A recyclable wall-climbing carrier device and a wall-climbing vehicle posture adjusting method

Abstract

This invention discloses a retrievable wall-climbing vehicle device and a method for adjusting the posture of the wall-climbing vehicle. The device includes a wall-climbing vehicle and a carrier for transporting the vehicle. The carrier is equipped with a movable support, allowing the wall-climbing vehicle to stand upright on the movable support with its bottom facing outwards. A pushing mechanism then pushes the bottom of the wall-climbing vehicle outwards until it is in contact with the wall. The carrier is equipped with a retrieval ramp. When the retrieval ramp is attached to the wall, the wall-climbing vehicle on the wall can return to the carrier along the retrieval ramp, and then flip from an inclined posture to an upright posture, before being transferred back to the movable support. The bottom end of the retrieval ramp is suspended. The wall-climbing vehicle can reverse down the retrieval ramp, causing its rear portion to move out of the retrieval ramp and become suspended. With its rear portion suspended, the wall-climbing vehicle gradually flips from an inclined posture to an upright posture. This invention facilitates the release of the wall-climbing vehicle onto the wall and also facilitates its retrieval.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing vehicle transportation, and more particularly to a recyclable wall-climbing vehicle device and a method for adjusting the attitude of the wall-climbing vehicle. Background Technology

[0002] Wall-climbing vehicles have wide applications in the shipbuilding industry. By mounting different modules, they can perform various functions, such as flaw detection or rust removal on the ship's outer hull. In practical applications, they may also carry a ship-mounted vehicle on the water surface, and once the vehicle is close to the ship's outer hull, the wall-climbing vehicle climbs onto it. To facilitate the release and retrieval of the wall-climbing vehicle, a retrievable wall-climbing vehicle device and a method for adjusting the vehicle's attitude are provided. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a recyclable wall-climbing vehicle device and a wall-climbing vehicle attitude adjustment method, which facilitates the release of the wall-climbing vehicle onto the wall and also facilitates the retrieval of the wall-climbing vehicle from the wall.

[0004] Technical Solution: To achieve the above objectives, the present invention provides a retrievable wall-climbing vehicle device and a wall-climbing vehicle attitude adjustment method, comprising a wall-climbing vehicle and a vehicle for transporting the wall-climbing vehicle. The vehicle is provided with a movable support, and the wall-climbing vehicle can stand upright on the movable support with its bottom facing outward. A pushing mechanism then pushes the bottom of the wall-climbing vehicle outward to fit against the wall. The vehicle is provided with a recovery ramp. When the recovery ramp is attached to the wall, the wall-climbing vehicle on the wall can return to the vehicle along the recovery ramp and flip from an inclined posture to an upright posture along the recovery ramp before being transferred back to the movable support. The bottom end of the recovery ramp is suspended. The wall-climbing vehicle can reverse down the recovery ramp, so that the rear part of the wall-climbing vehicle moves out of the recovery ramp and is suspended. With the rear part of the wall-climbing vehicle suspended, the wall-climbing vehicle gradually flips from an inclined posture to an upright posture.

[0005] Furthermore, the movable support and the recovery slope can be displaced relative to each other, so that the movable support and the recovery slope can be opposite to each other or offset from each other; when the movable support and the recovery slope are opposite to each other, the movable support can move towards the recovery slope and collide with the suspended part of the rear of the climbing vehicle; after being impacted, the climbing vehicle flips from an inclined posture to an upright posture and stands on the movable support; when the movable support and the recovery slope are offset from each other, the pushing mechanism can push the climbing vehicle, which is in an upright posture on the movable support, outward.

[0006] Furthermore, a first electromagnet is provided at the bottom of the recovery slope, and a first ferromagnetic component is provided at the bottom of the climbing vehicle; when the rear part of the climbing vehicle moves out of the recovery slope and is suspended in the air, the first electromagnet is energized and attracts the first ferromagnetic component; when the movable support hits the suspended rear part of the climbing vehicle, the climbing vehicle flips around the attraction point between the first electromagnet and the first ferromagnetic component as the rotation center.

[0007] Furthermore, the first electromagnet has an arc-shaped outer contour, and an arc-shaped inner groove is formed on the first ferromagnetic component; when the first electromagnet is energized and attracts the first ferromagnetic component, the first electromagnet and the first ferromagnetic component are hinged together.

[0008] Furthermore, a backrest is provided on the movable support, and a second electromagnet is provided on the backrest; a second ferromagnet is provided on the roof of the wall-climbing vehicle; when the wall-climbing vehicle is flipped into an upright position and stands on the movable support, the second electromagnet is energized and attracts the second ferromagnet, so that the wall-climbing vehicle can maintain an upright position on the movable support.

[0009] Furthermore, the rear section of the climbing vehicle is provided with a groove, and the movable support is provided with a hook; when the movable support moves toward the recovery slope, the hook is inserted into the groove to hook the rear section of the climbing vehicle, and then the climbing vehicle is turned over.

[0010] Furthermore, the movable support is slidably mounted on the mobile base, and the movable support can slide on the mobile base to be opposite to or offset from the recovery slope; when the movable support and the recovery slope are offset from each other, the pushing mechanism can push the mobile base and push the wall-climbing vehicle, which is in an upright position on the movable support, outward through the mobile base.

[0011] Furthermore, the vehicle is a boat hull, capable of carrying a wall-climbing vehicle to move on the water surface.

[0012] The present invention discloses a method for adjusting the attitude of a wall-climbing vehicle of a recyclable wall-climbing vehicle device. The wall-climbing vehicle moves backward and downward on the recovery slope, so that the rear part of the wall-climbing vehicle moves out of the recovery slope and is suspended in the air. Then, the movable support hits the suspended rear part of the wall-climbing vehicle, so that the wall-climbing vehicle flips from an inclined posture to an upright posture after being impacted.

[0013] Beneficial effects: The recyclable wall-climbing vehicle device and the wall-climbing vehicle attitude adjustment method of the present invention have the following beneficial effects: 1) The wall-climbing vehicle can be erected on the movable support, and then the pushing mechanism will push the bottom of the wall-climbing vehicle outward to fit against the wall, so as to release the wall-climbing vehicle onto the wall; by recovering the slope, the wall-climbing vehicle can be easily recovered from the wall onto the vehicle. 2) With the bottom of the recovery slope suspended in the air, the climbing vehicle can reverse down the recovery slope, causing the rear part of the climbing vehicle to be suspended in the air. Then, the movable support hits the suspended rear part of the climbing vehicle, causing the climbing vehicle to flip from an inclined state to an upright state and stand on the movable support, thereby realizing the attitude adjustment of the climbing vehicle, making it convenient to release the climbing vehicle onto the wall next time. Attached Figure Description

[0014] Appendix Figure 1 This is a schematic diagram of the movable support colliding with the suspended part of the climbing vehicle behind it. Detailed Implementation

[0015] The invention will now be further described with reference to the accompanying drawings.

[0016] As attached Figure 1 The recyclable wall-climbing vehicle device and its attitude adjustment method include a wall-climbing vehicle 1 and a carrier 2 for transporting the wall-climbing vehicle 1. The carrier 2 is equipped with a movable support 3, which can move and shift on the carrier 2. The wall-climbing vehicle 1 can stand upright on the movable support 3 with its bottom facing outwards. When the carrier 2 transports the wall-climbing vehicle 1 close to the wall 7, a pushing mechanism 4 pushes the bottom of the wall-climbing vehicle 1 outwards until its body is flush with the wall 7, thereby releasing the wall-climbing vehicle 1 onto the wall 7 where work is required. The wall 7 can be the outer wall of a ship, the outer wall of a riverbank, or other types of walls. The wall-climbing vehicle 1 is equipped with corresponding functional modules to perform corresponding operations on the wall 7.

[0017] In one embodiment, the wall-climbing vehicle 1 has a centrifugal fan system inside its body. The fan impeller is driven to rotate at high speed by an electric motor at the bottom of the vehicle body, causing air to be discharged at high speed. Meanwhile, the air at the bottom of the vehicle body is continuously replenished to the fan system, creating an instantaneous vacuum inside the vehicle body and forming a negative pressure difference with the external atmospheric pressure. Under the action of this pressure difference, the wall-climbing vehicle 1 can be tightly attached to the wall 7, so that the wall-climbing vehicle 1 can climb on the wall 7.

[0018] The vehicle 2 is equipped with a recovery ramp 5, which extends obliquely, with its upper oblique end protruding from the vehicle 2. When the vehicle 2 approaches the wall 7, the recovery ramp 5 can be attached to the wall 7. At this time, the wall-climbing vehicle 1 on the wall 7 can reverse down along the recovery ramp 5, thus returning the wall-climbing vehicle 1 to the vehicle 2. The wall-climbing vehicle 1 is in an inclined position on the recovery ramp 5. It can move down along the recovery ramp 5 and flip from the inclined position to an upright position before transferring back to the movable support 3, thereby adjusting the posture of the wall-climbing vehicle 1 so that it can be released onto the wall 7 where the work needs to be done next time.

[0019] The bottom end of the recovery slope 5 is suspended, meaning that the bottom end of the recovery slope 5 is separated from the platform surface of the carrier 2 by a distance. One embodiment includes, for example, an attached... Figure 1 As shown, a support is connected to one side of the recovery ramp 5, and the support is installed on the carrier 2, so that the bottom end of the recovery ramp 5 can be suspended in the air. When recovering the wall-climbing vehicle 1, the wall-climbing vehicle 1 can move backward down the recovery ramp 5, so that the rear part of the wall-climbing vehicle 1 moves out of the recovery ramp 5 and is suspended in the air. With the rear part of the wall-climbing vehicle 1 suspended in the air, it gradually flips from an inclined posture to an upright posture, thereby realizing the posture adjustment of the wall-climbing vehicle 1.

[0020] The movable support 3 and the recovery slope 5 can be displaced relative to each other, so that the movable support 3 and the recovery slope 5 can be opposite to each other or offset from each other. Alternatively, the recovery slope 5 can be mounted on the carrier 2 via a fixed bracket, and then the movable support 3 can actively move to be opposite to or offset from the recovery slope 5.

[0021] When the movable support 3 is opposite the recovery ramp 5, the movable support 3 can move towards the recovery ramp 5 under the action of the pushing mechanism 4 and collide with the suspended rear part of the climbing vehicle 1. After the suspended rear part of the climbing vehicle 1 is impacted, the climbing vehicle 1 flips from an inclined posture to an upright posture. After the climbing vehicle 1 flips to an upright posture, the movable support 3 moves to below the bottom of the recovery ramp 5, so the climbing vehicle 1 will stand on the collided movable support 3. In this way, the posture of the climbing vehicle 1 is adjusted, and the climbing vehicle 1 is transferred from the recovery ramp 5 to the movable support 3, so that the climbing vehicle 1 can be released again later.

[0022] When the movable support 3 and the recovery slope 5 are misaligned, the recovery slope 5 will not block the wall-climbing vehicle 1 from moving outward. At this time, the pushing mechanism 4 can push the wall-climbing vehicle 1, which is in an upright position on the movable support 3, outward so that the bottom of the wall-climbing vehicle 1 fits against the wall 7 to be worked on, so as to release the wall-climbing vehicle 1 from the carrier 2 onto the wall 7.

[0023] The bottom of the recovery slope 5 is provided with a first electromagnet 6, and the bottom of the climbing vehicle 1 is provided with a first ferromagnetic component. When the first electromagnet 6 is energized, the first electromagnet 6 can attract the first ferromagnetic component. When the first electromagnet 6 is de-energized, the first electromagnet 6 no longer attracts the first ferromagnetic component.

[0024] When the rear section of the climbing vehicle 1 moves out of the recovery ramp 5 and is suspended in the air, the climbing vehicle 1 remains in an inclined position. At this time, the first electromagnet 6 is energized and attracts the first ferromagnetic component. When the movable support 3 hits the suspended rear section of the climbing vehicle 1, the climbing vehicle 1 rotates around the point of attraction between the first electromagnet 6 and the first ferromagnetic component, making the climbing vehicle 1 more stable during the rotation. To prevent the climbing vehicle 1 from rotating after the movable support 3 hits the suspended rear section, it does not rotate but instead moves upwards along the recovery ramp 5. The first electromagnet 6 has an arc-shaped outer contour. The first electromagnet 6 is located at the bottom end of the recovery ramp 5, and the arc-shaped contour surface of the first electromagnet 6 is tangentially connected to the slope surface of the recovery ramp 5. An arc-shaped inner groove is formed on the first ferromagnetic component. The arc-shaped inner groove on the first ferromagnetic component is adapted to the shape of the arc-shaped outer contour of the first electromagnet 6. When the first electromagnet 6 is energized and attracts the first ferromagnetic component, the first electromagnet 6 and the first ferromagnetic component are hinged together, thereby enabling the wall-climbing vehicle 1 to rotate around the point of attraction between the first electromagnet 6 and the first ferromagnetic component as the rotation center.

[0025] A vertical support plate is provided on the movable support 3, and a second electromagnet 9 is provided on the support plate. A second ferromagnet is provided on the roof of the climbing vehicle 1. When the second electromagnet 9 is energized, the second electromagnet 9 attracts the second ferromagnet. When the second electromagnet 9 is de-energized, the second electromagnet 9 no longer attracts the second ferromagnet. When the climbing vehicle 1 is flipped into an upright position and stands on the movable support 3, the second electromagnet 9 is energized and attracts the second ferromagnet, so that the climbing vehicle 1 can stably maintain an upright position on the movable support 3 and keep the bottom of the climbing vehicle 1 facing outward.

[0026] The rear section of the climbing vehicle 1 is provided with a groove, and the movable support 3 is provided with a hook 8. When the movable support 3 moves towards the recovery slope 5, the hook 8 is inserted into the groove to hook the rear section of the climbing vehicle 1, and then hooks the climbing vehicle 1 to flip over. Because the hook 8 is hooked into the groove, when the movable support 3 hits the suspended rear section of the climbing vehicle 1, the climbing vehicle 1 will not move upwards along the recovery slope 5.

[0027] As attached Figure 1 In one embodiment, the carrier 2 is provided with a movable base 10, and a movable support 3 is slidably mounted on the movable base 10. The movable support 3 can slide laterally on the movable base 10, thereby allowing the movable support 3 to be opposite to or offset from the recovery slope 5. When the movable support 3 and the recovery slope 5 are offset from each other, the pushing mechanism 4 can push the movable base 10 to a longitudinal displacement, and push the wall-climbing vehicle 1, which is in an upright position on the movable support 3, outward through the movable base 10. The pushing mechanism 4 includes a first motor that drives a first screw to rotate. The movable base 10 has a screw hole that mates with the first screw. When the first motor drives the first screw to rotate, the movable base 10 moves longitudinally. The movable base 10 is also provided with a second motor that drives a second screw to rotate. The movable support 3 has a screw hole that mates with the second screw. When the second motor drives the second screw to rotate, the movable support 3 moves laterally.

[0028] The vehicle 2 is a boat hull, capable of carrying the wall-climbing vehicle 1 to move on the water surface. The vehicle 2 can adopt a catamaran structure to make it more stable on the water surface. A side thruster is provided on one side of the vehicle 2, and under the lateral thrust of the side thruster, the recovery ramp 5 on the vehicle 2 can be more stably attached to the target wall 7.

[0029] The present invention also provides a method for adjusting the posture of a wall-climbing vehicle. The wall-climbing vehicle 1 on the recovery slope 5 moves backward and downward, so that the rear part of the wall-climbing vehicle 1 moves out of the recovery slope 5 and is suspended in the air. Then, the movable support 3 hits the suspended rear part of the wall-climbing vehicle 1, so that the wall-climbing vehicle 1 flips from an inclined posture to an upright posture after being hit.

[0030] One working method of the present invention is as follows: A carrier 2 carries a wall-climbing vehicle 1 across the water surface to transport the wall-climbing vehicle 1 to the ship's wall 7 where work is to be performed. Initially, the wall-climbing vehicle 1 stands upright on a movable support 3 with its bottom facing outwards. After the carrier 2 approaches the wall 7, a pushing device pushes the movable support 3 outwards, causing the bottom of the wall-climbing vehicle 1 to connect with the wall 7. The centrifugal fan system inside the wall-climbing vehicle 1 is activated, allowing the wall-climbing vehicle 1 to adhere to the wall 7 and climb along it. After the wall-climbing vehicle 1 completes its work, a recovery ramp 5 on the carrier 2 is attached to the wall 7. Then, the wall-climbing vehicle 1 reverses down the recovery ramp 5, transferring itself from the wall 7 to the recovery ramp 5. The wall-climbing vehicle 1 continues to reverse down the recovery ramp 5 until its rear portion moves out of the recovery ramp 5, leaving the rear portion suspended in the air. Then, the first electromagnetic... When the first electromagnet 6 is energized, it attracts the first ferromagnetic component at the bottom of the climbing vehicle 1, and then shuts down the centrifugal fan system inside the climbing vehicle 1. Subsequently, the movable support 3 moves laterally on the movable base 10 to face the recovery slope 5. Then, the pushing mechanism 4 pushes the movable base 10 longitudinally, causing the movable support 3 to collide with the suspended rear part of the climbing vehicle 1. The hook 8 hooks the groove on the climbing vehicle 1, causing the climbing vehicle 1 to flip from an inclined posture to an upright posture and stand on the movable support 3. Then, the second electromagnet 9 is energized, attracting the second ferromagnetic component on the top of the climbing vehicle 1, so that the climbing vehicle 1 can maintain an upright posture on the movable support 3. Then, the first electromagnet 6 is de-energized, and the movable support 3 moves laterally on the movable base 10 to be offset from the recovery slope 5. At this time, the climbing vehicle 1 is in a standby state and can be pushed out of the movable support 3 at any time by the pushing mechanism 4, making it convenient for the climbing vehicle 1 to carry out the next climbing operation.

[0031] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A recyclable wall-climbing vehicle device, characterized in that: The system includes a wall-climbing vehicle (1) and a vehicle (2) for transporting the wall-climbing vehicle (1). The vehicle (2) is equipped with a movable support (3). The wall-climbing vehicle (1) can stand upright on the movable support (3) with the bottom of the wall-climbing vehicle (1) facing outward. The pushing mechanism (4) then pushes the bottom of the wall-climbing vehicle (1) outward to fit against the wall (7). The vehicle (2) is equipped with a recovery ramp (5). When the recovery ramp (5) is attached to the wall (7), the wall-climbing vehicle (1) on the wall (7) can return to the vehicle (2) along the recovery ramp (5) and flip from an inclined posture to an upright posture along the recovery ramp (5) before being transferred back to the movable support (3). The bottom end of the recovery slope (5) is suspended; the climbing vehicle (1) can reverse down along the recovery slope (5) so that the rear part of the climbing vehicle (1) moves out of the recovery slope (5) and is suspended. Then, the climbing vehicle (1) gradually flips from an inclined posture to an upright posture while the rear part is suspended. The movable support (3) and the recovery slope (5) can be displaced relative to each other so that the movable support (3) and the recovery slope (5) can be opposite to each other or staggered. When the movable support (3) is opposite to the recovery slope (5), the movable support (3) can move toward the recovery slope (5) and collide with the rear suspended part of the climbing vehicle (1); after being hit, the climbing vehicle (1) flips from an inclined posture to an upright posture and stands on the movable support (3). When the movable support (3) and the recovery slope (5) are misaligned, the pushing mechanism (4) can push the wall-climbing vehicle (1) which is in a vertical position on the movable support (3) outward; The bottom end of the recovery slope (5) is provided with a first electromagnet (6), and the bottom of the climbing vehicle (1) is provided with a first ferromagnetic component; when the rear part of the climbing vehicle (1) moves out of the recovery slope (5) and is suspended in the air, the first electromagnet (6) is energized and attracts the first ferromagnetic component. When the movable support (3) hits the suspended part of the rear of the wall-climbing vehicle (1), the wall-climbing vehicle (1) flips over with the attraction point between the first electromagnet (6) and the first ferromagnetic component as the rotation center. The first electromagnet (6) has an arc-shaped outer contour, and an arc-shaped inner groove is formed on the first ferromagnetic part; when the first electromagnet (6) is energized and attracts the first ferromagnetic part, the first electromagnet (6) and the first ferromagnetic part are hinged together. The movable support (3) is provided with a backing plate, and a second electromagnet (9) is provided on the backing plate; a second ferromagnet is provided on the roof of the wall-climbing vehicle (1); when the wall-climbing vehicle (1) is flipped into an upright posture and stands on the movable support (3), the second electromagnet (9) is energized and attracts the second ferromagnet, so that the wall-climbing vehicle (1) can maintain an upright posture on the movable support (3).

2. The recyclable wall-climbing vehicle device according to claim 1, characterized in that: The rear part of the climbing vehicle (1) is provided with a groove, and the movable support (3) is provided with a hook (8); when the movable support (3) moves toward the recovery slope (5), the hook (8) is inserted into the groove to hook the rear part of the climbing vehicle (1), and then hooks the climbing vehicle (1) to flip.

3. The recyclable wall-climbing vehicle device according to claim 1, characterized in that: The movable support (3) is slidably mounted on the movable base (10). The movable support (3) can slide on the movable base (10) to be opposite to or offset from the recovery slope (5). When the movable support (3) and the recovery slope (5) are offset from each other, the pushing mechanism (4) can push the movable base (10) and push the wall-climbing vehicle (1) in a vertical position on the movable support (3) outward through the movable base (10).

4. A recyclable wall-climbing vehicle device according to any one of claims 1 to 3, characterized in that: The vehicle (2) is a boat hull, and the vehicle (2) can carry the wall-climbing vehicle (1) to move on the water surface.

Images