Anisotropic composite material track and sealed-track wall-climbing robot

Abstract

Disclosed in the present invention are an anisotropic composite material track and a sealed-track wall-climbing robot. The composite material track has a multi-layer composite structure, of which the innermost layer is a synchronous belt, the middle layer is an elastic layer, the outermost layer is a friction-increasing wear-resistant layer, and two sides are sealing layers, the layers being bonded by means of an adhesive bonding process. The sealed-track wall-climbing robot comprises a frame system, an adhesion system, a drive system, a transmission system and a sealing system. The present invention solves the problems of air leakage, wear nonresistance of tracks, and large friction force between the tracks of traditional sealed-track wall-climbing robots caused by track deformation during turning movement processes, thus effectively improving the movement capability and adaptability of the wall-climbing robots on wall surfaces.

Description

Anisotropic composite track and track sealing type wall climbing robot TECHNICAL FIELD

[0001] The present application relates to the field of special robots, in particular to an anisotropic composite track and track sealing type wall climbing robot. BACKGROUND

[0002] The existing wall high-altitude operation basically adopts manual operation, and there are problems of high operation risk, low efficiency, high cost, personnel shortage and the like, and using a wall climbing robot to replace manual operation for high-altitude operation is an effective solution. The track sealing type wall climbing robot, compared with other types of negative pressure wall climbing robots, has an integrated negative pressure cavity and a walking mechanism, that is, it maintains good wall adaptability of the negative pressure suction wall climbing robot while having excellent load capacity and obstacle crossing capacity, and is gradually widely applied. The track of the track sealing type wall climbing robot is often made of sponge to ensure complete adhesion to the wall surface because it needs to be enclosed into a sealed cavity at all times. However, the soft sponge will form a gap between the two tracks during turning or oblique movement of the wall climbing robot due to the action of the transverse force, thereby causing air leakage and causing the suction force of the wall climbing robot to decrease or even directly fall off. Therefore, an ideal track suitable for the track sealing type wall climbing robot is a track that maintains good elasticity in the vertical wall direction and can completely adhere to the wall surface, and maintains a certain rigidity and does not deform in the parallel wall direction.

[0003] In the prior art, a negative pressure suction track type wall climbing robot based on rolling sealing is disclosed in Chinese Patent No. CN209600666U, which includes a negative pressure suction system for generating negative pressure. The negative pressure suction system cooperates with a rolling sealing mechanism to generate negative pressure suction on the side wall of the flow channel. The rolling sealing mechanism is connected to a driving system through a transmission system, and the driving system is fixedly installed on the negative pressure suction system. The driving track adopts a double-layer structure, the outer layer is made of foam material, and the left and right negative pressure cavities are sealed. The inner layer is adhered to a layer of synchronous belt to engage and transmit power from the driving track wheel to the driving track, so that the robot moves on the wall surface.

[0004] Although there are many track type sealing wall climbing robots at present, there are still many defects in the structure and performance:

[0005] 1) The existing track sealing type wall climbing robot transmission system, the motor is placed in the frame cavity, the outer transmission synchronous wheel or chain wheel is connected at both ends of the track synchronous wheel, and the motor power is transmitted to the track through the synchronous belt or chain. This structure occupies the installation position of the fan in the frame cavity, and the fan must be lifted out of the cavity to improve the gravity center of the wall climbing robot and have a certain influence on the noise. On the other hand, the utilization rate of the internal space of the track is insufficient, and the outer transmission synchronous wheel or chain wheel increases the width and weight of the wall climbing robot.

[0006] 2) The existing track sealing type wall climbing robot track generally adopts a double-layer structure, one layer is a synchronous belt, mainly for transmission, and the other layer is foam or other porous elastic material. However, due to the need to ensure the adhesion performance of the track to the wall, the material compression performance and resilience are considered in the material selection process, and the stiffness of the material is ignored. This track is only suitable for straight movement of the wall climbing robot, and deformation and edge turning of the track between the tracks are prone to occur during turning of the wall climbing robot, thereby causing air leakage and affecting the adsorption performance of the wall climbing robot.

[0007] 3) The existing track sealing type wall climbing robot track has only two layers, and the outermost foam or other porous elastic material is soft and not wear-resistant, so the service life of the track is limited. SUMMARY

[0008] The present application provides a kind of anisotropic composite material track and track sealing type wall climbing robot, by integrating the drive system of wall climbing robot to track position, the internal space of frame cavity is vacated, which is convenient for fan and other electrical components, reduces the gravity center of wall climbing robot, makes the overall structure of wall climbing robot more compact;Anisotropic composite material track designed is used, the innermost layer is synchronous belt, the middle layer is grid-shaped elastic layer, the outermost layer is friction-increasing wear-resistant layer, and the two sides are sealing layer, to solve the air leakage caused by track deformation during turning of the existing scheme wall climbing robot, track wear-resistant and large friction between tracks and other problems, effectively improve the wall surface activity ability and adaptability of wall climbing robot.

[0009] To achieve the above object, the technical scheme adopted by the present application is as follows:

[0010] On the one hand, the present application provides a kind of anisotropic composite material track, which is applied to track sealing type wall climbing robot, the track has a multi-layer composite structure, wherein the innermost layer is a synchronous belt, the middle layer is an elastic layer, the outermost layer is a friction-increasing wear-resistant layer, and the two sides are sealing layers, and the layers are combined by adhesive process.

[0011] Preferably, the middle elastic layer is designed in a porous mesh structure, and the shape of the holes can be regular polygon, circle or irregular hole.

[0012] Preferably, the intermediate elastic layer adopts sponge material, and the sponge material is provided with transverse reinforcing ribs staggered with each other.

[0013] Preferably, the friction-increasing wear-resistant layer adopts wear-resistant neoprene material with micro-convex surface and is attached to the outer layer of the elastic layer.

[0014] Preferably, the sealing layer is attached to both sides of the intermediate elastic layer.

[0015] In another aspect, the application provides a tracked sealing wall-climbing robot, which comprises a frame system, a suction system, a driving system, a transmission system and a sealing system, and the sealing system comprises a plurality of tracks as described in the first aspect.

[0016] Preferably, the frame system comprises a curved frame and support plates on both sides.

[0017] Preferably, the track and the curved frame in the frame system enclose a closed cavity. Preferably, the suction system comprises a negative pressure fan, which is installed on the bottom plate of the curved frame.

[0018] Preferably, the driving system comprises motors, which are respectively installed on the support plates on both sides.

[0019] Preferably, the transmission system comprises gears, a driving synchronous wheel and a driven synchronous wheel, wherein the motors are connected to the gears, the gears are engaged with the gears at the roots of the driving synchronous wheel, thereby driving the driving synchronous wheel and the track to rotate.

[0020] The anisotropic composite track and the tracked sealing wall-climbing robot provided by the application have the following beneficial effects compared with the prior art:

[0021] 1) The grid-shaped elastic layer and the reinforcing rib method used in the application improve the lateral stiffness of the track while ensuring the compressibility of the track in the direction of compression, thereby avoiding the deformation and edge turning of the track due to frictional torsion during the turning of the wall-climbing robot, and thus avoiding air leakage and improving the suction stability of the wall-climbing robot. The common foam track elastic layer has consistent performance in all directions and can only ensure the elasticity in the direction of wall compression, so the track has good compressibility but is easily deformed in the lateral direction to cause air leakage.

[0022] 2) The multi-layer composite track can effectively meet the performance requirements of the track in various directions, compared to the common double-layer track structure of foam plus synchronous belt, which only has single compression sealing performance, the multi-layer composite track can make the track have different performance in different directions, the outermost layer has the characteristics of increasing friction and wear resistance, which can improve the friction and wear resistance between the track and the wall surface, improve the service life, the middle layer has good adhesion performance and transverse stiffness, and the two sides have good sealing performance, so that the track has the optimal comprehensive performance.

[0023] 3) The motor with a right-angle reducer is used from the perspective of improving the space utilization rate of the wall climbing robot, the motor is installed on the mounting plate on both sides of the frame, power is transmitted to the wall climbing robot track and the roller through gear transmission or synchronous belt transmission, and the overall movement of the wall climbing robot is realized, compared to the common motor installation position and transmission mode, the whole transmission structure is more compact, and the space utilization rate is larger.

[0024] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings, which are included to provide a further understanding of the application, illustrate embodiments of the application and together with the description serve to explain the application. The drawings are not intended to be an undue limitation on the scope of the application.

[0026] In the drawings:

[0027] Fig. 1 is a side view of the track type sealing wall climbing robot of the embodiment 1 of the present application;

[0028] Fig. 2 is a structural schematic view of the track type sealing wall climbing robot of the embodiment 1 of the present application;

[0029] Fig. 3 is a schematic view of the mesh track structure of the embodiment 1 of the present application;

[0030] Fig. 4 is a schematic view of the mesh shape and stress of the mesh track of the embodiment 1 of the present application;

[0031] Fig. 5 is a structural schematic view of the track type sealing wall climbing robot of the embodiment 2 of the present application;

[0032] Fig. 6 is a schematic view of the track structure with reinforcing ribs of the embodiment 2 of the present application;

[0033] Fig. 7 is a schematic view of the arrangement of the middle elastic layer and the reinforcing ribs of the embodiment 2 of the present application.

[0034] Explanation of reference signs: 1, frame system; 2, adsorption system, 3, driving system; 4, transmission system; 5, sealing system; 11, curved frame; 12, support plate 1; 13, support plate 2; 21, negative pressure fan; 31, motor 1; 32, motor 2; 41, gear 1; 42, driving synchronous wheel 1; 43, driven synchronous wheel 1; 44, gear 2; 45, driving synchronous wheel 2; 46, driven synchronous wheel 2; 47, synchronous wheel 1; 48, synchronous wheel 2; 49, synchronous belt 1; 410, synchronous belt 2; 51, track 1; 52, track 2; 53, roller 3; 54, roller 4; 55, roller 2; 56, roller 1; 511, synchronous belt; 512, elastic layer; 513, friction-increasing wear-resistant layer; 514, sealing layer, 515, reinforcing rib. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. The following description of at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use.

[0036] Embodiment 1

[0037] As shown in Figures 1-2, an anisotropic composite track and track sealing type wall climbing robot, characterized in that: the track sealing type wall climbing robot comprises a frame system (1), an adsorption system (2), a driving system (3), a transmission system (4), and a sealing system (5). Wherein:

[0038] The curved frame (11) in the frame system (1) of the track sealing type wall climbing robot and the track 1 (51) and the track 2 (52) and the roller 1 (56), the roller 2 (55), the roller 3 (53), the roller 4 (54) in the sealing system (5) are enclosed into a cavity, which is located below the curved frame. When the wall climbing robot contacts with the wall, the cavity is completely sealed, and the air in the cavity is removed by the negative pressure fan (21) of the adsorption system (2), so that the wall climbing robot is adsorbed on the wall under the action of the difference between the internal and external atmospheric pressure.

[0039] The motor 1 (31) and the motor 2 (32) in the driving system (3) are respectively installed on the support plate 1 (12) and the support plate 2 (13) of the frame system (1), wherein the motor 1 (31) drives the gear 1 (41) in the transmission system (4) to rotate, the gear 1 (41) is engaged with the gear at the root of the driving synchronous wheel 1 (42), the driving synchronous wheel 1 (42) and the roller 1 (56) are driven to rotate, the driving synchronous wheel 1 (42) transmits power to the driven synchronous wheel 1 (43) through the track 1 (51), and the roller 2 (55) is driven to rotate; similarly, the motor 2 (32) drives the gear 2 (44) to transmit power to the driving synchronous wheel 2 (45) and the roller 3 (53), and the track 2 (52) drives the driven synchronous wheel 2 (46) to drive the roller 4 (54) to rotate, so that the wall-climbing robot has the ability to move straight or turn on the wall surface.

[0040] The track type sealing wall-climbing robot sealing system (5) comprises the track 1 (51), the track 2 (52), the roller 1 (56), the roller 2 (55), the roller 3 (53) and the roller 4 (54), wherein the innermost layer of the track 1 (51) is a synchronous belt (511) mainly used for transmission, the middle layer is an elastic layer (512), the outermost layer is a friction-increasing wear-resistant layer (513), and the two sides are sealing layers (514), and the layers are combined by using an adhesive process. The track and the roller have the same structure, and the difference lies in the length of the synchronous belt and the thickness of the elastic layer.

[0041] As shown in FIGS. 3-4, the elastic layer (512) in the track 1 (51) adopts a porous mesh structure design, the shape of the holes can be regular square, circle or irregular holes, and preferably, the upper and lower hole walls are preferably staggered with each other, and it has been verified that the honeycomb mesh effect is the best, in addition, the mesh density of the elastic layer (512) can be adjusted according to the size of the wall-climbing robot, the size of the fan suction force and the height of the obstacle. When the elastic layer (512) is subjected to the action of the Z-direction force, the holes are easily compressed under stress, which can ensure that the track can be well attached to the wall surface under the action of negative pressure without air leakage, and when subjected to the action of the X-direction force, the elastic layer has good rigidity due to the supporting action of the hole wall, and is not easily deformed and curled, so that the track and the roller are closely attached to each other during the turning and transverse movement of the wall-climbing robot, without air leakage and stable adsorption.

[0042] The friction-increasing wear-resistant layer (513) in the track 1 (51) is pasted on the outer layer of the elastic layer (512), which plays a sealing role on the holes of the elastic layer (512) together with the sealing layers (514) pasted on the two sides to prevent air leakage, and on the other hand, the friction-increasing wear-resistant layer (513) adopts a wear-resistant neoprene rubber material with a micro-convex surface, which can increase the friction between the track and the wall surface and also protect the elastic layer.

[0043] Embodiment 2

[0044] As shown in Fig. 5, an anisotropic composite material track and track sealing wall-climbing robot, characterized in that the track sealing wall-climbing robot comprises a frame system (1), an adsorption system (2), a driving system (3), a transmission system (4), and a sealing system (5). Wherein:

[0045] The motor 1 (31) and the motor 2 (32) in the driving system (3) are respectively installed on the support plate 1 (12) and the support plate 2 (13) of the frame system (1), wherein the motor 1 (31) drives the synchronous wheel 1 (47) and rotates the driving synchronous wheel 1 (42) through the synchronous belt 1 (49), so that the roller 1 (55) rotates, and the driving synchronous wheel 1 (42) transmits power to the driven synchronous wheel (43) through the track 1 (51), so that the roller 2 (56) rotates; similarly, the motor 2 (32) drives the synchronous wheel 2 (48) to drive the driving synchronous wheel 2 (45) and the roller 3 (54) through the synchronous belt 2 (410), and the track 2 (52) transmits power to the driven synchronous wheel (46) to make the roller 4 (53) rotate, so that the wall-climbing robot has the ability to move straight or turn on the wall surface.

[0046] The sealing system (5) of the track sealing wall-climbing robot comprises the track 1 (51), the track 2 (52), the roller 1 (56), the roller 2 (55), the roller 3 (53), and the roller 4 (54), wherein the innermost layer of the track 1 (51) is a synchronous belt (511), mainly for transmission, the middle layer is an elastic layer (512), the elastic layer (512) is inserted with a reinforcing rib (515) in the middle, the outermost layer is a friction-increasing wear-resistant layer (513), and both sides are sealing layers (514), and the layers are combined by using bonding process. The track and the roller have the same structure, and the difference lies in the length of the synchronous belt and the thickness of the elastic layer.

[0047] As shown in Fig. 6-7, the elastic layer (512) in the track 1 (51) adopts sponge material, and the sponge material is inserted with transverse reinforcing ribs (515) staggered with each other in the middle. Similarly, the reinforcing rib can also ensure that the track has good stiffness in the X direction and good elasticity in the Z direction, so as to ensure that the track can be well attached to the wall surface under the action of negative pressure without air leakage, and when subjected to X direction force, the elastic layer has good stiffness due to the support of the hole wall, and is not easy to deform and curl, so that the wall-climbing robot is tightly attached between the track and the roller during turning and transverse movement, without air leakage and stable adsorption. In addition, the middle elastic layer can also be a regular porous mesh structure, and the reinforcing rib (512) is inserted into the mesh node, which can further improve the X direction stiffness.

[0048] The wear-resistant layer (513) in the track (51) is pasted on the outer layer of the elastic layer (512), which, together with the sealing layers (514) pasted on both sides, seals the holes of the elastic layer (512) to prevent air leakage, and the wear-resistant layer (513) is made of micro-convex wear-resistant neoprene rubber material, which can increase the friction between the track and the wall surface and protect the elastic layer.

[0049] The above examples are only used to illustrate the technical solutions of the present application but not to limit it, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or some technical features can be replaced by equivalent ones without departing from the spirit of the technical solutions of the present application, and all of them should be covered in the technical solution range claimed by the present application.

Claims

1. An anisotropic composite material track, applied to a tracked sealed wall-climbing robot, characterized in that, The track has a multi-layer composite structure, wherein the innermost layer is a timing belt, the middle layer is an elastic layer, the outermost layer is a friction-enhancing and wear-resistant layer, and the two sides are sealing layers. The layers are bonded together using an adhesive process.

2. [Detailed Rules 91, 19.03.2025] The track according to claim 1, characterized in that, The intermediate elastic layer adopts a porous mesh structure design, and the shape of the holes can be a regular polygon, a circle, or an irregular hole.

3. [Detailed Rules 91, 19.03.2025] The track according to claim 2 is characterized in that, The intermediate elastic layer is made of sponge material, with staggered transverse reinforcing ribs added in the middle of the sponge material.

4. [Detailed Rules 91, 19.03.2025] The track according to claim 1, characterized in that, The friction-enhancing and wear-resistant layer is made of wear-resistant neoprene rubber with a slightly raised surface and is adhered to the outer layer of the elastic layer.

5. [Detailed Rules 91, 19.03.2025] The track according to claim 1, characterized in that, The sealing layer is adhered to both sides of the intermediate elastic layer.

6. A tracked, sealed wall-climbing robot, comprising a frame system, an adsorption system, a drive system, a transmission system, and a sealing system, characterized in that, The sealing system comprises multiple tracks as described in claims 1 to 4.

7. [Detailed Rules 91, 19.03.2025] The tracked sealed wall-climbing robot according to claim 6 is characterized in that, The frame system includes a curved frame and support plates on both sides.

8. [Detailed Rules 91, 19.03.2025] [Detailed Rules 91, 03.03.2025] The tracked sealing wall-climbing machine according to claim 6 is characterized in that, The track and the curved frame in the frame system enclose a sealed cavity.

9. [Detailed Rules 91, 19.03.2025] [Detailed Rules 91, 03.03.2025] The tracked sealed wall-climbing robot according to claim 6 is characterized in that, The adsorption system includes a negative pressure fan, which is mounted on the base plate of the curved frame.

10. [Detailed Rules 91, 19.03.2025] The tracked sealed wall-climbing robot according to claim 6 is characterized in that, The drive system includes a motor, which is mounted on the support plates on both sides.

11. [Detailed Rules 91, 19.03.2025] The tracked sealed wall-climbing robot according to claim 10 is characterized in that, The transmission system includes a gear, a drive synchronous pulley, and a driven synchronous pulley, wherein the motor is connected to the gear, and the gear meshes with the gear at the root of the drive synchronous pulley, thereby driving the drive synchronous pulley and the track to rotate.

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