Air film drag reduction type negative pressure adsorption wall-climbing robot

Abstract

The application provides a gas film drag reduction type negative pressure adsorption wall-climbing robot, which comprises a body, a moving mechanism and an adsorption mechanism. The moving mechanism is used for driving the body to move on the surface of equipment. The adsorption mechanism comprises a negative pressure generating assembly and a suction cup assembly. The suction cup assembly has an annular outer lip and an annular inner lip. The inner lip is located in an annular inner cavity surrounded by the outer lip. A positive pressure gas collecting cavity is formed between the inner lip and the outer lip. The inner lip and the surface of equipment form a central negative pressure cavity in the adsorption state. The negative pressure generating assembly has an exhaust port which is communicated with the positive pressure gas collecting cavity. The gas film drag reduction type negative pressure adsorption wall-climbing robot can solve the technical problems that the existing wall-climbing robot is prone to adsorption failure due to poor adhesion of the suction cup to a complex curved surface, has large moving resistance in the adsorption state and poor curved surface passing performance, and cannot be applied to the surface of equipment.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to an air-film drag-reducing negative pressure adsorption wall-climbing robot. Background Technology

[0002] Transformers, GIS (Gas Insulated Switchgear), and other power equipment play a crucial role in power system conversion and distribution, and their operational reliability directly impacts grid security. During long-term energized operation, these devices are susceptible to fatigue cracks and corrosion pits on their casings and internal components due to electrodynamic forces, thermal stress, and environmental corrosion. If these defects are not detected and addressed promptly, they can develop into penetrating defects, leading to serious malfunctions such as insulation breakdown or gas leaks. Therefore, regular inspections of the power equipment casings and critical components are essential.

[0003] Currently, the inspection of transformers, GIS and other power equipment mainly includes manual visual inspection, ultrasonic thickness measurement, and infrared thermal imaging. However, these inspection methods either require the equipment to be powered off or require inspectors to climb to a high position on the equipment for close-range operation, resulting in low inspection efficiency, high labor intensity, and high risks associated with working at heights. Therefore, a wall-climbing robot is needed for the inspection of power equipment.

[0004] Existing suction cups for wall-climbing robots are mostly rigid planes or have only simple pre-set curvatures. Transformer tank equipment surfaces often have reinforcing ribs, welds, and curved transition sections, while GIS tank equipment surfaces are cylindrical curved surfaces with flanges, pipes, and other protruding structures. These surfaces are prone to leaks due to poor adhesion, leading to weakened suction or even suction failure. Under negative pressure suction, the suction cups of the wall-climbing robot are pressed tightly against the equipment surface by atmospheric pressure, generating significant frictional resistance at the contact surface, making it difficult for the robot to move on curved surfaces. When needing to traverse minor unevenness or contour changes on the equipment surface, the high resistance further affects passability. Summary of the Invention

[0005] This invention provides a gas film drag-reducing negative pressure adsorption wall-climbing robot, which aims to solve the technical problems of existing wall-climbing robots, such as adsorption failure due to poor adhesion between the suction cup and complex curved surfaces, and high movement resistance and poor curved surface passability in the adsorption state, making them unsuitable for transformers, GIS and other power equipment.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: to provide an air-film drag-reducing negative pressure adsorption wall-climbing robot, comprising: Organism; A moving mechanism, disposed on the machine body, is used to drive the machine body to move on the surface of the equipment; The adsorption mechanism includes a negative pressure generating component and a suction cup component; the suction cup component has an annular outer lip and an annular inner lip; the inner lip is located in the annular cavity enclosed by the outer lip; a positive pressure gas collection cavity is formed between the inner lip and the outer lip; in the adsorption state, the inner lip surrounds the device surface to form a central negative pressure cavity; the negative pressure generating component has an exhaust port communicating with the positive pressure gas collection cavity; The negative pressure generating component is used to draw air from the central negative pressure chamber to generate negative pressure adsorption force; the airflow discharged from the negative pressure generating component is injected into the positive pressure air collecting chamber, and under the action of pressure difference, an air film is formed between the outer lip and the surface of the device to reduce movement resistance.

[0007] In one possible implementation, the adsorption mechanism further includes a jet channel, which is an annular channel extending circumferentially along the inner lip; the inlet end of the jet channel is connected to the exhaust port, and the outlet end of the jet channel is connected to the positive pressure gas collection chamber; the outlet end is provided with a guide surface extending toward the outer lip; the outlet end is provided with a rectifier blade, and the plane where the rectifier blade is located has an angle with the radial plane of the inner lip, so that the airflow flowing through the jet channel is rotated and then injected into the positive pressure gas collection chamber.

[0008] In one possible implementation, the jet duct includes a main channel and at least one branch channel, the branch channel being formed by branching from the main channel, and both ends of the branch channel being connected to the main channel; along the airflow discharge direction, the airflow is diverted from the upstream section of the main channel to the downstream section of the main channel and the branch channel, and the airflow flowing through the branch channel and the airflow flowing through the main channel merge in the downstream section of the main channel before being discharged.

[0009] In one possible implementation, the outer wall of the inner lip is provided with several turbulent flow columns, and the turbulent flow columns are arranged at uniform intervals.

[0010] In one possible implementation, the moving mechanism includes a plurality of moving units, each of which is distributed on both sides of the body; each moving unit includes: The movable wheels are connected to the machine body and are used to drive the machine body to move; A DC motor, connected to the movable wheel, is used to drive the movable wheel to rotate; Multiple centrifugal claws, each centrifugal claw being connected to the movable wheel via a hinge, and each centrifugal claw being spaced apart around the outer periphery of the movable wheel; The outer periphery of the moving wheel is provided with multiple receiving cavities, which are used to accommodate the corresponding centrifugal claws when traveling on a flat wall surface, so that the moving wheel maintains a circular outline; When encountering a wall protrusion, the centrifugal claw is squeezed by the protrusion and rotates around the hinge, extending out of the receiving cavity and forming a protrusion on the outer periphery of the moving wheel to assist in overcoming obstacles.

[0011] In one possible implementation, the centrifugal claw is provided with centrifugal beads.

[0012] In one possible implementation, the forward direction of the robot is defined as a first direction, and the horizontal direction perpendicular to the first direction is defined as a second direction; the air-film drag-reducing negative pressure adsorption wall-climbing robot further includes a balancing unit, which comprises: A counterweight is disposed above the machine body and is slidably connected to the machine body along the second direction; An elastic rope is provided along the first direction, with one end of the elastic rope connected to the machine body and the other end connected to the counterweight. The machine body is provided with a sliding groove for the counterweight to slide.

[0013] In one possible implementation, the balancing unit further includes: Two buffer blocks are provided, and the two buffer blocks are arranged on both sides of the counterweight block along the sliding direction of the counterweight block; Two first springs are provided, and the two first springs are respectively connected between each of the buffer blocks and the counterweight blocks.

[0014] In one possible implementation, the air-film drag-reducing negative pressure adsorption wall-climbing robot further includes a connecting block located above the body and connected to the body via a second spring, with one end of the elastic rope connected to the connecting block.

[0015] In one possible implementation, the air-film drag-reducing negative pressure adsorption wall-climbing robot further includes a pneumatic rod assembly for connecting the moving mechanism to the body; the pneumatic rod assembly includes: The cylinder has a filling chamber for filling with inert gas; The piston is connected to the machine body at one end and extends into the filling cavity at the other end, and is slidably connected to the cylinder.

[0016] The beneficial effects of the air-film drag-reducing negative pressure adsorption wall-climbing robot provided by this invention are as follows: Compared with the prior art, the moving mechanism is set on the body to drive the body to move on the surface of the equipment. The suction cup assembly has an annular outer lip and an annular inner lip. The inner lip is located in the annular cavity enclosed by the outer lip. In the adsorption state, the inner lip is tightly attached to the surface of the equipment, and the two together form a central negative pressure cavity. The negative pressure generating component is connected to the central negative pressure cavity. By continuously sucking the air in the central negative pressure cavity, the air pressure inside the cavity is lower than the external atmospheric pressure, thereby generating a negative pressure adsorption force that presses the wall-climbing robot against the surface of the equipment, ensuring that the suspended wall-climbing robot will not fall off the surface of the equipment.

[0017] A ring-shaped positive pressure gas collection chamber is formed between the inner and outer lips. The exhaust port of the negative pressure generating component is directly connected to this positive pressure gas collection chamber. Unlike existing technologies that directly discharge the gas discharged from the negative pressure generating component to the outside atmosphere, this invention utilizes the exhaust gas flow in a directional manner: the high-speed airflow drawn and discharged from the central negative pressure chamber by the negative pressure generating component is guided and injected into the positive pressure gas collection chamber through the exhaust port, and then acts on the outer lip.

[0018] A high-speed airflow forms a pressurized air film between the outer lip and the equipment surface. This air film transforms the direct solid-state contact between the outer lip and the equipment surface into a non-contact or quasi-contact state with the air film as the medium, reducing the coefficient of friction and movement resistance. The air film itself possesses a certain positive pressure, which can block ambient air. Combined with the turbulence effect created by the high-speed airflow at the outer lip edge, it dynamically prevents external air from entering the negative pressure area from the outside of the outer lip, thereby improving the overall sealing effect and adsorption stability of the suction cup assembly. Attached Figure Description

[0019] Figure 1 A schematic diagram of the structure of a gas-film drag-reducing negative pressure adsorption wall-climbing robot provided in an embodiment of the present invention. Figure 1 ; Figure 2 A schematic diagram of the structure of a gas-film drag-reducing negative pressure adsorption wall-climbing robot provided in an embodiment of the present invention. Figure 2 ; Figure 3 A schematic diagram of the structure of a gas-film drag-reducing negative pressure adsorption wall-climbing robot provided in an embodiment of the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the structure of the centrifugal bead and the receiving cavity of a gas film drag-reducing negative pressure adsorption wall-climbing robot provided in an embodiment of the present invention; Figure 5 A schematic diagram of the jet channel structure of a gas film drag-reducing negative pressure adsorption wall-climbing robot provided in an embodiment of the present invention. Figure 1 ; Figure 6 A schematic diagram of the jet channel structure of a gas film drag-reducing negative pressure adsorption wall-climbing robot provided in an embodiment of the present invention. Figure 2 .

[0020] Explanation of reference numerals in the attached figures: 10. Body; 11. Slide rail; 20. Moving mechanism; 21. Moving wheel; 22. DC motor; 23. Pneumatic rod assembly; 24. Centrifugal claw; 241. Centrifugal bead; 242. Receiving cavity; 25. Hinge; 30. Adsorption mechanism; 31. Negative pressure generating assembly; 32. Suction cup assembly; 321. Outer lip; 322. Inner lip; 40. Jet duct; 41. Rectifying blade; 42. Air outlet; 43. Air inlet; 44. Main flow channel; 45. Branch flow channel; 50. Turbulence column; 60. Balancing unit; 61. Counterweight; 62. Elastic rope; 63. Buffer block; 64. First spring; 65. Connecting block; 66. Second spring. Detailed Implementation

[0021] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0022] It should be noted that the terms "length", "width", "height", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", and "tail" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0023] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Additionally, "multiple" and "several" mean two or more, unless otherwise explicitly specified.

[0025] Please refer to the following: Figures 1 to 6 This invention provides a gas-film drag-reducing negative pressure adsorption wall-climbing robot. The gas-film drag-reducing negative pressure adsorption wall-climbing robot includes a body 10, a moving mechanism 20, and an adsorption mechanism 30. The moving mechanism 20 is mounted on the body 10 and drives the body 10 to move on the surface of the equipment. The adsorption mechanism 30 includes a negative pressure generating component 31 and a suction cup component 32. The suction cup component 32 has an annular outer lip 321 and an annular inner lip 322. The inner lip 322 is located within the annular cavity formed by the outer lip 321. A positive pressure gas collection chamber is formed between the inner lip 322 and the outer lip 321. In the adsorption state, the inner lip 322 surrounds the surface of the equipment to form a central negative pressure chamber. The negative pressure generating component 31 has an exhaust port communicating with the positive pressure gas collection chamber.

[0026] The negative pressure generating component 31 is used to draw air from the central negative pressure chamber to generate negative pressure adsorption force. The airflow discharged from the negative pressure generating component 31 is injected into the positive pressure collecting chamber, and an air film is formed between the outer lip 321 and the equipment surface under the action of pressure difference. The air film is used to reduce movement resistance.

[0027] In this embodiment, the moving mechanism 20 is disposed on the body 10 and is used to drive the body 10 to move on the surface of the device.

[0028] The adsorption mechanism 30 includes a negative pressure generating component 31 and a suction cup component 32. The suction cup component 32 has an annular outer lip 321 and an annular inner lip 322. In the working state, the inner lip 322 is in close contact with the surface of the device, and the two together form a central negative pressure cavity. The negative pressure generating component 31 is connected to the central negative pressure cavity. By continuously sucking air from the central negative pressure cavity, the air pressure inside the cavity is lower than the external atmospheric pressure, thereby generating a negative pressure adsorption force that presses the wall-climbing robot against the surface of the device, ensuring that the wall-climbing robot will not fall off the surface of the device.

[0029] An annular positive pressure gas collection chamber is formed between the inner lip 322 and the outer lip 321. The exhaust port of the negative pressure generating assembly 31 is connected to this positive pressure gas collection chamber. This allows the high-speed airflow drawn in and discharged from the central negative pressure chamber by the negative pressure generating assembly 31 to be guided and injected into the positive pressure gas collection chamber. This high-speed airflow forms a pressure-controlled gas film between the outer lip 321 and the equipment surface. The gas film is used to reduce movement resistance.

[0030] The present invention provides an air-film drag-reducing negative pressure adsorption wall-climbing robot. Compared with the prior art, the negative pressure generating component 31 is connected to the central negative pressure chamber. By continuously sucking the air in the central negative pressure chamber, the air pressure in the chamber is lower than the external atmospheric pressure, thereby generating a negative pressure adsorption force that presses the wall-climbing robot against the surface of the equipment, ensuring that the suspended wall-climbing robot will not fall off the surface of the equipment.

[0031] An annular positive pressure gas collection chamber is formed between the inner lip 322 and the outer lip 321. The exhaust port of the negative pressure generating component 31 is directly connected to this positive pressure gas collection chamber. Unlike the prior art where the gas discharged from the negative pressure generating component 31 is directly released to the outside atmosphere, this invention utilizes the exhaust gas flow in a directional manner: the high-speed gas flow drawn and discharged from the central negative pressure chamber by the negative pressure generating component 31 is guided and injected into the positive pressure gas collection chamber through the exhaust port, and then acts on the outer lip 321.

[0032] A high-speed airflow forms a pressurized air film between the outer lip 321 and the equipment surface. This air film transforms the direct solid contact between the outer lip 321 and the equipment surface into a non-contact or quasi-contact state with the air film as the medium, reducing the coefficient of friction between the outer lip 321 and the equipment surface and decreasing movement resistance. The air film itself has a certain positive pressure, which can block the external ambient air. Combined with the turbulence effect formed by the high-speed airflow at the edge of the outer lip, it can dynamically prevent external air from entering the negative pressure area from the outside of the outer lip 321, thereby improving the overall sealing effect and adsorption stability of the suction cup assembly 32.

[0033] In some embodiments, please refer to Figure 3 The adsorption mechanism 30 also includes a jet duct 40, which is an annular channel extending circumferentially along the inner lip 322. The inlet end 43 of the jet duct 40 is connected to the exhaust port, and the outlet end 42 of the jet duct 40 is connected to the positive pressure gas collection chamber. A guide surface extending towards the outer lip 321 is provided at the outlet end 42. A flow straightening blade 41 is provided at the outlet end 42, and the plane of the flow straightening blade 41 forms an angle with the radial plane of the inner lip 322, so that the airflow flowing through the jet duct 40 is rotated and then injected into the positive pressure gas collection chamber.

[0034] In this embodiment, the jet duct 40 is an annular channel extending circumferentially along the inner lip 322. An annular channel means that the flow channel cross-section of the jet duct 40 extends circumferentially along the inner lip 322, forming an airflow distribution structure surrounding the inner lip 322. The inlet end 43 of the jet duct 40 is connected to the exhaust port of the negative pressure generating assembly 31, and is used to receive the high-speed airflow extracted and pressurized by the negative pressure generating assembly 31 from the central negative pressure chamber. The outlet end 42 of the jet duct 40 is connected to the positive pressure collecting chamber, and is used to guide the airflow into the positive pressure collecting chamber.

[0035] To ensure that the airflow is injected into the positive pressure gas collection chamber in a predetermined direction and acts on the outer lip 321, a guide surface extending towards the outer lip 321 is provided at the outlet end 42. When the airflow flows out from the outlet end 42, it is constrained and guided by the guide surface, and the outlet direction of the airflow is oriented towards the outer lip 321. This allows the airflow ejected from the jet duct 40 to concentrate and accurately act on the gap area between the outer lip 321 and the wall, providing directional assurance for the stable formation of the air film.

[0036] Furthermore, a flow straightener 41 is provided at the outlet end 42 of the jet duct 40. The plane containing the flow straightener 41 forms an angle with the radial plane of the inner lip 322. Here, the radial plane refers to the plane extending radially with the central axis of the inner lip 322 as the normal. When the plane containing the flow straightener 41 is not parallel to this radial plane but is set at a certain angle, the airflow bypasses the flow straightener 41 when flowing through the outlet end 42, and is guided by the windward surface of the flow straightener 41 to obtain a circumferential deflection velocity component, thereby causing the airflow to rotate before entering the positive pressure gas collection chamber.

[0037] After the rotating airflow enters the positive pressure gas collection chamber, it has better circumferential distribution uniformity compared to the non-rotating direct airflow. Under the action of centrifugal force, the rotating airflow can diffuse more evenly along the circumference of the outer lip 321, making the thickness of the air film more uniform throughout the entire outer lip 321, thus avoiding the problems of discontinuous air film and uneven drag reduction effect caused by local concentration or thinning of airflow.

[0038] In some embodiments, please refer to Figure 5 and Figure 6 The jet duct 40 includes a main flow duct 44 and at least one branch flow duct 45. The branch flow duct 45 is formed by branching from the main flow duct 44, and both ends of the branch flow duct 45 are connected to the main flow duct 44. Along the airflow discharge direction, the airflow is split from the upstream section of the main flow duct 44 to the downstream section of the main flow duct 44 and the branch flow 45. The airflow flowing through the branch flow 45 and the airflow flowing through the main flow duct 44 merge in the downstream section of the main flow duct 44 before being discharged.

[0039] In this embodiment, the branch channel 45 is formed by branching from the main channel 44; that is, the branch channel 45 is a branch channel extending from the main channel 44 into the body flow channel. Both ends of the branch channel 45 are connected to the main channel 44. Thus, the main channel 44 and the branch channel 45 together constitute a flow channel network with parallel branching paths.

[0040] Following the normal discharge direction, the airflow path is as follows: the airflow discharged from the exhaust port of the negative pressure generating component 31 first enters the upstream section of the main flow channel 44; at the bifurcation node, the airflow is split into two paths, one continuing to flow forward along the downstream section of the main flow channel 44, and the other entering the branch channel 45. The airflow flowing through the branch channel 45 and the airflow flowing directly through the downstream section of the main flow channel 44 re-merge at the confluence node of the downstream section of the main flow channel 44, and the mixed airflow continues to flow along the downstream section of the main flow channel 44 towards the exhaust end 42 of the jet channel 40, and finally is injected into the positive pressure gas collection chamber.

[0041] The diversion and re-merging flow channel structure ensures smooth airflow discharge under normal operating conditions, while preventing backflow when external air flows back from the outlet 42 of the jet duct 40. Specifically, when external air flows back from the outlet 42 into the downstream section of the main flow channel 44, the backflow airflow is also diverted at the bifurcation node, with a portion of the backflow airflow entering the branch channel 45.

[0042] Because the inlet of tributary 45 is connected to the upstream section of main channel 44, the backflow air entering tributary 45 will flow out in the opposite direction from the inlet of tributary 45, and meet the backflow main air in the upstream section of main channel 44 at the confluence point (as shown in the attached diagram). Figure 6 The two airflows are in opposite directions, forming a convective impact, causing airflow turbulence and kinetic energy dissipation, which makes the speed of the backflowing airflow drop sharply, thereby effectively preventing the outside air from continuing to backflow into the jet duct 40, ensuring the unidirectionality and stability of the exhaust of the negative pressure generating component 31.

[0043] In some embodiments, please refer to Figure 3 The inner lip 322 has fine columns 50 for minor interference flow on its outer wall, which are evenly spaced. In this embodiment, the outer wall refers to the wall surface of the inner lip 322 facing the positive pressure gas collection chamber. The fine columns 50 for minor interference flow are evenly spaced along the circumference of the outer wall of the inner lip 322, forming a turbulence array.

[0044] During the operation of the wall-climbing robot, the pressure in the positive pressure gas collection chamber is higher than the pressure in the central negative pressure chamber. Driven by the pressure difference, some gas may leak from the positive pressure gas collection chamber across the top of the inner lip 322 towards the central negative pressure chamber. As these leaked airflows pass over the inner lip 322, they will flow through the area of ​​the turbulence-causing fine columns 50 arranged on the outer wall of the inner lip 322.

[0045] When the airflow passes through the turbulence column 50, the airflow separates and vortices due to the obstruction and interference of the turbulence column 50. The originally relatively regular airflow boundary layer is destroyed, forming strong local turbulence. The turbulence increases the flow resistance of the airflow across the inner lip 322, making it more difficult for external air to enter the central negative pressure chamber from the positive pressure air collection chamber, thereby improving the sealing effect at the inner lip 322.

[0046] Since the turbulence-inducing fine columns 50 are discretely arranged rather than a continuous annular structure, while generating turbulence and hindering leakage, they do not completely block the airflow channel between the positive pressure gas collection chamber and the central negative pressure chamber. This maintains the pressure release path required for the formation of the gas film in the positive pressure gas collection chamber, achieving the technical effect of increasing resistance without blocking it.

[0047] In some embodiments, please refer to Figures 1 to 3 The moving mechanism 20 includes multiple moving units, each evenly distributed on both sides of the machine body 10. Each moving unit includes a moving wheel 21, a DC motor 22, and multiple centrifugal claws 24. The moving wheel 21 is connected to the machine body 10 and is used to move the machine body 10. The DC motor 22 is connected to the moving wheel 21 and is used to drive the moving wheel 21 to rotate. Each centrifugal claw 24 is connected to the moving wheel 21 through a hinge 25, and each centrifugal claw 24 is spaced apart around the outer periphery of the moving wheel 21.

[0048] The outer periphery of the moving wheel 21 is provided with multiple receiving cavities 242. The receiving cavities 242 are used to accommodate the corresponding centrifugal claws 24 when traveling on a flat wall surface, so that the moving wheel 21 maintains a circular profile. When encountering a wall protrusion, the centrifugal claws 24 are squeezed by the protrusion and rotate around the hinge 25, extending out of the receiving cavity 242, forming a protrusion on the outer periphery of the moving wheel 21 to assist in overcoming obstacles.

[0049] In this embodiment, the movable wheel 21 is connected to the body 10 and is used to move the body 10 on the wall. The DC motor 22 is connected to the movable wheel 21 and provides independent driving power for the movable wheel 21. By controlling the speed difference of each moving unit, the robot's differential steering function can also be realized.

[0050] Each moving unit is provided with multiple centrifugal claws 24, and each centrifugal claw 24 is connected to the moving wheel 21 through a hinge 25. The centrifugal claws 24 are arranged at intervals around the outer periphery of the moving wheel 21 in a circumferential distribution.

[0051] Multiple receiving cavities 242 are provided on the outer periphery of the moving wheel 21, and the number and position of the receiving cavities 242 correspond one-to-one with the centrifugal claw 24. When traveling normally on a flat wall surface, the centrifugal claw 24 is housed in the corresponding receiving cavity 242. At this time, the outer contour of the centrifugal claw 24 does not exceed the circular contour of the moving wheel 21, and the moving wheel 21 maintains the shape of a circular wheel, ensuring the stability and low resistance of the wall-climbing robot when traveling on flat areas.

[0052] When the wall-climbing robot encounters protrusions, steps, or other obstacles on the wall, the protrusions exert a squeezing force on the centrifugal claw 24 as the moving wheel 21 rolls, driving the centrifugal claw 24 to extend from the receiving cavity 242. The extended centrifugal claw 24 forms a protrusion on the outer periphery of the moving wheel 21, which can hook or cling to the edge of the obstacle, providing an additional point of force transmission for the moving wheel 21. This transforms the potential slippage of the moving wheel 21 on a smooth wall surface into an effective climbing motion, thus assisting the robot in successfully overcoming obstacles. After overcoming the obstacle, the centrifugal claw 24 contacts the wall surface and is squeezed back into the receiving cavity 242, and the moving wheel 21 returns to its circular shape.

[0053] The passively triggered centrifugal claw 24 structure does not require a separate sensor or drive device. It can automatically extend and retract the centrifugal claw 24 by relying solely on the mechanical contact between the moving wheel 21 and the obstacle. The structure is simple and the response is direct.

[0054] In some embodiments, please refer to Figure 4 The centrifugal claw 24 is provided with a centrifugal bead 241. In this embodiment, the centrifugal bead 241 is preferably located at the end away from the hinge portion 25 of the centrifugal claw 24, that is, the free end of the centrifugal claw 24.

[0055] When the robot is traveling at low speed, that is, when the DC motor 22 drives the moving wheel 21 at a low speed, the centrifugal force on the centrifugal bead 241 is small, the centrifugal claw 24 remains within the receiving cavity 242, and the moving wheel 21 maintains its circular outline. At this time, the extension of the centrifugal claw 24 still mainly relies on the passive triggering method of contact and compression with the wall protrusion.

[0056] When the robot needs to overcome higher obstacles or perform rapid obstacle-crossing maneuvers, the DC motor 22 drives the rotational speed of the moving wheel 21 to increase. As the rotational speed increases, the centrifugal force on the centrifugal ball 241 also increases. When the rotational speed exceeds a certain preset threshold, the centrifugal claw 24 rotates outward around the hinge 25 under the drive of centrifugal force, actively extending from the receiving cavity 242 and forming a protrusion on the outer periphery of the moving wheel 21. At this time, without waiting for the moving wheel 21 to directly contact and compress the obstacle, the centrifugal claw 24 can enter the obstacle-crossing preparation state in advance.

[0057] Once the obstacle is overcome, the rotation speed of the moving wheel 21 decreases, the centrifugal force decreases, and the centrifugal claw 24 contacts the wall and is squeezed into the receiving cavity 242.

[0058] In some embodiments, please refer to Figure 1 and Figure 2The forward direction of the robot body 10 is defined as the first direction, and the horizontal direction perpendicular to the first direction is defined as the second direction. The air-film drag-reducing negative pressure adsorption wall-climbing robot provided in this embodiment of the invention also includes a balancing unit 60, which includes a counterweight 61 and an elastic rope 62. The counterweight 61 is disposed above the robot body 10 and is slidably connected to the robot body 10 along the second direction. The elastic rope 62 is disposed along the first direction, with one end connected to the robot body 10 and the other end connected to the counterweight 61. The robot body 10 is provided with a sliding groove 11 for the counterweight 61 to slide.

[0059] In this embodiment, the counterweight 61 is positioned above the body 10 and has a certain mass to provide sufficient gravitational effect within a limited volume. The body 10 is provided with a sliding groove 11 extending along a second direction. The counterweight 61 and the body 10 are slidably connected via the sliding groove 11, allowing the counterweight 61 to slide back and forth along the sliding groove 11 in the second direction.

[0060] The elastic rope 62 is arranged along a first direction. One end of the elastic rope 62 is connected to the body 10, and the other end is connected to the counterweight 61. In its natural state, the elastic rope 62 has a tendency to pull the counterweight 61 toward the center position or initial position of the body 10, providing a restoring force to the counterweight 61.

[0061] When the robot travels on a horizontal wall, the direction of gravity is perpendicular to the bottom surface of the robot body 10. The counterweight 61 is kept in the middle position of the slide 11 under the restoring force of the elastic rope 62, and the center of gravity of the robot body 10 is located in the central area, so the travel is stable.

[0062] When the robot travels on a vertical wall or tilts laterally, the second direction of the robot body 10 is no longer horizontal, but forms a certain angle with the direction of gravity. At this time, the component of gravity acting on the counterweight 61 acts along the direction of the slide 11. When the robot tilts to one side, the counterweight 61 slides along the slide 11 in the opposite direction of the tilt due to inertia. The sliding of the counterweight 61 causes the center of gravity of the robot body 10 to shift in the opposite direction of the tilt, generating a restoring torque opposite to the tilt direction. This restoring torque resists further tilting of the robot and helps the robot body 10 return to a stable posture.

[0063] During the sliding of the counterweight 61, the elastic rope 62 is stretched, generating elastic force. This elastic force serves two purposes: firstly, it prevents the counterweight 61 from sliding too quickly and impacting the body 10; secondly, it provides a restoring force to pull the counterweight 61 back to the center position when the tilted posture is restored.

[0064] In some embodiments, please refer to Figure 1 and Figure 2The balancing unit 60 also includes buffer blocks 63 and first springs 64. Two buffer blocks 63 are provided, positioned on either side of the counterweight 61 along the sliding direction of the counterweight 61. Two first springs 64 are provided, each connected between a buffer block 63 and a counterweight 61. In this embodiment, two buffer blocks 63 are provided, positioned on either side of the counterweight 61 along the sliding direction of the counterweight 61.

[0065] Two first springs 64 are provided, and the two first springs 64 are respectively connected between each buffer block 63 and the counterweight block 61. Specifically, one end of the left first spring 64 is connected to the left buffer block 63, and the other end is connected to the left side of the counterweight block 61. One end of the right first spring 64 is connected to the right buffer block 63, and the other end is connected to the right side of the counterweight block 61.

[0066] When the wall-climbing robot moves stably on the horizontal wall, the counterweight 61 is kept in the center of the slide 11 under the action of the elastic rope 62. At this time, the first springs 64 on both sides are in the natural length or the preset pre-tensioned length, and no additional lateral force is applied to the counterweight 61.

[0067] When the robot travels along a vertical wall or tilts laterally, as the counterweight 61 slides to one side, it gradually approaches the buffer block 63 on the same side. Before contacting the buffer block 63, the counterweight 61 first compresses the first spring 64 on that side. During compression, the first spring 64 undergoes elastic deformation, converting the kinetic energy of the counterweight 61 into the elastic potential energy of the spring, thereby gradually decelerating the movement speed of the counterweight 61. If the sliding kinetic energy of the counterweight 61 is large, after the first spring 64 is fully compressed, the counterweight 61 transmits the force to the buffer block 63 through the first spring 64, where the buffer block 63 absorbs the remaining impact energy.

[0068] When the robot's posture is restored and the tilt is eliminated, the compressed first spring 64 releases its elastic potential energy, and the auxiliary elastic rope 62 pushes the counterweight 61 back to the center position of the slide 11, thus achieving a smooth reset of the counterweight 61.

[0069] In some embodiments, please refer to Figure 1 and Figure 2The air-film drag-reducing negative pressure adsorption wall-climbing robot provided in this embodiment of the invention also includes a connecting block 65. The connecting block 65 is located above the body 10 and is connected to the body 10 via a second spring 66. One end of the elastic rope 62 is connected to the connecting block 65. In this embodiment, the connecting block 65 is located above the body 10 and is connected to the body 10 via a second spring 66. The second spring 66 is arranged vertically, with one end connected to the body 10 and the other end connected to the connecting block 65, so that the connecting block 65 has a certain elastic floating space in the vertical direction relative to the body 10.

[0070] One end of the elastic rope 62 is connected to the connecting block 65, and the other end is connected to the counterweight 61. Thus, the elastic rope 62 is not directly connected to the machine body 10, but is indirectly connected to the machine body 10 through the connecting block 65 and the second spring 66.

[0071] When the robot moves stably on a flat wall, the connecting block 65 is held in a certain balanced position by the support of the second spring 66.

[0072] When the robot encounters uneven areas on the wall and experiences vertical bumps, the robot body 10 moves up and down with the wall's undulations. At this time, because the connecting block 65 is connected to the robot body 10 via the second spring 66, relative motion occurs between the connecting block 65 and the robot body 10, causing the second spring 66 to compress or stretch. The elastic deformation of the second spring 66 converts the kinetic energy of the robot body 10's vertical movement into the elastic potential energy of the spring, slowing down the transmission speed and amplitude of the robot body 10's motion to the connecting block 65 and the counterweight 61.

[0073] Due to their own inertia, connecting block 65 and counterweight 61 tend to maintain their original positions, while the buffering effect of the second spring 66 absorbs and delays the turbulent displacement of the body 10, thus reducing the vertical displacement of counterweight 61 relative to the body 10. When the turbulence ends, the second spring 66 releases its stored elastic potential energy, and connecting block 65 gradually returns to its original equilibrium position, restoring system stability.

[0074] In some embodiments, please refer to Figure 1 The air-film drag-reducing negative pressure adsorption wall-climbing robot provided in this embodiment of the invention also includes a pneumatic rod assembly 23, which is used to connect the moving mechanism 20 and the body 10. The pneumatic rod assembly 23 includes a cylinder and a piston. The cylinder has a filling cavity for filling with inert gas. One end of the piston is connected to the body 10, and the other end extends into the filling cavity and is slidably connected to the cylinder.

[0075] In this embodiment, the pneumatic rod assembly 23 is disposed between the moving mechanism 20 and the body 10, so that the moving mechanism 20 can perform a certain range of extension and retraction relative to the body 10 in the vertical direction.

[0076] The pneumatic rod assembly 23 specifically includes a cylinder and a piston. The cylinder has a filling chamber for filling with an inert gas, such as nitrogen. The inert gas is selected to avoid chemical reactions between the gas and the cylinder material during compression, thus ensuring the long-term operational stability and lifespan of the pneumatic rod assembly 23.

[0077] One end of the piston is connected to the body 10, and the other end extends into the filling cavity of the cylinder and is slidably connected to the cylinder. A relatively sliding sealed fit is formed between the piston and the cylinder, and the inert gas in the filling cavity is sealed inside the cylinder by the piston, forming a variable-volume sealed gas chamber.

[0078] When the robot moves on a flat wall, the moving wheel 21 makes uniform contact with the wall, the pneumatic rod assembly 23 bears the static pressure from the weight of the body 10, the piston is in a certain equilibrium position in the cylinder, and the pressure of the inert gas in the filling chamber is balanced with the external load.

[0079] When encountering a wall protrusion, the moving wheel 21 is pushed upwards by the protrusion. This pushing force is transmitted to the cylinder through the moving wheel 21, causing the cylinder to move upwards relative to the piston. The inert gas in the filling chamber is compressed, increasing the gas pressure. During the compression of the inert gas, the impact energy is absorbed, allowing the moving wheel 21 to float upwards relative to the body 10. This prevents the body 10 from being violently lifted along with the moving wheel 21, thereby reducing the bumps and attitude changes of the body 10 caused by the wall protrusion.

[0080] When encountering a wall depression, the originally compressed inert gas expands, pushing the piston downward relative to the cylinder, so that the moving wheel 21 maintains contact pressure with the wall, preventing the moving wheel 21 from being suspended in the air or the contact pressure from being insufficient, which would lead to a decrease in driving force.

[0081] Throughout the obstacle crossing or traversing of depressions, the pneumatic rod assembly 23 utilizes the compressibility and elastic recovery characteristics of the inert gas to enable each moving wheel 21 to independently adapt to the undulations of the wall profile, maintaining a relatively stable contact pressure between each moving wheel 21 and the wall.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gas-film drag-reducing negative pressure adsorption wall-climbing robot, characterized in that, include: Organism; A moving mechanism, disposed on the machine body, is used to drive the machine body to move on the surface of the equipment; The adsorption mechanism includes a negative pressure generating component and a suction cup component; the suction cup component has an annular outer lip and an annular inner lip; the inner lip is located in the annular cavity enclosed by the outer lip; a positive pressure gas collection cavity is formed between the inner lip and the outer lip; in the adsorption state, the inner lip surrounds the device surface to form a central negative pressure cavity; the negative pressure generating component has an exhaust port communicating with the positive pressure gas collection cavity; The negative pressure generating component is used to draw air from the central negative pressure chamber to generate negative pressure adsorption force; the airflow discharged from the negative pressure generating component is injected into the positive pressure air collecting chamber, and under the action of pressure difference, an air film is formed between the outer lip and the surface of the device to reduce movement resistance.

2. The air-film drag-reducing negative pressure adsorption wall-climbing robot as described in claim 1, characterized in that, The adsorption mechanism further includes a jet channel, which is an annular channel extending circumferentially along the inner lip. The inlet end of the jet channel is connected to the exhaust port, and the outlet end of the jet channel is connected to the positive pressure gas collection chamber. The outlet end is provided with a guide surface extending toward the outer lip. The outlet end is provided with a rectifier blade, and the plane where the rectifier blade is located has an angle with the radial plane of the inner lip, so that the airflow flowing through the jet channel rotates and is injected into the positive pressure gas collection chamber.

3. The air-film drag-reducing negative pressure adsorption wall-climbing robot as described in claim 2, characterized in that, The jet duct is provided with a main channel and at least one branch channel. The branch channel is formed by the branch of the main channel and its two ends are respectively connected to the main channel. Along the airflow discharge direction, the airflow is split from the upstream section of the main channel to the downstream section of the main channel and the branch channel. The airflow flowing through the branch channel and the airflow flowing through the main channel merge in the downstream section of the main channel and are then discharged.

4. The air-film drag-reducing negative pressure adsorption wall-climbing robot as described in claim 1, characterized in that, The outer wall of the inner lip is provided with several turbulent flow columns, and the turbulent flow columns are evenly spaced.

5. The air-film drag-reducing negative pressure adsorption wall-climbing robot as described in claim 1, characterized in that, The moving mechanism includes multiple moving units, each of which is evenly distributed on both sides of the body; each moving unit includes: The movable wheels are connected to the machine body and are used to drive the machine body to move; A DC motor, connected to the movable wheel, is used to drive the movable wheel to rotate; Multiple centrifugal claws, each centrifugal claw being connected to the movable wheel via a hinge, and each centrifugal claw being spaced apart around the outer periphery of the movable wheel; The outer periphery of the moving wheel is provided with multiple receiving cavities, which are used to accommodate the corresponding centrifugal claws when traveling on a flat wall surface, so that the moving wheel maintains a circular outline; When encountering a wall protrusion, the centrifugal claw is squeezed by the protrusion and rotates around the hinge, extending out of the receiving cavity and forming a protrusion on the outer periphery of the moving wheel to assist in overcoming obstacles.

6. The air-film drag-reducing negative pressure adsorption wall-climbing robot as described in claim 5, characterized in that, The centrifugal claw contains centrifugal beads.

7. The air-film drag-reducing negative pressure adsorption wall-climbing robot as described in claim 1, characterized in that, The forward direction of the machine body is defined as the first direction, and the horizontal direction perpendicular to the first direction is defined as the second direction; the air-film drag-reducing negative pressure adsorption wall-climbing robot further includes a balancing unit, which includes: A counterweight is disposed above the machine body and is slidably connected to the machine body along the second direction; An elastic rope is provided along the first direction, with one end of the elastic rope connected to the machine body and the other end connected to the counterweight. The machine body is provided with a sliding groove for the counterweight to slide.

8. The air-film drag-reducing negative pressure adsorption wall-climbing robot as described in claim 7, characterized in that, The balancing unit further includes: Two buffer blocks are provided, and the two buffer blocks are arranged on both sides of the counterweight block along the sliding direction of the counterweight block; Two first springs are provided, and the two first springs are respectively connected between each of the buffer blocks and the counterweight blocks.

9. The air-film drag-reducing negative pressure adsorption wall-climbing robot as described in claim 7, characterized in that, The air-film drag-reducing negative pressure adsorption wall-climbing robot also includes a connecting block, which is located above the body and connected to the body via a second spring. One end of the elastic rope is connected to the connecting block.

10. The air-film drag-reducing negative pressure adsorption wall-climbing robot as described in claim 1, characterized in that, The air-film drag-reducing negative pressure adsorption wall-climbing robot further includes a pneumatic rod assembly, which is used to connect the moving mechanism and the body; the pneumatic rod assembly includes: The cylinder has a filling chamber for filling with inert gas; The piston is connected to the machine body at one end and extends into the filling cavity at the other end, and is slidably connected to the cylinder.

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