A combination of three pairs of incomplete gear transmission and three pairs of gear transmission (driven by one drive gear) is used, ensuring stable and reliable transmission. The single motor transmission results in a compact structure, and the combination with the actuating mechanism enables precise rotation of the suction cup. 1. The incomplete gear on the dial has 8 teeth, occupying 120 degrees of the original gear. The intermediate incomplete gear works similarly, but one tooth is treated with a cutting edge. 2. The intermediate cylindrical gear and the incomplete gear are staggered, meaning each tooth is 360 / 24 / 2 = 7.5 degrees apart. 3. Initially, the three intermediate incomplete gear-gear mechanisms are configured 120 degrees apart. The left rear intermediate incomplete gear mechanism just contacts the left rear suction cup incomplete gear. At this point, the intermediate gear can mesh with the dial gear, and the axes of the suction cup gear, the intermediate incomplete gear, and the dial gear are all collinear. Rotating the intermediate incomplete gear mechanism counterclockwise by 120 degrees gives the initial position of the next incomplete gear mechanism, and rotating it another 120 degrees gives the initial position of the last incomplete gear mechanism. At this point, the axes of the suction cup gear, the intermediate incomplete gear, and the dial gear are all collinear.

[0028] Furthermore, the aforementioned wheel drive mechanism includes a V-shaped double shift fork 216 fixedly connected to the motor shaft of the travel motor 207. The double shift fork 216 is embedded in the travel motor 204 and fixedly connected to two mating shift grooves 217. The two mating shift grooves 217 are respectively provided on the connecting plate 1 206 and connecting plate 3 208 and connecting plate 2 207 and connecting plate 3 208. The rotation of the motor can cause the connecting plates to rotate. The ports of connecting plate 1 206, connecting plate 207 and connecting plate 3 208 are all provided with two V-shaped shift grooves 217.

[0029] The three rotating shafts 210 connected by the suction cup 1 201, suction cup 202 and suction cup 3 203 are hinged to the frame fixing plate 218 on the opposite side. The tail end of the walking motor 207 is fixedly connected to the fixing plate 218. The fixing plate 218 is connected to the suspension point of the wiping mechanism 1.

[0030] The battery box 219 and the controller are fixedly connected to the connecting plate 206 and the connecting plate 207 mentioned above.

[0031] The inner side length of the suction cup cavity of suction cup 1 201, suction cup 2 202 and suction cup 3 203 is set to 136mm in length and 68mm in width.

[0032] The following work stations are in an adsorption state, the middle work station is located at the top, and the work station to be reset is in a non-adsorption state symmetrical to the work station.

[0033] Flipping principle: Figure 10-11 The adsorption and flipping walking mechanism rotates clockwise. At this time, the position of suction cup 202 is defined as the position to be reset, the position of suction cup 303 is the middle position, and the position of suction cup 101 is the working position. To make the adsorption and flipping walking mechanism rotate clockwise, the motor shaft of the walking motor 204 rotates counterclockwise, driving the double shift fork 216 to rotate counterclockwise. The double shift fork 216 and the shift groove 217 form a grooved wheel mechanism. At this time, suction cups 202 and 303 are driven to rotate clockwise; at the same time, the driving gear 215 is driven to rotate counterclockwise. The driving gear 215 drives the driven gear 214 to rotate clockwise. The driven gear 214 drives the incomplete driving gear 212 to rotate counterclockwise, which in turn drives the incomplete driven gear 211 to rotate counterclockwise. Since the incomplete driven gear 211 and suction cup 202 are fixed together, and the three incomplete gears are evenly distributed in their operation, only suction cup 202 is driven to rotate counterclockwise at this time. After the output shaft of the walking motor 204 rotates 120 degrees counterclockwise, the entire device rotates 120 degrees. Suction cup 202 moves to the middle position, suction cup 303 moves to the working position, and suction cup 101 moves to the position to be reset. By repeating the aforementioned steps, suction cup 1 201, suction cup 3 203, and suction cup 2 202 can be in a continuous suction state, thereby enabling the entire device to flip and move forward.

[0034] Example 2: Figure 1-13 As shown, a tunnel reflective ring cleaning robot includes a wiping mechanism 1 and an adsorption flipping walking mechanism 2. The wiping mechanism 1 is mounted on the adsorption flipping walking mechanism 2, which is used to flip and walk on the reflective ring.

[0035] The tunnel reflective ring cleaning robot overcomes the contradiction between adsorption and movement in the original adsorption-type scrubbing robot, thus improving the safety and reliability of the scrubbing robot. It transforms the original manual closed tunnel cleaning mode into an automated robotic cleaning mode, greatly improving work efficiency and road conditions. The tumbling design significantly enhances the obstacle-crossing ability of the adsorption cleaning device, and the tumbling adsorption structure for movement further improves the obstacle-crossing ability of the adsorption and tumbling walking mechanism.

[0036] For operators, the invention frees them from arduous labor, requiring only emergency remote control operation and placement of the robot at the bottom of the tunnel reflectors; for highway authorities, the invention makes cleaning tunnel reflectors more efficient, eliminating the need for manual cleaning by closing one side of the tunnel, thus increasing highway commuting capacity.

[0037] The wiping mechanism 1 includes a cleaning plate 101 and a connecting part 102. The cleaning plate 101 consists of two pieces, which are symmetrically connected to both sides of the connecting part 102 by a connecting rod 103. The connecting part 102 is connected to the adsorption flipping walking mechanism 2. The cleaning plate 101 is equipped with a cleaning component for cleaning, which cleans both sides for a more thorough cleaning.

[0038] An anti-detachment clamping mechanism is installed on both sides of the aforementioned cleaning plate 101 in the direction of travel. The anti-detachment clamping mechanism includes a pressure plate 104, a locking motor 105, and a base 106. The base 106 is fixedly connected to the end of the cleaning plate 101. One end of the pressure plate 104 is movably sleeved on the bolt 107, and the other end extends into the range of the cleaning plate 101. The bolt 107 is connected to the base 106. The motor shaft of the locking motor 105 is set with a threaded part. The motor shaft is screwed to the pressure plate 104. The locking motor 105 is fixedly connected to the base 106. Through the external clamping mechanism, when the intelligent robot has insufficient adsorption force, it can immediately clamp the tunnel reflector to prevent it from falling. Moreover, it can also play a preliminary limiting role during the movement.

[0039] The aforementioned connecting part 102 includes a suspension plate 108 and a suspension screw 109. The suspension plate 108 is vertically fixed to the vertical connecting column at the end of the connecting rod 103. A vertical strip countersunk groove 110 is provided on the suspension plate 108. The suspension screw 109 moves through the strip countersunk groove 110 and is fixedly connected to the bottom of the suction cup 203 of the adsorption flipping walking mechanism 2.

[0040] The adsorption-tilting walking mechanism 2 consists of two equilateral triangular adsorption-tilting walking mechanisms symmetrically installed on both sides of the scrubbing mechanism 1. Each equilateral triangular adsorption-tilting walking mechanism includes a suction cup 1 201, a suction cup 202, a suction cup 3 203, a walking motor 204, and a vacuum pump 205. The backs of suction cups 1 201, 202, and 3 203 are vertically fixed to connecting plates 1 206, 207, and 3 208, respectively. Connecting plates 1 206, 207, and 3 208 are all connected to the frame plate 209 via a rotating shaft 210, with the three shafts 210 arranged in an equilateral triangular arrangement. Connecting plate 3 208 is connected to the frame plate 209 via incomplete teeth. The gear transmission mechanism is connected to the walking motor 204. The motor shaft of the walking motor 204 is equipped with a grooved wheel drive mechanism to drive the connecting plate 1 206, connecting plate 207 and connecting plate 3 208 to rotate. The vacuum pump 205 is connected to suction cup 1 201, suction cup 202 and suction cup 3 203 respectively through electric valves and pipes. The vacuum pump 205 is installed on the connecting plate 3 208. Each suction cup is equipped with a corresponding electric valve for easy independent control. This adsorption and rotation mechanism moves smoothly and reliably. The incomplete gear and complete gear mechanism perform the main motion, and the grooved wheel mechanism performs the reset motion. During the rotation motion of this mechanism, there is always a grooved wheel suction cup in contact with the tunnel reflector. During the flipping process, the intelligent robot performs a 360-degree revolution, while the slotted wheel oscillates 120 degrees back and forth. After the rear slotted wheel is attached to the reflector for a period of time, the front slotted wheel resets, enabling the entire mechanism to roll back and forth. Simultaneously with the flipping motion, the adsorption mechanism also operates. The rear slotted wheel is attached to the reflector for a period of time for adsorption. After adsorption is complete, the front slotted wheel stops adsorption and resets. The adsorption mechanism uses a vacuum pump device to generate negative pressure on each slotted wheel through air pipes, thereby adsorbing the mechanism onto the tunnel reflector. The adsorption capacity of the wheel is controlled by controlling the negative pressure value of the adsorption chamber of each slotted wheel.

[0041] Furthermore, the aforementioned incomplete and complete gear transmission mechanism includes three rotating shafts 210 extending from the frame plate 209 and respectively connecting to three driven incomplete gears 211. Each of the three driven incomplete gears 211 meshes with a driving incomplete gear 212. The three driving incomplete gears 212 are rotatably connected to three gear shafts 213. The three gear shafts 213 are fixedly connected to the frame plate 209 and arranged in a triangular pattern. Each of the three gear shafts 213 is rotatably connected to three driven gears 214. The three driven gears 214... Each of the three pairs of incomplete gears 212 is fixedly connected to a corresponding driving gear 212. The three driven gears 214 mesh with the driving gear 215, which is fixedly connected to the motor shaft of the walking motor 204. This motor shaft is rotatably connected to the frame plate 209. The arrangement and number of teeth of the three pairs of incomplete gears must meet the conditions for rotation. A combination of three pairs of incomplete gear transmission and three pairs of gear transmission (driven by one drive gear) is used, ensuring stable and reliable transmission. The single motor transmission results in a compact structure, and the combination with the actuating mechanism enables precise rotation of the suction cup. 1. The incomplete gear on the dial has 8 teeth, occupying 120 degrees of the original gear. The intermediate incomplete gear is the same, but one tooth is treated with a cutting tooth. 2. The intermediate cylindrical gear and the incomplete gear are staggered, that is, each tooth is 360 / 24 / 2=7.5 degrees apart. 3. Initial position: the three intermediate incomplete gear-gear mechanisms are configured 120 degrees apart. The left rear intermediate incomplete gear mechanism just contacts the left rear suction cup gear incomplete gear. At this time, the intermediate gear of the intermediate incomplete gear mechanism can mesh with the dial gear, and the axis of the suction cup gear, the pin hole of the intermediate incomplete gear, and the axis of the dial gear are just collinear. Rotate the intermediate incomplete gear mechanism counterclockwise by 120 degrees to get the initial position of the next incomplete gear mechanism, and rotate it another 120 degrees to get the initial position of the last incomplete gear mechanism. At this time, their suction cup gear axis, the pin hole of the intermediate incomplete gear, and the axis of the dial gear are just collinear.

[0042] Furthermore, the aforementioned wheel drive mechanism includes a V-shaped double shift fork 216 fixedly connected to the motor shaft of the travel motor 207. The double shift fork 216 is embedded in the travel motor 204 and fixedly connected to two mating shift grooves 217. The two mating shift grooves 217 are respectively provided on the connecting plate 1 206 and connecting plate 3 208 and connecting plate 2 207 and connecting plate 3 208. The rotation of the motor can cause the connecting plates to rotate. The ports of connecting plate 1 206, connecting plate 207 and connecting plate 3 208 are all provided with two V-shaped shift grooves 217.

[0043] The three rotating shafts 210 connected by the suction cup 1 201, suction cup 202 and suction cup 3 203 are hinged to the frame fixing plate 218 on the opposite side. The tail end of the walking motor 207 is fixedly connected to the fixing plate 218. The fixing plate 218 is connected to the suspension point of the wiping mechanism 1.

[0044] The battery box 219 and the controller are fixedly connected to the connecting plate 206 and the connecting plate 207 mentioned above.

[0045] The inner side length of the suction cup cavity of suction cup 1 201, suction cup 2 202 and suction cup 3 203 is set to 136mm in length and 68mm in width.

[0046] The specific working principle of this invention: Please refer to... Figure 9-13 ,

[0047] The following work stations are in an adsorption state, the middle work station is located at the top, and the work station to be reset is in a non-adsorption state symmetrical to the work station.

[0048] Flipping principle: Figure 10-11 The adsorption and flipping walking mechanism rotates clockwise. At this time, the position of suction cup 202 is defined as the position to be reset, the position of suction cup 303 is the middle position, and the position of suction cup 101 is the working position. To make the adsorption and flipping walking mechanism rotate clockwise, the motor shaft of the walking motor 204 rotates counterclockwise, driving the double shift fork 216 to rotate counterclockwise. The double shift fork 216 and the shift groove 217 form a grooved wheel mechanism. At this time, suction cups 202 and 303 are driven to rotate clockwise; at the same time, the driving gear 215 is driven to rotate counterclockwise. The driving gear 215 drives the driven gear 214 to rotate clockwise. The driven gear 214 drives the incomplete driving gear 212 to rotate counterclockwise, which in turn drives the incomplete driven gear 211 to rotate counterclockwise. Since the incomplete driven gear 211 and suction cup 202 are fixed together, and the three incomplete gears are evenly distributed in their operation, only suction cup 202 is driven to rotate counterclockwise at this time. After the output shaft of the walking motor 204 rotates 120 degrees counterclockwise, the entire device rotates 120 degrees. Suction cup 202 moves to the middle position, suction cup 303 moves to the working position, and suction cup 101 moves to the position to be reset. By repeating the aforementioned steps, suction cup 1 201, suction cup 3 203, and suction cup 2 202 can be in a continuous suction state, thereby enabling the entire device to flip and move forward.

[0049] Adsorption principle: The above adsorption and degassing process is controlled by a three-way electric valve connected to the vacuum pump. The three-way electric valve controls two stations: one where the vacuum pump connects to the suction cup, and the other where the suction cup connects to the outside world.

[0050] After the adsorption process is complete, the aforementioned flipping principle is used for flipping. As suction cup 202 rotates counter-clockwise, the height of the center position of the flipping mechanisms at both ends will change. Figure 7 The suspension components of the cleaning mechanism are adjusted, and the cleaning plate will clean the tunnel reflectors during the flipping and forward movement. After repeating the flipping process multiple times, the cleaning of the tunnel reflectors is completed.

[0051] Turning control: The speeds on both sides are different, which enables control of the curve.

[0052] Example 2: A cleaning method for a tunnel reflector cleaning robot. The method is as follows: The intelligent flipping cleaning robot is placed at the bottom of the tunnel reflector and is attached to the reflector at this position. The clamping mechanism is located at both ends of the reflector. Then, the equipment is started. Under the action of the motor, the incomplete gear mechanism composed of incomplete gears and the dial mechanism composed of forks and dialing grooves are flipped. The suction cups reach a vacuum degree of -53KPa under the action of the vacuum pump. The inner side length of each suction cup cavity is 136mm long and 68mm wide. The coefficient of dynamic friction is f=0.1. Considering the extreme case that the intelligent flipping cleaning robot of this invention can be vertically attached to the tunnel reflector, it can be calculated that the vertical force that the two suction cups can attach is 98N, which can suspend the invention weighing about 5kg on the tunnel reflector. The robot advances using a flipping and adsorption method, and works in conjunction with a wiping mechanism to wipe the surface as it moves. For straight-line movement: the suction cups at the rear workstations on both sides first generate a stable -53 kPa vacuum to adsorb the robot onto the tunnel reflector. Then, the suction cup at the front workstation is degassed by a vacuum pump controlled by the controller. The controller then controls the motors to rotate the rear suction cups on both sides 120 degrees to their reset positions. At this point, the next suction cup on each side rotates 60 degrees under the action of a wheel mechanism, moving from the middle workstation to the working position. The suction cup at the previous workstation rotates 60 degrees under the action of the wheel mechanism, moving from its reset position to the middle workstation. Following these steps, the robot flips and advances on the tunnel reflector. For turning: the speeds of the motors on both sides of the robot are controlled to be different, with the inner motor speed being lower than the outer motor speed. This, combined with the suspension mechanism, achieves the turning effect. During forward movement, the wiping plate of the wiping mechanism remains in contact with the tunnel reflector under the action of the clamping mechanism, performing wiping. When the robot encounters an emergency that causes insufficient adhesion and a tendency to fall, the clamping mechanism starts working under the action of the controller to clamp the tunnel reflector and prevent the robot from falling.

[0053] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of protection of the claims.

Claims

1. An automatic adsorption, flipping, and walking mechanism, characterized in that: The adsorption and flipping walking mechanism (2) adopts two equilateral triangular adsorption and flipping walking mechanisms symmetrically installed on both sides of the scrubbing mechanism (1). The equilateral triangular adsorption and flipping walking mechanism includes suction cup one (201), suction cup two (202), suction cup three (203), walking motor (204) and vacuum pump (205). The back of suction cup one (201), suction cup two (202) and suction cup three (203) are respectively vertically fixed to connecting plate one (206), connecting plate two (207) and connecting plate three (208). Connecting plate one (206), connecting plate two (207) and connecting plate three (208) are all connected to the frame plate (209) through a rotating shaft (210) and the three rotating shafts are connected to the frame plate (209). The shaft (210) is arranged in an equilateral triangle. The connecting plate three (208) is connected to the walking motor (204) through an incomplete and complete gear transmission mechanism. The motor shaft of the walking motor (204) is equipped with a grooved wheel drive mechanism to drive the connecting plate one (206), connecting plate two (207) and connecting plate three (208) to rotate. The vacuum pump (205) is connected to suction cup one (201), suction cup two (202) and suction cup three (203) respectively through electric valves and pipes. The vacuum pump (205) is installed on the connecting plate three (208). The incomplete and complete gear transmission mechanism includes three rotating shafts (210) extending out of the frame plate (209) and respectively connecting to three driven shafts. A complete gear (211) is formed, and three driven incomplete gears (211) mesh with three driving incomplete gears (212). The three driving incomplete gears (212) are rotatably connected to three gear shafts (213). The three gear shafts (213) are fixedly connected to the frame plate (209) and arranged in a triangular pattern. The three gear shafts (213) are rotatably connected to three driven gears (214). The three driven gears (214) are fixedly connected to the corresponding three driving incomplete gears (212). All three driven gears (214) mesh with the driving gear (215). The driving gear (215) is fixedly connected to the electric motor (204). The motor shaft is rotatably connected to the frame plate (209); the grooved wheel drive mechanism includes a V-shaped double shift fork (216) fixedly connected to the motor shaft of the walking motor (207). The double shift fork (216) is embedded in the walking motor (204) and fixedly connected to two mating shift grooves (217). The two mating shift grooves (217) are respectively set on the connecting plate one (206) and connecting plate three (208) and connecting plate two (207) and connecting plate three (208). The rotation of the motor can cause the connecting plate to rotate. The ports of the connecting plate one (206), connecting plate two (207) and connecting plate three (208) are all provided with two V-shaped shift grooves (217).

2. The automatic adsorption, flipping, and walking mechanism according to claim 1, characterized in that: The three rotating shafts (210) connecting suction cup one (201), suction cup two (202) and suction cup three (203) are hinged to the frame fixing plate (218) on the other side. The tail end of the walking motor (207) is fixedly connected to the fixing plate (218). The fixing plate (218) is connected to the suspension point of the wiping mechanism (1).

3. The automatic adsorption, flipping, and walking mechanism according to claim 1, characterized in that: Connecting plate one (206) and connecting plate two (207) are fixedly connected to the battery box (219) and the controller.

4. The control method for the automatic adsorption, flipping, and walking mechanism according to any one of claims 1-3, characterized in that: The method is as follows: The intelligent tilting cleaning robot is placed at the bottom of the tunnel reflector, and then adsorbed onto the reflector at that position. Clamping mechanisms are located at both ends of the reflector. The equipment is then started. Under the action of the motor, the incomplete gear mechanism (composed of incomplete gears) and the dial mechanism (composed of a fork and a dial groove) are tilted. The suction cups reach a set vacuum level under the action of the vacuum pump. The robot moves forward using a tilting + adsorption method. For linear movement: the suction cups at the rear positions on both sides must first stably generate a set vacuum level to adsorb the robot onto the tunnel reflector before the suction cups at the front positions are controlled. The device controls a vacuum pump to release air, then the controller controls the motor to rotate the next suction cup on each side 120 degrees to the reset position. At this time, the next suction cup on each side rotates 60 degrees under the action of the Geneva wheel mechanism and moves from the middle position to the working position. The suction cup at the previous position rotates 60 degrees under the action of the Geneva wheel mechanism and moves from the reset position to the middle position. Following the above steps, the robot flips and moves forward on the tunnel reflector. When turning, the robot controls the speed of the motors on both sides to be different, so that the speed of the inner motor is less than that of the outer motor. Under the action of the suspension mechanism, the turning effect is achieved.

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