Adaptive adsorption wall-climbing robot and working method

Abstract

The present invention belongs to the field of robotics and relates to an adaptive adsorption wall-climbing robot and a working method, comprising a mobile body, an adsorption module connected to the mobile body, the adsorption module installed in a fluid channel at the center of the mobile body, a plurality of motion modules disposed at the bottom of the mobile body, a wall adaptive adjustment module disposed at the bottom of the mobile body, and a control module disposed within the mobile body. Automatic adjustment of the distance and angle of the adsorption disc relative to the non-structural wall is achieved through a first wall-fitting adjustment component and a second wall-fitting adjustment component. The flexible connection between the disc components of the adsorption disc allows for better fit to complex non-structural walls with protrusions, cracks, and curvatures, thereby improving the universality and reliability of the robot's adsorption operations on complex walls. Furthermore, by regulating the distance between the adsorption disc and the non-structural wall, the robot's wall-climbing capability and maneuverability are improved while ensuring adhesion.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to an adaptive adsorption wall-climbing robot and a working method thereof. Background Art

[0002] A wall climbing robot is an automated robot that can climb and perform tasks on walls. The robot automatically attaches to and crawls on the surface of various equipment platforms, efficiently completing tasks such as reconnaissance, inspection, welding, repair, sandblasting, grinding, and cleaning of the surface of structures, freeing humans from harsh and dangerous environments and having high economic and social benefits.

[0003] Wall-climbing robots can be classified according to the principle of the adsorption mechanism into four types: 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 requires the adsorbed structure to be made of magnetic conductive material. Negative pressure adsorption has certain similarities with vacuum adsorption. It uses devices such as turbofans and fans to form a pressure difference between the inside and outside of high-speed fluids, thereby achieving wall adsorption. This method allows for a certain amount of fluid leakage. Combined with the surface conditions of the structures in the currently known application scenarios, the most mature and effective methods are magnetic adsorption and negative pressure adsorption.

[0004] For a robot to perform near-wall maintenance operations, it must be firmly attached to the wall and have the ability to resist external disturbances (such as load reaction force and cable drag force) while carrying a load. However, unlike ground mobile robots, wall-climbing robots are affected by attachment, operating conditions, and their own inherent characteristics, and there are still many difficulties in their actual application: magnetic adsorption can only attach to the surface of magnetic structures, and is no longer applicable to the exterior walls of buildings, glass curtains, cement pile foundations of offshore platforms, and the walls of bridges and dams. Conventional negative pressure adsorption robots are only applicable to flat structural walls, and existing technologies are difficult to apply to non-structural wall scenarios such as facilities with protrusions, cracks, or curvature. On the magnetic adsorption scheme: for example, the invention patent with application number 201710524340.8 discloses a curved surface adaptive magnetic adsorption wall-climbing painting robot, the utility model patent with application number 202023231488.9 discloses a rolling adsorption wall-climbing robot with curved surface adaptability, the invention patent with application number 201910370398.0 discloses a four-wheel wall-climbing robot with curved surface adsorption function and its use method, the utility model patent with application number 202223043678.7 discloses an electromagnetic adsorption wall-climbing robot that can be used for curved surface movement, etc. Regarding negative pressure adsorption solutions, typical examples include invention patent application number 202211667571.1, which discloses a negative pressure adsorption mobile chassis and a mobile robot incorporating the chassis, and invention patent application number 202211149573.1, which discloses a multi-chamber negative pressure adsorption curtain wall cleaning robot. Similarly, utility model patent application number 202222450258.4 discloses a self-regulating adsorption flying robot. Currently, there are no reports of an adsorption wall-climbing robot that can adaptively adhere to both structured and unstructured walls. Summary of the Invention

[0005] One object of the present invention is to provide an adaptive adsorption wall-climbing robot to achieve stable adsorption wall-climbing operations of the robot on non-structural walls in a fluid medium.

[0006] The technical solution adopted by the present invention to solve the technical problem is: an adaptive adsorption wall-climbing robot, comprising:

[0007] The mobile body is used to install various components of the fixed robot, and a longitudinal fluid channel is provided at the center of the mobile body;

[0008] An adsorption module connected to the mobile body is installed in the fluid channel at the center of the mobile body and is used to use the Bernoulli negative pressure adsorption effect to provide the adsorption force required for the robot to crawl on the wall;

[0009] Several motion modules are provided at the bottom of the mobile body to drive the robot to complete the wall crawling motion;

[0010] The wall adaptive adjustment module, located at the bottom of the mobile body, is used to automatically adjust the position of the adsorption plate relative to the mobile body, thereby regulating the distance and angle between the robot and the wall to adapt to non-structural walls with bumps, cracks, or curvature;

[0011] The control module, adsorption module, motion module and wall surface adaptive adjustment module are all connected to the control module and are driven and controlled by the control module.

[0012] Furthermore, the mobile body includes a frame, which is used to install and connect the adsorption module, the motion module, the wall adaptive adjustment module and the control module. A float is provided at the bottom of the outer periphery of the frame, and the float is used to enable the mobile body to generate buoyancy in the liquid medium.

[0013] Furthermore, the adsorption module includes a power mechanism and a propeller. The propeller is longitudinally arranged at the lower part of the fluid channel of the mobile body. The power mechanism is connected to the upper part of the propeller and drives the propeller to operate, driving the fluid to flow from the bottom to the top of the fluid channel. The power mechanism is also connected to the control module.

[0014] Furthermore, the propeller can also rotate in the reverse direction, driving the fluid to flow from the top to the bottom of the fluid channel, and also forming a negative pressure adsorption force based on the Bernoulli effect.

[0015] Furthermore, the motion module is an important mechanism that drives the robot to complete wall crawling motion. It can be a wheeled, tracked or other mobile mechanism. The present invention adopts a wheeled mechanism. The motion module includes a wheel train and a driving mechanism. The driving mechanism is connected to the wheel train and drives the wheel train to drive the mobile body to move. The driving mechanism is fixedly installed inside the mobile body and connected to the control module.

[0016] Furthermore, the wall adaptive adjustment module includes an adsorption disc body, on which are installed several sensing components for sensing the height distance from underwater obstacles or non-structural walls. The upper surface of the adsorption disc body is fixedly connected to several second wall fitting adjustment components, and the upper surface of the adsorption disc body is also fixedly connected to several first wall fitting adjustment components, the first wall fitting adjustment components are connected to the bottom of the mobile body, and the first wall fitting adjustment components and the second wall fitting adjustment components are used to adjust the height and angular posture parameters of the corresponding position of the adsorption disc body from the non-structural wall.

[0017] Furthermore, the adsorption disc body is composed of a number of disc body assemblies that are not connected to each other. The disc body assembly includes an intermediate disc body, a first side disc body and a second side disc body arranged side by side along the radial direction of the adsorption disc body. The first side disc body and the second side disc body are respectively arranged on both sides of the intermediate disc body. A through hole is opened on the intermediate disc body for the motion module to pass through.

[0018] Preferably, the middle disk body includes middle disk body one and middle disk body two, and a swinging flexible rib is connected between middle disk body one and middle disk body two, and the swinging flexible rib is used for synchronous adaptive adjustment of middle disk body one and middle disk body two; the first side disk body includes first side disk body one and first side disk body two, and a hinge assembly is connected between the first side disk body one and the first side disk body two; the second side disk body includes second side disk body one and second side disk body two, and a hinge assembly is connected between the second side disk body one and the second side disk body two; the outer periphery of the first side disk body one, the middle disk body one and the second side disk body one is at the same distance from the center of the adsorption disk body, and the upper surfaces of the first side disk body one, the middle disk body one and the second side disk body one are flexibly connected by circumferential flexible ribs, and the circumferential flexible ribs are used for synchronous adaptive follow-up adjustment of the first side disk body one, the middle disk body one and the second side disk body one.

[0019] Furthermore, the outer peripheries of the first side disk body 2, the middle disk body 2, and the second side disk body 2 are at the same distance from the center of the adsorption disk body, and the upper surfaces of the first side disk body 2, the middle disk body 2, and the second side disk body 2 are all fixedly connected to the bottom of the first wall fitting adjustment component, and the upper surface of the middle disk body 1 is fixedly connected to the bottom of the second wall fitting adjustment component.

[0020] Furthermore, sensing components are fixedly installed on the first side disc body 1, the second side disc body 1, the first side disc body 2, the middle disc body 2, and the second side disc body 2. The sensing components are connected to the control module. The sensing components are used to sense the height distance from the underwater obstacle or non-structural wall and feed back to the control module. The control module analyzes, integrates and calculates the flow channel space size information between the discs and the wall corresponding to the sensing components through a matrix distributed sensing module composed of several sensing components, thereby controlling the corresponding first wall fitting adjustment component and the second wall fitting adjustment component to start height angle adjustment to make the adsorption disc adapt to the angle of the non-structural wall.

[0021] Preferably, the sensing component is an ultrasonic sensor or any other ranging sensor.

[0022] Furthermore, in another embodiment of the present invention, the structures of the middle plate, the first side plate, and the second side plate can be configured as follows as needed:

[0023] The intermediate disk body includes intermediate disk body 1, intermediate disk body 2, intermediate disk body 3...intermediate disk body N; the intermediate disk body includes intermediate disk body 1, intermediate disk body 2, intermediate disk body 3...intermediate disk body N is flexibly connected by swinging flexible ribs;

[0024] Correspondingly, the first side plate includes a first side plate 1, a first side plate 2, a first side plate 3...a first side plate N; the first side plate 1, the first side plate 2, the first side plate 3...the first side plate N are connected by a hinge assembly;

[0025] Correspondingly, the second side tray includes a second side tray 1, a second side tray 2, a second side tray 3...a second side tray N; the second side tray 1, the second side tray 2, the second side tray 3...the second side tray N are connected by a hinge assembly;

[0026] The middle disc body, the first side disc body and the second side disc body at corresponding circumferential positions are flexibly connected via circumferential flexible ribs.

[0027] Furthermore, the first wall fitting adjustment component includes an upper fixed seat, a lower fixed seat, an upper end plate, an adjusting rod, a power rotating mechanism, and a horizontal screw rod. The upper surface of the upper fixed seat is rotatably connected to the bottom surface of the upper end plate, the top surface of the upper end plate is fixedly connected to the movable body, the lower fixed seat is fixedly connected to the upper surface of the adsorption disk, the lower surface of the upper fixed seat is vertically connected to the guide rod, a guide rod slide is provided on the side of the power rotating mechanism, and the power rotating mechanism is slidably connected to the guide rod through the guide rod slide. Two sets of adjusting rods are connected between the upper fixed seat and the lower fixed seat. The two sets of adjusting rods The tops of the section rods are hingedly connected to the upper fixed seat, and the bottoms of the two sets of adjusting rods are hingedly connected to the lower fixed seat. The two sets of adjusting rods form a parallelogram. The power rotation mechanism is a hollow shaft motor. The power rotation mechanism is connected to the control module. The power rotation mechanism is sleeved on the middle part of the horizontal screw rod. The two ends of the horizontal screw rod are respectively threadedly connected to the two sets of adjusting rods. The power rotation mechanism can drive the two sets of adjusting rods to move toward or away from each other along the horizontal screw rod. At the same time, the power rotation mechanism can move up and down on the guide rod, so as to adjust the distance and angle between the upper fixed seat and the lower fixed seat.

[0028] The top of the adjusting base is hinged on the upper frame, and the bottom of the adjusting base is hinged on the upper frame, and the bottom of the adjusting base is hinged on the bottom of the adjusting base. The adjusting base is hinged on the upper frame, and the bottom of the adjusting base is hinged on the bottom of the adjusting base.

[0029] Furthermore, the tops of the two upper adjusting rods and the bottoms of the two lower adjusting rods are provided with synchronous gears, the tops of the two upper adjusting rods are meshed and connected via the synchronous gears, and the bottoms of the two lower adjusting rods are meshed and connected via the synchronous gears.

[0030] Furthermore, there are two groups of guide rods, the power rotation mechanism is located between the two groups of guide rods, and guide rod slides are provided on both sides of the power rotation mechanism, and the guide rod slides are sleeved on the guide rods.

[0031] Furthermore, a ball seat is fixedly connected to the upper surface of the upper fixed seat, and a ball head is matched with the ball seat. The upper end of the ball head is fixedly connected to the bottom surface of the upper end plate, and the lower end is arranged in the ball seat.

[0032] Furthermore, the second wall fitting adjustment component includes a power drive mechanism, a frame, a first eccentric rotating component, a second eccentric rotating component, a displacement component and a base plate. The lower surface of the base plate is fixedly connected to the upper surface of the adsorption disk body, and vertical plates are symmetrically provided at both ends of the upper surface of the base plate. The frame is an inverted U-shape, and the top of the frame is fixedly connected to the movable body. The lower parts of the two ends of the frame are respectively slidably connected to the upper parts of a group of displacement components, and the bottom of each group of displacement components is hingedly connected to the vertical plate through a hinge shaft. The power drive mechanism is fixedly installed on the outside of the frame, the power drive mechanism is connected to the control module, and the output shaft of the power drive mechanism is connected to the first eccentric rotating component. The two ends of the first eccentric rotating component are fixedly connected to the frame, and the two ends of the second eccentric rotating component are respectively fixedly connected to the displacement component. The first eccentric rotating component is meshed with the second eccentric rotating component. The power drive mechanism drives the first eccentric rotating component to rotate, and the first eccentric rotating component drives the second eccentric rotating component to rotate through meshing, thereby driving the displacement component to move up and down.

[0033] Furthermore, a groove is provided at the lower portion of the frame, and the displacement assembly is longitudinally connected to the groove. The displacement assembly includes a guide slider and a tension spring. The bottom of the guide slider is hingedly connected to the vertical plate through a hinge shaft. The bottom end of the tension spring is fixedly connected to the top of the guide slider, and the top of the tension spring is connected to the top of the frame groove. Protrusions are longitudinally provided on the inner walls on both sides of the groove, and sliding grooves corresponding to the protrusions are respectively provided on both sides of the guide slider.

[0034] Furthermore, the first eccentric rotating assembly includes a driving eccentric gear, a driving eccentric cam, and a driving shaft. The two ends of the driving shaft are laterally connected to the frame through bearings. The driving eccentric gear is sleeved on the middle part of the driving shaft. There are two driving eccentric cams, which are symmetrically sleeved on the driving shaft on both sides of the driving eccentric gear. One end of the driving shaft is connected to the output shaft of the power drive mechanism.

[0035] Furthermore, the second eccentric rotating component includes a driven eccentric gear, a driven eccentric cam, and a driven shaft. The driven shaft is parallel to the driving shaft and is located below the driving shaft. The two ends of the driven shaft are respectively connected to the guide sliders of the two displacement components through bearings. The number of the driven eccentric gear and the driven eccentric cam is the same as that of the driving eccentric gear and the driving eccentric cam, and their positions correspond. The driven eccentric gear is meshed with the driving eccentric gear, and the driven eccentric cam is cooperatively connected with the driving eccentric cam at the corresponding position.

[0036] Furthermore, the adaptive adsorption wall-climbing robot of the present invention may also include an operating tool, which is installed on the mobile body and may be a cavitation cleaning system, a robotic arm operating system, etc. according to operating requirements.

[0037] While negative pressure adsorption is described in this invention, it can also be applied to magnetic adsorption robot systems. Similarly, the adsorption module is typically a permanent magnet or electromagnetic mechanism that adheres to a magnetically conductive surface through magnetic force. The adsorption module (permanent magnet or electromagnetic mechanism) can be directly or indirectly fixed to the end surface of the adsorption disk to adjust its position relative to the wall.

[0038] Another object of the present invention is to provide a method for operating an adaptive adsorption wall-climbing robot, including a method for crawling the robot in an adsorption state on a wall, the steps of which are as follows:

[0039] 1) The power mechanism rotates, driving the propeller to rotate. The propeller drives the fluid to flow. The fluid flows into the flow channel between the adsorption disc and the wall and enters the fluid channel;

[0040] 2) According to the law of conservation of fluid mass, the cross-sectional area of ​​the flow channel between the adsorption disc and the wall is large and the flow velocity is slow, while the cross-sectional area of ​​the flow channel near the outer edge 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 faster than the flow velocity of the fluid outside the moving body.

[0041] 3) According to Bernoulli's equation: Knowing that the pressure is low where the flow rate is high, and the pressure is high where the flow rate is low. Therefore, the fluid pressure inside the flow channel between the adsorption disc and the wall is lower than that outside. As a result, the fluid pressure squeezes the mobile body against the wall, and the robot achieves negative pressure adsorption function.

[0042] 4) The robot's crawling function is realized by controlling the motion module to move forward and backward and turn.

[0043] As an alternative, the power mechanism can also rotate in the reverse direction, driving the propeller to rotate in the reverse direction, and the propeller drives the fluid to flow into the top of the fluid channel and out of the bottom, thereby also achieving negative pressure adsorption operation.

[0044] The operating method of the adaptive adsorption wall-climbing robot of the present invention also includes a method for adjusting the robot's adaptive adsorption to a non-structural wall. When the robot is operating, in order to ensure the highest adsorption efficiency of the robot on the non-structural wall or to improve the robot's ability to move and overcome obstacles on the non-structural wall, it is necessary to adjust the distance parameters and angle parameters of the gap between the adsorption disc and the non-structural wall in real time. The steps are as follows:

[0045] 1) The sensing components distributed on the adsorption discs feed back the collected vertical distance data from the non-structural wall to the control module. The control module analyzes and processes the height distance information provided by the sensing components to determine the angle information between the discs corresponding to the sensing components, thereby controlling the corresponding first and second wall fitting adjustment components to start height and angle adjustment;

[0046] 2) The control module controls the power rotation mechanism of the first wall fitting adjustment component to start, and the power rotation mechanism drives the two sets of adjustment rods to move toward or away from each other along the horizontal screw rod. At the same time, the power rotation mechanism moves along the guide rod to limit the distance to maintain the stability of the power rotation mechanism. The distance between the upper fixed seat and the lower fixed seat increases or decreases. Since the lower fixed seat is fixedly connected to the first side disk body 2 or the middle disk body 2 or the second side disk body 2, the distance between the first side disk body 2 or the middle disk body 2 or the second side disk body 2 where the lower fixed seat is located and the wall surface decreases or increases; and because the upper fixed seat is rotatably connected to the upper end plate through the ball seat and the ball head, and the upper end plate is fixedly connected to the movable body, the first side disk body where the lower fixed seat is located is When the distance between the second or middle disk body 2 or the second side disk body 2 and the wall surface is reduced or increased, the second or middle disk body 2 or the second side disk body 2 will rotate with the ball head as the center to adjust the angle to adapt to the angle of the non-structural wall surface where the lower fixed seat is located, the first or middle disk body 2 or the second side disk body 2 is located; the middle disk body 1 and the middle disk body 2 are connected by a swinging flexible rib, and the first or middle disk body 1 and the first side disk body 2, as well as the second or middle disk body 1 and the second side disk body 2 are connected by a hinge assembly. Therefore, when the first or middle disk body 2 or the second side disk body 2 where the lower fixed seat is located is adjusted in distance and angle, the corresponding first or middle disk body 1 or the second side disk body 1 will be synchronously adaptively adjusted;

[0047] 3) The control module controls the power drive mechanism of the second wall fitting adjustment component on the middle disk body 1 to start, and the power drive mechanism drives the first eccentric rotating component to rotate, and the first eccentric rotating component drives the second eccentric rotating component to rotate through the meshing action, and then drives the displacement component to move up and down in the groove of the frame, and the bottom of the displacement component is connected to the middle disk body 1 through the vertical plate and the bottom plate, thereby driving the middle disk body 1 to move up and down to achieve the distance adjustment between the middle disk body 1 and the non-structural wall surface; since the bottom of the displacement component is hingedly connected to the vertical plate through the hinge axis, during the process of the middle disk body 1 moving up and down, the middle disk body 1 can rotate around the hinge axis to achieve angle adjustment, thereby adapting to the angle of the non-structural wall surface where the middle disk body 1 is located; since the first side disk body 1, the middle disk body 1 and the second side disk body 1 are flexibly connected by circumferential flexible ribs, when the middle disk body 1 is adjusted in distance and angle, the first side disk body 1 and the second side disk body 1 will synchronously adapt to the adjustment of the distance and angle of the non-structural wall surface where the middle disk body 1 is located with the middle disk body 1;

[0048] 4) Synchronous distance and angle adjustment of the disc assemblies is achieved through the flexible connection of the swinging flexible ribs and the circumferential flexible ribs, as well as the articulated connection of the hinge assembly. The synchronous distance and angle adjustment of several disc assemblies ultimately achieves the same distance between the adsorption disc and the non-structural wall, the same angle between the adsorption disc and the corresponding non-structural wall, and the adsorption disc is parallel to the non-structural wall, which is used for the stable adsorption of the adsorption module to the non-structural wall and the stable crawling of the motion module on the non-structural wall.

[0049] 5) When the robot is on a non-structural wall surface that does not require a large adsorption force to stay or move, the control module increases the distance between the adsorption disk and the non-structural wall surface by controlling the first wall surface fitting adjustment component and the second wall surface fitting adjustment component. The robot's mobile body can move stably and quickly on the non-structural wall surface through the motion module.

[0050] The present invention has the following beneficial effects: The adaptive adsorption wall-climbing robot of the present invention automatically adjusts the position and shape of the adsorption plate relative to a complex, non-structural wall surface with uneven heights, including protrusions, cracks, or curvature, through a first wall-fitting adjustment component and a second wall-fitting adjustment component. The flexible connection of the adsorption plate components allows them to better adapt to the height and angle of the non-structural wall surface, thereby improving the stability and reliability of the robot's adsorption operations on the non-structural wall surface. Furthermore, when the robot no longer requires strong adhesion to the wall surface, the first and second wall-fitting adjustment components adjust the height of the gap between the adsorption plate and the wall surface, increasing the robot's stable and rapid movement on the non-structural wall surface through the motion module. This improves the robot's ability to pass through complex walls and its obstacle-crossing performance, and increases the flexibility and applicability of the robot's wall-surface operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the three-dimensional structure of the adaptive adsorption wall-climbing robot of the present invention.

[0052] Figure 2 This is a front view of the adaptive adsorption wall-climbing robot of the present invention.

[0053] Figure 3 This invention Figure 2 Middle AA section view.

[0054] Figure 4 It is a left view of the adaptive adsorption wall-climbing robot of the present invention.

[0055] Figure 5 This invention Figure 4 Middle BB section view.

[0056] Figure 6 It is a bottom view of the adaptive adsorption wall-climbing robot of the present invention.

[0057] Figure 7 It is a schematic diagram of the three-dimensional structure of the disk assembly of the present invention.

[0058] Figure 8 It is a front view of the first wall fitting adjustment component of the present invention.

[0059] Figure 9 This invention Figure 8 Center CC section view.

[0060] Figure 10 A left side view of the first wall fitting adjustment assembly of the present invention.

[0061] Figure 11 This invention Figure 10 Middle DD section view.

[0062] Figure 12 It is a schematic diagram of the three-dimensional structure of the second wall fitting adjustment component of the present invention.

[0063] Figure 13 It is a left view of the second wall fitting adjustment component of the present invention.

[0064] Figure 14 This invention Figure 13 EE section view.

[0065] Figure 15 It is a rear view of the second wall fitting adjustment component of the present invention.

[0066] Figure 16 It is a structural schematic diagram of the adaptive adsorption wall-climbing robot of the present invention after the adsorption disc of the robot is adjusted horizontally and parallelly downward.

[0067] Figure 17 It is a structural schematic diagram of the self-adaptive adsorption wall-climbing robot after the posture of the adsorption disk part of the robot is adjusted.

[0068] Figure 18 It is a schematic diagram of the operation of the adaptive adsorption wall-climbing robot of the present invention adsorbing on the wall when the adsorption disc is in an overall horizontal position.

[0069] Figure 19 It is a schematic diagram of the operation of the adaptive adsorption wall-climbing robot of the present invention after the adsorption disc is adjusted to fit and adsorb on the wall.

[0070] In the figure, 1. Mobile body, 2. Adsorption module, 3. Motion module, 4. Wall adaptive adjustment module, 5. Control module, 6. Working tool, 1-1. Frame, 1-2. Floating body, 1-3. Fluid channel, 2-1. Power mechanism, 2-2. Propeller, 3-1. Gear train, 3-2. Driving mechanism, 4-1. Adsorption disk, 4-2. First wall fitting adjustment component, 4-3. Second wall fitting adjustment component, 4-4. Sensing component, 4-1-1. Disk component, 4-1-1-1. First side disk , 4-1-1-2, middle disk, 4-1-1-3, second side disk, 4-1-1-4, hinge assembly, 4-1-1-5, circumferential flexible ribs, 4-1-1-6, swing flexible ribs, 4-1-1-1a, first side disk one, 4-1-1-1b, first side disk two, 4-1-1-2a, middle disk one, 4-1-1-2b, middle disk two, 4-1-1-3a, second side disk one, 4-1-1-3b, second side disk two, 4-2-1, upper fixed seat, 4-2-2 , lower fixed seat, 4-2-3, support column, 4-2-4, upper adjustment rod, 4-2-5, lower adjustment rod, 4-2-6, horizontal screw, 4-2-7, power rotation mechanism, 4-2-8, nut seat, 4-2-9, ball seat, 4-2-10, ball head, 4-2-11, upper end plate, 4-2-12, guide rod, 4-2-13, guide rod slide, 4-2-14, hinge shaft, 4-2-a, synchronous gear, 4-3-1, power drive mechanism, 4-3-2, frame, 4-3-3, first offset Center rotating assembly, 4-3-4, second eccentric rotating assembly, 4-3-5, displacement assembly, 4-3-6, base plate, 4-3-7, vertical plate, 4-3-2-1, bump, 4-3-2-2, groove, 4-3-3-1, driving eccentric gear, 4-3-3-2, driving eccentric cam, 4-3-3-3, driving shaft, 4-3-4-1, driven eccentric gear, 4-3-4-2, driven eccentric cam, 4-3-4-3, driven shaft, 4-3-5-1, guide slider, 4-3-5-2, tension spring. DETAILED DESCRIPTION

[0071] The following are specific embodiments of the present invention to further describe the technical solution of the present invention, but the scope of protection of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the scope of protection of the present invention.

[0072] In the present invention, a structural wall surface refers to a flat wall surface, and a non-structural wall surface refers to an uneven wall surface containing protrusions, cracks, or curvature.

[0073] like Figure 1-4 As shown, the adaptive adsorption wall-climbing robot includes:

[0074] The mobile body 1 is used to install and fix the various components of the robot. The center of the mobile body 1 is provided with longitudinally running fluid channels 1-3;

[0075] The adsorption module 2 is connected to the mobile body 1 and is installed in the fluid channel 1-3 at the center of the mobile body 1. The adsorption module 2 is used to utilize the Bernoulli negative pressure adsorption effect to provide the adsorption force required for the robot to crawl on the wall.

[0076] Several motion modules 3 are provided at the bottom of the mobile body 1 to drive the robot to complete the wall crawling motion;

[0077] The wall adaptive adjustment module 4 provided at the bottom of the mobile body 1 is used to automatically adjust the position of the adsorption plate relative to the mobile body 1, thereby regulating the distance and angle between the robot and the wall to adapt to non-structural walls with protrusions, cracks or curvature;

[0078] The control module 5 arranged inside the mobile body 1 , the adsorption module 2 , the motion module 3 , and the wall adaptive adjustment module 4 are all connected to the control module 5 , and the adsorption module 2 , the motion module 3 , and the wall adaptive adjustment module 4 are all driven and controlled by the control module 5 .

[0079] The mobile body 1 includes a frame 1-1, which is used to install and connect the adsorption module 2, the motion module 3, the wall adaptive adjustment module 4 and the control module 5. A float 1-2 is provided at the bottom of the outer periphery of the frame 1-1, and the float 1-2 is used to enable the mobile body 1 to generate buoyancy in the liquid medium.

[0080] like Figure 5 As shown, the adsorption module 2 includes a power mechanism 2-1 and a propeller 2-2. The propeller 2-2 is longitudinally arranged at the lower part of the fluid channel 1-3 of the mobile body 1. The power mechanism 2-1 is connected to the upper part of the propeller 2-2 and drives the propeller 2-2 to operate, driving the fluid to flow from the bottom to the top of the fluid channel 1-3. The power mechanism 2-1 is also connected to the control module 5.

[0081] As an alternative implementation scheme, the propeller 2-2 can also rotate in the reverse direction to drive the fluid to flow from the top to the bottom of the fluid channel 1-3, and also form a negative pressure adsorption force based on the Bernoulli effect.

[0082] The motion module 3 is an important mechanism for driving the robot to complete the wall crawling motion. It can be a wheeled, crawler-type or other mobile mechanism. The present invention adopts a wheeled mechanism, such as Figure 3 and Figure 6 As shown, the motion module 3 includes a gear train 3-1 and a driving mechanism 3-2. The driving mechanism 3-2 is connected to the gear train 3-1 and drives the gear train 3-1 to drive the mobile body 1 to move. The driving mechanism 3-2 is fixedly installed inside the mobile body 1 and connected to the control module 5.

[0083] like Figure 6 、 Figure 7 As shown, the wall adaptive adjustment module 4 includes an adsorption disc body 4-1, on which are mounted a number of sensing components 4-4 for sensing the height distance from underwater obstacles or non-structural walls. The upper surface of the adsorption disc body 4-1 is fixedly connected with a number of second wall fitting adjustment components 4-3. The upper surface of the adsorption disc body 4-1 is also fixedly connected with a number of first wall fitting adjustment components 4-2. The first wall fitting adjustment components 4-2 are connected to the bottom of the mobile body 1. The first wall fitting adjustment components 4-2 and the second wall fitting adjustment components 4-3 are used to adjust the height and angular posture parameters of the corresponding position of the adsorption disc body 4-1 from the non-structural wall.

[0084] The adsorption tray 4-1 is composed of several disconnected tray assemblies 4-1-1. In one embodiment of the present invention, four tray assemblies 4-1-1 are provided, forming a circular adsorption tray 4-1. The tray assemblies 4-1-1 include a middle tray 4-1-1-2, a first side tray 4-1-1-1, and a second side tray 4-1-1-3, arranged radially side by side. The first side tray 4-1-1-1 and the second side tray 4-1-1-3 are respectively disposed on either side of the middle tray 4-1-1-2. The middle tray 4-1-1-2 has a through hole for the motion module 3 to pass through.

[0085] Preferably, the middle disk body 4-1-1-2 includes a middle disk body 1 4-1-1-2a and a middle disk body 2 4-1-1-2b, and a swing flexible rib 4-1-1-6 is connected between the middle disk body 1 4-1-1-2a and the middle disk body 2 4-1-1-2b, and the swing flexible rib 4-1-1-6 is used for synchronous adaptive adjustment of the middle disk body 1 4-1-1-2a and the middle disk body 2 4-1-1-2b; the first side disk body 4-1-1-1 includes a first side disk body 1 4-1-1-1a and a first side disk body 2 4-1-1-1b, and a hinge assembly 4-1-1-4 is connected between the first side disk body 1 4-1-1-1a and the first side disk body 2 4-1-1-1b; the second side disk body 4-1-1-3 includes a second side disk body 1 4-1-1-3 a and the second side disk body 2 4-1-1-3b, a hinge assembly 4-1-1-4 is connected between the second side disk body 1 4-1-1-3a and the second side disk body 2 4-1-1-3b; the outer periphery of the first side disk body 1 4-1-1-1a, the middle disk body 1 4-1-1-2a and the second side disk body 1 4-1-1-3a are at the same distance from the center of the adsorption disk body 1, and the upper surfaces of the first side disk body 1 4-1-1-1a, the middle disk body 1 4-1-1-2a and the second side disk body 1 4-1-1-3a are flexibly connected by circumferential flexible ribs 4-1-1-5, and the circumferential flexible ribs 4-1-1-5 are used for synchronous adaptive follow-up adjustment of the first side disk body 1 4-1-1-1a, the middle disk body 1 4-1-1-2a and the second side disk body 1 4-1-1-3a.

[0086] Furthermore, the outer peripheries of the first side disk body 2 4-1-1-1b, the middle disk body 2 4-1-1-2b, and the second side disk body 2 4-1-1-3b are at the same distance from the center of the adsorption disk body 1, and the upper surfaces of the first side disk body 2 4-1-1-1b, the middle disk body 2 4-1-1-2b, and the second side disk body 2 4-1-1-3b are fixedly connected to the bottom of the first wall fitting adjustment component 4-2, and the upper surface of the middle disk body 1 4-1-1-2a is fixedly connected to the bottom of the second wall fitting adjustment component 4-3.

[0087] Furthermore, sensing components 4-4 are fixedly installed on the first side disk 1 4-1-1-1a, the second side disk 1 4-1-1-3a, the first side disk 2 4-1-1-1b, the middle disk 2 4-1-1-2b, and the second side disk 2 4-1-1-3b. The sensing components 4-4 are connected to the control module 5. The sensing components 4-4 are used to sense the height distance from the underwater obstacle or the non-structural wall and feed back to the control module 5. The control module 5 analyzes, fuses and calculates the flow channel space size information between the disks and the wall corresponding to the sensing components 4-4 through a matrix distributed sensing module composed of several sensing components 4-4, thereby controlling the corresponding first wall fitting adjustment components 4-2 and the second wall fitting adjustment components 4-3 to start height angle adjustment so that the adsorption disk 4-1 adapts to the angle of the non-structural wall.

[0088] Preferably, the sensing component 4 - 4 is an ultrasonic sensor or any other ranging sensor.

[0089] Furthermore, in another embodiment of the present invention, the structures of the middle plate 4-1-1-2, the first side plate 4-1-1-1 and the second side plate 4-1-1-3 can be configured as follows as needed:

[0090] The intermediate disk body 4-1-1-2 includes the intermediate disk body 1 4-1-1-2a, the intermediate disk body 2 4-1-1-2b, the intermediate disk body 3 4-1-1-2c ... the intermediate disk body N 4-1-1-2n; the intermediate disk body 4-1-1-2 includes the intermediate disk body 1 4-1-1-2a, the intermediate disk body 2 4-1-1-2b, the intermediate disk body 3 4-1-1-2c ... the intermediate disk body N 4-1-1-2n, which are flexibly connected by the swing flexible rib 4-1-1-6;

[0091] Correspondingly, the first side plate 4-1-1-1 includes the first side plate 1 4-1-1-1a, the first side plate 2 4-1-1-1b, the first side plate 3 4-1-1-1c ... the first side plate N 4-1-1-1n; the first side plate 1 4-1-1-1a, the first side plate 2 4-1-1-1b, the first side plate 3 4-1-1-1c ... the first side plate N 4-1-1-1n are connected by a hinge assembly 4-1-1-4;

[0092] Correspondingly, the second side plate 4-1-1-1 includes the second side plate 1 4-1-1-3a, the second side plate 2 4-1-1-3b, the second side plate 3 4-1-1-3c ... the second side plate N 4-1-1-3n; the second side plate 1 4-1-1-3a, the second side plate 2 4-1-1-3b, the second side plate 3 4-1-1-3c ... the second side plate N 4-1-1-3n are connected by a hinge assembly 4-1-1-4;

[0093] The middle disc body, the first side disc body and the second side disc body at corresponding circumferential positions are flexibly connected via circumferential flexible ribs 4-1-1-5.

[0094] like Figure 8-11 As shown, the first wall fitting adjustment component 4-2 includes an upper fixed seat 4-2-1, a lower fixed seat 4-2-2, an upper end plate 4-2-11, an adjusting rod, a power rotating mechanism 4-2-7, and a horizontal screw rod 4-2-6. The upper surface of the upper fixed seat 4-2-1 is rotatably connected to the bottom surface of the upper end plate 4-2-11. The top surface of the upper end plate 4-2-11 is fixedly connected to the mobile body 1. The lower fixed seat 4-2-2 is fixedly connected to the upper surface of the adsorption disk body 4-1. The lower surface of the upper fixed seat 4-2-1 is vertically connected to the guide rod 4-2-12. A guide rod slide 4-2-13 is provided on the side of the power rotating mechanism 4-2-7. The power rotating mechanism 4-2-7 is slidably connected to the guide rod 4-2-12 through the guide rod slide 4-2-13. The upper fixed seat 4-2-1 and the lower fixed seat 4-2 -2 are connected with two groups of adjusting rods, the tops of the two groups of adjusting rods are hingedly connected to the upper fixed seat 4-2-1, and the bottoms of the two groups of adjusting rods are hingedly connected to the lower fixed seat 4-2-2. The two groups of adjusting rods form a parallelogram. The power rotating mechanism 4-2-7 is a hollow shaft motor. The power rotating mechanism 4-2-7 is connected to the control module 5. The power rotating mechanism 4-2-7 is sleeved on the middle part of the horizontal screw rod 4-2-6. The two ends of the horizontal screw rod 4-2-6 are respectively threadedly connected to the two groups of adjusting rods. The power rotating mechanism 4-2-7 can drive the two groups of adjusting rods to move toward or away from each other along the horizontal screw rod 4-2-6. At the same time, the power rotating mechanism 4-2-7 can move up and down on the guide rod 4-2-12, so as to adjust the distance and angle between the upper fixed seat 4-2-1 and the lower fixed seat 4-2-2.

[0095] Furthermore, the lower surface of the upper fixed seat 4-2-1 and the upper surface of the lower fixed seat 4-2-2 are respectively fixedly connected with two groups of supporting columns 4-2-3, each group of adjusting rods includes an upper adjusting rod 4-2-4 and a lower adjusting rod 4-2-5, the top of the upper adjusting rod 4-2-4 is hingedly connected to the supporting column 4-2-3 on the upper fixed seat 4-2-1 through a hinge shaft 4-2-14, and the bottom of the lower adjusting rod 4-2-5 is hingedly connected to the supporting column 4-2-3 on the lower fixed seat 4-2-2 through a hinge shaft 4-2-14, and the horizontal screw rod 4-2- The end of 6 is threadedly connected with a nut seat 4-2-8, and the nut seat 4-2-8 is hingedly connected to the bottom of the upper adjusting rod 4-2-4 and the top of the lower adjusting rod 4-2-5 through a hinge shaft 4-2-14. The nut seat 4-2-8 moves horizontally on the horizontal screw rod 4-2-6, driving the bottom of the upper adjusting rod 4-2-4 and the top of the lower adjusting rod 4-2-5 to move horizontally, realizing the change of the angle between the upper adjusting rod 4-2-4 and the lower adjusting rod 4-2-5, thereby realizing the distance adjustment between the upper fixing seat 4-2-1 and the lower fixing seat 4-2-2.

[0096] Furthermore, the tops of the two upper adjusting rods 4-2-4 and the bottoms of the two lower adjusting rods 4-2-5 are provided with synchronous gears 4-2-a, the tops of the two upper adjusting rods 4-2-4 are meshed and connected by the synchronous gears 4-2-a, and the bottoms of the two lower adjusting rods 4-2-5 are meshed and connected by the synchronous gears 4-2-a.

[0097] Furthermore, there are two groups of guide rods 4-2-12, the lower ends of the guide rods 4-2-12 are suspended, the power rotation mechanism 4-2-7 is located between the two groups of guide rods 4-2-12, and guide rod slides 4-2-13 are provided on both sides of the power rotation mechanism 4-2-7, and the guide rod slides 4-2-13 are sleeved on the guide rods 4-2-12.

[0098] Furthermore, the upper surface of the upper fixed seat 4-2-1 is fixedly connected with a ball seat 4-2-9, and the ball seat 4-2-9 is equipped with a ball head 4-2-10. The upper end of the ball head 4-2-10 is fixedly connected to the bottom surface of the upper end plate 4-2-11, and the lower end is arranged in the ball seat 4-2-9.

[0099] Furthermore, the horizontal screw rod 4-2-6 is a single threaded rod with the same direction, and the internal threads of the nut seats 4-2-8 at both ends of the horizontal screw rod 4-2-6 are opposite, so as to ensure that the power rotation mechanism 4-2-7 can drive the nut seats 4-2-8 at both ends to move toward or away from each other at the same time. The horizontal screw rod 4-2-6 can also be two horizontal screw rods 4-2-6 with opposite threads, and the two horizontal screw rods 4-2-6 with opposite threads are respectively connected to the two ends of the power rotation mechanism 4-2-7. The internal threads of the nut seats 4-2-8 on the two horizontal screw rods 4-2-6 with opposite threads are the same, so as to ensure that the power rotation mechanism 4-2-7 can drive the nut seats 4-2-8 at both ends to move toward or away from each other at the same time. The power rotation mechanism 4-2-7 can be an electric motor or a hydraulic motor.

[0100] like Figure 12-15 As shown, the second wall fitting adjustment component 4-3 includes a power drive mechanism 4-3-1, a frame 4-3-2, a first eccentric rotating component 4-3-3, a second eccentric rotating component 4-3-4, a displacement component 4-3-5 and a bottom plate 4-3-6. The lower surface of the bottom plate 4-3-6 is fixedly connected to the upper surface of the adsorption disk body 4-1, and vertical plates 4-3-7 are symmetrically provided at both ends of the upper surface of the bottom plate 4-3-6. The frame 4-3-2 is an inverted U-shape, and the top of the frame 4-3-2 is fixedly connected to the mobile body 1. The lower parts of the two ends of the frame 4-3-2 are respectively slidably connected to the upper part of a group of displacement components 4-3-5. The bottom of each group of displacement components 4-3-5 is hingedly connected to the vertical plate 4-3-7 through a hinge shaft. The power drive mechanism 4-3-1 It is fixedly installed on the outside of the frame 4-3-2, the power drive mechanism 4-3-1 is connected to the control module 5, the output shaft of the power drive mechanism 4-3-1 is connected to the first eccentric rotating component 4-3-3, the two ends of the first eccentric rotating component 4-3-3 are fixedly connected to the frame 4-3-2, the two ends of the second eccentric rotating component 4-3-4 are respectively fixedly connected to the displacement component 4-3-5, the first eccentric rotating component 4-3-3 is meshed with the second eccentric rotating component 4-3-4, the power drive mechanism 4-3-1 drives the first eccentric rotating component 4-3-3 to rotate, the first eccentric rotating component 4-3-3 drives the second eccentric rotating component 4-3-4 to rotate through the meshing action, and then drives the displacement component 4-3-5 to move up and down.

[0101] Furthermore, a groove 4-3-2-2 is provided at the lower portion of the frame 4-3-2, and a displacement assembly 4-3-5 is longitudinally connected in the groove 4-3-2-2. The displacement assembly 4-3-5 includes a guide slider 4-3-5-1 and a tension spring 4-3-5-2. The bottom of the guide slider 4-3-5-1 is hingedly connected to the vertical plate 4-3-7 through a hinge shaft, the bottom end of the tension spring 4-3-5-2 is fixedly connected to the top of the guide slider 4-3-5-1, and the top of the tension spring 4-3-5-2 is connected to the top of the groove 4-3-2-2 of the frame 4-3-2. Bumps 4-3-2-1 are longitudinally provided on the inner walls on both sides of the groove 4-3-2-2, and sliding grooves adapted to the bumps 4-3-2-1 are respectively provided on both sides of the guide slider 4-3-5-1.

[0102] Furthermore, the first eccentric rotating assembly 4-3-3 includes a driving eccentric gear 4-3-3-1, a driving eccentric cam 4-3-3-2, and a driving shaft 4-3-3-3. Both ends of the driving shaft 4-3-3-3 are laterally connected to the frame 4-3-2 through bearings. The driving eccentric gear 4-3-3-1 is sleeved on the middle part of the driving shaft 4-3-3-3. There are two driving eccentric cams 4-3-3-2, which are symmetrically sleeved on the driving shaft 4-3-3-3 on both sides of the driving eccentric gear 4-3-3-1. One end of the driving shaft 4-3-3-3 is connected to the output shaft of the power drive mechanism 4-3-1.

[0103] Furthermore, the second eccentric rotating assembly 4-3-4 includes a driven eccentric gear 4-3-4-1, a driven eccentric cam 4-3-4-2, and a driven shaft 4-3-4-3. The driven shaft 4-3-4-3 is parallel to the driving shaft 4-3-3-3 and is located below the driving shaft 4-3-3-3. Both ends of the driven shaft 4-3-4-3 are connected to the guide sliders 4-3-5-1 of the two displacement assemblies 4-3-5 through bearings. The driven eccentric gear 4-3-4-1 and the driven eccentric cam 4-3-4- 2 is the same in number and position as the driving eccentric gear 4-3-3-1 and the driving eccentric cam 4-3-3-2, the driven eccentric gear 4-3-4-1 is meshed and connected with the driving eccentric gear 4-3-3-1, the driven eccentric cam 4-3-4-2 is matched and connected with the driving eccentric cam 4-3-3-2 at the corresponding position, the outer periphery of the driving eccentric cam 4-3-3-2 is provided with a protrusion, and the outer periphery of the driven eccentric cam 4-3-4-2 is provided with a groove adapted to the protrusion of the driving eccentric cam 4-3-3-2.

[0104] Furthermore, the adaptive adsorption wall-climbing robot of the present invention may also include an operating tool 6, which is installed on the mobile body 1 and may be a cavitation cleaning system, a robotic arm operating system, etc. according to operating requirements.

[0105] While negative pressure adsorption is described in this invention, it can also be applied to magnetic adsorption robot systems. Similarly, the adsorption module 2 is typically a permanent magnet or electromagnetic mechanism, which adheres to a magnetically conductive surface through magnetic force. The adsorption module 2 (permanent magnet or electromagnetic mechanism) can be directly or indirectly fixed to the end surface of the adsorption disk 4-1 to adjust the position of the adsorption module 2 relative to the wall.

[0106] The working method of the adaptive adsorption wall-climbing robot of the present invention includes a crawling motion method of the robot in an adsorption state on a wall, and the steps are as follows:

[0107] 1) The power mechanism 2-1 rotates, driving the propeller 2-2 to rotate. The propeller 2-2 drives the fluid to flow. The fluid flows from the flow channel between the adsorption disk 4-1 and the wall and enters the fluid channel 1-3;

[0108] 2) According to the law of conservation of fluid mass, the cross-sectional area of ​​the flow channel between the adsorption disc 4-1 and the wall is large and the flow velocity is slow near the outer edge of the adsorption disc 4-1; while the cross-sectional area of ​​the flow channel near the center 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 faster than the flow velocity of the fluid outside the mobile body 1.

[0109] 3) According to Bernoulli's equation: It is known that the pressure is low where the flow rate is high, and the pressure is high where the flow rate is low. Therefore, the fluid pressure inside the flow channel between the adsorption disc 4-1 and the wall is lower than that outside, so that the fluid pressure squeezes the mobile body 1 against the wall, and the robot realizes the negative pressure adsorption function.

[0110] 4) The robot's crawling function is realized by controlling the motion module 3 to move forward and backward and turn.

[0111] Alternatively, the power mechanism 2-1 can also rotate in the reverse direction, driving the propeller 2-2 to rotate in the reverse direction. The propeller 2-2 drives the fluid to flow in from the top and out from the bottom of the fluid channel 1-3, thereby also achieving negative pressure adsorption operation.

[0112] The working method of the adaptive adsorption wall-climbing robot of the present invention also includes a method for adjusting the robot's adaptive adsorption to a non-structural wall. When the robot is operating, in order to ensure the highest adsorption efficiency of the robot on the non-structural wall or to improve the robot's ability to move over obstacles on the non-structural wall, it is necessary to adjust the distance parameters and angle parameters of the gap between the adsorption disc 4-1 and the non-structural wall in real time. Figure 16-19 , the steps are as follows:

[0113] 1) The sensing components 4-5 distributed on the adsorption disc 4-1 feed back the vertical distance data collected from the non-structural wall to the control module 5. The control module 5 analyzes and processes the height distance information provided by the sensing components 4-4 to obtain the angle information between the discs corresponding to the sensing components 4-4, thereby controlling the corresponding first wall fitting adjustment components 4-2 and second wall fitting adjustment components 4-3 to start height and angle adjustment;

[0114] 2) The control module 5 controls the power rotation mechanism 4-2-7 of the first wall fitting adjustment component 4-2 to start, and the power rotation mechanism 4-2-7 drives the two groups of adjustment rods to move toward or away from each other along the horizontal screw rod 4-2-6. At the same time, the power rotation mechanism 4-2-7 moves along the guide rod 4-2-12 to limit the movement, maintaining the stability of the power rotation mechanism 4-2-7. The distance between the upper fixed seat 4-2-1 and the lower fixed seat 4-2-2 increases or decreases. Since the lower fixed seat 4-2-2 is fixedly connected to the first side plate 2 4-1-1-1b or the middle plate 2 4-1-1 -2b or the second side disk body 2 4-1-1-3b, the distance between the first side disk body 2 4-1-1-1b or the middle disk body 2 4-1-1-2b or the second side disk body 2 4-1-1-3b where the lower fixed seat 4-2-2 is located and the wall surface is reduced or increased; and because the upper fixed seat 4-2-1 is rotatably connected to the upper end plate 4-2-11 through the ball seat 4-2-9 and the ball head 4-2-10, and the upper end plate 4-2-11 is fixedly connected to the mobile body 1, the first side disk body 2 4-1-1-1b or the middle disk body 2 4-1- When the distance between the first side disc 4-1-1-1b or the second side disc 4-1-1-3b and the wall decreases or increases, the ball head 4-2-10 will be rotated to adjust the angle to adapt to the angle of the non-structural wall where the lower fixed seat 4-2-2 is located, the first side disc 4-1-1-1b or the middle disc 4-1-1-2b or the second side disc 4-1-1-3b is located; the middle disc 1 4-1-1-2a and the middle disc 2 4-1-1-2b are connected by a swinging flexible rib 4-1-1-6, and the first side disc 1 4-1-1-1a and the second side disc 4-1-1-3b are connected by a swinging flexible rib 4-1-1-6. The second side disc 4-1-1-1b and the second side disc 1 4-1-1-3a and the second side disc 2 4-1-1-3b are connected by a hinge assembly 4-1-1-4. Therefore, when the first side disc 2 4-1-1-1b, the middle disc 2 4-1-1-2b or the second side disc 2 4-1-1-3b where the lower fixing seat 4-2-2 is located are adjusted in distance and angle, the corresponding first side disc 1 4-1-1-1a, the middle disc 1 4-1-1-2a or the second side disc 1 4-1-1-3a will also be adjusted synchronously and adaptively.

[0115] 3) The control module 5 controls the power drive mechanism 4-3-1 of the second wall fitting adjustment component 4-3 on the intermediate disk body 1 4-1-1-2a to start, and the power drive mechanism 4-3-1 drives the first eccentric rotating component 4-3-3 to rotate. The first eccentric rotating component 4-3-3 drives the second eccentric rotating component 4-3-4 to rotate through the meshing action, thereby driving the displacement component 4-3-5 to move up and down in the groove 4-3-2-2 of the frame 4-3-2. The bottom of the displacement component 4-3-5 is connected to the intermediate disk body 1 4-1-1-2a through the vertical plate 4-3-7 and the bottom plate 4-3-6, thereby driving the intermediate disk body 1 4-1-1-2a to move up and down, thereby adjusting the distance between the intermediate disk body 1 4-1-1-2a and the non-structural wall. -5 is hingedly connected to the vertical plate 4-3-7 through a hinge axis. During the up and down movement of the middle disk 4-1-1-2a, the middle disk 4-1-1-2a can rotate around the hinge axis to adjust its angle, thereby adapting to the angle of the non-structural wall on which the middle disk 4-1-1-2a is located. Since the first side disk 4-1-1-1a, the middle disk 4-1-1-2a and the second side disk 4-1-1-3a are flexibly connected through the circumferential flexible ribs 4-1-1-5, when the distance and angle of the middle disk 4-1-1-2a are adjusted, the first side disk 4-1-1-1a and the second side disk 4-1-1-3a will synchronously adapt to the adjustment of the distance and angle of the non-structural wall along with the middle disk 4-1-1-2a.

[0116] 4) Through the flexible connection of the swing flexible rib 4-1-1-6 and the circumferential flexible rib 4-1-1-5 and the hinge connection of the hinge assembly 4-1-1-4, the synchronous distance and angle adjustment of the disc assembly 4-1-1 is achieved. The synchronous distance and angle adjustment of several disc assemblies 4-1-1 ultimately ensures that the distances of the adsorption disc 4-1 at various locations to the corresponding non-structural wall are the same, the angles of the adsorption disc 4-1 at various locations to the corresponding non-structural wall are consistent, and the adsorption disc 4-1 is parallel to the non-structural wall, which is used for the stable adsorption of the adsorption module 2 to the non-structural wall and the stable crawling of the motion module 3 on the non-structural wall;

[0117] 5) When the robot is on a non-structural wall surface that does not require a large adsorption force to stay or move, the control module 5 controls the first wall fitting adjustment component 4-2 and the second wall fitting adjustment component 4-3 to increase the distance between the adsorption disk 4-1 and the non-structural wall surface, and the robot's mobile body 1 can move stably and quickly on the non-structural wall surface through the motion module 3.

[0118] The present invention is not limited to the above-mentioned embodiments. Anyone should be aware that any structural changes made under the guidance of the present invention, and any technical solutions that are the same or similar to those of the present invention, fall within the scope of protection of the present invention.

[0119] The technology, shape, and structure not described in detail in the present invention are all well-known technologies.

Claims

1. Adaptive adsorption wall-climbing robot, characterized by: include: The mobile body is used to install various components of the fixed robot, and a longitudinal fluid channel is provided at the center of the mobile body; An adsorption module connected to the mobile body, which is installed in the fluid channel at the center of the mobile body and is used to provide the adsorption force required for the robot to crawl on the wall; Several motion modules are provided at the bottom of the mobile body to drive the robot to complete the wall crawling motion; A wall adaptive adjustment module provided at the bottom of the mobile body is used to automatically adjust the distance and angle between the robot and the wall to adapt to the non-structural wall; The control module is arranged inside the mobile body, and the adsorption module, motion module, and wall surface adaptive adjustment module are all connected to the control module, and the adsorption module, motion module, and wall surface adaptive adjustment module are all driven and controlled by the control module; The wall adaptive adjustment module includes an adsorption disc body, on which are mounted a plurality of sensing components for sensing the height distance from underwater obstacles or non-structural walls; a plurality of second wall fitting adjustment components are fixedly connected to the upper surface of the adsorption disc body; a plurality of first wall fitting adjustment components are also fixedly connected to the upper surface of the adsorption disc body, the first wall fitting adjustment components are connected to the bottom of the mobile body, and the first wall fitting adjustment components and the second wall fitting adjustment components are used to adjust the height and angular posture parameters of the corresponding position of the adsorption disc body from the non-structural wall; The adsorption disc is composed of a plurality of unconnected disc assemblies, each of which includes a middle disc, a first side disc, and a second side disc arranged side by side along the radial direction of the adsorption disc. The first side disc and the second side disc are respectively arranged on both sides of the middle disc. The middle disc is provided with a through hole for the motion module to pass through. The middle disc body includes a middle disc body 1 and a middle disc body 2, and a swing flexible rib is connected between the middle disc body 1 and the middle disc body 2; the first side disc body includes a first side disc body 1 and a first side disc body 2, and a hinge assembly is connected between the first side disc body 1 and the first side disc body 2; the second side disc body includes a second side disc body 1 and a second side disc body 2, and a hinge assembly is connected between the second side disc body 1 and the second side disc body 2; the outer peripheries of the first side disc body 1, the middle disc body 1 and the second side disc body 1 are at the same distance from the center of the adsorption disc body, and the upper surfaces of the first side disc body 1, the middle disc body 1 and the second side disc body 1 are flexibly connected by circumferential flexible ribs; The outer peripheries of the first side disc body 2, the middle disc body 2, and the second side disc body 2 are at the same distance from the center of the adsorption disc body; the upper surfaces of the first side disc body 2, the middle disc body 2, and the second side disc body 2 are all fixedly connected to the bottom of the first wall fitting adjustment component; the upper surface of the middle disc body 1 is fixedly connected to the bottom of the second wall fitting adjustment component; Sensing components are fixedly installed on the first side disc body 1, the second side disc body 1, the first side disc body 2, the middle disc body 2, and the second side disc body 2. The sensing components are connected to the control module. The sensing components are used to sense the height distance from underwater obstacles or non-structural walls and feed back to the control module. The control module analyzes, integrates and calculates the flow channel space size information between the discs and the wall corresponding to the sensing components through a matrix distributed sensing module composed of several sensing components, thereby controlling the corresponding first wall fitting adjustment components and the second wall fitting adjustment components to start height angle adjustment to make the adsorption disc adapt to the angle of the non-structural wall.

2. The adaptive adsorption wall-climbing robot according to claim 1, characterized in that: The first wall fitting adjustment component includes an upper fixed seat, a lower fixed seat, an upper end plate, an adjusting rod, a power rotating mechanism, and a horizontal screw rod. The upper surface of the upper fixed seat is rotatably connected to the bottom surface of the upper end plate. The top surface of the upper end plate is fixedly connected to the movable body. The lower fixed seat is fixedly connected to the upper surface of the adsorption disk. The lower surface of the upper fixed seat is vertically connected to the guide rod. A guide rod slide is provided on the side of the power rotating mechanism. The power rotating mechanism is slidably connected to the guide rod through the guide rod slide. Two sets of adjusting rods are connected between the upper fixed seat and the lower fixed seat. The two sets of adjusting rods The tops are hingedly connected to the upper fixed seat, and the bottoms of the two sets of adjusting rods are hingedly connected to the lower fixed seat. The two sets of adjusting rods form a parallelogram. The power rotation mechanism is a hollow shaft motor. The power rotation mechanism is connected to the control module. The power rotation mechanism is sleeved on the middle part of the horizontal screw rod. The two ends of the horizontal screw rod are respectively threadedly connected to the two sets of adjusting rods. The power rotation mechanism can drive the two sets of adjusting rods to move toward or away from each other along the horizontal screw rod. At the same time, the power rotation mechanism can move up and down on the guide rod, so as to adjust the distance and angle between the upper fixed seat and the lower fixed seat.

3. The adaptive adsorption wall-climbing robot according to claim 2, characterized in that: The top of the lower adjusting cam is hinged on the support column on the upper fixing seat, and the bottom of the lower adjusting cam is hinged on the support column on the lower fixing seat through the hinge shaft. The end of the horizontal screw rod is threadedly connected with a nut seat, and the nut seat is hingedly connected to the bottom of the upper adjusting rod and the top of the lower adjusting rod through the hinge shaft. The nut seat moves horizontally on the horizontal screw rod, driving the bottom of the upper adjusting rod and the top of the lower adjusting rod to move horizontally, realizing the change of the angle between the upper adjusting rod and the lower adjusting rod, thereby realizing the distance adjustment between the upper fixing seat and the lower fixing seat.

4. The adaptive adsorption wall-climbing robot according to claim 3, characterized in that: The tops of the two upper adjustment rods and the bottoms of the two lower adjustment rods are both provided with synchronous gears. The tops of the two upper adjustment rods are meshed and connected by the synchronous gears, and the bottoms of the two lower adjustment rods are meshed and connected by the synchronous gears. There are two groups of guide rods, and the power rotation mechanism is located between the two groups of guide rods. Guide rod slides are provided on both sides of the power rotation mechanism, and the guide rod slides are sleeved on the guide rods; The upper surface of the upper fixing seat is fixedly connected with a ball seat, and a ball head is matched inside the ball seat. The upper end of the ball head is fixedly connected with the bottom surface of the upper end plate, and the lower end is arranged in the ball seat.

5. The adaptive adsorption wall-climbing robot according to claim 1, characterized in that: The second wall fitting adjustment component includes a power drive mechanism, a frame, a first eccentric rotating component, a second eccentric rotating component, a displacement component and a base plate. The lower surface of the base plate is fixedly connected to the upper surface of the adsorption disk body, and vertical plates are symmetrically provided at both ends of the upper surface of the base plate. The frame is an inverted U-shape, and the top of the frame is fixedly connected to the movable body. The lower parts of the two ends of the frame are respectively slidably connected to the upper parts of a group of displacement components, and the bottom of each group of displacement components is hingedly connected to the vertical plate through a hinge shaft. The power drive mechanism is fixedly installed on the outside of the frame, the power drive mechanism is connected to the control module, and the output shaft of the power drive mechanism is connected to the first eccentric rotating component. The two ends of the first eccentric rotating component are fixedly connected to the frame, and the two ends of the second eccentric rotating component are respectively fixedly connected to the displacement component. The first eccentric rotating component is meshed with the second eccentric rotating component. The power drive mechanism drives the first eccentric rotating component to rotate, and the first eccentric rotating component drives the second eccentric rotating component to rotate through meshing, thereby driving the displacement component to move up and down.

6. The adaptive adsorption wall-climbing robot according to claim 5, characterized in that: The lower part of the frame is provided with a groove, and the displacement assembly is longitudinally connected to the groove. The displacement assembly includes a guide slider and a tension spring. The bottom of the guide slider is hingedly connected to the vertical plate through a hinge shaft. The bottom end of the tension spring is fixedly connected to the top of the guide slider, and the top end of the tension spring is connected to the top of the frame groove. The inner walls on both sides of the groove are longitudinally provided with protrusions, and both sides of the guide slider are respectively provided with sliding grooves adapted to the protrusions. The first eccentric rotating assembly includes a driving eccentric gear, a driving eccentric cam, and a driving shaft. Both ends of the driving shaft are laterally connected to the frame through bearings. The driving eccentric gear is sleeved on the middle part of the driving shaft. There are two driving eccentric cams, which are symmetrically sleeved on the driving shaft on both sides of the driving eccentric gear. One end of the driving shaft is connected to the output shaft of the power drive mechanism. The second eccentric rotating component includes a driven eccentric gear, a driven eccentric cam, and a driven shaft. The driven shaft is parallel to the driving shaft and is located below the driving shaft. Both ends of the driven shaft are connected to the guide sliders of the two displacement components through bearings. The number of the driven eccentric gear and the driven eccentric cam is the same as that of the driving eccentric gear and the driving eccentric cam, and their positions correspond. The driven eccentric gear is meshed with the driving eccentric gear, and the driven eccentric cam is cooperatively connected with the driving eccentric cam at the corresponding position.

7. The adaptive adsorption wall-climbing robot according to any one of claims 1 to 6, characterized in that: The mobile body includes a frame body, which is used to install and connect the adsorption module, the motion module, the wall adaptive adjustment module and the control module. The outer bottom of the frame body is provided with a float body, which is used to generate buoyancy for the mobile body in the liquid medium. The adsorption module includes a power mechanism and a propeller. The propeller is longitudinally arranged at the lower part of the fluid channel of the mobile body. The power mechanism is connected to the upper part of the propeller and drives the propeller to operate, driving the fluid to flow from the bottom to the top of the fluid channel. The power mechanism is also connected to the control module. The motion module includes a wheel train and a driving mechanism. The driving mechanism is connected to the wheel train and drives the wheel train to move. The driving mechanism is fixedly installed inside the mobile body and connected to the control module.

8. The working method of the adaptive adsorption wall-climbing robot according to claim 7, characterized in that: Including the crawling motion method of the robot in the adsorption state on the wall, and the adaptive adsorption adjustment method of the robot on the non-structural wall; The robot crawls on the wall in the adsorption state. The steps are as follows: 1) The power mechanism rotates, driving the propeller to rotate. The propeller drives the fluid to flow. The fluid flows into the flow channel between the adsorption disc and the wall and enters the fluid channel; 2) According to the law of conservation of fluid mass, the cross-sectional area of ​​the flow channel between the adsorption disc and the wall is large and the flow velocity is slow, while the cross-sectional area of ​​the flow channel near the outer edge 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 faster than the flow velocity of the fluid outside the moving body. 3) According to Bernoulli's equation: , we know: the pressure is low where the flow rate is high, and the pressure is high where the flow rate is low. Therefore, the fluid pressure inside the flow channel between the adsorption disc and the wall is lower than that outside, so that the fluid pressure squeezes the mobile body against the wall, and the robot realizes the negative pressure adsorption function; 4) By controlling the motion module to move forward and backward and turn, the robot's crawling function is realized; The robot's adaptive adsorption adjustment method for non-structural walls is as follows: 1) The sensing components distributed on the adsorption discs feed back the vertical distance data collected from the non-structural wall to the control module. The control module analyzes and processes the height distance information provided by the sensing components to determine the angle information between the discs corresponding to the sensing components, thereby controlling the corresponding first and second wall fitting adjustment components to start height and angle adjustment; 2) The control module controls the power rotation mechanism of the first wall fitting adjustment component to start, and the power rotation mechanism drives the two sets of adjustment rods to move toward or away from each other along the horizontal screw rod. At the same time, the power rotation mechanism moves along the guide rod to maintain the stability of the power rotation mechanism. The distance between the upper fixed seat and the lower fixed seat increases or decreases. Since the lower fixed seat is fixedly connected to the first side disk body 2 or the middle disk body 2 or the second side disk body 2, the distance between the first side disk body 2 or the middle disk body 2 or the second side disk body 2 where the lower fixed seat is located and the wall surface decreases or increases; and because the upper fixed seat is rotatably connected to the upper end plate through the ball seat and the ball head, and the upper end plate is fixedly connected to the movable body, the first side disk body where the lower fixed seat is located When the distance between the second or middle disk body 2 or the second side disk body 2 and the wall surface is reduced or increased, the second or middle disk body 2 or the second side disk body 2 will rotate with the ball head as the center to adjust the angle to adapt to the angle of the non-structural wall surface where the lower fixed seat is located, the first or middle disk body 2 or the second side disk body 2 is located; the middle disk body 1 and the middle disk body 2 are connected by a swinging flexible rib, and the first or middle disk body 1 and the first side disk body 2, as well as the second or middle disk body 1 and the second side disk body 2 are connected by a hinge assembly. Therefore, when the first or middle disk body 2 or the second side disk body 2 where the lower fixed seat is located is adjusted in distance and angle, the corresponding first or middle disk body 1 or the second side disk body 1 will be synchronously adaptively adjusted; 3) The control module controls the power drive mechanism of the second wall fitting adjustment component on the middle disk body 1 to start, and the power drive mechanism drives the first eccentric rotating component to rotate, and the first eccentric rotating component drives the second eccentric rotating component to rotate through meshing action, thereby driving the displacement component to move up and down in the groove of the frame, and the bottom of the displacement component is connected to the middle disk body 1 through the vertical plate and the bottom plate, thereby driving the middle disk body 1 to move up and down, thereby adjusting the distance between the middle disk body 1 and the non-structural wall surface; since the bottom of the displacement component is hingedly connected to the vertical plate through a hinge axis, during the process of the middle disk body 1 moving up and down, the middle disk body 1 can rotate around the hinge axis to achieve angle adjustment, thereby adapting to the angle of the non-structural wall surface where the middle disk body 1 is located; since the first side disk body 1, the middle disk body 1 and the second side disk body 1 are flexibly connected by circumferential flexible ribs, while the middle disk body 1 is adjusting its distance and angle, the first side disk body 1 and the second side disk body 1 will synchronously adapt to the adjustment of the distance and angle of the non-structural wall surface where the middle disk body 1 is located along with the middle disk body 1; 4) Synchronous distance and angle adjustment of the disc assembly is achieved through the flexible connection of the swinging flexible ribs and the circumferential flexible ribs, as well as the articulated connection of the hinge assembly. The synchronous distance and angle adjustment of several disc assemblies ultimately ensures that the distances of the adsorption discs to the non-structural wall are the same, the angles of the adsorption discs to the corresponding non-structural wall are consistent, and the adsorption discs are parallel to the non-structural wall, which ensures stable adsorption of the adsorption module to the non-structural wall and stable crawling of the motion module on the non-structural wall. 5) When the robot is on a non-structural wall surface that does not require a large adsorption force to stay or move, the control module controls the first wall fit adjustment component and the second wall fit adjustment component to increase the distance between the adsorption plate and the non-structural wall surface. The robot's mobile body can move stably and quickly on the non-structural wall surface through the motion module.

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