Wall climbing equipment based on negative pressure vacuum adsorption

Abstract

The invention discloses wall climbing equipment based on negative pressure vacuum adsorption, and relates to the technical field of wall climbing equipment, the wall climbing equipment comprises a power mechanism, the power mechanism comprises a crawler belt and a driving motor, and the power mechanism is used for driving the wall climbing equipment to move; the negative pressure mechanism is arranged between the two crawler belts and is used for generating negative pressure so that the wall climbing equipment can be adsorbed on the wall surface; the cleaning mechanism is arranged on one side of the negative pressure mechanism and used for removing warped wall skin and dust on the surface of the wall surface; and the paint make-up blade coating mechanism is arranged on the other side of the negative pressure mechanism and used for achieving extrusion operation of the paint through a driving motor. Compared with traditional manual repairing, scaffolds or ladders do not need to be erected, wall repairing tasks, automatic adsorption to the wall, cleaning, paint repairing and other tasks can be automatically completed, manual intervention is reduced, power is provided through intelligent power supply vehicle equipment, long-time work is supported, and the wall repairing robot is suitable for large-area wall maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of wall climbing equipment, in particular to a wall climbing equipment based on negative pressure vacuum adsorption. Background Art

[0002] In the current urbanization process, moisture on indoor walls is a particularly prominent problem, especially in southern cities and coastal areas with high humidity. Once damp, walls can become chalky and peeling, not only affecting aesthetics but also potentially causing structural problems and causing significant inconvenience in home life. Traditional manual repair methods are inefficient for large-scale wall repairs, especially when the problems are scattered and medium-sized. Manual repairs also involve frequent dismantling and installing ladders, posing a safety hazard. Wall-climbing equipment offers significant advantages in building maintenance, cleaning, and restoration, providing a more efficient and standardized wall treatment solution. Compared to traditional manual painting, wall-climbing equipment can ensure uniformity and smoothness of wall paint, reduce quality issues caused by technical differences, extend the lifespan of the wall, and reduce ongoing maintenance costs, bringing greater convenience to home life. However, currently available wall-climbing equipment is generally bulky, heavy, and expensive. Most are only suitable for outdoor, open-air wall painting, failing to meet the needs of conventional indoor painting. Furthermore, their freedom of movement is limited and requires further optimization.

[0003] Based on this, a wall climbing device based on negative pressure vacuum adsorption is now provided, which can eliminate the disadvantages of the existing technical solutions. Summary of the Invention

[0004] The purpose of the present invention is to provide a wall-climbing device based on negative pressure vacuum adsorption to solve the problems in the background technology of large size, heavy weight, high price and limited freedom of movement of wall-climbing devices.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A wall-climbing device based on negative pressure vacuum adsorption includes a power mechanism, wherein the power mechanism includes a crawler and a drive motor for driving the wall-climbing device to move;

[0007] A negative pressure mechanism is provided between the two crawlers and is used to generate negative pressure so that the wall-climbing device can be adsorbed on the wall surface;

[0008] A cleaning mechanism is provided on one side of the negative pressure mechanism and is used to remove warped wall skin and dust from the wall surface;

[0009] A paint touch-up scraping mechanism, which is arranged on the other side of the negative pressure mechanism and is used to realize the paint extrusion operation by using the drive shaft;

[0010] The power mechanism also includes a symmetrically arranged support frame, a connecting rod and a tensioning assembly, the tensioning assembly and the connecting rod are both arranged inside the crawler, the support frame is coaxially connected to the connecting rod, a driving pulley is provided for internal rotation of the crawler, the driving motor is fixedly mounted on one of the support frames, the driving motor is arranged as a dual-output shaft motor, one of the output ends of the driving motor is fixedly connected to a driving shaft, the other end of the driving shaft is connected to the corresponding driving pulley, the other output end of the driving motor is fixedly connected to the other driving pulley, and a transmission belt is provided on the side of the support frame away from the driving motor.

[0011] Preferably, the tensioning assembly includes a suspension frame, a connecting frame and a tensioning spring, the suspension frame is formed by hingedly connecting a pair of oppositely arranged main suspension frame beams, one end of the main suspension frame beam is forked and extended to form a first auxiliary suspension frame beam and a second auxiliary suspension frame beam, the first auxiliary suspension frame beam and the second auxiliary suspension frame beam constitute an auxiliary suspension frame, the two ends of the tensioning spring are respectively fixedly connected to the two first auxiliary suspension frame beams, the connecting frame includes a first connecting frame, a second connecting frame and a third connecting frame, the opposite ends of the first connecting frame and the third connecting frame are hinged to the corresponding main suspension frame beam, the other end of the first connecting frame is sleeved on the outside of the drive shaft, the other end of the third connecting frame is connected to the tensioning wheel, the second connecting frame is hinged to the second auxiliary suspension frame beam, a balancing wheel set is provided on the surface of the second connecting frame, the balancing wheel set is provided at the bottom of the suspension frame, support wheels are rotatably provided on the opposite sides of the two support frames, the support wheels are provided above the suspension frame, the support wheels and the balancing wheel set are both wrapped inside the crawler and rotate synchronously with the crawler.

[0012] Preferably, the negative pressure mechanism includes a negative pressure shell, which is mounted on a support frame by a number of bolts, a motor fixing frame is fixedly mounted on the top of the negative pressure shell, a negative pressure suction cup is fixedly mounted on the bottom of the negative pressure shell, a negative pressure cabin is formed between the negative pressure shell and the negative pressure suction cup, a bearing is fixedly mounted on the top wall of the negative pressure shell, a fan motor is fixedly mounted on the top of the motor fixing frame, the output end of the fan motor extends to the interior of the negative pressure shell and is fixedly connected to the turbine blades, the bearing is rotatably connected to the turbine blades, the turbine blades are arranged inside the negative pressure cabin, and a number of adsorption holes are opened on the surface of the negative pressure suction cup.

[0013] Preferably, the cleaning mechanism includes a connecting frame connected to the motor fixing frame by a number of bolts, a first cantilever servo is fixedly installed on the top of the connecting frame, the output end of the first cantilever servo is fixedly connected to the supporting cantilever, the top of the supporting cantilever is fixedly provided with a second cantilever servo, the output end of the second cantilever servo is fixedly provided with a moving cantilever, the moving cantilever is rotatably connected to the supporting cantilever, a mounting plate is fixedly provided on the side of the moving cantilever away from the supporting cantilever, a brush motor is symmetrically provided on the upper surface of the mounting plate, the output ends of the brush motor are both rotatably connected to the brush transmission belt, the other side of the brush transmission belt is rotatably connected to the brush, both ends of the brush are connected to the mounting plate through a brush bracket, and the brush is rotatably connected to the brush bracket.

[0014] Preferably, the paint touch-up scraping mechanism includes a scraping shell, which is connected to the negative pressure shell by a number of bolts, and a storage tank is fixedly provided on the side of the scraping shell away from the negative pressure shell, and an extrusion port is provided on one side of the storage tank, and a push plate is slidingly provided inside the storage tank, and the internal thread of the push plate is provided with a screw, one end of the screw is rotatably connected to the inner wall of the storage tank, and the other end of the screw extends to the inside of the scraping shell and is fixedly connected to the first bevel gear, and a driving assembly for driving the first bevel gear to rotate is provided inside the scraping shell, and a scraper bracket is symmetrically provided on the top of the scraping shell, and the ends of the scraper bracket are fixedly connected to the scraper, and the scraper is provided on the side of the storage tank away from the scraping shell.

[0015] Preferably, the drive assembly includes a fixed clutch fixedly arranged on the drive shaft, a second bevel gear is slidably arranged on the drive shaft, a sliding clutch is fixedly arranged on the side of the second bevel gear close to the fixed clutch, a tension spring base is fixedly arranged on the drive shaft, a tension spring is fixedly arranged between the tension spring base and the second bevel gear, a fixed servo is fixedly arranged on the top wall of the coating shell, a paddle is fixedly arranged on the output end of the fixed servo, and the paddle is in contact with the second bevel gear and is not fixed.

[0016] Preferably, an induction tooth is provided on the contact surface between the crawler belt and the driving pulley.

[0017] Preferably, the brush is configured as a hard brush.

[0018] Preferably, the cross section of the scraper is arranged to be in an inverted V shape.

[0019] Preferably, it also includes a controller electrically connected to the drive motor, fan motor and brush motor, and the controller communicates with the external control device through a network. The external control device includes an intelligent power supply vehicle device and circuit control and auxiliary equipment. The intelligent power supply vehicle device is equipped with a camera, a sensor scanner, a mobile power supply and a single-chip microcomputer. The circuit control and auxiliary equipment include but are not limited to a main control module, a motor drive module, a visual recognition module, an infrared ranging module and a network control module.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention provides a wall climbing device based on negative pressure vacuum adsorption. Compared with traditional manual repair, it does not require the use of scaffolding or escalators. The wall climbing device can automatically complete wall repair tasks, can autonomously adsorb on the wall surface, and automatically complete tasks such as cleaning and repainting, reducing manual intervention and improving operation speed. The intelligent power supply vehicle provides power to support long-term operation and is suitable for large-area wall maintenance.

[0022] 2. The present invention is equipped with a power mechanism that uses a dual-output shaft motor to synchronously drive the left and right crawlers to avoid deviation or slippage caused by insufficient power on one side. The tensioning assembly adaptively adjusts the crawler tension to adapt to the unevenness of the wall surface. The negative pressure suction cup that can absorb slightly uneven walls ensures that the crawler always closely adheres to the wall surface.

[0023] 3. The present invention first uses the brush in the cleaning mechanism to remove warped wall skin and dust to ensure the adhesion of subsequent paint, and then uses the dual-servo structure to control the brush to move at multiple angles to cover complex curved surfaces. The paint touch-up and scraping mechanism uses the drive shaft of the power mechanism as the power source for the push plate to extrude the paint, achieving synchronous rotation, so that the paint can be appropriately extruded while moving forward, reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0025] Figure 2 It is a top view of the present invention.

[0026] Figure 3 It is a schematic diagram of the three-dimensional structure of the power mechanism of the present invention.

[0027] Figure 4 It is a top view of the power mechanism of the present invention.

[0028] Figure 5 It is a left side view of the power mechanism of the present invention.

[0029] Figure 6 It is a schematic diagram of the three-dimensional structure of the negative pressure mechanism of the present invention.

[0030] Figure 7 It is a schematic diagram of the structure of the negative pressure mechanism after decomposition of the present invention.

[0031] Figure 8 It is a schematic diagram of the three-dimensional structure of the cleaning mechanism of the present invention.

[0032] Figure 9 It is a top view of the cleaning mechanism of the present invention.

[0033] Figure 10 It is a schematic diagram of the three-dimensional structure of the paint touch-up scraping mechanism of the present invention.

[0034] Figure 11 It is a top view of the paint touch-up scraping mechanism of the present invention.

[0035] Figure 12 It is a front view of the paint touch-up scraping mechanism of the present invention.

[0036] Figure 13 For the present invention Figure 10 Enlarged view of point A in the middle.

[0037] Figure numerals: power mechanism 100, crawler 101, drive motor 102, support frame 103, connecting rod 104, drive pulley 105, drive shaft 106, suspension frame 107, main suspension frame beam 1071, first auxiliary suspension frame beam 1072, second auxiliary suspension frame beam 1073, connecting frame 108, first connecting frame 1081, second connecting frame 1082, third connecting frame 1083, tensioning spring 109, tensioning wheel 110, balancing wheel set 111, support wheel 112, negative pressure mechanism 200, negative pressure housing 201, motor fixing frame 202, negative pressure suction cup 203, negative pressure cabin 204, bearing 205, fan motor 2 06, turbine blades 207, adsorption holes 208, cleaning mechanism 300, connecting frame 301, first cantilever servo 302, supporting cantilever 303, second cantilever servo 304, moving cantilever 305, mounting plate 306, brush motor 307, brush transmission belt 308, brush 309, brush bracket 310, paint touch-up scraping mechanism 400, scraping shell 401, storage tank 402, push plate 403, screw 404, first bevel gear 405, scraper bracket 406, scraper 407, fixed clutch 408, second bevel gear 409, sliding clutch 410, tension spring base 411, tension spring 412, fixed servo 413, paddle 414. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0039] Example 1

[0040] In this embodiment, if Figures 1-13 As shown, a wall climbing device based on negative pressure vacuum adsorption includes:

[0041] The power mechanism 100 includes a crawler 101 and a drive motor 102, which are used to drive the wall climbing device to move. The crawler 101 is made of wear-resistant rubber and has induction teeth on its surface to enhance friction with the wall and prevent slipping. The drive motor 102 uses a dual-output shaft motor to ensure that the left and right crawlers 101 can be driven synchronously, improving movement stability.

[0042] The negative pressure mechanism 200 is provided between the two crawlers 101 and is used to generate negative pressure so that the wall-climbing device can be adsorbed on the wall;

[0043] The cleaning mechanism 300 is provided on one side of the negative pressure mechanism 200 and is used to remove warped wall skin and dust on the wall surface;

[0044] The paint touch-up scraping mechanism 400 is arranged on the other side of the negative pressure mechanism 200 and is used to realize the paint extrusion operation by using the drive shaft 106. The cleaning mechanism 300 and the paint touch-up scraping mechanism 400 are placed on both sides so that they will not interfere with each other during operation;

[0045] The power mechanism 100 also includes a symmetrically arranged support frame 103, a connecting rod 104 and a tensioning assembly. The support frame 103 is used to fix the drive motor 102 and the crawler 101 structure to increase stability. The tensioning assembly and the connecting rod 104 are both arranged inside the crawler 101. The support frame 103 is coaxially connected to the connecting rod 104 to enhance the overall rigidity. The tensioning assembly is used to adjust the tightness of the crawler 101 to adapt to different wall conditions. The internal rotation of the crawler 101 is provided with a drive pulley 105, which is engaged with the crawler 101 to transmit the driving force. The drive motor 102 is fixedly mounted on one of the support frames 103, and one of the output ends of the drive motor 102 is fixedly connected to the drive shaft 106. The drive motor 102 is set as a dual-output shaft motor, and the other end of the drive shaft 106 is connected to the corresponding drive pulley 105. The drive shaft 106 can connect the drive motor 102 and the drive pulley 105 to ensure the feasibility of synchronous driving of the dual drive pulleys 105 and realize power transmission. The other output end of the drive motor 102 is fixedly connected to the other drive pulley 105. A transmission belt is provided on the side of the support frame 103 away from the drive motor 102. When the drive motor 102 is started, the dual output shafts respectively drive the corresponding components to rotate, so that the drive pulley 105 rotates, and then drives the crawler 101 to move along the wall. The tension of the crawler 101 is automatically adjusted through the suspension frame 107 and the tensioning spring 109 in the tensioning assembly to prevent it from falling off or being too tight.

[0046] Among them Figure 2-Figure 5As shown, the tensioning assembly includes a suspension frame 107, a connecting frame 108 and a tensioning spring 109. A damping structure is provided on one side of the tensioning spring 109 to increase the stability. The suspension frame 107 is formed by hingedly connecting a pair of oppositely arranged main suspension frame beams 1071. One end of the main suspension frame beam 1071 is bifurcated and extended to form a first auxiliary suspension frame beam 1072 and a second auxiliary suspension frame beam 1073. The first auxiliary suspension frame beam 1072 and the second auxiliary suspension frame beam 1073 constitute an auxiliary suspension frame. The two ends of the tensioning spring 109 are respectively connected to the two first auxiliary suspension frame beams 1071. 72 is fixedly connected, the connecting frame 108 includes a first connecting frame 1081, a second connecting frame 1082 and a third connecting frame 1083, the opposite ends of the first connecting frame 1081 and the third connecting frame 1083 are hinged to the corresponding main suspension frame beam 1071, the other end of the first connecting frame 1081 is sleeved on the outside of the drive shaft 106, the other end of the third connecting frame 1083 is connected to the tensioning wheel 110, the second connecting frame 1082 is hinged to the second auxiliary suspension frame beam 1073, and the suspension frame 107, the connecting frame 108 and the tensioning spring 109 are matched with each other. The second connecting frame 1082 is provided with a balancing wheel set 111 on the surface of the crawler 101, which provides a force for pressing the crawler 101 downward. When the crawler 101 is partially suspended, the tensioning spring 109 contracts, so that the balancing wheel set 111 of the suspended part can cooperate with the suspension frame 107 to press downward to increase the contact area between the crawler 101 and the ground as much as possible. The tensioning assembly 270 can ensure that the crawler 101 is always in a tensioned state. The balancing wheel set 111 is set on the suspension frame 107. At the bottom, support wheels 112 are rotatably provided on the opposite sides of the two support frames 103. The support wheels 112 are arranged above the suspension frame 107. The support wheels 112 and the balance wheel group 111 are both wrapped and arranged inside the crawler 101, and rotate synchronously with the crawler 101. The support wheels 112 and the balance wheel group 111 are used to assist the movement of the crawler 101 to ensure smooth operation. Induction teeth, such as trapezoidal anti-skid teeth, are provided on the contact surface between the crawler 101 and the driving pulley 105, so that the crawler 101 can be driven to rotate when the driving pulley 105 rotates, thereby increasing the connection stability effect.

[0047] Among them Figure 6 and Figure 7As shown, the negative pressure mechanism 200 includes a negative pressure shell 201, which blocks the airflow around it, so that it generates suction from the wall to its vertical angle, so that it has a certain degree of vacuum. The negative pressure principle is used to enable the wall climbing device to be firmly adsorbed on the wall, which is convenient for working on vertical or inclined surfaces. The negative pressure shell 201 is installed on the support frame 101 through a number of bolts. The top of the negative pressure shell 201 is fixed with a motor fixing frame 202. The negative pressure shell 201 and the motor fixing frame 202 are fixed to each other. The surface of the motor fixing frame 202 is provided with an exhaust window for exhaust. A negative pressure suction cup 203 is fixedly installed at the bottom of the negative pressure shell 201. The negative pressure suction cup 203 is almost in contact with the wall and can adapt to slight unevenness of the wall to form a low-pressure cavity in the middle of the negative pressure chamber 204. Under the action of atmospheric pressure, it is adsorbed on the wall. A negative pressure chamber 204 is formed between the negative pressure shell 201 and the negative pressure suction cup 203. A bearing 205 is fixedly installed on the top wall of the negative pressure shell 201. The motor fixing frame 202 is provided with an exhaust window for exhaust. A negative pressure suction cup 203 is fixedly installed at the bottom of the negative pressure shell 201. The negative pressure suction cup 203 is almost in contact with the wall and can adapt to slight unevenness of the wall to form a low-pressure cavity in the middle of the negative pressure chamber 204. Under the action of atmospheric pressure, it is adsorbed on the wall. A negative pressure chamber 204 is formed between the negative pressure shell 201 and the negative pressure suction cup 203. A bearing 205 is fixedly installed on the top wall of the negative pressure shell 201. 02 is fixedly installed with a fan motor 206 on the top, which drives the turbine blades 207 to rotate, thereby generating negative pressure, that is, pressure lower than atmospheric pressure. The negative pressure suction cup 203 of the wall climbing equipment is adsorbed and contacted with the wall. The negative pressure causes the air in the negative pressure cabin 204 to be drawn out, forming a low-pressure area, thereby cooperating with the external atmospheric pressure to firmly press the negative pressure suction cup 203 on the wall, thereby providing sufficient adsorption force. The output end of the fan motor 206 extends to the inside of the negative pressure shell 201 and is connected to the turbine blades 207. The turbine blades 207 are fixedly connected, the bearings 205 are rotatably connected to the turbine blades 207, the turbine blades 207 are arranged inside the negative pressure cabin 204, and a number of adsorption holes 208 are opened on the surface of the negative pressure suction cup 203. The adsorption holes 208 are air intake positions. The power of the turbine blades 207 and the adsorption area of the negative pressure suction cup 203 need to match. The distribution density of the adsorption holes 208 can be adjusted according to actual parameters such as the power of the blade motor 206 to avoid too many or too few adsorption holes 208 resulting in insufficient negative pressure.

[0048] Among them Figure 8 and Figure 9As shown, the cleaning mechanism 300 includes a connecting frame 301 connected to the motor fixing frame 202 by a number of bolts, a first cantilever servo 302 is fixedly installed on the top of the connecting frame 301, and the output end of the first cantilever servo 302 is fixedly connected to the supporting cantilever 303, and the first cantilever servo 302 can drive the supporting cantilever 303 and the brush 309 to rotate left and right, and a second cantilever servo 304 is fixedly provided on the top of the supporting cantilever 303, and a moving cantilever 305 is fixedly provided on the output end of the second cantilever servo 304, and the second cantilever servo 304 can drive the moving cantilever 305 and the brush 309 to move up and down, so as to realize the dust cleaning task at multiple angles, and the moving cantilever 305 is rotatably connected to the supporting cantilever 303, and a mounting plate 306 is fixedly provided on the side of the moving cantilever 305 away from the supporting cantilever 303 to increase the stability of the structure. Performance, brush motors 307 are symmetrically arranged on the upper surface of the mounting plate 306, and the output ends of the brush motors 307 are rotatably connected to the brush transmission belt 308. The brush transmission belt 308 can select the corresponding material and type according to actual needs. The other side of the brush transmission belt 308 is rotatably connected to the brush 309, and the two ends of the brush 309 are connected to the mounting plate 306 through the brush bracket 310 to limit the position of the brush 309. The brush 309 is rotatably connected to the brush bracket 310. The brush 309 is used to remove warped wall skin, powdered wall, and most of the dust attached to the wall. The brush 309 is set to a hard brush, which can increase the adhesion during subsequent painting operations and prevent the color spot problem caused by dust. The brush motor 307 drives the brush transmission belt 308 to drive the brush 309 to rotate, providing power for the brush 309.

[0049] Among them Figure 10-13As shown, the paint touch-up scraping mechanism 400 includes a scraping shell 401, which is connected to the negative pressure shell 201 by a number of bolts. A storage tank 402 is fixedly provided on the side of the scraping shell 401 away from the negative pressure shell 201 for storing wall repair paint or wall repair paste. The paint weight of the storage tank 402 is adjusted according to actual needs to facilitate adaptation to the negative pressure adsorption force. An extrusion port is provided on one side of the storage tank 402, and a push plate 403 is slidingly provided inside the storage tank 402 to facilitate the extrusion effect of the paint. The internal thread of the push plate 403 is provided with a screw rod 404, one end of the screw rod 404 is rotatably connected to the inner wall of the storage tank 402, and the other end of the screw rod 404 extends to the inside of the scraping shell 401 and is fixedly connected to the first bevel gear 405. A driving assembly is provided to drive the first bevel gear 405 to rotate, and the driving assembly is combined with the power output of the drive shaft 106. When it needs to be extruded, the clutch is controlled to engage through the fixed servo 413, so that the first bevel gear 405 can be meshed with the second bevel gear 409 for transmission, thereby driving the screw 404 to rotate, and then moving the push plate 403 position to realize the extrusion work. After extrusion, the scraper 407 is used to scrape the paint to complete the repair work. The scraper bracket 406 is symmetrically arranged on the top of the scraping shell 401, and the ends of the scraper bracket 406 are fixedly connected to the scraper 407. The scraper 407 is arranged on the side of the storage tank 402 away from the scraping shell 401. The cross-section of the scraper 407 is set to an inverted V shape, so that the scraper 407 can contact the wall, which is convenient for scraping off excess paint.

[0050] Among them Figure 10-13As shown, the drive assembly includes a fixed clutch 408 fixedly arranged on the drive shaft 106, a second bevel gear 409 is slidably arranged on the drive shaft 106, the model and size of the second bevel gear 409 and the first bevel gear 405 are adapted to each other, so as to facilitate the meshing transmission effect, a sliding clutch 410 is fixedly arranged on the side of the second bevel gear 409 close to the fixed clutch 408, and the sliding clutch 410 is adapted to the model and size of the fixed clutch 408, so as to facilitate the engagement effect, a tension spring base 411 is fixedly arranged on the drive shaft 106, a tension spring 412 is fixedly arranged between the tension spring base 411 and the second bevel gear 409, a fixed servo 413 is fixedly arranged on the top wall of the scraper shell 401, and the output of the fixed servo 413 is fixedly arranged. A paddle 414 is fixedly provided at the end, and a limit structure or elastic locking design can be provided on one side of the paddle 414 to avoid transmission failure due to vibration. The paddle 414 is in contact with the second bevel gear 409 and is not fixed. When it moves to the position where paint is needed, the fixed servo 413 is started, so that the paddle 414 can overcome the tension of the tension spring 412, and move the second bevel gear 409 and the sliding clutch 410 toward the side of the fixed clutch 408, so that the sliding clutch 410 can engage with the fixed clutch 4, and then transmit power to the first bevel gear 405 and the screw 404 through the drive shaft 106. The screw 404 rotates and drives the push plate 403 to move toward the side of the extrusion port, thereby pushing the paint toward the extrusion port, making it easier to extrude the paint.

[0051] Example 2

[0052] The difference from Example 1 is that it also includes a controller electrically connected to the drive motor 102, the fan motor 206 and the brush motor 307. The controller and the external control device communicate with each other through the network. The external control device includes an intelligent power supply vehicle device and a circuit control and auxiliary device. The intelligent power supply vehicle device is equipped with a camera, a sensor scanner, a mobile power supply and a single-chip microcomputer. The sensor scanner includes but is not limited to a temperature and humidity sensor, a crack width sensor and a material type sensor, etc., which are convenient for collecting wall information. The circuit control and auxiliary equipment include but are not limited to a main control module, a motor drive module, a visual recognition module, an infrared ranging module and a network control module. The main control module is set to an ESP32 module, and the underlying operating system and basic driver are loaded for the ESP32 module to ensure that the hardware can operate normally and provide support for upper-level applications. The ESP32 development board is connected via USB, and the compiled firmware file is compiled using a tool. The software (.bin) is burned into the flash memory of ESP32, and the code for realizing the core functions of the wall climbing device (path planning, motion control, etc.) is loaded into ESP32. Using the Arduino development tool, the program is written and compiled to generate a binary file, and the program is uploaded to ESP32 through the serial port. The precise control of each component of the wall climbing device is achieved through the program, ensuring that the wall climbing device can accurately perform tasks such as wall climbing, crack identification and repair according to user instructions. Compared with traditional technologies, this application can combine sensor scanners, cameras and other components to realize wall crack identification and path planning operations, use crawlers 101 and negative pressure mechanisms 200 to realize wall movement, adapt to a variety of wall materials, and ensure stable movement through intelligent path planning algorithms, thus solving the adaptability problem of existing wall climbing devices on complex walls. The paint scraping mechanism 400 is used to complete precise repairs, and users can remotely control and monitor the repair progress in real time.

[0053] Specifically, when it is found that the wall needs to be repaired, the wall-climbing device is placed in front of the corresponding wall. The intelligent power supply vehicle equipment will project an infrared positioning mark, so that the sensor scanner and camera can identify the predetermined position after startup, scan the wall within a specific range, and transmit the information to the main control module. The visual recognition module performs data analysis operations on it, and then establishes a wall model and a wall coordinate system. The working area of the wall repair is divided into y-axis areas of equal width on the y-axis, which is convenient for completing the scraping work in batches longitudinally. The intelligent power supply vehicle equipment is equipped with a mobile power supply to power the wall-climbing device, and transmits signals through the controller to instruct the wall-climbing device to perform the repair work.

[0054] When repairing operation is required, the wall climbing device is moved to the bottom of the wall to be repaired, the fan motor 206 is started, so that it is adsorbed to the release plate on one side of the intelligent power supply vehicle device, and then the release plate is attached to the wall, and the drive motor 102 is started to drive the crawler 101 to move, so that the negative pressure suction cup 203 can be transferred from the release plate to the wall until it moves to the position to be repaired, and the wall is pre-cleaned by cooperating with the cleaning mechanism 300. After cleaning, the wall is subsequently repaired by the paint scraping mechanism 400. A storage tank 402 for storing paint or wall repair paste is provided on one side of the wall climbing device. The extrusion port of the storage tank 402 is in an open state after the wall climbing device is started, so that the paint or wall repair paste can be extruded to the extrusion port in cooperation with the push plate 403. After reaching the position to be repaired, the paint or wall repair paste will be extruded according to the moving speed and evenly extruded onto the wall, and then it will be flattened by the scraper 407. After completing the work, the wall climbing device will return to the release plate on one side of the intelligent power supply vehicle device to repair the next position.

[0055] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A wall climbing device based on negative pressure vacuum adsorption, characterized in that: include: A power mechanism (100), comprising a crawler belt (101) and a drive motor (102), for driving the wall-climbing device to move; A negative pressure mechanism (200), the negative pressure mechanism (200) being arranged between the two crawlers (101) and being used to generate negative pressure so that the wall-climbing device can be adsorbed on the wall surface; A cleaning mechanism (300), the cleaning mechanism (300) being arranged on one side of the negative pressure mechanism (200) and being used to remove warped wall skin and dust on the wall surface; A paint touch-up scraping mechanism (400), the paint touch-up scraping mechanism (400) being arranged on the other side of the negative pressure mechanism (200) and being used to realize a paint extrusion operation by using a driving motor (102); The power mechanism (100) further comprises a symmetrically arranged support frame (103), a connecting rod (104) and a tensioning assembly, wherein the tensioning assembly and the connecting rod (104) are both arranged inside the crawler (101), the support frame (103) and the connecting rod (104) are coaxially connected, a driving pulley (105) is provided for rotation inside the crawler (101), the driving motor (102) is fixedly mounted on one of the support frames (103), the driving motor (102) is provided as a dual-output shaft motor, one output end of the driving motor (102) is fixedly connected to a driving shaft (106), the other end of the driving shaft (106) is connected to the corresponding driving pulley (105), the other output end of the driving motor (102) is fixedly connected to the other driving pulley (105), and a transmission belt is provided on a side of the support frame (103) away from the driving motor (102).

2. The wall climbing device based on negative pressure vacuum adsorption according to claim 1 is characterized in that: The tensioning assembly comprises a suspension frame (107), a connecting frame (108) and a tensioning spring (109); the suspension frame (107) is formed by hingedly connecting a pair of oppositely arranged main suspension frame beams (1071); one end of the main suspension frame beam (1071) is bifurcated and extended to form a first auxiliary suspension frame beam (1072) and a second auxiliary suspension frame beam (1073); the first auxiliary suspension frame beam (1072) and the second auxiliary suspension frame beam (1073) constitute an auxiliary suspension frame; the two ends of the tensioning spring (109) are respectively fixedly connected to the two first auxiliary suspension frame beams (1072); the connecting frame (108) comprises a first connecting frame (1081), a second connecting frame (1082) and a third connecting frame (1083); the first connecting frame (1081) and the third connecting frame (1083) are oppositely arranged. One end is hinged to the corresponding main suspension frame beam (1071), the other end of the first connecting frame (1081) is sleeved on the outside of the drive shaft (106), the other end of the third connecting frame (1083) is connected to the tensioning wheel (110), the second connecting frame (1082) is hinged to the second auxiliary suspension frame beam (1073), a balancing wheel group (111) is provided on the surface of the second connecting frame (1082), and the balancing wheel group (111) is provided at the bottom of the suspension frame (107), and the two supporting frames (103) are both rotatably provided with support wheels (112) on the opposite sides, and the support wheels (112) are provided above the suspension frame (107), and the support wheels (112) and the balancing wheel group (111) are both wrapped and provided inside the crawler (101) and rotate synchronously with the crawler (101).

3. The wall climbing device based on negative pressure vacuum adsorption according to claim 1 is characterized in that: The negative pressure mechanism (200) comprises a negative pressure shell (201), the negative pressure shell (201) is mounted on a support frame (103) by means of a plurality of bolts, a motor fixing frame (202) is fixedly provided on the top of the negative pressure shell (201), a negative pressure suction cup (203) is fixedly provided on the bottom of the negative pressure shell (201), a negative pressure cabin (204) is formed between the negative pressure shell (201) and the negative pressure suction cup (203), and a negative pressure chamber (204) is fixedly provided on the top wall of the negative pressure shell (201). A bearing (205) is fixedly installed, a fan motor (206) is fixedly installed on the top of the motor fixing frame (202), the output end of the fan motor (206) extends to the inside of the negative pressure shell (201) and is fixedly connected to the turbine blade (207), the bearing (205) is rotatably connected to the turbine blade (207), the turbine blade (207) is arranged inside the negative pressure cabin (204), and a plurality of adsorption holes (208) are opened on the surface of the negative pressure suction cup (203).

4. The wall climbing device based on negative pressure vacuum adsorption according to claim 3 is characterized in that: The cleaning mechanism (300) comprises a connecting frame (301) connected to a motor fixing frame (202) via a plurality of bolts, a first cantilever servo (302) being fixedly mounted on the top of the connecting frame (301), an output end of the first cantilever servo (302) being fixedly connected to a supporting cantilever (303), a second cantilever servo (304) being fixedly arranged on the top of the supporting cantilever (303), a moving cantilever (305) being fixedly arranged on the output end of the second cantilever servo (304), and the moving cantilever (305) being rotationally connected to the supporting cantilever (303). A mounting plate (306) is fixedly provided on one side of the moving cantilever (305) away from the supporting cantilever (303), and a brush motor (307) is symmetrically provided on the upper surface of the mounting plate (306). The output ends of the brush motor (307) are both rotatably connected to the brush transmission belt (308), and the other side of the brush transmission belt (308) is rotatably connected to the brush (309). The two ends of the brush (309) are connected to the mounting plate (306) through a brush bracket (310), and the brush (309) is rotatably connected to the brush bracket (310).

5. The wall climbing device based on negative pressure vacuum adsorption according to claim 4 is characterized in that: The paint touch-up scraping mechanism (400) comprises a scraping shell (401), wherein the scraping shell (401) is connected to the negative pressure shell (201) via a plurality of bolts, a storage tank (402) is fixedly provided on a side of the scraping shell (401) away from the negative pressure shell (201), an extrusion port is provided on one side of the storage tank (402), a push plate (403) is provided inside the storage tank (402) for sliding, a screw rod (404) is provided on the internal thread of the push plate (403), and one end of the screw rod (404) is connected to the storage tank ( 402) is rotatably connected to the inner wall of the scraping shell (402), the other end of the screw rod (404) extends to the inside of the scraping shell (401) and is fixedly connected to the first bevel gear (405), and the interior of the scraping shell (401) is provided with a driving component for driving the first bevel gear (405) to rotate, and the top of the scraping shell (401) is symmetrically provided with a scraper bracket (406), and the ends of the scraper bracket (406) are fixedly connected to the scraper (407), and the scraper (407) is provided on the side of the storage tank (402) away from the scraping shell (401).

6. The wall climbing device based on negative pressure vacuum adsorption according to claim 5, characterized in that: The drive assembly comprises a fixed clutch (408) fixedly arranged on a drive shaft (106); a second bevel gear (409) is slidably arranged on the drive shaft (106); a sliding clutch (410) is fixedly arranged on a side of the second bevel gear (409) close to the fixed clutch (408); a tension spring base (411) is fixedly arranged on the drive shaft (106); a tension spring (412) is fixedly arranged between the tension spring base (411) and the second bevel gear (409); a fixed servo (413) is fixedly arranged on the top wall of the coating housing (401); a paddle (414) is fixedly arranged at the output end of the fixed servo (413); the paddle (414) is in contact with the second bevel gear (409) and is not fixed.

7. The wall climbing device based on negative pressure vacuum adsorption according to claim 1 is characterized in that: Induction teeth are provided on the contact surface between the crawler belt (101) and the driving pulley (105).

8. The wall climbing device based on negative pressure vacuum adsorption according to claim 4 is characterized in that: The brush (309) is configured as a hard brush.

9. The wall climbing device based on negative pressure vacuum adsorption according to claim 6, characterized in that: The cross section of the scraper (407) is configured to be in an inverted V shape.

10. The wall climbing device based on negative pressure vacuum adsorption according to claim 1, characterized in that: The invention also includes a controller electrically connected to the drive motor (102), the fan motor (206) and the brush motor (307), wherein the controller communicates with an external control device via a network, wherein the external control device includes an intelligent power supply vehicle device and a circuit control and auxiliary device, wherein the intelligent power supply vehicle device is equipped with a camera, a sensor scanner, a mobile power supply and a single-chip microcomputer, and the circuit control and auxiliary device includes but is not limited to a main control module, a motor drive module, a visual recognition module, an infrared ranging module and a network control module.

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