Flying wall-climbing robot

Abstract

The invention provides a flying wall-climbing robot which is used for being adsorbed on the surface of a wall to move and comprises a shell, a near-wall effect plate, a fan blade assembly and a moving assembly. The near-wall effect plate is connected to the shell and arranged on the side face, close to the wall surface, of the shell, and a plurality of duct holes are formed in the circumferential direction of the near-wall effect plate; the fan blade assemblies are arranged in the duct holes and used for generating high-speed airflow between the surface of the wall and the near-wall effect board. The moving assembly is connected to the shell and used for driving the shell to move. The flying wall-climbing robot provided by the invention can realize stable adsorption on the surface of a wall body, and is high in adaptive capacity to terrains and high in obstacle crossing capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of flying robots, and more specifically, to a flying wall-climbing robot. Background Art

[0002] Driven by the continuous development of industries such as aerospace, building maintenance, and petrochemical testing, the demand for flying wall-climbing robots is increasing day by day in order to meet the needs of petrochemical, construction, firefighting and other fields for detection, maintenance, cleaning and rescue in high or complex environments. At present, flying wall-climbing robots use negative pressure chambers to achieve wall climbing, but the obstacle-crossing ability of negative pressure adsorption wall-climbing robots is very weak. They can only crawl on continuous planes. When encountering uneven obstacles, the negative pressure will be reduced and unstable, making it difficult to move flexibly over a large range. In addition, the use of negative pressure chambers for adsorption has a great impact on the weight of the robot, making it difficult to achieve lightweight. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The technical problem to be solved by the present invention is that the adsorption effect of the existing flying wall-climbing robot on the wall surface is relatively poor.

[0005] (II) Technical solution

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] The present invention provides a flying wall-climbing robot, which is used for being adsorbed on the surface of a wall for movement, and comprises a shell, a near-wall effect plate, a fan blade assembly and a moving assembly; the near-wall effect plate is connected to the shell and is arranged on the side of the shell close to the wall surface, and a plurality of duct holes are opened in the circumference of the near-wall effect plate; the fan blade assembly is arranged in the duct hole, and is used for generating a high-speed airflow between the wall surface and the near-wall effect plate; the moving assembly is connected to the shell, and is used for driving the shell to move.

[0008] Preferably, the near-wall effect plate is provided with an airflow channel hole, and the airflow channel hole is arranged at a central position, and the central position is the geometric center of a geometric figure formed by a line connecting the centers of circles of a plurality of duct holes.

[0009] Preferably, the fan blade assembly includes a flying fan blade, a fan blade bracket and a fan blade motor, the fan blade bracket is connected to the inner wall of the duct hole, the fan blade motor is arranged on the fan blade bracket, and the output end of the fan blade motor is connected to the flying fan blade.

[0010] Preferably, the fan blade assembly further comprises a support column, wherein the support column is arranged at a circular portion of the duct hole, and the support column is fixedly connected to the fan blade bracket.

[0011] Preferably, the moving assembly includes a driving motor, a driving wheel, a driven wheel and a crawler belt, the driving motor is connected to the housing, the output end of the driving motor is connected to the driving wheel, and the crawler belt transmission connects the driving wheel and the driven wheel.

[0012] Preferably, the moving assembly further comprises a connecting rod and a telescopic spring, wherein the connecting rod is connected to the driven wheel, one end of the telescopic spring is connected to the connecting rod, and the other end of the telescopic spring is connected to the housing.

[0013] Preferably, the moving assembly further comprises an adjusting bracket, the adjusting bracket is connected to the shell, the adjusting bracket is provided with an adjusting slot perpendicular to the plane where the near-wall effect plate is located, and the connecting rod is passed through the adjusting slot.

[0014] Preferably, the near-wall effect plate comprises a circular expansion area and a curved transition area, the circular expansion area is provided with the duct hole, and the geometric center of the circular expansion area coincides with the center of the duct hole, and the curved transition area connects two adjacent circular expansion areas.

[0015] Preferably, it further comprises a power supply, which is connected to the shell and is electrically connected to the fan blade assembly and the moving assembly respectively.

[0016] Preferably, an accommodating cavity is provided between the shell and the near-wall effect plate, and the power supply is provided in the accommodating cavity.

[0017] (III) Beneficial effects

[0018] The above technical solution of the present invention has at least the following advantages:

[0019] 1. In the present invention, since a near-wall effect plate is provided, a duct hole is provided on the near-wall effect plate, and a fan blade assembly is provided in the duct hole, the high-speed airflow generated by the high-speed operation of the fan blade assembly flows between the near-wall effect plate and the wall surface, and then a negative pressure area is generated between the near-wall effect plate and the wall surface, thereby forming a pressure difference on both sides of the near-wall effect plate, and under the action of the pressure difference, the stable adsorption of the flying wall-climbing robot is achieved. In addition, with the thrust generated by the fan blade assembly, the wall-climbing robot can move stably close to the wall surface, thereby enhancing its stability and safety during wall climbing operations.

[0020] 2. In the present invention, an airflow channel hole is opened at the center of the near-wall effect plate, and the high-speed airflow generated by the flying blades flows from the duct hole to the adsorption space between the near-wall effect plate and the wall surface, and then flows from the adsorption space to the airflow channel hole, forming a continuously circulating airflow movement path, thereby being able to achieve a negative pressure environment in the middle area of ​​the near-wall effect plate, achieving stable adsorption at the middle position of the near-wall effect plate, and improving the adsorption effect of the entire flying wall-climbing robot. At the same time, hollowing out the middle position of the near-wall effect plate to form an airflow channel hole helps to reduce the weight of the entire flying wall-climbing robot, realize the lightweight design of the robot, and at the same time, the weight reduction also helps to enhance the adsorption effect.

[0021] 3. In the present invention, the moving component is connected to the shell through a telescopic spring, so that the moving component can be automatically adjusted up and down in the height direction. When the robot faces various irregular walls, it can better adapt to the ups and downs of the wall through the up and down adjustment function of the telescopic spring, thereby ensuring that the robot can pass more steadily and smoothly, greatly improving its stability and safety during wall climbing and land walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the structure of a flying wall-climbing robot provided in an embodiment of the present invention.

[0024] Figure 2 It is a schematic diagram of the internal structure of the flying wall-climbing robot provided in an embodiment of the present invention.

[0025] Figure 3 It is a schematic diagram of the structure of a mobile component provided by an embodiment of the present invention.

[0026] Figure 4 It is a schematic diagram of the structure of the fan blade assembly provided by an embodiment of the present invention.

[0027] The reference numerals in the figures are:

[0028] 1. Shell; 2. Near-wall effect plate; 3. Blade assembly; 4. Moving assembly; 5. Power supply; 11. Accommodating chamber; 21. Duct hole; 22. Air flow channel hole; 23. Circular expansion area; 24. Curved transition area; 31. Flying blade; 32. Blade bracket; 33. Blade motor; 34. Pillar; 41. Driving motor; 42. Driving wheel; 43. Driven wheel; 44. Track; 45. Connecting rod; 46. Telescopic spring; 47. Adjustment bracket; 471. Adjustment slot. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0031] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention, and do not indicate that a device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating relative importance or indicating the number of technical features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The specific implementation of the present invention is described in more detail below in conjunction with specific embodiments:

[0033] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, an embodiment of the present invention provides a flying wall-climbing robot for adsorbing on the wall surface for movement, comprising a shell 1, a near-wall effect plate 2, a fan blade assembly 3 and a moving assembly 4; the near-wall effect plate 2 is connected to the shell 1 and arranged on the side of the shell 1 close to the wall surface, and a plurality of duct holes 21 are opened in the circumference of the near-wall effect plate 2; the fan blade assembly 3 is arranged in the duct hole 21, and is used to generate a high-speed airflow between the wall surface and the near-wall effect plate 2; the moving assembly 4 is connected to the shell 1, and is used to drive the shell 1 to move. Specifically, the setting of the duct hole 21 makes the airflow generated by the fan blade assembly 3 must flow in the duct hole 21. Since the airflow at the tip of the fan blade of the fan blade assembly 3 is restricted by the inner wall of the duct hole 21, the noise of the airflow impact at the tip is reduced, and the induced resistance is reduced, thereby improving its power conversion efficiency. Under the same power consumption, the fan blade assembly 3 arranged in the duct hole 21 will generate greater thrust than an isolated propeller of the same diameter. At the same time, due to the enclosing effect of the duct hole 21, its structure is compact, the aerodynamic noise is low, and the use safety is good. Therefore, when climbing the wall, the operation of the fan blade assembly 3 can also generate thrust to help the robot crawl on the wall more stably. At the same time, through the high-speed operation of the fan blade assembly 3, when the air inlet of the fan blade assembly 3 is close to the wall, a high-speed airflow will be formed near the wall, and the near-wall effect plate 2 will be used. At this time, the pressure in the area between the near-wall effect plate 2 and the wall surface is reduced, thereby forming an adsorption effect, and cooperating with the thrust of the fan blade assembly 3 itself, the flying wall-climbing robot can operate stably and safely.

[0034] As a preferred implementation of this embodiment, the near-wall effect plate 2 is provided with an airflow channel hole 22, and the airflow channel hole 22 is arranged at the center position, and the center position is the geometric center of the geometric figure formed by the center line of multiple duct holes 21. Specifically, an airflow channel hole 22 is provided at the center position of the near-wall effect plate 2, which can ensure that the airflow generated by the fan blade assembly 3 in the duct hole 21 can be stably and evenly diffused in a circular form in the center of the duct hole 21, which helps the airflow to transition more smoothly and improve the adsorption efficiency. If it is set as a conventional quadrilateral, the near-wall adsorption effect can only be reflected at the four sides of the quadrilateral. The design of this model can improve the adsorption efficiency and the stability of adsorption, that is, it can more effectively control the airflow direction and velocity distribution generated by the fan blade assembly 3. This helps to ensure that the airflow forms a stable low-pressure area between the near-wall effect plate 2 and the wall surface, thereby enhancing the adsorption effect.

[0035] As a preferred implementation mode of this embodiment, the fan blade assembly 3 includes a flying fan blade 31, a fan blade bracket 32 ​​and a fan blade motor 33. The fan blade bracket 32 ​​is connected to the inner wall of the duct hole 21, the fan blade motor 33 is arranged on the fan blade bracket 32, and the output end of the fan blade motor 33 is connected to the flying fan blade 31.

[0036] As a preferred implementation of this embodiment, the fan blade assembly 3 further includes a support column 34 . The support column 34 is disposed at a circular portion of the duct hole 21 , and the support column 34 is fixedly connected to the fan blade bracket 32 ​​.

[0037] As a preferred implementation mode of this embodiment, the moving component 4 includes a driving motor 41, a driving wheel 42, a driven wheel 43 and a track 44. The driving motor 41 is connected to the shell 1, the output end of the driving motor 41 is connected to the driving wheel 42, and the track 44 transmission connects the driving wheel 42 and the driven wheel 43.

[0038] As a preferred implementation of this embodiment, the moving component 4 also includes a connecting rod 45 and a telescopic spring 46, the connecting rod 45 is connected to the driven wheel 43, one end of the telescopic spring 46 is connected to the connecting rod 45, and the other end of the telescopic spring 46 is connected to the shell 1.

[0039] As a preferred implementation of this embodiment, the moving component 4 also includes an adjustment bracket 47, the adjustment bracket 47 is connected to the shell 1, the adjustment bracket 47 is provided with an adjustment slot 471 perpendicular to the plane where the near-wall effect plate 2 is located, and the connecting rod 45 is inserted into the adjustment slot 471. Specifically, by providing the adjustment slot 471 on the adjustment bracket 47, the driving wheel 42, the driven wheel 43 and the track 44 as a whole can be adjusted up and down within a certain range on the shell 1, and the telescopic spring 46 can help the flying wall-climbing robot to better cope with the rugged wall surface when performing wall-climbing movement, and has a certain shock-absorbing function, thereby improving the wall-climbing operation stability and safety of the flying wall-climbing robot. At the same time, the up and down adjustment function of the moving component 4 can help the flying wall-climbing robot to better complete the walking condition, and this design can help the flying wall-climbing robot to more smoothly complete the transition from wall-to-ground walking.

[0040] As a preferred implementation of this embodiment, the near-wall effect plate 2 includes a circular expansion area 23 and a curved transition area 24. The circular expansion area 23 is provided with a duct hole 21, and the geometric center of the circular expansion area 23 coincides with the center of the duct hole 21. The curved transition area 24 connects two adjacent circular expansion areas 23. The near-wall effect plate 2 is designed to be a specific shape (i.e., the circular expansion area 23) extending along four circular duct holes. This design helps to guide the airflow generated by the fan blade assembly 3 in the duct hole 21 to flow along the wall surface of the near-wall effect plate 2, thereby reducing the generation of turbulence and vortices.

[0041] As a preferred implementation of this embodiment, a power supply 5 is further included, the power supply 5 is connected to the housing 1, and the power supply 5 is respectively electrically connected to the fan blade assembly 3 and the moving assembly 4. Specifically, the power supply 5 is preferably a removable rechargeable power supply, which can supply power to the moving assembly 4 and the fan blade assembly 3 during the operation of the flying wall-climbing robot, thereby improving the endurance performance of the flying wall-climbing robot.

[0042] As a preferred implementation of this embodiment, a receiving cavity 11 is provided between the housing 1 and the near-wall effect plate 2, and the power supply 5 is provided in the receiving cavity 11. The power supply is accommodated in the receiving cavity 11, so that the power supply 5 can be protected, and external force is prevented from directly acting on the power supply 5 to cause impact on the power supply, thereby improving safety performance.

[0043] Specifically, please combine Figures 1 to 4 The specific working principle of the embodiment shown is as follows:

[0044] First, the fan blade assembly 2 is started, and the fan blade motor 33 drives the flying fan blade 31 to rotate at a high speed. The flying fan blade 31 rotates at a high speed to drive the flying wall-climbing robot to fly upward, and the flying wall-climbing robot is remotely controlled to move to the command position on the wall surface, so that the side where the near-wall effect plate 2 is located is close to the wall surface. The high-speed rotation of the flying fan blade 31 generates a high-speed airflow. Due to the restriction of the near-wall effect plate 2 on the airflow, the high-speed airflow exists between the near-wall effect plate 2 and the wall surface, and then a high-speed flowing airflow is generated between the wall surface and the near-wall effect plate 2. According to the Bernoulli principle, the air pressure on the side where the high-speed flowing airflow is located is low, and then a pressure difference is generated on both sides of the near-wall effect plate. Under the action of the pressure difference, it can be ensured that the flying wall-climbing robot can be stably adsorbed on the wall surface. In addition, an airflow channel hole is provided at the center of the near-wall effect plate 2, and the high-speed airflow generated by the flying fan blade flows from the duct hole to the adsorption space between the near-wall effect plate 2 and the wall surface, and then flows from the adsorption space to the airflow channel hole, forming a continuously circulating airflow movement path, thereby being able to achieve a negative pressure environment in the middle area of ​​the near-wall effect plate, achieving stable adsorption at the middle position of the near-wall effect plate, and improving the adsorption effect of the entire flying wall-climbing robot. At the same time, hollowing out the middle position of the near-wall effect plate to form an airflow channel hole is helpful to reduce the weight of the entire flying wall-climbing robot, realizing the lightweight design of the robot, and the weight reduction is also helpful to enhance the adsorption effect. Then start the moving component 4, the moving component 4 drives the flying wall-climbing robot to move on the wall surface. During the movement, if an uneven wall surface is encountered, under the action of the telescopic spring 46, the two sides of the moving component 4 will automatically adjust according to the height of the wall surface to ensure that the flying wall-climbing robot can be stably adsorbed, and the telescopic spring 4 can also provide a shock-absorbing effect during the movement, improving the stability of the movement of the flying wall-climbing robot. In addition, the telescopic adjustment of the telescopic spring 46 in the height direction helps to ensure that the near-wall effect plate 2 and the wall surface can always maintain a close distance during the movement, so that the near-wall effect plate can fit the wall as closely as possible, thereby ensuring the adsorption effect of the flying wall-climbing robot.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flying wall-climbing robot, characterized in that: Used to be attached to the wall surface for movement, including: case; A near-wall effect plate, connected to the shell and disposed on a side of the shell close to the wall surface, wherein a plurality of duct holes are opened in a circumferential direction of the near-wall effect plate; A fan blade assembly is arranged in the duct hole and is used to generate a high-speed airflow between the wall surface and the near-wall effect plate; The moving component is connected to the shell and is used to drive the shell to move.

2. The flying wall-climbing robot according to claim 1, characterized in that: The near-wall effect plate is provided with an airflow channel hole, and the airflow channel hole is arranged at a central position, and the central position is the geometric center of a geometric figure formed by a line connecting the centers of a plurality of duct holes.

3. The flying wall-climbing robot according to claim 1, characterized in that: The fan blade assembly includes a flying fan blade, a fan blade bracket and a fan blade motor. The fan blade bracket is connected to the inner wall of the duct hole, the fan blade motor is arranged on the fan blade bracket, and the output end of the fan blade motor is connected to the flying fan blade.

4. The flying wall-climbing robot according to claim 3, characterized in that: The fan blade assembly also includes a support column, which is arranged at a circular portion of the duct hole and is fixedly connected to the fan blade bracket.

5. The flying wall-climbing robot according to claim 1, characterized in that: The moving assembly includes a driving motor, a driving wheel, a driven wheel and a crawler belt. The driving motor is connected to the housing, the output end of the driving motor is connected to the driving wheel, and the crawler belt transmission connects the driving wheel and the driven wheel.

6. The flying wall-climbing robot according to claim 5, characterized in that: The moving assembly further comprises a connecting rod and a telescopic spring, wherein the connecting rod is connected to the driven wheel, one end of the telescopic spring is connected to the connecting rod, and the other end of the telescopic spring is connected to the housing.

7. The flying wall-climbing robot according to claim 6, characterized in that: The moving assembly further comprises an adjusting bracket, the adjusting bracket is connected to the shell, the adjusting bracket is provided with an adjusting slot perpendicular to the plane where the near-wall effect plate is located, and the connecting rod is passed through the adjusting slot.

8. The flying wall-climbing robot according to claim 1, characterized in that: The near-wall effect plate includes a circular expansion area and a curved transition area. The circular expansion area is provided with the duct hole, and the geometric center of the circular expansion area coincides with the center of the duct hole. The curved transition area connects two adjacent circular expansion areas.

9. The flying wall-climbing robot according to claim 1, characterized in that: It also includes a power supply, which is connected to the shell and is electrically connected to the fan blade assembly and the moving assembly respectively.

10. The flying wall-climbing robot according to claim 9, characterized in that: An accommodating cavity is provided between the shell and the near-wall effect plate, and the power supply is arranged in the accommodating cavity.

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