Negative pressure adsorption wall-climbing robot

Abstract

The utility model relates to the technical field of adsorption robots, in particular to a negative pressure adsorption wall-climbing robot. Comprising a middle support, a driving assembly, a walking assembly and an adsorption assembly. The driving assembly is arranged at the lower end of the middle support, the walking assembly is movably installed on the middle support, and the walking assembly and the middle support form a cross shape. According to the structure that the adsorption assembly is directly connected with the walking assembly and the middle support, the problems that when an existing adsorption wall-climbing robot works, the adsorption force is insufficient, and displacement deviation or falling exists are solved, and the load effect of the adsorption wall-climbing robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of adsorption robots, in particular to a negative pressure adsorption wall-climbing robot. Background Art

[0002] The outer surfaces of large tanks, wind turbine towers, high viaduct piers, and freight ships need to be maintained, cleaned, inspected, diagnosed, etc. regularly. At present, the main method for corresponding high-altitude operations is still to use hanging baskets or spider men, which has low efficiency and safety risks. Using an adsorption wall-climbing robot for related operations is not only safe and reliable, but also greatly improves the working efficiency compared with manual work. From the perspective of the adsorption principle, currently, adsorption wall-climbing robots are mainly divided into two categories. One category adsorbs on the surface of an object through magnetic force, and the other category adheres to the surface of an object after forming negative pressure. The former is only applicable to objects made of magnetizable materials, while the latter has a relatively wider application range. Relevant patents for negative pressure adsorption wall-climbing robots have emerged.

[0003] For example, the patent with the application number 202223037369.9 provides a robot with a climbing mechanism for cleaning wind power generation towers, including a first support main board and a second support main board. An adsorption sleeve is installed under each of the two support main boards, and the two support main boards are connected by a first electric telescopic rod. When the robot works, the robot is adsorbed on the tower by forming negative pressure through the adsorption sleeve, and the first electric telescopic rod can realize the up and down movement of the cleaning robot.

[0004] This patent uses the adsorption sleeve to adsorb the robot on the outer wall of the tower. The operation process is convenient and fast, eliminating the safety problems caused by manual work. However, when the robot moves up and down, only one adsorption sleeve adsorbs on the outer wall of the tower, and the adsorption force provided is relatively limited and not stable and reliable enough. This not only causes displacement deviation or direct dropping of the robot during movement, but also limits the load capacity of the robot.

[0005] Therefore, in view of this, research and improvement are carried out on the existing structure and deficiencies, and a negative pressure adsorption wall-climbing robot is provided, aiming to achieve a more practical value. Summary of the Utility Model

[0006] The purpose of the utility model is to provide a negative pressure adsorption wall-climbing robot for the defects existing in the prior art, so as to solve the problems of insufficient adsorption force, displacement deviation or dropping during the operation of the existing adsorption wall-climbing robot, and improve the load capacity of the adsorption wall-climbing robot.

[0007] To achieve the above object, the technical solution adopted by the utility model is as follows: a negative pressure adsorption wall-climbing robot, comprising an intermediate bracket, a driving assembly, a walking assembly, and an adsorption assembly; the driving assembly is arranged at the lower end of the intermediate bracket, the walking assembly is movably installed on the intermediate bracket, and the walking assembly and the intermediate bracket form a cross-shaped shape; the adsorption assembly is directly connected to the walking assembly and the intermediate bracket.

[0008] Further, the intermediate bracket is composed of an upper end block, a lower end block, a guide rail, and a lead screw. A functional component connecting plate is fixedly connected to the upper part of the upper end block, and the functional component connecting plate is fitted with an external functional component. A stepped blind hole is opened in the lower part of the upper end block, and a rolling bearing is installed in the stepped blind hole. The outer exposed surface after the installation of the rolling bearing coincides with the lower part of the upper end block. The upper end of the lead screw is installed in the rolling bearing, and the lower end of the lead screw passes through the lower end block and is connected to the driving assembly. The guide rails are symmetrically distributed on both sides of the lead screw and are fixedly connected to both the upper end block and the lower end block.

[0009] Further, the walking assembly includes a reciprocating slider and a horizontal connecting frame. A first threaded through hole in the vertical direction is opened at the middle position of the reciprocating slider. The first threaded through hole is in spiral transmission cooperation with the lead screw. Through holes are also opened on both sides of the first threaded through hole. The through holes are in cooperation with the guide rail to form a sliding connection between the reciprocating slider and the guide rail. The driving motor drives the lead screw to rotate so that the reciprocating slider makes a linear reciprocating motion along the guide rail. The horizontal connecting frame is fixed to both sides of the reciprocating slider.

[0010] Further, the walking assembly also includes a fixed block, a rotating block, and a rotating shaft. The fixed block is connected to the horizontal connecting frame, and the rotating block is rotatably connected to the fixed block through the rotating shaft. The rotating block rotates at an appropriate angle around the rotating shaft to cooperate with the walking assembly to adjust the corresponding angle according to the different shapes and curvatures of the object surface. A pair of second threaded through holes are opened on the surface of the rotating block facing the outer wall of the object. After the angle of the rotating block is adjusted, a bolt is screwed into the second threaded through hole and the bottom presses on the surface of the fixed block, and the rotating block is locked by the frictional force generated by the bolt pressure. Annular grooves are opened near the upper and lower end faces of the rotating shaft. The rotating shaft passes through the rotating block and the fixed block, and both the upper and lower parts thereof extend beyond the rotating block and the annular grooves are outside the rotating block. Elastic retaining rings are clamped in both the upper and lower annular grooves, and the rotating shaft is limited within the rotating block.

[0011] Further, the adsorption assembly includes a negative pressure chamber, a connecting frame, and an electric telescopic rod. A sealing sleeve is fixed to the edge of the negative pressure chamber. The sealing sleeve is made of a flexible material. After the negative pressure chamber adsorbs to the outer wall of an object, the sealing sleeve can be appropriately deformed according to the shape of the outer wall of the object. A piston plate is installed in the negative pressure chamber. One end of the electric telescopic rod is fixed to the traveling assembly or the intermediate bracket, and the other end is connected to the piston plate. The connecting frame connects the negative pressure chamber to the traveling assembly or the intermediate bracket.

[0012] By including an intermediate bracket, a driving assembly, a traveling assembly, and an adsorption assembly; the driving assembly is arranged at the lower end of the intermediate bracket, the traveling assembly is movably installed on the intermediate bracket, and the traveling assembly and the intermediate bracket form a cross-shaped shape; the structure in which the adsorption assembly is directly connected to the traveling assembly and the intermediate bracket achieves the effect of solving the problems of insufficient adsorption force, displacement deviation, or dropping during the operation of the existing adsorption wall-climbing robot, and improving the load of the adsorption wall-climbing robot. Description of the Drawings

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0014] Figure 1 It is the front view of the negative pressure adsorption wall-climbing robot of the present invention;

[0015] Figure 2 It is the structural schematic diagram of the negative pressure adsorption wall-climbing robot of the present invention;

[0016] Figure 3 It is Figure 2 The partial enlarged view at A in

[0017] Figure 4 It is the structural schematic diagram of the traveling assembly of the present invention;

[0018] Figure 5 It is Figure 4 The partial enlarged view at B in

[0019] Figure 6 It is the exploded view schematic diagram of the adsorption assembly of the present invention;

[0020] Figure 7 It is the top view of the negative pressure adsorption wall-climbing robot of the present invention.

[0021] Reference Signs:

[0022] 100 is the middle bracket, 110 is the upper end block, 111 is the function component connecting plate, 112 is the rolling bearing, 120 is the lower end block, 130 is the guide rail, 140 is the lead screw;

[0023] 200 is the drive component, 210 is the drive motor, 220 is the coupling, 230 is the drive motor bracket;

[0024] 300 is the walking component, 310 is the reciprocating slider, 311 is the first threaded through hole, 312 is the through hole, 320 is the horizontal connecting frame, 330 is the fixed block, 340 is the rotating block, 341 is the second threaded through hole, 350 is the rotating shaft, 351 is the annular groove, 352 is the circlip;

[0025] 400 is the adsorption component, 410 is the negative pressure chamber, 411 is the sealing sleeve, 412 is the piston plate, 420 is the connecting frame, 430 is the electric telescopic rod. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0027] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0028] A negative pressure adsorption wall-climbing robot, as Figure 1 、 2 、shown in Figure 3, includes a middle bracket 100, a drive component 200, a walking component 300, and an adsorption component 400; the drive component 200 is arranged at the lower end of the middle bracket 100, the walking component 300 is movably installed on the middle bracket 100, and the walking component 300 and the middle bracket 100 form a cross shape; the adsorption component 400 is directly connected to the walking component 300 and the middle bracket 100.

[0029] Specifically, the cross-shaped structure formed by the walking component 300 and the middle bracket 100 not only makes the structure of the robot more stable, but also endows it with flexible movement ability, further allowing the robot to achieve more precise movement and positioning on horizontal, vertical or even inclined surfaces, meeting the requirements for cleaning, maintenance, etc. on complex surfaces. The attachment component 400 is designed as multiple adsorption units, enhancing the adsorption stability of the robot on vertical or inclined surfaces. Even during the movement of the robot, it can ensure that at least two or more groups of adsorption units are simultaneously in an adsorbed state with the wall surface, effectively preventing displacement deviation or dropping caused by insufficient adsorption force and significantly improving the safety of operation. The drive component 200 centrally arranged at the lower end of the middle bracket 100 may include a motor, a reducer, a transmission mechanism, etc. Such a layout is conducive to the centralized management and optimization of power transmission, improving the drive efficiency. The entire robot adopts a modular design, and components such as the middle bracket, drive component, walking component, and adsorption component can all be replaced or upgraded as independent modules. This not only facilitates daily maintenance but also reduces the maintenance cost, improving the reliability and service life of the equipment.

[0030] As a preference of the above embodiment, the middle bracket 100 is composed of an upper end block 110, a lower end block 120, guide rails 130, and a lead screw 140. A functional component connection plate 111 is fixedly connected to the upper part of the upper end block 110, and the functional component connection plate 111 is fitted with an external functional component. A stepped blind hole is formed in the lower part of the upper end block 110, and a rolling bearing 112 is installed in the stepped blind hole. The outer exposed surface of the rolling bearing 112 after installation coincides with the lower part of the upper end block 110. The upper end of the lead screw 140 is installed in the rolling bearing 112, and the lower end of the lead screw 140 passes through the lower end block 120 and is connected to the drive component 200. The guide rails 130 are symmetrically distributed on both sides of the lead screw 140 and are fixedly connected to both the upper end block 110 and the lower end block 120.

[0031] Specifically, the intermediate bracket 100 is composed of an upper end block 110, a lower end block 120, a guide rail 130 and a lead screw 140, making the entire bracket structure stable and capable of withstanding various forces and torques during the operation of the robot. In particular, the lead screw 140 is supported by a rolling bearing 112 installed in a stepped blind hole, which not only ensures the smooth rotation of the lead screw but also enhances its vertical support strength. The functional component connection plate 111 fixedly connected to the upper part of the upper end block 110 provides a convenient interface for installing external functional components, enabling the robot to flexibly configure external devices according to specific operation requirements, thereby improving its versatility and adaptability. The lead screw 140 passes through the upper end block 110 and the lower end block 120 and is connected to the drive assembly 200, constituting the main transmission mechanism for the vertical movement of the robot. By driving the lead screw 140 to rotate through the drive assembly 200, the walking assembly 300 can move up and down on the guide rail 130, thereby achieving precise positioning of the robot. This not only has high transmission efficiency but also accurate positioning, which is beneficial to improving the operation accuracy. The guide rails 130 are symmetrically distributed on both sides of the lead screw 140 and are fixedly connected to both the upper end block 110 and the lower end block 120, providing stable guidance and support for the movement of the walking assembly 300, helping to reduce friction and vibration during the movement of the walking assembly, and ensuring the smoothness and stability of the robot's movement. The intermediate bracket 100 continues the modular concept of the entire robot, and each component can be maintained and replaced as an independent module. This design not only reduces the maintenance cost but also improves the reliability and maintainability of the equipment.

[0032] As a preference of the above embodiment, as Figure 5 shown, the walking assembly 300 includes a reciprocating slider 310 and a horizontal connecting frame 320. A first threaded through hole 311 in the vertical direction is opened at the middle position of the reciprocating slider 310. The first threaded through hole 311 is in screw drive cooperation with the lead screw 140. Through holes 312 are also opened on both sides of the first threaded through hole 311. The through holes 312 cooperate with the guide rail 130 to form a sliding connection between the reciprocating slider 310 and the guide rail 130. The drive motor 210 drives the lead screw 140 to rotate, causing the reciprocating slider 310 to perform a linear reciprocating motion along the guide rail 130. The horizontal connecting frame 320 is fixed to both sides of the reciprocating slider 310.

[0033] Specifically, the walking component 300 includes a reciprocating slider 310 and a horizontal connecting frame 320. A first vertical threaded through-hole 311 is formed in the middle position of the reciprocating slider 310 and is in helical drive cooperation with the lead screw 140. This ensures that when the driving motor 210 drives the lead screw 140 to rotate, the reciprocating slider 310 can perform precise linear reciprocating motion along the guide rail 130. It is not only stable and reliable but also accurately positioned, which is beneficial for the precise operation of the robot when performing tasks such as cleaning and maintenance. The through-holes 312 on both sides of the first threaded through-hole 311 cooperate with the guide rail 130 to form a sliding connection between the reciprocating slider 310 and the guide rail 130, reducing the friction and resistance during the movement of the slider and making the sliding smoother and more stable. At the same time, the guiding function of the guide rail also ensures that the slider will not deviate from the predetermined trajectory during movement, improving the motion accuracy and stability of the robot.

[0034] As a preference of the above embodiment, as Figure 5 shown, the walking component 300 further includes a fixed block 330, a rotating block 340, and a rotating shaft 350. The fixed block 330 is connected to the horizontal connecting frame 320. The rotating block 340 is rotatably connected to the fixed block 330 through the rotating shaft 350. The rotating block 340 rotates at an appropriate angle around the rotating shaft 350 to cooperate with the walking component 300 to adjust the corresponding angle according to different shapes and curvatures of the object surface. A pair of second threaded through-holes 341 are formed on the surface of the rotating block 340 facing the outer wall of the object. After the angle of the rotating block 340 is adjusted, bolts are screwed into the second threaded through-holes 341 and the bottom presses on the surface of the fixed block 330, and the rotating block 340 is locked by the frictional force generated by the bolt pressure. Annular grooves 351 are formed near the upper and lower end faces of the rotating shaft 350. The rotating shaft 350 passes through the rotating block 340 and the fixed block 330, and its upper and lower parts extend beyond the rotating block 340 so that the annular grooves 351 are outside the rotating block 340. Elastic retaining rings 352 are clamped in the upper and lower annular grooves 351, and the rotating shaft 350 is limited within the rotating block 340.

[0035] Specifically, a fixed block 330, a rotating block 340, and a rotating shaft 350 are added to the walking assembly 300. The fixed block 330 is connected to the horizontal connecting frame 320, and the rotating block 340 is rotatably connected to the fixed block 330 through the rotating shaft 350, allowing the rotating block 340 to rotate at an appropriate angle around the rotating shaft 350, so as to cooperate with the walking assembly 300 to adjust according to the different shapes and curvatures of the object surface, enabling the robot to more effectively maintain contact and adsorption with the surface when facing a complex environment, improving the stability and efficiency of the operation. A pair of second threaded through holes 341 are provided on the surface of the rotating block 340 facing the outer wall of the object. After the rotating block 340 is adjusted to an appropriate angle, bolts are screwed into these threaded through holes and pressed against the surface of the fixed block 330, and the frictional force generated by the bolts is used to lock the rotating block 340. This locking mechanism ensures that the rotating block 340 will not accidentally rotate due to external forces during the operation, thus maintaining a stable contact between the robot and the object surface. Annular grooves 351 are provided near the upper and lower end faces of the rotating shaft 350. These annular grooves are used to engage with snap rings 352. When the rotating shaft 350 passes through the rotating block 340 and the fixed block 330, its upper and lower parts both extend beyond the rotating block 340 and the annular grooves 351 are outside the rotating block 340. The snap rings 352 are installed in the annular grooves 351, thereby restricting the axial movement of the rotating shaft 350 within the rotating block 340 and increasing the stability and reliability of the rotation.

[0036] As a preference of the above embodiment, as Figure 5 shown, the adsorption assembly 400 includes a negative pressure chamber 410, a connecting frame 420, and an electric telescopic rod 430. A sealing sleeve 411 is fixed to the edge of the negative pressure chamber 410. The sealing sleeve 411 is made of a flexible material. After the negative pressure chamber 410 adsorbs to the outer wall of the object, the sealing sleeve 411 can be appropriately deformed according to the shape of the outer wall of the object. A piston plate 412 is installed in the negative pressure chamber 410. One end of the electric telescopic rod 430 is fixed to the walking assembly 300 or the intermediate bracket 100, and the other end is connected to the piston plate 412. The connecting frame 420 connects the negative pressure chamber 410 to the walking assembly 300 or the intermediate bracket 100.

[0037] Specifically, a sealing sleeve 411 is fixed to the edge of the negative pressure chamber 410. The sealing sleeve is made of a flexible material and can be deformed appropriately according to the shape of the outer wall of the object, ensuring a good seal between the negative pressure chamber and the outer wall of the object, thereby improving the adsorption effect. The sealing sleeve 411 can closely fit the outer walls of objects with various shapes and curvatures, effectively preventing air leakage and ensuring the stability of the negative pressure in the negative pressure chamber. This design enables the robot to maintain a stable adsorption state when facing working surfaces of different shapes. A piston plate 412 is installed in the negative pressure chamber 410, and the piston plate is connected to the electric telescopic rod 430. Through the telescopic movement of the electric telescopic rod, the piston plate can be pushed to move in the negative pressure chamber, thereby changing the volume of the negative pressure chamber. When the piston plate moves towards the inside of the negative pressure chamber, the volume of the negative pressure chamber decreases, and the internal air is compressed and discharged to form a negative pressure; conversely, when the piston plate moves outwards, the volume of the negative pressure chamber increases, and external air is inhaled, and the negative pressure disappears, enabling the robot to turn on or off the adsorption function as needed. The electric telescopic rod 430 is a key component for driving the piston plate to move. One end of it is fixed to the walking assembly 300 or the intermediate bracket 100, and the other end is connected to the piston plate 412. By controlling the telescopic length of the electric telescopic rod, the magnitude of the negative pressure in the negative pressure chamber can be accurately controlled, thereby achieving reliable adsorption of the robot to the outer wall of the object. The connecting frame 420 firmly connects the negative pressure chamber 410 to the walking assembly 300 or the intermediate bracket 100. It not only bears the weights of components such as the negative pressure chamber and the piston plate but also ensures the stability and reliability of the entire adsorption assembly during the movement of the robot.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and these changes and improvements all fall within the scope of the present utility model claimed. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents.

Claims

1. A negative pressure adsorption wall climbing robot, characterized in that: It comprises an intermediate support (100), a driving assembly (200), a walking assembly (300), and an adsorption assembly (400); The driving assembly (200) is arranged at the lower end of the intermediate bracket (100), the walking assembly (300) is movably mounted on the intermediate bracket (100), and the walking assembly (300) and the intermediate bracket (100) form a cross shape; The adsorption component (400) is directly connected to the walking component (300) and the intermediate support (100).

2. The negative pressure adsorption wall-climbing robot according to claim 1, characterized in that: The intermediate bracket (100) is composed of an upper end block (110), a lower end block (120), a guide rail (130) and a lead screw (140). A functional component connecting plate (111) is fixedly connected to the upper portion of the upper end block (110). The functional component connecting plate (111) cooperates with the external functional component to be installed. A stepped blind hole is opened at the lower portion of the upper end block (110). A rolling bearing (112) is installed in the stepped blind hole. The externally exposed surface of the rolling bearing (112) after installation coincides with the lower portion of the upper end block (110). The upper end of the lead screw (140) is installed in the rolling bearing (112). The lower end of the lead screw (140) passes through the lower end block (120) and is connected to the driving component (200). The guide rails (130) are symmetrically distributed on both sides of the lead screw (140) and are fixedly connected to both the upper end block (110) and the lower end block (120).

3. The negative pressure adsorption wall-climbing robot according to claim 2, characterized in that: The walking assembly (300) comprises a reciprocating slider (310) and a horizontal connecting frame (320). A first threaded through hole (311) in a vertical direction is opened in the middle of the reciprocating slider (310). The first threaded through hole (311) is screw-driven with the lead screw (140). Through holes (312) are opened on both sides of the first threaded through hole (311). The through holes (312) are matched with the guide rail (130) so that the reciprocating slider (310) and the guide rail (130) form a sliding connection. The driving motor (210) drives the lead screw (140) to rotate so that the reciprocating slider (310) performs linear reciprocating motion along the guide rail (130). The horizontal connecting frame (320) is fixed to both sides of the reciprocating slider (310).

4. The negative pressure adsorption wall-climbing robot according to claim 3, characterized in that: The walking assembly (300) further comprises a fixed block (330), a rotating block (340), and a rotating shaft (350). The fixed block (330) is connected to the horizontal connecting frame (320). The rotating block (340) and the fixed block (330) are rotatably connected via the rotating shaft (350). The rotating block (340) rotates at an appropriate angle with the rotating shaft (350) as the center to cooperate with the walking assembly (300) to adjust the corresponding angle according to the different shapes and curvatures of the surface of the object. A pair of second threaded through holes (341) are opened on the surface of the rotating block (340) facing the outer wall of the object. After the angle of the rotating block (340) is adjusted, a bolt is screwed in. The rear bottom of the second threaded through hole (341) is pressed against the surface of the fixed block (330), and the friction force generated by the bolt pressure is used to lock the rotating block (340). Annular grooves (351) are provided near the upper and lower end surfaces of the rotating shaft (350). The rotating shaft (350) passes through the rotating block (340) and the fixed block (330), and its upper and lower parts both exceed the rotating block (340) and make the annular groove (351) outside the rotating block (340). The upper and lower annular grooves (351) are both clamped with elastic retaining rings (352), and the rotating shaft (350) is confined in the rotating block (340).

5. The negative pressure adsorption wall-climbing robot according to claim 4, characterized in that: The adsorption component (400) comprises a negative pressure chamber (410), a connecting frame (420), and an electric telescopic rod (430). A sealing sleeve (411) is fixed to the edge of the negative pressure chamber (410). The sealing sleeve (411) is made of a flexible material. After the negative pressure chamber (410) is adsorbed on the outer wall of an object, the sealing sleeve (411) can be appropriately deformed according to the shape of the outer wall of the object. A piston plate (412) is installed in the negative pressure chamber (410). One end of the electric telescopic rod (430) is fixed to the walking component (300) or the intermediate bracket (100), and the other end is connected to the piston plate (412). The connecting frame (420) connects the negative pressure chamber (410) with the walking component (300) or the intermediate bracket (100).

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