Amphibious wall-climbing special operation robot and working method

Abstract

The present invention belongs to the field of robotics technology, and relates to an amphibious wall-climbing special operation robot and a working method, comprising a robot body; a flow channel control assembly mounted on the top of the robot body for adjusting the fluid flow rate; an adsorption assembly disposed at the bottom of the robot body, the adsorption assembly being located below and in communication with the flow channel control assembly; and a plurality of motion assemblies disposed at the bottom of the robot body. The propeller blade pitch is adjusted by a non-contact self-generating blade pitch adjustment assembly, and the flow channel cross-sectional size of the flow channel control assembly is adjusted by a flow control device. This not only enables the robot to stably adsorb and climb the wall in both liquid and gas fluid media, but also enables it to freely switch between climbing the wall at the interface between the two fluid media, thereby improving the stability and reliability of the robot's wall-climbing operations in various fluid media such as liquid, gas, and gas-liquid interfaces, and expanding the application range of the wall-climbing operation robot.

Description

Technical Field

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

[0002] A wall climbing robot is an automated robot that can climb and perform tasks on vertical 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] Currently, wall-climbing robots that work in air media (such as building exterior walls, glass curtains, etc.) mainly rely on hoisting, magnetic suction or vacuum adsorption; while wall-climbing robots that work in water media (such as ship hull walls, marine equipment surfaces, etc.) mainly rely on magnetic adsorption, thrust adsorption or negative pressure adsorption. However, there are also quite a few application scenarios where the wall surface to which the robot is attached is made of non-magnetic material, and the surface of underwater structures is often covered with marine organisms, making magnetic adsorption, vacuum adsorption and other methods unsuitable. When a robot moves from the surface of a structure in one medium to another (such as using a wall-climbing robot to clean attachments on the surface of a ship, inspect or maintain a marine equipment platform), if thrust or negative pressure adsorption is used, the adsorption force will drop sharply when the robot enters the surface of the structure in the air, causing the robot to fall off or even overturn.

[0004] Conventional wall-climbing robots can generally only operate in a certain specific medium. For example, the utility model patent with application number 202220224491.8 discloses a negative pressure adsorption air-land amphibious robot, the invention patent with application number 202111131364.X discloses an amphibious three-modal flying adsorption wall-climbing robot and control method, the invention patent with application number 201310118990.4 discloses a flying and wall-climbing amphibious robot and its control method, and the invention patent with application number 201810662969.3 discloses an amphibious robot with both flying and wall-climbing functions.

[0005] Operations in underwater environments, such as cleaning, inspection, welding, and spraying, require special operation robots to complete them. These robots are required to be able to stably adsorb and climb walls in both gas and liquid fluid media. However, due to the different adsorption forces in gas and liquid media, the robots need to have the ability to freely switch between different fluid media and automatically adjust adsorption. At present, there have been no reports of special wall-climbing robots that can achieve this function. Summary of the Invention

[0006] One purpose of the present invention is to provide an amphibious wall-climbing special operation robot, which can realize the robot's stable adsorption and wall-climbing operation on the wall in liquid and gas fluid media and gas-liquid interface composite media.

[0007] The technical solution adopted by the present invention to solve the technical problem is: an amphibious wall-climbing special operation robot, comprising:

[0008] The robot body is used to install and fix the various components of the robot;

[0009] The flow channel control component installed at the top center of the robot body is used to adjust the fluid flow and flow rate;

[0010] An adsorption component is provided at the bottom of the robot body, the adsorption component is located below the flow channel control component and is connected to the flow channel control component, and is used to provide the adsorption force required for the robot to crawl on the wall;

[0011] Several motion components arranged at the bottom of the robot body are used to drive the robot to complete wall crawling motion.

[0012] Specifically, the flow channel control component includes a main body, a control motor, a flow guide device and a flow control device. The main body is a circular ring. The top of the robot body is provided with a circular through hole adapted to the main body. The main body is installed and fixed at the circular through hole on the top of the robot body. The flow control device is installed in the main body. The flow guide device is arranged at the center of the main body. The inner end of the flow control device is connected to the outer wall of the flow guide device. The control motor is installed on the outside of the main body. The output shaft of the control motor passes through the main body and is connected to the outer end of the flow control device. The control motor drives the flow control device to adjust the size of the flow channel cross-section, thereby adjusting the fluid flow through the flow channel control component.

[0013] Furthermore, the body includes a fixing ring and a fixing shell. The fixing ring is sealed and connected to the circular through hole on the top of the robot body. The fixing shell is arranged and enclosed on the outside of the fixing ring. An annular cavity is formed between the fixing shell and the fixing ring.

[0014] Furthermore, the flow control device includes: trapezoidal fan blades, a guide shaft, a drive shaft, a bearing seat, a drive gear, a reversing gear, and a reversing shaft 1. A plurality of drive gears are evenly distributed on the outer wall of the fixed ring, and the number of reversing gears is one less than the number of drive gears. One side of the drive gear and the reversing gear are sequentially arranged at intervals, and adjacent drive gears are sequentially meshed and connected with the reversing gear. No reversing gear is arranged between the other side of the starting drive gear and the end drive gear. The drive gear and the reversing gear are both installed on the outer wall of the fixed ring through the bearing seat. The reversing gear is rotatably connected to the bearing seat through the reversing shaft 1, and the drive gear is rotatably connected to the bearing seat through the drive shaft. The number of trapezoidal fan blades is consistent with the number of driving gears and their positions correspond. The inner ends of the trapezoidal fan blades are rotatably connected to the outer wall of the guide device through the guide shaft. The outer ends of the trapezoidal fan blades are connected to the bearing seat connected to the drive shaft through the guide shaft through the fixed ring. The starting drive gear is connected to the output shaft of the control motor. The control motor drives the starting drive gear to rotate, and through the sequential engagement connection of the drive gear and the reversing gear, all the drive gears connected to the outer wall of the fixed ring are driven to rotate synchronously. The drive gear is connected and transmitted through the drive shaft, the bearing seat, and the guide shaft, thereby driving the trapezoidal fan blades to rotate to achieve angle posture adjustment, and achieve adjustment of the flow channel cross-section size between the fixed ring and the guide device.

[0015] Furthermore, the inner wall of the fixing ring is a concave arc surface with a large middle diameter and small upper and lower top surface diameters, the outer wall of the guide device is a convex arc surface with a large middle diameter and small upper and lower top surface diameters, the end of the trapezoidal fan blade connected to the guide device is a concave arc surface adapted to the outer wall of the guide device, and the end of the trapezoidal fan blade connected to the fixing ring is a convex arc surface adapted to the inner wall of the fixing ring. When all the trapezoidal fan blades rotate to a horizontal position, the adjacent trapezoidal fan blades, as well as the trapezoidal fan blades, the fixing ring and the guide device are fitted and sealed, so that the annular flow channel between the fixing ring and the guide device is completely closed; the drive shaft, bearing seat, drive gear, reversing gear, and reversing shaft are all located in the annular cavity between the fixed shell and the fixed ring.

[0016] Specifically, the adsorption component includes an adsorption power motor, a power transmission component, a self-generating component, a blade pitch adjustment component, a propeller, a hub, and a guide tube. The guide tube is arranged directly below the flow channel control component. The power transmission component, the self-generating component, the blade pitch adjustment component, the propeller, and the hub are all arranged in the guide tube. There are two groups of hubs, each group of hubs includes a propeller column, and the propeller column includes a first propeller column and a second propeller column. The first propeller column and the second propeller column are coaxially arranged up and down. A number of propellers are provided on the first propeller column and the second propeller column. The blade pitch adjustment component is provided in the first propeller column and the second propeller column. The blade pitch adjustment assembly is connected to the propeller and is used to adjust the blade pitch of the propeller; the adsorption power motor is installed horizontally and fixed inside the robot body, the top of the power transmission assembly is connected and fixed to the robot body, the output shaft of the adsorption power motor is connected to the power transmission assembly, the first paddle column and the second paddle column are arranged in sequence below the power transmission assembly, the power transmission assembly is respectively connected to the first paddle column and the second paddle column and drives the first paddle column and the second paddle column to rotate, and a self-generating assembly is provided below the power transmission assembly, which is used to power the blade pitch adjustment assembly in the first paddle column and the second paddle column.

[0017] Furthermore, the power transmission assembly includes a base, a coupling, a power input shaft, a reversing bevel gear, a first support bearing, a reversing shaft 2 and a power bevel gear. The base is connected and fixed to the robot body and fixed at the upper center of the guide cylinder. The power input shaft, the reversing bevel gear, the first support bearing, the reversing shaft 2 and the power bevel gear are all arranged in the base. The reversing bevel gear includes a first reversing bevel gear and a second reversing bevel gear. The second reversing bevel gear is located below the first reversing bevel gear and is coaxial. The reversing shaft 2 includes a first reversing shaft and a second reversing shaft. The second reversing shaft is sleeved on the first reversing shaft and the inner diameter of the second reversing shaft is larger than the outer diameter of the first reversing shaft. The first reversing shaft The reversing shaft can realize contactless rotation in the second reversing shaft. The adsorption power motor is connected to one end of the power input shaft through a coupling, and the other end of the power input shaft is connected with a power bevel gear; the first reversing bevel gear and the second reversing bevel gear are both engaged with the power bevel gear, and the second reversing bevel gear sleeve is fixed on the upper part of the second reversing shaft, and the bottom of the second reversing shaft is connected and fixed to the first paddle column. The first reversing bevel gear is fixedly connected to the top of the first reversing shaft, and the bottom of the first reversing shaft passes downward through the second reversing shaft and the first paddle column and is connected and fixed to the second paddle column. The first reversing bevel gear, the second reversing bevel gear and the power bevel gear are respectively installed in the interior of the base through the first support bearing.

[0018] The adsorption power motor drives the power input shaft and the power bevel gear to rotate. Through the meshing action of the power bevel gear and the first reversing bevel gear and the second reversing bevel gear, the first reversing bevel gear drives the first reversing shaft to rotate, thereby driving the second propeller column and the propeller on the second propeller column to rotate as a whole; the second reversing bevel gear drives the second reversing shaft to rotate, thereby driving the first propeller column and the propeller on the first propeller column to rotate as a whole.

[0019] Furthermore, the reversing shaft 2 also includes a key and a second support bearing. There are two keys, which are horizontally arranged on the first paddle column and the second paddle column respectively. One end of the key on the first paddle column is fixed on the first paddle column, and the other end is fixedly connected to the second reversing shaft, so that when the second reversing shaft rotates, the first paddle column is driven to rotate as a whole; one end of the key on the second paddle column is fixed on the second paddle column, and the other end is fixedly connected to the first reversing shaft, so that when the first reversing shaft rotates, the second paddle column is driven to rotate as a whole; there are four second support bearings, which are respectively arranged at the upper and lower parts of the first paddle column and the second paddle column from top to bottom, and the second support bearing is coaxial with the first paddle column and the second paddle column.

[0020] Furthermore, the self-generating assembly includes a magnet, a first excitation coil, a first receiving coil, a second excitation coil, and a second receiving coil. The magnet is fixedly mounted at the bottom of the base and arranged in a ring shape, with the north and south directions arranged as needed to achieve an electromagnetic induction effect with the first receiving coil. The outer side of the magnet is close to the first receiving coil, and the first excitation coil is horizontally arranged in the base above the magnet. The magnet and the first receiving coil are both located at the top of the first paddle column and are located on the same horizontal plane. The second excitation coil is provided at the bottom of the first paddle column, and the second receiving coil is provided at the top of the second paddle column.

[0021] When the adsorption power motor is started, the second reversing shaft is driven to rotate through the transmission action of the coupling, power input shaft, power bevel gear, and second reversing bevel gear in sequence. The second reversing shaft drives the first propeller column to rotate. The first receiving coil on the first propeller column rotates around the magnet. The first receiving coil generates an induced current by cutting the magnetic lines of force generated by the magnet. On the one hand, the first receiving coil supplies power to the blade pitch adjustment component in the first propeller column. On the other hand, the first receiving coil supplies power to the second excitation coil at the bottom of the first propeller column. Then the second excitation coil generates an excitation magnetic field. The second receiving coil in the second propeller column generates an induced current through the principle of electromagnetic induction to achieve contactless power generation, thereby supplying power to the blade pitch adjustment component in the second propeller column.

[0022] As a backup preferred solution, when the adsorption power motor is not started, the propeller pitch adjustment function can also be realized. Specifically, the first excitation coil is powered by an external power supply, the first excitation coil generates a magnetic field, and the first receiving coil generates electricity through electromagnetic induction. On the one hand, the first receiving coil powers the blade pitch adjustment component in the first propeller column. On the other hand, the first receiving coil powers the second excitation coil at the bottom of the first propeller column and excites the magnetic field. The second receiving coil in the second propeller column powers the blade pitch adjustment component in the second propeller column through the magnetic field generated by the second excitation coil through electromagnetic induction.

[0023] Furthermore, the blade pitch adjustment assembly includes a first pitch adjustment module and a second pitch adjustment module.

[0024] The first pitch adjustment module is arranged in the first propeller column, and the first pitch adjustment module includes a first pitch adjustment motor, a first hollow coupling, a first pitch adjustment power parachute gear and a plurality of first pitch adjustment synchronous parachute gears. The first pitch adjustment motor is fixedly installed at the lower part of the first propeller column, and the first receiving coil supplies power to the first pitch adjustment motor. The output end of the first pitch adjustment motor is connected to the first pitch adjustment power parachute gear through the first hollow coupling. The first pitch adjustment power parachute gear is located at the upper part of the first propeller column, and the top of the first pitch adjustment power parachute gear is connected to the second support bearing. The number of the first pitch adjustment synchronous parachute gears is consistent with the number of propellers on the first propeller column. One end of the first pitch-adjustable synchronous bevel gear is fixedly connected to the corresponding propeller, and the other end is meshed with the first pitch-adjustable power bevel gear. The first pitch-adjustable motor, the first hollow coupling, and the first pitch-adjustable power bevel gear are all hollow shaft structures. The hollow structure reserves space for the first reversing shaft to pass through the first pitch-adjustable power bevel gear without contact, and the inner diameter of the hollow structure is larger than the outer diameter of the first reversing shaft. The first pitch-adjustable motor drives the first pitch-adjustable power bevel gear to rotate through the first hollow coupling, thereby driving the rotation of several meshed first pitch-adjustable synchronous bevel gears, and then driving the propeller to rotate, thereby realizing the propeller blade angle pitch adjustment of the first propeller column.

[0025] Similar to the first pitch adjustment module, the second pitch adjustment module includes a second pitch adjustment motor, a second hollow coupling, a second pitch adjustment power parachute gear, a third support bearing and a number of second pitch adjustment synchronous parachute gears. The second pitch adjustment motor is fixedly installed at the lower part of the second propeller column. The second receiving coil supplies power to the second pitch adjustment motor. The output shaft of the second pitch adjustment motor is connected to the second pitch adjustment power parachute gear through the second hollow coupling. The second pitch adjustment power parachute gear is located at the upper part of the second propeller column. The top of the second pitch adjustment power parachute gear is connected to the second propeller column through the third support bearing. The third support bearing is located on the axis below the top of the second propeller column. The outer end face is fixed inside the second propeller column, and the inner end face is sleeved on the circumference of the outer end face of the second pitch adjustment power parachute gear to realize the rotation of the second pitch adjustment power parachute gear relative to the second propeller column. The key of the second propeller column is laterally arranged between the third support bearing and the second support bearing at the top of the second propeller column. The number of the second pitch-adjustable synchronous bevel gears is consistent with the number of propellers on the second propeller column. One end of the second pitch-adjustable synchronous bevel gear is fixedly connected to the corresponding propeller, and the other end is meshed with the second pitch-adjustable power bevel gear. The second pitch-adjustable motor, the second hollow coupling, and the second pitch-adjustable power bevel gear are all hollow shaft structures. The hollow structure reserves space for the first reversing shaft to pass through the first pitch-adjustable power bevel gear without contact, and the inner diameter of the hollow structure is larger than the outer diameter of the first reversing shaft; the second pitch-adjustable motor drives the second pitch-adjustable power bevel gear to rotate through the second hollow coupling, thereby driving the rotation of several meshed second pitch-adjustable synchronous bevel gears, and then driving the propeller to rotate, thereby realizing the propeller blade angle pitch adjustment of the second propeller column.

[0026] Furthermore, the propeller includes a blade, a stern shaft and a stern shaft bearing, the blade is fixedly connected to the outer end of the stern shaft, and the inner end of the stern shaft is fixedly connected to the corresponding first pitch-adjustable synchronous bevel gear and second pitch-adjustable synchronous bevel gear through the stern shaft bearing.

[0027] Furthermore, the hub also includes a cover plate and a fairing, the cover plate includes an upper cover plate for the propeller column and a lower cover plate for the propeller column, the tops of the first propeller column and the second propeller column are both provided with an upper cover plate for the propeller column, the bottoms of the first propeller column and the second propeller column are both provided with a lower cover plate for the propeller column, the fairing is arranged below the second propeller column, and the fairing is connected and fixed to the bottom end of the first reversing shaft.

[0028] Preferably, a power conditioning module and a motor control module circuit can be set between the first receiving coil and the first pitch-adjustable motor, and between the first receiving coil and the second excitation coil to respectively realize magnetic field excitation control and motor control, thereby realizing efficient electromagnetic induction detection and propeller pitch adaptive control.

[0029] Also preferably, a motor control module circuit may be provided between the second excitation coil and the second pitch-adjustable motor, so as to achieve adaptive control of the propeller pitch in the second pitch adjustment module.

[0030] Preferably, the propeller pitch adjustment angles in the first pitch adjustment module and the second pitch adjustment module can be adjusted independently and uncoupled according to actual conditions, thereby achieving high efficiency and adaptive characteristics of fluid propulsion.

[0031] Preferably, the number of blades in the first pitch adjustment module and the second pitch adjustment module can be set as needed to achieve the highest efficiency in fluid propulsion.

[0032] Furthermore, the robot body includes a frame, which is used to install and connect the flow control component, the adsorption component and the motion component. The bottom of the frame is provided with a base plate for forming a negative pressure adsorption channel, and the outer bottom of the frame is provided with a float block, which is used to make the robot body generate buoyancy in the liquid medium.

[0033] Furthermore, the motion component is an important mechanism for driving 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 component includes a wheel train and a motion drive module. The motion drive module drives the wheel train to drive the robot body to move.

[0034] Furthermore, for wall-climbing special operation robots, in addition to the above-mentioned basic components, corresponding operation load tools can also be carried as needed, such as cavitation cleaning systems, robotic arm operation systems and other devices.

[0035] The working method of the amphibious wall-climbing special operation robot of the present invention includes a crawling motion method of the robot in an adsorption state on a wall surface, and an adsorption adjustment method of the robot in different fluid media.

[0036] The robot crawls on the wall in the adsorption state. The steps are as follows:

[0037] 1) The adsorption power motor drives the power bevel gear to rotate through the power input shaft, thereby driving the first reversing bevel gear and the second reversing bevel gear engaged with the power bevel gear to rotate, and the first reversing bevel gear drives the first reversing shaft fixedly connected to it to rotate, and the first reversing shaft is fixedly connected to the second propeller column through a key, thereby driving the second propeller column and the propeller on the second propeller column to rotate; the second reversing bevel gear drives the second reversing shaft to rotate, and the second reversing shaft is fixedly connected to the first propeller column through a key, thereby driving the first propeller column and the propeller on the first propeller column to rotate as a whole.

[0038] 2) The propeller drives the fluid to flow. The fluid flows upward from the bottom plate and the wall of the robot body through the guide tube and is discharged through the flow channel control component. The flow channel has a small cross-sectional area and a fast flow rate. According to the Bernoulli 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 in the channel between the bottom plate and the wall of the robot body 1 and in the guide tube and the guide device is lower than that outside, so that the pressure of the fluid squeezes the robot body against the wall, and the robot realizes the negative pressure adsorption function.

[0039] 3) By controlling the motion components to move forward and backward and turn, the robot can crawl on the wall.

[0040] The robot's adsorption adjustment method in different fluid media is as follows:

[0041] 1) When the fluid medium is gas, due to the low viscosity of the fluid, the propeller blade pitch is increased and the cross-sectional size of the fluid channel of the flow channel control component is reduced:

[0042] a. The first pitch control motor rotates forward, driving the first pitch control power bevel gear to rotate through the first hollow coupling, thereby driving the rotation of a plurality of first pitch control synchronous bevel gears meshing with the first pitch control power bevel gear. The first pitch control synchronous bevel gear is fixedly connected to the stern shaft of the propeller, and the stern shaft is fixedly connected to the blades, thereby driving the blades to rotate, increasing the blade pitch on the first propeller column; similarly, the second pitch control motor rotates forward, ultimately increasing the blade pitch on the second propeller column;

[0043] b. Control the motor to rotate forward to drive the starting drive gear to rotate, and through the meshing action of the adjacent drive gears and the reversing gear, all the drive gears on the outer wall of the fixed ring are driven to rotate synchronously. The drive gear is connected to the guide shaft on the inner wall of the fixed ring through the drive shaft and the bearing seat, and then drives the guide shaft and the trapezoidal fan blades connected to the guide shaft to rotate synchronously. The trapezoidal fan blades are located between the fixed ring and the guide device. During the rotation of the trapezoidal fan blades to a horizontal or nearly horizontal state, the cross-section of the fluid channel between the fixed ring and the guide device gradually decreases. The rotation angle of the trapezoidal fan blades is selected according to needs. When the trapezoidal fan blades rotate to a horizontal or nearly horizontal state, the trapezoidal fan blades, the trapezoidal fan blades and the guide device, and the trapezoidal fan blades and the fixed ring are completely sealed, and the fluid can only pass through the flow channel on the inner wall of the guide device;

[0044] 2) When the fluid medium is liquid, due to the increase in fluid viscosity, the propeller blade pitch can be reduced at this time, and the fluid channel cross-section of the flow channel control assembly can be increased: the first pitch-adjustable motor is reversed, and finally drives the blade to rotate in the opposite direction, thereby reducing the blade pitch on the first propeller column; the second pitch-adjustable motor is reversed, and finally reduces the blade pitch on the second propeller column; the control motor is reversed, and finally drives the trapezoidal fan blade to rotate toward a vertical or near-vertical state, and the fluid channel cross-section between the fixed ring and the guide device gradually increases. The rotation angle of the trapezoidal fan blade is selected according to needs. When the trapezoidal fan blade rotates to a vertical or near-vertical state, the fluid channel cross-section between the fixed ring and the guide device reaches its maximum;

[0045] 3) When the robot is at the gas-liquid interface, the forward and reverse rotation of the first pitch-adjustable motor and the second pitch-adjustable motor are adjusted as needed to adjust the propeller pitch, and the amplitude is adjusted as needed to a state between the maximum and minimum pitch values. The forward and reverse rotation of the motor is synchronously controlled to adjust the posture of the trapezoidal fan blades, and the amplitude is adjusted as needed to a state between the horizontal and vertical blades, thereby achieving a balance between the fluid flow and speed, and realizing precise control of the adsorption force of the robot body on the wall surface at the gas-liquid interface, so that the robot body can stably adsorb and move from the gas medium to the liquid medium or from the liquid medium to the gas medium.

[0046] The present invention has the following beneficial effects: the amphibious wall-climbing special operation robot of the present invention realizes automatic adjustment of the propeller blade pitch without relying on external energy through the blade pitch adjustment component, and realizes adjustment of the flow cross-section size of the flow control component through the flow control device, thereby realizing the robot's stable adsorption and wall climbing operation on the wall in liquid and gas fluid media, and creatively realizes the robot's stable adsorption and wall climbing transition at the gas-liquid interface, thereby improving the stability and reliability of the robot's wall climbing operation in liquid and gas fluid media, and can freely switch between wall climbing at the interface between the two fluid media, thereby expanding the application scope of the wall-climbing operation robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a three-dimensional diagram of the overall structure of the amphibious wall-climbing special operation robot of the present invention.

[0048] Figure 2 It is a bottom view of the amphibious wall-climbing special operation robot of the present invention.

[0049] Figure 3 It is a left view of the amphibious wall-climbing special operation robot of the present invention.

[0050] Figure 4 yes Figure 3 Middle AA section view.

[0051] Figure 5 yes Figure 4 A magnified view of the structure of part C.

[0052] Figure 6 It is a three-dimensional diagram of the overall structure of the flow channel control component of the present invention.

[0053] Figure 7 It is a three-dimensional diagram of the overall structure of the flow channel control component of the present invention after removing the fixed shell.

[0054] Figure 8 This is a top view of the flow channel control assembly of the present invention with the fixed shell removed.

[0055] Figure 9 This is a front view of the flow channel control assembly of the present invention with the fixed shell removed.

[0056] Figure 10 It is a structural schematic diagram of the trapezoidal fan blades of the flow channel control assembly of the present invention in a vertical state.

[0057] Figure 11 It is a structural schematic diagram of the trapezoidal blades of the flow channel control assembly of the present invention in a horizontal state.

[0058] Figure 12 It is a three-dimensional diagram of the overall structure of the adsorption component of the present invention.

[0059] Figure 13 It is a front view of the adsorption component of the present invention.

[0060] Figure 14 yes Figure 13 Middle BB section view.

[0061] Figure 15 yes Figure 14 A magnified view of the structure of part D.

[0062] Figure 16 yes Figure 14 A magnified view of the structure of part E.

[0063] Figure 17yes Figure 14 A magnified view of the structure of part F.

[0064] In the figure, 1, robot body, 2, flow channel control component, 3, adsorption component, 4, motion component, 5, operation load tool, 11, frame, 12, float, 13, bottom plate, 21, component body, 22, control motor, 23, flow guide device, 24, flow control device, 211, fixing ring, 212, fixing shell, 241, trapezoidal fan blade, 242, guide shaft, 243, drive shaft, 244, bearing seat, 245, drive gear, 246, reversing gear, 24 7. Reversing shaft 1, 31. Adsorption power motor, 32. Power transmission assembly, 33. Self-generating assembly, 34. Blade pitch adjustment assembly, 35. Propeller, 36. Hub, 37. Guide tube, 321. Base, 322. Coupling, 323. Power input shaft, 324. Reversing bevel gear, 325. First support bearing, 326. Reversing shaft 2, 327. Power bevel gear, 3241. First reversing bevel gear, 3242. Second reversing bevel gear, 3261. First reversing shaft , 3262, second reversing shaft, 3263, key, 3264, second support bearing, 331, magnet, 332, first excitation coil, 333, first receiving coil, 334, second excitation coil, 335, second receiving coil, 341, first pitch adjustment module, 342, second pitch adjustment module, 3411, first pitch adjustment motor, 3412, first hollow coupling, 3413, first pitch adjustment power bevel gear, 3414, first pitch adjustment synchronous bevel gear, 342 1. Second pitch-adjustable motor, 3422. Second hollow coupling, 3423. Second pitch-adjustable power bevel gear, 3424. Second pitch-adjustable synchronous bevel gear, 3425. Third support bearing, 351. Propeller blade, 352. Stern shaft, 353. Stern shaft bearing, 361. Propeller column, 362. Cover plate, 363. Fairing, 3611. First propeller column, 3612. Second propeller column, 3621. Propeller column upper cover plate, 3622. Propeller column lower cover plate, 41. Gear train, 42. Motion drive module. DETAILED DESCRIPTION

[0065] 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.

[0066] like Figure 1-4 As shown, an amphibious wall-climbing special operation robot includes:

[0067] The robot body 1 is used to install and fix the various components of the robot;

[0068] The flow channel control component 2 is installed at the top center of the robot body 1, and is used to adjust the fluid flow rate and flow rate;

[0069] An adsorption component 3 is provided at the bottom of the robot body 1. The adsorption component 3 is located below the flow channel control component 2 and is connected to the flow channel control component 2. The adsorption component 3 is used to provide the adsorption force required for the robot to crawl on the wall;

[0070] Several motion components 4 arranged at the bottom of the robot body 1 are used to drive the robot to complete wall crawling motion.

[0071] The motion assembly 4 is a key mechanism that drives the robot to complete wall-climbing motion. It can be a wheeled, tracked, or other type of motion mechanism. In this invention, a wheeled mechanism is employed. The motion assembly 4 includes a gear train 41 and a motion drive module 42. The motion drive module 42 drives the gear train 41 to move the robot body 1. Both the gear train 41 and the motion drive module 42 utilize existing technology, and their specific structures are not described in detail in this invention.

[0072] like Figure 6 As shown, the flow channel control component 2 includes a main body 21, a control motor 22, a flow guide device 23 and a flow control device 24. The main body 21 is annular. The top of the robot body 1 is provided with a circular through hole adapted to the main body 21. The main body 21 is installed and fixed at the circular through hole on the top of the robot body 1. The flow control device 24 is installed in the main body 21. The flow guide device 23 is arranged at the center of the main body 21. The inner end of the flow control device 24 is connected to the outer wall of the flow guide device 23. The control motor 22 is installed on the outside of the main body 21. The output shaft of the control motor 22 passes through the main body 21 and is connected to the outer end of the flow control device 24. The control motor 22 drives the flow control device 24 to adjust the size of the flow channel cross-section, thereby adjusting the fluid flow through the flow channel control component 2.

[0073] The body 21 includes a fixing ring 211 and a fixing shell 212. The fixing ring 211 is sealed and connected to the circular through hole at the top of the robot body 1. The fixing shell 212 is arranged and enclosed on the outside of the fixing ring 211. An annular cavity is formed between the fixing shell 212 and the fixing ring 211.

[0074] like Figure 7-9As shown, the flow control device 24 includes: a trapezoidal fan blade 241, a guide shaft 242, a drive shaft 243, a bearing seat 244, a drive gear 245, a reversing gear 246, and a reversing shaft 247. A plurality of drive gears 245 are evenly distributed on the outer wall of the fixed ring 211. The number of reversing gears 246 is one less than the number of drive gears 245. One side of the drive gear 245 and the reversing gear 246 are arranged in sequence, and the adjacent drive gears 245 are meshed and connected with the reversing gears 246 in sequence. There is no reversing gear 246 between the other side of the starting drive gear 245 and the end drive gear 245. The drive gear 245 and the reversing gear 246 are both installed on the outer wall of the fixed ring 211 through the bearing seat 244. The reversing gear 246 is rotatably connected to the bearing seat 244 through the reversing shaft 247. The drive gear 245 is connected to the bearing seat 244 through the drive shaft 243. Rotational connection, the number of trapezoidal fan blades 241 is consistent with the number of driving gears 245 and the positions correspond. The inner end of the trapezoidal fan blade 241 is rotationally connected to the outer wall of the guide device 23 through the guide shaft 242, and the outer end of the trapezoidal fan blade 241 is connected to the bearing seat 244 connected to the driving shaft 243 through the guide shaft 242. The starting driving gear 245 is connected to the output shaft of the control motor 22, and the control motor 22 drives the starting driving gear 245 to rotate. Through the sequential engagement connection of the driving gear 245 and the reversing gear 246, all the driving gears 245 connected to the outer wall of the fixing ring 211 are driven to rotate synchronously. The driving gear 245 is connected to the driving shaft 243, the bearing seat 244, and the guide shaft 242, thereby driving the trapezoidal fan blade 241 to rotate to achieve angle posture adjustment, and finally achieve the adjustment of the flow channel cross-section between the fixing ring 211 and the guide device 23.

[0075] The inner wall of the fixing ring 211 is an inwardly concave arc surface with a large middle diameter and small upper and lower top surface diameters. The outer wall of the flow guide device 23 is an outwardly convex arc surface with a large middle diameter and small upper and lower top surface diameters. The end of the trapezoidal fan blade 241 connected to the flow guide device 23 is an inwardly concave arc surface adapted to the outer wall of the flow guide device 23. The end of the trapezoidal fan blade 241 connected to the fixing ring 211 is an outwardly convex arc surface adapted to the inner wall of the fixing ring 211. When all the trapezoidal fan blades 241 are rotated to a horizontal position, the adjacent trapezoidal fan blades 241, as well as the trapezoidal fan blades 241, the fixing ring 211 and the flow guide device 23 are sealed together, so that the annular flow channel between the fixing ring 211 and the flow guide device 23 is completely closed. Figure 11 When all the trapezoidal blades 241 are rotated to a vertical position, the flow channel cross section between the fixing ring 211 and the guide device 23 is the largest, as shown Figure 10 The drive shaft 243 , the bearing seat 244 , the drive gear 245 , the reversing gear 246 , and the reversing shaft 1 247 are all located in the annular cavity between the fixed housing 212 and the fixed ring 211 .

[0076] like Figure 5 、 12 As shown, the adsorption component 3 includes an adsorption power motor 31, a power transmission component 32, a self-generating component 33, a blade pitch adjustment component 34, a propeller 35, a hub 36, and a guide tube 37. The guide tube 37 is arranged directly below the flow channel control component 2. The power transmission component 32, the self-generating component 33, the blade pitch adjustment component 34, the propeller 35, and the hub 36 are all arranged in the guide tube 37. There are two groups of hubs 36, each group of hubs 36 includes a propeller column 361, and the propeller column 361 includes a first propeller column 3611 and a second propeller column 3612. The first propeller column 3611 and the second propeller column 3612 are coaxially arranged up and down. A number of propellers 35 are provided on the first propeller column 3611 and the second propeller column 3612, and a blade pitch is provided in the first propeller column 3611 and the second propeller column 3612. Adjustment component 34, the blade pitch adjustment component 34 is connected to the propeller 35, and is used to adjust the blade pitch of the propeller 35; the adsorption power motor 31 is installed and fixed horizontally inside the robot body 1, the top of the power transmission component 32 is connected and fixed to the robot body 1, the output shaft of the adsorption power motor 31 is connected to the power transmission component 32, the first paddle column 3611 and the second paddle column 3612 are arranged in sequence below the power transmission component 32, the power transmission component 32 is respectively connected to the first paddle column 3611 and the second paddle column 3612 and drives the first paddle column 3611 and the second paddle column 3612 to rotate, and a self-generating component 33 is provided below the power transmission component 32, and the self-generating component 33 is used to power the blade pitch adjustment component 34 in the first paddle column 3611 and the second paddle column 3612.

[0077] like Figure 5 、 12As shown in Figures 14 and 15, the power transmission assembly 32 includes a base 321, a coupling 322, a power input shaft 323, a reversing bevel gear 324, a first support bearing 325, a second reversing shaft 326, and a power bevel gear 327. The base 321 is fixedly connected to the robot body 1. The power input shaft 323, the reversing bevel gear 324, the first support bearing 325, the second reversing shaft 326, and the power bevel gear 327 are all arranged in the base 321 and fixed at the upper center of the guide tube 37. The reversing bevel gear 324 includes a first reversing bevel gear 3241 and a second reversing bevel gear 3242. The second reversing bevel gear 3242 is located below the first reversing bevel gear 3241 and is coaxial. The reversing shaft 326 includes a first reversing shaft 3261 and a second reversing shaft 3262. The second reversing shaft 3262 is sleeved on the first reversing shaft 3261 and the inner diameter of the second reversing shaft 3262 is larger than the outer diameter of the first reversing shaft 3261. The first reversing shaft 3261 can be reversible on the second reversing shaft 326. 2 realizes contactless rotation, the adsorption power motor 31 is connected to one end of the power input shaft 323 through the coupling 322, the other end of the power input shaft 323 is connected to the power bevel gear 327, the first reversing bevel gear 3241 and the second reversing bevel gear 3242 are both engaged with the power bevel gear 327, the second reversing bevel gear 3242 is sleeved and fixed on the upper part of the second reversing shaft 3262, the bottom of the second reversing shaft 3262 is connected and fixed to the first paddle column 3611, and the first reversing bevel gear 3 241 is fixedly connected to the top of the first reversing shaft 3261, and the bottom of the first reversing shaft 3261 passes downward through the second reversing shaft 3262 and the first paddle column 3611 and is fixed to the second paddle column 3612. The first reversing shaft 3261 can rotate without contact in the second reversing shaft 3262 and the first paddle column 3611, and the first reversing bevel gear 3241, the second reversing bevel gear 3242 and the power bevel gear 327 are respectively installed in the interior of the base 321 through the first support bearing 325.

[0078] The adsorption power motor 31 drives the power input shaft 323 and the power bevel gear 327 to rotate. Through the meshing action of the power bevel gear 327 and the first reversing bevel gear 3241 and the second reversing bevel gear 3242, the first reversing bevel gear 3241 drives the first reversing shaft 3261 to rotate, thereby driving the second paddle column 3612 and the propeller 35 on the second paddle column 3612 to rotate as a whole; the second reversing bevel gear 3242 drives the second reversing shaft 3262 to rotate, thereby driving the first paddle column 3611 and the propeller 35 on the first paddle column 3611 to rotate as a whole.

[0079] like Figure 12-14As shown, the reversing shaft 326 also includes a key 3263 and a second support bearing 3264. There are two keys 3263, which are horizontally arranged on the first paddle column 3611 and the second paddle column 3612 respectively. One end of the key 3263 on the first paddle column 3611 is fixed to the first paddle column 3611, and the other end is fixedly connected to the second reversing shaft 3262, so that when the second reversing shaft 3262 rotates, the first paddle column 3611 is driven to rotate as a whole; one end of the key 3263 on the second paddle column 3612 is fixed to the second paddle column 3612, and the other end is fixedly connected to the first reversing shaft 326 1, so that when the first reversing shaft 3261 rotates, the second paddle column 3612 is driven to rotate as a whole; four second support bearings 3264 are provided, which are respectively arranged at the upper and lower parts of the first paddle column 3611 and the second paddle column 3612 from top to bottom, and the second support bearings 3264 are coaxial with the first paddle column 3611 and the second paddle column 3612. The inner diameters of the two second support bearings 3264 in the first paddle column 3611 are larger than the outer diameter of the first reversing shaft 3261. The second paddle column 3612 is connected to the first reversing shaft 3261 through the two second support bearings 3264.

[0080] like Figure 14 As shown, the self-generating assembly 33 includes a magnet 331, a first excitation coil 332, a first receiving coil 333, a second excitation coil 334, and a second receiving coil 335. The magnet 331 is fixedly mounted on the bottom of the base 321 and arranged in a ring shape. The magnets 331 are arranged in the north and south directions as needed to achieve electromagnetic induction with the first receiving coil 333. The outer side of the magnet 331 is close to the first receiving coil 333. The first excitation coil 332 is horizontally arranged in the base 321 above the magnet 331. The magnet 331 and the first receiving coil 333 are both located at the top of the first paddle 3611 and are located on the same horizontal plane. The second excitation coil 334 is located at the bottom of the first paddle 3611, and the second receiving coil 335 is located at the top of the second paddle 3612.

[0081] When the adsorption power motor 31 is started, the second reversing shaft 3262 is driven to rotate through the transmission action of the coupling 322, the power input shaft 323, the power bevel gear 327, and the second reversing bevel gear 3242 in sequence, and the second reversing shaft 3262 drives the first paddle column 3611 to rotate. The first receiving coil 333 on the first paddle column 3611 rotates around the magnet 331, and the first receiving coil 333 generates an induced current by cutting the magnetic lines of force generated by the magnet 331; on the one hand, the first receiving coil 333 supplies power to the blade pitch adjustment component 34 in the first paddle column 3611, and on the other hand, the first receiving coil 333 supplies power to the second excitation coil 334 at the bottom of the first paddle column 3611, and then the second excitation coil 334 generates an excitation magnetic field, and the second receiving coil 335 in the second paddle column 3612 generates an induced current through the principle of electromagnetic induction to achieve contactless power generation, thereby supplying power to the blade pitch adjustment component 34 in the second paddle column 3612.

[0082] As a backup preferred solution, when the adsorption power motor 31 is not started, the propeller pitch adjustment function can also be realized, specifically: the first excitation coil 332 is powered by an external power supply, the first excitation coil 332 generates a magnetic field, and the first receiving coil 333 realizes power generation through electromagnetic induction. On the one hand, the first receiving coil 333 supplies power to the blade pitch adjustment component 34 in the first propeller column 3611. On the other hand, the first receiving coil 333 supplies power to the second excitation coil 334 at the bottom of the first propeller column 3611 and excites the magnetic field. The second receiving coil 335 in the second propeller column 3612 supplies power to the blade pitch adjustment component 34 in the second propeller column 3612 through the magnetic field generated by the second excitation coil 334 through electromagnetic induction.

[0083] In another embodiment of the present invention, the second excitation coil 334 can be replaced by a magnet to generate a magnetic field for the second receiving coil 335 to cut, and the second receiving coil 335 supplies power to the blade pitch adjustment assembly 34 in the second propeller column 3612.

[0084] like Figure 14 As shown, the blade pitch adjustment assembly 34 includes a first pitch adjustment module 341 and a second pitch adjustment module 342 .

[0085] like Figure 16As shown, the first pitch adjustment module 341 is arranged in the first propeller column 3611, and the first pitch adjustment module 341 includes a first pitch adjustment motor 3411, a first hollow coupling 3412, a first pitch adjustment power bevel gear 3413 and a plurality of first pitch adjustment synchronous bevel gears 3414. The first pitch adjustment motor 3411 is fixedly installed at the lower part of the first propeller column 3611, and the first receiving coil 333 supplies power to the first pitch adjustment motor 3411. The output end of the first pitch adjustment motor 3411 is connected to the first pitch adjustment power bevel gear 3413 through the first hollow coupling 3412. The first pitch adjustment power bevel gear 3413 is located at the upper part of the first propeller column 3611, and the top of the first pitch adjustment power bevel gear 3413 is connected to the second support bearing 3264. The number of the first pitch adjustment synchronous bevel gears 3414 is the same as that on the first propeller column 3611. The number of propellers 35 is the same, one end of the first pitch-adjustable synchronous bevel gear 3414 is fixedly connected to the corresponding propeller 35, and the other end is meshed with the first pitch-adjustable power bevel gear 3413. The first pitch-adjustable motor 3411, the first hollow coupling 3412, and the first pitch-adjustable power bevel gear 3413 are all hollow shaft structures. The hollow structure reserves space for the first reversing shaft 3261 to pass through the first pitch-adjustable power bevel gear 3413 without contact, and the inner diameter of the hollow structure is larger than the outer diameter of the first reversing shaft 3261; the first pitch-adjustable motor 3411 drives the first pitch-adjustable power bevel gear 3413 to rotate through the first hollow coupling 3412, thereby driving the meshed connection of several first pitch-adjustable synchronous bevel gears 3414 to rotate, and then driving the propeller 35 to rotate, realizing the angle pitch adjustment of the propeller 35 blades of the first propeller column 3611.

[0086] like Figure 17As shown, the second pitch adjustment module 342 includes a second pitch adjustment motor 3421, a second hollow coupling 3422, a second pitch adjustment power bevel gear 3423, a third support bearing 3425 and a plurality of second pitch adjustment synchronous bevel gears 3424. The second pitch adjustment motor 3421 is fixedly installed at the lower part of the second propeller column 3612. The second receiving coil 335 supplies power to the second pitch adjustment motor 3421. The output shaft of the second pitch adjustment motor 3421 is connected to the second pitch adjustment power bevel gear 3423 through the second hollow coupling 3422. 3. The second pitch-adjustable power parachute gear 3423 is located at the upper part of the second propeller column 3612. The top of the second pitch-adjustable power parachute gear 3423 is connected to the second propeller column 3612 through the third support bearing 3425. The third support bearing 3425 is located on the axis below the top of the second propeller column 3612. The outer end face of the third support bearing 3425 is fixed to the inside of the second propeller column 3612, and the inner end face is sleeved on the circumference of the outer end face of the second pitch-adjustable power parachute gear 3423, so that the second pitch-adjustable power parachute gear 3423 can rotate relative to the second propeller column 3612. The second propeller column 3 The key 3263 of 612 is horizontally arranged between the third support bearing 3425 and the second support bearing 3264 at the top of the second propeller column 3612. The number of the second pitch-adjustable synchronous bevel gears 3424 is consistent with the number of the propellers 35 on the second propeller column 3612. One end of the second pitch-adjustable synchronous bevel gear 3424 is fixedly connected to the corresponding propeller 35, and the other end is meshed with the second pitch-adjustable power bevel gear 3423. The second pitch-adjustable motor 3421, the second hollow coupling 3422, and the second pitch-adjustable power bevel gear 3423 are connected to each other. 23 are all hollow shaft structures. The hollow structure reserves space for the first reversing shaft 3261 to pass through the first pitch-adjustable power bevel gear 3413 without contact, and the inner diameter of the hollow structure is larger than the outer diameter of the first reversing shaft 3261; the second pitch-adjustable motor 3421 drives the second pitch-adjustable power bevel gear 3423 to rotate through the second hollow coupling 3422, thereby driving the rotation of several second pitch-adjustable synchronous bevel gears 3424 that are engaged and connected, and then driving the propeller 35 to rotate, thereby realizing the angle pitch adjustment of the propeller 35 blades of the second propeller column 3612.

[0087] like Figure 16 As shown, the propeller 35 includes a blade 351, a stern shaft 352 and a stern shaft bearing 353. The blade 351 is fixedly connected to the outer end of the stern shaft 352, and the inner end of the stern shaft 352 is fixedly connected to the corresponding first pitch-adjustable synchronous bevel gear 3414 and second pitch-adjustable synchronous bevel gear 3424 through the stern shaft bearing 353.

[0088] like Figure 12 、 14As shown, the hub 36 also includes a cover plate 362 and a fairing 363. The cover plate 362 includes an upper paddle column cover plate 3621 and a lower paddle column cover plate 3622. The tops of the first paddle column 3611 and the second paddle column 3622 are both provided with an upper paddle column cover plate 3621, and the bottoms of the first paddle column 3611 and the second paddle column 3622 are both provided with a lower paddle column cover plate 3622. The fairing 363 is arranged below the second paddle column 3622, and the fairing is fixedly connected to the bottom end of the first reversing shaft 3261.

[0089] Preferably, a power conditioning module and a motor control module circuit can be set between the first receiving coil 333 and the first pitch-adjustable motor 3411, and between the first receiving coil 333 and the second excitation coil 334 to respectively realize magnetic field excitation control and motor control, thereby realizing efficient electromagnetic induction detection and propeller pitch adaptive control.

[0090] Also preferably, a motor control module circuit may be provided between the second excitation coil 334 and the second pitch-adjustable motor 3421 , so as to achieve adaptive control of the propeller pitch in the second pitch adjustment module 342 .

[0091] Preferably, the propeller pitch adjustment angles in the first pitch adjustment module 341 and the second pitch adjustment module 342 can be adjusted independently and uncoupled according to actual conditions, thereby achieving high efficiency and adaptive characteristics of fluid propulsion.

[0092] Preferably, the number of blades 351 in the first pitch adjustment module 341 and the second pitch adjustment module 342 can be set as needed to achieve the highest efficiency in fluid propulsion.

[0093] like Figure 1 、 2 As shown, the robot body 1 includes a frame 11, which is used to mount and connect the flow control assembly 2, the adsorption assembly 3, and the motion assembly 4. A base plate 13 is provided at the bottom of the frame 11 to form a negative pressure adsorption channel. Floating blocks 12 are provided at the outer bottom of the frame 11 to generate buoyancy for the robot body in the liquid medium. Fluid generally flows from the channel between the base plate 13 and the wall, through the guide tube 37, to the flow control assembly 2.

[0094] The motion component 4 is an important mechanism for driving 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 component 4 includes a wheel train 41 and a motion drive module 42. The motion drive module 42 drives the wheel train 41 to drive the robot body 1 to move.

[0095] In addition to the basic components mentioned above, specialized wall-climbing robots can also be equipped with a corresponding payload 5 as needed. These payloads include devices such as a cavitation cleaning system and a robotic arm operating system. For example, a cleaning nozzle as an operating module can achieve a surface cleaning effect. Besides the cleaning nozzle, the payload 5 can also include a cleaning disk, a robotic arm, and detection sensors.

[0096] The working method of the amphibious wall-climbing special operation robot of the present invention includes a crawling motion method of the robot in an adsorption state on a wall surface, and an adsorption adjustment method of the robot in different fluid media.

[0097] The robot crawls on the wall in the adsorption state. The steps are as follows:

[0098] 1) The adsorption power motor 31 drives the power bevel gear 327 to rotate through the power input shaft 323, thereby driving the first reversing bevel gear 3241 and the second reversing bevel gear 3242 engaged with the power bevel gear 327 to rotate, and the first reversing bevel gear 3241 drives the first reversing shaft 3261 fixedly connected to it to rotate, and the first reversing shaft 3261 is fixedly connected to the second paddle column 3612 through the key 3263, thereby driving the second paddle column 3612 and the propeller 35 on the second paddle column 3612 to rotate; the second reversing bevel gear 3242 drives the second reversing shaft 3262 to rotate, and the second reversing shaft 3262 is fixedly connected to the first paddle column 3611 through the key 3263, thereby driving the first paddle column 3611 and the propeller 35 on the first paddle column 3611 to rotate as a whole.

[0099] 2) The propeller drives the fluid to flow. The fluid flows from the bottom plate 13 of the robot body and the wall through the guide tube 37 upward and flows through the flow channel control component 2 to be discharged. The flow channel has a small cross-sectional area and a fast flow rate. According to the Bernoulli 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 in the channel between the bottom plate 13 of the robot body 1 and the wall, as well as in the guide tube 37 and the guide device 23 is lower than that outside, so that the fluid pressure squeezes the robot body 1 against the wall, and the robot realizes the negative pressure adsorption function.

[0100] 3) By controlling the motion component 4 to move forward and backward and turn, the robot can crawl on the wall.

[0101] The robot's adsorption adjustment method in different fluid media is as follows:

[0102] 1) When the fluid medium is gas, due to the low viscosity of the fluid, the pitch of the blades 351 of the propeller 35 is increased and the cross-sectional size of the fluid channel of the flow channel control component 2 is reduced:

[0103] a. The first pitch-adjustable motor 3411 rotates forward, driving the first pitch-adjustable power bevel gear 3413 to rotate via the first hollow coupling 3412, thereby driving a plurality of first pitch-adjustable synchronous bevel gears 3414 meshed with the first pitch-adjustable power bevel gear 3413 to rotate. The first pitch-adjustable synchronous bevel gears 3414 are fixedly connected to the stern shaft 352 of the propeller 35, to which the blades 351 are fixedly connected, thereby driving the blades 351 to rotate, increasing the pitch of the blades 351 on the first propeller column 3611. Similarly, the second pitch-adjustable motor 3421 rotates forward, ultimately increasing the pitch of the blades 351 on the second propeller column 3612.

[0104] b. Control the motor 22 to rotate forward, drive the starting drive gear 245 to rotate, and through the meshing action of the adjacent drive gear 245 and the reversing gear 246, drive all the drive gears 245 on the outer wall of the fixed ring 21 to rotate synchronously. The drive gear 245 is connected to the guide shaft 242 on the inner wall of the fixed ring 21 through the drive shaft 243 and the bearing seat 244, thereby driving the guide shaft 242 and the trapezoidal fan blades 241 connected to the guide shaft 242 to rotate synchronously. The trapezoidal fan blades 241 are located on the fixed ring 2 1 and the guide device 23, during the rotation of the trapezoidal fan blades 241 toward a horizontal or nearly horizontal state, the cross-section of the fluid channel between the fixing ring 21 and the guide device 23 gradually decreases. The rotation angle of the trapezoidal fan blades 241 is selected as needed. When the trapezoidal fan blades 241 rotate to a horizontal or nearly horizontal state, the trapezoidal fan blades 241, the trapezoidal fan blades 241 and the guide device 23, and the trapezoidal fan blades 241 and the fixing ring 21 are completely sealed, and the fluid can only pass through the inner wall flow channel of the guide device 23;

[0105] 2) When the fluid medium is liquid, due to the increase in fluid viscosity, the pitch of the blade 351 of the propeller 35 is reduced, and the cross-sectional size of the fluid channel of the flow channel control assembly 2 is increased: the first pitch-adjustable motor 3411 is reversed, and finally drives the blade 351 to rotate in the opposite direction, thereby reducing the pitch of the blade 351 on the first propeller column 3611; the second pitch-adjustable motor 3421 is reversed, and finally reduces the pitch of the blade 351 on the second propeller column 3612; the control motor 22 is reversed, and finally drives the trapezoidal blade 241 to rotate toward a vertical or near vertical state, and the cross-sectional area of ​​the fluid channel between the fixing ring 21 and the guide device 23 gradually increases. The rotation angle of the trapezoidal blade 241 is selected according to needs. When the trapezoidal blade 241 rotates to a vertical or near vertical state, the cross-sectional area of ​​the fluid channel between the fixing ring 21 and the guide device 23 reaches a maximum;

[0106] 3) When the robot is at the gas-liquid interface, the forward and reverse rotation of the first pitch-adjustable motor 3411 and the second pitch-adjustable motor 3421 are adjusted as needed to adjust the propeller pitch, and the amplitude is adjusted as needed to a state between the maximum and minimum pitch values. The forward and reverse rotation of the motor 22 is synchronously controlled to adjust the posture of the trapezoidal blades 241, and the amplitude is adjusted as needed to a state between the horizontal and vertical blades, thereby achieving a balance between the fluid flow and speed, and realizing precise control of the adsorption force of the robot body 1 on the wall surface at the gas-liquid interface, so that the robot body 1 can be stably adsorbed and moved from the gas medium to the liquid medium or from the liquid medium to the gas medium.

[0107] 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.

[0108] The technology, shape, and structure not described in detail in the present invention are all well-known technologies.

Claims

1. An amphibious wall-climbing special operation robot, characterized in that: include: The robot body is used to install and fix the various components of the robot; The flow channel control component installed at the top center of the robot body is used to adjust the fluid flow and flow rate; An adsorption component is provided at the bottom of the robot body, the adsorption component is located below the flow channel control component and is connected to the flow channel control component, and is used to provide the adsorption force required for the robot to crawl on the wall; Several motion components are provided at the bottom of the robot body, which are used to drive the robot to complete the wall crawling motion; The adsorption component includes an adsorption power motor, a power transmission component, a self-generating component, a blade pitch adjustment component, a propeller, a hub, and a guide tube. The guide tube is arranged directly below the flow channel control component. The power transmission component, the self-generating component, the blade pitch adjustment component, the propeller, and the hub are all arranged in the guide tube. There are two groups of hubs, each group of hubs includes a propeller column, and the propeller column includes a first propeller column and a second propeller column. The first propeller column and the second propeller column are coaxially arranged up and down. A number of propellers are provided on the first propeller column and the second propeller column. The blade pitch adjustment component is provided in the first propeller column and the second propeller column. The pitch adjustment assembly is connected to the propeller and is used to adjust the propeller blade pitch; the adsorption power motor is installed horizontally and fixed inside the robot body, the top of the power transmission assembly is connected and fixed to the robot body, the output shaft of the adsorption power motor is connected to the power transmission assembly, the first propeller column and the second propeller column are arranged in sequence below the power transmission assembly, the power transmission assembly is respectively connected to the first propeller column and the second propeller column and drives the first propeller column and the second propeller column to rotate, and a self-generating assembly is provided below the power transmission assembly, which is used to power the blade pitch adjustment assembly in the first propeller column and the second propeller column.

2. The amphibious wall-climbing special operation robot according to claim 1, characterized in that: The flow channel control assembly includes a body, a control motor, a flow guide device and a flow control device. The body is annular. The top of the robot body is provided with a circular through hole adapted to the body. The body is fixed to the circular through hole on the top of the robot body. The flow control device is installed in the body. The flow guide device is arranged at the center of the body. The inner end of the flow control device is connected to the outer wall of the flow guide device. The control motor is installed on the outside of the body. The output shaft of the control motor passes through the body and is connected to the outer end of the flow control device. The control motor drives the flow control device to adjust the size of the flow channel cross-section, thereby adjusting the fluid flow through the flow channel control assembly.

3. The amphibious wall-climbing special operation robot according to claim 2, characterized in that: The body includes a fixing ring and a fixing shell. The fixing ring is sealed and connected to the circular through hole on the top of the robot body. The fixing shell is arranged and enclosed on the outside of the fixing ring. An annular cavity is formed between the fixing shell and the fixing ring. The flow control device includes: trapezoidal fan blades, a guide shaft, a drive shaft, a bearing seat, a drive gear, a reversing gear, and a reversing shaft. A plurality of drive gears are evenly distributed on the outer wall of the fixed ring. The number of reversing gears is one less than the number of drive gears. One side of the drive gear and the reversing gear are arranged in sequence, and the adjacent drive gears are meshed and connected with the reversing gear in sequence. There is no reversing gear between the other side of the starting drive gear and the end drive gear. The drive gear and the reversing gear are both installed on the outer wall of the fixed ring through the bearing seat. The reversing gear is rotatably connected to the bearing seat through the reversing shaft. The drive gear is rotatably connected to the bearing seat through the drive shaft. The trapezoidal fan blades are evenly distributed on the outer wall of the fixed ring. The number of reversing gears is one less than the number of drive gears. One side of the drive gear and the reversing gear are arranged in sequence, and the adjacent drive gears are meshed and connected with the reversing gear in sequence. There is no reversing gear between the other side of the starting drive gear and the end drive gear. The drive gear and the reversing gear are both installed on the outer wall of the fixed ring through the bearing seat. The reversing gear is rotatably connected to the bearing seat through the reversing shaft. The drive gear is rotatably connected to the bearing seat through the drive shaft. The number of fan blades is consistent with the number of driving gears and their positions correspond. The inner ends of the trapezoidal fan blades are rotatably connected to the outer wall of the guide device through the guide shaft. The outer ends of the trapezoidal fan blades are connected to the bearing seat connected to the drive shaft through the guide shaft through the fixed ring. The starting drive gear is connected to the output shaft of the control motor. The control motor drives the starting drive gear to rotate. Through the sequential meshing connection of the drive gear and the reversing gear, all the drive gears connected to the outer wall of the fixed ring are driven to rotate synchronously. The drive gear is connected and transmitted by the drive shaft, the bearing seat, and the guide shaft, thereby driving the trapezoidal fan blades to rotate to achieve angle posture adjustment, thereby achieving adjustment of the flow channel cross-section between the fixed ring and the guide device. The inner wall of the fixed ring is a concave arc surface with a large middle diameter and small upper and lower top surface diameters. The outer wall of the guide device is a convex arc surface with a large middle diameter and small upper and lower top surface diameters. The end of the trapezoidal fan blade connected to the guide device is a concave arc surface adapted to the outer wall of the guide device. The end of the trapezoidal fan blade connected to the fixed ring is a convex arc surface adapted to the inner wall of the fixed ring. When all the trapezoidal fan blades rotate to a horizontal position, the adjacent trapezoidal fan blades, as well as the trapezoidal fan blades, the fixed ring and the guide device are fitted and sealed to achieve complete closure of the annular flow channel between the fixed ring and the guide device. The drive shaft, bearing seat, drive gear, reversing gear, and reversing shaft are all located in the annular cavity between the fixed shell and the fixed ring.

4. The amphibious wall-climbing special operation robot according to claim 1, characterized in that: The power transmission assembly includes a base, a coupling, a power input shaft, a reversing bevel gear, a first support bearing, a reversing shaft 2 and a power bevel gear. The base is fixedly connected to the robot body. The power input shaft, the reversing bevel gear, the first support bearing, the reversing shaft 2 and the power bevel gear are all arranged in the base. The reversing bevel gear includes a first reversing bevel gear and a second reversing bevel gear. The second reversing bevel gear is located below the first reversing bevel gear and is coaxial. The reversing shaft 2 includes a first reversing shaft and a second reversing shaft. The second reversing shaft is sleeved on the first reversing shaft and the inner diameter of the second reversing shaft is larger than the outer diameter of the first reversing shaft. The first reversing shaft can be in the second reversing shaft. The shaft rotates contactlessly, and the adsorption power motor is connected to one end of the power input shaft through a coupling. The other end of the power input shaft is connected to a power bevel gear. The first reversing bevel gear and the second reversing bevel gear are both meshed and connected with the power bevel gear. The second reversing bevel gear is sleeved and fixed on the upper part of the second reversing shaft. The bottom of the second reversing shaft is connected and fixed to the first paddle column. The first reversing bevel gear is fixedly connected to the top of the first reversing shaft. The bottom of the first reversing shaft passes downward through the second reversing shaft and the first paddle column and is connected and fixed to the second paddle column. The first reversing bevel gear, the second reversing bevel gear and the power bevel gear are respectively installed inside the base through the first support bearing; The adsorption power motor drives the power input shaft and the power bevel gear to rotate. Through the meshing action of the power bevel gear and the first reversing bevel gear and the second reversing bevel gear, the first reversing bevel gear drives the first reversing shaft to rotate, thereby driving the second propeller column and the propeller on the second propeller column to rotate as a whole; the second reversing bevel gear drives the second reversing shaft to rotate, thereby driving the first propeller column and the propeller on the first propeller column to rotate as a whole; The reversing shaft 2 also includes a key and a second support bearing. There are two keys, which are horizontally arranged on the first paddle column and the second paddle column respectively. One end of the key on the first paddle column is fixed on the first paddle column, and the other end is fixedly connected to the second reversing shaft, so that when the second reversing shaft rotates, the first paddle column is driven to rotate as a whole; one end of the key on the second paddle column is fixed on the second paddle column, and the other end is fixedly connected to the first reversing shaft, so that when the first reversing shaft rotates, the second paddle column is driven to rotate as a whole; there are four second support bearings, which are respectively arranged at the upper and lower parts of the first paddle column and the second paddle column from top to bottom, and the second support bearing is coaxial with the first paddle column and the second paddle column.

5. The amphibious wall-climbing special operation robot according to claim 1, characterized in that: The self-generating assembly includes a magnet, a first excitation coil, a first receiving coil, a second excitation coil, and a second receiving coil. The magnet is fixedly installed at the bottom of the base and is distributed in a ring shape. The N and S directions are arranged as needed and can realize electromagnetic induction effect with the first receiving coil. The outer side of the magnet is close to the first receiving coil. The first excitation coil is horizontally arranged in the base above the magnet. The magnet and the first receiving coil are both located at the top of the first paddle column, and the magnet and the first receiving coil are located on the same horizontal plane. The second excitation coil is provided at the bottom of the first paddle column, and the second receiving coil is provided at the top of the second paddle column. When the adsorption power motor is started, the second reversing shaft is driven to rotate through the transmission action of the coupling, power input shaft, power bevel gear, and second reversing bevel gear in sequence, and the second reversing shaft drives the first propeller column to rotate. The first receiving coil on the first propeller column rotates around the magnet, and the first receiving coil generates an induced current by cutting the magnetic lines of force generated by the magnet; on the one hand, the first receiving coil supplies power to the blade pitch adjustment component in the first propeller column, and on the other hand, the first receiving coil supplies power to the second excitation coil at the bottom of the first propeller column, and then the second excitation coil generates an excitation magnetic field, and the second receiving coil in the second propeller column generates an induced current through the principle of electromagnetic induction to achieve contactless power generation, thereby supplying power to the blade pitch adjustment component in the second propeller column; When the adsorption power motor is not started, the first excitation coil is powered by an external power supply, the first excitation coil generates a magnetic field, and the first receiving coil generates electricity through electromagnetic induction. On the one hand, the first receiving coil powers the blade pitch adjustment component in the first propeller column. On the other hand, the first receiving coil powers the second excitation coil at the bottom of the first propeller column and excites the magnetic field. The second receiving coil in the second propeller column powers the blade pitch adjustment component in the second propeller column through the magnetic field generated by the second excitation coil through electromagnetic induction.

6. The amphibious wall-climbing special operation robot according to claim 1, characterized in that: The blade pitch adjustment assembly includes a first pitch adjustment module and a second pitch adjustment module; The first pitch adjustment module is arranged in the first propeller column, and the first pitch adjustment module includes a first pitch adjustment motor, a first hollow coupling, a first pitch adjustment power parachute gear and a plurality of first pitch adjustment synchronous parachute gears. The first pitch adjustment motor is fixedly installed at the lower part of the first propeller column, and the first receiving coil supplies power to the first pitch adjustment motor. The output end of the first pitch adjustment motor is connected to the first pitch adjustment power parachute gear through the first hollow coupling. The first pitch adjustment power parachute gear is located at the upper part of the first propeller column, and the top of the first pitch adjustment power parachute gear is connected to the second support bearing. The number of the first pitch adjustment synchronous parachute gears is consistent with the number of propellers on the first propeller column. One end of the first pitch-adjustable synchronous bevel gear is fixedly connected to the corresponding propeller, and the other end is meshed with the first pitch-adjustable power bevel gear. The first pitch-adjustable motor, the first hollow coupling, and the first pitch-adjustable power bevel gear are all hollow shaft structures. The hollow structure reserves space for the first reversing shaft to pass through the first pitch-adjustable power bevel gear without contact, and the inner diameter of the hollow structure is larger than the outer diameter of the first reversing shaft. The first pitch-adjustable motor drives the first pitch-adjustable power bevel gear to rotate through the first hollow coupling, thereby driving the rotation of several meshed first pitch-adjustable synchronous bevel gears, and then driving the propeller to rotate, thereby realizing the angle pitch adjustment of the propeller blades of the first propeller column; The second pitch adjustment module includes a second pitch adjustment motor, a second hollow coupling, a second pitch adjustment power parachute gear, a third support bearing and a plurality of second pitch adjustment synchronous parachute gears. The second pitch adjustment motor is fixedly installed at the lower part of the second propeller column. The second receiving coil supplies power to the second pitch adjustment motor. The output shaft of the second pitch adjustment motor is connected to the second pitch adjustment power parachute gear through a second hollow coupling. The second pitch adjustment power parachute gear is located at the upper part of the second propeller column. The top of the second pitch adjustment power parachute gear is connected to the second propeller column through the third support bearing. The third support bearing is located on the axis below the top of the second propeller column. The outer end face is fixed inside the second propeller column, and the inner end face is sleeved on the circumference of the outer end face of the second pitch adjustment power parachute gear to realize the rotation of the second pitch adjustment power parachute gear relative to the second propeller column. The key of the second propeller column is arranged horizontally Between the third support bearing and the second support bearing at the top of the second propeller column, the number of second pitch-adjustable synchronous bevel gears is consistent with the number of propellers on the second propeller column. One end of the second pitch-adjustable synchronous bevel gear is fixedly connected to the corresponding propeller, and the other end is meshed with the second pitch-adjustable power bevel gear. The second pitch-adjustable motor, the second hollow coupling, and the second pitch-adjustable power bevel gear are all hollow shaft structures. The hollow structure reserves space for the first reversing shaft to pass through the first pitch-adjustable power bevel gear without contact, and the inner diameter of the hollow structure is larger than the outer diameter of the first reversing shaft; the second pitch-adjustable motor drives the second pitch-adjustable power bevel gear to rotate through the second hollow coupling, thereby driving the meshing connection of several second pitch-adjustable synchronous bevel gears to rotate, and then driving the propeller to rotate, thereby realizing the propeller blade angle pitch adjustment of the second propeller column.

7. The amphibious wall-climbing special operation robot according to claim 1, characterized in that: The propeller includes a blade, a stern shaft and a stern shaft bearing, the blade is fixedly connected to the outer end of the stern shaft, and the inner end of the stern shaft is fixedly connected to the corresponding first pitch-adjustable synchronous bevel gear and second pitch-adjustable synchronous bevel gear through the stern shaft bearing; The hub also includes a cover plate and a fairing, the cover plate includes an upper cover plate for a propeller column and a lower cover plate for a propeller column, the tops of the first propeller column and the second propeller column are both provided with an upper cover plate for a propeller column, the bottoms of the first propeller column and the second propeller column are both provided with a lower cover plate for a propeller column, the fairing is arranged below the second propeller column, and the fairing is connected and fixed to the bottom end of the first reversing shaft.

8. The amphibious wall-climbing special operation robot according to claim 1, characterized in that: The robot body includes a frame for mounting and connecting the flow channel control component, the adsorption component, and the motion component. The bottom of the frame is provided with a bottom plate for forming a negative pressure adsorption channel. The outer bottom of the frame is provided with a float block for generating buoyancy for the robot body in the liquid medium. The motion assembly includes a wheel train and a motion driving module, and the motion driving module drives the wheel train to move.

9. The working method of the amphibious wall-climbing special operation robot according to any one of claims 1 to 8, characterized in that: This includes the following methods: (1) The robot crawls on the wall in the adsorption state. The steps are as follows: 1) The adsorption power motor drives the power bevel gear to rotate through the power input shaft, thereby driving the first reversing bevel gear and the second reversing bevel gear meshing with the power bevel gear to rotate. The first reversing bevel gear drives the first reversing shaft fixedly connected to it to rotate. The first reversing shaft is fixedly connected to the second propeller column through a key, thereby driving the second propeller column and the propeller on the second propeller column to rotate; the second reversing bevel gear drives the second reversing shaft to rotate. The second reversing shaft is fixedly connected to the first propeller column through a key, thereby driving the first propeller column and the propeller on the first propeller column to rotate as a whole; 2) The propeller drives the fluid to flow. The fluid flows upward from the bottom plate and the wall of the robot body through the guide tube and is discharged through the flow channel control component. The flow channel has a small cross-sectional area and a fast flow rate. According to the Bernoulli 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 in the channel between the bottom plate and the wall of the robot body, as well as in the guide tube and the guide device, is lower than that outside. As a result, the fluid pressure squeezes the robot body against the wall, and the robot realizes the negative pressure adsorption function; 3) By controlling the motion components to move forward and backward and turn, the robot can crawl on the wall; (2) The robot's adsorption adjustment method in different fluid media is as follows: 1) When the fluid medium is gas, due to the low viscosity of the fluid, the propeller blade pitch is increased and the cross-sectional size of the fluid channel of the flow channel control component is reduced: a. The first pitch control motor rotates forward, driving the first pitch control power bevel gear to rotate through the first hollow coupling, thereby driving the rotation of a plurality of first pitch control synchronous bevel gears meshing with the first pitch control power bevel gear. The first pitch control synchronous bevel gear is fixedly connected to the stern shaft of the propeller, and the stern shaft is fixedly connected to the blades, thereby driving the blades to rotate, increasing the blade pitch on the first propeller column; similarly, the second pitch control motor rotates forward, ultimately increasing the blade pitch on the second propeller column; b. Control the motor to rotate forward to drive the starting drive gear to rotate, and through the meshing action of the adjacent drive gears and the reversing gear, all the drive gears on the outer wall of the fixed ring are driven to rotate synchronously. The drive gear is connected to the guide shaft on the inner wall of the fixed ring through the drive shaft and the bearing seat, and then drives the guide shaft and the trapezoidal fan blades connected to the guide shaft to rotate synchronously. The trapezoidal fan blades are located between the fixed ring and the guide device. During the rotation of the trapezoidal fan blades to a horizontal or nearly horizontal state, the cross-section of the fluid channel between the fixed ring and the guide device gradually decreases. The rotation angle of the trapezoidal fan blades is selected according to needs. When the trapezoidal fan blades rotate to a horizontal or nearly horizontal state, the trapezoidal fan blades, the trapezoidal fan blades and the guide device, and the trapezoidal fan blades and the fixed ring are completely sealed, and the fluid can only pass through the flow channel on the inner wall of the guide device; 2) When the fluid medium is liquid, due to the increased viscosity of the fluid, the propeller blade pitch is reduced and the fluid channel cross-section of the flow channel control assembly is increased: the first pitch-adjustable motor is reversed, ultimately driving the blades to rotate in the opposite direction, thereby reducing the blade pitch on the first propeller column; the second pitch-adjustable motor is reversed, ultimately reducing the blade pitch on the second propeller column; the control motor is reversed, ultimately driving the trapezoidal blades to rotate toward a vertical or near-vertical state, gradually increasing the fluid channel cross-section between the fixed ring and the guide device. The rotation angle of the trapezoidal blades is selected as needed. When the trapezoidal blades rotate to a vertical or near-vertical state, the fluid channel cross-section between the fixed ring and the guide device reaches its maximum. 3) When the robot is at the gas-liquid interface, the forward and reverse rotation of the first pitch-adjustable motor and the second pitch-adjustable motor are adjusted as needed to adjust the propeller pitch, and the amplitude is adjusted as needed to a state between the maximum and minimum pitch values. The forward and reverse rotation of the motor is synchronously controlled to adjust the posture of the trapezoidal fan blades, and the amplitude is adjusted as needed to a state between the horizontal and vertical blades, thereby achieving a balance between the fluid flow and speed, and realizing precise control of the adsorption force of the robot body on the wall surface at the gas-liquid interface, so that the robot body can stably adsorb and move from the gas medium to the liquid medium or from the liquid medium to the gas medium.

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