Highly stable work robot

Abstract

To provide a highly stable work robot. [Solution] The device comprises a mobile vehicle (100), an adjustment mechanism (200) including a rail attached to the mobile vehicle and a sliding part attached to the rail, a spreader (300) attached to the sliding part, with an outlet (301) and an auxiliary outlet (302) at both ends, and further having slidable upper and lower stems installed inside, a control mechanism installed inside the spreader and capable of simultaneously adjusting the positions of the upper and lower stems, and an air supply mechanism one end of which extends into the spreader, and when the upper and lower stems approach each other, the outlet and auxiliary outlet close, and when spraying work is performed through the outlet, a reaction force is applied to the work robot with a thrust away from the wind turbine tower, and the gas ejected from the auxiliary outlet can provide the work robot with a thrust in the direction towards the wind turbine tower, thereby improving the stability of the entire work robot during operation.

Description

[Technical Field]

[0001] The present invention relates to the field of working robot technology, and more particularly to a working robot with high stability. [Background technology]

[0002] A construction robot is a robot that can perform construction work in place of humans, and is frequently used in construction work that is particularly dangerous and physically demanding.

[0003] For example, a wind turbine tower is a wind power generation pole that primarily supports the wind power unit and absorbs vibrations. Its main construction involves welding multiple cylindrical sections together to form a single wind turbine tower. Wind turbine towers require regular maintenance, and over time, rust develops on the tower walls. Rust can destroy the protective layer, potentially damaging the tower and affecting its support and rotation. This, in turn, can affect the fan speed, reducing power generation and the utilization rate of the wind power generation system, thereby increasing operating costs. Therefore, proper maintenance and corrosion prevention are crucial and represent a key challenge in wind power generation operations.

[0004] Workers working at heights face serious safety risks, and in recent years, fatal falls have been occurring frequently. Furthermore, as the workforce ages, it has become more difficult to secure workers for high-altitude work, and labor costs are rising. Currently, the market urgently needs high-altitude work robots that can automate tower maintenance work instead of manual labor.

[0005] Such robots generally have the ability to climb walls, but during the maintenance process of wind turbine towers, it is necessary to spray anti-rust and anti-corrosion solvents on areas of the wind turbine tower that need repair, and the reaction force generated when spraying can cause the robot to lose stability while climbing the wind turbine tower. Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention addresses the problem of poor stability during injection work that exists in the prior art.

[0007] Therefore, an object of the present invention is to provide a highly stable working robot. [Means for solving the problem]

[0008] To solve the above problems, the present invention provides the following technical solution: a highly stable work robot, comprising: a carriage, a rail attached to the carriage, an adjustment mechanism including a slider attached to the rail, a spreader attached to the slider and having an outlet and an auxiliary outlet at both ends, and further having slidable upper and lower stems mounted therein, a control mechanism mounted inside the spreader and capable of simultaneously adjusting the positions of the upper and lower stems, and an air supply mechanism having one end extending into the spreader, wherein the outlet and auxiliary outlet are closed when the upper and lower stems approach each other, and the outlet and auxiliary outlet are open when the upper and lower stems move away from each other.

[0009] In one preferred embodiment of the highly stable working robot described in the present invention, an upper base body and a lower base body are attached to both ends of the spreader, the auxiliary outlet and the outlet are opened in the upper base body and the lower base body, the end of the upper stem extends to the auxiliary outlet, a contraction port is opened at the end of the upper stem located at the auxiliary outlet, a plug is attached to the upper base body and extends inside the contraction port, a side hole is opened in the lower stem, the end of the lower stem passes through the outlet and a core is attached.

[0010] In one preferred embodiment of the highly stable working robot described in the present invention, the inside of the contraction port is provided with an inner arc surface, and the plug extends to the closed side of the inner end of the contraction port, and when the closed side is attached to the inner arc surface, the contraction port is sealed.

[0011] In one preferred embodiment of the highly stable working robot described in the present invention, the control mechanism includes a storage chamber mounted inside the spreader, an isolation chamber mounted inside the storage chamber, a rotating body rotatably arranged inside the isolation chamber, and a first magnetic body mounted on the rotating body, and a second magnetic body is mounted on both the upper stem and the lower stem.

[0012] In one preferred solution of the highly stable working robot described in the present invention, a pair of position limiting rings are symmetrically arranged inside the spreader, and the upper stem and the lower stem each pass through one of the pair of position limiting rings.

[0013] In one preferred solution of the highly stable working robot described in the present invention, elastic members are fitted on the outside of both the upper stem and the lower stem, and the elastic members press the upper stem and the lower stem in the direction of approaching each other.

[0014] In one preferred embodiment of the highly stable working robot of the present invention, the air supply mechanism is connected to the accommodation chamber, and a through hole is provided in the isolation chamber;

[0015] The rotating body has an inner cavity, and an air inlet port is opened in the rotating body corresponding to the position of the through hole, and two exhaust ports are further opened in the rotating body, and the positions of the two exhaust ports correspond to the upper stem and the lower stem, respectively.

[0016] In one preferred embodiment of the highly stable working robot described in the present invention, the robot further includes a liquid supply mechanism connected to the rotating body, and a partition mechanism is provided inside the rotating body. The partition mechanism divides the inner cavity into three areas, which are a first area, a second area, and a third area, respectively. The air inlet and the exhaust port corresponding to the upper stem are located in the first area, the exhaust port corresponding to the lower stem is located in the second area, and the connection point with the liquid supply mechanism is located in the third area.

[0017] In one preferred embodiment of the highly stable working robot described in the present invention, the partition mechanism includes: a sealing sheet located between the first area and the third area and separating the first area from the third area; a first separator located between the first area and the second area and having a gas hole through which gas can enter the second area; and a second separator located between the second area and the third area and having a liquid hole through which liquid can enter the second area.

[0018] In one preferred embodiment of the highly stable working robot described in the present invention, the mobile vehicle includes a body and an adhesive crawler attached to the body. [Effects of the Invention]

[0019] The beneficial effects of the present invention are as follows: when performing a jetting operation through the outlet, the reaction force applies a thrust to the work robot in a direction away from the wind turbine tower, and the gas ejected from the auxiliary outlet provides a thrust to the work robot in a direction toward the wind turbine tower, thereby improving the stability of the entire work robot during operation. [Brief explanation of the drawings]

[0020] In order to more clearly explain the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also derive other drawings based on these drawings without exerting any creative efforts.

[0021] [Figure 1] 1 is a schematic diagram of the overall structure of a highly stable working robot according to the present invention; [Figure 2] 1 is a structural diagram of the adjustment mechanism of the present invention; [Figure 3] 1 is a schematic diagram of the internal structure of the spreader according to the present invention; [Figure 4] 2 is a schematic diagram of a portion of the auxiliary outlet structure of the present invention; [Figure 5] 2 is a schematic diagram of the position of the control mechanism according to the present invention; [Figure 6] This is an enlarged view of part A in the figure of the present invention. [Figure 7] 2 is a structural diagram of the partition mechanism described in the present invention; [Figure 8] 1 is a schematic diagram of the internal structure of the containment chamber and isolation chamber described in the present invention; [Figure 9] 2 is a schematic diagram of the internal structure of the rotating body described in the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below with reference to the drawings in the specification.

[0023] In order to fully understand the present invention, the following description will set forth many specific details, but the present invention can be implemented in ways different from those described herein, and those skilled in the art can deduce such ways without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] Also, the term "one embodiment" or "embodiment" as used herein refers to a particular feature, structure, or characteristic in at least one possible implementation of the invention. The appearance of "in one embodiment" in different places in this specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment exclusive of other embodiments.

[0025] Furthermore, when the present invention is described in detail with reference to schematic diagrams, and when describing the embodiments of the present invention in detail, for convenience of explanation, the cross-sectional views showing the structure of the device may be partially enlarged and not based on normal proportions, and the schematic diagrams are merely examples and do not limit the scope of protection of the present invention, which shall include the three-dimensional spatial dimensions of length, width, and depth when actually fabricated. [Example]

[0026] Referring to Figures 1 to 4, a highly stable work robot is provided, which includes a mobile vehicle 100. The mobile vehicle 100 includes a body 101 and an adhesive crawler 102 attached to the body 101. The body 101 is equipped with a gas supply structure, such as an air pump or a compressed gas tank, inside. The adhesive crawler 102 can achieve an adhesive effect by providing a suction cup-like structure on the crawler, or by providing a magnetic structure on the adhesive crawler 102. When repairing the outer wall of a wind turbine tower, the adhesive crawler 102 can move the entire mobile vehicle 100 to the location on the outer wall of the wind turbine tower that needs repair.

[0027] Referring to FIG. 2, the highly stable working robot includes an adjustment mechanism 200, which includes a rail 201 attached to the vehicle 100 and a sliding part 202 attached to the rail 201. In this embodiment, the rail 201 is attached to the front end of the vehicle 100, and the sliding part 202 is an electric slider that can move the rail 201 to adjust its position.

[0028] Referring to Figure 3, the highly stable working robot includes a spreader 300, which is attached to a sliding part 202, and which has an outlet 301 and an auxiliary outlet 302 at both ends thereof, and which further has a slidable upper stem 303 and a lower stem 304 inside thereof, and when the upper stem 303 and the lower stem 304 approach each other, the outlet 301 and the auxiliary outlet 302 are closed, and when the upper stem 303 and the lower stem 304 move away from each other, the outlet 301 and the auxiliary outlet 302 are open. The spreader 300 has a storage chamber inside, and the gas supply structure mounted on the mobile vehicle 100 can transport gas into the storage chamber. The adjacent ends of the upper stem 303 and the lower stem 304 are both open, and the gas inside the storage chamber can enter the upper stem 303 and the lower stem 304. Therefore, when the upper stem 303 and the lower stem 304 are approaching each other, the outlet 301 and the auxiliary outlet 302 are closed and gas cannot be sprayed. When the upper stem 303 and the lower stem 304 are moving away from each other, the outlet 301 and the auxiliary outlet 302 are open, and the gas inside the spreader 300 is simultaneously sprayed from the inside of the outlet 301 and the auxiliary outlet 302.

[0029] Referring to FIG. 3, the highly stable work robot includes a control mechanism 400, which is installed inside the spreader 300 and can simultaneously adjust the positions of the upper stem 303 and the lower stem 304. When the control mechanism 400 adjusts the positions of the upper stem 303 and the lower stem 304, it can press the upper stem 303 and the lower stem 304 apart from each other. As a result, the outlet 301 and the auxiliary outlet 302 are opened simultaneously. When spraying work is performed through the outlet 301, the reaction force applies a thrust to the work robot away from the wind turbine tower, and the gas ejected from the auxiliary outlet 302 can provide the work robot with a thrust in the direction toward the wind turbine tower, thereby improving the stability of the entire work robot during operation.

[0030] The highly stable work robot includes an air supply mechanism 500, one end of which extends into the interior of the spreader 300, and the air supply mechanism 500 is connected to the gas supply structure and the spreader 300, and can transport gas provided from the gas supply structure to the storage chamber of the spreader 300.

[0031] Specifically, referring to Figures 3 and 4, an upper base body 305 and a lower base body 306 are attached to both ends of the spreader 300, an auxiliary discharge port 302 and a discharge port 301 are opened in the upper base body 305 and the lower base body 306, respectively, the end of the upper stem 303 extends to the auxiliary discharge port 302, a contraction port 303a is opened at the end of the upper stem 303 located at the auxiliary discharge port 302, a plug 305a is attached to the upper base body 305, and the plug 305a extends inside the contraction port 303a, a side hole 304a is opened in the lower stem 304, the end of the lower stem 304 passes through the discharge port 301 and a core 304b is attached.

[0032] When the upper stem 303 and the lower stem 304 are approaching each other, the plug 305a can seal the contraction port 303a, and the core 304b can seal the outlet 301. The core 304b has a hemispherical shape, and by attaching its spherical surface to the outlet 301, the outlet 301 can be blocked. When the lower stem 304 moves in a direction away from the upper stem 303, the lower stem 304 causes the core 304b to separate from the outlet 301, and the gas can pass through the side hole 304a and be ejected from the gap formed between the core 304b and the outlet 301.

[0033] Furthermore, the inside of the contraction port 303a has an inner arcuate surface 303c, and the plug 305a extends to the closed side 305b of the inner end of the contraction port 303a. When the closed side 305b is attached to the inner arcuate surface 303c, the contraction port 303a is sealed. Therefore, when the upper stem 303 moves away from the lower stem 304, the inner arcuate surface 303c of the contraction port 303a separates from the closed side 305b. In this case, gas can be injected through the contraction port 303a and the auxiliary discharge port 302, thereby achieving the effect of stabilizing the working robot. [Example]

[0034] 2 to 6, the differences between this embodiment and the first embodiment are as follows: The control mechanism 400 includes a storage chamber 401 attached to the inside of the spreader 300, an isolation chamber 402 attached to the inside of the storage chamber 401, a rotating body 403 rotatably provided inside the isolation chamber 402, and a first magnetic body 404 attached to the rotating body 403, and a second magnetic body 307 is provided on both the upper stem 303 and the lower stem 304.

[0035] The ends of the upper stem 303 and the lower stem 304 that approach each other both extend inside the isolated chamber 402, and the first magnetic body 404 is attached to the upper stem 303 and the lower stem 304 at positions located inside the isolated chamber 402.

[0036] Here, the storage chamber 401 is fixed inside the spreader 300, and the isolation chamber 402 is fixed inside the storage chamber 401. In this embodiment, the storage chamber 401 has one spherical cavity, the entire rotating body 403 is spherical, and the outer spherical surface of the rotating body 403 is attached to the wall of the inner lumen of the spherical cavity, so that the rotating body 403 can rotate inside the spherical cavity.

[0037] Two first magnetic bodies 404 are attached to the rotating body 403, and when the positions of the first magnetic body 404 and the second magnetic body 307 correspond to each other, the repulsive magnetic force presses the second magnetic body 307, causing the upper stem 303 and the lower stem 304 to move away from each other, thereby allowing gas to be ejected simultaneously from the outlet 301 and the auxiliary outlet 302.

[0038] The rotating body 403 can be rotated by a small drive motor, and the rotating body 403 is connected to a shaft that extends outside the spreader 300. The shaft is rotated by a motor, thereby rotating the rotating body 403. By rotating the rotating body 403, the two first magnetic bodies 404 can respectively correspond to the positions of the two second magnetic bodies 307 or can be misaligned.

[0039] Specifically, a pair of position restriction rings 308 are symmetrically provided inside the spreader 300, and the upper stem 303 and the lower stem 304 each pass through one of the pair of position restriction rings 308.

[0040] By providing the position restriction ring 308, the upper stem 303 and the lower stem 304 can move more stably.

[0041] Furthermore, an elastic member 309 is fitted onto the outside of both the upper stem 303 and the lower stem 304, and the elastic member 309 employs a spring, and the elastic member 309 presses the upper stem 303 and the lower stem 304 in directions that bring them closer to each other.

[0042] Therefore, as the rotating body 403 rotates, the two first magnetic bodies 404 respectively correspond to the positions of the two second magnetic bodies 307, and the magnetic force presses the two second magnetic bodies 307, causing the upper stem 303 and the lower stem 304 to move away from each other, at which time the upper stem 303 and the lower stem 304 respectively press the elastic members 309 located outside them. After the operation is completed, as the rotating body 403 rotates, the two first magnetic bodies 404 respectively shift positions with the two second magnetic bodies 307, and the upper stem 303 and the lower stem 304 move closer to each other due to the pressure of the elastic members 309, closing the outlet 301 and the auxiliary outlet 302.

[0043] According to the above solution, by simply controlling the rotation of the rotating body 403, the outlet 301 and the auxiliary outlet 302 can be opened or closed simultaneously.

[0044] The remaining structure is the same as in the first embodiment. [Example]

[0045] 5 and 6, the differences between this embodiment and the above-described embodiments are as follows: the air supply mechanism 500 communicates with the accommodation chamber 401, a through-hole 402a is formed in the isolation chamber 402, the rotating body 403 has an inner cavity, the rotating body 403 is formed with an air inlet 403b corresponding to the position of the through-hole 402a, and the rotating body 403 is further formed with two exhaust ports 403c, the positions of which correspond to the upper stem 303 and the lower stem 304, respectively.

[0046] The air supply mechanism 500 is a gas pipe, which can transport the gas provided by the gas supply structure to the storage chamber 401. After the gas enters the storage chamber 401, it can enter the inner cavity of the rotating body 403 through the through hole 402a and the air inlet 403b. Here, the positions of the two exhaust ports 403c correspond to the positions of the two first magnetic bodies 404. When the two first magnetic bodies 404 correspond to the positions of the two second magnetic bodies 307, the gas inside the inner cavity can enter the inside of the upper stem 303 and the lower stem 304 respectively through the two exhaust ports 403c.

[0047] The remaining structure is the same as in the second embodiment. [Example]

[0048] 7 to 9, this embodiment differs from the above-described embodiments in the following respects: it further includes a liquid supply mechanism 600, which is in communication with the rotating body 403, and a partitioning mechanism 700 is provided inside the rotating body 403, which partitions the inner cavity into three areas, which are a first area N1, a second area N2, and a third area N3, with the air inlet 403b and the exhaust port 403c corresponding to the upper stem 303 located in the first area N1, the exhaust port 403c corresponding to the lower stem 304 located in the second area N2, and the connection point with the liquid supply mechanism 600 located in the third area N3.

[0049] Here, the liquid supply mechanism 600 is a liquid pipe, which is connected to the paint container of the device on the vehicle body 101, and the paint can be transported by a pump into the liquid pipe and finally into the inside of the rotating body 403, where the paint uses polyurethane paint, which has excellent anti-corrosion effect.

[0050] When gas enters the cavity, it enters the first area N1, and when paint enters the cavity, it enters the third area N3. When the outlet 301 and the auxiliary outlet 302 are open, some of the gas enters the upper stem 303 directly through the corresponding exhaust port 403c and is finally discharged from the auxiliary outlet 302, some of the gas reaches the second area N2, and at the same time, the paint liquid reaches the second area N2, where the gas and the paint liquid collide and mix inside the second area N2, atomizing the paint liquid. The atomized paint liquid enters the inside of the lower stem 304 through the corresponding exhaust port 403c and is finally sprayed out from the outlet 301.

[0051] Specifically, the partitioning mechanism 700 includes a sealing sheet 701 located between the first area N1 and the third area N3 and separating the first area N1 from the third area N3, a first separator 702 located between the first area N1 and the second area N2 and having a gas hole 704 opened therein through which gas can enter the second area N2, and a second separator 703 located between the second area N2 and the third area N3 and having a liquid hole 705 opened therein through which liquid can enter the second area N2.

[0052] By providing the first separator 702, most of the gas in the first area N1 enters the inside of the upper stem 303, and a small portion enters the second area N2 through the gas holes 704, and finally enters the inside of the lower stem 304. With this design, the amount of gas ejected from the auxiliary outlet 302 can be made greater than the amount of gas ejected from the outlet 301, and thus the thrust of the gas ejected from the auxiliary outlet 302 can be made greater than the thrust of the gas ejected from the outlet 301, so that a thrust is always applied toward the wind turbine tower during the operation of the entire body 101, improving stability.

[0053] In addition, both the first separator and the second separator have an inclined surface on one side facing the second area N2, which allows the gas flow and the liquid flow to meet within the second area N2, contributing to the collision and mixing of the gas and the liquid.

[0054] As the gas enters the second area N2 through the gas port, the thrust of the gas can reduce the liquid entering the first area N1 through the gas port.

[0055] It is important to note that the structure and arrangement of the present application, as shown in several different exemplary embodiments, are merely illustrative. While several embodiments have been described in this disclosure, those skilled in the art who read and understand this disclosure will recognize that numerous modifications are possible (e.g., variations in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting and placement, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described herein. For example, elements shown as integrally formed may be composed of multiple parts or elements, the position of elements may be reversed or otherwise changed, and the nature, number, or location of discrete elements may be modified or varied. Accordingly, all such modifications are intended to be within the scope of the present invention. The order or sequence of any process or method steps may be changed or re-ordered based on alternative implementations. In utility claims, any "apparatus + function" content is intended to cover structures that perform the function described herein, including not only structural equivalents but also equivalent structures. Other changes, modifications, alterations or omissions may be made in the design, implementation and arrangement of the exemplary embodiments without departing from the scope of the present invention, and therefore the present invention is not limited to a specific embodiment, but can extend to multiple modifications covered by the scope of the utility model registration claims.

[0056] It should be noted that, in order to provide a concise description of exemplary implementations, it is not necessary to describe all features of an actual implementation (i.e., features that are not relevant to the most preferred mode of carrying out the invention presently contemplated, or those features that are not relevant to realizing the invention).

[0057] As can be appreciated, the actual development process of any embodiment will involve many specific embodiment decisions as in any engineering or design project. While such a development effort may be complex and time-consuming, it will not require undue experimentation for those skilled in the art familiar with the present disclosure, as such a development effort is a routine undertaking of design, fabrication, and production.

[0058] It should be noted that the above embodiments are merely for illustrating the technical solution of the present invention, and are not intended to be limiting. Although the present invention has been described in detail with reference to preferred embodiments, it is understood by those skilled in the art that, as long as it does not deviate from the spirit and scope of the technical solution of the present invention, any modifications or equivalent substitutions made to the technology of the present invention shall fall within the scope of the utility model registration claims. [Explanation of symbols]

[0059] 100 Mobile Vehicle 101 Body 102 Adsorption Crawler 200 Adjustment mechanism 201 Rail 202 Sliding part 300 Spreader 301 Discharge port 302 Auxiliary outlet 303 Upper stem 303a, 303c contraction port 304 Lower Stem 304a side hole 304b Core 305 Upper base body 305a plug 306 Lower base body 307 Second Magnetism 308 Position control ring 309 Elastic Members 400 Control Mechanism Containment Room 401 402 Isolation room 402a Through hole 403 Rotating body 403b Inlet 403c exhaust port 404 First Magnetic Material 500 Air supply mechanism 600 Liquid supply mechanism 700 Compartment mechanism 701 Encapsulating sheet 702 First separator 703 Second Separator 704 Gas hole 705 Liquid hole.

Claims

1. A highly stable work robot, A mobile vehicle (100); an adjustment mechanism (200) including a rail (201) attached to the moving vehicle (100) and a sliding part (202) attached to the rail (201); a spreader (300) attached to the sliding part (202), having a discharge port (301) and an auxiliary discharge port (302) at both ends, and further having a slidable upper stem (303) and a lower stem (304) therein; a control mechanism (400) provided inside the spreader (300) and capable of simultaneously adjusting the positions of the upper stem (303) and the lower stem (304); an air supply mechanism (500) having one end extending into the interior of the spreader (300); This highly stable working robot is characterized in that when the upper stem (303) and the lower stem (304) approach each other, the outlet (301) and the auxiliary outlet (302) are closed, and when the upper stem (303) and the lower stem (304) move away from each other, the outlet (301) and the auxiliary outlet (302) are opened.

2. An upper base body (305) and a lower base body (306) are attached to both ends of the spreader (300), and the auxiliary discharge port (302) and the discharge port (301) are opened in the upper base body (305) and the lower base body (306), respectively. The end of the upper stem (303) extends to the auxiliary outlet (302), a contraction port (303a) is opened at the end of the upper stem (303) located at the auxiliary outlet (302), a plug (305a) is attached to the upper base body (305), and the plug (305a) extends inside the contraction port (303a); 2. A highly stable work robot as described in claim 1, characterized in that a side hole (304a) is opened in the lower stem (304), and the end of the lower stem (304) passes through the discharge port (301) and a core (304b) is attached.

3. 3. The highly stable working robot according to claim 2, wherein an inner arc surface (303c) is provided inside the contraction port (303a), the plug (305a) extends to a closed side (305b) at the inner end of the contraction port (303a), and when the closed side (305b) is attached to the inner arc surface (303c), the contraction port (303a) is sealed.

4. The control mechanism (400) includes a storage chamber (401) attached to the inside of the spreader (300), an isolation chamber (402) attached to the storage chamber (401), a rotating body (403) rotatably provided inside the isolation chamber (402), and a first magnetic body (404) attached to the rotating body (403); 2. The highly stable working robot according to claim 1, wherein a second magnetic body (307) is attached to both the upper stem (303) and the lower stem (304).

5. The air supply mechanism (500) is in communication with the storage chamber (401), and a through-hole (402a) is opened in the isolation chamber (402), 5. A highly stable working robot according to claim 4, wherein the rotating body (403) has an inner cavity, the rotating body (403) is provided with an air inlet (403b) corresponding to the position of the through-hole (402a), and the rotating body (403) is further provided with two exhaust ports (403c), the positions of which correspond to the upper stem (303) and the lower stem (304), respectively.

6. The liquid supply mechanism (600) is in communication with the rotating body (403), a partitioning mechanism (700) is provided inside the rotating body (403), and the partitioning mechanism (700) divides the inner cavity into three areas, and the three areas are a first area (N1), a second area (N2), and a third area (N3), respectively; The air inlet (403b) and the air outlet (403c) corresponding to the upper stem (303) are located in the first area (N1); The exhaust port (403c) corresponding to the lower stem (304) is located in the second area (N2); 6. A highly stable working robot according to claim 5, wherein the connection point with the liquid supply mechanism (600) is located in a third area (N3).

7. The partition mechanism (700) a sealing sheet (701) located between the first area (N1) and the third area (N3) and separating the first area (N1) from the third area (N3); a first separator (702) located between the first area (N1) and the second area (N2), having a gas hole (704) formed therein, through which gas can enter the second area (N2); 7. A highly stable working robot according to claim 6, further comprising: a second separator (703) positioned between the second area (N2) and the third area (N3), the second separator (703) having a liquid hole (705) formed therein, through which liquid can enter the second area (N2).

8. 2. A highly stable work robot as described in claim 1, characterized in that a pair of position limiting rings (308) are symmetrically provided inside the spreader (300), and the upper stem (303) and the lower stem (304) each pass through one of the pair of position limiting rings (308).

9. 2. A highly stable work robot as described in claim 1, characterized in that an elastic member (309) is fitted onto the outside of both the upper stem (303) and the lower stem (304), and the elastic member (309) presses the upper stem (303) and the lower stem (304) in a direction in which they approach each other.

10. 2. The highly stable working robot according to claim 1, wherein the mobile vehicle (100) includes a body (101) and an adhesive crawler (102) attached to the body (101).

Images