A mechanical valve-type negative pressure adsorption wall-climbing robot

Abstract

The present invention provides a mechanical valve type negative pressure adsorption wall-climbing robot, comprising a frame base plate and an adsorption movement mechanism, an adsorption steering mechanism, an anti-overturning mechanism, and a vacuum adsorption system arranged on the frame base plate. The adsorption movement mechanism comprises a drive motor, a driving shaft, a driven shaft, and two chain track groups. The two chain track groups are symmetrically mounted on both sides of the driving shaft and the driven shaft through bearing sleeves. Suction cup groups are evenly spaced on the tracks of the chain track groups. The vacuum adsorption system comprises a vacuum pump, two rotary joints, two Y-type three-way joints, and a plurality of T-type three-way joints and a cross four-way joint. The mechanical valve type negative pressure adsorption wall-climbing robot is provided with a rotary joint. When the walking suction cup moves along the direction of the chain track, its air intake pipe is supported by the T-type three-way joint and the cross four-way joint and rotates around the rotary joint, thereby avoiding the problem of pipe entanglement during the advancement of the wall-climbing robot.

Description

Technical Field

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

[0002] With the advancement of industrial upgrading and new urbanization, the demand for high-altitude vertical wall operations in the fields of petrochemicals, energy, transportation, etc. is increasing. Traditional manual high-altitude operations are often dangerous and inefficient. Therefore, there is an urgent need for a robot that can crawl on walls to replace manual high-altitude operations. In this context, wall-climbing robots that integrate multidisciplinary technologies have become the focus of many research institutions due to their unique vertical movement capabilities. Currently, various design schemes for wall-climbing robots are emerging. Based on the adsorption method, they can be divided into negative pressure adsorption, magnetic adsorption, bionic adsorption, etc.; based on the movement method, they can be divided into tracked, foot-type, wheeled, etc. Among them, tracked negative pressure adsorption wall-climbing robots are widely used because they can provide stable adsorption force during movement. In recent years, many types of optimization schemes have been proposed.

[0003] Patent number: CN201310059420.2 A cam-type negative pressure adsorption wall-climbing robot invented by Northwestern Polytechnical University includes an adsorption movement mechanism, an adsorption steering mechanism, a steering assist mechanism, and a main frame base. The wall-climbing robot uses the principle of an inverse cam mechanism to achieve passive vacuum adsorption of the suction cup, avoiding the connection and entanglement problem of the vacuum pump pipeline. It has the advantages of a simple suction cup structure and low control difficulty. Others include a wall-climbing robot with a passive vacuum adsorption walking guide and distance adjustment device with patent number 201710125642.8, which also uses the feature of passive vacuum adsorption. However, its passive vacuum adsorption feature also greatly limits its adsorption capacity, and it is destined to not have a large load-bearing capacity, which has great limitations in engineering applications.

[0004] The Cleanbot IV robot, mentioned in the journal Mechanical Design, Volume 20, Issue 8, is a tracked wall-climbing robot. The robot utilizes a single track with multiple sets of suction cups and vacuum generators mounted equidistantly on the track. The vacuum generators provide negative pressure to the suction cups, enabling independent control of the cups. Steering is achieved by pneumatic cylinders driving the front wheels. While this wall-climbing robot utilizes vacuum generators to provide vacuum to the suction cups, it can crawl with heavy loads. However, it places high demands on the air compressor. Furthermore, the steering function utilizes a 2.4° relative twist between adjacent links, which imposes a minimum radius restriction, limiting its operating range.

[0005] Therefore, how to use a vacuum pump to provide negative pressure for the suction cup and solve the pipe entanglement problem of the suction cup wall-climbing robot became the problem that needed to be solved in this case. Based on this, this case was born. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a mechanical valve-type negative pressure adsorption wall-climbing robot, which solves the problems raised in the above-mentioned background technology.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a mechanical valve type negative pressure adsorption wall-climbing robot, comprising a frame base and an adsorption moving mechanism and a vacuum adsorption system arranged on the frame base. The adsorption moving mechanism comprises two chain crawler groups and a transmission assembly for driving the chain crawler group to transmit the power. Suction cup groups are arranged at equal intervals on the crawlers of the chain crawler group. The vacuum adsorption system comprises a vacuum pump, two rotary joints, two Y-shaped three-way joints and a cross four-way joint. The two rotary joints are arranged on the frame base. The vacuum pump is connected to the inlet of the rotary joint, and the outlet of the rotary joint is connected to the input end of the Y-shaped three-way joint. The air intake pipe of the suction cup group on each chain crawler group is divided into two groups along the length direction of the chain crawler group, and the air intake pipe of each group of suction cup groups is connected to the cross four-way joint. The two cross four-way joints are connected to the two output ends of the Y-shaped three-way joint through a main pipeline.

[0008] Preferably, the transmission assembly includes a driving motor, a driving shaft, and a driven shaft, and two chain-type crawler assemblies are symmetrically installed on both sides of the driving shaft and the driven shaft through bearing sleeves.

[0009] Preferably, the chain-type crawler group includes two groups of driving sprockets, driven sprockets, chains, lifting bosses, and valve bosses. The two groups of driving sprockets and driven sprockets are respectively installed on both sides of the driving shaft and the driven shaft. The driving sprockets and the driven sprockets on the same side are connected by chain transmission. The suction cup group is installed on the chain at equal intervals. The chain slot is installed on the frame bottom plate, and the chain slides through the chain slot along the length direction of the chain slot; the lifting boss and the valve boss are installed on the frame bottom plate and are used to realize the lifting of the suction cup group and the opening and closing of the mechanical valve.

[0010] Preferably, the suction cup group includes a chain connecting plate, a suction cup lifting group, and a mechanical valve; the chain connecting plate is installed on the chain, and the suction cup lifting group includes a linear bearing, a cam lifting head, a cam lifting rod, a suction cup base, and a walking suction cup; the cam lifting head, cam lifting rod, suction cup base, and walking suction cup are connected in sequence, and the cam lifting rod is vertically slidably adapted on the chain connecting plate through a linear bearing, and a spring is provided between the lower end of the cam lifting rod and the chain connecting plate, and the cam lifting head corresponds to the lifting boss, and the mechanical valve is fixedly mounted on the chain connecting plate by a gasket and a nut, and the switch lifting head of the mechanical valve corresponds to the valve boss, and the pipeline is opened and closed by pressing the switch lifting head through the valve boss.

[0011] Preferably, a logic valve is provided on the pipeline connecting each mechanical valve and the walking suction cup.

[0012] Preferably, an adsorption steering mechanism is also provided on the bottom plate of the frame, and the adsorption steering mechanism includes a support seat, a lifting plate, a steering plate, a lifting cylinder, a rotating cylinder, and several steering suction cups. A plurality of linear bearings 2 are provided on the support seat, and a plurality of linear guide rods linearly slidingly adapted to the linear bearings 2 are provided on the lifting plate. The lifting cylinder is provided on the support seat, and the output end is connected to the lifting plate. The steering plate is pivotally connected to the bottom of the lifting plate, and the base of the rotating cylinder is hinged to the lifting plate through a steering connecting rod 1, and the output end of the rotating cylinder is hinged to the steering plate through a steering connecting rod 2, and several steering suction cups are provided at the bottom of the steering plate.

[0013] Preferably, the frame bottom plate is also provided with an anti-overturning mechanism, and the anti-overturning mechanism includes a tail mounting plate, a tail support rod, a mounting plate sliding member, a support rod sliding member, a sliding connecting rod, a second spring, and a tail support wheel. One end of the tail mounting plate is connected to the frame bottom plate, and the other end is installed with a linear bearing three. The tail support rod slides vertically and is adapted to the linear bearing three. The tail support wheel is arranged on the bottom end of the tail support rod, and the mounting plate sliding member and the support rod sliding member are respectively slidably sleeved on the tail mounting plate and the tail support rod, and the two ends of the sliding connecting rod are respectively hinged to the mounting plate sliding member and the support rod sliding member, and the second spring is sleeved on the lower section of the tail support rod and is located between the tail support wheel and the support rod sliding member.

[0014] Preferably, a spring three is nested on a section of the tail support rod located above the tail mounting plate, and a flange-type hexagonal nut is threadedly connected to the top end of the tail support rod to adjust the compression amount of the spring three.

[0015] The present invention provides a mechanical valve-type negative pressure adsorption wall-climbing robot. It has the following beneficial effects:

[0016] 1. This mechanical valve-type negative pressure adsorption wall-climbing robot is equipped with a rotary joint. When the walking suction cup moves along the direction of the chain track, its air intake pipe is supported by a T-type three-way joint and a cross four-way joint and rotates around the rotary joint, avoiding the problem of pipe entanglement during the wall-climbing robot's advancement.

[0017] 2. This mechanical valve-type negative pressure wall-climbing robot utilizes a lifting boss and valve boss to squeeze a cam lifting head and a switch lifting head to raise the suction cup assembly and open and close the mechanical valve. Mechanically controlling the suction cups' engagement and disconnection provides high suction capacity and simple control. Furthermore, the lifting boss, which controls the suction cups' elevation, prevents bending upon contact with the wall and improves stability during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1It is an overall axonometric drawing of the present invention;

[0019] Figure 2 It is a schematic diagram of the adsorption movement mechanism of the present invention;

[0020] Figure 3 It is a schematic diagram of the chain crawler assembly of the present invention;

[0021] Figure 4 is a schematic diagram of a suction cup assembly of the present invention;

[0022] Figure 5 It is a schematic diagram of the suction cup lifting group of the present invention;

[0023] Figure 6 This is an axonometric diagram of the adsorption steering mechanism of the present invention;

[0024] Figure 7 This is a schematic diagram of the installation of the rotary cylinder of the present invention;

[0025] Figure 8 Schematic diagram of the anti-overturning mechanism of the present invention;

[0026] Figure 9 Schematic diagram of the vacuum adsorption system of the present invention;

[0027] Figure 10 This is a detailed diagram of the pipe connection of the walking suction cup of the present invention;

[0028] Figure 11 The vacuum adsorption system of the present invention is a pipeline design diagram connected to a vacuum pump.

[0029] In the figure: 1 frame base plate, 2 adsorption moving mechanism, 3 adsorption steering mechanism, 4 anti-overturning mechanism, 5 vacuum adsorption system, 6 drive motor, 7 driving shaft, 8 driven shaft, 9 chain crawler group, 10 bearing sleeve, 11 driving sprocket, 12 driven sprocket, 13 bushing, 14 chain, 15 lifting boss, 16 valve boss, 17 chain slot, 18 suction cup group, 19 chain connecting plate, 20 suction cup lifting group, 21 mechanical valve, 22 spring 1, 23 linear bearing 1, 24 cam lifting head, 25 cam lifting rod, 26 suction cup base, 27 walking suction cup, 28 support seat, 29 lifting plate, 30 steering Plate, 31 lifting cylinder, 32 linear bearing 2, 33 linear guide rod, 34 rotary cylinder, 35 steering connecting rod 1, 36 steering connecting rod 2, 37 steering suction cup, 38 switch lifting head, 46 tail mounting plate, 47 tail support rod, 48 linear bearing 3, 49 mounting plate slide, 50 support rod slide, 51 sliding connecting rod, 52 spring 2, 53 spring 3, 54 tail support wheel, 55 flange type hexagonal nut, 56 vacuum pump, 57 rotary joint, 58 Y-type tee joint, 59 T-type tee joint, 60 cross four-way joint, 61 logic valve, 62 intake pipe, 63 main pipeline. DETAILED DESCRIPTION

[0030] The embodiment of the present invention provides a mechanical valve type negative pressure adsorption wall climbing robot, such as Figures 1-11 As shown, it includes a frame base plate 1 and an adsorption movement mechanism 2, an adsorption steering mechanism 3, an anti-overturning mechanism 4, and a vacuum adsorption system 5 arranged on the frame base plate 1.

[0031] The adsorption movement mechanism 2 includes a driving motor 6 , a driving shaft 7 , a driven shaft 8 , and two chain track assemblies 9 . The two chain track assemblies 9 are symmetrically mounted on both sides of the driving shaft 7 and the driven shaft 8 through bearing sleeves 10 .

[0032] like Figure 2-Figure 3 As shown, the chain track group 9 includes two sets of driving sprockets 11, a driven sprocket 12, a chain 14, a lifting boss 15, and a valve boss 16. The two sets of driving sprockets 11 and driven sprockets 12 are respectively installed on both sides of the driving shaft 7 and the driven shaft 8. Two driving sprockets 11 of a group of chain crawler groups 9 are installed on the same side of the driving shaft 7, and two driven sprockets 12 are installed on the same side of the driven shaft 8, and are separated by shaft sleeves 13 respectively; the two pairs of driving sprockets 11 and driven sprockets 12 on the same side are respectively connected by two chains 14 for transmission, and the two chains 14 constitute a chain crawler. Ear sleeves are installed at equal intervals on the two chains 14, and suction cup groups 18 are installed at equal intervals on the ear sleeves of the chains 14. A chain slot 17 is installed on the frame bottom plate 1, and the chain slot 17 is on the parallel running section of the chain 14. The chain 14 slides through along the length direction of the chain slot 17; the chain slot 17 is used to standardize the position of the chain crawler.

[0033] Lifting boss 15 and valve boss 16 are mounted on the frame base plate 1 and are used to lift the suction cup assembly 18 and open and close the mechanical valve. Mechanically controlling the suction and disconnection of the traveling suction cup 27 provides high suction capacity and simple control. The traveling suction cup 27 is lifted by the lifting boss 15, preventing bending when the suction cup first contacts the wall and improving stability during movement.

[0034] like Figure 3-Figure 5As shown, suction cup groups 18 are arranged at equal intervals on the crawler track of the chain crawler group 9. The suction cup group 18 includes a chain connecting plate 19, a suction cup lifting group 20, and a mechanical valve 21. The chain connecting plate 19 is installed on the chain 14 and is used to connect two adjacent chains 14 to form a chain crawler. The mechanical valve 21 is installed on the chain connecting plate 19. The suction cup lifting group 20 includes a linear bearing 23, a cam lifting head 24, a cam lifting rod 25, a suction cup base 26, and a walking suction cup 27. The linear bearing 23 is fixed to the chain connecting plate 19 by screws. The cam lifting rod 25 is vertically slidably adapted to the chain connecting plate 19 through the linear bearing 23. The cam lifting rod 25 cooperates with the linear bearing 23 to achieve up and down lifting. Starting from the cam lifting head 24, the cam lifting head 24, the cam lifting rod 25, the suction cup base 26, and the walking suction cup 27 are connected in sequence from top to bottom. A spring 22 is installed between the lower end of the cam lift rod 25 and the chain connecting plate 19, which resets the suction cup lift assembly 20. The cam lift head 24 corresponds to the lift boss 15. The mechanical valve 21 is fixed to the chain connecting plate 19 via a gasket and nut. The switch lift head 38 of the mechanical valve 21 corresponds to the valve boss 16. The valve boss 16 presses the switch lift head 38 to open and close the pipeline.

[0035] like Figure 3-Figure 4 As shown, specifically, the lifting boss 15 and the valve boss 16 are located in the parallel running section of the chain 14 below the frame base plate 1. The front and rear ends of the lifting boss 15 and the valve boss 16 are arc-shaped guide sections, corresponding to the driving sprocket 11 and the driven sprocket 12, respectively. When the walking suction cup 27 bypasses the driving sprocket 11 and enters the parallel section, the cam lifting head 24 and the switch lifting head 38 will successively follow the arc-shaped guide sections of the lifting boss 15 and the valve boss 16 into the parallel section and be squeezed by the parallel sections in turn, causing the cam lifting head 24 to drive the walking suction cup 27 to adhere to the carrier along the guide direction of the linear bearing 1 23. At the same time, the switch lifting head 38 triggers the mechanical valve 21 to open, giving the walking suction cup 27 suction force. When the switch lifting head 38 and the cam lifting head 24 successively exit the arc-shaped guide sections of the valve boss 16 and the lifting boss 15, the walking suction cup 27 loses its suction force and lifts.

[0036] like Figures 9-11 As shown, the vacuum adsorption system 5 includes a vacuum pump 56, two rotary joints 57, two Y-type three-way joints 58, a plurality of T-type three-way joints 59, and a cross-type four-way joint 60. The two rotary joints 57 are arranged on the frame bottom plate 1 and correspond to the two chain crawler groups 9 respectively. The output pipe of the vacuum pump 56 is connected to the inlet of the two rotary joints 57 through the T-type three-way joints 59, and the outlet of the rotary joint 57 is connected to the input end of the Y-type three-way joint 58. Figure 9As shown, the air intake pipes 62 of the suction cup assembly 18 on each chain crawler assembly 9 are divided into two groups along the length of the chain crawler assembly 9. The air intake pipes 62 of each group of walking suction cups 27 are connected to a cross joint 60 via a T-shaped three-way joint 59. The two cross joints 60 are connected to the two output ends of the Y-shaped three-way joint 58 via a main pipeline 63. By providing a rotary joint 57, when the walking suction cups 27 move along the chain crawler, their air intake pipes 62 are supported by the T-shaped three-way joint 59 and the cross joint 60 and rotate around the rotary joint 57, avoiding the problem of pipe entanglement during the wall-climbing robot's forward movement.

[0037] Mechanical valves 21 are installed between the walking suction cups 27 and the T-connector 59. Each pipe connecting the mechanical valve 21 to the walking suction cup 27 is equipped with a logic valve 61. The use of logic valves 61 reduces the impact of air leakage from a single suction cup on other suction cups, preventing a decrease in overall vacuum caused by air leakage from a single suction cup, thereby improving the stability of the wall-climbing robot.

[0038] like Figure 6-Figure 7 As shown, the frame base plate 1 is also provided with an adsorption steering mechanism 3, which includes a support base 28, a lifting plate 29, a steering plate 30, a lifting cylinder 31, a rotating cylinder 34, and a plurality of steering suction cups 37. The support base 28 is mounted on the frame base plate 1. Four linear bearings 32 are provided on the support base 28, and the four linear bearings 32 are respectively mounted at the four corners of the support base 28. The lifting plate 29 is provided with multiple linear guide rods 33 that are linearly adapted to the linear bearings 32. The lifting cylinder 31 is mounted on the support base 28, and the output end of the piston rod is fixedly connected to the lifting plate 29 via a nut. The lifting action is achieved by the extension and contraction of the lifting cylinder 31. A steering plate 30 is pivotally connected to the bottom of the lifting plate 29. A rotary cylinder 34 is positioned at a corner of the lifting plate 29. The base of the rotary cylinder 34 is hinged to the lifting plate 29 via a first steering link 35. The output end of the rotary cylinder 34 is hinged to the steering plate 30 via a second steering link 36. The angle of the steering plate 30 is adjusted by rotating the cylinder 34. Several steering suction cups 37 are positioned at the bottom of the steering plate 30. The steering suction cups 37 are connected to a vacuum pump 56 via an air pipe and a control valve. The use of two cylinders to control the suction steering mechanism 3 offers a simple structure and low mass.

[0039] like Figure 8As shown, the frame base plate 1 is also provided with an anti-overturning mechanism 4, which includes a tail mounting plate 46, a tail support rod 47, a mounting plate slide 49, a support rod slide 50, a sliding connecting rod 51, a second spring 52, and a tail support wheel 54. One end of the tail mounting plate 46 is connected to the frame base plate 1, and the other end is provided with a third linear bearing 48. The tail support rod 47 slides vertically on the third linear bearing 48. The tail support wheel 54 is provided at the bottom end of the tail support rod 47 and is used to support the crawling appendage. The mounting plate slide 49 and the support rod slide 50 are respectively slidably mounted on the tail mounting plate 46 and the tail support rod 47. The two ends of the sliding connecting rod 51 are respectively hinged to the mounting plate slide 49 and the support rod slide 50. The second spring 52 is mounted on the lower section of the tail support rod 47 and is located between the tail support wheel 54 and the support rod slide 50. By moving the mounting plate sliding member 49 on the tail mounting plate 46 , the support rod sliding member 50 is pulled up and down on the tail support rod 47 , thereby achieving adaptive contact between the tail support wheel 54 and the wall surface.

[0040] A third spring 53 is embedded in a section of the tail support rod 47 located above the tail mounting plate 46. A flanged hexagonal nut 55 is threadedly connected to the top of the tail support rod 47. By rotating the flanged hexagonal nut 55 on the tail support rod 47, the compression of the third spring 53 is adjusted. This spring, in coordination with the second spring 52, controls the supporting force of the tail support wheel 54.

[0041] The simple adaptive anti-overturning mechanism 4 is adopted, which has the characteristics of compact structure and adaptive curved surface.

[0042] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical valve type negative pressure adsorption wall climbing robot, characterized by: The invention comprises a frame bottom plate (1), an adsorption moving mechanism (2) arranged on the frame bottom plate (1), and a vacuum adsorption system (5), wherein the adsorption moving mechanism (2) comprises two chain crawler groups (9) and a transmission assembly for driving the chain crawler groups (9), and suction cup groups (18) are arranged at equal intervals on the crawler of the chain crawler group (9), and the vacuum adsorption system (5) comprises a vacuum pump (56), two rotary joints (57), two Y-type three-way joints (58) and a cross four-way joint (60), wherein the two rotary joints (57) are arranged on the frame bottom plate (1), and the vacuum pump (56) and the rotary joints (57) are connected to each other. The inlet of the adapter (57) is connected, and the outlet of the rotary joint (57) is connected to the input end of the Y-type three-way joint (58). The air inlet pipe (62) of the suction cup group (18) on each chain crawler group (9) is divided into two groups along the length direction of the chain crawler group (9). The air inlet pipe (62) of each group of suction cup groups (18) is connected to the cross four-way joint (60). The two cross four-way joints (60) are connected to the two output ends of the Y-type three-way joint (58) through the main pipeline (63); the transmission assembly includes a driving motor (6), a driving shaft (7), and a driven shaft (8). The two chain crawler groups (9) are connected through The bearing sleeve (10) is symmetrically mounted on both sides of the driving shaft (7) and the driven shaft (8); the chain crawler group (9) includes two sets of driving sprockets (11), driven sprockets (12), chains (14), lifting bosses (15), valve bosses (16), and chain slots (17); the two sets of driving sprockets (11) and driven sprockets (12) are respectively mounted on both sides of the driving shaft (7) and the driven shaft (8); the driving sprockets (11) and driven sprockets (12) on the same side are connected by transmission through the chain (14); the suction cup group (18) is evenly spaced and mounted on the chain (14); the chain slots (17) are mounted on the bottom plate (1) of the frame. ), the chain (14) slides through the chain slot (17) along the length direction; the lifting boss (15) and the valve boss (16) are installed on the frame bottom plate (1), and are used to realize the lifting of the suction cup group (18) and the opening and closing of the mechanical valve (21); the suction cup group (18) includes a chain connecting plate (19), a suction cup lifting group (20), and a mechanical valve (21); the chain connecting plate (19) is installed on the chain (14), and the suction cup lifting group (20) includes a linear bearing (23), a cam lifting head (24), a cam lifting rod (25), a suction cup base (26), and a walking suction cup (27);The cam lifting head (24), cam lifting rod (25), suction cup base (26), and walking suction cup (27) are connected in sequence. The cam lifting rod (25) is vertically slidably adapted on the chain connecting plate (19) through a linear bearing (23). A spring (22) is provided between the lower end of the cam lifting rod (25) and the chain connecting plate (19). The cam lifting head (24) corresponds to the lifting boss (15). The mechanical valve (21) is installed on the chain connecting plate (19), and the switch lifting head (38) of the mechanical valve (21) corresponds to the valve boss (16). The valve boss (16) presses the switch lifting head (38) to realize the pipeline on and off. A logic valve (61) is provided on the pipeline connecting each mechanical valve (21) and the walking suction cup (27).

2. The mechanical valve type negative pressure adsorption wall-climbing robot according to claim 1, characterized in that: The frame bottom plate (1) is also provided with an adsorption steering mechanism (3), and the adsorption steering mechanism (3) includes a support seat (28), a lifting plate (29), a steering plate (30), a lifting cylinder (31), a rotating cylinder (34), and a plurality of steering suction cups (37). The support seat (28) is provided with a plurality of linear bearings (32). The lifting plate (29) is provided with a plurality of linear guide rods (33) linearly slidingly adapted to the linear bearings (32). The lifting cylinder (31) is provided on the support seat (28), and the output end is connected to the lifting plate (29). The steering plate (30) is pivotally connected to the bottom of the lifting plate (29). The base of the rotating cylinder (34) is hinged to the lifting plate (29) through a steering connecting rod (35). The output end of the rotating cylinder (34) is hinged to the steering plate (30) through a steering connecting rod (36). The plurality of steering suction cups (37) are provided at the bottom of the steering plate (30).

3. The mechanical valve type negative pressure adsorption wall-climbing robot according to claim 1, characterized in that: The frame bottom plate (1) is also provided with an anti-overturning mechanism (4), the anti-overturning mechanism (4) comprising a tail mounting plate (46), a tail support rod (47), a mounting plate slide (49), a support rod slide (50), a sliding connecting rod (51), a second spring (52), and a tail support wheel (54). One end of the tail mounting plate (46) is connected to the frame bottom plate (1), and the other end is provided with a third linear bearing (48). The tail support rod (47) is vertically slidably adapted on the third linear bearing (48). ), the tail support wheel (54) is arranged at the bottom end of the tail support rod (47), the mounting plate sliding member (49) and the support rod sliding member (50) are respectively slidably mounted on the tail mounting plate (46) and the tail support rod (47), the two ends of the sliding connecting rod (51) are respectively hinged to the mounting plate sliding member (49) and the support rod sliding member (50), the spring 2 (52) is mounted on the lower section of the tail support rod (47), and is located between the tail support wheel (54) and the support rod sliding member (50).

4. The mechanical valve type negative pressure adsorption wall-climbing robot according to claim 3, characterized in that: A spring three (53) is nested on a section of the tail support rod (47) located above the tail mounting plate (46), and a flange-type hexagonal nut (55) is threadedly connected to the top of the tail support rod (47) to achieve compression adjustment of the spring three (53).

Images