Amphibious cross-medium adsorption mechanism, wall-climbing robot and adsorption control method of amphibious cross-medium adsorption mechanism

Abstract

The invention belongs to the related technical field of wall-climbing robots, and discloses an amphibious cross-medium adsorption mechanism, a wall-climbing robot and an adsorption control method thereof.The adsorption mechanism comprises an adsorption cavity, an underwater negative pressure device and an overwater negative pressure device, the adsorption cavity is of a cavity structure with one end open, and the open end of the adsorption cavity is an adsorption contact end; the underwater negative pressure device is arranged in the adsorption cavity and used for forming vortex in the underwater environment to enable the adsorption cavity to have underwater adsorption force, and the overwater negative pressure device is arranged on the adsorption cavity, communicates the interior and the exterior of the adsorption cavity and is used for exhausting air in the adsorption cavity in the overwater environment to enable the adsorption cavity to have overwater adsorption force. According to the wall-climbing robot, air is pumped from the interior of the adsorption mechanism through the overwater negative pressure device to provide overwater adsorption force, water flow can be driven by the underwater negative pressure device to rotate at a high speed to form vortex so as to provide underwater adsorption force, the adsorption problem of the wall-climbing robot in an overwater / underwater cross-medium environment is effectively solved, and the application scene of the wall-climbing robot is expanded.

Description

Technical Field

[0001] The present invention belongs to the technical field related to wall-climbing robots, and more specifically, relates to an amphibious cross-medium adsorption mechanism, a wall-climbing robot and an adsorption control method thereof. Background Art

[0002] Wall-climbing robots have the advantages of flexible and stable movement in vertical space and strong environmental adaptability. They can be used in workpiece processing, ship cleaning and rust removal, environmental monitoring, defect detection and other fields. Current wall-climbing robots are mainly designed for single-medium environments. For some typical cross-medium scenarios such as ship surfaces, dams, offshore wind power platforms, etc., the movement range of such wall-climbing robots cannot completely cover the operating area. Some wall-climbing robots with cross-medium capabilities generally use magnetic adsorption, but this type of wall-climbing robot can only adsorb ferromagnetic walls, which greatly limits its application scenarios. Summary of the invention

[0003] In response to the above defects or improvement needs of the prior art, the present invention provides an amphibious cross-media adsorption mechanism, a wall-climbing robot and an adsorption control method thereof, which are used to solve the problem that existing wall-climbing robots with cross-media capabilities generally adopt magnetic adsorption, so that the wall-climbing robots can only adsorb ferromagnetic walls, which greatly limits the application scenarios.

[0004] To achieve the above-mentioned purpose, according to the first aspect of the present invention, there is provided an amphibious cross-media adsorption mechanism, comprising an adsorption chamber, an underwater negative pressure device and an above-water negative pressure device, wherein the adsorption chamber is a chamber structure with one end open, and the open end of the adsorption chamber is an adsorption contact end, the underwater negative pressure device is arranged inside the adsorption chamber, and is used to form a vortex in an underwater environment so that the adsorption chamber has an underwater adsorption force, and the above-water negative pressure device is arranged on the adsorption chamber and connects the inside and outside of the adsorption chamber, and is used to evacuate the adsorption chamber in an above-water environment so that the adsorption chamber has an above-water adsorption force.

[0005] According to the amphibious cross-media adsorption mechanism provided by the present invention, a water immersion sensor is provided outside the adsorption chamber, and the water immersion sensor is used to detect the surrounding environment signal to determine whether the adsorption chamber is located in an underwater environment or an above-water environment.

[0006] According to the amphibious cross-media adsorption mechanism provided by the present invention, the open end of the adsorption chamber is connected to a flexible rubber skirt, and the flexible rubber skirt is set to an inverted V shape at the end away from the adsorption chamber, and the thickness of the inverted V-shaped part gradually decreases from the end close to the adsorption chamber to the end away from the adsorption chamber.

[0007] According to the amphibious cross-media adsorption mechanism provided by the present invention, the adsorption chamber includes a fixed section and a lower accordion cover, the fixed section is used to install the underwater negative pressure device and the above-water negative pressure device, the first end of the lower accordion cover is connected to the fixed section, the second end of the lower accordion cover is set to an open end, the lower accordion cover is set to a foldable structure along the direction from the first end to the second end, and a plurality of rigid support rings are spaced apart on the lower accordion cover along the direction from the first end to the second end.

[0008] According to the amphibious cross-media adsorption mechanism provided by the present invention, the fixed section includes an upper support plate and a lower support plate that are relatively arranged, and an outer shell connected between the upper support plate and the lower support plate, an opening is provided on the lower support plate, the first end of the lower accordion cover is connected to the lower support plate, and a support column is also connected between the upper support plate and the lower support plate.

[0009] According to the amphibious cross-medium adsorption mechanism provided by the present invention, the underwater negative pressure device includes an underwater motor and an impeller, the impeller is located inside the lower accordion cover, the underwater motor is connected to the impeller in a driving manner, and the underwater motor is used to drive the impeller to rotate to generate a vortex in the underwater environment;

[0010] The above-water negative pressure device comprises a centrifugal fan.

[0011] According to the amphibious cross-media adsorption mechanism provided by the present invention, the impeller includes a connecting plate and blades, the connecting plate is transmission-connected to the underwater motor, a plurality of blades are circumferentially distributed on one side surface of the connecting plate, each blade extends radially along the connecting plate and is curved along the radial direction.

[0012] According to the amphibious cross-media adsorption mechanism provided by the present invention, the water immersion sensor is arranged in the middle part of the adsorption chamber along the axial direction, and a plurality of water immersion sensors are symmetrically arranged along the circumference of the adsorption chamber.

[0013] According to a second aspect of the present invention, there is provided a wall-climbing robot comprising the amphibious cross-medium adsorption mechanism as described in any one of the above items.

[0014] According to a third aspect of the present invention, an adsorption control method of an amphibious cross-media adsorption mechanism is provided, based on the above-mentioned amphibious cross-media adsorption mechanism, and a plurality of water immersion sensors are distributed outside the adsorption chamber in the amphibious cross-media adsorption mechanism, and the water immersion sensors are used to detect ambient environment signals to determine whether the adsorption chamber is located in an underwater environment or an above-water environment; the adsorption control method comprises:

[0015] When the plurality of water immersion sensors all determine that the adsorption chamber is located in an underwater environment, the underwater negative pressure device is started, the above-water negative pressure device is closed, and adsorption is performed through the underwater negative pressure device;

[0016] When the plurality of water immersion sensors all determine that the adsorption chamber is located in an above-water environment, the above-water negative pressure device is started, the underwater negative pressure device is closed, and adsorption is performed through the above-water negative pressure device;

[0017] When the plurality of water immersion sensors determines that the adsorption chamber is located in an above-water environment and determines that the adsorption chamber is located in an underwater environment, the above-water negative pressure device and the underwater negative pressure device are simultaneously started for adsorption.

[0018] In general, compared with the prior art, the above technical solutions conceived by the present invention provide an amphibious cross-medium adsorption mechanism, a wall-climbing robot and an adsorption control method thereof:

[0019] 1. When the wall-climbing robot is in an above-water environment, the above-water negative pressure device can be used to draw air from the inside of the adsorption mechanism to provide the robot with above-water adsorption force. When the wall-climbing robot is in an underwater environment, the underwater negative pressure device can be used to drive the water flow to rotate at high speed to form a vortex to provide the robot with underwater adsorption force. This effectively solves the adsorption problem of the wall-climbing robot in an above-water / underwater cross-medium environment, improves the cross-medium adsorption capability of the wall-climbing robot, and expands the application scenarios of the wall-climbing robot.

[0020] 2. A water immersion sensor is set up. The robot can judge the medium it is in according to the feedback signal of the water immersion sensor, thereby controlling the operation of the corresponding negative pressure device, and can realize automatic switching of the adsorption mode with strong flexibility;

[0021] 3. The adsorption mechanism adopts a passive method to realize the self-adaptive adsorption of the curved surface. Under the action of the adsorption force, the lower accordion cover and the flexible rubber skirt will undergo corresponding axial deformation according to the shape of the current adsorption curved surface, ensuring that the bottom of the adsorption chamber is closely fitted with the adsorption surface to avoid vacuum leakage. At the same time, due to the rigid circular ring support in the radial direction, the effective adsorption area of ​​the adsorption mechanism remains basically unchanged. The mechanism realizes stable and adaptive adsorption of the variable curvature surface through the deformation of the lower accordion cover and the flexible rubber skirt, achieving low cost and good adsorption effect.

[0022] 4. The adsorption mechanism has the advantages of small mass, large adsorption force and strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of the amphibious cross-medium adsorption mechanism provided by the present invention;

[0024] Figure 2 It is an exploded diagram of the amphibious cross-medium adsorption mechanism provided by the present invention;

[0025] Figure 3 is a cross-sectional view of the amphibious cross-medium adsorption mechanism provided by the present invention;

[0026] Figure 4 It is a principle diagram for determining the environment in which the amphibious cross-medium adsorption mechanism provided by the present invention is located;

[0027] Figure 5 is a schematic diagram of an impeller provided by the present invention;

[0028] Figure 6 is a cross-sectional view of the flexible rubber skirt provided by the present invention;

[0029] Figure 7 is a schematic diagram of the wall-climbing robot provided by the present invention;

[0030] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0031] 100. Amphibious cross-medium adsorption mechanism; 101. Robot body; 102. Waterproof wheels; 103. Connectors; 1. Upper support plate; 2. Upper accordion cover; 3. Water immersion sensor; 4. Lower support plate; 5. Lower accordion cover; 6. Flexible rubber skirt; 7. Centrifugal fan; 8. Protective shell; 9. Support column; 10. Underwater motor; 11. Impeller. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of 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. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0033] See also Figure 1 , Figure 2 and Figure 3 The present embodiment provides an amphibious cross-media adsorption mechanism 100, which includes an adsorption chamber, an underwater negative pressure device and an above-water negative pressure device. The adsorption chamber is a chamber structure with one end open, and the open end of the adsorption chamber is an adsorption contact end. The underwater negative pressure device is arranged inside the adsorption chamber, and is used to form a vortex in an underwater environment so that the adsorption chamber has an underwater adsorption force. The above-water negative pressure device is arranged on the adsorption chamber and connects the inside and outside of the adsorption chamber, and is used to evacuate the adsorption chamber in an above-water environment so that the adsorption chamber has an above-water adsorption force.

[0034] In some specific embodiments, a water immersion sensor 3 is provided outside the adsorption chamber, and the water immersion sensor 3 is used to detect ambient environment signals to determine whether the adsorption chamber is located in an underwater environment or an above-water environment. Figure 4For example, the water immersion sensor 3 can be a photoelectric sensor, which detects the transmittance of the surrounding environment by emitting a photoelectric signal, and then the underwater environment and the above-water environment can feedback different signals, which can distinguish the underwater environment from the above-water environment. The water immersion sensor 3 can also be other types, with the purpose of distinguishing whether the adsorption mechanism is in the above-water environment or the underwater environment, and is not specifically limited.

[0035] refer to Figure 6 In some specific embodiments, the open end of the adsorption chamber is connected to a flexible rubber skirt 6, and the flexible rubber skirt 6 is set to an inverted V shape at the end away from the adsorption chamber, that is, the cross-section is inverted V shape, and the thickness of the inverted V-shaped part gradually decreases from the end close to the adsorption chamber to the end away from the adsorption chamber. The flexible rubber skirt 6 may include a flexible rubber ring and an inverted V-shaped skirt. The flexible rubber ring may be connected to the open end of the adsorption chamber, for example, by bolts or adhesive connection, and a sealing structure such as a sealing ring or a waterproof sealant is provided at the connection. The inverted V-shaped bottom edge of the flexible rubber skirt 6 extends to both sides under the action of the adsorption force and the wall support force, so that its contact area with the wall is increased, thereby enhancing the sealing of the amphibious cross-medium adsorption mechanism 100.

[0036] refer to Figure 3 In some specific embodiments, the adsorption chamber includes a fixed section and a lower accordion cover 5, the fixed section is used to install the underwater negative pressure device and the above-water negative pressure device, the first end of the lower accordion cover 5 is connected to the fixed section, the second end of the lower accordion cover 5 is set as an open end, and the lower accordion cover 5 is set as a foldable structure along the direction from the first end to the second end, so that the lower accordion cover 5 can be telescopically deformed in this direction, and a plurality of rigid support rings are spaced apart on the lower accordion cover 5 along the direction from the first end to the second end. The fixed section can provide a space for installing the negative pressure device. The telescopic and deformable structure of the lower accordion cover 5 allows the open end to passively adapt to the adsorption surface, and the rigid support ring can maintain the radial area to ensure the adsorption force, which is conducive to improving the applicability of the adsorption mechanism.

[0037] refer to Figure 2 and Figure 3 The fixed section includes an upper support plate 1 and a lower support plate 4 that are arranged opposite to each other, and a shell connected between the upper support plate 1 and the lower support plate 4, the lower support plate 4 is provided with an opening, the first end of the lower accordion cover 5 is connected to the lower support plate 4, and a support column 9 is also connected between the upper support plate 1 and the lower support plate 4. The shell and the upper support plate 1 and the lower support plate 4 can be detachably connected by bolts or the like, which is convenient for the setting of the internal negative pressure device, and a sealing structure can be provided at the connection. The first end of the lower accordion cover 5 can be detachably connected to the lower support plate 4 by bolts or the like, and a sealing structure is provided at the connection.

[0038] In some specific embodiments, the housing can also be configured as an accordion cover structure, that is, an upper accordion cover 2, which is retractable along the axial direction, so as to facilitate flexible adjustment of the spacing between the upper support plate 1 and the lower support plate 4 as needed. The spacing between the upper support plate 1 and the lower support plate 4 can be adjusted by replacing the support columns 9 of different lengths.

[0039] refer to Figure 3 , the underwater negative pressure device includes an underwater motor 10 and an impeller 11, the impeller 11 is located inside the lower accordion cover 5, the underwater motor 10 is connected to the impeller 11 in a transmission manner, and the underwater motor 10 is used to drive the impeller 11 to rotate to generate vortices in the underwater environment; the underwater motor 10 can rotate as an outer rotor, and the impeller 11 is connected to the outer rotor of the underwater motor 10. The above-water negative pressure device includes a centrifugal fan 7. The centrifugal fan 7 can be installed and fixed on the upper support plate 1 through a protective shell 8, connecting the inside and outside of the adsorption chamber. The underwater motor 10 can also be installed and fixed on the upper support plate 1 inside the adsorption chamber, and an opening is provided on the lower support plate 4, and the underwater motor 10 can be connected to the impeller 11 through the opening; the centrifugal fan 7 can also be connected to the inside of the lower accordion cover 5 through the opening.

[0040] refer to Figure 5 The impeller 11 includes a connecting plate and blades, the connecting plate is drivingly connected to the underwater motor 10, a plurality of blades are circumferentially distributed on one side surface of the connecting plate, each blade extends radially along the connecting plate and is curved in the radial direction. Optionally, each blade is in an inverted S shape from the edge of the connecting plate to the center in the radial direction.

[0041] In some specific embodiments, the water immersion sensor 3 is arranged in the middle part of the adsorption chamber along the axial direction, and multiple water immersion sensors 3 are symmetrically arranged along the circumference of the adsorption chamber, which is conducive to more accurately judging the cross-medium state of the adsorption mechanism being underwater, above water, or partially underwater and partially above water, thereby facilitating more accurate adsorption control. The edge of the lower support plate 4 can be evenly distributed with multiple circular rings, and the water immersion sensor 3 is installed on the circular ring at the edge of the lower support plate 4.

[0042] This embodiment also provides a wall-climbing robot, comprising the amphibious cross-medium adsorption mechanism 100 as described in any one of the above items.

[0043] This embodiment further provides an adsorption control method of an amphibious cross-media adsorption mechanism 100, based on the amphibious cross-media adsorption mechanism 100 described in any one of the above items, and in the amphibious cross-media adsorption mechanism 100, a plurality of water immersion sensors 3 are distributed outside the adsorption chamber, and the water immersion sensors 3 are used to detect ambient environment signals to determine whether the adsorption chamber is located in an underwater environment or an above-water environment; the adsorption control method includes:

[0044] When the plurality of water immersion sensors 3 all determine that the adsorption chamber is located in an underwater environment, the underwater negative pressure device is started, the above-water negative pressure device is closed, and adsorption is performed through the underwater negative pressure device;

[0045] When the plurality of water immersion sensors 3 all determine that the adsorption chamber is located in an above-water environment, the above-water negative pressure device is started, the underwater negative pressure device is closed, and adsorption is performed through the above-water negative pressure device;

[0046] When the plurality of water immersion sensors 3 determines that the adsorption chamber is located in an above-water environment and in an underwater environment, the above-water negative pressure device and the underwater negative pressure device are simultaneously started for adsorption.

[0047] Please refer to Figure 1 and 2 A specific embodiment of the present invention provides an amphibious cross-media adsorption mechanism 100, including an upper support plate 1, an upper accordion cover 2, a water immersion sensor 3, a lower support plate 4, a lower accordion cover 5, a flexible rubber skirt 6, a centrifugal fan 7, a protective shell 8, a support column 9, an underwater motor 10, and an impeller 11.

[0048] like Figure 2 As shown, the radial cross section of the upper support plate 1 is circular, and its diameter can be set according to actual conditions. The upper accordion cover 2 and the support column 9 are connected to the upper support plate 1 by screws, and waterproof sealant is applied to the connection surface for sealing. The upper accordion cover 2 can be axially retractable, and there is a rigid ring support in the radial direction. The lower support plate 4 is connected to the upper accordion cover 2 by bolts.

[0049] refer to Figure 3 The centrifugal fan 7 is fixed in the protective shell 8 and fixedly connected to the upper support plate 1 together with the underwater motor 10. The lower support plate 4 is connected to the upper accordion cover 2, the lower end surface of the support column 9 and the upper end surface of the lower accordion cover 5, and is also sealed. The lower end surface of the lower accordion cover 5 is connected to the flexible rubber skirt 6 and is sealed. The underwater motor 10 rotates with an outer rotor, and the impeller 11 is fixedly connected to the outer rotor of the underwater motor 101 by screws. The water immersion sensor 3 is fixed to the lower support plate 4.

[0050] More specifically, the upper support plate 1 and the lower support plate 4 are both made of carbon fiber, the support column 9 is an aluminum alloy cylinder with threaded holes at both ends, the lower accordion cover 5 can be made of leather or plastic, and the rigid support ring thereon can be made of metal. The upper accordion cover 2 and the lower accordion cover 5 can be axially retractable, and are supported by stainless steel rings in the radial direction, and their axial length without external force can be adjusted according to actual needs. The lower accordion cover 5 can be axially retractable, and is supported by rigid rings in the radial direction.

[0051] like Figure 4 and Figure 5 As shown, the impeller 11 has an inverted S-shape in the radial direction and a straight line in the axial direction, and has eight blades. This blade configuration can form underwater vortices more efficiently.

[0052] A line connecting the installation positions of a pair of water immersion sensors 3 passes through the geometric center of the lower support plate 4. When both of them send out high-level signals, that is, when multiple water immersion sensors 3 determine that the adsorption chamber is located in the above-water environment, the adsorption mechanism is judged to be in the above-water environment; when both of them send out low-level signals, that is, when multiple water immersion sensors 3 determine that the adsorption chamber is located in the underwater environment, the adsorption mechanism is judged to be in the underwater environment; when one of the water immersion sensors 3 sends out a high-level signal and the other sends out a low-level signal, that is, when some of the multiple water immersion sensors 3 determine that the adsorption chamber is located in the above-water environment and some determine that the adsorption chamber is located in the underwater environment, the adsorption mechanism is judged to be in a cross-medium environment.

[0053] After the amphibious cross-medium adsorption mechanism 100 is judged to be in an above-water environment according to the high-level signal fed back by the water immersion sensor 3, the centrifugal fan 7 draws air from its interior to generate an above-water adsorption force. After the amphibious cross-medium adsorption mechanism 100 is judged to be in an underwater environment according to the low-level signal fed back by the water immersion sensor 3, the underwater motor 10 drives the impeller 11 to rotate at a high speed to form a vortex to generate an underwater adsorption force. After the adsorption mechanism is judged to be in a cross-medium environment according to the high and low level signals fed back by the water immersion sensor 3, the underwater motor 10 drives the impeller 11 to rotate at a high speed to form a rotating water layer at the edge of the adsorption mechanism, and the centrifugal fan 7 draws air from the inside of the adsorption mechanism to generate an adsorption force.

[0054] Furthermore, when the plurality of water immersion sensors 3 are used to determine that the adsorption chamber is located in an above-water environment and in an underwater environment, the above-water negative pressure device and the underwater negative pressure device are simultaneously started for adsorption, specifically including: controlling the adsorption force of the underwater negative pressure device to be greater than the adsorption force of the above-water negative pressure device; that is, controlling the power of the underwater negative pressure device to be greater than the power of the above-water negative pressure device. In addition, an air pressure sensor may be arranged inside the adsorption chamber to monitor the absolute pressure inside in real time. When the absolute pressure inside the adsorption chamber is monitored to increase gradually, the power of the above-water negative pressure device may be increased; when the absolute pressure inside the adsorption chamber is monitored to decrease gradually, the power of the above-water negative pressure device may be reduced. The air pressure sensor is a sensor for measuring air pressure, not water pressure.

[0055] That is, when the output signals of multiple water immersion sensors 3 are inconsistent, it is judged that the adsorption mechanism is in a water-air cross-medium environment. At this time, the underwater motor 10 drives the impeller 11 to rotate at a high speed to form a rotating water layer at the edge of the adsorption mechanism, while there is basically no water flow in the center of the adsorption mechanism (because there is less water at the water-air interface, a small amount of water is discharged to the edge of the adsorption mechanism under the drive of the rotating impeller 11, similar to a vortex). Then the centrifugal fan 7 draws air from the inside of the adsorption mechanism to generate adsorption force, and in order to avoid the fan from sucking water flow, the speed of the fan can be controlled to be less than the first preset value, and the speed of the underwater motor 10 can be controlled to be greater than the second preset value to ensure the adsorption force. In order to ensure the stability of the adsorption force in the water-air cross-medium environment, an air pressure sensor is set in the adsorption mechanism to monitor the absolute pressure inside in real time. When the measured absolute pressure gradually increases (that is, the generated adsorption force becomes smaller), it means that the adsorption structure is in the water outlet stage, and the absolute pressure in the adsorption mechanism can be reduced by increasing the speed of the fan until it stabilizes near the set value. On the contrary, when the measured absolute pressure gradually decreases, it means that the gas space inside the adsorption chamber gradually decreases and the suction force generated by the fan becomes relatively larger, that is, it is in the water entry stage. The fan speed can be reduced until the adsorption mechanism is completely submerged in water and the fan is turned off. This control method can achieve stable adsorption of the adsorption mechanism in a water-air cross-medium environment until the adsorption mechanism is completely submerged in water or out of water.

[0056] The water immersion sensor 3 can feedback different signals in the above-water / underwater environment respectively, and the wall-climbing robot can switch to the appropriate adsorption mode according to the signal, which effectively solves the adsorption problem of the wall-climbing robot in the above-water / underwater cross-medium environment and expands the application scenarios of the wall-climbing robot.

[0057] In addition, if Figure 7 As shown, the embodiment of the present invention also applies the above-mentioned amphibious cross-medium adsorption mechanism 100 to a wall-climbing robot. The wall-climbing robot mainly includes a plurality of the above-mentioned amphibious cross-medium adsorption mechanisms 100, a plurality of waterproof wheels 102 and a robot body 101. The amphibious cross-medium adsorption mechanism 100 is connected to the robot body 101 through a connector 103, and the waterproof wheel 102 is directly connected to the robot body 101. The upper support plate 1 is connected to the robot chassis through a connector 103.

[0058] like Figure 7 As shown, there are three amphibious cross-medium adsorption mechanisms 100 and three waterproof wheels 102, which are evenly connected to the chassis of the robot, forming a three-wheeled omnidirectional adsorption mobile chassis, ensuring the flexibility and adaptability of the wall-climbing robot's curved surface movement.

[0059] The amphibious cross-medium adsorption mechanism 100 adopts a passive method to achieve adaptive adsorption of curved surfaces. Under the action of the adsorption force, the lower accordion cover 5 and the flexible rubber skirt 6 will undergo corresponding axial deformation according to the shape of the current adsorption curved surface, ensuring that the bottom of the adsorption cavity is in close fit with the adsorption surface to avoid vacuum leakage. At the same time, due to the rigid circular ring support in the radial direction, the effective adsorption area of ​​the adsorption mechanism remains basically unchanged. The mechanism achieves stable and conforming adsorption of variable curvature surfaces through the deformation of the lower accordion cover 5 and the flexible rubber skirt 6, achieving low cost and good adsorption effect.

[0060] It will be easily understood by those skilled in the art that 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. An amphibious cross-medium adsorption mechanism, characterized in that: It includes an adsorption chamber, an underwater negative pressure device and an above-water negative pressure device. The adsorption chamber is a chamber structure with one end open, and the open end of the adsorption chamber is an adsorption contact end. The underwater negative pressure device is arranged inside the adsorption chamber and is used to form a vortex in an underwater environment so that the adsorption chamber has underwater adsorption force. The above-water negative pressure device is arranged on the adsorption chamber and connects the inside and outside of the adsorption chamber, and is used to evacuate the adsorption chamber in an above-water environment so that the adsorption chamber has above-water adsorption force.

2. The amphibious cross-medium adsorption mechanism according to claim 1, characterized in that: A water immersion sensor is provided outside the adsorption chamber, and the water immersion sensor is used to detect surrounding environment signals to determine whether the adsorption chamber is located in an underwater environment or an above-water environment.

3. The amphibious cross-medium adsorption mechanism according to claim 1, characterized in that: The open end of the adsorption chamber is connected with a flexible rubber skirt, which is set to be an inverted V shape at the end away from the adsorption chamber, and the thickness of the inverted V-shaped part gradually decreases from the end close to the adsorption chamber to the end away from the adsorption chamber.

4. The amphibious cross-medium adsorption mechanism according to any one of claims 1 to 3, characterized in that: The adsorption chamber includes a fixed section and a lower accordion cover, the fixed section is used to install the underwater negative pressure device and the above-water negative pressure device, the first end of the lower accordion cover is connected to the fixed section, the second end of the lower accordion cover is set to an open end, the lower accordion cover is set to a foldable structure along the direction from the first end to the second end, and a plurality of rigid support rings are spaced apart on the lower accordion cover along the direction from the first end to the second end.

5. The amphibious cross-medium adsorption mechanism according to claim 4, characterized in that: The fixed section includes an upper support plate and a lower support plate that are arranged opposite to each other, and a shell connected between the upper support plate and the lower support plate, the lower support plate is provided with an opening, the first end of the lower accordion cover is connected to the lower support plate, and a support column is also connected between the upper support plate and the lower support plate.

6. The amphibious cross-medium adsorption mechanism according to claim 4, characterized in that: The underwater negative pressure device comprises an underwater motor and an impeller, wherein the impeller is located inside the lower accordion cover, the underwater motor is in driving connection with the impeller, and the underwater motor is used to drive the impeller to rotate so as to generate vortex in the underwater environment; The above-water negative pressure device comprises a centrifugal fan.

7. The amphibious cross-medium adsorption mechanism according to claim 6, characterized in that: The impeller includes a connecting plate and blades, the connecting plate is drivingly connected to the underwater motor, a plurality of blades are circumferentially distributed on a side surface of the connecting plate, each blade extends radially along the connecting plate and is curved in the radial direction.

8. The amphibious cross-medium adsorption mechanism according to claim 2, characterized in that: The water immersion sensor is arranged in the middle part of the adsorption chamber along the axial direction, and a plurality of the water immersion sensors are symmetrically arranged along the circumference of the adsorption chamber.

9. A wall-climbing robot, characterized in that: An amphibious cross-media adsorption mechanism comprising any one of claims 1-8 above.

10. An adsorption control method for an amphibious cross-medium adsorption mechanism, characterized in that: Based on the amphibious cross-media adsorption mechanism described in any one of claims 1 to 8, in which a plurality of water immersion sensors are distributed outside the adsorption chamber, the water immersion sensors are used to detect ambient environment signals to determine whether the adsorption chamber is located in an underwater environment or an above-water environment; the adsorption control method comprises: When the plurality of water immersion sensors all determine that the adsorption chamber is located in an underwater environment, the underwater negative pressure device is started, the above-water negative pressure device is closed, and adsorption is performed through the underwater negative pressure device; When the plurality of water immersion sensors all determine that the adsorption chamber is located in an above-water environment, the above-water negative pressure device is started, the underwater negative pressure device is closed, and adsorption is performed through the above-water negative pressure device; When the plurality of water immersion sensors determines that the adsorption chamber is located in an above-water environment and determines that the adsorption chamber is located in an underwater environment, the above-water negative pressure device and the underwater negative pressure device are simultaneously started for adsorption.

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