An automatic variable-gap wall-climbing adsorption operation robot and working method

Abstract

The present invention belongs to the technical field of robots, and relates to an automatic variable-gap wall-climbing adsorption operation robot and a working method, including: a main body; a plurality of moving components arranged at the bottom of the main body; a plurality of adsorption components arranged on the main body; an adsorption disc arranged below the adsorption components, and a cavity flow channel is formed between the lower surface of the adsorption disc and the wall surface; a plurality of gap adjustment components arranged inside the main body and connected to the upper surface of the adsorption disc, and the gap adjustment components drive the adsorption disc to move up and down to adjust the numerical value of the gap distance between the adsorption disc and the wall surface. It can realize the function of adjusting the chassis spacing parameters during the wall-climbing adsorption movement of the robot. It can not only be applied to robots such as magnetic adsorption and negative pressure adsorption, but also be borrowed to other robot fields sensitive to the gap height parameters, which is beneficial to improving the adsorption efficiency and obstacle-crossing performance of the robot, while saving the body space and being beneficial to the miniaturization, low cost and easy operation of the wall-climbing adsorption operation robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to an automatic variable-gap wall-climbing adsorption operation robot and a working method thereof. Background Art

[0002] A wall climbing robot is an automated robot that can climb on a vertical wall and complete operations. The robot automatically attaches and crawls on the surface of various equipment platforms, efficiently completing tasks such as reconnaissance, maintenance, welding, repair, surface sandblasting, grinding, and cleaning of the structure surface, liberating humans from harsh and dangerous environments, and having high economic and social benefits.

[0003] Wall climbing robots can be classified into four types according to the principle of the adsorption mechanism: vacuum adsorption, magnetic adsorption, thrust adsorption, and negative pressure adsorption. Among them, magnetic adsorption uses permanent magnets or electromagnetic coil elements to achieve attachment to the surface of the structure, and the structure to be adsorbed is required to be a magnetic conductive material. Negative pressure adsorption has some similarities with vacuum adsorption, using devices such as vortex fans and blowers to form a pressure difference between the inside and outside of a high-speed fluid, thereby achieving wall adsorption. This method allows for a certain amount of fluid leakage. Considering the surface conditions of the structure in the currently known application scenarios, the most mature and effective methods are magnetic adsorption and negative pressure adsorption.

[0004] Currently, the distance between the adsorption device of conventional wall climbing adsorption robots and the wall surface is fixed. For example, the "crawler-type magnetic adsorption wall climbing robot chassis" disclosed in the utility model patent with the application number 202221274573.X, and the "marine omnidirectional mobile wall climbing robot" disclosed in the invention patent with the application number 201910983947.1. The invention patent with the application number 202111683147.1 discloses a "wall climbing robot with adjustable magnetic force for electromagnetic adsorption", and similar patents also include the "wheel-type negative pressure adsorption wall climbing robot capable of crossing obstacles and its obstacle-crossing method" disclosed in the invention patent with the application number 202110677621.3, and the "negative pressure adsorption wall climbing robot with adaptive curved surface" disclosed in the utility model patent with the application number 202022745322.2, etc.

[0005] However, the gap distance (also known as the air gap, abbreviated as the spacing) between the adsorption device of the wall - climbing robot (negative - pressure adsorption corresponds to the adsorption disc, and magnetic adsorption corresponds to electromagnetic or permanent magnets) and the surface of the structure to be adsorbed seriously affects the magnitude of the adsorption force. For example, for a magnetic - adsorption robot equipped with a permanent magnet, the smaller the spacing between the permanent magnet and the wall surface, the stronger the adsorption force; for a wall - climbing robot using negative - pressure adsorption, within a certain range, the smaller the spacing between the adsorption disc and the wall surface, the greater the adsorption force. However, when the spacing parameter is further reduced, the adsorption force decreases sharply. When a negative - pressure adsorption robot crawls on the wall surface, especially in the case of a curved surface, when the robot moves, since the distance between the wheels under the adsorption device and the wall surface remains unchanged, the adsorption disc where the adsorption device is located will change with the wall surface, so the adsorption force will also fluctuate. This not only affects the normal - motion stability of the robot but also directly affects the frictional force acting on the wheel system, bringing obstacles to the motion control of the robot. On the other hand, the spacing between the adsorption device and the wall surface also determines the obstacle - crossing height and wall - surface adaptability of the robot.

[0006] However, the gap height between the adsorption device of the existing wall - climbing operation robots and the wall surface is a fixed value, making it difficult to adjust the strength of the adsorption force; moreover, the ability of the robot to adapt to non - smooth and flat wall surfaces is very weak. Especially for negative - pressure adsorption wall - climbing robots, to obtain a larger adsorption force, a smaller spacing parameter must be adopted, resulting in the obstacle - crossing ability of the robot being difficult to meet the actual application. Some methods using the gap - height adjustment scheme of direct hydraulic or motor - driven methods do not consider factors such as the volume or load strength of the robot, cannot achieve self - locking under load, and are also difficult to apply in application scenarios where the adsorption force generated by the robot is strong or the load is large.

[0007] Therefore, considering from the two aspects of adjusting the adsorption force and crossing obstacles, it is necessary to study the corresponding mechanisms and wall - climbing robots with the function of real - time adjustment of the gap - height parameter. Summary of the Invention

[0008] The purpose of the present invention is to provide an automatic variable - gap wall - climbing adsorption operation robot, which realizes the functions of efficient adsorption of the robot on the wall surface and real - time adjustment of the spacing between the adsorption device and the wall surface, and solves the problems of unstable spacing adjustment, inability to maintain, and poor obstacle - crossing ability of the current wall - climbing adsorption operation robots, which are the defects of wall - surface adaptability.

[0009] The technical solution adopted by the present invention to solve its technical problems is: an automatic variable - gap wall - climbing adsorption operation robot, including:

[0010] A body for installing and fixing various components of the robot;

[0011] A number of moving components arranged at the bottom of the body, used to drive the robot to complete wall - climbing movement, which can be wheel - type, crawler - type and other moving mechanisms;

[0012] A number of adsorption components are arranged on the body to provide the adsorption force required for the robot to crawl on the wall surface;

[0013] An adsorption disc is arranged below the adsorption component. The lower surface of the adsorption disc forms a cavity flow channel with the wall surface, which is used to cooperate with the adsorption component to achieve a negative pressure effect;

[0014] A number of gap adjustment components are arranged inside the body and connected to the upper surface of the adsorption disc. The gap adjustment components drive the adsorption disc to move up and down to adjust the numerical value of the gap distance between the adsorption disc and the wall surface.

[0015] Specifically, the adsorption component includes a paddle, a paddle column, and an adsorption power module. The adsorption power module is arranged on the body. The paddles are evenly arranged on the paddle column. The adsorption power module is connected to the paddle column and provides power for it to drive the paddles to rotate to achieve the agitation and propulsion of the fluid; parameters such as the number, diameter, and pitch of the paddles are arranged according to actual needs. The adsorption power module is generally an electric motor, and it can also be a device such as a hydraulic motor.

[0016] The adsorption component also includes a power transmission module, which is arranged between the paddle column and the adsorption power module to realize the angle and speed adjustment during the transfer of the rotational force from the adsorption power module to the paddle column; in order to improve the adsorption efficiency and the fluid guiding effect, a guiding cylinder is arranged on the outer envelope surface of the paddle. The guiding cylinder is generally a cavity cylinder structure for fluid guiding.

[0017] Furthermore, to avoid the self-rotation phenomenon of the body, the paddle includes a positive paddle and a negative paddle. The positive paddle adopts a paddle structure with a positive pitch, and the negative paddle adopts a paddle structure with a negative pitch. The positive paddle and the negative paddle are simultaneously driven by the same set of adsorption power modules to ensure that the positive paddle and the negative paddle rotate in opposite directions at the same speed, which can not only increase the adsorption performance but also reduce the influence of the self-rotation torque on the body.

[0018] Specifically, the adsorption disc includes an upper surface and a lower surface. The upper surface of the adsorption disc is connected to the gap adjustment component, and the lower surface forms a cavity flow channel with the wall surface. The distance between the lower surface and the wall surface is the gap distance. When the gap adjustment component acts, it drives the adsorption disc to move up and down, thereby adjusting the numerical value of the gap distance. Since the moving component contacts the ground and forms friction, the obstacle-crossing ability of the robot can be changed by adjusting the height of the adsorption disc from the wall surface.

[0019] Specifically, the gap adjustment assembly includes a spacing adjustment motor, a support plate, a spacer plate, a guiding bottom plate, guiding side plates, an active pulling block, a passive guiding block, a connecting rod, a lead screw, a coupling, a bottom plate, and a fixing bracket. The upper surface of the bottom plate is connected to the main body. The support plate, the spacer plate, and the guiding bottom plate are arranged on the lower surface of the bottom plate. There are two groups of support plates, which are respectively arranged at both ends of the bottom plate. The spacer plate is located between the two groups of support plates. The two groups of support plates and the spacer plate are connected by the guiding side plates. The guiding bottom plate is fixed on the bottom plate between the support plate and the spacer plate. There are two groups of active pulling blocks and passive guiding blocks, which are symmetrically arranged on both sides of the spacer plate. The top of the active pulling block is slidably connected to the guiding bottom plate, the side surface of the active pulling block is slidably connected to the guiding side plate, the bottom of the active pulling block is slidably connected to the passive guiding block, and the side surface of the passive guiding block is slidably connected to the support plate. The two groups of passive guiding blocks are connected by a connecting rod. The connecting rod is located below the spacer plate. The bottom of the passive guiding block is fixedly connected to the upper surface of the suction cup. There are two groups of lead screws. The thread rotation directions of the two groups of lead screws are opposite. The ends of the two groups of lead screws are connected and symmetrically arranged on both sides of the spacer plate. The lead screw passes through the active pulling block and is threadedly connected to the active pulling block. One end of the lead screw is connected to one end of the coupling, and the other end of the coupling is connected to the rotating shaft of the spacing adjustment motor. The spacing adjustment motor is installed on the fixing bracket, and the fixing bracket is connected to the rear end of the bottom plate.

[0020] Further, the support plate includes a first support plate and a second support plate. The first support plate and the second support plate are arranged on the same axis. The first support plate is arranged at one end of the bottom plate close to the spacing adjustment motor. On the lower central vertical directions of the front end face of the first support plate and the rear end face of the second support plate, a first guiding rib and a second guiding rib for the sliding of the passive guiding block are respectively provided.

[0021] Further, the guiding bottom plate includes a first guiding bottom plate, a second guiding bottom plate, a third guiding bottom plate, and a fourth guiding bottom plate. The first guiding bottom plate and the second guiding bottom plate are arranged symmetrically left and right. The rear end faces of the first guiding bottom plate and the second guiding bottom plate are both connected to the front end face of the first support plate. The front end faces of the first guiding bottom plate and the second guiding bottom plate are connected to the rear end face of the spacer plate. The third guiding bottom plate and the fourth guiding bottom plate are arranged symmetrically left and right. The rear end faces of the third guiding bottom plate and the fourth guiding bottom plate are connected to the front end face of the spacer plate. The front end faces of the third guiding bottom plate and the fourth guiding bottom plate are connected to the rear end face of the second support plate. A gap is reserved between the first guiding bottom plate and the second guiding bottom plate and between the third guiding bottom plate and the fourth guiding bottom plate for slidably connecting with the active pulling block.

[0022] Further, the guiding side plates include a first guiding side plate, a second guiding side plate, a third guiding side plate and a fourth guiding side plate, which are used to connect both sides of the spacer plate with both sides of the first supporting plate and the second supporting plate. Each guiding side plate has the same structure and includes a strip plate and a fourth guiding rib. The strip plate is used to connect the spacer plate with the first supporting plate and the second supporting plate, and the fourth guiding rib is horizontally arranged inside the strip plate and is used to slidably connect with the active diagonal pulling block.

[0023] Further, the active diagonal pulling block includes a first forward diagonal pulling block and a second reverse diagonal pulling block. The first forward diagonal pulling block and the second reverse diagonal pulling block have the same structure. The first forward diagonal pulling block and the second reverse diagonal pulling block are symmetrically arranged in opposite directions before and after relative to the spacer plate. The first forward diagonal pulling block is slidably connected with the passive guiding block, the first guiding side plate, the second guiding side plate, the first guiding bottom plate and the second guiding bottom plate, and the second reverse diagonal pulling block is slidably connected with the passive guiding block, the third guiding side plate, the fourth guiding side plate, the third guiding bottom plate and the fourth guiding bottom plate.

[0024] Further, the passive guiding block includes a first forward guiding block and a second reverse guiding block. The first forward guiding block and the second reverse guiding block have the same structure. The first forward guiding block and the second reverse guiding block are symmetrically arranged before and after relative to the spacer plate. The first forward guiding block and the second reverse guiding block are both fixedly connected with the suction cup. The first forward guiding block is slidably connected with the first forward diagonal pulling block and the first supporting plate, and the second reverse guiding block is slidably connected with the second reverse diagonal pulling block and the second supporting plate.

[0025] Further, the lead screw includes a first right-handed lead screw and a second left-handed lead screw. One end of the first right-handed lead screw is connected to the coupling, and the other end is connected to the second left-handed lead screw. The first right-handed lead screw passes through the first forward diagonal pulling block and is threadedly connected with the first forward diagonal pulling block. The second left-handed lead screw passes through the second reverse diagonal pulling block and is threadedly connected with the second reverse diagonal pulling block.

[0026] Further, the fixing bracket is provided with a perforated hole for passing through the rotating shaft of the spacing adjusting motor.

[0027] Further, the spacer plate is arranged at an equal distance between the first supporting plate and the second supporting plate. Both between the first supporting plate and the spacer plate and between the second supporting plate and the spacer plate are connected by the guiding bottom plates and the guiding side plates. A notch is arranged at the bottom of the spacer plate to reserve space for the connecting rod. A through hole is arranged at the upper part of the spacer plate, and a bearing is arranged at the through hole for passing through the lead screw and realizing the rotation of the lead screw relative to the supporting plate and the spacer plate.

[0028] Further, on the left and right side end faces at the bottom of the first forward diagonal pulling block, there are respectively arranged first pulling ribs for clamping with the passive guiding blocks. On the adjacent side faces of the first pulling ribs, there are respectively arranged first notches for sliding connection with the fourth guiding ribs on the guiding side plates. There is a first common notch between the two first pulling ribs. On both sides of the first common notch, there are respectively arranged second notches. On the three end faces of the second notches, there are respectively arranged first guiding balls. Above the first common notch, there is a through-threaded hole for the lead screw to pass through. On the top of the diagonal pulling block, there is a second pulling rib for sliding cooperation with the gap on the guiding bottom plate. On the end face of the second pulling rib, there are arranged two columns of equally spaced second guiding balls.

[0029] Further, the first forward guiding block is a triangular wedge-shaped block. On both sides of the inclined end face of the first forward guiding block, there are respectively arranged first guiding ribs with the same structure. The first guiding ribs are in clamping and sliding connection with the first common notch, the second notch and the first pulling rib of the first forward diagonal pulling block. On the vertical direction of the rear end face of the first forward guiding block, there is a first guiding groove for sliding connection with the first guiding rib on the first support plate. On the top of the first forward guiding block, there is a guiding block notch for the lead screw to pass through. On the bottom surface of the first forward guiding block, there are threaded holes for fixedly adsorbing the suction cup through bolt threading connection. On the relative positions of the bottom side faces of the first forward guiding block and the second reverse guiding block, there are respectively arranged semi-counterbored holes for installing the connecting rod. The connecting rod is used to synchronously move the first forward guiding block and the second reverse guiding block.

[0030] Further, the surface of the first positive rotation lead screw is provided with positive pitch threads, while the surface of the second reverse rotation lead screw is provided with negative pitch threads; the first positive rotation lead screw passes through the through-threaded hole of the first forward diagonal pulling block, and both ends of the first positive rotation lead screw are arranged in the through holes at the lower ends of the first support plate and the spacer plate through bearings. The second reverse rotation lead screw passes through the through-threaded hole of the second reverse diagonal pulling block, and both ends of the second reverse rotation lead screw are arranged in the through holes at the lower ends of the second support plate and the spacer plate through bearings.

[0031] To improve the stability of the suction cup when adjusting the spacing parameter, generally at least two sets of the gap adjusting components are provided; to further improve the stability when adjusting the spacing parameter, generally at least three sets of the gap adjusting components are provided, and they can be evenly arranged at an angle of ° or a similar angle to achieve uniform force. In an embodiment of the present invention, considering the placement position and quantity of the moving components, four sets of gap adjusting components are selected to achieve the gap adjusting function of the robot.

[0032] Furthermore, the robot also includes auxiliary components, which mainly assist the robot to complete the gap adjustment function more accurately and stably, and can also compensate for or avoid problems such as fluid leakage when the robot adjusts the distance between the suction cups. The auxiliary components include a parallel guiding module and a fluid sealing module. When two sets of gap adjustment components are used, the parallel guiding module is mainly used to ensure the parallel distance adjustment of the suction cup relative to the main body. Generally, the parallel guiding module plays a guiding and limiting role. When the number of gap adjustment components is greater than or equal to three, the parallel guiding module is generally no longer needed. The parallel guiding module includes a guiding shaft, a fixed seat, and a guiding cylinder. The upper end of the fixed seat is arranged on the main body, and the lower end is fixed with a guiding shaft. The guiding shaft is inserted into the guiding cylinder, and the guiding shaft can slide and rub on the inner wall of the guiding cylinder. The guiding cylinder is fixed on the upper surface of the suction cup. Since the suction cup will move up and down relative to the flow guiding cylinder during the distance adjustment, some fluid will flow into the main body and cause leakage problems. The fluid sealing module is mainly used to ensure the sealing effect of the fluid flowing from the flow channel to the flow guiding cylinder when the vertical distance between the suction cups is adjusted. The fluid sealing module at least includes a suction and flow guiding sealing ring. The suction and flow guiding sealing ring is a circular ring structure. The lower end surface of the suction and flow guiding sealing ring is arranged on the upper end surface of the suction cup, and the upper end surface of the suction and flow guiding sealing ring is in contact with the flow guiding cylinder.

[0033] Preferably, the fluid flow direction is generally from the flow channel to the flow guiding cylinder. The outer diameter of the suction and flow guiding sealing ring is set slightly smaller than the inner diameter of the flow guiding cylinder, so that a tight fit between the outer ring of the suction and flow guiding sealing ring and the inner ring of the flow guiding cylinder can achieve a better sealing effect.

[0034] Furthermore, in order to improve the sealing effect, a sealing ring can be arranged on the surface of the flow guiding cylinder or the suction and flow guiding sealing ring.

[0035] For a negative pressure adsorption wall-climbing robot, the adsorption component and the suction cup are generally independent mechanisms, that is: by accelerating the fluid (media such as air, water flow, etc.) through the adsorption component, a high-speed fluid is formed on the surface of the suction cup, thereby generating a pressure difference with the external fluid, and then the robot is adsorbed on the wall surface.

[0036] Furthermore, for a magnetic adsorption robot, the adsorption component is generally a permanent magnet or an electromagnetic coil, and it is adsorbed on the wall surface by magnetic force, thus omitting the suction cup mechanism. Therefore, in combination with the content of the present invention, for a negative pressure adsorption robot that requires a suction cup, the suction cup is fixed on the passive guiding block through the cooperation of a threaded hole and a bolt; for a magnetic adsorption robot, the adsorption component (permanent magnet or electromagnetic coil) can be directly or indirectly fixed on the end surface of the passive guiding block to realize the height adjustment of the adsorption component relative to the wall surface.

[0037] Furthermore, the present invention can also be used on other adsorption robots, and the obstacle-crossing ability and wall surface adaptability of the robot can be improved by adjusting the height of the gap between the robot chassis and the wall surface.

[0038] Furthermore, in addition to the negative pressure adsorption and magnetic adsorption robots described in the present invention, the present invention can also be used in wall-climbing operation robots that rely on other adsorption methods and whose adsorption force strength and robot obstacle-crossing height are sensitive to the gap height parameter.

[0039] Preferably, a distance sensing module, such as an ultrasonic sensor, an altimeter, or a laser ranging sensor, can be added to the adsorption disk of the robot of the present invention to realize real-time measurement of the gap distance parameter, thereby providing a decision basis for the adjustment of the gap height.

[0040] Furthermore, for wall-climbing operation robots, in addition to the above basic components, an operation module can also be included. For example, in the present invention, a cleaning nozzle is used as the operation module to achieve the cleaning effect on the wall surface. These operation modules can be equipment such as cleaning disks, robotic arms, and detection sensors in addition to cleaning nozzles.

[0041] Another object of the present invention is to provide a working method for an automatic variable-gap wall-climbing adsorption operation robot, including a crawling movement method of the robot in the adsorbed state on the wall surface and a method for adjusting the spacing height parameter of the adsorption disk of the robot.

[0042] The crawling movement method of the robot in the adsorbed state on the wall surface is as follows:

[0043] 1) The adsorption power module rotates, driving the paddle column to rotate, and further realizing the rotation of the paddle blades; the paddle blades drive the fluid to flow, and the fluid flows in from the flow channel between the adsorption disk and the wall surface and enters the draft tube.

[0044] 2) According to the law of conservation of fluid mass, the cross-sectional area of the flow channel near the outer edge of the adsorption disk in the flow channel is large and the flow velocity is slow; while the cross-sectional area of the flow channel near the outer edge of the lower end of the draft tube at the center of the adsorption disk is small and the flow velocity is fast. Therefore, the flow velocity of the fluid in the flow channel gap between the adsorption disk and the wall surface is relatively faster than the flow velocity of the fluid outside the main body.

[0045] 3) According to Bernoulli's equation: It is known that the pressure is low where the flow velocity is high and the pressure is high where the flow velocity is low. Therefore, the fluid pressure inside the flow channel is lower than that outside, thereby realizing that the fluid pressure squeezes the robot main body against the wall surface, and the robot realizes the negative pressure adsorption function.

[0046] 4) By controlling the moving component to perform forward and backward movement and turning functions, the crawling function of the robot is realized.

[0047] The method for adjusting the spacing height parameter of the adsorption disk of the robot is as follows:

[0048] 1) The spacing adjustment motor rotates forward, driving the first right-handed screw rod and the second left-handed screw rod of the screw rod to rotate forward through the coupling.

[0049] 2) Since the first right-handed lead screw and the second left-handed lead screw are respectively provided with threads having positive and negative pitches, and the first forward diagonal pulling block and the second reverse diagonal pulling block are respectively sleeved on the first right-handed lead screw and the second left-handed lead screw, under the rotation of the lead screw, the first forward diagonal pulling block and the second reverse diagonal pulling block rotate in opposite directions;

[0050] 3) Since the first forward diagonal pulling block and the second reverse diagonal pulling block are provided with a first notch and a second tension rib, at this time, the first notch and the fourth guiding rib in the guiding side plate achieve a limiting effect; and the second tension rib cooperates with the guiding bottom plate to achieve a guiding and limiting effect, so that the first forward diagonal pulling block and the second reverse diagonal pulling block cannot rotate and can only cooperate with the first right-handed lead screw and the second left-handed lead screw to achieve translational movement along the axial direction of the lead screw;

[0051] 4) When the first forward diagonal pulling block and the second reverse diagonal pulling block perform translational movement, since the third guiding rib of the passive guiding block and the first tension rib of the active diagonal pulling block are relatively parallel and have a guiding effect, and in addition, since the first forward guiding block and the second reverse guiding block are provided with a first guiding groove, the first guiding groove cooperates with the first guiding rib of the first supporting plate and the second guiding rib of the second supporting plate to achieve up and down limiting movement; in addition, through the synchronous action of the connecting rod on the first forward guiding block and the second reverse guiding block, the synchronous up and down movement of the two is achieved; at this time, the forward rotational movement of the spacing adjustment motor is converted into the translational movement of the first forward diagonal pulling block and the second reverse diagonal pulling block, and finally converted into the vertical movement of the first forward guiding block and the second reverse guiding block, and the relative wall surface spacing height of the suction cups connecting the first forward guiding block and the second reverse guiding block increases, and it also has the functions of self-locking and carrying heavy loads;

[0052] 5) Control the spacing adjustment motor to rotate in the reverse direction, and the above steps 1)-4) are implemented in reverse, so as to realize the reduction of the relative wall surface spacing height of the suction cup.

[0053] In addition, when adjusting the clearance distance between the suction cup and the wall surface, the parallel guiding module further improves the smoothness and parallelism of the adjustment, and at the same time, it can also reduce the number of clearance adjustment components, further reducing the volume and weight of the robot body and reducing the application cost of the robot. Cooperating with the fluid sealing module, it can further improve the adsorption efficiency of the robot during the process of adjusting the spacing height and reduce the motor energy consumption.

[0054] The present invention has the following beneficial effects: By inventing a robot with a clearance adjustment device having self-locking and high load capacity, the present invention can realize the function of adjusting the chassis spacing parameters during the wall-climbing adsorption movement of the robot. It can not only be applied to robots such as magnetic adsorption and negative pressure adsorption, but also be used for reference in other robot fields sensitive to clearance height parameters, which is beneficial to improving the adsorption efficiency and obstacle-crossing performance of the robot, while saving the body space, and is conducive to the miniaturization, low cost and easy operation of the wall-climbing adsorption operation robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 FIG. is a schematic three-dimensional structure diagram of the wall-climbing adsorption operation robot of the present invention.

[0056] Figure 2 FIG. is a schematic top view structure diagram of the wall-climbing adsorption operation robot of the present invention.

[0057] Figure 3 FIG. is a schematic bottom view structure diagram of the wall-climbing adsorption operation robot of the present invention.

[0058] Figure 4 FIG. is a schematic bottom view structure diagram of the wall-climbing adsorption operation robot of the present invention after removing the adsorption disc.

[0059] Figure 5 FIG. is a schematic front view structure diagram of the robot of the present invention after the spacing height is increased.

[0060] Figure 6 FIG. is a schematic front view structure diagram of the robot of the present invention after the spacing height is decreased.

[0061] Figure 7 FIG. is a schematic three-dimensional structure diagram of the clearance adjustment assembly of the present invention.

[0062] Figure 8 FIG. is a schematic front view structure diagram of the clearance adjustment assembly of the present invention.

[0063] Figure 9 FIG. is a schematic partial three-dimensional structure diagram of the clearance adjustment assembly of the present invention.

[0064] Figure 10 FIG. is a schematic right view structure diagram of the clearance adjustment assembly of the present invention.

[0065] Figure 11 FIG. is a schematic top view structure diagram of the clearance adjustment assembly of the present invention.

[0066] Figure 12 FIG. is a schematic front view structure diagram of the connection of the main body, adsorption disc, clearance adjustment assembly and auxiliary assembly of the present invention.

[0067] Figure 13 FIG. is a schematic structure diagram of the auxiliary assembly of the present invention.

[0068] Figure 14 It is a partial front view structural schematic diagram of the gap adjustment component of the present invention.

[0069] Figure 15 It is a three-dimensional structural schematic diagram of the active pull block of the present invention.

[0070] Figure 16 It is a front view structural schematic diagram of the active pull block of the present invention.

[0071] Figure 17 It is a right view structural schematic diagram of the active pull block of the present invention.

[0072] Figure 18 It is a top view structural schematic diagram of the active pull block of the present invention.

[0073] Figure 19 It is a three-dimensional structural schematic diagram of the passive guide block of the present invention.

[0074] Figure 20 It is a front view structural schematic diagram of the passive guide block of the present invention.

[0075] Figure 21 It is a left view structural schematic diagram of the passive guide block of the present invention.

[0076] Figure 22 It is a rear view structural schematic diagram of the passive guide block of the present invention.

[0077] Figure 23 It is a bottom view structural schematic diagram of the passive guide block of the present invention.

[0078] In the figure, 1 is the body, 2 is the moving component, 3 is the adsorption component, 4 is the adsorption disc, 5 is the gap adjustment component, 6 is the auxiliary component, 7 is the cleaning nozzle, 21 is the gear train, 22 is the moving power module, 31 is the blade, 32 is the paddle column, 33 is the adsorption power module, 34 is the power transmission module, 35 is the draft tube, 311 is the forward paddle, 312 is the reverse paddle, 41 is the upper surface, 42 is the lower surface, 43 is the wall surface, 44 is the flow channel, 45 is the gap distance, 51 is the spacing adjustment motor, 52 is the support plate, 53 is the spacer plate, 54 is the guiding bottom plate, 55 is the guiding side plate, 56 is the active diagonal tension block, 57 is the passive guiding block, 58 is the connecting rod, 59 is the lead screw, 510 is the coupling, 511 is the bottom plate, 512 is the fixed bracket, 512A is the perforation, 521 is the first support plate, 522 is the second support plate, 521A is the front end face of the first support plate, 521B is the first guiding rib, 521C is the upper end face of the first support plate, 522A is the rear end face of the second support plate, 522B is the second guiding rib, 522C is the upper end face of the second support plate, 591A is the bearing, 53A is the notch, 541 is the first guiding bottom plate, 542 is the second guiding bottom plate, 543 is the third guiding bottom plate, 544 is the fourth guiding bottom plate, 54A is the gap, 551 is the first guiding side plate, 552 is the second guiding side plate, 553 is the third guiding side plate, 554 is the fourth guiding side plate, 55A is the strip plate, 55B is the fourth guiding rib, 561 is the first positive diagonal tension block, 562 is the second reverse diagonal tension block, 561A is the first tension rib, 561B is the first notch, 561C is the first common notch, 561D is the second notch, 561E is the end face, 561F is the first guiding ball, 561G is the through threaded hole, 561H is the second tension rib, 561I is the second guiding ball, 571 is the first positive guiding block, 572 is the second reverse guiding block, 571A is the third guiding rib, 571B is the first guiding groove, 571C is the guiding block notch, 571D is the threaded hole, 571E is the semi-sunken round hole, 59A is the first right-handed lead screw, 59B is the second left-handed lead screw, 61 is the parallel guiding module, 62 is the fluid sealing module, 611 is the guiding shaft, 612 is the fixed seat, 613 is the guiding cylinder, 621 is the adsorption draft sealing ring. Detailed implementation manners

[0079] The following are specific embodiments of the present invention, which further describe the technical solutions of the present invention. However, the protection scope of the present invention is not limited to these embodiments. Any change or equivalent substitution that does not deviate from the concept of the present invention is included in the protection scope of the present invention.

[0080] As Figure 1-4 shown, an automatic variable-gap wall-climbing adsorption operation robot includes:

[0081] The main body 1, the main body 1 is the robot support main body, used to connect and fix each component and form an integral whole;

[0082] A number of moving components 2 are arranged at the bottom of the main body 1. The moving components 2 are important mechanisms for driving the robot to complete wall climbing motion, and can be wheel-type, crawler-type and other moving mechanisms. In the present invention, a wheel-type mechanism is adopted, including: a wheel system 21 and a moving power module 22. The moving power module 22 drives the wheel system 21 to move. The wheel system 21 and the moving power module 22 both adopt existing technologies, and their specific structures will not be described in detail in the present invention;

[0083] A number of adsorption components 3 are arranged on the main body 1, used to provide the adsorption force required for the robot to climb on the wall. The conventional ways to generate adsorption force include: negative pressure adsorption, magnetic adsorption, vacuum adsorption, biomimetic material adsorption, etc.;

[0084] The adsorption disc 4 is arranged below the adsorption component 3. The lower surface 42 of the adsorption disc 4 forms a cavity flow channel 44 with the wall surface 43, which is used to cooperate with the adsorption component 3 to achieve the negative pressure effect;

[0085] A number of gap adjustment components 5 are arranged inside the main body 1 and connected to the upper surface of the adsorption disc 4. The gap adjustment components 5 drive the adsorption disc 4 to move up and down, and are used to adjust the numerical value of the gap distance 45 between the adsorption disc 4 and the wall surface 43.

[0086] For one of the embodiments of the present invention, the adsorption component 3 adopts the negative pressure adsorption principle, as Figure 2 、 3 shown, at least including: the paddle blade 31, the paddle column 32, and the adsorption power module 33. The adsorption power module 33 is arranged on the main body 1. The paddle blades 31 are evenly arranged on the paddle column 32. The adsorption power module 33 is connected to the paddle column 32 and provides power for it to drive the paddle blades 31 to rotate; parameters such as the number, diameter and pitch of the paddle blades 31 are arranged according to actual needs. The adsorption power module 33 is generally an electric motor, and can also be a device such as a hydraulic motor.

[0087] For some application scenarios, the adsorption component 3 further includes a power transmission module 34. The power transmission module 34 is arranged between the paddle column 32 and the adsorption power module 33, and is used to realize the angle and speed adjustment during the process of transmitting the rotational force from the adsorption power module 33 to the paddle column 32. In order to improve the adsorption efficiency and fluid guiding effect, a guiding cylinder 35 is arranged on the outer envelope surface of the paddle blade 31. The guiding cylinder 35 is generally a cavity cylinder structure for fluid guiding.

[0088] Furthermore, in some special application scenarios, for example, for a wall-climbing adsorption robot using a single adsorption power module, the adsorption component 3 may generate a large self-rotation torque due to the rotation of the propeller, which may cause the main body 1 to spin, and this is not conducive to the stability of the robot. To solve the above problems, the robot in the present invention adopts a positive and negative propeller-based solution, that is, the blade 31 includes a positive propeller 311 and a negative propeller 312. The positive propeller 311 adopts a blade structure with a positive pitch, and the negative propeller 312 adopts a blade structure with a negative pitch. The positive propeller 311 and the negative propeller 312 are simultaneously driven by the same set of adsorption power module 33 to ensure that the positive propeller 311 and the negative propeller 312 rotate towards each other at the same speed, which can not only increase the adsorption performance but also reduce the influence of the self-rotation torque on the main body 1.

[0089] In another embodiment of the present invention, a plurality of thrusters (not shown and not labeled in the attached Figure 3 figures) may also be provided on the main body 1. On the one hand, as an attitude adjustment component, the positive and negative rotations of the thrusters can drive the robot to adjust its attitude; on the other hand, when performing negative pressure adsorption, the thrusters can also cooperate with the adsorption component 3 to increase the adsorption force.

[0090] As Figure 5 shown in 6 the figure, the adsorption disc 4 includes an upper surface 41 and a lower surface 42. The upper surface 41 of the adsorption disc 4 is connected to the gap adjustment component 5, and the lower surface 42 forms a cavity flow channel 44 with the wall surface 43. The distance between the lower surface 42 and the wall surface 43 is the gap distance 45. When the gap adjustment component 5 acts, it drives the adsorption disc 4 to move up and down, thereby adjusting the numerical value of the gap distance 45. Since the gear train 21 contacts the ground and forms a frictional force, the obstacle-crossing ability of the robot can be changed by adjusting the height of the adsorption disc 4 from the wall surface.

[0091] The gap adjustment component 5 is an important mechanism for adjusting the numerical value of the distance between the adsorption disc 4 and the wall surface. As Figures 7-13As shown in the figure, the gap adjustment assembly 5 includes a spacing adjustment motor 51, a support plate 52, a spacer plate 53, a guide bottom plate 54, guide side plates 55, an active pull block 56, a passive guide block 57, a connecting rod 58, a lead screw 59, a coupling 510, a bottom plate 511, and a fixed bracket 512. The bottom plate 511 is a flat plate structure, and the upper surface of the bottom plate 511 is connected to the body 1. The support plate 52, the spacer plate 53, and the guide bottom plate 54 are arranged on the lower surface of the bottom plate 511. There are two groups of support plates 52, which are respectively arranged at both ends of the bottom plate 511. The spacer plate 53 is located between the two groups of support plates 52. The two groups of support plates 52 and the spacer plate 53 are connected by the guide side plates 55. The guide bottom plate 54 is fixed on the bottom plate 511 between the support plate 52 and the spacer plate 53. There are two groups of both the active pull block 56 and the passive guide block 57, which are symmetrically arranged on both sides of the spacer plate 53. The top of the active pull block 56 is slidably connected to the guide bottom plate 54, the side surface of the active pull block 56 is slidably connected to the guide side plate 55, the bottom of the active pull block 56 is slidably connected to the passive guide block 57, and the side surface of the passive guide block 57 is slidably connected to the support plate 52. The two groups of passive guide blocks 57 are connected by the connecting rod 58. The connecting rod 58 is located below the spacer plate 53. The bottom of the passive guide block 57 is fixedly connected to the upper surface of the suction cup 4. There are two groups of lead screws 59. The thread rotation directions of the two groups of lead screws 59 are opposite. The ends of the two groups of lead screws 59 are connected and symmetrically arranged on both sides of the spacer plate 53. The lead screw 59 passes through the active pull block 56 and is threadedly connected to the active pull block 56. One end of the lead screw 59 is connected to one end of the coupling 510, and the other end of the coupling 510 is connected to the rotating shaft of the spacing adjustment motor 51. The spacing adjustment motor 51 is installed on the fixed bracket 512, and the fixed bracket 512 is connected to the rear end of the bottom plate 511.

[0092] The fixed bracket 512 is a square plate, and the fixed bracket 512 is provided with a perforation 512A for passing through the rotating shaft of the spacing adjustment motor 51.

[0093] The support plate 52 includes a first support plate 521 and a second support plate 522. The first support plate 521 and the second support plate 522 are arranged on the same axis. The first support plate 521 is an "L" - shaped plate, and the second support plate 522 is a square plate. The first support plate 521 is arranged at one end of the bottom plate 511 close to the spacing adjustment motor 51. In the vertical direction at the lower center of the front end face 521A of the first support plate, first guide ribs 521B for the sliding of the passive guide block 57 are respectively provided. In the vertical direction at the lower center of the rear end face 522A of the second support plate, second guide ribs 522B for the sliding of the passive guide block 57 are respectively provided. The first guide ribs 521B and the second guide ribs 522B have the same shape and are rectangular parallelepipeds with a square cross - section. The upper end face 521C of the first support plate 521 is arranged at the rear end of the lower end face of the bottom plate 511, and the upper end face 522C of the second support plate 522 is arranged at the front end of the lower end face of the bottom plate 511.

[0094] The spacer plate 53 is arranged at an equal distance between the first support plate 521 and the second support plate 522, and both between the first support plate 521 and the spacer plate 53 and between the second support plate 522 and the spacer plate 53 are connected through a guiding bottom plate 54 and guiding side plates 55. The spacer plate 53 is a square plate, and a notch 53A is arranged at the bottom of the spacer plate 53 to reserve space for the connecting rod 58. A through hole is arranged at the upper part of the spacer plate 53, and a bearing 591A is arranged at the through hole to pass through the lead screw 59 and realize the rotation of the lead screw 59 relative to the support plate 52 and the spacer plate 53.

[0095] As Figure 11 shown, there are a total of 4 guiding bottom plates 54, which are symmetrically arranged horizontally in the front, back, left, and right directions on the bottom plate 511. The end faces of the guiding bottom plates 54 are fixedly connected to the end faces of the support plate 52 and the spacer plate 53. Specifically, as follows: The guiding bottom plate 54 includes a first guiding bottom plate 541, a second guiding bottom plate 542, a third guiding bottom plate 543, and a fourth guiding bottom plate 544. The first guiding bottom plate 541 and the second guiding bottom plate 542 are symmetrically arranged left and right. The rear end faces of the first guiding bottom plate 541 and the second guiding bottom plate 542 are both connected to the front end face of the first support plate 521, and the front end faces of the first guiding bottom plate 541 and the second guiding bottom plate 542 are connected to the rear end face of the spacer plate 53; a gap 54A is reserved between the first guiding bottom plate 541 and the second guiding bottom plate 542 for sliding connection with the active stay block 56. The width of the gap 54A is slightly larger than the width of the second stay 561H in the active stay block 56 to realize the reciprocating sliding of the second stay 561H in the gap 54A between the first guiding bottom plate 541 and the second guiding bottom plate 542. Similarly, the third guiding bottom plate 543 and the fourth guiding bottom plate 544 are symmetrically arranged left and right. The rear end faces of the third guiding bottom plate 543 and the fourth guiding bottom plate 544 are connected to the front end face of the spacer plate 53, and the front end faces of the third guiding bottom plate 543 and the fourth guiding bottom plate 544 are connected to the rear end face of the second support plate 522; a gap 54A is reserved between the third guiding bottom plate 543 and the fourth guiding bottom plate 544 for sliding connection with the active stay block 56.

[0096] As Figure 11 shown, there are a total of 4 guiding side plates 55, which are symmetrically arranged horizontally in the front, back, left, and right directions between the support plate 52 and the spacer plate 53. The specific structural features and connection relationships are as follows:

[0097] The guiding side plates 55 include a first guiding side plate 551, a second guiding side plate 552, a third guiding side plate 553 and a fourth guiding side plate 554. Each guiding side plate 55 has the same structure and includes a strip-shaped plate 55A and a fourth guiding rib 55B. The strip-shaped plate 55A is used to connect the spacer plate 53 with the first support plate 521 and the second support plate 522. The fourth guiding rib 55B is horizontally arranged inside the strip-shaped plate 55A and is used for sliding connection with the active diagonal pulling block 56. The width of the fourth guiding rib 55B is slightly smaller than the width of the first notch 561B of the active diagonal pulling block 56, so as to achieve the matching sliding effect between the first notch 561B and the guiding rib 55B in the guiding side plate 55.

[0098] The first guiding side plate 551 and the second guiding side plate 552 are symmetrically arranged left and right. The rear end faces of the first guiding side plate 551 and the second guiding side plate 552 are fixed on the end faces at the middle height on both sides of the first support plate 521. The front end faces of the first guiding side plate 551 and the second guiding side plate 552 are connected to the rear end face of the spacer plate 53; the third guiding side plate 553 and the fourth guiding side plate 554 are symmetrically arranged left and right. The rear end faces of the third guiding side plate 553 and the fourth guiding side plate 554 are connected to the front end faces at the middle height on both sides of the spacer plate 53. The front end faces of the third guiding side plate 553 and the fourth guiding side plate 554 are connected to the rear end face of the second support plate 522.

[0099] As Figures 14-18 shown, the active diagonal pulling block 56 includes a first forward diagonal pulling block 561 and a second reverse diagonal pulling block 562. The first forward diagonal pulling block 561 and the second reverse diagonal pulling block 562 have the same structure. The first forward diagonal pulling block 561 and the second reverse diagonal pulling block 562 are symmetrically arranged in opposite directions before and after relative to the spacer plate 53. The first forward diagonal pulling block 561 is arranged in the space surrounded by the first guiding side plate 551, the second guiding side plate 552, the first guiding bottom plate 541 and the second guiding bottom plate 542. The second reverse diagonal pulling block 562 is placed symmetrically in the opposite direction to the first forward diagonal pulling block 561 and is arranged in the space surrounded by the third guiding side plate 553, the fourth guiding side plate 554, the third guiding bottom plate 543 and the fourth guiding bottom plate 544. The first forward diagonal pulling block 561 is slidably connected with the passive guiding block 57, the first guiding side plate 551, the second guiding side plate 552, the first guiding bottom plate 541 and the second guiding bottom plate 542. The second reverse diagonal pulling block 562 is slidably connected with the passive guiding block 57, the third guiding side plate 553, the fourth guiding side plate 554, the third guiding bottom plate 543 and the fourth guiding bottom plate 544.

[0100] A first tie rod 561A for engaging with the passive guide block 57 is respectively provided on the left and right end faces of the bottom of the first positive inclined pull block 561, and a first notch 561B for slidingly connecting with the fourth guide rib 55B on the guide side plate 55 is respectively provided on the adjacent side faces of the first tie rod 561A, a first common notch 561C is provided between the two first tie rods 561A, and second notches 561D are respectively provided on both sides of the first common notch 561C, and first guide balls 561F are provided on the three end faces 561E of the second notch 561D, and a through threaded hole 561G for the screw rod 59 to pass through is provided above the first common notch 561C, and a second tie rod 561H for slidingly cooperating with the gap 54A on the guide bottom plate 54 is provided on the top of the inclined pull block, and two rows of equidistant second guide balls 561I are provided on the end face of the second tie rod 561H.

[0101] Furthermore, a spring device is provided inside the first guide ball 561F and the second guide ball 561I to support the balls outward, and the diameter of the circular hole provided on the inclined pull block body or the slot is slightly smaller than the diameter of the balls, ensuring that the balls have a predetermined elastic force outward and will not separate from the supporting body.

[0102] like Figures 19-23 As shown, the passive guide block 57 includes a first positive guide block 571 and a second reverse guide block 572. The first positive guide block 571 and the second reverse guide block 572 have the same structure. The first positive guide block 571 and the second reverse guide block 572 are symmetrically arranged front and rear relative to the spacer plate 53. The first positive guide block 571 and the second reverse guide block 572 are both connected and fixed to the suction plate 4. The first positive guide block 571 is slidably connected to the first positive inclined pull block 561 and the first support plate 521, and the second reverse guide block 572 is slidably connected to the second reverse inclined pull block 562 and the second support plate 522.

[0103] The first forward guiding block 571 is a triangular wedge-shaped block. On both sides of the inclined end face of the first forward guiding block 571, there are first guiding ribs 571A with the same structure. The first guiding ribs 571A are in clamped sliding connection with the first common notch 561C, the second notch 561D and the first pulling rib 561A of the first forward pulling block 561. Vertically on the rear end face of the first forward guiding block 571, there is a first guiding groove 571B for sliding connection with the first guiding rib 521B on the first support plate 521. On the top of the first forward guiding block 571, there is a guiding block notch 571C for the lead screw 59 to pass through. On the bottom surface of the first forward guiding block 571, there is a threaded hole 571D for fixedly adsorbing the suction cup 4 through bolt threaded connection. At the relative positions on the bottom sides of the first forward guiding block 571 and the second reverse guiding block 572, there are semi-counterbored holes 571E for installing the connecting rod 58. The connecting rod 58 is used to synchronously move the first forward guiding block 571 and the second reverse guiding block 572. The connecting rod 58 is of a smooth shaft structure, and its inner diameter is equivalent to that of the semi-counterbored hole 571E and forms a tight fit. The two ends of the connecting rod 58 are respectively inserted into the semi-counterbored holes 571E of the first forward guiding block 571 and the second reverse guiding block 572 to realize the synchronous movement function of the first forward guiding block 571 and the second reverse guiding block 572.

[0104] The cooperation relationship between the above-mentioned passive guiding block 57 and the active pulling block 56 is as follows:

[0105] The first forward guiding block 571 and the second reverse guiding block 572 are placed back to back with the spacer plate 53 as the axis. The semi-counterbored holes 571E of the first forward guiding block 571 and the second reverse guiding block 572 are horizontally on the same axis and are installed with the same connecting rod 58.

[0106] The first guiding rib 571A of the passive guiding block 57 cooperates with the first pulling rib 561A of the active pulling block 56, that is: the passive guiding block 57 is reversely inserted into the active pulling block 56, and the three end faces 561E in the first pulling rib 561A of the active pulling block 56 envelope the first guiding rib 571A of the passive guiding block 57. And under the elastic force of the first guiding ball 561F cooperating with the spring, the passive guiding block 57 is tensioned, and the rolling friction movement function of the passive guiding block 57 relative to the active pulling block 56 along the active pulling block 56 is realized by cooperating with the ball.

[0107] The first notch 561B of the active pulling block 56 is horizontally placed, cooperates with the fourth guiding rib 55B of the guiding side plate 55 and realizes the limiting guiding effect. At the same time, the side surface of the active pulling block 56 is in frictional contact with the strip plate 55A to realize the guiding function.

[0108] Furthermore, the second tension bar 561H of the active diagonal tension block 56 cooperates with the guide bottom plate 54 to achieve the guiding effect, and the second guiding ball 561I on the second tension bar 561H cooperates with the bottom plate 511 to achieve the rolling friction function.

[0109] Furthermore, the first guiding grooves 571B of the two passive guiding blocks 57 cooperate with the first guiding ribs 521B of the first support plate 521 and the second guiding ribs 522B of the second support plate 522 respectively to achieve the limited movement under rolling friction.

[0110] As Figure 8 shown, the lead screw 59 includes a first right-handed lead screw 59A and a second left-handed lead screw 59B. One end of the first right-handed lead screw 59A is connected to the coupling 510, and the other end is connected to the second left-handed lead screw 59B. The first right-handed lead screw 59A passes through the first forward diagonal tension block 561 and is threadedly connected to the first forward diagonal tension block 561. The second left-handed lead screw 59B passes through the second reverse diagonal tension block 562 and is threadedly connected to the second reverse diagonal tension block 562.

[0111] The surface of the first right-handed lead screw 59A is provided with a positive pitch thread, and the surface of the second left-handed lead screw 59B is provided with a negative pitch thread. The first right-handed lead screw 59A passes through the through-threaded hole 561G of the first forward diagonal tension block 561. Both ends of the first right-handed lead screw 59A are arranged in the through-holes at the lower ends of the first support plate 521 and the spacer plate 53 through bearings. The second left-handed lead screw 59B passes through the through-threaded hole of the second reverse diagonal tension block 562. Both ends of the second left-handed lead screw 59B are arranged in the through-holes at the lower ends of the second support plate 522 and the spacer plate 53 through bearings.

[0112] Furthermore, the coupling 510 is connected to the rotating shaft of the pitch adjustment motor 51. The effect is that the pitch adjustment motor 51 drives the coupling 510 to rotate, and the first right-handed lead screw 59A and the second left-handed lead screw 59B rotate synchronously and in the same direction. Since the pitches of the two lead screws are opposite, the first forward diagonal tension block 561 and the second reverse diagonal tension block 562 are driven to move symmetrically in the opposite direction.

[0113] To improve the stability of the suction cup 4 when adjusting the pitch parameter, generally at least two sets of the gap adjustment assemblies 5 are provided. To further improve the stability when adjusting the pitch parameter, generally at least three sets of the gap adjustment assemblies 5 are provided, which can be evenly arranged at an angle of 120° or a similar angle to achieve uniform force. In an embodiment of the present invention, considering the placement position and quantity of the moving assembly 2, four sets of gap adjustment assemblies 5 are selected to achieve the gap adjustment function of the robot.

[0114] The robot further includes an auxiliary component 6, which is mainly used to assist the robot to complete the gap adjustment function more accurately and stably, and can also compensate for or avoid problems such as fluid leakage when the robot adjusts the distance between the suction cups. The auxiliary component 6 includes a parallel guiding module 61 and a fluid sealing module 62. When two sets of gap adjustment components 5 are used, the parallel guiding module 61 is mainly used to ensure the parallel distance adjustment of the suction cup relative to the body. Generally, the parallel guiding module 61 plays a guiding and limiting role. When the number of gap adjustment components 5 is greater than or equal to three, the parallel guiding module 61 is generally no longer required.

[0115] To further illustrate the functional effect of the auxiliary component 6, although 4 sets of gap adjustment components are provided in the present invention, the parallel guiding module 61 is still further described.

[0116] The parallel guiding module 61 includes a guiding shaft 611, a fixing seat 612, and a guiding cylinder 613. The upper end of the fixing seat 612 is arranged on the body 1, and the guiding shaft 611 is fixed at the lower end. The guiding shaft 611 is inserted into the guiding cylinder 613, and the guiding shaft 611 can slide and friction on the inner wall of the guiding cylinder 613. The guiding cylinder 613 is fixed on the upper surface 41 of the suction cup 4. To ensure the smooth effect of the parallel guiding module 61, lubricating oil, ball bearings, etc. can be added inside the guiding cylinder 613.

[0117] Since the suction cup 4 will move up and down relative to the flow guiding cylinder 35 during the distance adjustment, some fluid will flow into the body 1 and cause leakage problems. The fluid sealing module 62 is mainly used to ensure the sealing effect of the fluid flowing from the flow channel 44 to the flow guiding cylinder 35 when the suction cup moves up and down.

[0118] The fluid sealing module 62 at least includes an adsorption and flow guiding sealing ring 621. The adsorption and flow guiding sealing ring 621 is a circular ring structure. The lower end surface of the adsorption and flow guiding sealing ring 621 is arranged on the upper end surface of the suction cup 4, and the upper end surface of the adsorption and flow guiding sealing ring 621 contacts the flow guiding cylinder 35.

[0119] The fluid flow direction is generally from the flow channel to the flow guiding cylinder. The outer diameter of the adsorption and flow guiding sealing ring 621 is slightly smaller than the inner diameter of the flow guiding cylinder 35, so that a tight fit between the outer ring of the adsorption and flow guiding sealing ring 621 and the inner ring of the flow guiding cylinder 35 can achieve a better sealing effect. To improve the sealing effect, a sealing ring can be arranged on the surface of the flow guiding cylinder or the adsorption and flow guiding sealing ring 621.

[0120] For the negative pressure adsorption wall-climbing robot, the adsorption component 3 and the suction cup 4 are generally independent mechanisms, that is: the fluid (media such as air, water flow, etc.) is accelerated by the adsorption component 3 to form a high-speed fluid on the surface of the suction cup 4, thereby generating a pressure difference with the external fluid, and then the robot is adsorbed on the wall surface.

[0121] For a magnetic adsorption robot, the adsorption component 3 is generally a permanent magnet or an electromagnetic coil, which is adsorbed on the wall surface by magnetic force, thus omitting the adsorption disc 4 mechanism. Therefore, in combination with the content of the present invention, for a negative pressure adsorption robot that requires an adsorption disc, the adsorption disc is fixed on the passive guide block 57 through the cooperation of the threaded hole 571D and the bolt; while for a magnetic adsorption robot, the adsorption component (permanent magnet or electromagnet coil) can be directly or indirectly fixed on the end face of the passive guide block 57 to realize the height adjustment of the adsorption component relative to the wall surface.

[0122] The present invention can also be used on other adsorption robots, and the obstacle crossing ability and wall surface adaptability of the robot can be improved by adjusting the height of the gap between the robot chassis and the wall surface.

[0123] In addition to the negative pressure adsorption and magnetic adsorption robots described in the present invention, the present invention can also be used on wall-climbing operation robots that rely on other adsorption methods and whose adsorption force strength and robot obstacle crossing height are sensitive to the gap height parameter.

[0124] The present invention can add a distance sensing module, such as an ultrasonic sensor, an altimeter or a laser ranging sensor, etc., on the adsorption disc of the robot to realize the real-time measurement of the gap distance parameter, so as to provide a decision basis for the adjustment of the gap height.

[0125] For a wall-climbing operation robot, in addition to the above basic components, it can also include an operation module. For example, in the present invention, the cleaning nozzle 7 is used as the operation module to achieve the cleaning effect on the wall surface. These operation modules can be cleaning discs, robotic arms, detection sensors and other equipment in addition to cleaning nozzles.

[0126] The working method of the automatic variable-gap wall-climbing adsorption operation robot of the present invention includes the crawling movement method of the robot in the adsorption state on the wall surface, and the steps are as follows:

[0127] 1) The adsorption power module 33 rotates, driving the paddle column 32 to rotate, and then realizing the rotation of the paddle blade 31; the paddle blade 31 drives the fluid to flow, and the fluid flows in from the flow channel 44 between the adsorption disc 4 and the wall surface 43 and enters the guide cylinder 35.

[0128] 2) According to the law of conservation of fluid mass, the cross-sectional area of the flow channel near the outer edge of the adsorption disc in the flow channel 44 is large and the flow velocity is slow; while the cross-sectional area of the flow channel near the center of the adsorption disc (the outer edge of the lower end of the guide cylinder) is small and the flow velocity is fast. Therefore, the flow velocity of the fluid in the flow channel gap between the adsorption disc and the wall surface is relatively faster than the flow velocity of the fluid outside the main body 1.

[0129] 3) According to Bernoulli's equation: It is known that the pressure is low where the flow velocity is high and the pressure is high where the flow velocity is low. Therefore, the fluid pressure inside the flow channel 44 is lower than that outside, so that the pressure of the fluid squeezes the robot body 1 against the wall surface, and the robot realizes the negative pressure adsorption function;

[0130] 4) By controlling the moving components to perform forward and backward movement and turning functions, the crawling function of the robot is realized.

[0131] The working method of the automatic variable-gap wall-climbing adsorption operation robot of the present invention further includes a method for adjusting the distance height parameters of the adsorption discs of the robot. When the robot is working, in order to ensure the highest adsorption efficiency or improve the obstacle-crossing ability, it is necessary to adjust the distance height parameters between the adsorption discs and the wall surface. The steps are as follows:

[0132] 1) The spacing adjustment motor 51 rotates forward, and drives the first positive-threaded lead screw 59A and the second reverse-threaded lead screw 59B of the lead screw 59 to rotate forward through the coupling 510;

[0133] 2) Since the first positive-threaded lead screw 59A and the second reverse-threaded lead screw 59B are respectively provided with threads with positive and negative pitches, and the first positive inclined pull block 561 and the second reverse inclined pull block 562 are respectively sleeved on the first positive-threaded lead screw 59A and the second reverse-threaded lead screw 59B, under the rotation of the lead screw 59, the first positive inclined pull block 561 and the second reverse inclined pull block 562 rotate in opposite directions;

[0134] 3) Since the first positive inclined pull block 561 and the second reverse inclined pull block 562 are provided with a first notch 561B and a second tension rib 561H, at this time, the first notch 561B and the fourth guide rib 55B in the guide side plate 55 achieve a limiting effect; and the second tension rib 561H and the guide bottom plate 54 cooperate to achieve a guiding and limiting effect, so that the first positive inclined pull block 561 and the second reverse inclined pull block 562 cannot rotate, and can only cooperate with the first positive-threaded lead screw 59A and the second reverse-threaded lead screw 59B to realize translational movement along the axial direction of the lead screw;

[0135] 4) When the first forward stay block 561 and the second reverse stay block 562 move translationally, since the third guiding rib 571A of the passive guiding block is relatively parallel to the first pulling rib 561A of the active stay block and has a guiding effect, in addition, the first forward guiding block 571 and the second reverse guiding block 572 are provided with a first guiding groove 571B, and the first guiding groove 571B cooperates with the first guiding rib 521B of the first support plate 521 and the second guiding rib 522B of the second support plate 522 to realize vertical limiting movement; in addition, through the synchronous action of the connecting rod 58 on the first forward guiding block 571 and the second reverse guiding block 572, the synchronous vertical movement of the two is realized; at this time, the forward rotational movement of the spacing adjustment motor 51 is converted into the translational movement of the first forward stay block 561 and the second reverse stay block 562, and finally converted into the vertical movement of the first forward guiding block 571 and the second reverse guiding block 572, and the relative wall surface spacing height of the suction cup 4 connecting the first forward guiding block 571 and the second reverse guiding block 572 increases, and it also has the functions of self-locking and carrying heavy loads;

[0136] 5) Control the spacing adjustment motor 51 to rotate reversely, and the above steps 1)-4) are implemented reversely, so as to realize the reduction of the relative wall surface spacing height of the suction cup 4.

[0137] (6) In addition, when the gap distance between the suction cup 4 and the wall surface is adjusted, the parallel guiding module 61 further improves the smoothness and parallelism of the adjustment, and at the same time, the number of the gap adjustment components 5 can be reduced, further reducing the volume and weight of the robot body and reducing the application cost of the robot. Cooperating with the fluid sealing module 62, the adsorption efficiency of the robot during the spacing height adjustment process can be further improved, and the motor energy consumption can be reduced.

[0138] The present invention is not limited to the above embodiments. Anyone should know that the structural changes made under the inspiration of the present invention, as long as they have the same or similar technical solutions as the present invention, all fall within the protection scope of the present invention.

[0139] The technologies, shapes, and structures not described in detail in the present invention are all well-known technologies.

Claims

1. An automatic variable-gap wall-climbing adsorption operation robot, characterized in that, Comprising: A body for installing and fixing various components of the robot; A number of moving components arranged at the bottom of the body, used to drive the robot to complete wall crawling motion; A number of adsorption components arranged on the body, used to provide the adsorption force required for the robot to crawl on the wall; An adsorption disc, arranged below the adsorption component, and a cavity flow channel is formed between the lower surface of the adsorption disc and the wall, used to cooperate with the adsorption component to achieve a negative pressure effect; A number of gap adjustment components arranged inside the body and connected to the upper surface of the adsorption disc, and the gap adjustment components drive the adsorption disc to move up and down, used to adjust the numerical value of the gap distance between the adsorption disc and the wall; The gap adjustment component includes a spacing adjustment motor, a support plate, a spacer plate, a guide bottom plate, guide side plates, an active diagonal pull block, a passive guide block, a connecting rod, a lead screw, a coupling, a bottom plate, and a fixed bracket. The upper surface of the bottom plate is connected to the body. The support plate, spacer plate, and guide bottom plate are arranged on the lower surface of the bottom plate. There are two groups of support plates, which are respectively arranged at both ends of the bottom plate. The spacer plate is located between the two groups of support plates. The two groups of support plates and the spacer plate are connected by guide side plates. The guide bottom plate is fixed on the bottom plate between the support plate and the spacer plate. There are two groups of active diagonal pull blocks and passive guide blocks, which are symmetrically arranged on both sides of the spacer plate. The top of the active diagonal pull block is slidably connected to the guide bottom plate, the side surface of the active diagonal pull block is slidably connected to the guide side plate, the bottom of the active diagonal pull block is slidably connected to the passive guide block, and the side surface of the passive guide block is slidably connected to the support plate. The two groups of passive guide blocks are connected by a connecting rod. The connecting rod is located below the spacer plate. The bottom of the passive guide block is fixedly connected to the upper surface of the adsorption disc. There are two groups of lead screws. The thread rotation directions of the two groups of lead screws are opposite. The ends of the two groups of lead screws are connected and symmetrically arranged on both sides of the spacer plate. The lead screw passes through the active diagonal pull block and is threadedly connected to the active diagonal pull block. One end of the lead screw is connected to one end of the coupling, and the other end of the coupling is connected to the rotating shaft of the spacing adjustment motor. The spacing adjustment motor is installed on the fixed bracket, and the fixed bracket is connected to the rear end of the bottom plate.

2. The automatic variable-gap wall-climbing adsorption operation robot according to claim 1, characterized in that The adsorption component includes a paddle, a paddle column, and an adsorption power module. The adsorption power module is arranged on the body. The paddles are evenly arranged on the paddle column. The adsorption power module is connected to the paddle column and provides power for it to drive the paddles to rotate; The adsorption component also includes a power transmission module, which is arranged between the paddle column and the adsorption power module, used to realize the angle and speed adjustment during the process of transferring the rotational force from the adsorption power module to the paddle column. A guide cylinder is arranged on the outer envelope surface of the paddle. The guide cylinder is a cavity cylindrical structure, used for fluid diversion.

3. The automatic variable-gap wall-climbing adsorption operation robot according to claim 2, wherein The paddle includes a positive paddle and a negative paddle. The positive paddle adopts a paddle structure with a positive pitch, and the negative paddle adopts a paddle structure with a negative pitch. The positive paddle and the negative paddle are simultaneously driven by the same set of adsorption power modules to ensure that the positive paddle and the negative paddle rotate in opposite directions at the same speed.

4. The automatic variable-gap wall-climbing adsorption operation robot according to claim 1, wherein, The adsorption disc includes an upper surface and a lower surface. The upper surface of the adsorption disc is connected to the gap adjustment component, and the lower surface forms a cavity flow channel with the wall. The distance between the lower surface and the wall is the gap distance. When the gap adjustment component acts, it drives the adsorption disc to move up and down, thereby adjusting the numerical value of the gap distance.

5. The automatic variable-gap wall-climbing adsorption operation robot according to claim 1, wherein, The support plate includes a first support plate and a second support plate. The first support plate and the second support plate are arranged on the same axis. The first support plate is disposed at one end of the bottom plate close to the spacing adjustment motor. On the lower central vertical direction of the front end face of the first support plate and the rear end face of the second support plate, a first guide rib and a second guide rib for the sliding of the passive guide block are respectively provided. The guide bottom plate includes a first guide bottom plate, a second guide bottom plate, a third guide bottom plate and a fourth guide bottom plate. The first guide bottom plate and the second guide bottom plate are arranged symmetrically left and right. The rear end faces of the first guide bottom plate and the second guide bottom plate are both connected to the front end face of the first support plate. The front end faces of the first guide bottom plate and the second guide bottom plate are connected to the rear end face of the spacer plate. The third guide bottom plate and the fourth guide bottom plate are arranged symmetrically left and right. The rear end faces of the third guide bottom plate and the fourth guide bottom plate are connected to the front end face of the spacer plate. The front end faces of the third guide bottom plate and the fourth guide bottom plate are connected to the rear end face of the second support plate. A gap is reserved between the first guide bottom plate and the second guide bottom plate and between the third guide bottom plate and the fourth guide bottom plate for sliding connection with the active diagonal pulling block. The guide side plate includes a first guide side plate, a second guide side plate, a third guide side plate and a fourth guide side plate, which are used to connect the two sides of the spacer plate with the two sides of the first support plate and the second support plate. Each guide side plate has the same structure and includes a strip plate and a fourth guide rib. The strip plate is used to connect the spacer plate with the first support plate and the second support plate. The fourth guide rib is horizontally arranged on the inner side of the strip plate for sliding connection with the active diagonal pulling block. The active diagonal pulling block includes a first forward diagonal pulling block and a second reverse diagonal pulling block. The first forward diagonal pulling block and the second reverse diagonal pulling block have the same structure. The first forward diagonal pulling block and the second reverse diagonal pulling block are symmetrically and oppositely arranged before and after with respect to the spacer plate. The first forward diagonal pulling block is slidably connected with the passive guide block, the first guide side plate, the second guide side plate, the first guide bottom plate and the second guide bottom plate. The second reverse diagonal pulling block is slidably connected with the passive guide block, the third guide side plate, the fourth guide side plate, the third guide bottom plate and the fourth guide bottom plate. The passive guide block includes a first forward guide block and a second reverse guide block. The first forward guide block and the second reverse guide block have the same structure. The first forward guide block and the second reverse guide block are symmetrically arranged before and after with respect to the spacer plate. The first forward guide block and the second reverse guide block are both fixedly connected to the suction cup. The first forward guide block is slidably connected with the first forward diagonal pulling block and the first support plate. The second reverse guide block is slidably connected with the second reverse diagonal pulling block and the second support plate. The lead screw includes a first right-handed lead screw and a second left-handed lead screw. One end of the first right-handed lead screw is connected to the coupling, and the other end is connected to the second left-handed lead screw. The first right-handed lead screw passes through the first forward diagonal pulling block and is threadedly connected to the first forward diagonal pulling block. The second left-handed lead screw passes through the second reverse diagonal pulling block and is threadedly connected to the second reverse diagonal pulling block.

6. The automatic variable-gap wall-climbing adsorption operation robot according to claim 5, wherein, The fixed bracket is provided with a perforation for passing through the rotating shaft of the spacing adjustment motor. The spacer is arranged at an equal distance between the first support plate and the second support plate. Both between the first support plate and the spacer and between the second support plate and the spacer are connected by a guiding bottom plate and guiding side plates. A notch is provided at the bottom of the spacer to reserve space for the connecting rod. Through holes are provided in the upper part of the spacer, and bearings are arranged at the through holes to pass through the lead screw and realize the rotation of the lead screw relative to the support plate and the spacer; On the left and right side end faces at the bottom of the first forward pulling block, first pulling ribs for clamping with the passive guiding block are respectively arranged. First notches for sliding connection with the fourth guiding ribs on the guiding side plate are respectively arranged on the adjacent side faces of the first pulling ribs. A first common notch is arranged between the two first pulling ribs. Second notches are respectively arranged on both sides of the first common notch. First guiding balls are arranged on the three end faces of the second notch. A through threaded hole for the lead screw to pass through is arranged above the first common notch. A second pulling rib for slidingly matching with the gap on the guiding bottom plate is arranged at the top of the pulling block. Two columns of equally spaced second guiding balls are arranged on the end face of the second pulling rib; The first forward guiding block is a triangular wedge-shaped block. On both sides of the oblique end face of the first forward guiding block, first guiding ribs with the same structure are respectively arranged. The first guiding ribs are in clamping and sliding connection with the first common notch, the second notch and the first pulling rib of the first forward pulling block. A first guiding groove for sliding connection with the first guiding rib on the first support plate is vertically arranged on the rear end face of the first forward guiding block. A guiding block notch for the lead screw to pass through is arranged at the top of the first forward guiding block. A threaded hole is arranged on the bottom surface of the first forward guiding block to fixedly adsorb the suction cup through bolt threaded connection. Semi-sunken round holes for installing the connecting rod are arranged at the relative positions of the bottom side faces of the first forward guiding block and the second reverse guiding block. The connecting rod is used to synchronously move the first forward guiding block and the second reverse guiding block; Positive pitch threads are arranged on the surface of the first forward rotating lead screw, while negative pitch threads are arranged on the surface of the second reverse rotating lead screw; The first forward rotating lead screw passes through the through threaded hole of the first forward pulling block, and both ends of the first forward rotating lead screw are arranged in the through holes at the lower ends of the first support plate and the spacer through bearings. The second reverse rotating lead screw passes through the through threaded hole of the second reverse pulling block, and both ends of the second reverse rotating lead screw are arranged in the through holes at the lower ends of the second support plate and the spacer through bearings.

7. The automatic gap-variable wall-climbing adsorption operation robot according to claim 6, characterized in that, An auxiliary component is further included. The auxiliary component includes a parallel guiding module and a fluid sealing module. The parallel guiding module includes a guiding shaft, a fixing seat, and a guiding cylinder. The upper end of the fixing seat is arranged on the body, and the lower end is fixed with a guiding shaft. The guiding shaft is inserted into the guiding cylinder, and the guiding cylinder is fixed on the upper surface of the suction cup; The fluid sealing module at least includes an adsorption and diversion sealing ring. The adsorption and diversion sealing ring is of a circular ring structure. The lower end face of the adsorption and diversion sealing ring is arranged on the upper end face of the suction cup, and the upper end face of the adsorption and diversion sealing ring is in contact with the diversion cylinder.

8. The working method of the automatic variable-gap wall-climbing adsorption operation robot according to claim 7, characterized in that, It includes a crawling motion method when the robot is in an adsorbed state on the wall surface, and the steps are as follows: 1) The adsorption power module rotates, driving the paddle column to rotate, and then realizing the rotation of the paddle blade; The paddle blade drives the fluid to flow. The fluid flows in from the flow channel between the suction cup and the wall surface and enters the diversion cylinder; 2) According to the law of conservation of fluid mass, the cross-sectional area of the flow channel near the outer edge of the adsorption disc in the flow channel is large and the flow velocity is slow; while the cross-sectional area of the flow channel near the outer edge of the lower end of the central guide cylinder of the adsorption disc is small and the flow velocity is fast. Therefore, the flow velocity of the fluid in the flow channel gap between the adsorption disc and the wall is relatively faster than that of the fluid outside the main body. 3) According to Bernoulli's equation: , it is known that: the pressure is low where the flow velocity is high, and the pressure is high where the flow velocity is low. Therefore, the fluid pressure inside the flow channel is lower than that outside, so that the pressure of the fluid squeezes the robot body against the wall surface, and the robot realizes the negative pressure adsorption function; 4) By controlling the forward and backward movement and steering function of the moving component, the crawling function of the robot is realized.

9. The working method of the automatic gap-changing wall-climbing adsorption operation robot according to claim 7, characterized in that, It includes a method for adjusting the height parameter of the distance between the adsorption disc of the robot, and the steps are as follows: 1) The spacing adjustment motor rotates forward, and drives the first right-handed screw rod and the second left-handed screw rod of the screw rod to rotate forward through the coupling; 2) Since the first right-handed screw rod and the second left-handed screw rod are respectively provided with threads with positive and negative pitches, and the first forward pulling block and the second backward pulling block are respectively sleeved on the first right-handed screw rod and the second left-handed screw rod, under the rotation of the screw rod, the first forward pulling block and the second backward pulling block rotate in opposite directions; 3) Since the first forward pulling block and the second backward pulling block are provided with a first notch and a second pulling rib, at this time, the first notch and the fourth guiding rib in the guiding side plate achieve a limiting effect; and the second pulling rib cooperates with the guiding bottom plate to achieve a guiding and limiting effect, so that the first forward pulling block and the second backward pulling block cannot rotate, and can only cooperate with the first right-handed screw rod and the second left-handed screw rod to achieve translational motion along the axial direction of the screw rod; 4) When the first forward pulling block and the second backward pulling block perform translational motion, since the third guiding rib of the passive guiding block is relatively parallel to the first pulling rib of the active pulling block and has a guiding effect, in addition, since the first forward guiding block and the second backward guiding block are provided with a first guiding groove, the first guiding groove cooperates with the first guiding rib of the first supporting plate and the second guiding rib of the second supporting plate to achieve up and down limiting motion; in addition, through the synchronous action of the connecting rod on the first forward guiding block and the second backward guiding block, the synchronous up and down motion of the two is realized; at this time, the forward rotation motion of the spacing adjustment motor is converted into the translational motion of the first forward pulling block and the second backward pulling block, and finally converted into the vertical motion of the first forward guiding block and the second backward guiding block, and the height of the distance between the adsorption disc connecting the first forward guiding block and the second backward guiding block and the wall increases, and it also has the functions of self-locking and carrying heavy loads; 5) Control the spacing adjustment motor to rotate reversely, and the above steps 1)-4) are implemented reversely, so as to realize the reduction of the height of the distance between the adsorption disc and the wall.

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