A floating, wall-adhesive negative pressure suction wall-climbing robot

Abstract

This application discloses a floating, wall-adhering, negative pressure adsorption wall-climbing robot, relating to a robot. The floating, wall-adhering, negative pressure adsorption wall-climbing robot of this application includes a connecting base, an adsorption mechanism, an elastic element, and a wheel assembly. The adsorption mechanism includes an adhering plate and an air suction component. The air suction component is rotatably connected to the connecting base about a first rotation axis. The connecting base has an adhering plate on one side along a first direction. The adhering plate and the air suction component are connected, and the adhering plate and the air suction component together define a negative pressure adsorption channel. The surface of the adhering plate facing away from the connecting base has a partially cylindrical abutment surface, which is used to adhere to the surface of a cylinder. The adhering plate is a plate capable of bending deformation. The air suction component is used to remove at least a portion of the air from the negative pressure adsorption channel. By utilizing the cylindrical abutment surface and the ability of the adhering plate to bend and deform, the adhering plate can adapt to changes in the unevenness of the cylinder's surface, thereby improving the reliability of the negative pressure adsorption.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a floating, wall-adhering negative pressure adsorption wall-climbing robot. Background Technology

[0002] In modern construction and maintenance, the safety and structural integrity of bridges are of paramount importance. However, bridge inspection and maintenance often involve working at heights and in complex environments, posing significant safety risks and operational difficulties for workers. To improve efficiency and reduce manual labor, wall-climbing robots have emerged. These robots can move autonomously or semi-autonomously on vertical or inclined bridge surfaces to complete various inspection and maintenance tasks.

[0003] In existing technologies, the adsorption devices for wall-climbing robots mainly include electrostatic adsorption, magnetic adsorption, negative pressure adsorption, and biomimetic adsorption. Electrostatic adsorption devices achieve adsorption by generating electrostatic force. They can adsorb onto various surfaces and adapt to a certain degree of surface roughness, but are also very sensitive to environmental conditions, especially dust and humidity, which significantly reduce their adsorption effect. Magnetic adsorption devices utilize magnetic force to adsorb onto ferromagnetic materials. This technology can provide stable and rapid-response adsorption force, but its application is limited because it can only be used on ferromagnetic surfaces. Biomimetic adsorption devices mimic the adsorption methods of organisms in nature (such as geckos or octopuses), employing special materials and structural designs to significantly increase the adsorption contact area and provide strong adsorption force. However, biomimetic adsorption devices are generally difficult to adapt to smooth surfaces, and their manufacturing process is complex and costly. Compared to the limitations of other adsorption solutions, negative pressure adsorption devices, which generate negative pressure within a sealed space to adhere robots to surfaces, are more suitable as adsorption devices for wall-climbing robots that need to operate in environments with high dust, noise, strong vibration, and harsh natural conditions, such as bridge inspection and maintenance.

[0004] The drawback of existing wall-climbing robots is that they can only adhere relatively effectively to smooth surfaces and require a high degree of surface flatness. For bridge piers with cylindrical curved surfaces, existing wall-climbing robots cannot provide sufficient adhesion. Summary of the Invention

[0005] In view of the above problems, this application provides a floating, wall-adhering negative pressure adsorption climbing robot, which can improve the problem of insufficient adsorption force of existing negative pressure adsorption climbing robots on cylindrical curved surfaces.

[0006] This application provides a floating, wall-adhering negative pressure adsorption wall-climbing robot for crawling on the surface of a cylinder. The negative pressure adsorption wall-climbing robot includes a connecting base, an adsorption mechanism, an elastic element, and a walking wheel assembly. The adsorption mechanism includes an adhering plate and a suction component. The suction component is rotatably connected to the connecting base about a first rotation axis. The connecting base has an adhering plate on one side along a first direction. The adhering plate and the suction component are connected, and the adhering plate and the suction component together define a negative pressure adsorption channel. The surface of the adhering plate facing away from the connecting base has a partially cylindrical abutment surface, which is used to adhere to the surface of the cylinder. The adhering plate is a plate that can undergo bending deformation. The suction component is used to remove at least part of the air in the negative pressure adsorption channel so that the wall-mounted plate is adsorbed onto the surface of the cylinder. The connecting seat is provided with a traveling wheel assembly on both sides along the second direction. The traveling wheel assembly is slidably connected to the connecting seat along the first direction. The traveling wheel assembly has a first elastic force part. An elastic element is disposed between the first elastic force part and the connecting seat. The elastic force of the elastic element has a tendency to move the traveling wheel assembly toward the surface of the cylinder along the first direction. The extension direction of the first rotation axis is the same as the first direction. The first direction and the second direction are perpendicular. The axis of the cylinder's contact surface is perpendicular to the first direction and the second direction, respectively.

[0007] The wall-mounted plate has a cylindrical contact surface, which can be applied to the surface of a cylinder to reduce the gap between the wall-mounted plate and the cylinder surface during wall climbing. At the same time, the wall-mounted plate is a flexible plate that can bend and deform during adsorption, allowing it to move and bend, so that it can adhere more tightly to the surface of the cylinder. Especially when the surface of the cylinder is uneven (rough bridge pier surface), the bending deformation of the wall-mounted plate under negative pressure can adapt to the surface changes of the cylinder, reducing the amount of air entering between the wall-mounted plate and the cylinder, thereby generating a stronger adsorption force and enabling the wall-mounted plate to adhere more stably to the surface of the cylinder. This improves the reliability of the negative pressure adsorption wall-climbing robot climbing on the surface of a rough cylinder.

[0008] In some embodiments of this application, the elastic element is a compression spring. The first elastic force action part is located on the side of the connecting seat away from the wall plate. The connecting seat has a second elastic force action part. The second elastic force action part and the first elastic force action part are spaced apart along a first direction. The second elastic force action part is located on the side of the first elastic force action part away from the wall plate along the first direction. One end of the elastic element abuts against the first elastic force action part, and the other end of the elastic element abuts against the second elastic force action part.

[0009] In some embodiments of this application, the walking wheel assembly includes a walking wheel, a first motor, and a support. The support is slidably connected to a connecting seat along a first direction. The first motor is disposed on the support, and the motor shaft of the first motor is drivenly connected to the walking wheel. The support has a first elastic force part, and the axes of the walking wheels of different walking wheel assemblies are parallel to each other.

[0010] In some embodiments of this application, the walking wheel includes a wheel body and a buffer portion. The buffer portion is located on the outer peripheral surface of the wheel body and is arranged around the axis of the wheel body. The buffer portion is connected to the wheel body and is arranged around the outer peripheral surface of the wheel body. The interior of the buffer portion has a first cavity surrounding the wheel body and a plurality of second cavities extending along the axis of the wheel body. The plurality of second cavities are spaced apart and evenly arranged along the circumference of the wheel body, and the plurality of second cavities communicate with the first cavity to form a buffer cavity.

[0011] In some embodiments of this application, the suction component further includes a turntable, which is rotatably connected to the connecting seat. The bottom of the turntable is provided with a suction port, and a wall plate is arranged around the suction port. The robot also includes a seal, which is disposed between the wall plate and the turntable and is arranged around the suction port. The seal is used to seal the gap between the connecting seat and the wall plate. The seal, the wall plate, and the suction port together define a partial negative pressure suction channel.

[0012] In some embodiments of this application, the negative pressure adsorption wall-climbing robot further includes a support rod, an adjusting nut, and a connecting rod. One end of the support rod is connected to the wall-mounted plate, and the other end of the support rod is connected to the turntable. The axis of the support rod is perpendicular to the axis of the cylindrical contact surface, and the extension direction of the axis of the support rod is the same as the first direction. Along the plane direction perpendicular to the axis of the support rod and the axis of the cylindrical contact surface, two connecting rods are respectively provided on both sides of the support rod. The four connecting rods are arranged in a rectangular array on the side of the wall-mounted plate facing the turntable. One end of the connecting rod is connected to the wall-mounted plate. The turntable has a connecting hole, and the other end of the connecting rod passes through the connecting hole. Adjusting nuts are respectively provided on both sides of the turntable along the first direction, and the adjusting nuts are threadedly connected to the connecting rods.

[0013] In some embodiments of this application, the seal is an airbag surrounding the air intake, and the airbag is in a compressed state.

[0014] In some embodiments of this application, the suction component further includes a fan, and the negative pressure adsorption wall-climbing robot further includes a controller and a pressure sensor. The pressure sensor is located on the wall-adhering plate and is used to detect the pressure between the wall-adhering plate and the cylindrical surface. The fan is located on the side of the connecting seat away from the wall-adhering plate, and the air inlet of the fan is connected to the air intake. The pressure sensor and the fan are respectively connected to the controller. The controller is used to increase the fan speed if the pressure does not reach the preset pressure, and to control the fan to maintain the current speed if the pressure reaches the preset pressure.

[0015] In some embodiments of this application, the four edges of the wall panel are connected to the mating surface by a rounded surface; or, the four edges of the wall panel are chamfered to the mating surface.

[0016] And / or, along the axial direction of the cylindrical contact surface, at least one side of the connecting seat is provided with a cleaning component, which is used to clean dust from the surface of the cylinder.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0019] Figure 1 This is a first-view axonometric view of a negative pressure adsorption wall-climbing robot according to an embodiment of this application;

[0020] Figure 2 This is a second-view axonometric view of a negative pressure adsorption wall-climbing robot according to an embodiment of this application;

[0021] Figure 3 This is a structural diagram of the connection between the walking wheels and the buffer component in a negative pressure adsorption wall-climbing robot according to an embodiment of this application;

[0022] Figure 4 for Figure 3 AA section view;

[0023] Figure 5 for Figure 4 BB cross-sectional view;

[0024] Figure 6 This is a structural block diagram showing the connection between the controller, fan, and pressure sensor in a negative pressure adsorption wall-climbing robot according to an embodiment of this application.

[0025] The reference numerals in the detailed embodiments are as follows:

[0026] 10. Connecting seat; 11. Second elastic force acting part;

[0027] 20. Adsorption mechanism; 21. Wall panel; 211. Cylindrical contact surface; 22. Suction component; 221. Turntable; 222. Fan;

[0028] 30. Elastic components;

[0029] 40. Walking wheel assembly; 41. Walking wheel; 411. Wheel body; 412. Buffer part; 4121. Buffer cavity; 41211. First cavity; 41212. Second cavity; 42. Mounting base; 421. First elastic action part; 421. Limiting part; 43. Walking drive motor;

[0030] 60. Sealing element; 70. Support rod; 80. Adjusting nut; 90. Connecting rod; 100. Controller; 110. Pressure sensor; 120. Negative pressure adsorption channel;

[0031] X, the first direction; Y, the second direction. Detailed Implementation

[0032] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0034] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0035] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0036] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0037] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0038] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0039] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0040] This application provides a negative pressure adsorption wall-climbing robot, such as Figures 1-6 As shown, a negative pressure adsorption wall-climbing robot for crawling on the surface of a cylinder includes a connecting seat 10, an adsorption mechanism 20, an elastic element 30, and a walking wheel assembly 40. The adsorption mechanism 20 includes a wall-adhering plate 21 and an air-suction component 22. The air-suction component 22 is rotatably connected to the connecting seat 10 about a first rotation axis. The connecting seat 10 has a wall-adhering plate 21 on one side along the first direction X. The wall-adhering plate 21 and the air-suction component 22 are connected, and the wall-adhering plate 21 and the air-suction component 22 together define a negative pressure adsorption channel 120. The surface of the wall-adhering plate 21 facing away from the connecting seat 10 has a partially cylindrical abutment surface 211, which is used to adhere to the surface of the cylinder. The wall-adhering plate 21 is a plate that can be bent and deformed. The air-suction component 22 is used for... At least a portion of the air in the negative pressure adsorption channel 120 is removed so that the wall-mounted plate 21 is adsorbed onto the surface of the cylinder. The connecting seat 10 is provided with a walking wheel assembly 40 on both sides along the second direction Y. The walking wheel assembly 40 is slidably connected to the connecting seat 10 along the first direction X. The walking wheel assembly 40 has a first elastic force part 421. An elastic member 30 is disposed between the first elastic force part 421 and the connecting seat 10. The elastic force of the elastic member 30 has a tendency to move the walking wheel assembly 40 toward the surface of the cylinder along the first direction X. The extension direction of the first rotation axis is the same as the first direction X. The first direction X and the second direction Y are perpendicular. The axis of the cylindrical contact surface 211 is perpendicular to the first direction X and the second direction Y, respectively.

[0041] The elastic element 30 can be either a tension spring or a compression spring.

[0042] The wall panel 21 can be made of a material with good elasticity and wear resistance to improve its adhesion to the cylindrical surface and extend its service life. Examples include nylon panels, polytetrafluoroethylene panels, polyurethane panels, or PVC panels.

[0043] The connection between the wall panel 21 and the connecting seat 10 includes, but is not limited to, screw connection, threaded connection or snap-fit ​​connection.

[0044] By rotating the suction component 22 around the first rotation axis and connecting the connecting seat 10, when the walking wheel assembly 40 turns, while maintaining the adhesion plate 21 to the cylinder, the suction mechanism 20 and the connecting seat 10 can rotate relative to each other to achieve the turning action, so as to meet the walking of the negative pressure suction wall climbing robot in different directions and improve the flexibility of the negative pressure suction wall climbing robot.

[0045] When the negative pressure adsorption wall-climbing robot turns, the walking wheel assemblies 40 on both sides of the connecting seat 10 rotate in opposite directions along the second direction Y. This causes the torque around the first rotation axis to rotate the connecting seat 10 relative to the adsorption mechanism 20. During rotation, the compression of the elastic element 30 changes, allowing the walking wheel assemblies 40 to adapt to changes in the surface of the cylinder. A 90° rotation of the walking wheels enables the negative pressure adsorption wall-climbing robot to switch between axial and circumferential movement along the cylinder.

[0046] The wall-mounted plate 21 has a cylindrical abutment surface 211, which can be applied to the surface of a cylinder to reduce the surface gap between the wall-mounted plate 21 and the cylinder during the climbing process. At the same time, the wall-mounted plate 21 is a plate that can bend and deform. During the adsorption process, the wall-mounted plate 21 can undergo bending deformation to make the wall-mounted plate 21 adhere more tightly to the surface of the cylinder. Especially when the surface of the cylinder is uneven (rough bridge pier surface), the bending deformation of the wall-mounted plate 21 under negative pressure can adapt to the surface changes of the cylinder. This can reduce the amount of air entering between the wall-mounted plate 21 and the cylinder to generate a stronger adsorption force, so that the wall-mounted plate 21 can be adsorbed more stably on the surface of the cylinder, thereby improving the reliability of the negative pressure adsorption wall-climbing robot climbing on the surface of a rough cylinder.

[0047] In some embodiments of this application, such as Figure 1 As shown, the elastic element 30 is a compression spring. The first elastic force part 421 is located on the side of the connecting seat 10 away from the wall plate 21. The connecting seat 10 has a second elastic force part 11. The second elastic force part 11 and the first elastic force part 421 are spaced apart along the first direction X. The second elastic force part 11 is located on the side of the first elastic force part 421 away from the wall plate 21 along the first direction X. One end of the elastic element 30 abuts against the first elastic force part 421, and the other end of the elastic element 30 abuts against the second elastic force part 11.

[0048] The elastic element 30 can be a compression spring. In some embodiments of this application, the first elastic force part 421 is located along the first direction X on the side of the second elastic force part 11 away from the wall plate 21, and the elastic element 30 is a tension spring.

[0049] As an example, the connecting seat 10 has a limiting part 422, and a first elastic part 421 is located between the limiting part 422 and the second elastic part 11, so that the traveling wheel assembly 40 can move within a set travel range.

[0050] The arrangement of the first elastic force part 421 and the second elastic force part 11 allows the elastic force direction of the elastic member 30 to be the same as that of the walking wheel assembly 40 to the cylinder, so that the walking wheel assembly 40 can have a certain pressure with the cylinder when walking and changing direction, thereby reducing the slippage of the walking wheel assembly 40 during walking.

[0051] In some embodiments of this application, such as Figure 1 As shown, the walking wheel assembly 40 includes a walking wheel 41, a first motor 43, and a support 42. The support 42 is slidably connected to the connecting seat 10 along the first direction X. The first motor 43 is disposed on the support 42. The motor shaft of the first motor 43 is connected to the walking wheel 41 for transmission. The support 42 has a first elastic force part 421. The axes of the walking wheels 41 of different walking wheel assemblies 40 are parallel to each other.

[0052] As an example, the first motor 43 can be controlled by the controller 100, which can adjust the speed and start / stop the first motor 43 according to the received instructions.

[0053] The walking wheel 41 is driven by the first motor 43. Under the elastic force of the elastic element 30, the walking wheel 41 becomes a floating wheel, so that it can adapt to the undulation of the cylinder when the walking wheel 41 turns, and can adapt to the distance between the strip walking wheel 41 and the connecting seat 10 along the first direction X when adjusting the direction. Compared with the rigid connection between the walking wheel assembly 40 and the connecting seat 10, it is more convenient to turn.

[0054] In some embodiments of this application, such as Figures 3-5As shown, the walking wheel 41 includes a wheel body 411 and a buffer part 412. The buffer part 412 is located on the outer peripheral surface of the wheel body 411 and is arranged around the axis of the wheel body 411. The buffer part 412 is connected to the wheel body 411 and is arranged around the outer peripheral surface of the wheel body 411. The interior of the buffer part 412 has a first cavity 41211 surrounding the wheel body 411 and a plurality of second cavities 41212 extending along the axis of the wheel body 411. The plurality of second cavities 41212 are spaced apart and evenly arranged along the circumference of the wheel body 411, and the plurality of second cavities 41212 communicate with the first cavity 41211 to form a buffer cavity 4121.

[0055] The buffer component and the wheel body 411 can be integrally molded by injection molding or fixed by adhesive bonding.

[0056] Cushions can be manufactured using methods such as injection molding or 3D printing.

[0057] The cushioning element can be made of elastic materials such as polyurethane or rubber.

[0058] When the buffer part 412 of the walking wheel 41 comes into contact with the surface of the cylinder, the buffer part 412 can be deformed under the elastic force of the elastic member 30. On the one hand, it increases the contact area between the buffer member and the cylinder, so as to reduce the probability of slipping during walking. On the other hand, it can reduce the slipping of the walking wheel 41 during walking.

[0059] In some embodiments of this application, such as Figure 2 As shown, the bottom of the turntable 221 is provided with an air inlet, and the wall plate 21 is arranged around the air inlet. The robot also includes a seal 60, which is located between the wall plate 21 and the turntable 221 and is arranged around the air inlet. The seal 60 is used to seal the gap between the connecting seat 10 and the wall plate 21. The seal 60, the wall plate 21 and the air inlet together define a partial negative pressure air intake channel.

[0060] The seal 60 can be made of rubber or silicone. One end of the seal 60 can be bonded to the connecting seat 10, and the other end can be bonded to the wall plate 21 to achieve a better sealing effect. In other cases, one end of the seal 60 can abut against the connecting seat 10, and the other end can abut against the wall plate 21, so that the seal 60 can be replaced in time if it is damaged.

[0061] The wall panel 21 is provided with an adsorption port that communicates with the air intake. There can be one or more adsorption ports. For example, the adsorption port can be a single port with a large area, or it can be multiple ports with a small area that are spaced apart. For example, when there are multiple adsorption ports, they can be arranged in a rectangular array.

[0062] The sealing element 60 reduces the amount of external air entering the negative pressure suction channel, so that the negative pressure suction channel can maintain a relatively stable negative pressure during the adsorption process of the wall-mounted plate 21, thus ensuring the adsorption effect.

[0063] In some embodiments of this application, such as Figure 1 As shown, the negative pressure adsorption wall-climbing robot also includes a support rod 70, an adjusting nut 80, and a connecting rod 90. One end of the support rod 70 is connected to the wall plate 21, and the other end of the support rod 70 is connected to the turntable 221. The axis of the support rod 70 is perpendicular to the axis of the cylindrical contact surface 211, and the extension direction of the axis of the support rod 70 is the same as the first direction X. Along the plane direction perpendicular to the axis of the support rod 70 and the axis of the cylindrical contact surface 211, two connecting rods 90 are respectively provided on both sides of the support rod 70. The four connecting rods 90 are arranged in a rectangular array on the side of the wall plate 21 facing the turntable 221. One end of the connecting rod 90 is connected to the wall plate 21. The turntable 221 is provided with a connecting hole, and the other end of the connecting rod 90 passes through the connecting hole. Adjusting nuts 80 are respectively provided on both sides of the turntable 221 along the first direction X. The adjusting nuts 80 are threadedly connected to the connecting rods 90.

[0064] The support rod 70 and the connecting seat 10 can be connected by nuts, riveting, or welding.

[0065] The connecting rod 90 and the wall panel 21 can be fixed by welding or snap-fitting. For example, a slot can be provided on the side of the wall panel 21 facing the connecting seat 10, and one end of the connecting rod 90 can be configured with a snap-fit ​​or protrusion structure to snap one end of the connecting rod 90 into the slot.

[0066] By adjusting the position of the connecting rod 90 relative to the connecting seat 10 along the first direction X, the support rod 70 can support the wall plate 21, causing the wall plate 21 to bend and deform, thereby changing the curvature of the cylindrical contact surface 211. This enables the negative pressure adsorption wall climbing robot to climb cylinders of different diameters, thus improving the applicability of the negative pressure adsorption wall climbing robot.

[0067] In some embodiments of this application, the seal 60 is an airbag surrounding the air intake, and the airbag is in a compressed state.

[0068] The sealing element 60 is configured as a ring-shaped rubber or silicone air bladder. An appropriate amount of gas is injected into the air bladder. During the sealing process, the tightening force of the adjusting nut 80 compresses the air bladder, reducing the gap between the wall-mounted plate 21 and the connecting seat 10 to minimize air leakage in the negative pressure adsorption channel during adsorption, thus improving the reliability of adsorption. Simultaneously, when adjusting the position of the connecting rod 90 relative to the connecting seat 10, changing the curvature of the cylindrical contact surface 211, the wall-mounted plate 21 undergoes bending deformation, altering the unequal distance between the wall-mounted plate 21 and the connecting seat 10 along the first direction X. Conventional sealing rings are insufficient for this, but the compressed air bladder deforms, adapting to the changes in distance during adjustment, thus providing a better seal and ensuring the effectiveness of negative pressure adsorption, improving adsorption reliability. When the positions of the connecting rod 90 and the connecting seat 10 are not adjustable, the sealing element 60 can also be a non-air bladder shaped sealing ring.

[0069] In some embodiments of this application, such as Figure 6 As shown, the suction component 22 also includes a fan 222, and the negative pressure adsorption wall-climbing robot also includes a controller 100 and a pressure sensor 110. The pressure sensor 110 is located on the wall-adhering plate 21 and is used to detect the pressure between the wall-adhering plate 21 and the cylindrical surface. The fan 222 is located on the side of the connecting seat 10 away from the wall-adhering plate 21. The air inlet of the fan 222 is connected to the suction port. The pressure sensor 110 and the fan 222 are respectively connected to the controller 100. The controller 100 is used to increase the speed of the fan 222 if the pressure does not reach the preset pressure, and to control the fan 222 to maintain the current speed if the pressure reaches the preset pressure.

[0070] In one example, the adsorption mechanism 20 can be a component consisting of a cover, an impeller and a motor. The impeller is driven to rotate by the motor to achieve airflow. The cover covers the impeller on the connecting seat 10 and the cover is provided with an exhaust port.

[0071] When the negative pressure adsorption wall-climbing robot is stationary, the controller 100 controls the fan 222 to rotate at a speed no lower than the first preset speed. When the negative pressure adsorption wall-climbing robot is walking, the controller 100 controls the fan 222 to rotate at a speed no lower than the second preset speed, and the second preset speed is greater than the first preset speed.

[0072] The pressure sensor 110 can be disposed inside the wall panel 21, which can be made of composite board by bonding or integral injection molding. The pressure sensor 110 can be a thin-film pressure sensor or a piezoelectric pressure sensor, etc.

[0073] Therefore, depending on the specific usage environment, the pressure between the wall-mounted plate 21 and the cylindrical surface can be adjusted by controlling the rotation speed of the fan 222. This allows the negative pressure adsorption wall-climbing robot to adjust the rotation speed of the fan 222 in real time according to the actual climbing environment during the climbing process, so that it has sufficient adsorption force on the cylindrical surface that is not flat (such as a local protrusion). This enables the negative pressure adsorption wall-climbing robot to stably adhere to the surface of the cylinder, such as a cylindrical bridge pier with protrusions or dents on the surface.

[0074] In some embodiments of this application, the four edges of the wall panel 21 are connected to the mating surface by an arc surface; or, the four edges of the wall panel 21 have a chamfer between them and the mating surface.

[0075] The side refers to the outer peripheral edge of the wall panel 21 that is adjacent to the cylindrical contact surface 211.

[0076] The rounded surface or chamfer can better adapt to the subtle unevenness of the cylindrical surface, allowing the wall-mounted plate 21 to move over the uneven surface of the cylinder, making the negative pressure adsorption wall-climbing robot move more smoothly and reducing the likelihood of the wall-mounted plate 21 getting stuck. At the same time, since the wall-mounted plate 21 is a plate that can bend and deform, it can bend and deform to use the surface of the cylinder when it crosses the uneven surface, thereby improving the reliability of adsorption.

[0077] In some embodiments of this application, a cleaning component is provided on at least one side of the connecting seat 10 along the axial direction of the cylindrical contact surface 211. The cleaning component is used to clean dust from the surface of the cylinder.

[0078] The cleaning components can be cleaning brushes or cleaning sponges, etc. The cleaning components can be fixed to the side of the wall panel 21 away from the fan 222 by means of screws or adhesive.

[0079] When the negative pressure adsorption wall-climbing robot is walking, a cleaning component can be set at the front end of the robot to remove dust from the surface of the cylinder, so that the wall-adhesive plate 21 can adhere more tightly to the surface of the cylinder, thereby reducing air leakage during the adsorption process and making the adsorption more reliable.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A floating, wall-adhesive negative pressure adsorption wall-climbing robot, wherein the negative pressure adsorption wall-climbing robot is used to crawl on the surface of a cylinder, characterized in that, The negative pressure adsorption wall-climbing robot includes a connecting base, an adsorption mechanism, an elastic element, and a walking wheel assembly. The adsorption mechanism includes a wall-adhering plate and an air-suction component. The air-suction component is rotatably connected to the connecting base about a first rotation axis. The wall-adhering plate is provided on one side of the connecting base along a first direction. The wall-adhering plate and the air-suction component are connected, and the wall-adhering plate and the air-suction component together define a negative pressure adsorption channel. The surface of the wall-adhering plate facing away from the connecting base has a partially cylindrical abutment surface, which is used to adhere to the surface of a cylinder. The wall-adhering plate is a plate that can be bent and deformed. The air-suction component is used to draw at least a portion of the air in the negative pressure adsorption channel. In addition, the wall-mounted panel is adsorbed onto the surface of the cylinder. The connecting seat is provided with the walking wheel assembly on both sides along the second direction. The walking wheel assembly is slidably connected to the connecting seat along the first direction. The walking wheel assembly has a first elastic force part. The elastic element is disposed between the first elastic force part and the connecting seat. The elastic force of the elastic element has a tendency to make the walking wheel assembly move towards the surface of the cylinder along the first direction. The extension direction of the first rotation axis is the same as the first direction. The first direction and the second direction are perpendicular. The axis of the cylindrical abutment surface is perpendicular to the first direction and the second direction, respectively.

2. The negative pressure adsorption wall-climbing robot according to claim 1, characterized in that, The elastic element is a compression spring. The first elastic force action part is located on the side of the connecting seat away from the wall plate. The connecting seat has a second elastic force action part. The second elastic force action part and the first elastic force action part are spaced apart along the first direction. The second elastic force action part is located on the side of the first elastic force action part away from the wall plate along the first direction. One end of the elastic element abuts against the first elastic force action part, and the other end of the elastic element abuts against the second elastic force action part.

3. The negative pressure adsorption wall-climbing robot according to claim 1, characterized in that, The walking wheel assembly includes a walking wheel, a first motor, and a support. The support is slidably connected to the connecting seat along the first direction. The first motor is disposed on the support, and the motor shaft of the first motor is drivenly connected to the walking wheel. The support has a first elastic force action part. The axes of the walking wheels of different walking wheel assemblies are parallel to each other.

4. The negative pressure adsorption wall-climbing robot according to claim 3, characterized in that, The walking wheel includes a wheel body and a buffer portion. The buffer portion is located on the outer peripheral surface of the wheel body and is arranged around the axis of the wheel body. The buffer portion is connected to the wheel body and is arranged around the outer peripheral surface of the wheel body. The interior of the buffer portion has a first cavity surrounding the wheel body and a plurality of second cavities extending along the axis of the wheel body. The plurality of second cavities are spaced apart and evenly arranged along the circumference of the wheel body, and the plurality of second cavities communicate with the first cavity to form a buffer cavity.

5. The negative pressure adsorption wall-climbing robot according to claim 3, characterized in that, The suction component also includes a turntable, which is rotatably connected to the connecting seat. The bottom of the turntable is provided with a suction port, and the wall-mounted plate is arranged around the suction port. The robot also includes a sealing element, which is disposed between the wall-mounted plate and the turntable and is arranged around the suction port. The sealing element is used to seal the gap between the connecting seat and the wall-mounted plate. The sealing element, the wall-mounted plate, and the suction port together define a portion of the negative pressure adsorption channel.

6. The negative pressure adsorption wall-climbing robot according to claim 5, characterized in that, The negative pressure adsorption wall-climbing robot also includes a support rod, an adjusting nut, and a connecting rod. One end of the support rod is connected to the wall-mounted plate, and the other end of the support rod is connected to the turntable. The axis of the support rod is perpendicular to the axis of the cylindrical contact surface, and the extension direction of the axis of the support rod is the same as the first direction. Along the plane direction perpendicular to the axis of the support rod and the axis of the cylindrical contact surface, two connecting rods are respectively provided on both sides of the support rod. The four connecting rods are arranged in a rectangular array on the side of the wall-mounted plate facing the turntable. One end of the connecting rod is connected to the wall-mounted plate. The turntable has a connecting hole, and the other end of the connecting rod passes through the connecting hole. The adjusting nut is provided on both sides of the turntable along the first direction, and the adjusting nut is threadedly connected to the connecting rod.

7. The negative pressure adsorption wall-climbing robot according to claim 6, characterized in that, The sealing element is an airbag surrounding the air intake, and the airbag is in a compressed state.

8. The negative pressure adsorption wall-climbing robot according to claim 5, characterized in that, The air intake component also includes a fan, and the negative pressure adsorption wall-climbing robot also includes a controller and a pressure sensor. The pressure sensor is located on the wall-adhering plate and is used to detect the pressure between the surface of the wall-adhering plate and the cylinder. The fan is located on the side of the connecting seat away from the wall-adhering plate, and the air inlet of the fan is connected to the air intake. The pressure sensor and the fan are respectively connected to the controller. The controller is used to increase the fan speed if the pressure does not reach the preset pressure, and to maintain the current fan speed if the pressure reaches the preset pressure.

9. The negative pressure adsorption wall-climbing robot according to any one of claims 1-8, characterized in that, The four edges of the wall panel are connected to the mating surface by an arc surface; or, the four edges of the wall panel are chamfered to the mating surface.

10. The negative pressure adsorption wall-climbing robot according to any one of claims 1-8, characterized in that, Along the axial direction of the cylindrical contact surface, at least one side of the connecting seat is provided with a cleaning component, which is used to clean dust from the surface of the cylinder.

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