Organ type plush sealing ring structure for wall-climbing robot

Abstract

The invention discloses an organ type plush sealing ring structure for a wall-climbing robot, and relates to the technical field of robot air cavity sealing, the organ type plush sealing ring structure comprises a base body layer, an organ type fold layer arranged below the base body layer, a plush sealing layer arranged below the organ type fold layer, and a rectangular keel ring arranged on the inner side of the base body layer. The wall-climbing robot has the beneficial effects that the attachment stability of the wall-climbing robot on various surfaces can be enhanced, meanwhile, the sealing performance of the wall-climbing robot in a severe environment is improved, and the service life of the wall-climbing robot in the severe environment is prolonged.

Description

Technical Field

[0001] This invention relates to the field of robot air chamber sealing technology, and in particular to an accordion-style plush sealing ring structure for wall-climbing robots. Background Technology

[0002] As a key piece of equipment for high-altitude operations, wall-climbing robots achieve climbing of vertical walls through the principle of negative pressure adsorption.

[0003] However, existing technologies have many drawbacks in terms of core sealing structures. Traditional rigid sealing rings such as nitrile rubber have limited elasticity and cannot actively conform to uneven wall surfaces (such as concrete rust spots, protrusions, and welds). This directly leads to gas leakage and negative pressure attenuation, with adhesion decreasing by more than 30%. Especially when facing surfaces with large curvature (such as the curved surface of a storage tank), the edge of the sealing ring is prone to detaching from the wall, making it difficult to maintain the internal and external pressure difference. Moreover, existing robot sealing structures also have a contradiction between adsorption force and friction force. When the adsorption force is large, it will lead to increased friction force, making it difficult to move and overcome obstacles. If the robot has good walking performance, it needs less friction force to reduce the adsorption force, which will lead to a decrease in the robot's load-bearing capacity.

[0004] Furthermore, wear caused by wall friction significantly shortens the lifespan of the sealing rings, and frequent replacements increase maintenance costs. Insufficient dynamic response is also a significant problem: during robot movement, the sealing rings struggle to compensate for wall undulations in real time. While non-Newtonian fluid-filled sealing rings can adaptively fill gaps, they still exhibit significant frictional resistance and poor durability, requiring frequent replacements and failing to meet the demands of high-speed movement. Magnetic adsorption solutions are only suitable for iron walls, and the van der Waals force adsorption of biomimetic wool structures is still in the laboratory stage, posing challenges for industrial application. These shortcomings collectively limit the reliability and lifespan of wall-climbing robots under complex conditions (such as oily or high-vibration environments).

[0005] Therefore, there is an urgent need for a new sealing structure that can effectively overcome the above problems in order to improve the adhesion stability, sealing performance and service life of wall-climbing robots. Summary of the Invention

[0006] In view of the problems existing in the above or prior art, the present invention is proposed.

[0007] Therefore, the purpose of this invention is to provide an accordion-style plush sealing ring structure for wall-climbing robots, which can enhance the adhesion stability of wall-climbing robots on various surfaces, while improving the sealing performance and service life of wall-climbing robots in harsh environments.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an accordion-style plush sealing ring structure for a wall-climbing robot, comprising a base layer, an accordion-style pleated layer disposed below the base layer, a plush sealing layer disposed below the accordion-style pleated layer, and a rectangular keel ring disposed inside the base layer.

[0009] As a preferred embodiment of the accordion-style plush sealing ring structure for wall-climbing robots of the present invention, the fold height of the accordion-style pleated layer is 20mm-50mm, and the fold angle of the accordion-style pleated layer is 30°-60°.

[0010] As a preferred embodiment of the accordion-style plush sealing ring structure for wall-climbing robots of the present invention, the number of pleats in the accordion-style pleated layer is 3-8 layers, and the bonding thickness between adjacent pleats is 0.05mm-0.2mm.

[0011] As a preferred embodiment of the accordion-style plush sealing ring structure for wall-climbing robots of the present invention, the plush sealing layer is composed of microfibers, the single filament diameter of which is 0.1mm-0.5mm and the length of which is 4mm-8mm.

[0012] As a preferred embodiment of the accordion-style plush sealing ring structure for wall-climbing robots of the present invention, the total thickness of the plush sealing layer and the accordion-style pleated layer is 30mm-60mm, and the thickness of the plush sealing layer accounts for ≥16%-30% of the total thickness.

[0013] As a preferred embodiment of the accordion-style plush sealing ring structure for wall-climbing robots of the present invention, the accordion-style pleated layer has an embedded pneumatic cavity, and the stiffness is changed by an air pressure adjustment system, with an air pressure range of 0.1MPa-0.6MPa.

[0014] As a preferred embodiment of the accordion-style plush sealing ring structure for wall-climbing robots of the present invention, the air pressure range is 0.1MPa-0.4MPa when the wall-climbing robot is climbing along a vertical or inclined wall.

[0015] As a preferred embodiment of the accordion-style plush sealing ring structure for wall-climbing robots of the present invention, the air pressure range is 0.4MPa-0.6MPa when the wall-climbing robot is inverted and crawling along a horizontal wall.

[0016] As a preferred embodiment of the accordion-style plush sealing ring structure for wall-climbing robots of the present invention, when the climbing wall surface is a rough wall surface, the fold angle of the accordion-style fold layer is 45°-60°.

[0017] As a preferred embodiment of the accordion-style plush sealing ring structure for wall-climbing robots of the present invention, when the climbing wall surface is a smooth wall surface, the fold angle of the accordion-style fold layer is 30°-40°.

[0018] The beneficial effects of this invention are as follows: This invention not only enhances the adhesion stability of the wall-climbing robot on various surfaces, but also improves the sealing performance and service life of the wall-climbing robot in harsh environments. Specifically, the base layer is made of a flexible material with good elasticity, ensuring the support and sealing foundation of the sealing ring; the accordion-style pleated layer has the function of adaptively compensating for wall surface undulations, maintaining good adhesion between the plush sealing layer and the wall surface, preventing negative pressure leakage; the plush sealing layer is composed of ultra-fine fibers, greatly improving its adaptability to uneven wall surface, and incorporates an appropriate amount of magnetic powder to enhance its adsorption capacity on ferrous walls, while the surface is coated with an oleophobic coating to improve its anti-fouling performance; the rectangular keel ring provides the necessary rigidity and deformation capacity, ensuring the effective operation of the sealing ring on walls with different curvatures. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the accordion-type plush sealing ring structure of the present invention and its assembly state with the wall-climbing robot.

[0021] Figure 2 This is a schematic diagram of a specific structure of an accordion-style plush sealing ring for a wall-climbing robot according to the present invention.

[0022] Figure 3 This is a schematic diagram of the specific structure of the rectangular keel ring of the present invention. Detailed Implementation

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0026] Example 1

[0027] Reference Figures 1-3 This is the first embodiment of the present invention, which provides an accordion-style plush sealing ring structure for a wall-climbing robot, including the main structure of the sealing ring.

[0028] Specifically, it includes a substrate layer 1, an accordion-style pleated layer 2 located below the substrate layer 1, a plush sealing layer 3 located below the accordion-style pleated layer 2, and a rectangular keel ring 4 located inside the substrate layer 1.

[0029] It should be noted that the base layer 1 is made of a flexible material with good elasticity, providing support and sealing foundation for the overall structure; the base layer 1 has an overall annular closed structure to ensure sealing continuity; the bottom of the base layer 1 is detachably fixed to the lower edge of the negative pressure chamber shell of the wall-climbing robot, such as a snap-fit ​​connection, which facilitates maintenance and replacement.

[0030] It should be noted that the accordion-style pleated layer 2 is composed of multiple layers of longitudinally stretchable pleats. During the climbing process of the wall-climbing robot, it can be used to adaptively compensate for the undulations of the wall surface, maintain the fit between the plush sealing layer 3 and the wall surface, and prevent negative pressure leakage caused by gaps.

[0031] It should be noted that the plush sealing layer 3 is composed of ultra-fine fibers with a fiber density of 50,000-100,000 fibers / cm². 2 The microfibers can penetrate deep into and fill the micropores of the wall, greatly improving the adaptability of the plush sealing layer 3 to the unevenness of the wall surface during the climbing robot's crawling process, thereby achieving a tighter sealing effect.

[0032] Preferably, the contact angle is ≥150°. The contact angle refers to the contact angle between the fiber and the wall surface. A larger contact angle means that the microfiber can better maintain its three-dimensional structure, reducing fiber collapse caused by adsorption. This maintains an effective micro-gap between the fiber and the wall surface, which facilitates airflow and avoids uneven adsorption or increased movement resistance caused by local vacuum effects. This improves the flexibility and stability of the wall-climbing robot on complex walls. In addition, a high contact angle also means that the material has strong hydrophobicity, which helps prevent moisture from the wall surface from affecting the sealing performance, thus maintaining good sealing effect and adaptability in humid or complex environments.

[0033] Preferably, the microfibers tightly fill the micropores of the wall surface to form a continuous and seamless contact layer, effectively preventing air or other media from passing through the plush sealing layer 3. This is especially important for applications that require strict control of airflow or maintenance of pressure differences, such as the negative pressure adsorption system of wall-climbing robots, to prevent air leakage, ensure the stable operation of the negative pressure system, and improve the adsorption efficiency and climbing stability of the wall-climbing robot. The numerous microscopic contact points formed between the microfibers and the wall surface not only enhance the sealing effect but also increase friction, which helps to improve the stability and safety of the wall-climbing robot when moving on vertical or inverted surfaces. Although the individual fibers are very fine, the overall structure still maintains sufficient strength and durability due to the high-density arrangement, ensuring that the plush sealing layer 3 is not easily worn during long-term use and can maintain efficient sealing performance.

[0034] Preferably, magnetic powder is added inside the plush sealing layer 3, with a content of 5wt%-15wt%, to adsorb iron walls. The magnetic induction intensity is 0.1T-0.5T. The magnetic powder enhances the wall-climbing robot's adsorption capacity on iron walls, assists the negative pressure adsorption system, and improves the adhesion stability of the wall-climbing robot on iron surfaces. It is especially suitable for application scenarios such as metal tanks and ship hulls.

[0035] It should be noted that in this embodiment, when the content of magnetic powder added to the plush sealing layer 3 is less than 5 wt%, it is insufficient to provide effective auxiliary adsorption. When the content of magnetic powder added to the plush sealing layer 3 is greater than 15 wt%, it will make the plush sealing layer 3 too hard, reducing the wall adaptability and sealing effect of the plush sealing layer 3. When the magnetic induction intensity is less than 0.1T, it is insufficient to provide a significant adsorption advantage, while when the magnetic induction intensity is greater than 0.5T, it will increase unnecessary weight and cost, and will be ineffective on non-ferrous surfaces.

[0036] Preferably, the entire surface of the plush sealing layer 3 is coated with an oleophobic coating for use on oily walls. The oleophobic coating is made of fluorosilicone resin and has a thickness of 1μm-5μm.

[0037] It should be noted that in this embodiment, the fluorosilicone resin has low surface energy and excellent chemical stability, and can maintain its performance for a long time under harsh environments with strong acids, alkalis or other corrosive substances; the oleophobic coating thickness is 1μm-5μm, which can avoid being too thin to provide sufficient protection and too thick to affect the flexibility and fit of the sealing ring, thereby affecting the sealing effect.

[0038] It should be noted that the rectangular keel ring 4 is preferably a ring-shaped structure connected by more than one hinge node, made of high-strength material, such as metal alloy or high-performance plastic, which allows the structure to bend or twist to a certain extent in its plane, while providing the necessary rigidity to maintain the overall shape and function, and avoiding the pure rigid structure that prevents the sealing ring from deforming according to the wall surface with different curvatures.

[0039] Preferably, a rectangular keel ring 4 is also provided inside the plush sealing layer 3 as a support skeleton, which can provide pressure in the direction facing the wall, support the plush sealing layer 3 and guide its shape, prevent the plush sealing layer 3 from collapsing under negative pressure, maintain the effective contact area of ​​the plush sealing layer 3 against the wall, ensure that the plush sealing layer 3 always applies pressure in the direction facing the wall, and improve the sealing performance.

[0040] Preferably, as an optional embodiment, the inner side of the plush sealing layer 3 is provided with a rectangular keel frame made of shape memory alloy, and flexible hinge nodes are provided in the 20% area at both ends of the long side. The thickness of the node is 30% of the base material, and the bending angle is 0°-90°. The hinge nodes are formed by laser cutting thinning process, with a cutting depth of 70% of the base material thickness and a cutting width ≤0.1mm. The rectangular keel frame and the accordion-style pleated layer 2 are filled with a damping silicone layer with a silicone hardness of 40A-60A to absorb impact vibration.

[0041] Preferably, an annular reinforcing frame is embedded on the side of the sealing ring that fits into the negative pressure wall frame, i.e. the bottom of the accordion-style pleated layer 2. The frame is made of lightweight alloy and serves to support the accordion-style pleated layer 2, preventing it from collapsing inward under negative pressure.

[0042] Preferably, a conductive fabric layer is provided between the plush sealing layer 3 and the accordion-style pleated layer 2 to discharge static electricity from friction, with a surface resistance of 10³–10⁻⁶. 6 Ω prevents static electricity buildup caused by friction between the plush fibers and the wall surface, which could lead to sparks or interference with electronic systems. It also avoids electromagnetic shielding interference or other electrical short circuit risks caused by excessive conductivity, and prevents the inability to discharge static electricity in time due to insufficient conductivity.

[0043] Preferably, the substrate layer 1 is made of thermoplastic polyurethane (TPU) with a hardness of 70A-90A and an elastic modulus of 0.5MPa-3.0MPa. The combination of appropriate hardness and elastic modulus of TPU can better meet the needs of dynamic sealing scenarios, especially suitable for scenarios such as wall-climbing robots that need to deform frequently and withstand certain pressure.

[0044] In summary, this invention not only enhances the adhesion stability of the wall-climbing robot on various surfaces but also improves its sealing performance and service life in harsh environments. Specifically, the base layer is made of a flexible material with good elasticity, ensuring the support and sealing foundation of the sealing ring; the accordion-style pleated layer has an adaptive compensation function for wall surface undulations, maintaining good adhesion between the plush sealing layer and the wall surface and preventing negative pressure leakage; the plush sealing layer is composed of ultra-fine fibers, greatly improving its adaptability to uneven wall surfaces, and incorporates an appropriate amount of magnetic powder to enhance its adsorption capacity on ferrous walls, while an oleophobic coating improves its anti-fouling performance; the rectangular keel ring provides the necessary rigidity and deformation capacity, ensuring the effective operation of the sealing ring on walls with different curvatures.

[0045] Example 2

[0046] Reference Figures 1-3 This is the second embodiment of the present invention, which differs from the first embodiment in that it also includes specific parameters of the accordion-style pleated layer 2.

[0047] Specifically, it includes a substrate layer 1, an accordion-style pleated layer 2 located below the substrate layer 1, a plush sealing layer 3 located below the accordion-style pleated layer 2, and a rectangular keel ring 4 located inside the substrate layer 1.

[0048] Furthermore, the pleat height of the accordion-style pleated layer 2 is 20mm-50mm, and the pleat angle of the accordion-style pleated layer 2 is 30°-60°.

[0049] Furthermore, the number of pleats in the accordion-style pleated layer 2 is 3 to 8, and the bonding thickness between adjacent pleats is 0.05 mm to 0.2 mm.

[0050] Table 1. Influence of fold layer height on robot wall-climbing ability

[0051]

[0052]

[0053] Table 2. Effect of different surface wrinkle angles on crawling ability (the number of wrinkle layers is determined by the wrinkle angle and the total height of the wrinkle layers).

[0054]

[0055]

[0056] Referring to Table 1, when the height of the pleated layer is between 20mm and 50mm, the sealing ring can pass through most obstacles (such as grooves and protrusions) well and maintain good adsorption performance; however, as the height of the pleated layer increases to more than 60mm, the adsorption performance begins to decline, especially when the height of the pleated layer is 70mm, a significant slippage phenomenon occurs; therefore, in this embodiment, 20mm-50mm is selected as the optimal height range of the pleated layer.

[0057] Referring to Table 2, for both smooth and rough surfaces, fold angles of 30° to 60° exhibit good adsorption capacity and passability. However, when the fold angle exceeds 60°, the interlayer deformation increases, leading to a significant increase in air leakage when crossing obstacles, which affects passability. Based on this, this embodiment determines the optimal fold angle of the folded layer to be 30°-60°.

[0058] It should be noted that the number of pleat layers is determined by the pleat angle and the total height of the pleat layers. The choice of pleat angle affects the actual unfolded length of each pleat layer and the space required. A larger pleat angle means that each layer can be "unfolded" more, that is, fewer pleat layers are needed to achieve the same total pleat height; conversely, a smaller pleat angle requires more pleat layers to achieve the same effect. At the same time, the bonding thickness between adjacent pleat layers should be considered to avoid increasing the overall rigidity of the structure with thicker bonding layers, while also increasing weight and reducing flexibility. Therefore, as an optional embodiment, the optimal height range of the pleat layers is 20mm to 50mm, and the optimal pleat angle is 30° to 60°; the bonding thickness between adjacent pleat layers is considered to be 0.05mm to 0.2mm. By selecting an intermediate value, with 35mm as a typical pleat height and 45° as a typical pleat angle, the required number of layers can be roughly estimated. In this embodiment, the simplest geometric relationship is used for estimation, that is, the height of each pleat layer can be approximated by the sine value in the trigonometric function (because complex shape design is involved in actual applications, this is only a simplification).

[0059] For a 45° angle, the effective height of each pleated layer is approximately half its unfolded length (considering that sine 45° equals cos 45°, and both are equal to the square root of 2 divided by 2, approximately 0.707). This means that to achieve a pleated layer height of 35mm, theoretically, a total unfolded length of at least approximately 35mm / 0.707mm≈49.5mm is needed. If the thickness of each layer is set to a minimum of 0.05mm and a maximum of 0.2mm, the number of layers n can be roughly estimated by dividing the total height by the effective height of a single layer plus the thickness of the adhesive layer. For example, if the effective height of a single layer is taken as 5mm (this is an assumed value used to illustrate the calculation method), then n = 35 / 5 + 0.05 to n = 35 / 5 + 0.2, the result falls roughly between 3 and 8 layers.

[0060] In summary, by determining the optimal height and angle of the accordion-style pleated layer 2, the robot's climbing performance was ensured, improving its adaptability to various surfaces and enhancing its adhesion stability to the wall. Specifically, when the pleated layer height was set to 20mm to 50mm, the sealing ring could pass through most obstacles (such as grooves and protrusions) effectively while maintaining good adhesion. For both smooth and rough surfaces, pleat angles from 30° to 60° exhibited good adhesion and passability.

[0061] Example 3

[0062] Reference Figures 1-3 This is the third embodiment of the present invention, which differs from the previous two embodiments in that it includes the specific parameters of the plush sealing layer 3.

[0063] Specifically, it includes a substrate layer 1, an accordion-style pleated layer 2 located below the substrate layer 1, a plush sealing layer 3 located below the accordion-style pleated layer 2, and a rectangular keel ring 4 located inside the substrate layer 1.

[0064] Furthermore, the pleat height of the accordion-style pleated layer 2 is 20mm-50mm, and the pleat angle of the accordion-style pleated layer 2 is 30°-60°.

[0065] Furthermore, the number of pleats in the accordion-style pleated layer 2 is 3 to 8, and the bonding thickness between adjacent pleats is 0.05 mm to 0.2 mm.

[0066] Furthermore, the plush sealing layer 3 is composed of microfibers, with a single filament diameter of 0.1mm-0.5mm and a length of 4mm-8mm.

[0067] Furthermore, the total thickness of the plush sealing layer 3 and the accordion-style pleated layer 2 is 30mm-60mm, and the thickness of the plush sealing layer 3 accounts for ≥16%-30% of the total thickness.

[0068] Table 3. Influence of plush layer fiber length on robot wall-climbing ability

[0069]

[0070]

[0071] Referring to Table 3, when the fiber length is short (e.g., 2 mm), the robot's adsorption capacity on both smooth and rough surfaces is poor, with significant air leakage, low vertical load, and weak adsorption force. As the fiber length increases to 4 mm and above, the robot's adsorption capacity and airtightness significantly improve, especially at lengths of 6 mm and 8 mm, where the robot exhibits good adsorption performance and crawling ability on both smooth and rough surfaces. However, when the fiber length further increases to 10 mm, although the adsorption capacity and airtightness remain at a high level, the crawling resistance increases, affecting the robot's movement efficiency. Therefore, considering adsorption effect, airtightness, and movement efficiency, an ultrafine fiber length of 4 mm to 8 mm is selected as the optimal range.

[0072] It should be noted that fibers with a diameter between 0.1mm and 0.5mm can ensure sufficient softness and density to fill the micropores in the wall and provide a good sealing effect, while maintaining appropriate strength to avoid premature wear or breakage.

[0073] Preferably, the total thickness of the plush sealing layer 3 and the accordion-style pleated layer 2 is between 30mm and 60mm, while the plush sealing layer 3 occupies at least 16%-30% of the total thickness. This is to balance the flexibility and rigidity of the structure, ensuring that the sealing ring can work effectively on surfaces with different curvatures while providing sufficient support and sealing base. This allows the plush sealing layer 3 to fit tightly against the wall without losing flexibility due to excessive thickness or insufficient sealing due to excessive thinness.

[0074] Example 4

[0075] Reference Figures 1-3 This is the fourth embodiment of the present invention, which differs from the previous three embodiments in that it includes specific air pressure parameters under different crawling trajectories and different roughness of the wall surface.

[0076] Specifically, it includes a substrate layer 1, an accordion-style pleated layer 2 located below the substrate layer 1, a plush sealing layer 3 located below the accordion-style pleated layer 2, and a rectangular keel ring 4 located inside the substrate layer 1.

[0077] Furthermore, the pleat height of the accordion-style pleated layer 2 is 20mm-50mm, and the pleat angle of the accordion-style pleated layer 2 is 30°-60°.

[0078] Furthermore, the number of pleats in the accordion-style pleated layer 2 is 3 to 8, and the bonding thickness between adjacent pleats is 0.05 mm to 0.2 mm.

[0079] Furthermore, the plush sealing layer 3 is composed of microfibers, with a single filament diameter of 0.1mm-0.5mm and a length of 4mm-8mm.

[0080] Furthermore, the total thickness of the plush sealing layer 3 and the accordion-style pleated layer 2 is 30mm-60mm, and the thickness of the plush sealing layer 3 accounts for ≥16%-30% of the total thickness.

[0081] Furthermore, the accordion-style pleated layer 2 has an embedded pneumatic cavity, and the stiffness is changed by an air pressure regulation system, with an air pressure range of 0.1MPa-0.6MPa.

[0082] Furthermore, when the wall-climbing robot is climbing along a vertical or inclined wall, the air pressure range is 0.1MPa-0.4MPa.

[0083] Furthermore, when the wall-climbing robot is climbing upside down along a horizontal wall, the air pressure range is 0.4MPa-0.6MPa.

[0084] Furthermore, when the crawling wall is a rough wall, the fold angle of the accordion-style fold layer 2 is 45°-60°.

[0085] Furthermore, when the crawling wall is a smooth wall, the fold angle of the accordion-style fold layer 2 is 30°-40°.

[0086] Preferably, by setting a pneumatic cavity inside the accordion-style pleated layer 2 and using an air pressure regulation system to control its internal air pressure, the stiffness and flexibility of the sealing ring can be dynamically adjusted within the range of 0.1MPa to 0.6MPa, thereby adapting to the working needs of the wall-climbing robot in different postures. Specifically, when climbing vertical or inclined walls, a lower air pressure of 0.1MPa to 0.4MPa is used to maintain good flexibility and fit of the sealing ring, which can adapt to the slight unevenness of the wall surface, improve sealing performance, reduce energy consumption, extend equipment life, and avoid material fatigue caused by excessive compression. When climbing horizontal walls (such as ceilings) upside down, a higher air pressure of 0.4MPa to 0.6MPa is used to significantly enhance the structural rigidity and adsorption force of the sealing ring, effectively counteract the effect of gravity, prevent the robot from falling off, and ensure that the robot still has stable adsorption capacity and high-precision operation performance in the upside-down state.

[0087] It should be noted that the rough wall surface is preferably made of concrete, and the smooth wall surface is preferably made of glass.

[0088] Referring to Table 2 in Example 2, for smooth surfaces, the wall-climbing robot exhibits optimal adsorption capacity and strong passability when the pleat angle of its accordion-style pleated layer 2 is set to 30° to 40°. However, as the pleat angle increases, although the adsorption capacity remains good, interlayer deformation increases, which can lead to air leakage when the robot overcomes obstacles.

[0089] Referring to Table 2 in Example 2, for rough surfaces, setting the pleat angle of the accordion-style pleated layer 2 to 45° to 60° not only provides good adsorption capacity, but also effectively allows obstacles with a height of less than 15mm to pass through. The larger pleat angle allows each pleat to be more "unfolded", increasing the contact area and adaptability with the wall, thereby reducing the possibility of air leakage and improving the overall sealing effect.

[0090] In summary, this embodiment ensures that the wall-climbing robot can operate efficiently and stably on both smooth and rough surfaces.

[0091] Example 5

[0092] Reference Figures 1-3 This is the fifth embodiment of the present invention, which differs from the previous three embodiments in that it includes a specific parameter adjustment method for an accordion-style plush sealing ring structure for a wall-climbing robot.

[0093] S1: Use 16-24 piezoresistive thin-film pressure sensors arranged around the circumference of the sealing ring, with a spacing of no more than 50mm;

[0094] S2: Real-time acquisition of contact pressure data between the sealing ring and the wall surface, used as a feedback signal for subsequent control;

[0095] S3: Adaptively adjusts the compression of the pleated layer based on contact pressure data, using an adaptive PID control algorithm, according to the set pressure value P. set Compared with the actual measured value P rea Adjust the amount of compression of the folded layer based on the deviation;

[0096] The calculation formula is as follows:

[0097] ΔH=K p ·(P set -P real )+K d ·d(P set -P real ) / dt

[0098] Where ΔH represents the change in compression of the folded layer, in millimeters (mm), indicating the amount of change in the folded layer thickness required to achieve the target contact pressure; K p P is the proportional coefficient, measured in millimeters per kilopascal (mm / kPa), which determines the response strength of the proportional control section to the error signal (i.e., the difference between the set value and the actual value); set The set pressure value, in kilopascals (kPa), is the target contact pressure value that the system expects to achieve, dynamically calculated based on the wall roughness and the robot's moving speed; P realThe pressure value is the actual measured value, also in kilopascals (kPa), and is the current contact pressure between the sealing ring and the wall surface obtained in real time through sensor monitoring; P set -P real Pressure deviation or error, measured in kilopascals (kPa), is the difference between the set pressure value and the actual measured pressure value; it is the error that the control system needs to eliminate. d The differential coefficient, measured in millimeters per kilopascal per second (mm·s / kPa), reflects the controller's responsiveness to the rate of error change (i.e., the rate at which the error changes over time); d(P set -P real ) / dt is the rate of change of error or the time derivative of error, with units of kilopascals per second (kPa / s). It represents the speed at which the error changes over time, helping to predict future error trends and make adjustments in advance.

[0099] It should be noted that the proportional term K p ·(P set -P real The compression of the folded layer is directly adjusted based on the current pressure deviation. The larger the deviation, the greater the adjustment range. The differential term K d ·d(P set -P real The compression amount is adjusted according to the rate of change of the error, which aims to reduce over-adjustment caused by rapid changes and accelerate the stabilization process of the system. Through the combination of these two parts, the control system can quickly and smoothly adjust the actual contact pressure to the set value, ensuring the stability and efficiency of the wall-climbing robot. The response time ≤100ms ensures that the adjustment can be completed in a very short time, thereby adapting to the rapidly changing working environment.

[0100] Preferably, in this embodiment, K p =0.3mm / kPa, K d =0.1 mm cdotps / kPa, response time ≤100ms.

[0101] It should be noted that the set pressure value P set Based on the wall roughness R a And the robot's moving speed V robot Dynamic adjustment;

[0102] The calculation formula is as follows:

[0103] P set =K1×R a +K2×V robot

[0104] Among them, P setThe set pressure value, in kilopascals (kPa), is the target contact pressure value that the system expects to achieve, dynamically calculated based on wall roughness and robot movement speed; K1 is a proportionality coefficient used to adjust the influence of wall roughness on the set pressure, in kilopascals per micrometer (kPa / μm), determining the degree to which wall roughness contributes to the required contact pressure; R a , where is the surface roughness, measured in micrometers (μm), is an indicator of surface unevenness. A higher value indicates a rougher surface. Surface roughness affects the actual contact area between the sealing ring and the wall, thus affecting the required contact pressure to ensure a good seal. K2 is a proportionality coefficient used to adjust the effect of the robot's movement speed on the set pressure, measured in kilopascals per meter per second (kPa / (m / s)). It determines the degree to which the robot's movement speed contributes to the required contact pressure. V robot The robot's moving speed is measured in meters per second (m / s). It refers to the speed at which the wall-climbing robot moves along the wall. Higher moving speeds require higher contact pressure to maintain sufficient adhesion and prevent adhesion failure due to rapid movement.

[0105] It should be noted that the proportional term K1×R a This reflects the effect of wall roughness on the set contact pressure.

[0106] The higher the surface roughness, the greater the contact pressure required to ensure the sealing ring can effectively fill the surface irregularities and form a good seal; proportional term K2×V robot This reflects the impact of the robot's moving speed on the set contact pressure. The faster the moving speed, the more the required contact pressure needs to be in order to maintain sufficient adhesion and prevent slippage or leakage. By combining these two factors, the control system can adjust the target contact pressure in real time to ensure that the wall-climbing robot can maintain optimal adhesion performance and stability on surfaces with different roughness and at different moving speeds.

[0107] Preferably, in this embodiment, K1 = 0.8 kPa / μm; K2 = 0.2 kPa / (m / s).

[0108] Preferably, based on dynamically adjusting the set pressure value, a zoned weight control strategy is further adopted to refine and balance the pressure requirements of different areas. Specifically, the accordion-style plush sealing ring is divided into two main areas along the forward direction: a keel hinge area and a non-hinge area. The keel hinge area refers to the first and last 20% of the area in the forward direction (totaling 40%), while the non-hinge area refers to the middle 60%. The control objective is to prioritize ensuring the adhesion capability of the keel hinge area when crossing obstacles, while maintaining the basic adsorption force in the non-hinge area to ensure overall sealing stability. When controlling the keel hinge area, the contact pressure setpoint is increased by 30%, and the air pressure in the pneumatic chamber is controlled within the range of 0.3–0.5 MPa. Local pressurization enhances the stiffness and adhesion capability of the keel hinge area. When controlling the non-hinge area, constant pressure control is used to maintain a basic adsorption force ≥120N, ensuring stable adsorption support in the central area of ​​the sealing ring.

[0109] Preferably, the partition weight control strategy in this embodiment can significantly enhance the adaptability and adhesion of the sealing ring in complex terrain, improve the robot's local response to the wall and adsorption stability during obstacle crossing, and reduce the risk of overall adsorption failure due to local detachment.

[0110] S4: When a leakage anomaly is detected, activate the three-level fault response mechanism to ensure system safety.

[0111] Ideally, the leakage rate of the negative pressure chamber inside the sealing ring is monitored in real time. When the leakage exceeds 0.2 L / s, it is determined to be an abnormal leakage, triggering a three-level compensation response mechanism. The first-level compensation response is to increase the output power of the vacuum pump by 20% to improve the negative pressure maintenance capability and delay adsorption failure. The second-level compensation response is to increase the compression of the pleated layer to the upper limit (50 mm) to enhance the adhesion between the plush layer and the wall surface and reduce the leakage path. The third-level compensation response is to activate the redundant sealing area in the plush sealing layer, increase the density by 30%, form an additional sealing barrier, and effectively compensate for the local sealing failure area.

[0112] Preferably, the three-level compensation response mechanism in this embodiment enables rapid response and compensation to sudden leaks, improves the robustness and safety of the system in complex or unpredictable environments, prevents overall adsorption collapse caused by local failures, and ensures the safe operation of the robot.

[0113] Preferably, in steps S1-S4, a near-infrared spectral sensor and a dielectric constant sensor can be used together to identify the wall material (such as ceramic tile, curtain wall, concrete, and stone paint). Material identification is verified with acoustic impedance assistance. A piezoelectric ceramic sensor emits 20-100kHz sound waves, and the spectral discrimination result is corrected based on the acoustic impedance value (Z = 25–30 MRayl for ceramic tile, Z = 8–12 MRayl for concrete), providing basic material data for subsequent pressure setting. This also improves the system's adaptability and control accuracy for different wall materials. Furthermore, a differential pressure sensor array is deployed at the four corners of the negative pressure chamber. Real-time pressure data is collected at various points to dynamically generate a cavity pressure cloud map and locate the leakage point. A 16×16 PVDF thin-film sensor matrix is ​​then used to cover the surface of the plush layer and measure the adhesion pressure distribution. The adhesion uniformity index U is calculated to evaluate the sealing effect. If the adhesion is uneven, an incremental PID algorithm is used for dynamic adjustment. Furthermore, the compressive strain of the folded layer is monitored using an FBG fiber optic sensor. The stress of the folded structure is calculated using a deformation-pressure model. The fatigue life prediction of the folds is based on the strain amplitude Δε, which calculates the damage degree D. When D>0.7, an early warning is triggered, and feedback is sent to the core control board for movement control.

[0114] Importantly, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An accordion-style plush sealing ring structure for a wall-climbing robot, characterized in that: It includes a base layer (1), an accordion-style pleated layer (2) disposed below the base layer (1), a plush sealing layer (3) disposed below the accordion-style pleated layer (2), and a rectangular keel ring (4) disposed inside the base layer (1).

2. The accordion-style plush sealing ring structure for a wall-climbing robot as described in claim 1, characterized in that: The pleat height of the accordion-style pleated layer (2) is 20mm-50mm, and the pleat angle of the accordion-style pleated layer (2) is 30°-60°.

3. The accordion-style plush sealing ring structure for a wall-climbing robot as described in claim 2, characterized in that: The accordion-style pleated layer (2) has 3 to 8 pleated layers, and the bonding thickness between adjacent pleated layers is 0.05 mm to 0.2 mm.

4. The accordion-style plush sealing ring structure for a wall-climbing robot as described in claim 1 or 2, characterized in that: The plush sealing layer (3) is made of microfiber, with a single filament diameter of 0.1mm-0.5mm and a length of 4mm-8mm.

5. The accordion-style plush sealing ring structure for a wall-climbing robot as described in claim 4, characterized in that: The total thickness of the plush sealing layer (3) and the accordion-style pleated layer (2) is 30mm-60mm, and the thickness of the plush sealing layer (3) accounts for ≥16%-30% of the total thickness.

6. The accordion-style plush sealing ring structure for a wall-climbing robot as described in claim 5, characterized in that: The accordion-style pleated layer (2) has an embedded pneumatic cavity, and its stiffness is changed by a pneumatic pressure regulation system. The pneumatic pressure range is 0.1MPa-0.6MPa.

7. The accordion-style plush sealing ring structure for a wall-climbing robot as described in claim 6, characterized in that: When the wall-climbing robot climbs along a vertical or inclined wall, the air pressure ranges from 0.1MPa to 0.4MPa.

8. The accordion-style plush sealing ring structure for a wall-climbing robot as described in claim 6, characterized in that: When the wall-climbing robot is climbing upside down along a horizontal wall, the air pressure ranges from 0.4MPa to 0.6MPa.

9. The accordion-style plush sealing ring structure for a wall-climbing robot as described in claim 7 or 8, characterized in that: When the crawling wall is a rough wall, the fold angle of the accordion-style fold layer (2) is 45°-60°.

10. The accordion-style plush sealing ring structure for a wall-climbing robot as described in claim 7 or 8, characterized in that: When the crawling wall is a smooth wall, the fold angle of the accordion-style fold layer (2) is 30°-40°.

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