Self-adaptive foot of adsorption type curtain wall crawling robot
By installing a bottom shell and adjusting springs on the foot shell of the crawling robot, combined with a vacuum pump and limiting components, the problem of high friction of the rubber bottom ring was solved, enabling stable movement and improved sealing of the crawling robot on glass curtain walls.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING ZHONGJIAN CONSTR RES INST CO LTD
- Filing Date
- 2025-06-09
- Publication Date
- 2026-04-17
AI Technical Summary
When existing crawling robots slide on glass curtain walls, the friction between the rubber base ring and the glass curtain wall surface is too large, making it difficult to slide.
A bottom shell and an adjusting spring are installed on the foot shell of the crawling robot. The bottom shell is slidably connected to the foot shell. A vacuum pump creates negative pressure to make the bottom shell adhere to the glass curtain wall. The adjusting spring reduces the positive pressure of the rubber bottom ring, thereby reducing friction. The sealing and stability are improved by limiting components and rubber rings.
It effectively reduces the frictional resistance of the rubber base ring during movement, improving the stability and sealing of the crawling robot on the glass curtain wall.
Smart Images
Figure CN224131173U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of crawling robots, and more particularly to an adaptive foot for an adhesive curtain wall crawling robot. Background Technology
[0002] In the field of modern architecture, glass curtain walls are widely used as building facades. However, monitoring and maintenance of glass curtain walls are quite difficult. In light of this issue, unmanned climbing robots have gradually become a research focus in this field. By equipping these robots with sensors and cameras, they can climb glass curtain walls and monitor data such as cracks and sealing performance.
[0003] Existing crawling robots typically move on glass curtain walls using vacuum adsorption. The crawling robot is equipped with vacuum adsorption feet, which consist of a foot shell and drive tracks. Multiple air holes are opened at the bottom of the foot shell. A vacuum pump extracts air from the foot shell through the air holes, creating a negative pressure environment inside the foot shell. A rubber bottom ring is set on the edge of the foot shell, and the drive tracks are connected to the foot shell. When the vacuum adsorption foot comes into contact with the glass curtain wall, the rubber bottom ring comes into contact with the glass curtain wall, and the drive tracks contact and slide on the glass curtain wall, thus enabling the vacuum adsorption foot to move on the glass curtain wall.
[0004] The aforementioned technical solutions have the following drawbacks: when the vacuum adsorption foot slides on the glass curtain wall, the friction between the rubber base ring and the surface of the glass curtain wall is relatively large, making it difficult for the vacuum adsorption foot to slide on the surface of the glass curtain wall. Utility Model Content
[0005] To reduce friction when the rubber base ring contacts the glass curtain wall, this application provides an adaptive foot for an adsorption-type curtain wall crawling robot.
[0006] This application provides a technical solution for the adaptive feet of an adsorption-type curtain wall crawling robot:
[0007] An adaptive foot for an adsorption-type curtain wall crawling robot includes a foot shell, a bottom shell, drive track wheels, and an adjusting spring. The foot shell is a barrel-shaped structure with a bottom on one side. The bottom shell is slidably connected to the opening of the foot shell. The drive track wheels are installed on the inner bottom of the foot shell. The adjusting spring is located between the foot shell and the bottom shell. One end of the adjusting spring is fixed to the foot shell, and the other end is fixed to the bottom shell. A rubber bottom ring is provided on the side of the bottom shell away from the foot shell.
[0008] By adopting the above technical solution, a bottom shell is set on the foot shell, allowing the bottom shell to slide on the foot shell. When the adaptive foot comes into contact with the glass curtain wall, the drive track wheel contacts the glass curtain wall. Multiple air holes are opened at the bottom of the foot shell, and a vacuum pump draws air through the air holes, allowing the foot shell and bottom shell to adhere to the glass curtain wall. When the drive track wheel moves, the bottom shell adheres to the glass curtain wall. By making the bottom shell and foot shell slide together, when the adaptive foot slides, the foot shell and bottom shell slide relative to each other. The adjusting spring can reduce the normal pressure of the curtain wall on the rubber bottom ring caused by the pressure difference, thereby reducing the frictional resistance of the rubber bottom ring during movement.
[0009] Optionally, a rubber ring is provided between the foot shell and the bottom shell, and the rubber ring is bonded between the foot shell and the bottom shell.
[0010] By adopting the above technical solution, a rubber ring is set between the foot shell and the bottom shell, allowing the rubber ring to deform. This allows the gap between the foot shell and the bottom shell to be changed by adjusting the spring. By bonding the rubber ring between the foot shell and the bottom shell, the sealing performance at the connection between the foot shell and the bottom shell can be improved, maintaining a better negative pressure environment inside the foot shell.
[0011] Optionally, the bottom shell is provided with multiple limiting members, one end of which is fixed to the bottom shell and the other end is slidably connected to the foot shell. The foot shell is provided with multiple sliding grooves, and each limiting member is slidably connected in one sliding groove.
[0012] By adopting the above technical solution, by setting a limiting component on the bottom shell, one end of the limiting component is fixed on the bottom shell and the other end is stuck in the sliding groove, thereby fixing the sliding direction of the bottom shell relative to the foot shell. When the crawling robot moves, it can reduce the probability of the bottom shell moving horizontally relative to the foot shell, thereby reducing the probability of the bottom shell contacting the drive track wheel.
[0013] Optionally, a radar probe is provided on the foot shell, and the radar probe is located on the side wall of the foot shell.
[0014] By adopting the above technical solution, and by setting a radar probe on the foot shell, the radar probe emits electromagnetic waves and infers the area near the crawling robot, making it easier to control the movement of the crawling robot.
[0015] Optionally, a flange is provided on the foot shell, and the flange is detachably connected to the crawling robot.
[0016] By adopting the above technical solution, and by setting a flange on the foot shell, the crawling robot can be connected to the adaptive foot through the flange, which is convenient for users to disassemble and replace.
[0017] Optionally, the drive track wheel includes two mounting plates, a fixed wheel, a movable wheel, a track, and a motor. The two mounting plates are parallel to each other and fixed to the bottom of the foot shell. The fixed wheel and the movable wheel are rotatably connected between the mounting plates. The track is sleeved between the fixed wheel and the movable wheel. The motor housing is fixed to the mounting plate, and the motor output shaft is coaxially connected to the fixed wheel.
[0018] By adopting the above technical solution, by setting fixed wheels and movable wheels on the mounting plate, the motor can drive the fixed wheels to rotate, thereby causing the track fitted on the fixed wheels and movable wheels to rotate. When the track wheels come into contact with the curtain wall, the track can adhere to the curtain wall and drive the crawling robot to slide.
[0019] Optionally, the movable wheel has a movable end rotatably connected to both end faces, and a second sliding groove is provided on the mounting plate. The movable end is slidably connected in the second sliding groove and is fixed to the mounting plate by bolts.
[0020] By adopting the above technical solution, and by setting a movable end on the movable wheel, the movable end is slidably connected in the slide groove two. The user can slide the movable wheel in a direction close to or away from the fixed wheel by sliding the movable end, which makes it convenient for the user to adjust the position of the movable wheel and keep the track taut at all times.
[0021] Optionally, the motor is positioned between the fixed wheel and the movable wheel, with the motor's output shaft passing through both mounting plates. A transmission wheel is mounted on the motor's output shaft and the fixed wheel, and a transmission belt is fitted onto the transmission wheel.
[0022] By adopting the above technical solution, the motor is placed between the fixed wheel and the movable wheel, so that the weight distribution of the motor is uniform and the center of gravity of the drive track wheel is set in the middle. By placing the motor and the transmission wheel on both sides of the mounting plate, the overall weight distribution of the drive track wheel is further made uniform. When the crawling robot moves on the curtain wall, the adaptive foot can be stably attached to the curtain wall.
[0023] In summary, the beneficial technical effects of this application are as follows:
[0024] 1. By setting a bottom shell on the foot shell, the bottom shell can slide on the foot shell. When the adaptive foot comes into contact with the glass curtain wall, the drive track wheel contacts the glass curtain wall. Multiple air holes are opened at the bottom of the foot shell. The vacuum pump draws air through the air holes, so that the foot shell and the bottom shell can be adsorbed on the glass curtain wall. When the drive track wheel moves, the bottom shell is adsorbed on the glass curtain wall. By making the bottom shell and the foot shell slide together, when the adaptive foot slides, the foot shell and the bottom shell slide relative to each other. The adjusting spring can reduce the normal pressure of the curtain wall on the rubber bottom ring caused by the pressure difference, thereby reducing the frictional resistance of the rubber bottom ring during the movement.
[0025] 2. By setting a rubber ring between the foot shell and the bottom shell, the rubber ring can be deformed, thereby allowing the gap between the foot shell and the bottom shell to be changed by adjusting the spring. By bonding the rubber ring between the foot shell and the bottom shell, the sealing performance at the connection between the foot shell and the bottom shell can be improved, and a better negative pressure environment can be maintained inside the foot shell.
[0026] 3. By setting a limiting component on the bottom shell, one end of the limiting component is fixed to the bottom shell and the other end is locked in the sliding groove, thereby fixing the sliding direction of the bottom shell relative to the foot shell. When the crawling robot moves, it can reduce the probability of the bottom shell moving horizontally relative to the foot shell, thereby reducing the probability of the bottom shell contacting the drive track wheel. Attached Figure Description
[0027] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application. Figure 1 .
[0028] Figure 2 This is a schematic diagram of the overall structure of an embodiment of this application. Figure 2 .
[0029] Figure 3 This is an overall top view of an embodiment of this application.
[0030] Figure 4 This is a schematic diagram of the overall structure of the drive track wheel according to an embodiment of this application. Figure 1 .
[0031] Figure 5 This is a schematic diagram of the overall structure of the drive track wheel according to an embodiment of this application. Figure 2 .
[0032] Reference numerals: 1. Foot shell; 11. Air vent; 12. Slide groove one; 2. Bottom shell; 21. Limiting component; 3. Drive track wheel; 31. Mounting plate; 311. Slide groove two; 32. Fixed wheel; 33. Movable wheel; 331. Movable end; 34. Track; 35. Motor; 36. Transmission wheel; 37. Transmission belt; 4. Adjusting spring; 5. Rubber ring; 6. Rubber bottom ring; 7. Radar probe; 8. Flange. Detailed Implementation
[0033] The present application will be further described in detail below with reference to the accompanying drawings.
[0034] This application discloses an adaptive foot for an adhesive curtain wall crawling robot, referring to... Figure 1 , Figure 2 and Figure 3It includes a foot shell 1, a bottom shell 2, a drive track wheel 3, and multiple adjusting springs 4. The foot shell 1 is a cylindrical structure with a bottom on one side. The drive track wheel 3 is installed inside the foot shell 1. The bottom shell 2 is a hollow cylindrical structure. The bottom shell 2 is slidably connected to the foot shell 1 and covers the drive track wheel 3. The adjusting springs 4 are located between the foot shell 1 and the bottom shell 2. One end of the adjusting spring 4 is fixed to the foot shell 1, and the other end is fixed to the bottom shell 2. A vacuum pump is installed on the foot shell 1. Multiple air holes 11 are opened on the bottom surface of the foot shell 1. The vacuum pump is connected to the air holes 11 through an air pipe. When the adaptive foot is installed on the crawling robot and abuts against the curtain wall, the bottom shell 2 contacts the curtain wall, and the drive track wheel 3 abuts against the curtain wall. When the vacuum pump works, it draws air through the air holes 11, so that the space in the middle of the foot shell 1 and the bottom shell 2 forms a negative pressure space, which allows the adaptive foot to be firmly attached to the curtain wall. At this time, the drive track wheel 3 moves, which can drive the adaptive foot to slide on the curtain wall. During the sliding process, the bottom shell 2 always abuts against and is attached to the curtain wall.
[0035] Reference Figure 1 and Figure 2 The bottom shell 2 is provided with multiple limiting members 21, the length direction of which is parallel to that of the bottom shell 2. One end of the limiting member 21 is fixed to the bottom shell 2, and the other end is slidably connected to the foot shell 1. The foot shell 1 has multiple sliding grooves 12, and each limiting member 21 is engaged in one of the sliding grooves 12. When the adaptive foot moves on the uneven surface of the curtain wall, the drive track wheel 3 can always be in contact with the curtain wall surface. The bottom shell 2 can adhere to the uneven curtain wall surface by sliding on the foot shell 1. By providing the limiting members 21 on the bottom shell 2, the bottom shell 2 slides relative to the foot shell 1 along the length direction of the limiting members 21, thereby reducing the probability of the bottom shell 2 contacting the drive track wheel 3 when the adaptive foot slides.
[0036] Reference Figure 4 and Figure 5 The drive track wheel 3 includes two mounting plates 31, fixed wheels 32, movable wheels 33, a track 34, and a motor 35. The two mounting plates 31 are parallel to each other and fixed to the inner bottom surface of the foot shell 1. The fixed wheels 32 and movable wheels 33 are rotatably connected between the two mounting plates 31. The track 34 is fitted onto the fixed wheels 32 and movable wheels 33. The housing of the motor 35 is fixed to the mounting plates 31, and the output shaft of the motor 35 drives the fixed wheels 32 to rotate. When the fixed wheels 32 rotate, they can drive the track 34 to rotate. When the track 34 abuts against the curtain wall surface, it can drive the crawling robot to move.
[0037] Reference Figure 4 and Figure 5The movable wheel 33 has a movable end 331 rotatably connected to both end faces. The mounting plate 31 has a second sliding groove 311, in which the movable end 331 is slidably connected. The movable end 331 can be fixed to the mounting plate 31 by bolts or other fasteners. By sliding the movable end 331, the user can adjust the distance between the fixed wheel 32 and the movable wheel 33, thereby ensuring that the track 34 is always taut.
[0038] Reference Figure 4 and Figure 5 The motor 35 is positioned between the fixed wheel 32 and the movable wheel 33. The output shaft of the motor 35 passes through both mounting plates 31. Both the output shaft of the motor 35 and the fixed wheel 32 are equipped with transmission wheels 36, and transmission belts 37 are fitted onto the transmission wheels 36. When the motor 35 rotates, it causes the fixed wheel 32 to rotate via the transmission wheels 36 and the transmission belts 37. The motor 35 and transmission wheels 36 are positioned on opposite sides of the mounting plate 31, thus ensuring a uniform weight distribution on the drive track wheel 3 and reducing the likelihood of instability in the adhesion between the adaptive foot and the curtain wall due to a heavier weight on one side of the drive track wheel 3 (either the fixed wheel 32 or the movable wheel 33).
[0039] Reference Figure 1 and Figure 2 A rubber ring 5 is provided between the foot shell 1 and the bottom shell 2. The rubber ring 5 is made of elastic rubber material and has a ring-shaped structure. The rubber ring 5 is fixed between the foot shell 1 and the bottom shell 2 by adhesive. When the bottom shell 2 slides relative to the foot shell 1 through the limiting member 21, the bottom shell 2 and the foot shell 1 together compress the rubber ring 5 and deform it. The rubber ring 5 provides better sealing at the connection between the foot shell 1 and the bottom shell 2. When the vacuum pump is working and the bottom shell 2 abuts against the curtain wall, it can maintain negative pressure inside the foot shell 1 and the bottom shell 2, improving the adaptive foot adsorption stability.
[0040] Reference Figure 1 and Figure 2 A rubber bottom ring 6 is provided on the side of the bottom shell 2 away from the foot shell 1. The rubber bottom ring 6 is fixed to the bottom shell 2 by adhesive. When the bottom shell 2 comes into contact with the curtain wall, the rubber bottom ring 6 presses against the curtain wall and deforms, which can improve the sealing between the curtain wall and the bottom shell 2 and reduce air leakage.
[0041] Reference Figure 1 and Figure 2 A radar probe 7 is installed on the foot shell 1, and the radar probe 7 is located on the side wall of the foot shell 1. The radar probe 7 is used for position detection, thereby facilitating the control of the crawling robot's movement. A flange 8 is installed on the foot shell 1, and the flange 8 is used for detachable connection with the crawling robot.
[0042] The implementation principle of this application embodiment is as follows: by sliding the bottom shell 2 on the foot shell 1, a rubber ring 5 is set between the foot shell 1 and the bottom shell 2. When the vacuum pump on the foot shell 1 works, a negative pressure environment is formed in the foot shell 1 and the bottom shell 2. When the adaptive foot abuts against the curtain wall, the bottom shell 2 can be adsorbed on the curtain wall, and the drive track wheel 3 can abut against the curtain wall and drive the adaptive foot to slide.
[0043] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A self-adaptive foot of an adsorptive curtain wall climbing robot, characterized in that: It includes a foot shell (1), a bottom shell (2), a drive track wheel (3) and an adjusting spring (4). The foot shell (1) is a barrel-shaped structure with a bottom on one side. The bottom shell (2) is slidably connected to the opening of the foot shell (1). The drive track wheel (3) is installed on the inner bottom of the foot shell (1). The adjusting spring (4) is set between the foot shell (1) and the bottom shell (2). One end of the adjusting spring (4) is fixed on the foot shell (1) and the other end is fixed on the bottom shell (2). A rubber bottom ring (6) is provided on the side of the bottom shell (2) away from the foot shell (1).
2. The adaptive foot of an adsorption-type curtain wall crawling robot according to claim 1, characterized in that: A rubber ring (5) is provided between the foot shell (1) and the bottom shell (2), and the rubber ring (5) is bonded between the foot shell (1) and the bottom shell (2).
3. The self-adapting foot of the adsorbed curtain wall climbing robot according to claim 2, wherein: The bottom shell (2) is provided with multiple limiting members (21). One end of the limiting member (21) is fixed on the bottom shell (2), and the other end is slidably connected to the foot shell (1). Multiple sliding grooves (12) are provided on the foot shell (1), and each limiting member (21) is slidably connected in a sliding groove (12).
4. The self-adapting foot of the adsorbed curtain wall climbing robot according to claim 1, wherein: A radar probe (7) is provided on the foot shell (1), and the radar probe (7) is located on the side wall of the foot shell (1).
5. The self-adapting foot of the adsorbed curtain wall climbing robot according to claim 1, wherein: A flange (8) is provided on the foot shell (1), and the flange (8) is detachably connected to the crawling robot.
6. The self-adapting foot of the adsorbed curtain wall climbing robot according to claim 1, wherein: The drive track wheel (3) includes two mounting plates (31), a fixed wheel (32), a movable wheel (33), a track (34), and a motor (35). The two mounting plates (31) are parallel to each other and fixed to the bottom of the foot shell (1). The fixed wheel (32) and the movable wheel (33) are rotatably connected between the mounting plates (31). The track (34) is sleeved between the fixed wheel (32) and the movable wheel (33). The housing of the motor (35) is fixed on the mounting plate (31), and the output shaft of the motor (35) is coaxially connected to the fixed wheel (32).
7. The self-adapting foot of the adsorbed curtain wall climbing robot according to claim 6, characterized in that: The movable wheel (33) has a movable end (331) rotatably connected to both ends. The mounting plate (31) has a second sliding groove (311) and the movable end (331) is slidably connected in the second sliding groove (311). The movable end (331) is fixed to the mounting plate (31) by bolts.
8. The self-adapting foot of the adsorbed curtain wall climbing robot according to claim 7, characterized in that: The motor (35) is located between the fixed wheel (32) and the movable wheel (33). The output shaft of the motor (35) passes through the two mounting plates (31). A transmission wheel (36) is provided on the output shaft of the motor (35) and the fixed wheel (32). A transmission belt (37) is fitted on the transmission wheel (36).