Wall-climbing robot rotating hollow wire shaft device and wall-climbing robot

Abstract

The application provides a kind of hollow rotating wire shaft device of wall-climbing robot and wall-climbing robot, and relates to the technical field of wall-climbing robot;The rotating hollow wire shaft device comprises: a shell;Worm, rotationally connected in the shell along the horizontal direction;Drive assembly, connected in the shell and drive worm rotation;Shaft, rotationally connected on the shell along the vertical direction through bearing assembly, first through hole is arranged on the shaft along the axial direction, the upper and lower ends of the shaft are located in the shell and outside the shell respectively, bearing assembly includes first deep groove ball bearing, first thrust bearing, second thrust bearing and second deep groove ball bearing from top to bottom;Worm wheel, sleeve joint on the upper end of the shaft and synchronously rotate with the shaft, worm wheel is engaged with worm;Solve cable easy to wear and tear, poor wire reliability, rotating joint cannot be mechanically self-locking, hovering posture stability is insufficient, high energy consumption, safety risk is big and the technical problems of weak shafting bearing limiting capacity, poor rotation precision and structural stability.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing and vaulting robot technology, specifically to a wall-climbing and vaulting robot rotating hollow through-line shaft device and a wall-climbing and vaulting robot. Background Technology

[0002] Wall-climbing robots can replace manual labor in high-altitude and high-risk environments for tasks such as equipment inspection and industrial maintenance. Relying on their multi-degree-of-freedom rotational adjustment capabilities, they can perform complex actions such as wall contact, curved surface walking, and edge climbing, making them highly versatile. The rotary transmission system, as the core moving component of the wall-climbing robot, directly determines the robot's attitude control accuracy, operational stability, and continuous operation capability.

[0003] In actual operation, wall-climbing robots require various signal cables and control lines to move with them. Traditional wall-climbing robots have a relatively compact rotary axis structure, with cables often externally laid out or arranged with eccentric perforations. During wall flips, posture changes, and traversing protruding structures, the robot's posture angle changes frequently. External cables are subjected to bending, friction, and tension over long periods, leading to rapid wear and tear, aging, poor contact, and even breakage, affecting continuous and stable operation. Furthermore, this cable layout causes continuous torque on the cables as the axis rotates, resulting in poor cable regularity and low tolerance for errors under long-term conditions, making it difficult to adapt to the high-frequency, multi-posture climbing scenarios of the robot.

[0004] Furthermore, the rotary joints of conventional wall-climbing robots currently employ gear transmission or direct drive structures. When hovering over vertical or inclined walls, or performing fixed-point operations, the robot's own weight, the wall's suction force, and external airflow disturbances generate continuous off-center torques on the rotary axis system, easily causing spontaneous joint rotation and posture deviation. To maintain stable operating posture, the equipment typically requires the drive components to continuously output locking torque. This not only results in high overall power consumption but also leads to overheating and accelerated wear of the drive components under prolonged full-load operation, limiting the equipment's endurance and lifespan. Moreover, the robot cannot maintain posture lock after shutdown and power loss, resulting in insufficient operational stability and low safety redundancy.

[0005] On the other hand, when climbing over edges and conforming to irregularly shaped walls, the rotating shaft system of the wall-climbing robot needs to withstand both radial off-center loads and bidirectional axial impact loads. Traditional shaft systems have a simple bearing support structure, which has limited ability to constrain the radial runout and axial movement of the shaft. Under complex working conditions, the shaft is prone to swaying and movement, resulting in poor shaft rotation accuracy and structural stability. This further aggravates the body posture deviation and cannot meet the requirements of high-precision and high-stability wall-climbing operations. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the first objective of this invention is to provide a rotating hollow through-line shaft device for wall-climbing robots, thereby solving the technical problems in existing technologies such as easy wear and tear on cables during operation, poor cable routing reliability, inability of rotating joints to mechanically self-lock, poor hovering posture stability, high energy consumption and safety risks, insufficient shaft system load-bearing and limiting capacity, and weak rotational accuracy and structural stability under complex working conditions.

[0007] To solve the above-mentioned technical problems, the present invention provides a rotating hollow through-line shaft device for a wall-climbing robot, comprising: case; The worm gear is rotatably connected to the housing in a horizontal direction; The drive assembly is connected inside the housing and drives the worm gear to rotate; The rotating shaft is vertically connected to the housing via a bearing assembly. The rotating shaft has a first through hole along the axial direction. The upper and lower ends of the rotating shaft are located inside and outside the housing, respectively. The bearing assembly includes, from top to bottom, a first deep groove ball bearing, a first thrust bearing, a second thrust bearing, and a second deep groove ball bearing. The worm gear, which is semi-circular, is fitted onto the upper end of the shaft and rotates synchronously with the shaft. The worm gear meshes with the worm.

[0008] With the above structure, the rotating hollow through-line shaft device of the wall-climbing robot in this invention has the following advantages: by utilizing the meshing transmission principle of worm and worm wheel, the horizontal input power is converted into vertical rotational power, driving the shaft to rotate relative to the shell; at the same time, by utilizing the inherent reverse self-locking characteristic of the meshing of worm wheel and worm, external force cannot drive the worm wheel to rotate in the reverse direction, and the shaft attitude can be locked without the need for continuous power supply to the motor, which greatly reduces the power consumption of the equipment, avoids long-term heat loss of the drive components, and avoids the safety hazards of attitude deviation and body instability after power failure. The shaft features a first through hole along its axial direction, allowing various control cables and signal conduits to pass through the center of the shaft. This eliminates the need for traditional external cabling, preventing shear and tensile stress on the cables as the shaft twists, effectively avoiding cable wear, breakage, and poor contact. This significantly improves cabling neatness and long-term operational reliability. The bearing assembly employs a top-to-bottom arrangement of a first deep groove ball bearing, a first thrust bearing, a second thrust bearing, and a second deep groove ball bearing. The two sets of deep groove ball bearings work together to constrain the radial runout of the shaft, ensuring coaxiality accuracy during rotation and preventing friction and scratches on the wall of the first through hole caused by shaft wobbling. The internal cable is protected by two sets of thrust bearings that can withstand axial impact loads during operation, effectively limiting the axial movement of the shaft and preventing axial displacement from pulling or squeezing the cable inside the first central through-hole. This composite bearing arrangement enhances the radial and axial load-bearing capacity and overall structural rigidity of the shaft, adapting to complex robot traversing conditions. It also structurally stabilizes the shape and position of the central cable channel, preventing pulling and friction on the cable from any offset movement of the shaft other than its own rotation. This significantly improves cable lifespan and operational stability. Furthermore, the worm gear uses a semi-circular structure, allowing the shaft to oscillate only within a set angle. In the hollow cable structure, the cable itself does not rotate synchronously with the shaft. Even in low-probability conditions, when the cable bends at the entrance / exit of the first through-hole, the semi-circular worm gear limits the maximum swing angle of the shaft, preventing excessive bending of the cable, reducing stress concentration at the port, and improving cable reliability. This invention solves several technical problems in existing technologies by combining the self-locking principle of worm gear and worm, the central through-line structure, and the composite bearing load-bearing and protective structure. These problems include easy wear and tear on cables, poor cable routing reliability, inability of rotary joints to mechanically self-lock, insufficient hovering stability, high energy consumption, high safety risks, weak shaft load-bearing and limiting capacity, and poor rotational accuracy and structural stability.

[0009] As an improvement, a second through hole is provided at the bottom of the housing, and an annular partition is provided on the inner wall of the second through hole. A first annular protrusion and a second annular protrusion are respectively provided on the inner and outer lower end faces of the housing, surrounding the second through hole. A first annular groove and a first stepped surface are formed on the first annular protrusion. The outer wall and lower end face of the first deep groove ball bearing abut against the inner wall of the first annular groove and the first stepped surface, respectively. The outer wall and lower end face of the first thrust bearing abut against the inner wall of the first annular protrusion and the upper end face of the annular partition, respectively. A second annular protrusion is provided with a second ring... The groove is formed with a second stepped surface. The outer side wall and upper end face of the second thrust bearing abut against the inner side wall of the second through hole and the lower end face of the annular partition, respectively. The outer side wall and lower end face of the second deep groove ball bearing abut against the inner side wall of the second annular groove and the second stepped surface, respectively. With this structure, the bearing installation positioning reference is formed by the first annular protrusion, the second annular protrusion and the annular partition, which ensures the coaxiality of each bearing assembly and the end face fit accuracy, effectively suppresses radial sway and axial movement during shaft operation, and improves the overall running stability of the shaft system.

[0010] As an improvement, the bearing assembly also includes a first shim, a second shim, and a third shim. The first shim abuts against the lower end face of the worm gear and the upper end face of the first deep groove ball bearing, the second shim abuts against the lower end face of the first deep groove ball bearing and the upper end face of the first thrust bearing, and the third shim abuts against the lower end face of the second thrust bearing and the upper end face of the second deep groove ball bearing. This structure can effectively compensate for the accumulated tolerances in the machining and assembly of parts, accurately control the axial assembly clearance of the bearing assembly, and avoid excessive clearance causing shaft movement or insufficient clearance causing bearing jamming and overheating.

[0011] As an improvement, the first annular protrusion is integrally formed on the lower inner surface of the housing, while the second annular protrusion is detachably connected to the lower outer surface of the housing. This structure, by integrally forming the first annular protrusion on the lower inner surface of the housing, ensures the overall rigidity and forming accuracy of the internal bearing positioning structure. The structure is not easily deformed, the positioning reference is stable, and it can stably constrain the radial and axial displacement of the shaft during long-term operation, ensuring the stability of the central through-wire path. The detachable connection of the second annular protrusion to the lower outer surface of the housing facilitates the disassembly, inspection, maintenance, and replacement of the outer bearing assembly. Maintenance work can be completed without disrupting the internal through-wire layout or affecting the cable routing, reducing assembly and subsequent maintenance difficulty, and balancing structural reliability, assembly convenience, and the stability of the hollow through-wire structure.

[0012] As an improvement, several limiting grooves are provided at equal intervals along the circumference on the outer side wall of the shaft, and several limiting blocks are provided at equal intervals along the circumference on the inner side wall of the worm gear. The limiting blocks are respectively inserted into the limiting grooves. With this structure, the worm gear and the shaft are circumferentially fixed by the insertion and cooperation of the limiting blocks and the limiting grooves, ensuring that the worm gear and the shaft have no relative sliding and rotate synchronously, thereby improving the power transmission accuracy and transmission efficiency.

[0013] As an improvement, the present invention also includes a fixed end cap. The upper end of the rotating shaft is provided with a third annular groove and a third stepped surface. The worm gear is sleeved in the third annular groove and the lower end face of the worm gear abuts against the third stepped surface. The fixed end cap includes a horizontal part and a vertical part coaxially provided at the lower end of the horizontal part. The upper edge of the horizontal part is provided with a third through hole that penetrates the vertical part. The horizontal part is detachably connected to the upper end face of the worm gear, and the vertical part is inserted into the first through hole. With this structure, by providing a third annular groove and a third stepped surface at the upper end of the rotating shaft, the worm gear is precisely axially limited. The detachable fixed end cap is used to axially press and fix the worm gear, effectively limiting the axial movement and loosening of the worm gear and the rotating shaft. The fixed end cap is provided with a through third through hole, completely avoiding the central through-line channel, ensuring that the hollow through-line is unobstructed and uncompressed. While achieving a tight and fixed structure, the hollow through-line function is fully preserved and optimized.

[0014] As an improvement, the worm gear includes a main body and an insert. The insert includes a first annular portion and a second annular portion located on the outer wall of the first annular portion. The lower end face of the main body is provided with a fourth annular groove. The first annular portion is detachably connected to the fourth annular groove, and the inner wall of the second annular portion abuts against the outer wall of the main body. The main body is sleeved on the upper end of the rotating shaft, and the second annular portion meshes with the worm. With this structure, by setting the worm gear as a separate structure consisting of a main body and an insert, the main body can be made of a lightweight material, and the insert can be made of a wear-resistant material. This effectively reduces the overall weight of the worm gear while ensuring the wear resistance of the meshing parts. The design is optimized for lightweight operation requirements of wall-climbing robots. Easily worn meshing parts are independently designed as replaceable inserts, allowing for individual maintenance and replacement of worn meshing components without the need for complete worm gear replacement, significantly reducing equipment maintenance costs. Furthermore, the split structure allows for targeted optimization of meshing accuracy and surface wear resistance, ensuring long-term stable meshing of the worm gear and worm wheel, and smooth transmission without jamming or vibration. This results in smoother shaft rotation, avoiding high-frequency shaft sway caused by transmission impact and vibration, reducing vibration friction and fatigue damage to the cable inside the central first through hole, and continuously ensuring the stability and reliability of the hollow through-wire structure.

[0015] As an improvement, a sensor is connected to the lower end face inside the shell, and a probe corresponding to the sensor is connected to the worm gear; with this structure, attitude parameters such as the rotation angle and rotation position of the shaft can be collected in real time and accurately, so as to realize closed-loop precise control of the robot's rotation attitude.

[0016] As an improvement, the drive assembly includes a drive motor, a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The first and second synchronous pulleys are coaxially mounted on the worm gear and the output shaft of the drive motor, respectively, and the synchronous belt is wound around the first and second synchronous pulleys. With this structure, power transmission is achieved by relying on the meshing of the synchronous belt, resulting in a constant transmission ratio and high transmission accuracy.

[0017] The second objective of this invention is to provide a wall-climbing robot, including the aforementioned wall-climbing robot rotating hollow through-line shaft device.

[0018] With the above structure, the wall-climbing robot of the present invention has the following advantages: it enables the whole machine to have high-precision mechanical self-locking hovering capability and stable central hollow cable layout conditions, high shaft rotation accuracy, strong impact resistance, and small running vibration and sway. In the process of climbing over complex walls, changing postures, and hovering at fixed points, the robot can not only achieve posture self-locking and stabilization, reduce energy consumption and safety risks, but also keep the internal cables free from pulling, squeezing, and scratching throughout the process, which significantly improves the overall machine's operational stability, environmental adaptability and equipment service life. Attached Figure Description

[0019] Figure 1 This is a cross-sectional view of the rotating hollow through-line shaft device of the present invention.

[0020] Figure 2 for Figure 1 A magnified view of part A in the middle.

[0021] Figure 3 This is a cross-sectional view of the housing portion in this invention.

[0022] Figure 4 This is a three-dimensional structural diagram of the rotating hollow through-line device in this invention.

[0023] Figure 5 This is an exploded structural diagram of the rotating shaft, worm gear, and fixed end cap in this invention.

[0024] Figure 6 This is an exploded structural diagram of the worm gear in this invention.

[0025] Reference numerals: 1. Housing; 2. Worm gear; 3. Shaft; 4. First through hole; 5. First deep groove ball bearing; 6. First thrust bearing; 7. Second thrust bearing; 8. Second deep groove ball bearing; 9. Worm wheel; 91. Main body; 92. Insert; 921. First annular part; 922. Second annular part; 10. Second through hole; 11. Annular partition; 12. First annular protrusion; 13. Second annular protrusion; 14. First annular groove; 15. First stepped surface; 16. 17. Second annular groove; 18. Second step surface; 19. First gasket; 20. Second gasket; 21. Third gasket; 22. Limiting groove; 23. Limiting block; 24. Fixed end cap; 25. Horizontal part; 26. Vertical part; 27. Fourth annular groove; 28. Sensor; 29. ​​Probe; 20. Drive motor; 21. First synchronous pulley; 22. Second synchronous pulley; 33. Synchronous belt; 34. Third annular groove; 35. Third step surface; 36. Third through hole. Detailed Implementation

[0026] The rotating hollow through-line shaft device for the wall-climbing robot and the wall-climbing robot of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] like Figures 1 to 6 As shown, a rotating hollow through-wire device for a wall-climbing robot includes a housing 1, a worm gear 2, a drive assembly, a rotating shaft 3, a bearing assembly, and a worm wheel 9. The worm gear 2 is horizontally rotatable inside the housing 1. The drive assembly is assembled inside the housing 1 and drives the worm gear 2, providing stable power input for its rotation. The rotating shaft 3 is vertically rotatable to the housing 1 via the bearing assembly. The rotating shaft 3 has a first through hole 4 extending axially, allowing various control cables, signal lines, and wiring conduits inside the robot to pass through. The upper and lower ends of the rotating shaft 3 are located inside and outside the housing 1, respectively, meeting the requirements for external robot structure assembly and internal wiring layout.

[0028] like Figure 1 and Figure 2 As shown, the bearing assembly consists of a first deep groove ball bearing 5, a first thrust bearing 6, a second thrust bearing 7, and a second deep groove ball bearing 8, arranged sequentially from top to bottom, forming a symmetrical support structure with combined radial and axial load bearing. The two sets of deep groove ball bearings effectively constrain the radial runout of the rotating shaft 3 during operation, ensuring high coaxiality rotation of the shaft 3 throughout its entire rotation. This prevents the shaft 3 from wobbling and causing the wall of the first through hole 4 to rub against and wear the internally laid cables. The paired first thrust bearing 6 and second thrust bearing 7 can withstand the axial impact loads generated during the climbing robot's traversal of edges, posture switching, and wall stress, effectively limiting the axial displacement of the rotating shaft 3 and preventing axial movement from pulling or squeezing the internal cables of the first through hole 4. This comprehensively improves the working stability and cable protection effect of the hollow through-hole structure. The worm gear 9 is coaxially sleeved and fixed to the upper end of the rotating shaft 3 and rotates synchronously with it. The worm gear 9 meshes with the horizontally arranged worm 2, forming a transmission pair.

[0029] When this device is in operation, the drive assembly drives the worm gear 2 to rotate horizontally, converting the horizontal input power into vertical rotational power, which in turn drives the rotating shaft 3 to rotate stably relative to the housing 1, realizing the robot's posture adjustment, wall contact, and edge climbing actions. Simultaneously, the worm wheel 9 and worm gear 2 transmission have inherent reverse mechanical self-locking characteristics. The reverse torque generated by external loads, the weight of the machine body, and airflow disturbances cannot drive the worm wheel 9 to reverse. Stable locking of the rotating shaft 3 can be achieved without continuously energizing the drive motor 27, effectively reducing the continuous power consumption of the equipment, avoiding long-term full-load heat loss of the drive components, and effectively preventing safety hazards such as posture deviation and machine instability and slippage after power failure. This invention, through the organic combination of the mechanical self-locking structure of the worm wheel 9 and worm gear 2, the central through-hole wire structure, and the composite bearing bearing protection structure, effectively solves the technical problems of existing wall-climbing robots, such as easy cable wear and pulling, poor cable reliability, inability of rotating joints to mechanically self-lock, poor hovering posture stability, high energy consumption and safety risks, insufficient shaft system bearing and limiting capacity, and weak rotational accuracy and structural stability under complex working conditions.

[0030] like Figure 2 and Figure 3 As shown, a second through hole 10 is provided at the bottom of the housing 1. An annular partition 11 is integrally formed on the inner wall of the second through hole 10. A first annular protrusion 12 and a second annular protrusion 13 are respectively provided on the inner lower end face and the outer lower end face of the housing 1, which are arranged around the second through hole 10. A first annular groove 14 is provided on the first annular protrusion 12 and a first stepped surface 15 is formed. Specifically, the first annular groove 14 is provided on the upper end face of the first annular protrusion 12. The outer side wall and the lower end face of the first deep groove ball bearing 5 are respectively abutted and limited by the inner side wall of the first annular groove 14 and the first stepped surface 15. The outer side wall and the lower end face of the first thrust bearing 6 are respectively abutted and limited by the inner side wall of the first annular protrusion 12 and the upper end face of the annular partition 11. The second annular protrusion 13 has a second annular groove 16 and forms a second stepped surface 17. The outer wall and upper end face of the second thrust bearing 7 abut against and limit the inner wall of the second through hole 10 and the lower end face of the annular partition 11, respectively. The outer wall and lower end face of the second deep groove ball bearing 8 abut against and limit the inner wall of the second annular groove 16 and the second stepped surface 17, respectively. Through the cooperation of the first annular protrusion 12, the second annular protrusion 13 and the annular partition 11, a complete and accurate bearing installation positioning reference is formed, which effectively ensures the coaxiality of the assembly of each bearing group and the end face fitting accuracy, greatly suppresses the radial swing and axial movement of the rotating shaft 3 during operation, improves the overall running stability of the shaft system, and continuously maintains the centered and regular path of the cable through hole 4, avoiding local compression and one-sided friction of the cable caused by the misalignment of the through hole, further enhancing the wiring stability and cable protection capability of the hollow through cable. Meanwhile, the annular partition 11 can isolate the load and distribute the pressure evenly between the upper and lower sets of thrust bearings, improve the bidirectional axial bearing capacity of the shaft system, and adapt to the complex overturning and impact conditions of the robot.

[0031] Refer again Figure 2 The bearing assembly in this embodiment also includes a first washer 18, a second washer 19, and a third washer 20. The first washer 18 abuts against the lower end face of the worm gear 9 and the upper end face of the first deep groove ball bearing 5. The second washer 19 abuts against the lower end face of the first deep groove ball bearing 5 and the upper end face of the first thrust bearing 6. The third washer 20 abuts against the lower end face of the second thrust bearing 7 and the upper end face of the second deep groove ball bearing 8. The three sets of washers can effectively compensate for the cumulative tolerances generated during the processing and assembly of the housing 1, the shaft 3, and each bearing component, and precisely control the axial assembly clearance of the bearing assembly. This avoids problems such as excessive clearance causing the shaft 3 to move and shake, or insufficient clearance causing the bearing to seize, overheat, and wear. At the same time, the washer can achieve uniform pressure on the bearing end face and stable force transmission, reduce shaft system vibration and offset, ensure the stable posture of the shaft 3 and the first through hole 4, effectively avoid cable reciprocating pulling and local extrusion wear caused by abnormal shaft system clearance, and significantly improve the service life and working stability of the built-in cable.

[0032] Furthermore, the first annular protrusion 12 is integrally formed on the lower inner end face of the housing 1, resulting in a strong overall structural rigidity, high forming precision, and resistance to deformation. It can maintain a stable bearing positioning reference for a long time, continuously constraining the radial and axial displacement of the rotating shaft 3 and ensuring the stability of the central through-line path. The second annular protrusion 13 is assembled on the lower outer end face of the housing 1 using a detachable connection method. In this embodiment, it is fixed by bolts, which facilitates the disassembly, inspection, and replacement of components such as the second thrust bearing 7, the second deep groove ball bearing 8, and the third gasket 20 below the annular partition 11. During maintenance operations, there is no need to disassemble the internal through-line structure, and the internal cable layout will not be damaged. Under the premise of ensuring structural reliability and through-line stability, the difficulty of equipment assembly and subsequent maintenance is greatly reduced.

[0033] like Figure 5 As shown, the outer wall of the rotating shaft 3 has several equidistant limiting grooves 21 distributed along the circumference, and the inner wall of the worm gear 9 has several limiting blocks 22 correspondingly provided. Each limiting block 22 is inserted into the limiting groove 21 to achieve circumferential fixation of the worm gear 9 and the rotating shaft 3. This insertion limiting structure can prevent the worm gear 9 and the rotating shaft 3 from sliding relative to each other or deviating at an angle during transmission, ensuring that the two rotate synchronously and accurately, effectively improving the power transmission accuracy and transmission efficiency, avoiding the eccentricity and abnormal posture of the rotating shaft 3 caused by transmission slippage, making the rotation of the first through hole 4 more uniform and stable, reducing cable twisting, bending, and friction damage, and further ensuring the reliability of the hollow through wire.

[0034] Continue to refer to Figure 5This device is also equipped with a fixed end cap 23. A third annular groove 31 is formed at the upper end of the rotating shaft 3, creating a third stepped surface 32. The worm gear 9 is fitted into the third annular groove 31, with its lower end face abutting against the third stepped surface 32, achieving initial axial positioning of the worm gear 9. The fixed end cap 23 includes a horizontal portion 231 and a vertical portion 232 coaxially disposed at the lower end of the horizontal portion 231. Both are integrally formed. The horizontal portion 231 is detachably fixed to the upper end face of the worm gear 9, achieving axial clamping and fixing of the worm gear 9, effectively limiting axial movement and loosening of the worm gear 9 and the rotating shaft 3. The vertical portion 232 is coaxially inserted into the first through hole 4 of the rotating shaft 3, providing auxiliary centering for the upper end of the rotating shaft 3, further improving the overall rotational coaxiality of the rotating shaft 3, reducing the sway amplitude at the end of the rotating shaft 3, and lowering the risk of the hole wall scratching the internal cables. Meanwhile, a third through hole 33 is provided through the horizontal part 231 and the vertical part 232. The third through hole 33 is coaxially connected with the first through hole 4, completely avoiding the central through-line channel. There is no obstruction or compression. While achieving structural fastening and centering stability, the hollow through-line function is fully preserved and optimized.

[0035] like Figure 6 As shown, the worm gear 9 in this embodiment is a split-type assembly structure, including a main body 91 and an insert 92. The insert 92 includes a first annular portion 921 and a second annular portion 922 disposed on the outer wall of the first annular portion 921. A fourth annular groove 24 is formed on the lower end face of the main body 91. The first annular portion 921 is detachably assembled into the fourth annular groove 24, and the inner wall of the second annular portion 922 abuts against the outer wall of the main body 91. The main body 91 is sleeved and fixed to the upper end of the rotating shaft 3, and the second annular portion 922 serves as a meshing transmission part that meshes with the worm gear 2. This split structure allows for differentiated material selection. The main body 91 can be made of lightweight engineering materials, effectively reducing the rotational inertia of the worm gear 9 and the entire machine, meeting the lightweight design requirements of the wall-climbing robot, and improving the robot's wall load adaptability. The insert 92 can be made of high-hardness, wear-resistant alloy materials to ensure the wear resistance and transmission accuracy of the meshing transmission part. Meanwhile, insert 92 is an independent replaceable component, which can be replaced separately after meshing wear, eliminating the need to replace the entire worm gear 9, significantly reducing equipment maintenance costs. The split-type high-precision mating structure effectively ensures long-term stable meshing between the worm 2 and the worm gear 9, with no jamming or severe vibration in the transmission, making the rotation of the shaft 3 smoother, avoiding high-frequency sway of the shaft 3 caused by transmission impact, reducing vibration friction and fatigue damage to the cable inside the first through hole 4, and continuously ensuring the long-term stable operation of the hollow through-wire structure. Among them, the limiting block 22 is located on the inner side wall of the main body 91.

[0036] like Figure 4As shown, a sensor 25 is fixedly installed on the lower end face inside the housing 1, and a probe 26 is correspondingly mounted on the worm gear 9. The probe 26 can rotate synchronously with the worm gear 9. Through the cooperation of the sensor 25 and the probe 26, the rotation angle, rotation position and other attitude parameters of the rotating shaft 3 can be collected in real time and accurately, providing precise position feedback for the robot control system, realizing closed-loop precise control of the rotation attitude, effectively reducing the invalid swing, attitude deviation and frequent fine adjustment of the rotating shaft 3, reducing the frequency of cable bending and friction, improving the robot's operating accuracy, and further optimizing the dynamic protection effect of the hollow through-wire. In this embodiment, the worm gear 9 has a semi-circular structure, with a probe 26 set at each end, and two sensors 25 are correspondingly set on the housing 1 to sense the two extreme positions in the rotation direction of the worm gear 9. The sensors 25 are photoelectric sensors.

[0037] Continue to refer to Figure 4 As shown, the drive assembly includes a drive motor 27, a first synchronous pulley 28, a second synchronous pulley 29, and a synchronous belt 30. The first synchronous pulley 28 and the second synchronous pulley 29 are coaxially mounted on the worm gear 2 and the output shaft of the drive motor 27, respectively. The synchronous belt 30 is wound around the first synchronous pulley 28 and the second synchronous pulley 29. During operation, the drive motor 27 drives the worm gear 2 to rotate stably through the engagement of the synchronous belt 30.

[0038] This invention also relates to a wall-climbing robot, including the aforementioned rotating hollow through-line shaft device. With this device, the entire robot possesses both reliable mechanical self-locking hovering performance and stable central hollow through-line layout conditions. The shaft system exhibits high rotational accuracy, strong impact resistance, and minimal operational vibration and sway. During complex wall-walking, edge-climbing, and fixed-point hovering operations, the robot can achieve precise self-locking and stable posture control, reducing overall energy consumption and operational safety risks. Simultaneously, it ensures that the internal cables are free from pulling, squeezing, and scraping throughout the process, significantly improving the robot's overall operational stability, adaptability to complex working environments, and overall equipment lifespan.

[0039] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above-described embodiment. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. A rotating hollow spool device for a wall-climbing robot, characterized in that, include: Shell (1); The worm (2) is rotatably connected in the housing (1) in the horizontal direction; A drive assembly is connected inside the housing (1) and drives the worm gear (2) to rotate; A rotating shaft (3) is vertically rotatably connected to the housing (1) via a bearing assembly. The rotating shaft (3) has a first through hole (4) along the axial direction. The upper and lower ends of the rotating shaft (3) are located inside the housing (1) and outside the housing (1) respectively. The bearing assembly includes, from top to bottom, a first deep groove ball bearing (5), a first thrust bearing (6), a second thrust bearing (7), and a second deep groove ball bearing (8). The worm wheel (9) is semi-circular and is sleeved on the upper end of the rotating shaft (3) and rotates synchronously with the rotating shaft (3). The worm wheel (9) meshes with the worm (2).

2. The rotating hollow through-line shaft device for wall-climbing and vaulting robots according to claim 1, characterized in that, The bottom end of the housing (1) is provided with a second through hole (10), and the inner wall of the second through hole (10) is provided with an annular partition (11). The lower inner end face and the lower outer end face of the housing (1) are respectively provided with a first annular protrusion (12) and a second annular protrusion (13) surrounding the second through hole (10). The first annular protrusion (12) is provided with a first annular groove (14) and a first stepped surface (15). The outer side wall and the lower end face of the first deep groove ball bearing (5) abut against the inner side wall of the first annular groove (14) and the first stepped surface (15) respectively. The outer side wall and lower end face of the first thrust bearing (6) abut against the inner side wall of the first annular protrusion (12) and the upper end face of the annular partition (11), respectively. The second annular protrusion (13) is provided with a second annular groove (16) and a second stepped surface (17). The outer side wall and upper end face of the second thrust bearing (7) abut against the inner side wall of the second through hole (10) and the lower end face of the annular partition (11), respectively. The outer side wall and lower end face of the second deep groove ball bearing (8) abut against the inner side wall of the second annular groove (16) and the second stepped surface (17), respectively.

3. The rotating hollow spool device for the wall-climbing robot according to claim 2, characterized in that, The bearing assembly further includes a first washer (18), a second washer (19) and a third washer (20). The first washer (18) abuts against the lower end face of the worm gear (9) and the upper end face of the first deep groove ball bearing (5). The second washer (19) abuts against the lower end face of the first deep groove ball bearing (5) and the upper end face of the first thrust bearing (6). The third washer (20) abuts against the lower end face of the second thrust bearing (7) and the upper end face of the second deep groove ball bearing (8).

4. The rotating hollow through-line shaft device for wall-climbing and vaulting robots according to claim 2, characterized in that, The first annular protrusion (12) is integrally formed on the lower inner surface of the housing (1), and the second annular protrusion (13) is detachably connected to the lower outer surface of the housing (1).

5. The rotating hollow spool device for the wall-climbing robot according to claim 1, characterized in that, The outer side wall of the rotating shaft (3) is provided with several limiting grooves (21) at equal intervals along the circumference, and the inner side wall of the worm gear (9) is provided with several limiting blocks (22) at equal intervals along the circumference, and the several limiting blocks (22) are respectively inserted into the several limiting grooves (21).

6. The rotating hollow through-line shaft device for wall-climbing and vaulting robots according to claim 1, characterized in that, It also includes a fixed end cap (23), the upper end of the rotating shaft (3) is provided with a third annular groove (31) and a third stepped surface (32) is formed, the worm gear (9) is sleeved in the third annular groove (31) and the lower end surface of the worm gear (9) abuts against the third stepped surface (32), the fixed end cap (23) includes a horizontal part (231) and a vertical part (232) coaxially provided at the lower end of the horizontal part (231), the horizontal part (231) is provided with a third through hole (33) along the vertical direction and the third through hole (33) penetrates the vertical part (232), the horizontal part (231) is detachably connected to the upper end surface of the worm gear (9), and the vertical part (232) is inserted into the first through hole (4).

7. The rotating hollow spool device for a wall-climbing robot according to claim 1, characterized in that, The worm gear (9) includes a main body (91) and an insert (92). The insert (92) includes a first annular part (921) and a second annular part (922) disposed on the outer side wall of the first annular part (921). The lower end face of the main body (91) is provided with a fourth annular groove (24). The first annular part (921) is detachably connected in the fourth annular groove (24) and the inner side wall of the second annular part (922) abuts against the outer side wall of the main body (91). The main body (91) is sleeved on the upper end of the rotating shaft (3), and the second annular part (922) meshes with the worm (2).

8. The rotating hollow through-line shaft device for wall-climbing and vaulting robots according to claim 1, characterized in that, A sensor (25) is connected to the lower end face inside the housing (1), and a probe (26) corresponding to the sensor (25) is connected to the worm gear (9).

9. The rotating hollow spool device for a wall-climbing robot according to claim 1, characterized in that, The drive assembly includes a drive motor (27), a first synchronous pulley (28), a second synchronous pulley (29), and a synchronous belt (30). The first synchronous pulley (28) and the second synchronous pulley (29) are coaxially mounted on the worm gear (2) and the output shaft of the drive motor (27), respectively. The synchronous belt (30) is wound around the first synchronous pulley (28) and the second synchronous pulley (29).

10. A wall-climbing robot, characterized in that, The rotating hollow through-line shaft device for wall-climbing and traversing robots as described in any one of claims 1 to 9.

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