Roller skirt cooperative sealing negative pressure adsorption type wall climbing chassis

Abstract

The application discloses a wall-climbing chassis with a negative pressure adsorption type and a rolling wheel skirt cooperative sealing, and belongs to the technical field of wall inspection. The wall-climbing chassis comprises a machine body shell, a driving mechanism arranged in the machine body shell, a vacuum chamber arranged in the machine body shell, a negative pressure mechanism arranged between the vacuum chamber and the machine body shell, flexible skirts arranged on both sides of the bottom of the machine body shell, rolling wheels arranged at the front end and the rear end of the machine body shell respectively, limiting mechanisms respectively arranged on both sides of the rolling wheels, and an adjusting mechanism arranged between the rolling wheels and the flexible skirts. During operation, the negative pressure mechanism extracts air in the vacuum chamber, the flexible skirts are closely combined with a wall surface under the action of negative pressure, and a reliable sealing structure is formed; the driving mechanism is used for realizing the movement of the machine body shell along the wall surface; meanwhile, the rolling wheels convert static friction into sliding friction, and energy consumption is reduced; the adjusting mechanism keeps sealing when being static, releases part of pressure when being in motion, and avoids excessive friction.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wall inspection, and particularly relates to a negative pressure adsorption type wall climbing chassis with rolling skirt edge cooperative sealing. BACKGROUND

[0002] In wall inspection, cleaning, detection and maintenance scenarios, robots often need to move on vertical or near-vertical surfaces. Negative pressure adsorption (vacuum adsorption) is a widely used wall sticking method. By forming a pressure difference between the chassis and the wall, the chassis is attached to the wall, allowing the robot to move on the wall.

[0003] The existing negative pressure adsorption type wall climbing robot chassis generally has the contradiction of "strong adsorption but difficult movement" in application. On the one hand, as the suction force increases, the skirt edge is subjected to a greater pressure difference, and the friction between the skirt edge and the wall increases sharply, making it difficult for the chassis to move on the vertical surface. On the other hand, in order to overcome the frictional resistance, a high-power drive motor is needed, but this will cause problems such as increased volume, increased weight and increased energy consumption, reducing the overall work efficiency and load capacity of the robot. In addition, the friction matching between the drive wheel and the skirt edge is difficult to balance, and the friction between the drive wheel and the wall must be greater than that between the skirt edge and the wall, otherwise slipping or forward movement will be hindered. The front skirt edge bears concentrated friction in the direction of movement, and there is a risk of being rolled in, deformed or even causing the chassis to fail. SUMMARY

[0004] The purpose of the present application is to provide a negative pressure adsorption type wall climbing chassis with rolling skirt edge cooperative sealing to solve the problems existing in the prior art.

[0005] To achieve the above purpose, the present application provides the following scheme: the present application provides a negative pressure adsorption type wall climbing chassis with rolling skirt edge cooperative sealing, comprising a machine body shell, a drive mechanism is arranged in the machine body shell, a vacuum chamber is arranged in the machine body shell, a negative pressure mechanism is arranged between the vacuum chamber and the machine body shell, flexible skirt edges are arranged on both sides of the bottom of the machine body shell, rolling wheels are arranged at the front end and the rear end of the machine body shell, limit mechanisms are respectively arranged on both sides of the rolling wheels, and an adjusting mechanism is arranged between the rolling wheels and the flexible skirt edges.

[0006] Optionally, the rolling wheels are installed on the flexible skirt edges through rolling wheel shafts, shaft limiters are arranged outside the rolling wheel shafts, and the shaft limiters are located outside the flexible skirt edges.

[0007] Optionally, the flexible skirt edges and the machine body shell are connected through hard foam.

[0008] Optionally, the adjustment mechanism includes a connecting plate installed on the outside of the flexible skirt, with one end of a hinge mounted on the connecting plate and the other end of the hinge being connected to the roller shaft via a drive.

[0009] Optionally, the rigid foam is provided with a low-friction flexible fleece on the side near the roller.

[0010] Optionally, the negative pressure mechanism includes a negative pressure fan disposed inside the housing, the negative pressure fan being connected to the vacuum chamber, and an air inlet being provided on the housing, the negative pressure fan being connected to the air inlet.

[0011] Optionally, the negative pressure fan is sealed to the outer casing of the machine body via a sealing ring.

[0012] Optionally, the drive mechanism includes a plurality of drive motors disposed on the bottom surface of the housing, and the drive motors are equipped with wheels via couplings.

[0013] This invention discloses the following technical effects: During operation, the negative pressure mechanism extracts air from the vacuum chamber, and the flexible skirt fits tightly against the wall under negative pressure, forming a reliable sealing structure; the drive mechanism enables the outer shell of the robot to move along the wall; simultaneously, the rollers convert static friction into sliding friction, reducing energy consumption; the adjustment mechanism maintains a seal when stationary and releases some pressure during movement to avoid excessive friction. This invention effectively reduces the frictional resistance of the skirt under high negative pressure while ensuring adsorption force, reduces reliance on high-power motors, avoids the risk of front skirt failure, and achieves compact and reliable vacuum maintenance through an optimized sealing structure, thereby improving the robot's stable movement capability and operational safety on vertical or near-vertical surfaces. Attached Figure Description

[0014] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0015] Figure 1 This is a schematic diagram of the negative pressure adsorption wall-climbing chassis with roller skirt collaborative sealing according to the present invention;

[0016] Figure 2 This is a schematic diagram of the bottom structure of the negative pressure adsorption wall-climbing chassis with roller skirt cooperative sealing according to the present invention;

[0017] Figure 3 This is a side view of the negative pressure adsorption wall-climbing chassis with roller skirt cooperative sealing according to the present invention;

[0018] Figure 4 This is a schematic diagram of the adjustment mechanism of the present invention;

[0019] Figure 5 This is a schematic diagram of the structure of the roller of the present invention;

[0020] Figure 6 This is a schematic diagram of the internal structure of the outer shell of the present invention.

[0021] Figure label:

[0022] 1. Housing; 2. Drive motor; 3. Negative pressure fan; 4. Wheels; 5. Vacuum chamber; 6. Flexible skirt; 7. Rigid foam; 8. Air inlet; 9. Coupling; 10. Roller; 11. Low-friction flexible velvet; 12. Roller shaft; 13. Shaft limiter; 14. Adjustment mechanism; 15. Hinge; 16. Sealing ring. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Reference Figures 1 to 6 As shown, this embodiment provides a negative pressure adsorption wall-climbing chassis with roller skirt cooperative sealing, including a housing 1, a drive mechanism inside the housing 1, a vacuum chamber 5 inside the housing 1, a negative pressure mechanism between the vacuum chamber 5 and the housing 1, flexible skirts 6 on both sides of the bottom of the housing 1, rollers 10 at the front and rear ends of the housing 1, limit mechanisms installed on both sides of the rollers 10, and an adjustment mechanism 14 between the rollers 10 and the flexible skirts 6.

[0026] During operation, the negative pressure mechanism extracts air from the vacuum chamber 5, and the flexible skirt 6 adheres tightly to the wall under negative pressure, forming a reliable sealing structure. The drive mechanism enables the outer shell 1 to move along the wall. Simultaneously, the roller 10 converts static friction into sliding friction, reducing energy consumption. The adjustment mechanism 14 maintains a seal when stationary and releases some pressure during movement to prevent excessive friction. This invention effectively reduces the frictional resistance of the skirt under high negative pressure while ensuring adsorption force, improves the frictional matching relationship between the drive wheel and the skirt, reduces dependence on high-power motors, avoids the risk of front skirt failure, and achieves compact and reliable vacuum retention through an optimized sealing structure, thereby improving the robot's stable movement capability and operational safety on vertical or near-vertical surfaces.

[0027] In a further optimized design, the two ends of the roller 10 are mounted on the flexible skirt 6 via roller shafts 12. A shaft limiter 13 is provided outside the roller shaft 12, and the shaft limiter 13 is located on the outside of the flexible skirt 6.

[0028] The shaft limiter 13 fixes the roller shaft 12 to prevent the roller 10 from moving left or right during the optional installation process. The roller 10 is in direct contact with the wall surface and bears part of the friction when the chassis moves, converting the static friction of the conventional skirt (the kind of skirt design on both sides is a conventional skirt) into the sliding friction of the roller 10, thereby significantly reducing the overall motion resistance.

[0029] The design was further optimized by connecting the flexible skirt 6 to the outer shell 1 using rigid foam 7.

[0030] Flexible skirts 6 are disposed on both sides of the outer shell 1, directly contacting the wall surface to form a vacuum-sealed boundary. The skirts are made of wear-resistant rubber or silicone and are connected to the outer shell 1 via rigid foam 7 to enhance support and provide a seal. In this application, the frictional force of the skirts on both sides is relatively small when the robot moves forward or backward, therefore conventional skirt seals can be used. While maintaining a seal, excessive frictional resistance is avoided, allowing the chassis to move smoothly under high suction force.

[0031] The scheme is further optimized. The adjustment mechanism 14 includes a connecting plate installed on the outside of the flexible skirt 6. One end of the hinge 15 is installed on the connecting plate, and the other end of the hinge 15 is connected to the roller shaft 12 for transmission.

[0032] To further optimize the design, a low-friction flexible velvet cloth 11 is provided on the side of the rigid foam 7 near the roller 10.

[0033] When the vacuum chamber 5 is under negative pressure, the hinge 15 presses the skirt against the wall under pressure to enhance the seal. When the drive wheel moves the machine forward or backward, the adjustment mechanism 14 allows the skirt to release to a limited extent, reducing excessive friction. At the same time, the contact point between the front roller 10 and the rigid foam 7 on the chassis is covered with low-friction flexible velvet 11. The contact point between the roller 10 and the low-friction flexible velvet 11 forms an effective seal, effectively reducing frictional resistance while achieving a seal, and avoiding the phenomenon of "being firmly attracted but unable to move".

[0034] The flexible skirt 6 is supported by rigid foam 7 and works in conjunction with the adjustment mechanism 14 and hinge 15 to automatically adjust its contact state with the wall during robot movement, preventing the skirt from getting caught or deformed due to excessive compression, and significantly reducing the risk of skirt failure and chassis detachment from the wall.

[0035] Because the front and rear rollers 10 change the friction mode from static friction to rolling friction, motion resistance is significantly reduced. The drive motor 2 does not need to provide excessive power to maintain movement, thereby reducing energy consumption, lightening the overall weight, and increasing the robot's load capacity. This prevents situations where excessive negative pressure leads to excessive friction at the skirt edge, causing the robot to be unable to move. The rollers 10, roller shafts 12, and shaft limiters 13 form a stable seal, ensuring the chassis maintains balance and continuity during wall movement, reducing vibration or stalling caused by uneven friction.

[0036] The scheme is further optimized. The negative pressure mechanism includes a negative pressure fan 3 installed inside the outer casing 1. The negative pressure fan 3 is connected to the vacuum chamber 5. The outer casing 1 is provided with an air inlet 8, and the negative pressure fan 3 is connected to the air inlet 8.

[0037] The design was further optimized so that the negative pressure fan 3 and the outer casing 1 are sealed together by a sealing ring 16.

[0038] When the negative pressure fan 3 is running, it draws the chamber into a negative pressure state, causing the outer casing 1 to adhere firmly to the wall. The negative pressure fan 3 and the outer casing 1 are sealed together by a sealing ring 16 to ensure airtightness and operational stability.

[0039] The design is further optimized so that the drive mechanism includes multiple drive motors 2 set on the bottom surface of the outer casing 1, and the drive motors 2 are equipped with wheels 4 through couplings 9.

[0040] The drive motor 2 drives the wheel 4 to rotate via the coupling 9, enabling the chassis to move along the wall. The outer surface of the wheel 4 is covered with a high-friction rubber layer to ensure sufficient traction even in low-friction environments.

[0041] During operation, the negative pressure fan 3 draws air from the vacuum chamber 5 through the air inlet 8. Under negative pressure, the flexible skirt 6 fits tightly against the wall, forming a reliable sealing structure. The drive motor 2 drives the wheels 4 to rotate through the coupling 9, enabling movement along the wall. Simultaneously, the rollers 10 convert static friction into sliding friction, reducing energy consumption. The adjustment mechanism 14 maintains a seal when stationary and releases some pressure during movement to prevent excessive friction. The combination of rigid foam 7 and low-friction flexible fleece 11 ensures skirt stability while significantly reducing movement resistance, thus achieving a comprehensive effect of high adsorption capacity, low energy consumption, and stable operation.

[0042] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0043] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of this application should fall within the protection scope defined by the claims of the present invention.

Claims

1. A negative pressure adsorption wall-climbing chassis with roller skirt synergistic sealing, characterized in that: The device includes a housing (1), a drive mechanism is provided inside the housing (1), a vacuum chamber (5) is provided inside the housing (1), a negative pressure mechanism is provided between the vacuum chamber (5) and the housing (1), flexible skirts (6) are provided on both sides of the bottom of the housing (1), rollers (10) are provided at the front and rear ends of the housing (1), a limit mechanism is installed on both sides of the rollers (10), and an adjustment mechanism (14) is provided between the rollers (10) and the flexible skirts (6). The two ends of the roller (10) are mounted on the flexible skirt (6) via roller shafts (12). A shaft limiter (13) is provided outside the roller shaft (12), and the shaft limiter (13) is located on the outside of the flexible skirt (6). The adjustment mechanism (14) includes a connecting plate installed on the outside of the flexible skirt (6), one end of a hinge (15) is installed on the connecting plate, and the other end of the hinge (15) is connected to the roller shaft (12) in a transmission connection. The flexible skirt (6) is connected to the outer shell (1) by a rigid foam (7). The rigid foam (7) is provided with a low-friction flexible velvet (11) on the side near the roller (10).

2. The negative pressure adsorption wall-climbing chassis with roller skirt synergistic sealing according to claim 1, characterized in that: The negative pressure mechanism includes a negative pressure fan (3) installed inside the outer casing (1) of the machine body. The negative pressure fan (3) is connected to the vacuum chamber (5). An air inlet (8) is provided on the outer casing (1), and the negative pressure fan (3) is connected to the air inlet (8).

3. The negative pressure adsorption wall-climbing chassis with roller skirt synergistic sealing as described in claim 2, characterized in that: The negative pressure fan (3) is sealed to the outer casing (1) by a sealing ring (16).

4. The negative pressure adsorption wall-climbing chassis with roller skirt synergistic sealing according to claim 1, characterized in that: The drive mechanism includes a plurality of drive motors (2) disposed on the bottom surface of the housing (1) of the machine body, and the drive motors (2) are equipped with wheels (4) via couplings (9).

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