Negative pressure adsorption wall-climbing robot capable of adapting to cambered surface and plane

Abstract

The invention relates to the technical field of negative pressure adsorption wall-climbing robots, and discloses a negative pressure adsorption wall-climbing robot capable of adapting to a cambered surface and a plane. Comprising a machine body, a composite suction cup is arranged on the lower surface of the machine body, the composite suction cup is composed of multiple layers of EPDM suction cup sponges and multiple layers of suction cup elastic frameworks, and the suction cup elastic frameworks are supported and limited by multiple suction cup longitudinal guide shafts; driving crawler belt sealing shells are arranged in the machine body, a suction cup top plate is fixedly connected to the position, located between the driving crawler belt sealing shells, in the machine body, and the suction cup top plate and the driving crawler belt sealing shells are combined to form a sealing cavity. The suction cup elastic framework is limited by the multiple suction cup longitudinal guide shafts, so that the softness of the suction cup can be guaranteed, the suction cup can adapt to wall faces of different shapes, certain rigidity of the suction cup in the advancing direction can be guaranteed, and the suction cup is prevented from collapsing and curling when the robot runs.

Description

Technical Field

[0001] The present invention relates to the technical field of negative pressure adsorption wall-climbing robots, and particularly to a negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces. Background Art

[0002] A wall-climbing robot is an automated robot that can climb on a vertical wall and complete operations. A wall-climbing robot is also known as a wall surface mobile robot. Since operating on a vertical wall surface exceeds human limits, it is also called an extreme operation robot abroad. A wall-climbing robot must have two basic functions: adsorption and movement. Common adsorption methods include negative pressure adsorption and permanent magnet adsorption. Among them, the negative pressure method can generate negative pressure in the suction cup to adsorb on the wall surface, and is not limited by the wall surface material; the permanent magnet adsorption method has two methods: permanent magnet and electromagnet, and is only applicable to adsorbing ferromagnetic wall surfaces. Wall-climbing robots are mainly used in petrochemical enterprises for flaw detection or painting treatment of large cylindrical tanks, or for cleaning and spraying of buildings. In the nuclear industry, they are used for inspection and thickness measurement, etc., and can also be used in industries such as fire protection and shipbuilding;

[0003] Currently, when detecting surface and internal defects of higher and deeper concrete components and other material components such as bridge piers, dams, wind power tower barrels, tunnels, etc., it is often necessary for workers to manually use safety ropes and aerial work platforms or manually crawl into the components to carry detection equipment for close-range detection. There are certain safety hazards and the efficiency is relatively low. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the present invention provides a negative pressure adsorption wall-climbing robot that can adapt to curved and flat surfaces. The composite suction cup is composed of EPDM suction cup sponges and suction cup elastic skeletons stacked at intervals. The suction cup elastic skeletons are limited by multiple suction cup longitudinal guide shafts. This can not only ensure the softness of the suction cup to facilitate adaptation to wall surfaces of different shapes, but also ensure a certain rigidity in the forward direction of the suction cup to prevent the suction cup from collapsing and curling during the operation of the robot. By using aerospace ultra-soft and low-friction polyurethane sealed suction cups, while being able to adapt to wall surfaces of different shapes, they will not wear out too quickly when there is relative sliding between the suction cup and the wall surface. When the robot runs on a circular wall surface, the EPDM suction cup sponge will undergo elastic deformation according to the concave and convex conditions of the wall surface. At the more protruding positions of the wall surface, the EPDM suction cup sponge will retract; at the more concave positions of the wall surface, the EPDM suction cup sponge will rebound; thus enabling the suction cup to closely adhere to the circular wall surface. The suction cup elastic skeleton is a thin sheet made of manganese steel material and has a certain width. The suction cup elastic skeleton is padded between multiple layers of EPDM suction cup sponges to provide a certain supporting force for the multiple layers of EPDM suction cup sponges, preventing the composite suction cup from losing its shape retention ability due to the excessive softness of the EPDM suction cup sponge. The driving track module is connected to the robot body through elastic telescopic guide columns and a driving component EPDM suction cup sponge, enabling the driving track module to twist within a certain range, and then enabling the driving track to passively fit onto wall surfaces of different shapes. Since the driving force of the driving track is greater than the frictional resistance of the suction cup, the robot can crawl on the wall surface. Moreover, the driving motor includes a worm and worm gear reducer with a self-locking characteristic. When the robot stops moving, it will not slip due to gravity. These advantages solve the problems of stable adsorption and crawling of the negative pressure wall-climbing robot when it adapts to both curved and flat surfaces, and replace manual inspection operations in some high-risk work scenarios.

[0006] (2) Technical solution

[0007] To solve the above technical problems, the present invention provides the following technical solution: It includes a body, and a composite suction cup is provided on the lower surface of the body. The composite suction cup is composed of multiple layers of EPDM suction cup sponges and multiple layers of suction cup elastic skeletons, and the suction cup elastic skeletons are supported and limited by multiple suction cup longitudinal guide shafts;

[0008] A driving track sealing shell is provided inside the body. A suction cup top plate is fixedly connected between the driving track sealing shells inside the body. The suction cup top plate and the driving track sealing shell form a sealed cavity, and a negative pressure fan is provided on the upper surface of the body.

[0009] Through the above technical solution: The composite suction cup fits with the wall surface and combines with the suction cup top plate and the driving track seal housing to form a sealed cavity. The negative pressure fan sucks the gas from the negative pressure cavity through the fan air inlet, creating a negative pressure in the sealed cavity, and then relying on the external atmospheric pressure to press the robot onto the wall surface. The two driving track modules are pressed tightly against the crawling surface by the pressure generated by the internal and external pressure difference and are driven by the track driving motor to provide driving force for the wall-climbing robot. Since the driving force of the driving track is greater than the frictional resistance of the suction cup, the robot can crawl on the wall surface.

[0010] Preferably, a track driving motor is arranged on the side surface of the driving track seal housing, and the output end of the track driving motor is sleeved with a driving track module through a transmission roller.

[0011] Through the above technical solution: The driving motor includes a worm and worm gear reducer, which has a self-locking characteristic. When the robot stops moving, it will not slip due to gravity.

[0012] Preferably, the suction cup elastic skeleton is a thin sheet made of manganese steel material, and the suction cup elastic skeleton is padded between multiple layers of EPDM suction cup sponges to provide a certain supporting force for the multiple layers of EPDM suction cup sponges.

[0013] Through the above technical solution: Prevent the composite suction cup from losing its shape retention ability due to the excessive softness of the EPDM suction cup sponge.

[0014] Preferably, a camera horizontal rotation servo is arranged on the upper surface of the body, a camera pitch servo is arranged on the upper surface of the camera horizontal rotation servo, and an image acquisition module is arranged on the upper surface of the camera pitch servo.

[0015] Through the above technical solution: It is possible to capture the image information of the road conditions in front of the robot and the inspected wall surface in real time.

[0016] Preferably, an image acquisition camera is arranged on the front surface of the image acquisition module, and the image acquisition camera is electrically connected to the image acquisition module. Camera light sources are arranged on both sides of the image acquisition camera on the front surface of the image acquisition module.

[0017] Through the above technical solution: The camera light source can be used to fill light for the shooting of the image acquisition camera, making the image acquisition camera clearer when capturing image information of the external environment.

[0018] Preferably, an aerospace super-soft and low-friction polyurethane sealed suction cup is arranged on the lower surface of the composite suction cup.

[0019] Through the above technical solution: While being able to adapt to wall surfaces of different shapes, it will not wear too quickly when the suction cup and the wall surface slide relative to each other.

[0020] Preferably, a driving component EPDM suction cup sponge is provided on the rear surface of the driving crawler sealing shell, and an elastic telescopic guiding column of the driving component is provided on the rear surface of the driving crawler sealing shell, and the elastic telescopic guiding column of the driving component is located behind the crawler driving motor.

[0021] Through the above technical solution: The driving crawler module and the robot body are connected by the elastic telescopic guiding column of the driving component and the driving component EPDM suction cup sponge, so that the driving crawler module can be twisted within a certain range.

[0022] Preferably, a winch is movably connected to the upper surface of the body through a bearing, and the winch is located below the image acquisition module, and the length of the winch is greater than that of the body.

[0023] Through the above technical solution: The winch facilitates the winding or unwinding of the steel wire rope, which is convenient for the subsequent use of the steel wire rope.

[0024] Preferably, a winch motor is provided on the side surface of the winch, and the output end of the winch motor is fixedly connected to the winch. A steel wire rope is wound around the side surface of the winch, and a safety hook is provided at one end of the steel wire rope away from the winch.

[0025] Through the above technical solution: The winch is powered by the winch motor and can realize the winding and unwinding of the steel wire rope as the robot moves. At the same time, the safety hook is hung at a high place, thus ensuring the safe use of the robot.

[0026] Preferably, the crawler driving motor includes a worm and worm reducer with a self-locking characteristic. An air inlet of the fan is provided on the lower surface of the suction cup top plate, and the air inlet of the fan is communicated with the negative pressure fan.

[0027] Through the above technical solution: The negative pressure fan draws the gas from the negative pressure chamber through the air inlet of the fan, forming a negative pressure in the sealed chamber, and then relying on the external atmospheric pressure to press the robot against the wall surface. Using the self-locking characteristic of the crawler driving motor, when the robot stops moving, it will not slip due to gravity.

[0028] Compared with the prior art, the present invention provides a negative pressure adsorption wall-climbing robot that can adapt to arc surfaces and flat surfaces, and has the following beneficial effects:

[0029] 1. The composite suction cup of the present invention is composed of EPDM suction cup sponges and suction cup elastic skeletons stacked at intervals. The suction cup elastic skeletons are limited by multiple suction cup longitudinal guide shafts. This can not only ensure the softness of the suction cup to adapt to wall surfaces of different shapes, but also ensure a certain rigidity of the suction cup in the forward direction to prevent the suction cup from collapsing and curling during the operation of the robot. By using aerospace ultra-soft and low-friction polyurethane sealed suction cups, it can adapt to wall surfaces of different shapes and will not wear too quickly when there is relative sliding between the suction cup and the wall surface. When the robot runs on a circular arc wall surface, the EPDM suction cup sponge will undergo elastic deformation according to the convex and concave conditions of the wall surface. At the relatively raised positions of the wall surface, the EPDM suction cup sponge will retract; at the relatively sunken positions of the wall surface, the EPDM suction cup sponge will rebound; thus enabling the suction cup to closely adhere to the circular arc wall surface. The suction cup elastic skeleton is a thin sheet made of manganese steel material and has a certain width. The suction cup elastic skeleton is padded between multiple layers of EPDM suction cup sponges to provide a certain supporting force for the multiple layers of EPDM suction cup sponges, preventing the composite suction cup from losing its shape retention ability due to the excessive softness of the EPDM suction cup sponge. The driving crawler module is connected to the robot body through elastic telescopic guide columns and the driving component EPDM suction cup sponge, enabling the driving crawler module to twist within a certain range, and then enabling the driving crawler to passively fit to wall surfaces of different shapes. Since the driving force of the driving crawler is greater than the frictional resistance of the suction cup, the robot can crawl on the wall surface. Moreover, the driving motor includes a worm and worm gear reducer with a self-locking characteristic. When the robot stops moving, it will not slip due to gravity. By using the driving crawler module and the negative pressure adsorption structure, the negative pressure adsorption wall-climbing effect of the device on the arc surface and the plane can be improved.

[0030] 3. A winch can be mounted on the front part of the robot of the present invention. The winch is powered by a winch motor and can retract and release the steel wire rope as the robot moves. At the same time, a safety hook is hung at a high place to ensure the safe use of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 is a schematic diagram of the bottom view structure of the body of the present invention;

[0033] Figure 3 is a schematic diagram of the top view structure of the body of the present invention;

[0034] Figure 4 is a schematic diagram of the structure of the driving crawler module of the present invention;

[0035] Figure 5 is a schematic diagram of the structure of the composite suction cup of the present invention.

[0036] Wherein: 1. Negative pressure fan; 2. Image acquisition module; 3. Composite suction cup; 4. Driving crawler belt module; 5. Sealing cavity; 6. Elastic telescopic guiding column of driving component; 7. EPDM suction cup sponge of driving component; 8. EPDM suction cup sponge; 9. Elastic skeleton of suction cup; 10. Longitudinal guiding shaft of suction cup; 11. Aerospace ultra-flexible low-friction polyurethane sealing suction cup; 12. Crawler belt driving motor; 13. Sealing shell for driving crawler belt; 14. Suction cup top plate; 15. Air inlet of fan; 16. Image acquisition camera; 17. Light source of camera; 18. Camera pitching servo; 19. Camera horizontal rotation servo; 20. Winch; 21. Steel wire rope; 22. Safety hook; 23. Winch motor; 24. Airframe. Detailed implementation manners

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0038] Please refer to Figures 1-5, A negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces, including a body 24. A composite suction cup 3 is provided on the lower surface of the body 24. The composite suction cup 3 is composed of multiple layers of EPDM suction cup sponges 8 and multiple layers of suction cup elastic skeletons 9. The suction cup elastic skeleton 9 is supported and limited by multiple suction cup longitudinal guide shafts 10. This can not only ensure the softness of the suction cup to adapt to wall surfaces of different shapes, but also ensure a certain rigidity in the forward direction of the suction cup to prevent the suction cup from collapsing and curling during the operation of the robot. The aerospace ultra-soft and low-friction polyurethane sealed suction cup 11 can adapt to wall surfaces of different shapes and will not wear out too quickly when there is relative sliding between the suction cup and the wall surface. Inside the body 24, a suction cup top plate 14 is fixedly connected between the drive track sealing shells 13. The suction cup top plate 14 and the drive track sealing shells 13 form a sealed cavity 5. A negative pressure fan 1 is provided on the upper surface of the body 24. The lower surface of the suction cup top plate 14 is provided with a fan air inlet 15, and the fan air inlet 15 communicates with the negative pressure fan 1. The suction cup elastic skeleton 9 is made of a thin sheet of manganese steel material and has a certain width. The suction cup elastic skeleton 9 is padded between multiple layers of EPDM suction cup sponges 8. The elasticity of the EPDM suction cup sponge is moderate, which can not only provide a certain supporting force for the suction cup, but also prevent the drive track module from being pushed away from the wall surface due to excessive supporting force. When the robot runs on a circular arc wall surface, the EPDM suction cup sponge 8 will undergo elastic deformation according to the concave and convex conditions of the wall surface. At the position where the wall surface is more convex, the EPDM suction cup sponge 8 will retract. At the position where the wall surface is more concave, the EPDM suction cup sponge 8 will rebound to make the suction cup stick tightly to the circular arc wall surface, providing a certain supporting force for multiple layers of EPDM suction cup sponges 8, preventing the composite suction cup 3 from losing its shape-holding ability due to the excessive softness of the EPDM suction cup sponge 8. The lower surface of the composite suction cup 3 is provided with an aerospace ultra-soft and low-friction polyurethane sealed suction cup 11. The composite suction cup 3 fits with the wall surface and forms a sealed cavity 5 with the suction cup top plate 14 and the drive track sealing shells 13. The negative pressure fan 1 sucks the gas from the negative pressure cavity through the fan air inlet 15, creating a negative pressure in the sealed cavity 5, and then relying on the external atmospheric pressure to press the robot onto the wall surface.

[0039] Inside the body 24, a drive crawler seal housing 13 is provided. On the side surface of the drive crawler seal housing 13, a crawler drive motor 12 is provided. The output end of the crawler drive motor 12 is sleeved with a drive crawler module 4 through a transmission roller. The crawler drive motor 12 includes a worm and worm gear reducer and has a self-locking characteristic. On the rear surface of the drive crawler seal housing 13, a drive component EPDM suction cup sponge 7 is provided. On the rear surface of the drive crawler seal housing 13, a drive component elastic telescopic guide post 6 is provided, and the drive component elastic telescopic guide post 6 is located behind the crawler drive motor 12. The drive crawler module 4 is connected to the robot body through the drive component elastic telescopic guide post 6 and the drive component EPDM suction cup sponge 7, so that the drive crawler module can be twisted within a certain range, and then the drive crawler can be passively attached to walls of different shapes.

[0040] On the upper surface of the body 24, a camera horizontal rotation servo 19 is provided. On the upper surface of the camera horizontal rotation servo 19, a camera pitch servo 18 is provided. On the upper surface of the camera pitch servo 18, an image acquisition module 2 is provided. On the front surface of the image acquisition module 2, an image acquisition camera 16 is provided, and the image acquisition camera 16 is electrically connected to the image acquisition module 2. On both sides of the image acquisition camera 16 on the front surface of the image acquisition module 2, camera light sources 17 are provided. The image acquisition module 2 is composed of the image acquisition camera 16, the camera light sources 17, the camera pitch servo 18, and the camera horizontal rotation servo 19, and can capture the image information of the road conditions in front of the robot and the inspected wall surface in real time.

[0041] On the upper surface of the body 24, a winch 20 is movably connected through a bearing, and the winch 20 is located below the image acquisition module 2. The length of the winch 20 is greater than that of the body 24. On the side surface of the winch 20, a winch motor 23 is provided, and the output end of the winch motor 23 is fixedly connected to the winch 20. A steel wire rope 21 is wound around the side surface of the winch 20. One end of the steel wire rope 21 away from the winch 20 is provided with a safety hook 22. The front part of the robot can carry the winch 20. The winch 20 is powered by the winch motor 23 and can realize the winding and unwinding of the steel wire rope 21 as the robot moves. At the same time, the safety hook 22 is hung at a high place to ensure the safe use of the robot.

[0042] In use, a winch 20 can be mounted on the front part of the robot. The winch 20 is powered by a winch motor 23 and can retract and extend a wire rope 21 as the robot moves. At the same time, a safety hook 22 is hung at a high place to ensure the safe use of the robot. When the robot works, the composite suction cup 3 fits against the wall surface and forms a sealed cavity 5 in combination with the suction cup top plate 14 and the drive crawler seal housing 13. The negative pressure fan 1 sucks air from the negative pressure cavity through the fan air inlet 15, creating a negative pressure in the sealed cavity 5. Then, relying on the external atmospheric pressure, the robot is pressed against the wall surface. The two drive crawler modules 4 are pressed against the crawling surface by the pressure generated by the internal and external pressure differences and are driven by the crawler drive motor 12 to provide driving force for the wall-climbing robot. Since the driving force of the drive crawler is greater than the frictional resistance of the suction cup, the robot can crawl on the wall surface. And the drive motor includes a worm and worm gear reducer with a self-locking characteristic. When the robot stops moving, it will not slip due to gravity. When the robot works, the composite suction cup 3 fits against the wall surface and forms a sealed cavity 5 in combination with the suction cup top plate 14 and the drive crawler seal housing 13. The negative pressure fan 1 sucks air from the negative pressure cavity through the fan air inlet 15, creating a negative pressure in the sealed cavity 5. Then, relying on the external atmospheric pressure, the robot is pressed against the wall surface. The two drive crawler modules 4 are pressed against the crawling surface by the pressure generated by the internal and external pressure differences and are driven by the crawler drive motor 12 to provide driving force for the wall-climbing robot. Since the driving force of the drive crawler is greater than the frictional resistance of the suction cup, the robot can crawl on the wall surface. And the drive motor includes a worm and worm gear reducer with a self-locking characteristic. When the robot stops moving, it will not slip due to gravity.

[0043] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made in these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces, comprising a body (24), characterized in that: A composite suction cup (3) is provided on the lower surface of the body (24). The composite suction cup (3) is composed of multiple layers of EPDM suction cup sponges (8) and multiple layers of suction cup elastic skeletons (9). The suction cup elastic skeletons (9) are supported and limited by multiple suction cup longitudinal guide shafts (10). A drive crawler seal housing (13) is provided inside the body (24). A suction cup top plate (14) is fixedly connected between the drive crawler seal housings (13) inside the body (24). The suction cup top plate (14) and the drive crawler seal housing (13) form a sealed cavity (5). A negative pressure fan (1) is provided on the upper surface of the body (24).

2. The negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces according to claim 1, characterized in that: A crawler drive motor (12) is provided on the side surface of the drive crawler seal housing (13). The output end of the crawler drive motor (12) is sleeved with a drive crawler module (4) through a transmission roller.

3. The negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces according to claim 1, wherein: The suction cup elastic skeleton (9) is a thin sheet made of manganese steel material. The suction cup elastic skeleton (9) is padded between multiple layers of EPDM suction cup sponges (8) to provide a certain supporting force for the multiple layers of EPDM suction cup sponges (8).

4. The negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces according to claim 1, characterized in that: A camera horizontal rotation servo (19) is provided on the upper surface of the body (24). A camera pitch servo (18) is provided on the upper surface of the camera horizontal rotation servo (19). An image acquisition module (2) is provided on the upper surface of the camera pitch servo (18).

5. The negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces according to claim 5, characterized in that: An image acquisition camera (16) is provided on the front surface of the image acquisition module (2), and the image acquisition camera (16) is electrically connected to the image acquisition module (2). Camera light sources (17) are provided on both sides of the image acquisition camera (16) on the front surface of the image acquisition module (2).

6. The negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces according to claim 1, characterized in that: An aerospace ultra-soft low-friction polyurethane seal suction cup (11) is provided on the lower surface of the composite suction cup (3).

7. The negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces according to claim 1, characterized in that: A drive assembly EPDM suction cup sponge (7) is provided on the rear surface of the drive crawler seal housing (13). A drive assembly elastic telescopic guide post (6) is provided on the rear surface of the drive crawler seal housing (13), and the drive assembly elastic telescopic guide post (6) is located behind the crawler drive motor (12).

8. A negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces according to claim 1, characterized in that: A winch (20) is movably connected to the upper surface of the body (24) through a bearing, and the winch (20) is located below the image acquisition module (2). The length of the winch (20) is greater than that of the body (24).

9. The negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces according to claim 8, characterized in that: A winch motor (23) is provided on the side surface of the winch (20), and the output end of the winch motor (23) is fixedly connected to the winch (20). A steel wire rope (21) is wound around the side surface of the winch (20). A safety hook (22) is provided at one end of the steel wire rope (21) away from the winch (20).

10. The negative pressure adsorption wall-climbing robot adaptable to arc surfaces and flat surfaces according to claim 1, wherein: The crawler drive motor (12) includes a worm and worm gear reducer with a self-locking characteristic. An air inlet of the fan (15) is provided on the lower surface of the suction cup top plate (14), and the air inlet of the fan (15) is communicated with the negative pressure fan (1).

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