Wall-climbing robot capable of realizing curved-surface self-adaptive climbing based on flexible negative pressure cavity

Abstract

The invention discloses a wall-climbing robot capable of realizing curved-surface self-adaptive climbing based on a flexible negative-pressure cavity, and belongs to the field of wall-climbing robots. In order to solve the problems that a traditional rigid adsorption structure cannot adapt to a non-magnetic curved surface and cables interfere with operation, the adsorption mechanism passively fits the curved surface through a flexible negative pressure cavity, and the negative pressure sealing performance is guaranteed; the force transmission mechanism converts adsorption force into constant normal pressure through a constant force spring and transmits the constant normal pressure to the moving wheel train, so that the moving wheel train is attached to the wall face in a self-adaptive mode. The moving mechanism realizes steering through differential control; and the hardware module is integrated with a cable-free power supply and a driving control system. The three technical problems of complex curved surface adsorption failure, cable redundancy and poor material adaptability are solved, and the device has the advantages that the structure is light, cable-free operation is achieved, the curved surface adaptability is high, and low-friction movement is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of wall-climbing robots, and in particular relates to a wall-climbing robot that can achieve surface adaptive crawling based on a flexible negative pressure cavity. Background Art

[0002] In current fields such as high-end equipment inspection and curved deep cavity operations, the application of wall-climbing robot technology is becoming increasingly widespread, especially in non-magnetic materials and complex curved surface scenarios. Traditional wall-climbing robots mainly rely on rigid adsorption structures, such as electromagnetic suction cups and mechanical grippers. Although these structures can provide reliable adsorption force on flat or specific curved surfaces, their functions and applications are severely limited by the material and shape structure of the wall. Especially for curved walls, rigid adsorption structures often find it difficult to achieve a good fit and seal, which affects the robot's adsorption performance and stability. In addition, the rigid structure has low adsorption efficiency when facing non-magnetic materials, or even fails completely, which greatly restricts the application of robots in a wider range of fields.

[0003] In terms of mobility, existing wall-climbing robots are often constrained by cables, including control signal cables, power cables, and air supply lines. These cables not only increase the robot's overall weight and size, reducing its flexibility and operating efficiency, but can also cause interference in complex operating environments, affecting the robot's normal operation. Therefore, the development of a lightweight, cable-free wall-climbing robot that can adapt to a variety of materials and complex surfaces has become an urgent need within the industry.

[0004] Existing wall-climbing robots mostly use magnetic attraction, vacuum attraction, suction cups, or micro-spikes, each of which has its own scope of application and limitations. For example, magnetic attraction is only suitable for magnetic metal surfaces; while vacuum attraction and suction cups provide good adhesion, they are prone to failure on curved surfaces due to poor sealing; and while micro-spikes can reliably grasp certain materials, they are less adaptable to smooth surfaces and complex curves. These limitations make it difficult for current wall-climbing robots to meet the requirements for stable adhesion and efficient movement on non-uniform materials and complex curved surfaces.

[0005] While traditional rigid adsorption structures work well on flat surfaces, they struggle to adapt to curved surfaces, especially when encountering complex, uneven geometries. Therefore, developing a cable-free wall-climbing robot that can effectively handle non-magnetic materials, adapt to complex curves, and overcome the limitations of existing technology has become a critical challenge for the industry.

[0006] In summary, the wall-climbing robots in the prior art have the following problems: 1. The adsorption structure has limited adaptability to materials and surfaces, and it is difficult to achieve stable adsorption on non-magnetic materials and complex surfaces; 2. The adsorption force is unevenly distributed on the curved surface, making it difficult to ensure close adhesion across the entire adsorption surface, especially in areas with large changes in curvature; 3. Due to cable restrictions, the robot has significant limitations in flexibility and operating range, making it difficult to achieve true cable-free operation.

[0007] In order to solve the above problems, it is necessary to propose an innovative wall-climbing robot design to improve its adaptability and operating efficiency in non-magnetic materials and complex curved surface environments. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to address the deficiencies in the above-mentioned prior art and provide a wall-climbing robot that can achieve surface adaptive crawling based on a flexible negative pressure cavity, thereby improving the material and surface adaptability of existing wall-climbing robots and realizing a cable-free design to facilitate efficient and stable operation in a wider range of operating environments, and to solve the technical problem that wall-climbing robots have difficulty in achieving stable adsorption and adaptive crawling on non-magnetic materials and complex surfaces.

[0009] The present invention adopts the following technical solutions: A wall-climbing robot capable of adaptively crawling on a curved surface based on a flexible negative pressure cavity, comprising: An adsorption mechanism, for generating a negative pressure environment and providing wall adsorption force, comprises a flexible negative pressure cavity, a cavity splint fixed to the top of the flexible negative pressure cavity, a fan bracket connected to the cavity splint, a negative pressure impeller installed in the fan bracket, and a negative pressure motor driving the negative pressure impeller; The force transmission mechanism is used to transmit the adsorption force to the moving mechanism and provide constant force attachment, including a core support plate fixedly connected to the fan bracket, two pairs of constant force springs symmetrically arranged on both sides of the core support plate, sliders fixed to both ends of the core support plate, and metal slide rails that slide with the sliders, wherein one end of the constant force spring is connected to the support column of the core support plate, and the other end is connected to the upper end of the slide rail; The moving mechanism is used to drive the robot to move and turn, including a motor bracket fixedly connected to the lower end of the slide rail, a motor chassis fixed to the motor bracket, a wheel train motor installed on the motor chassis, and a moving wheel train driven by the wheel train motor; The hardware module includes an embedded circuit board fixed to the top of the core support plate and a lithium battery disposed in a battery compartment of the core support plate; The flexible negative pressure cavity passively adheres to the wall to maintain negative pressure sealing; the constant force spring transmits constant normal pressure to the moving gear train through the slide rail to ensure its adaptive adhesion to the curved surface; the differential control gear train motor realizes steering.

[0010] Preferably, the flexible negative pressure cavity is made of silicone rubber elastomer.

[0011] Preferably, the negative pressure impeller is a backward impeller with an arc blade structure.

[0012] Preferably, the negative pressure motor is an aircraft model motor with a rotation speed greater than or equal to 25000 rpm.

[0013] Preferably, the cavity splint, the fan bracket, the core support plate, the motor bracket and the hub of the moving wheel system are made of lightweight plastic material using 3D printing technology.

[0014] Preferably, the metal slide rail is provided with a linear ball groove.

[0015] Preferably, the tension range of the constant force spring is 4-5N.

[0016] Preferably, the revolving pair of the constant force spring is formed by its end and the support column of the core support plate.

[0017] Preferably, the moving wheel train is driven by a micro DC reduction motor.

[0018] Preferably, the tires of the moving wheel train are made of silicone or rubber elastic with a high friction coefficient.

[0019] Compared with the prior art, the present invention has at least the following beneficial effects: A wall-climbing robot that achieves adaptive surface crawling using a flexible negative pressure cavity utilizes a triple-functional design: passive sealing of the cavity, constant force spring transmission, and cable-free integration. The cavity deforms under negative pressure, adaptively conforming to walls with a curvature radius of 0.3m or greater. The constant force spring outputs a constant force, which is transmitted to the moving wheel train via a low-loss ball guide rail, ensuring stable normal pressure on the tires. The core support plate features a topologically optimized design, integrating a lithium battery and embedded circuitry, eliminating cables. The unique flexible negative pressure cavity design allows for close conformance to surfaces of varying curvatures, significantly improving the robot's wall adaptability and stability. Furthermore, the constant force spring and metal guide rail system ensure constant contact pressure on the moving wheel train on various curved surfaces, enabling the robot to stably crawl on complex surfaces. This design not only reduces the robot's weight and improves its mobility, but also expands its operational range, enabling its widespread application in fields such as shipbuilding, construction, and pipelines, with significant practical benefits.

[0020] Furthermore, the elastic modulus and elongation at break of the Shore A30 silicone rubber are balanced, and the 45° inclination design generates contact stress under negative pressure, adapting to the micro-concavities and convexities on the wall, reducing frictional resistance, and can still move stably on oily stainless steel walls, expanding its application in chemical scenarios.

[0021] Furthermore, the static pressure efficiency reaches 65%, and the turbulent kinetic energy loss is reduced by 40%; 80kPa negative pressure is established within 0.5 seconds, which improves the adsorption stability in the environment of gust interference.

[0022] Furthermore, the 28,000rpm aircraft model motor is equipped with a backward impeller to meet the cavity volume of 0.02m 3 ventilation needs.

[0023] Furthermore, the center of gravity offset is less than 5mm, preventing tipping over when climbing slopes. The core support plate houses the battery compartment and circuit board slots, reducing assembly parts by 30%. The entire machine weighs 480g, 52% lighter than a CNC aluminum alloy solution, and 40% less expensive.

[0024] Furthermore, the V-shaped ball groove is combined with the POM slider, with a transmission loss of less than 5%, allowing the slider to have a radial runout of ±0.5mm, adapting to the torsional deformation of the curved surface. When crawling on a composite curved surface, the normal force fluctuation of the gear train is less than ±0.2N.

[0025] Furthermore, setting 4-5N provides a 60% safety margin. When the curvature changes, the spring force deviation is less than ±2.5%, and there is no slipping when crawling on a 60° slope.

[0026] Furthermore, the shaft pin rotating pair solves the problem of force transmission angle and extends the life of the mechanism on the variable curvature wall.

[0027] Further tire deformation increases the contact area and improves adhesion. The low surface energy of silicone resists oil film infiltration.

[0028] In summary, this invention achieves adaptive adsorption with a curvature radius of 0.3m or greater through a flexible negative pressure cavity. A constant-force spring coupled with a ball-bearing slide ensures constant pressure adhesion of the wheel train, preventing slippage on steep slopes up to 60°. Its cable-free integrated design supports deep cavity operations for 45 minutes. This improves curved surface adaptability, doubles obstacle surmounting capabilities, and ensures stable movement on oil-contaminated surfaces, making it suitable for industrial inspection scenarios such as wind turbine blades and storage tanks.

[0029] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings to be used in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 Schematic diagram of the robot structure of the present invention; Figure 2 Schematic diagram of the robot's adaptive crawling on a convex wall; Figure 3 Schematic diagram of the robot's adaptive crawling on concave walls.

[0032] Among them: 1. Flexible negative pressure cavity; 2. Cavity splint; 3. Fan bracket; 4. Negative pressure impeller; 5. Negative pressure motor; 6. Core support plate; 7. Embedded circuit board; 8. Lithium battery; 9. Constant force spring; 10. Slider; 11. Slide rail; 12. Motor bracket; 13. Motor base; 14. Moving motor; 15. Moving gear train. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "one side," "one end," and "one side" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, in the description of the present invention, unless otherwise specified, "a plurality" means two or more.

[0035] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0036] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0037] It should also be understood that the terms used in the present specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0038] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0039] The accompanying drawings illustrate various schematic diagrams of structures according to embodiments disclosed herein. These figures are not drawn to scale; for clarity, some details are exaggerated and some details may be omitted. The shapes of the various regions and layers shown in the figures, as well as their relative sizes and positional relationships, are merely exemplary and may deviate in practice due to manufacturing tolerances or technical limitations. Those skilled in the art may design regions / layers with different shapes, sizes, and relative positions as needed.

[0040] The present invention provides a wall-climbing robot that realizes adaptive crawling on curved surfaces based on a flexible negative pressure cavity. The robot adopts a silicone rubber flexible negative pressure cavity + an embedded cavity splint. The flexible deformation adaptively seals the curved surface, and the rigid splint efficiently converts the adsorption force to solve the problem of adsorption failure on non-magnetic curved surfaces. A displacement-independent constant force spring is designed to cooperate with a ball slide rail to convert the adsorption force into a constant normal pressure of the moving wheel system, ensuring that the tire maintains stable friction on a 60° steep slope. Through the topology optimization of the core support plate, the embedded integrated lithium battery and the drive control circuit, the risk of cable entanglement is eliminated and the deep cavity operation range is expanded.

[0041] See also Figure 1 、 Figure 2 and Figure 3 The present invention discloses a wall-climbing robot that realizes surface adaptive crawling based on a flexible negative pressure cavity, comprising an adsorption mechanism, a force transmission mechanism, a moving mechanism and a hardware mechanism.

[0042] The adsorption mechanism provides wall adsorption force, including a flexible negative pressure cavity 1, a cavity splint 2, a fan bracket 3, a negative pressure impeller 4 and a negative pressure motor 5. The flexible negative pressure cavity 1 is clamped at the bottom of the fan bracket 3 through the cavity splint 2, and the negative pressure impeller 4 and the negative pressure motor 5 are combined and fixed together at the top of the fan bracket 3; the negative pressure motor 5 drives the impeller to generate negative pressure in the cavity; the fan bracket 3 ensures interference-free operation; the flexible negative pressure cavity 1 has a passive fitting characteristic to ensure airtightness, and its bottom is attached with a resistance-reducing polytetrafluoroethylene material; the cavity splint 2 converts the pressure difference into a rigid force.

[0043] The force transmission mechanism provides force transmission between the adsorption and moving mechanisms, including a core support plate 6, two pairs of constant force springs 9, a slider 10 and a metal slide rail 11. The bottom of the core support plate 6 is connected to the adsorption mechanism, and two sliders 10 are fixed at both ends of the core support plate 6. The slider 10 and the slide rail 11 form a linear moving pair. The upper end of the slide rail 11 is fixed with the free end of the constant force spring 9, and the constant force spring 9 is supported by the core support plate 6 to form a rotating pair, and the lower end of the slide rail 11 is connected to the moving mechanism; the core support plate 6 is used to fix and connect various mechanisms to ensure the symmetry of the structure. The adsorption mechanism is fixed at its bottom and the hardware module is fixed at the top; the slider 10 is fixed to the core support plate 6 to constrain the single degree of freedom sliding of the slide rail 11; the constant force spring 9 and the core support plate 6 are matched with a shaft hub to provide a constant force independent of displacement; the upper end of the slide rail 11 is connected to the free end of the constant force spring 9, and the lower end is fixed to the moving mechanism, thereby transmitting constant pressure to the drive wheel.

[0044] The moving mechanism provides movement and differential steering power, including two pairs of motor brackets 12, a motor base 13, a wheel train motor 14 and a moving wheel train 15. The motor brackets 12 and the base 13 clamp and fix the wheel train motor 14, and the wheel train motor 14 and the moving wheel train 15 adopt an interference fit between the shaft hole; the wheel hub and the high-friction silicone tire constitute the moving wheel train 15; the wheel train motor is fixed to the end of the metal guide rail through the motor bracket 12 and the motor base 13, providing driving force for the moving wheel train 15.

[0045] The hardware module provides power and control signals, centrally integrating a lithium battery and PCB circuitry. The hardware module includes an embedded circuit board 7 and a lithium battery 8. The embedded circuit board 7 is fixed to the top of the core support plate 6, and the lithium battery 8 is placed in the battery compartment of the core support plate 6, providing power for the entire robot. The PCB enables human-machine interaction and controls the coordinated operation of the various module peripherals.

[0046] When not working, the constant force spring and the flexible negative pressure cavity are in their original natural state. When the robot is placed on a wall, the moving wheel system will directly contact the wall while the flexible negative pressure cavity is suspended in the air. When using, refer to Figure 2 and Figure 3 , start the negative pressure motor to drive the negative pressure impeller to rotate at high speed, and the pre-pressurized core support plate drives the negative pressure cavity close to the concave and convex wall surface. At this time, the constant force spring will be stretched to generate a constant force, which is transmitted to the moving mechanism through the slide rail; When the gap between the negative pressure cavity and the wall is small enough, a stable negative pressure is generated in the cavity, forming a pressure difference with the atmospheric pressure, thereby generating an adsorption force. Under the action of the pressure difference, the flexible negative pressure cavity adaptively adheres to the wall. When the preload is removed, the tensile deformation of the constant force spring is maintained by the adsorption force. During the above process, the force transmission mechanism always presses the moving mechanism to the wall with a constant pressure, providing it with a stable normal pressure. Finally, the wheel train motor drives the mobile wheel train to rotate to realize the robot's wall adsorption and collaborative crawling work, and the robot's steering action is realized by the differential principle.

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0048] The present application discloses a wall-climbing robot that realizes surface adaptive crawling based on a flexible negative pressure cavity, comprising: a flexible negative pressure cavity 1, a cavity splint 2, a fan bracket 3, a negative pressure impeller 4, and a negative pressure motor 5. The flexible negative pressure cavity 1 is used to generate a negative pressure environment and provide wall adsorption force. The cavity splint 2 is fixed to the top of the flexible negative pressure cavity 1. The fan bracket 3 is connected to the cavity splint 2. The negative pressure impeller 4 is installed in the fan bracket 3. The negative pressure motor 5 drives the negative pressure impeller 4. The force transmission mechanism includes a core support plate 6, two pairs of constant force springs 9, a slider 10 and a metal slide rail 11. The core support plate 6 is fixedly connected to the fan bracket 3. The constant force springs 9 are symmetrically arranged on both sides of the core support plate 6, one end of which is connected to the support column of the core support plate 6, and the other end is connected to the upper end of the metal slide rail 11. The slider 10 is fixed to both ends of the core support plate 6 and slides with the metal slide rail 11. The moving mechanism includes a motor bracket 12, a motor base 13, a gear motor 14 and a moving gear 15. The motor bracket 12 is fixedly connected to the lower end of the metal slide rail 11, the motor base 13 is fixed to the motor bracket 12, the gear motor 14 is installed on the motor base 13, and the moving gear 15 is driven by the gear motor 14. The hardware module includes an embedded circuit board 7 and a lithium battery 8. The embedded circuit board 7 is fixed on the top of the core support plate 6, and the lithium battery 8 is arranged in the battery compartment of the core support plate 6; the flexible negative pressure cavity 1 passively adheres to the wall to maintain negative pressure sealing; the constant force spring 9 transmits constant normal pressure to the moving gear train 15 through the metal slide rail 11 to ensure that it adaptively adheres to the curved surface; the differential control of the gear train motor 14 realizes steering.

[0049] Technically, this embodiment combines a flexible negative pressure cavity with cavity splints, fan brackets and other structures to form an adsorption system that can adapt to curved surfaces and maintain good sealing, effectively solving the adsorption problem of wall-climbing robots when operating on curved surfaces.

[0050] In principle, the negative pressure principle and the deformation characteristics of flexible materials are utilized to enable the robot to stably adsorb on surfaces of different curvatures.

[0051] In terms of effect, the technical solution in this embodiment enables the robot to maintain stable adsorption on complex curved surfaces, thereby improving the robot's operational flexibility and scope of application.

[0052] In other embodiments, the robot's adaptability to different curved surfaces can be further enhanced by increasing the number of negative pressure cavities or changing their shapes, thereby meeting a wider range of curved surface operation requirements.

[0053] Furthermore, the flexible negative pressure cavity 1 is made of silicone rubber elastomer. Technically, the selection of silicone rubber material is based on its good elasticity and sealing properties, which can ensure the formation of a stable negative pressure environment when in contact with the wall. In principle, the elastic properties of silicone rubber enable it to adapt to the concave and convex changes of the wall, maintain good fit and sealing, and thus maintain a negative pressure state. In terms of effect, the flexible negative pressure cavity in this embodiment can be effectively adsorbed on walls of different curvatures, thereby improving the adaptability and stability of the robot. In other embodiments, the same technical effect can be achieved by adopting other materials with similar elasticity and sealing properties, such as polyurethane or rubber of a specific formula, to solve the adsorption problem on walls in special environments or materials.

[0054] Furthermore, the negative pressure impeller 4 is a backward impeller and an arc blade structure. Technically, the design of the backward impeller and the arc blade can improve the efficiency and stability of the impeller, ensuring that sufficient negative pressure is generated during high-speed rotation. In principle, this impeller structure can effectively reduce the turbulence of the airflow, improve the smoothness of the airflow and the efficiency of the formation of negative pressure. In terms of effect, the negative pressure impeller in this embodiment can quickly generate a stable negative pressure environment, ensuring the rapid establishment and continuous stability of the robot's adsorption force. In other embodiments, other types of impeller structures, such as forward impellers or radial impellers, can be used to achieve different airflow control and negative pressure generation effects, thereby solving the problem of negative pressure generation efficiency and stability under specific conditions.

[0055] Furthermore, the negative pressure motor 5 is an aircraft model motor with a rotation speed of more than 25000rpm. Technically, the high-speed aircraft model motor can provide enough power to drive the negative pressure impeller to rotate at high speed, thereby forming a stable negative pressure environment in the flexible negative pressure cavity. In principle, the high speed of the motor combined with the efficient design of the impeller can effectively improve the speed and intensity of generating negative pressure, ensuring the stable adsorption of the robot on the wall. In terms of effect, the high-speed negative pressure motor in this embodiment can quickly establish and maintain the required negative pressure, thereby improving the response speed and adsorption stability of the robot. In other embodiments, other types of high-speed motors, such as brushless DC motors or servo motors, can also be used to achieve different power outputs and control accuracy, thereby solving the problems of motor performance and energy consumption in specific applications.

[0056] Furthermore, the cavity splint 2, the fan bracket 3, the core support plate 6, the motor bracket 12 and the hub of the moving wheel train 15 are made of lightweight plastic material using 3D printing technology. Technically, the selection of lightweight plastic materials and the application of 3D printing technology make the overall structure of the robot lightweight, improving its maneuverability and operating efficiency. In principle, 3D printing technology can achieve precise manufacturing of complex structures, while the use of lightweight plastic materials reduces the weight of the robot and reduces the load on the moving wheel train. In terms of effect, the structural design in this embodiment enables the robot to move more easily on the wall while ensuring the strength and durability of the structure. In other embodiments, other lightweight materials, such as carbon fiber composites or aluminum alloys, can be used to achieve a lighter and stronger structure to solve the problems of structural strength and weight in special operating environments.

[0057] Furthermore, the metal slide rail 11 is provided with a linear ball groove. Technically, the design of the linear ball groove can reduce the friction between the slider and the slide rail, and improve the motion efficiency and stability of the force transmission mechanism. In principle, the balls roll in the groove, reducing the sliding friction and ensuring the smooth transmission of the constant force spring tension. In terms of effect, the metal slide rail design in this embodiment enables the force transmission mechanism to transfer force to the moving wheel train more smoothly, thereby improving the movement efficiency and steering accuracy of the robot. In other embodiments, other types of low-friction sliding mechanisms, such as air cushion slides or magnetic levitation slides, can also be used to achieve lower friction and higher motion accuracy, thereby solving friction and stability problems under high-speed movement or precision working conditions.

[0058] Furthermore, the tension range of the constant force spring 9 is 4-5N. Technically, the design of the constant force spring can provide stable tension to ensure constant force contact of the moving wheel train on the wall. In principle, the characteristic of the constant force spring is to provide a constant force within its tensile range and is not affected by displacement changes. In terms of effect, the constant force spring in this embodiment can ensure the stable fit of the robot on walls of different curvatures, thereby improving its operating range and adaptability. In other embodiments, the requirements of different tension ranges and adaptability can be achieved by adjusting the parameters of the spring, such as the spring constant or material, to solve the problems of fit and stability on specific wall materials or structures.

[0059] Furthermore, the revolute pair of the constant force spring 9 is composed of its end and the support column of the core support plate 6. Technically, the design of the revolute pair can ensure that the constant force spring maintains a constant tension direction under different displacements, thereby improving the efficiency and stability of force conduction. In principle, the revolute pair allows the spring to maintain a tension direction perpendicular to the wall when stretched, ensuring direct force conduction. In terms of effect, the revolute pair design in this embodiment makes the robot move more smoothly on the wall, improving its operating efficiency and safety. In other embodiments, other types of rotational connections, such as ball joints or universal joints, can also be used to achieve more complex force conduction paths and direction control, thereby solving force conduction problems under multiple degrees of freedom or complex motion conditions.

[0060] Furthermore, the mobile wheel train 15 is driven by a micro DC reduction motor. Technically, the selection of the micro DC reduction motor is based on its high torque and low energy consumption characteristics, which can provide sufficient driving force for the mobile wheel train. In principle, the reduction mechanism can convert the high-speed rotation of the motor into a low-speed, high-torque output, which is suitable for driving the mobile wheel train. In terms of effect, the micro DC reduction motor in this embodiment can ensure the stable movement and steering of the robot on the wall, thereby improving its operating efficiency and flexibility. In other embodiments, other types of motors, such as stepper motors or servo motors, can also be used to achieve different driving characteristics and control accuracy, thereby solving driving and steering problems under specific operating conditions.

[0061] Furthermore, the tires of the moving wheel train 15 are silicone or rubber elastomers with a high friction coefficient. Technically, the selection of high friction coefficient tires is based on their grip and stability on the wall, which can ensure that the robot does not slip when moving. In principle, materials with a high friction coefficient can provide sufficient friction to ensure good contact between the wheels and the wall. In terms of effect, the tire design in this embodiment makes the movement of the robot on the wall more stable, improving its operating efficiency and safety. In other embodiments, other types of high friction materials, such as polyurethane or special coatings, can be used to achieve different friction characteristics and adaptability to solve the grip and stability problems under specific wall materials or environmental conditions.

[0062] Furthermore, the components are fixed together using bolts and nuts. Technically, the bolt and nut fixing method provides a reliable connection between components, while facilitating disassembly and maintenance. In principle, the tightening force of the bolts and nuts can ensure the stable connection of the components during the movement of the robot. In terms of effect, the fixing method in this embodiment makes the robot structure more stable, and improves its operating efficiency and reliability. In other embodiments, other types of fixing methods, such as snap connections or adhesive fixation, can be used to achieve different connection strengths and disassembly conveniences, thereby solving the problems of structural stability and maintenance convenience in specific operating environments.

[0063] In combination with the above embodiments, during the working process or use of the wall-climbing robot of the present application, the negative pressure motor is first started to drive the negative pressure impeller to rotate at high speed, thereby forming a negative pressure environment in the flexible negative pressure cavity, thereby generating an adsorption force between the wall surface and the cavity; Subsequently, by pre-pressing the core support plate, the negative pressure cavity is driven close to the wall, and the constant force spring is stretched to generate a constant force, which is transmitted to the moving mechanism through the metal slide rail to ensure constant force contact between the moving gear train and the wall; When the gap between the negative pressure cavity and the wall is sufficiently small, a stable negative pressure is generated inside the cavity, forming a pressure difference with the atmospheric pressure, generating an adsorption force. Under the action of the pressure difference, the flexible negative pressure cavity adaptively adheres to the wall. After the preload is removed, the tensile deformation of the constant force spring is maintained by the adsorption force. The force transmission mechanism always presses the moving mechanism to the wall with a constant pressure, providing it with a stable normal pressure. Finally, the gear train motor drives the mobile gear train to rotate, enabling the robot's wall-clinging and collaborative crawling. The robot's steering is achieved using the differential speed principle. Throughout the entire operation, the coordination and cooperation between these components ensures the robot's stable clinging and adaptive crawling on surfaces of varying materials and curvatures, enhancing its operational range and flexibility.

[0064] Application Example 1: Flat Wall Climbing Initial state: the constant force spring 9 is not stretched, the moving gear train 15 contacts the wall, and the flexible negative pressure cavity 1 is suspended in the air.

[0065] Adsorption start: The negative pressure motor 5 drives the negative pressure impeller 4 to form negative pressure in the cavity; Press down the core support plate 6 to make the flexible negative pressure cavity 1 close to the wall, and the constant force spring 9 is stretched to 5N; After the cavity sealing lip touches the wall, the atmospheric pressure difference generates an adsorption force (about 200Pa). When the downward pressure is removed, the adsorption force maintains the spring deformation.

[0066] Mobile Controls: The embedded circuit board 7 controls the gear train motor 14 to rotate at the same speed, and the robot crawls in a straight line; When the left wheel accelerates and the right wheel decelerates, right turn is achieved.

[0067] Application Example 2: Concave Surface Crawling ( Figure 3 ) Adaptive process: The flexible negative pressure cavity 1 deforms under the action of negative pressure, and the sealing lip completely fits the concave surface; The constant force spring 9 presses the moving wheel train 15 onto the curved surface through the slide rail 11, ensuring constant force contact between the tire and the wall (4.5N); The PTFE sealing lip reduces movement resistance, and the wheel silicone tire provides sufficient friction.

[0068] It crawls on the inner wall of wind turbine blade (curvature radius 0.5m) without falling off, and the speed reaches 0.2m / s.

[0069] The present invention realizes the adaptive crawling of the wall-climbing robot on complex curved surfaces, and has the advantages of compact structure, light weight, stable adsorption, and flexible movement. It is suitable for wall operation needs in various industrial and scientific research fields.

[0070] In summary, the present invention provides a wall-climbing robot that can adaptively crawl on curved surfaces based on a flexible negative pressure cavity. The rigid-flexible coupling adsorption mechanism (cavity splint + flexible cavity) solves the curved surface sealing problem, and utilizes a constant force transmission mechanism to achieve adaptive attachment of the moving gear train to the curved surface (constant force 4-5N). Combined with a cable-free hardware design, the robot can crawl on non-magnetic walls: stable adsorption on convex / concave surfaces, and the cable-free design avoids entanglement, making it suitable for deep cavity detection.

[0071] The above content is only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A wall-climbing robot that realizes surface adaptive crawling based on a flexible negative pressure cavity, characterized in that: include: An adsorption mechanism for generating a negative pressure environment and providing a wall adsorption force, comprising a flexible negative pressure cavity (1), a cavity clamp (2) fixed to the top of the flexible negative pressure cavity (1), a fan bracket (3) connected to the cavity clamp (2), a negative pressure impeller (4) installed in the fan bracket (3), and a negative pressure motor (5) for driving the negative pressure impeller (4); A force transmission mechanism for transmitting the adsorption force to the moving mechanism and providing constant force attachment, comprising a core support plate (6) fixedly connected to the fan bracket (3), two pairs of constant force springs (9) symmetrically arranged on both sides of the core support plate (6), sliders (10) fixed to both ends of the core support plate (6), and metal slide rails (11) slidably matched with the sliders (10), wherein one end of the constant force spring (9) is connected to the support column of the core support plate (6), and the other end is connected to the upper end of the slide rail (11); A moving mechanism for driving the robot to move and turn, comprising a motor bracket (12) fixedly connected to the lower end of the slide rail (11), a motor base (13) fixed to the motor bracket (12), a wheel train motor (14) mounted on the motor base (13), and a moving wheel train (15) driven by the wheel train motor (14); A hardware module comprising an embedded circuit board (7) fixed to the top of the core support plate (6) and a lithium battery (8) disposed in a battery compartment of the core support plate (6); The flexible negative pressure cavity (1) passively adheres to the wall to maintain negative pressure sealing; the constant force spring (9) transmits constant normal pressure to the moving wheel train (15) through the slide rail (11) to ensure that it adheres to the curved surface adaptively; the differential control wheel train motor (14) realizes steering.

2. The wall-climbing robot capable of adaptively climbing on curved surfaces based on a flexible negative pressure cavity according to claim 1, characterized in that: The flexible negative pressure cavity (1) is made of silicone rubber elastomer.

3. The wall-climbing robot capable of adaptively climbing on curved surfaces based on a flexible negative pressure cavity according to claim 1, characterized in that: The negative pressure impeller (4) is a backward impeller with an arc blade structure.

4. The wall-climbing robot capable of adaptively climbing on curved surfaces based on a flexible negative pressure cavity according to claim 1, characterized in that: The negative pressure motor (5) is an aircraft model motor with a rotation speed greater than or equal to 25000 rpm.

5. The wall-climbing robot capable of adaptively climbing on curved surfaces based on a flexible negative pressure cavity according to claim 1, characterized in that: The cavity splint (2), the fan bracket (3), the core support plate (6), the motor bracket (12) and the hub of the moving wheel system (15) are made of lightweight plastic material using 3D printing technology.

6. The wall-climbing robot capable of adaptively climbing on curved surfaces based on a flexible negative pressure cavity according to claim 1, characterized in that: The metal slide rail (11) is provided with a linear ball groove.

7. The wall-climbing robot capable of adaptively climbing on curved surfaces based on a flexible negative pressure cavity according to claim 1, characterized in that: The tension range of the constant force spring (9) is 4-5N.

8. The wall-climbing robot capable of adaptively climbing on curved surfaces based on a flexible negative pressure cavity according to claim 7, characterized in that: The revolving pair of the constant force spring (9) is composed of its end and the support column of the core support plate (6).

9. The wall-climbing robot capable of adaptively climbing on curved surfaces based on a flexible negative pressure cavity according to claim 1, characterized in that: The moving gear train (15) is driven by a micro DC reduction motor.

10. The wall-climbing robot capable of adaptively climbing on curved surfaces based on a flexible negative pressure cavity according to claim 9, characterized in that: The tire of the moving wheel train (15) is made of silicone or rubber elastic with a high friction coefficient.

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