A negative pressure adsorption multifunctional wall-climbing robot

Abstract

The present invention relates to the technical field of wall-climbing robots, and discloses a negative pressure adsorption type multifunctional wall-climbing robot, comprising a machine base and four direct-drive motors, wherein the driving ends of the four direct-drive motors are respectively connected to rubber wheels, an exhaust fan is fixed on the machine base, and the suction end of the exhaust fan is arranged through the machine base, so as to climb the wall by negative pressure adsorption, one end of the machine base is provided with a cleaning roller which can be raised and lowered, and the other end is provided with a wiper strip which can be raised and lowered, a layer plate is fixed on the machine base through a connecting component, and is located above the exhaust fan, and a controller is fixed on the layer plate, and also includes: through redundant exhaust fan design and active safety rope traction, emergency adsorption protection and backup driving force are provided when the adsorption force is insufficient, so as to ensure the stable operation of the robot on complex surfaces and harsh environments; at the same time, combined with the linkage control of the air adjustment part and the wall cleaning part, the pressure and mode of the cleaning roller, the wiper strip and the spraying part can be dynamically adjusted to meet the cleaning needs of irregular surfaces such as corrugated glass, thereby improving the cleaning effect and adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a negative pressure adsorption type multifunctional wall-climbing robot. Background Art

[0002] Existing wall-climbing robots mostly rely on negative pressure adsorption technology to achieve curtain wall cleaning functions, but they have limitations on complex surfaces such as corrugated glass, photovoltaic panels or in strong wind environments. Traditionally, a single exhaust fan is usually used to provide adsorption force. Once there is a local air leak or the adsorption surface is uneven, it is easy to cause adsorption failure and there is a risk of falling. In addition, existing robots are not adaptable enough to curtain wall cleaning and cannot dynamically adjust the cleaning pressure and mode for different surface structures, such as uneven corrugated glass, which limits the cleaning effect. At the same time, the lack of redundant protection and emergency power systems makes it difficult to provide safety guarantees when the adsorption force is insufficient. Especially when crossing obstacles or responding to sudden weather, stability and safety need to be improved urgently.

[0003] Existing wall-climbing robots have low safety due to insufficient or ineffective adsorption force on complex curtain wall surfaces and in strong wind environments. Their cleaning function cannot adapt to different surface structures, limiting their cleaning efficiency and reliability. Summary of the Invention

[0004] The present invention provides a negative pressure adsorption type multifunctional wall-climbing robot, which can be combined with the linkage control of the air adjustment part and the wall cleaning part, and can dynamically adjust the pressure and mode of the cleaning roller, wiper strip and spray part to meet the cleaning needs of irregular surfaces such as corrugated glass, significantly improve the cleaning effect and equipment adaptability, and is particularly suitable for high-rise special-shaped curtain wall maintenance scenarios.

[0005] In order to solve the above technical problems, the technical solutions of the present invention are as follows:

[0006] In a first aspect, a negative pressure adsorption multifunctional wall-climbing robot comprises a base and four direct drive motors, wherein the drive ends of the four direct drive motors are respectively connected to rubber wheels, an exhaust fan is fixed to the base, and the suction end of the exhaust fan is arranged through the base, and the robot climbs the wall by negative pressure adsorption, a cleaning roller is provided at one end of the base and a wiper strip is provided at the other end, a shelf is fixed to the base via a connecting component and is located above the exhaust fan, and a controller is fixed to the shelf, and the robot further comprises:

[0007] Redundant all, set on the base to provide redundancy protection;

[0008] The wind regulating part is arranged on the redundant part and is electrically connected to the redundant part so as to automatically start the redundant part to pull the wall-climbing robot to climb the wall;

[0009] The wall cleaning part is arranged between the machine base and the scraper strip and is connected to the wind adjustment part to help clean the curtain wall;

[0010] The wind adjustment part includes a guide push piece, a pressure contact piece and a bullet-blocking part, wherein the guide push piece is arranged on the redundant whole, the pressure contact piece is arranged at a position of the guide push piece away from the redundant whole, and the bullet-blocking part is connected inside the guide push piece;

[0011] The push guide includes: an air pipe, which is arranged above the layer plate; the bullet-blocking part includes: a cone, which is arranged at the lower end of the air pipe in a liftable manner;

[0012] The wall cleaning part includes a scraping member and a spraying member, wherein the scraping member is arranged at the lower end of the pressure contact member, and the spraying member is arranged through the scraping member;

[0013] The scraping member includes a connecting pipe arranged at the lower end of the cone.

[0014] Furthermore, the redundant parts include redundant parts and protective parts, which are respectively fixed on the machine base, and the redundant parts include:

[0015] Three exhaust fans are staggeredly fixed on the base, and the air suction ends thereof pass through the base;

[0016] Exhaust pipe, fixed to the exhaust end of the exhaust fan;

[0017] Frame, fixed on the machine base.

[0018] Furthermore, the protective element includes:

[0019] There are four rotating shafts, which rotate through the frame and are symmetrically arranged;

[0020] There are four slave gears, each fixed to one end of the rotating shaft;

[0021] There are four gear rollers, which are respectively fixed to the other ends of the four rotating shafts and located in the frame;

[0022] There are four electric motors which are fixed on the machine base through fixing components, and the driving ends of the four electric motors are respectively engaged with the slave gears.

[0023] Furthermore, the protective member further includes a pulling part, which is arranged on the machine base and movably penetrates the frame, and the pulling part includes:

[0024] There are two guide cylinders, which are fixed to the machine base through connecting parts and are located at both ends of the frame;

[0025] Safety rope, movable through the guide cylinder and frame setting;

[0026] The safety rope is squeezed by the four tooth rollers.

[0027] Furthermore, the push guide also includes:

[0028] There are four conduits, one end of which is plugged into the upper end of the row pipe;

[0029] The trachea is connected to the four catheters;

[0030] The bullet-blocking component is arranged at the lower end of the trachea.

[0031] Furthermore, the bullet-blocking component further comprises:

[0032] The telescopic rod is symmetrically fixed to the lower end of the trachea;

[0033] The spring is symmetrically fixed to the lower end of the trachea and is located outside the telescopic rod;

[0034] The cone is fixedly connected to the telescopic rod and the lower end of the spring.

[0035] Furthermore, the pressure contact element includes:

[0036] There are two support rods, which are fixed on the outside of the spring and located close to the cone;

[0037] A rotating rod, fixed between the two supporting rods;

[0038] A pressure plate, rotatably arranged on the outside of the rotating rod;

[0039] A fan plate is provided at one end of the pressure plate to tilt the other end of the pressure plate;

[0040] The switch is fixed at the lower end of the air pipe and is located above the other end of the pressure plate.

[0041] Furthermore, the scraping member further comprises:

[0042] A bottom plate is provided at the lower end of the connecting pipe;

[0043] There are two cotton brushes fixed below the bottom plate with a gap between the two cotton brushes, and the lower end of one of the cotton brushes is relatively sharp.

[0044] Furthermore, the spray-punched part includes:

[0045] The three-way solenoid valve is fixed at the upper end of the connecting pipe and is connected to the cone cylinder;

[0046] Flange pipe, connected to one side of the three-way solenoid valve;

[0047] The inner channel is opened inside the bottom plate;

[0048] The nozzle penetrates the side of the bottom plate close to the cotton brush and is connected with the inner channel;

[0049] The flushing adjustment parts are arranged on the outside of the cone.

[0050] Furthermore, the punching adjustment parts include:

[0051] L-ring, integrally formed on the outside of the cone;

[0052] Elastic ring, the elastic sleeve is arranged on the outside of the L ring;

[0053] The rubber cover has one end connected to the outside of the elastic ring and the other end connected to the outside of the cone and is located below the L ring;

[0054] The arc support ring is fixed on the outside of the air pipe and located above the switch.

[0055] The above solution of the present invention includes at least the following beneficial effects:

[0056] Through the design of four staggered redundant exhaust fans and the active safety rope retraction and release system, emergency adsorption protection and backup driving force are provided when the adsorption force is insufficient, ensuring the stable operation of the robot on complex surfaces and in harsh environments; at the same time, combined with the linkage control of the air adjustment part and the wall cleaning part, the pressure and mode of the cleaning roller, wiper strip and spray part can be dynamically adjusted to meet the cleaning needs of irregular surfaces such as corrugated glass, thereby improving the cleaning effect and equipment adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 An overall three-dimensional diagram of a negative pressure adsorption multifunctional wall-climbing robot provided by an embodiment of the present invention;

[0058] Figure 2 A three-dimensional diagram of a combination of a layer plate, an air pipe, and a conduit provided in an embodiment of the present invention;

[0059] Figure 3 A three-dimensional diagram of a machine base, frame, and safety rope assembly provided in an embodiment of the present invention;

[0060] Figure 4 A cross-sectional plan view of a negative pressure adsorption multifunctional wall-climbing robot provided in an embodiment of the present invention;

[0061] Figure 5 A cross-sectional plan view of a cleaning roller provided in an embodiment of the present invention;

[0062] Figure 6 A three-dimensional diagram of the motor, main gear, slave gear, gear roller and safety rope assembly provided in an embodiment of the present invention;

[0063] Figure 7 A cross-sectional plan view of a bottom plate provided in an embodiment of the present invention;

[0064] Figure 8 A three-dimensional diagram of the connecting pipe, cone, spring, fan plate and switch assembly provided in an embodiment of the present invention;

[0065] Figure 9 A three-dimensional diagram of a fan plate and a pressure plate assembly provided in an embodiment of the present invention;

[0066] Figure 10 The embodiment of the present invention provides Figure 2 Schematic diagram of the structure at A in FIG;

[0067] Figure 11 The embodiment of the present invention provides Figure 4 Schematic diagram of the structure at point B in .

[0068] Description of reference numerals:

[0069] Figure 1: Frame; 2: Cover; 3: Direct-drive motor; 4: Rubber wheel; 5: Support frame; 6: Rocker arm; 7: Electric rod; 8: Frame plate; 9: Cleaning roller; 10: Support rod; 11: Motor; 12: Fixed frame; 13: Wiper strip; 14: Exhaust fan; 15: Drain pipe; 16: Frame; 17: Rotating shaft; 18: Slave gear; 19: Gear roller; 20: Motor; 21: Main gear; 22: Guide cylinder; 23: Safety rope; 24: , shelf; 25, controller; 26, conduit; 27, air pipe; 28, telescopic rod; 29, spring; 30, support rod; 31, rotating rod; 32, pressure plate; 33, fan plate; 34, cone; 35, connecting pipe; 36, bottom plate; 37, cotton brush; 38, flange pipe; 39, inner channel; 40, nozzle; 41, switch; 42, L-ring; 43, elastic ring; 44, rubber cover; 45, arc support ring; 46, three-way solenoid valve. DETAILED DESCRIPTION

[0070] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0071] like Figures 1 to 11 As shown, an embodiment of the present invention provides a negative pressure adsorption multifunctional wall-climbing robot, comprising a base 1 and four direct drive motors 3, the driving ends of the four direct drive motors 3 being respectively connected to rubber wheels 4, an exhaust fan 14 being fixed to the base 1, and the suction end of the exhaust fan 14 being arranged through the base 1, climbing the wall by negative pressure adsorption, a cleaning roller 9 being arranged at one end of the base 1 being liftable, and a wiper strip 13 being arranged at the other end being liftable, a layer plate 24 being fixed to the base 1 by a connecting component and being located above the exhaust fan 14, a controller 25 being fixed to the layer plate 24, and further comprising:

[0072] Redundant all, set on the base 1 to provide redundancy protection;

[0073] The wind regulating part is arranged on the redundant part and is electrically connected to the redundant part so as to automatically start the redundant part to pull the wall-climbing robot to climb the wall;

[0074] The wall cleaning part is arranged between the machine base 1 and the wiper strip 13 and is connected to the wind adjustment part to help clean the curtain wall;

[0075] The air adjustment part includes a guide push member and a pressure contact member, the guide push member is arranged on the redundant whole, and the pressure contact member is arranged at a position where the guide push member is away from the redundant whole;

[0076] The wall cleaning part comprises a scraping part and a spraying part. The scraping part is arranged at the lower end of the pressure contact part, and the spraying part penetrates the scraping part.

[0077] Specifically, the base 1 is plugged with a cover 2, and the cover 2 is located outside the layer 24 and the safety rope 23, and is penetrated by the conduit 26 and the air pipe 27. Four supports 5 are welded on the base 1 and symmetrically arranged. The supports 5 are rotatably connected to the rocker arms 6. The outer side of the rocker arms 6 is provided with an electric rod 7, and one end of the electric rod 7 is rotatably connected to the rocker arm 6, and the other end is rotatably connected to the support 5. The two ends of the base 1 are respectively provided with a frame plate 8 and a fixed frame 12, and The frame plate 8 and the fixed frame 12 are respectively fixed to the ends of the rocker arm 6, and the cleaning roller 9 is rotatably connected to the frame plate 8. A support rod 10 is fixed on the inner side of the frame plate 8, and the support rod 10 passes through one end of the cleaning roller 9 and is rotatably connected to the cleaning roller 9. A cavity is opened inside the cleaning roller 9, and the support rod 10 is located in the cavity. A motor 11 is fixed to one end of the support rod 10, and the driving end of the motor 11 is connected to the cleaning roller 9 and is on the same axis as the cleaning roller 9. The fixed frame 12 is fixed to the wiper strip 13.

[0078] During the actual application of this embodiment: the staff needs to place the wall-climbing robot on the surface of the curtain wall (flat glass, corrugated glass and photovoltaic panel) using the rubber wheels 4, and at the same time start the exhaust fan 14, so that the exhaust fan 14 uses the suction end to suck the air between the machine base 1 and the curtain wall, and discharge it through the exhaust pipe 15, so that the exhaust fan 14 generates negative pressure between the suction end and the curtain wall, thereby adsorbing the wall-climbing robot on the curtain wall. At the same time, the staff needs to control the extension and retraction of the electric rod 7, so that the two ends of the electric rod 7 rotate under the support of the support frame 5 and the rocker arm 6 during the extension and retraction process, and push the rocker arm 6 to rotate and adjust the angle under the support of the support frame 5 as it extends and retracts, so that the rocker arm 6 can respectively drive the frame plate 8 and the fixed frame 12 to adjust the angle together, and at the same time the frame plate 8 will drive the cleaning The cleaning roller 9 moves together, and the fixed frame 12 drives the wiper to move together, and then changes the distance between the cleaning roller 9 and the wiper and the curtain wall by adjusting the angle, so that the wiper and the cleaning roller 9 can contact and fit with the curtain wall. Then the staff can start the direct drive motor 3, so that the direct drive motor 3 drives the rubber wheel 4 to rotate using the driving end under the support of the machine base 1, so that the rubber wheel 4 uses the friction generated by contact with the curtain wall and the rotational power to roll along the curtain wall, thereby driving the wall-climbing robot to move on the curtain wall, and the operating directions of the four direct drive motors 3 can be controlled separately, so that the wall-climbing robot can turn. A single direct drive motor 3 and rubber wheel 4 can have a torque output of 30N·m, and an obstacle height of 10mm, which can cross obstacles such as photovoltaic panel frames and building decorative strips.

[0079] When the wall-climbing robot moves along the curtain wall, the motor 11 needs to be started so that the motor 11 can use the driving end to drive the cleaning roller 9 to rotate under the support of the rocker arm 6 and the support rod 10 under the support of the rocker arm 6, so that the cleaning roller 9 can use the rotational power to clean the curtain wall when the wall-climbing robot moves, and at the same time the scraper will scrape off the stains and scale on the curtain wall.

[0080] As a preferred embodiment of the present invention, the redundant parts include redundant parts and protective parts, which are respectively fixed on the base 1. The redundant parts include:

[0081] Three exhaust fans 14 are staggeredly fixed on the base 1, and the air suction ends thereof are arranged through the base 1;

[0082] The exhaust pipe 15 is fixed to the exhaust end of the exhaust fan 14;

[0083] The frame 16 is fixed on the base 1 .

[0084] Specifically, the exhaust fan 14 can provide stable support for the exhaust pipe 15, the exhaust pipe 15 can provide an exhaust channel for the gas in the exhaust fan 14, the base 1 can provide stable support for the frame 16, the frame 16 can provide protection for its inner side setting, and can provide rotational support for the rotating shaft 17. Three of the four exhaust fans 14 are redundant designs. When air leakage occurs in the area covered by one of the exhaust fans 14, resulting in insufficient adsorption force, redundant suction protection can be provided for the areas covered by the other exhaust fans 14. When cleaning the photovoltaic panels, the exhaust fan 14 can be switched to a low negative pressure mode (300N / ㎡) to avoid the risk of hidden cracks in the components. In the event of strong winds or rainfall above level 6, redundant adsorption provides emergency adsorption, and the safety factor reaches IP67 protection level.

[0085] Protective parts include:

[0086] There are four rotating shafts 17, which rotate through the frame 16 and are symmetrically arranged;

[0087] There are four slave gears 18, each fixed to one end of the rotating shaft 17;

[0088] There are four gear rollers 19, which are fixed to the other ends of the four rotating shafts 17 and located in the frame 16;

[0089] There are four motors 20 , which are fixed to the machine base 1 through fixing components. The driving ends of the four motors 20 are respectively engaged with the slave gears 18 .

[0090] Specifically, the rotating shaft 17 can provide stable support for the slave gear 18 and the gear roller 19 under the rotation support of the frame 16. The four gear rollers 19 can squeeze and clamp the safety rope 23. The driving end of the motor 20 is connected to the main gear 21, and the main gear 21 is engaged with the slave gear 18. The motor 20 can use the driving end to drive the main gear 21 to rotate under the support of the machine base 1, so that the main gear 21 can use the rotational power and meshing action to push the slave gear 18 to rotate, and the slave gear 18 will drive the rotating shaft 17 and the gear roller 19 to rotate together.

[0091] The protective member also includes a pulling part, which is arranged on the base 1 and moves through the frame 16. The pulling part includes:

[0092] There are two guide cylinders 22, which are fixed to the base 1 through connecting components and are located at both ends of the frame 16;

[0093] A safety rope 23 is provided which is movable through the guide cylinder 22 and the frame 16;

[0094] The safety rope 23 is squeezed by the four toothed rollers 19 .

[0095] During actual application of this embodiment, the four exhaust fans 14 can maintain reliable adsorption on the curtain wall with a surface angle of 90°. The staff can fix one end of the safety rope 23 on one end of the curtain wall and the other end on the other end of the curtain wall, and keep the safety rope 23 straight. The guide cylinder 22 can provide a penetration function for the safety rope 23, and can cooperate with the safety rope 23 to provide a guiding function for the machine base 1, so that the machine base 1 can use external force to move along the safety rope 23 through the guide cylinder 22. The tooth roller 19 can use the rotational power to bite and move along the safety rope 23 as it rotates, thereby driving the wall-climbing robot to move along the safety rope 23, forming an active safety rope 23 retraction and extension system. When the equipment is in some areas where adsorption is impossible, it can pull the wall-climbing robot forward, thereby providing safety protection and backup driving force when the adsorption force is insufficient.

[0096] As a preferred embodiment of the present invention, the push guide comprises:

[0097] There are four conduits 26, one end of which is sealed and plugged into the upper end of the row pipe 15;

[0098] An air pipe 27 is provided above the layer plate 24 to communicate with the four ducts 26;

[0099] The bullet-blocking component is arranged at the lower end of the air pipe 27 .

[0100] Specifically, the exhaust pipe 15 can provide stable support for the conduit 26 under the support of the exhaust fan 14, and can provide a channel for the gas to enter the conduit 26. The conduit 26 can provide support for the trachea 27, and the conduit 26 can provide guidance for the gas to enter the trachea 27. The trachea 27 can provide flow guidance for the gas.

[0101] Bulletproof parts include:

[0102] The telescopic rod 28 is symmetrically fixed to the lower end of the trachea 27;

[0103] The spring 29 is symmetrically fixed to the lower end of the air pipe 27 and is located outside the telescopic rod 28;

[0104] The cone 34 is movably disposed at the lower end of the air pipe 27 and is fixedly connected to the lower ends of the telescopic rod 28 and the spring 29 .

[0105] Specifically, the air pipe 27 can provide support for the telescopic rod 28 and the spring 29. The telescopic rod 28 can be extended and retracted under the action of external force. The spring 29 is elastic and can be stretched and extended by the thrust of the airflow discharged from the lower end of the air pipe 27 when the suction ends of the four exhaust fans 14 cannot absorb the corrugated glass. The cone 34 can use its own conical concave structure to provide resistance to the gas discharged from the lower end of the air pipe 27, directly bear the thrust of the airflow, and transmit the thrust to the spring 29 and the telescopic rod 28.

[0106] The pressure contacts include:

[0107] There are two support rods 30, which are fixed on the outside of the spring 29 and located near the cone 34;

[0108] The rotating rod 31 is fixed between the two supporting rods 30;

[0109] The pressure plate 32 is rotatably arranged on the outside of the rotating rod 31;

[0110] The fan plate 33 is provided at one end of the pressing plate 32 to tilt the other end of the pressing plate 32;

[0111] The switch 41 is fixed to the lower end of the air pipe 27 and is located above the other end of the pressure plate 32 .

[0112] Specifically, the spring 29 can provide stable support for the support rod 30, the support rod 30 can provide support for the rotating rod 31, the rotating rod 31 can provide rotational support for the pressure plate 32, and the pressure plate 32 can provide support for the fan plate 33. The fan plate 33 is a fan-shaped structure and can use its own weight to press down one end of the pressure plate 32 so that the other end of the pressure plate 32 contacts the switch 41. The fan plate 33 has an arc-shaped concave, which can withstand the airflow discharged from the air pipe 27 and generate downward pressure.

[0113] In actual application of this embodiment, when it is necessary to use the wall-climbing robot to clean the corrugated glass curtain wall (due to the unevenness, air leakage occurs and it is difficult to establish qualified negative pressure adsorption) and other curtain walls that cannot be adsorbed by the adsorption force generated by the exhaust fan 14, the staff need to use the safety rope 23, fix the two ends of the safety rope 23 on the two ends of the curtain wall respectively and straighten them. If the safety rope 23 can be adsorbed by the exhaust fan 14, the safety rope 23 can be rolled up and wrapped around the outside of the air pipe 27 and the duct 26 for storage, and the exhaust fan 14 is started at the same time. At this time, the suction end of the exhaust fan 14 cannot create negative pressure adsorption, thereby increasing the air volume entering the exhaust pipe 15, and then the exhaust pipe 15 will use the duct 26 to transport the airflow to the air pipe 27. After the air flow rate in the air pipe 27 is increased, it is discharged vertically from the lower end of the air pipe 27 into the cone 34, so that the cone 34 can be pushed by the airflow in the direction away from the air pipe 27 to pull the spring 29 and the telescopic rod 28 to extend. At the same time, the airflow will be applied to the fan plate 33, so that the fan plate 33 can be pushed by the airflow and then drive the pressure plate 32 to rotate counterclockwise with the rotating rod 31 as the center, so that the pressure plate 32 squeezes the switch 41, and then the switch 41 is squeezed and triggered, so that the switch 41 can start the motor 20 to run, so that the motor 20 can cooperate with the gear roller 19 and the safety rope 23 to pull the wall-climbing robot forward, thereby facilitating the cleaning of curtain walls such as corrugated glass curtain walls that cannot be adsorbed by the adsorption force generated by the exhaust fan 14, thereby improving adaptability.

[0114] As a preferred embodiment of the present invention, the scraping member includes:

[0115] The connecting pipe 35 is provided at the lower end of the cone 34;

[0116] A bottom plate 36 is provided at the lower end of the connecting pipe 35;

[0117] Two cotton brushes 37 are fixed below the bottom plate 36 , with a gap between the two cotton brushes 37 .

[0118] Specifically, the connecting tube 35 can provide support for the bottom plate 36, and the bottom plate 36 can provide support for the cotton brushes 37. The lower end of one of the cotton brushes 37 is relatively sharp and elastic, which can fit well on the surface of the corrugated glass curtain wall, making it easy to wipe and clean.

[0119] Spray-punched parts include:

[0120] A three-way solenoid valve 46 is fixed to the upper end of the connecting pipe 35 and is connected to the cone 34;

[0121] The flange pipe 38 is connected to one side of the three-way solenoid valve 46;

[0122] An inner channel 39 is provided inside the bottom plate 36;

[0123] The nozzle 40 passes through the side of the bottom plate 36 close to the cotton brush 37 and is connected to the inner channel 39;

[0124] The flushing adjustment part is arranged on the outside of the cone 34.

[0125] Specifically, the three-way solenoid valve 46 can provide support for the connecting pipe 35 under the support of the cone cylinder 34, and can provide support for the flange pipe 38, and can control the opening and closing of the channels between the connecting pipe 35 and the cone cylinder 34 and the flange pipe 38. The bottom plate 36 can provide an opening space for the inner channel 39. The inner channel 39 and the nozzle 40 can provide a circulation channel for airflow or water. The nozzle 40 can provide a channel for airflow or water to be discharged vertically downward onto the curtain wall.

[0126] Adjustment parts include:

[0127] L-ring 42, integrally formed on the outside of the cone 34;

[0128] Elastic ring 43, elastic sleeve arranged on the outside of L ring 42;

[0129] The rubber cover 44 has one end connected to the outside of the elastic ring 43 and the other end connected to the outside of the cone 34 and is located below the L ring 42;

[0130] The arc support ring 45 is fixed to the outside of the air pipe 27 and is located above the switch 41.

[0131] Specifically, the cone 34 can provide stable support for the L-ring 42, the elastic ring 43 can be stored on the outside of the L-ring 42 by using its own elastic hoop, and can use elastic force to provide support for the rubber cover 44, the rubber cover 44 can be deformed under the action of external force, the air pipe 27 can provide support for the arc support ring 45, the arc support ring 45 has a concave curvature, which can provide placement and positioning space for the elastic ring 43, and cooperate with the elasticity of the elastic ring 43 to support the elastic ring 43.

[0132] During actual application of this embodiment, after the staff adsorbs the wall-climbing robot onto the curtain wall, they can first connect the hose pipe for conveying cleaning water to the flange pipe 38, control the electric rod 7 to retract and lift the cleaning roller 9 and the wiper strip 13, and control the wall-climbing robot to move along the curtain wall. At the same time, they can control the three-way solenoid valve 46 to adjust the channel of the flange pipe 38 to be connected with the connecting pipe 35, so that the cleaning water can enter the three-way solenoid valve 46 through the connecting pipe and the flange pipe 38, and pass through the three-way solenoid valve 46 into the connecting pipe 35, and then pass through the connecting pipe 35 into the inner channel 39, fill the inner channel 39 and enter the nozzle 40, and finally pass through the nozzle 40 to be discharged onto the curtain wall. At the same time, in conjunction with the movement of the wall-climbing robot, the cleaning water can be pre-deployed on the curtain wall. After completion, the connected hose pipe can be removed, the electric rod 7 can be controlled to extend, so that the cleaning roller 9 and the wiper strip 13 contact the surface of the curtain wall, and the three-way solenoid valve 46 can be controlled. The adjustment cone 34 is connected to the channel of the connecting pipe 35, and then the elastic ring 43 is stretched and removed from the outside of the L ring 42, and the rubber cover 44 is pulled upward so that the elastic ring 43 is sleeved on the outside of the air pipe 27 and placed on the inner side of the arc support ring 45 for positioning, so that the elastic ring 43 can provide positioning support for the rubber cover 44 under the support of the arc support ring 45 and the action of its own elastic force, so that the rubber cover 44 can cover the cone 34, the arc support ring 45 and the lower end of the air pipe 27, so that the adsorbed residual air flow can be discharged from the air pipe 27 and pass through the cone 34 under the guide shield of the rubber cover 44 into the three-way solenoid valve 46, and pass through the three-way solenoid valve 46 to enter the connecting pipe 35 and the inner channel 39 in turn, and finally pass through the nozzle 40 to be sprayed onto the curtain wall, thereby using the blown air flow to assist in drying the curtain wall (the forward speed of the wall-climbing robot can be flexibly controlled or stopped), and the wall-climbing robot can be controlled to move to perform curtain wall cleaning work.

[0133] When cleaning the corrugated glass curtain wall, the staff needs to control the three-way solenoid valve 46 to keep the conical cylinder 34 and the connecting pipe 35 connected, so that the airflow discharged from the air pipe 27 can drive the flange pipe 38, the connecting pipe 35, the bottom plate 36, the cotton brush 37 and the nozzle 40 to move together when pushing the conical cylinder 34 and the three-way solenoid valve 46 away from the air pipe 27, so that the cotton brush 37 can contact the corrugated glass curtain wall under the support of the bottom plate 36, and use the pressure generated by the airflow to make the cotton brush 37 fit into contact with the corrugated glass curtain wall by its own deformable properties, so that when the wall-climbing robot moves along the curtain wall, it can drive the cotton brush 37 to move together, so that the cotton brush 37 can use the sharp tip of one of the cotton brushes 37 to scrape water, and use the other cotton brush 37 to further wipe and dry the corrugated glass curtain wall, thereby improving the cleaning adaptability and cleaning effect of the corrugated glass curtain wall.

[0134] Working principle: four direct drive motors 3 drive the rubber wheel 4 to rotate, and cooperate with the exhaust fan 14 to form negative pressure adsorption (standard adsorption force reaches 300N / ㎡) between the machine base 1 and the curtain wall. The friction between the rubber wheel 4 and the curtain wall surface is used to achieve crawling. The electric rod 7 controls the angle of the rocker arm 6 and adjusts the contact pressure between the cleaning roller 9 and the wiper strip 13 and the curtain wall to adapt to different surfaces.

[0135] Three of the four exhaust fans 14 are redundant. When a certain area leaks, the other exhaust fans 14 automatically supplement the suction force. In the event of a gale of wind above level 6 or an air leak, the active retraction and extension system of the safety rope 23 is activated: the toothed roller 19 drives the motor 20 to engage the safety rope 23, pulling the wall-climbing robot to move (torque 30 N·m, obstacle clearance height 10 mm). The four exhaust fans 14 are designed with three backup and one backup to ensure that single-point failures do not affect suction. The safety rope 23 system provides emergency traction in the event of suction failure, providing multiple adaptive redundancy to improve adaptability. The double self-locking structure of the toothed roller 19 prevents slippage.

[0136] When cleaning a flat curtain wall, the exhaust fan 14 adsorbs normally, the cleaning roller 9 rotates and wipes, and the wiper strip 13 scrapes off stains. When cleaning a corrugated glass curtain wall, after the air adjustment part senses that the adsorption fails, the airflow triggers the pressure contact part to start the safety rope 23 traction, and at the same time the spray part sprays air to assist the cotton brush 37 to clean the concave and convex surface; the curtain wall is sprayed with an external water source through the flange pipe 38, and the residual airflow of the exhaust fan 14 is used to blow in a directional manner through the nozzle 40 to accelerate drying. The flat / corrugated curtain wall working mode is automatically switched through wind pressure sensing, and the contact pressure is adaptively adjusted to improve adaptability and cleaning effect.

[0137] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A negative pressure adsorption multifunctional wall-climbing robot, comprising a base and four direct drive motors, wherein the driving ends of the four direct drive motors are respectively connected to rubber wheels, an exhaust fan is fixed on the base, and the suction end of the exhaust fan is arranged through the base, and the robot climbs the wall by negative pressure adsorption, a cleaning roller is arranged on one end of the base, and a wiper strip is arranged on the other end, a layer plate is fixed on the base through a connecting component and is located above the exhaust fan, and a controller is fixed on the layer plate, characterized in that: Also includes: Redundant all, set on the base to provide redundancy protection; The redundant parts include redundant components and protective components, which are respectively fixed on the machine base. The redundant components include: three exhaust fans, which are staggered and fixed on the machine base, and the air intake ends of the three exhaust fans pass through the machine base; exhaust pipes, which are fixed on the exhaust ends of the exhaust fans; and a frame, which is fixed on the machine base. The wind regulating part is arranged on the redundant part and is electrically connected to the redundant part so as to automatically start the redundant part to pull the wall-climbing robot to climb the wall; The wall cleaning part is arranged between the machine base and the scraper strip and is connected to the wind adjustment part to help clean the curtain wall; The wind adjustment part includes a guide push piece, a pressure contact piece and a bullet-blocking part, wherein the guide push piece is arranged on the redundant whole, the pressure contact piece is arranged at a position of the guide push piece away from the redundant whole, and the bullet-blocking part is connected inside the guide push piece; The push guide comprises: an air pipe, arranged above the layer plate; There are four conduits, one end of which is plugged into the upper end of the row pipe; The trachea is connected to the other ends of the four catheters; The bullet-blocking component is arranged at the lower end of the trachea; The bullet-blocking part includes: a cone, which is arranged at the lower end of the air pipe in a liftable manner; The telescopic rod is symmetrically fixed to the lower end of the trachea; The spring is symmetrically fixed to the lower end of the trachea and is located outside the telescopic rod; The cone is fixedly connected to the telescopic rod and the lower end of the spring; The pressure contact member includes: There are two support rods, which are fixed on the outside of the spring and located close to the cone; A rotating rod, fixed between the two supporting rods; A pressure plate, rotatably arranged on the outside of the rotating rod; A fan plate is provided at one end of the pressure plate to tilt the other end of the pressure plate; The switch is fixed to the lower end of the air pipe and is located above the other end of the pressure plate; The wall cleaning part includes a scraping member and a spraying member, wherein the scraping member is arranged at the lower end of the pressure contact member, and the spraying member is arranged through the scraping member; The scraping member includes a connecting pipe arranged at the lower end of the cone.

2. The negative pressure adsorption multifunctional wall-climbing robot according to claim 1, characterized in that: The protective element comprises: There are four rotating shafts, which rotate through the frame and are symmetrically arranged; There are four slave gears, each fixed to one end of the rotating shaft; There are four gear rollers, which are respectively fixed to the other ends of the four rotating shafts and located in the frame; The motors are four and fixed on the machine base through fixing components. The driving ends of the four motors are connected with main gears, and the main gears are meshed with slave gears.

3. The negative pressure adsorption multifunctional wall-climbing robot according to claim 2, characterized in that: The protective member further includes a pulling part, which is arranged on the machine base and movably penetrates the frame. The pulling part includes: There are two guide cylinders, which are fixed to the machine base through connecting parts and are located at both ends of the frame; Safety rope, movable through the guide cylinder and frame setting; The safety rope is squeezed by the four tooth rollers.

4. The negative pressure adsorption multifunctional wall-climbing robot according to claim 3, characterized in that: The scraping member further comprises: A bottom plate is provided at the lower end of the connecting pipe; There are two cotton brushes fixed below the bottom plate with a gap between the two cotton brushes, and the lower end of one of the cotton brushes is relatively sharp.

5. The negative pressure adsorption multifunctional wall-climbing robot according to claim 4, characterized in that: The spray-punch part includes: The three-way solenoid valve is fixed at the upper end of the connecting pipe and is connected to the cone cylinder; Flange pipe, connected to one side of the three-way solenoid valve; Inner channel, opened inside the bottom plate; The nozzle penetrates the side of the bottom plate close to the cotton brush and is connected with the inner channel; The flushing adjustment parts are arranged on the outside of the cone.

6. The negative pressure adsorption multifunctional wall-climbing robot according to claim 5, characterized in that: The flushing parts include: L-ring, integrally formed on the outside of the cone; Elastic ring, the elastic sleeve is arranged on the outside of the L ring; The rubber cover has one end connected to the outside of the elastic ring and the other end connected to the outside of the cone and is located below the L ring; The arc support ring is fixed on the outside of the air pipe and located above the switch.

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