CN114889721A - Wall-climbing robot - Google Patents
Wall-climbing robot Download PDFInfo
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- CN114889721A CN114889721A CN202210461231.7A CN202210461231A CN114889721A CN 114889721 A CN114889721 A CN 114889721A CN 202210461231 A CN202210461231 A CN 202210461231A CN 114889721 A CN114889721 A CN 114889721A
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 29
- 230000009194 climbing Effects 0.000 claims abstract description 16
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 57
- 229910052710 silicon Inorganic materials 0.000 claims description 57
- 239000010703 silicon Substances 0.000 claims description 57
- 239000000243 solution Substances 0.000 claims description 38
- 230000001360 synchronised effect Effects 0.000 claims description 30
- KRHYYFGTRYWZRS-UHFFFAOYSA-N Fluorane Chemical compound F KRHYYFGTRYWZRS-UHFFFAOYSA-N 0.000 claims description 24
- MHAJPDPJQMAIIY-UHFFFAOYSA-N Hydrogen peroxide Chemical compound OO MHAJPDPJQMAIIY-UHFFFAOYSA-N 0.000 claims description 24
- 239000010410 layer Substances 0.000 claims description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 18
- 238000004140 cleaning Methods 0.000 claims description 16
- CSCPPACGZOOCGX-UHFFFAOYSA-N Acetone Chemical compound CC(C)=O CSCPPACGZOOCGX-UHFFFAOYSA-N 0.000 claims description 12
- 239000008367 deionised water Substances 0.000 claims description 12
- 229910021641 deionized water Inorganic materials 0.000 claims description 12
- 239000011259 mixed solution Substances 0.000 claims description 12
- 229920002635 polyurethane Polymers 0.000 claims description 12
- 239000004814 polyurethane Substances 0.000 claims description 12
- SQGYOTSLMSWVJD-UHFFFAOYSA-N silver(1+) nitrate Chemical compound [Ag+].[O-]N(=O)=O SQGYOTSLMSWVJD-UHFFFAOYSA-N 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 7
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 6
- GRYLNZFGIOXLOG-UHFFFAOYSA-N Nitric acid Chemical compound O[N+]([O-])=O GRYLNZFGIOXLOG-UHFFFAOYSA-N 0.000 claims description 6
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims description 6
- 239000012790 adhesive layer Substances 0.000 claims description 6
- 238000010438 heat treatment Methods 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 6
- 238000002156 mixing Methods 0.000 claims description 6
- 229910017604 nitric acid Inorganic materials 0.000 claims description 6
- 229910052709 silver Inorganic materials 0.000 claims description 6
- 239000004332 silver Substances 0.000 claims description 6
- 229910001961 silver nitrate Inorganic materials 0.000 claims description 6
- 238000002791 soaking Methods 0.000 claims description 6
- QAOWNCQODCNURD-UHFFFAOYSA-N sulfuric acid Substances OS(O)(=O)=O QAOWNCQODCNURD-UHFFFAOYSA-N 0.000 claims description 6
- 239000011248 coating agent Substances 0.000 claims description 5
- 238000000576 coating method Methods 0.000 claims description 5
- 239000000853 adhesive Substances 0.000 claims description 3
- 230000001070 adhesive effect Effects 0.000 claims description 3
- 238000001035 drying Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 238000007747 plating Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
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- 238000005299 abrasion Methods 0.000 abstract description 13
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- C—CHEMISTRY; METALLURGY
- C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
- C09J—ADHESIVES; NON-MECHANICAL ASPECTS OF ADHESIVE PROCESSES IN GENERAL; ADHESIVE PROCESSES NOT PROVIDED FOR ELSEWHERE; USE OF MATERIALS AS ADHESIVES
- C09J175/00—Adhesives based on polyureas or polyurethanes; Adhesives based on derivatives of such polymers
- C09J175/04—Polyurethanes
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C18/00—Chemical coating by decomposition of either liquid compounds or solutions of the coating forming compounds, without leaving reaction products of surface material in the coating; Contact plating
- C23C18/16—Chemical coating by decomposition of either liquid compounds or solutions of the coating forming compounds, without leaving reaction products of surface material in the coating; Contact plating by reduction or substitution, e.g. electroless plating
- C23C18/31—Coating with metals
- C23C18/42—Coating with noble metals
- C23C18/44—Coating with noble metals using reducing agents
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23F—NON-MECHANICAL REMOVAL OF METALLIC MATERIAL FROM SURFACE; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL; MULTI-STEP PROCESSES FOR SURFACE TREATMENT OF METALLIC MATERIAL INVOLVING AT LEAST ONE PROCESS PROVIDED FOR IN CLASS C23 AND AT LEAST ONE PROCESS COVERED BY SUBCLASS C21D OR C22F OR CLASS C25
- C23F1/00—Etching metallic material by chemical means
- C23F1/10—Etching compositions
- C23F1/14—Aqueous compositions
- C23F1/16—Acidic compositions
- C23F1/30—Acidic compositions for etching other metallic material
Abstract
The invention discloses a wall climbing robot, which comprises a robot body, wherein a negative pressure adsorption component is arranged on one side of the robot body, a movable adsorption component is arranged on one side of the negative pressure adsorption component and comprises second fixing frames and a supporting plate, second motors are fixed on the inner walls of the two second fixing frames, first conical teeth are fixed on the output shafts of the second motors, the first conical teeth are meshed and connected with second conical teeth, when the wall climbing robot climbs on a rough wall surface, the first wear-resistant sponge and the second wear-resistant sponge can simulate the sealing mechanism of muscles at the edge of a biological sucker and the wall surface, the first wear-resistant sponge and the second wear-resistant sponge can be staggered with convex and concave particles on the wall surface, so that the entrance of external air is effectively avoided, and the vacuum inside a negative pressure cavity is ensured; a dynamic negative pressure cavity is formed all the time, the robot realizes the crawling of various complex smooth and rough wall surfaces which form 0-360 degrees with the horizontal plane, the abrasion between the negative pressure cavity and the wall surfaces is reduced, and the adaptability and the reuse rate of the robot on the wall surfaces are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wall-climbing robot.
Background
The wall climbing robot can climb on a vertical wall and complete the automatic robot of operation. The wall climbing robot is also called a wall moving robot, and is also called a limit operation robot abroad because the vertical wall operation exceeds the limit of people. The wall-climbing robot has two basic functions of adsorption and movement, and the common adsorption modes include negative pressure adsorption and permanent magnet adsorption. The negative pressure mode can be absorbed on the wall surface by generating negative pressure in the sucking disc and is not limited by the wall surface material; the permanent magnet adsorption mode has two modes of a permanent magnet and an electromagnet and is only suitable for adsorbing the magnetic conductivity wall surface. The wall climbing robot is mainly used for flaw detection or paint spraying treatment of a cylindrical large tank by petrochemical enterprises or cleaning and spraying of buildings, most of the existing wall climbing robots are only suitable for specific wall surface operation, the wall climbing robot cannot be competent for the intricate and complex infrastructure wall surface, the adaptability of the wall climbing robot is poor, and therefore the wall climbing robot is provided.
Disclosure of Invention
The present invention is directed to a wall-climbing robot to solve the above-mentioned problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme: the wall-climbing robot comprises a robot body, wherein a negative pressure adsorption assembly is arranged on one side of the robot body, and a movable adsorption assembly is arranged on one side of the negative pressure adsorption assembly;
the movable adsorption component comprises a second fixing frame and a supporting plate, wherein a second motor is fixed on the inner wall of the second fixing frame, first conical teeth are fixed on the output end of the second motor, the first conical teeth are meshed with second conical teeth, a second rotating shaft is fixed on one side of the second conical teeth, a first gear and a fourth gear are fixed on one side of the second rotating shaft, the supporting plate is connected with first rotating shafts and third rotating shafts in four quantity through bearings in a rotating mode respectively, the second gears in two quantity are fixedly sleeved on the outer side of the third rotating shaft, a second synchronous belt is wound on the outer side of the first gear and the outer side of the second gear, second wear-resistant sponge is bonded on the outer side of the second synchronous belt, a limiting groove is formed in one side of the second wear-resistant sponge, and an adhesion layer is bonded on the inner side of the limiting groove.
As further preferable in the present technical solution: the outer side of the first rotating shaft is fixedly sleeved with a third gear, a first synchronous belt is wound on the outer sides of the third gear and the second gear, and a first wear-resistant sponge is bonded on the outer side of the first synchronous belt.
As further preferable in the present technical solution: the negative pressure adsorption assembly comprises a first fixing frame and a supporting frame, two exhaust frames are arranged at the top of the first fixing frame, and a first motor is fixed at the bottom of each exhaust frame.
As further preferable in the present technical solution: the vortex impeller that the support frame is inside to be fixed with quantity and be two, vortex impeller inlet end intercommunication has the intake pipe of fixed insertion in support frame one side.
As further preferable in the present technical solution: the output shaft end of the first motor is fixed at the input shaft end of the vortex impeller, a negative pressure cavity located on one side of the air inlet pipe is arranged on one side of the support frame, two partition plates are arranged on one side of the negative pressure cavity, the top of each partition plate is fixed at the bottom of the support frame, and two sides of each partition plate are respectively abutted to one side of the first synchronous belt and one side of the second synchronous belt.
As further preferable in the present technical solution: the support frame bottom is fixed with the link, the link inside wall bonds and has the filter screen.
As further preferable in the present technical solution: a limiting frame is fixed on one side of the machine body, and a limiting plate fixed on the outer side of the second rotating shaft is abutted to one side of the limiting frame.
As further preferable in the present technical solution: the storage rack is fixed on one side of the machine body, a storage battery is arranged in the support frame, and the output end of the storage battery is electrically connected to the input ends of the first motor and the second motor respectively.
As further preferable in the present technical solution: one side of the second fixing frame is fixed on one side of the machine body, the tops of the supporting plate and the supporting frame are fixed on the bottom of the machine body, and the bottom of the first fixing frame is fixed on the top of the machine body.
As further preferable in the present technical solution: the manufacturing method of the adhesion layer comprises the following steps:
s1, cleaning the silicon wafer, selecting four solutions of alcohol, acetone, hydrogen peroxide and concentrated sulfuric acid, cleaning the silicon wafer by using the four solutions of alcohol, acetone, hydrogen peroxide and concentrated sulfuric acid in sequence, simultaneously placing the silicon wafer in the solutions for 8 hours respectively, and taking out the silicon wafer for later use after cleaning;
s2, silver plating, namely selecting three solutions of ionized water, silver nitrate and hydrofluoric acid, mixing the three solutions of ionized water, silver nitrate and hydrofluoric acid to obtain a mixed solution, placing the silicon wafer in the mixed solution to be soaked for 2 hours, and taking out the silicon wafer for later use after soaking;
s3, selecting three solutions of deionized water, hydrogen peroxide and hydrofluoric acid for silicon surface array, mixing the three solutions of the deionized water, the hydrogen peroxide and the hydrofluoric acid to obtain a mixed solution, and placing the silicon wafer in the mixed solution for 480 seconds to enable the surface of the silicon wafer to generate array characteristics;
s4, removing a silver film, selecting a concentrated nitric acid solution, soaking the silicon wafer in the concentrated nitric acid solution for 60 seconds, and taking out the silicon wafer, wherein the preparation of the array template on the surface of the silicon wafer is finished;
s5, selecting a certain amount of deionized water for the array template, cleaning the surface of the silicon wafer by using the deionized water, and naturally drying the silicon wafer after cleaning;
s6, selecting a certain amount of polyurethane liquid, pouring the polyurethane liquid on the surface of the silicon wafer to remove bubbles on the surface of the silicon wafer, heating the silicon wafer by using an oven for 2 hours, and slowly stripping the polyurethane solid layer formed by heating along one side of the silicon wafer from the surface of the silicon wafer to obtain the adhesion layer;
and S7, coating a certain amount of polyurethane adhesive on one side of the obtained adhesive layer and the inner side of the limiting groove, and adhering the adhesive layer to the inner side of the limiting groove.
Compared with the prior art, the invention has the beneficial effects that:
the wall-climbing robot is based on the combination of rolling adsorption and biological adhesion technologies, and is capable of adsorbing the surface of a wall surface by means of the adhesion layer and the smoothness avoiding mutual adhesion when the wall-climbing robot walks on the smooth wall surface under the coordination of negative pressure adsorption and the adhesion layer, so that the friction force between the adhesion layer and the wall surface is remarkably increased, and the whole machine sliding of the robot is effectively avoided;
when the wall climbing robot climbs on a rough wall surface, the first wear-resistant sponge and the second wear-resistant sponge can simulate the sealing mechanism of the muscle at the edge of the biological sucker and the wall surface, the first wear-resistant sponge and the second wear-resistant sponge are staggered with the convex-concave particles on the wall surface, so that the external air is effectively prevented from entering, and the vacuum inside the negative pressure cavity is ensured; when the first synchronous belt and the second synchronous belt rotate, a dynamic negative pressure cavity is formed all the time, the robot realizes crawling of various complex smooth and rough wall surfaces which form 0-360 degrees with the horizontal plane, abrasion between the negative pressure cavity and the wall surfaces is reduced, and the adaptability and the reuse rate of the robot on the wall surfaces are improved.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic top sectional view of the present invention;
FIG. 3 is a schematic view of a tapered tooth fitting structure according to the present invention;
FIG. 4 is a schematic left-side sectional view of the present invention;
FIG. 5 is a schematic view of an adhesion layer distribution according to the present invention;
FIG. 6 is a perspective view of a second shaft according to the present invention;
FIG. 7 is a process flow diagram of the method of forming an adhesion layer according to the present invention.
In the figure: 1. a body; 2. a negative pressure adsorption component; 21. a first fixing frame; 22. an exhaust frame; 23. a first motor; 24. an air inlet pipe; 25. a filter screen; 26. a partition plate; 27. a negative pressure chamber; 28. a support frame; 29. a connecting frame; 210. a vortex impeller; 3. moving the adsorption assembly; 31. a second fixing frame; 32. an adhesion layer; 33. a first abrasion resistant sponge; 34. a second abrasion resistant sponge; 35. a first gear; 36. a second motor; 37. a limiting groove; 38. a support plate; 39. a first rotating shaft; 310. a second gear; 311. a limiting frame; 312. a limiting plate; 313. a second rotating shaft; 314. a first tapered tooth; 315. second tapered teeth; 316. a third rotating shaft; 317. a third gear; 5. placing a rack; 6. a storage battery; 7. a first synchronization belt; 8. a second timing belt.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-6, the present invention provides a technical solution: wall climbing robot, including organism 1, 1 one side of organism is equipped with negative pressure adsorption component 2, 2 one side of negative pressure adsorption component is equipped with removes adsorption component 3, 1 one side of organism is fixed with rack 5, the inside battery 6 that is equipped with of support frame 28, the output of battery 6 is electric connection respectively in the input of first motor 23 and second motor 36, battery 6 is used for providing the electric power source of this robot work, the dead weight of this robot is 3kg, the effective bearing of straight wall is greater than 1kg, the effective bearing of ceiling wall is 0.3kg, the maximum movement speed of ground is 10cm/s, the maximum movement speed of wall is not less than 8cm/s, the continuous mileage of wall is 1 kilometer.
The negative pressure adsorption component 2 comprises a first fixing frame 21 and a supporting frame 28, the top of the first fixing frame 21 is provided with two exhaust frames 22, the exhaust frames 22 are in a radiation grid shape, the shape can ensure that gas in a negative pressure cavity 27 is exhausted and can play a role of fixing a direct-current high-speed first motor 23, the bottom of the exhaust frame 22 is fixed with the first motor 23, two vortex impellers 210 are fixed inside the supporting frame 28, the air inlet end of the vortex impeller 210 is communicated with an air inlet pipe 24 fixedly inserted into one side of the supporting frame 28, the negative pressure adsorption component 2 is composed of the two first motors 23 and the vortex impeller 210, safety accidents caused by the fault of a single vortex impeller 210 are avoided, the output shaft end of the first motor 23 is fixed at the input shaft end of the vortex impeller 210, one side of the supporting frame 28 is provided with the negative pressure cavity 27 positioned at one side of the air inlet pipe 24, one side of the negative pressure cavity 27 is provided with two clapboards 26, the top of baffle 26 is fixed in the bottom of support frame 28, the both sides of baffle 26 are contradicted in one side of first hold-in range 7 and second hold-in range 8 respectively, first motor 23 output shaft adopts transition fit with vortex impeller 210 to be connected, support frame 28 bottom is fixed with link 29, link 29 inside wall bonds and has filter screen 25, filter screen 25 is arranged in the dust of filtered air, one side of second mount 31 is fixed in one side of organism 1, the bottom of organism 1 is fixed in at the top of backup pad 38 and support frame 28, first mount 21 bottom is fixed in the top of organism 1.
The movable adsorption component 3 comprises second fixing frames 31 and supporting plates 38, wherein second motors 36 are fixed on the inner walls of the two second fixing frames 31, first conical teeth 314 are fixed on the output shafts of the second motors 36, second conical teeth 315 are connected with the first conical teeth 314 in a meshing manner, the second conical teeth 315 connected in a meshing manner are driven to rotate through the rotation of the first conical teeth 314, so that the first gears 35 on the two sides of the machine body 1 rotate simultaneously, a second rotating shaft 313 is fixed on one side of the second conical teeth 315, the first gears 35 are fixed on one side of the second rotating shaft 313, four supporting plates 38 are respectively connected with four first rotating shafts 39 and four third rotating shafts 316 through bearings in a rotating manner, one sides of the first rotating shafts 39 and the third rotating shafts 316 far away from the supporting plates 38 are connected with one side of the machine body 1 through bearings in a rotating manner, two second gears 310 are fixedly sleeved on the outer sides of the third rotating shafts 316, and pass through a second synchronous belt 8, the first gear 35 drives the second gear 310 to rotate, meanwhile, the second gear 310 is fixed on the outer side of the third rotating shaft 316, the second gear 310 is connected with the first synchronous belt 7 through the first synchronous belt 7, so that the first gear 35 on one side rotates, under the action of the first synchronous belt 7 and the second synchronous belt 8, the second gear 310 and the third gear 317 are driven to rotate in the same direction, when the direction needs to be turned, only the second motor 36 on the corresponding side stops rotating, the second motor 36 on the other side continues rotating, the turning action of the wall climbing robot can be completed, the second synchronous belt 8 is wound on the outer sides of the first gear 35 and the second gear 310, the second wear-resistant sponge 34 is bonded on the outer side of the second synchronous belt 8, the limiting groove 37 is formed on one side of the second wear-resistant sponge 34, the adhesion layer 32 is bonded on the inner side of the limiting groove 37, and the friction force between the adhesion layer 32 is obviously increased, the sliding of the whole robot is effectively avoided, the outer side of the first rotating shaft 39 is fixedly sleeved with a third gear 317, the outer sides of the third gear 317 and the second gear 310 are wound with a first synchronous belt 7, the outer side of the first synchronous belt 7 is bonded with a first wear-resistant sponge 33, the first wear-resistant sponge 33 and a second wear-resistant sponge 34 are made of wear-resistant sponge and elastic materials, one side of the machine body 1 is fixed with a limiting frame 311, one side of the limiting frame 311 is abutted with a limiting plate 312 fixed on the outer side of the second rotating shaft 313, the limiting frame 311 is used for limiting the second rotating shaft 313 during rotation, the rolling adsorption and biological adhesion technology are combined, the wall climbing robot can carry and detect to realize the contact detection of the outer wall surfaces of various basic facilities of a high-rise building, a dam and a bridge tunnel, meanwhile, the collection of the outer wall surface disease data can be realized, and data support is provided for the quantitative and timing operation and maintenance of the infrastructure.
The working principle is as follows: when the robot is used, a worker firstly fixes a camera for shooting on one side of the placing frame 5, the storage battery 6 is fully charged, the robot is placed on the wall surface at the moment, when the first motor 23 starts to work, the output shaft end of the first motor 23 is fixed on one side of the input shaft of the vortex impeller 210, the vortex impeller 210 is driven to rotate, when the vortex impeller 210 rotates, air in the negative pressure cavity 27 is sucked in through the air inlet pipe 24, meanwhile, the air is discharged through the exhaust frame 22 at the top of the first fixing frame 21, and at the moment, negative pressure can be generated in the negative pressure cavity 27 to enable the robot to be adsorbed on the outer wall surface; when the wall climbing robot needs to be controlled to walk on a wall surface, only the second motors 36 on two sides of the machine body 1 need to rotate simultaneously, the output shaft ends of the second motors 36 drive the first conical teeth 314 to drive the second conical teeth 315 connected in a meshed manner to rotate through the rotation of the first conical teeth 314, so that the first gears 35 on two sides of the machine body 1 rotate simultaneously, the first gears 35 drive the second gears 310 to rotate through the second synchronous belts 8, meanwhile, the second gears 310 are fixed on the outer sides of the third rotating shafts 316, the second gears 310 are connected with the first synchronous belts 7 through the first synchronous belts 7, so that the first gears 35 on one side rotate, the second gears 310 and the third gears 317 are driven to rotate in the same direction simultaneously under the action of the first synchronous belts 7 and the second synchronous belts 8, when steering is needed, only the second motors 36 on the corresponding side need to stop rotating, and the second motors 36 on the other side continue rotating, at this time, the steering action of the wall climbing robot can be completed, and the first abrasion-resistant sponge 33 and the second abrasion-resistant sponge 34 which are adhered to the outer sides of the first synchronous belt 7 and the second synchronous belt 8 make the total of six first abrasion-resistant sponges 33 and second abrasion-resistant sponges 34 surround the periphery of the negative pressure cavity 27 to form a vacuum area, when the first synchronous belt 7 and the second synchronous belt 8 rotate, a dynamic negative pressure cavity 27 is always formed, the first abrasion-resistant sponge 33 and the second abrasion-resistant sponge 34 around the negative pressure cavity 27 adopt advanced flexible sealing materials to ensure that the negative pressure cavity 27 does not leak air in the rotating process of the first abrasion-resistant sponge 33 and the second abrasion-resistant sponge 34, the robot realizes the crawling of various complex smooth and rough wall surfaces which form 0-360 degrees with the horizontal plane, reduces the abrasion between the negative pressure cavity 27 and the wall surfaces, and improves the wall surface adaptability and the reuse rate of the robot, the partition plate 26 between the first wear-resistant sponge 33 and the second wear-resistant sponge 34 is made of Mylar film, so that the air tightness and the wear resistance between the first wear-resistant sponge 33 and the second wear-resistant sponge 34 are improved, when the wall-climbing robot walks on a smooth wall surface, the wall-climbing robot can be adsorbed on the surface of the wall surface by means of the adhesion layer 32 and the smoothness avoidance mutual adhesion, the friction between the adhesion layer 32 and the wall surface is obviously increased by the adhesion layer 32, and the complete machine sliding of the robot is effectively avoided; when the robot climbs on a rough wall surface, the first wear-resistant sponge 33 and the second wear-resistant sponge 34 can simulate the sealing mechanism of the edge muscle and the wall surface of the biological sucker, and the first wear-resistant sponge and the second wear-resistant sponge are staggered with the convex-concave particles on the wall surface, so that the external air is effectively prevented from entering, and the vacuum degree in the negative pressure cavity 27 is ensured.
Example 2
Referring to fig. 7, the present invention further provides a method for manufacturing an adhesion layer 32 in a wall-climbing robot, including the following steps:
s1, cleaning the silicon wafer, selecting four solutions of alcohol, acetone, hydrogen peroxide and concentrated sulfuric acid, cleaning the silicon wafer by using the four solutions of alcohol, acetone, hydrogen peroxide and concentrated sulfuric acid in sequence, simultaneously placing the silicon wafer in the solutions for 7-9 hours respectively, and taking out the silicon wafer for later use after cleaning;
s2, silver plating, namely selecting three solutions of ionized water, silver nitrate and hydrofluoric acid, mixing the three solutions of ionized water, silver nitrate and hydrofluoric acid to obtain a mixed solution, placing the silicon wafer in the mixed solution to soak for 1-3 hours, and taking out the silicon wafer for later use after soaking;
s3, selecting three solutions of deionized water, hydrogen peroxide and hydrofluoric acid for silicon surface array, mixing the three solutions of the deionized water, the hydrogen peroxide and the hydrofluoric acid to obtain a mixed solution, and placing the silicon wafer in the mixed solution for 470-490 seconds to enable the surface of the silicon wafer to generate array characteristics;
s4, removing a silver film, selecting a concentrated nitric acid solution, soaking the silicon wafer in the concentrated nitric acid solution for 50-70 seconds, and taking out the silicon wafer, wherein the preparation of the array template on the surface of the silicon wafer is finished;
s5, array template, selecting a certain amount of deionized water, cleaning the surface of the silicon wafer by using the deionized water, and naturally drying the silicon wafer after cleaning;
s6, selecting a certain amount of polyurethane liquid as an adhesion layer, pouring the polyurethane liquid on the surface of the silicon wafer to remove bubbles on the surface of the silicon wafer, heating the silicon wafer by using an oven for 1-3 hours, and slowly stripping the polyurethane solid layer formed by heating from the surface of the silicon wafer along one side of the silicon wafer to obtain the adhesion layer 32;
s7, coating a certain amount of coating polyurethane adhesive on one side of the obtained adhesive layer 32 and the inner side of the limiting groove 37, and adhering the adhesive layer 32 to the inner side of the limiting groove 37.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Wall climbing robot, including organism (1), its characterized in that: a negative pressure adsorption component (2) is arranged on one side of the machine body (1), and a movable adsorption component (3) is arranged on one side of the negative pressure adsorption component (2);
the movable adsorption component (3) comprises a second fixing frame (31) and a supporting plate (38), wherein a second motor (36) is fixed on the inner wall of the second fixing frame (31), a first conical tooth (314) is fixed on the output shaft of the second motor (36), a second conical tooth (315) is meshed with the first conical tooth (314), a second rotating shaft (313) is fixed on one side of the second conical tooth (315), a first gear (35) is fixed on one side of the second rotating shaft (313), four supporting plates (38) are respectively connected with a first rotating shaft (39) and a third rotating shaft (316) which are four in number through bearing rotation, a second gear (310) which is two in number is fixedly connected on the outer side of the third rotating shaft (316), a second synchronous belt (8) is wound on the outer sides of the first gear (35) and the second gear (310), and a second wear-resistant sponge (34) is arranged on the outer side of the second synchronous belt (8), one side of the second wear-resistant sponge (34) is provided with a limiting groove (37), and an adhesion layer (32) is bonded on the inner side of the limiting groove (37).
2. The wall-climbing robot of claim 1, wherein: the fixed cover in first pivot (39) outside has been connect third gear (317), third gear (317) and second gear (310) outside have around having first synchronous belt (7), first wear-resisting sponge (33) have been bonded in first synchronous belt (7) outside.
3. The wall-climbing robot of claim 1, wherein: the negative pressure adsorption assembly (2) comprises a first fixing frame (21) and a supporting frame (28), two exhaust frames (22) are arranged at the top of the first fixing frame (21), and a first motor (23) is fixed at the bottom of each exhaust frame (22).
4. A wall-climbing robot as claimed in claim 3, wherein: the vortex impeller (210) that the quantity is two is fixed in support frame (28), vortex impeller (210) air inlet end intercommunication has fixed intake pipe (24) of inserting in support frame (28) one side.
5. The wall-climbing robot of claim 4, wherein: the output shaft end of first motor (23) is fixed in the input shaft end of vortex impeller (210), support frame (28) one side is equipped with negative pressure chamber (27) that are located intake pipe (24) one side, negative pressure chamber (27) one side is equipped with quantity and is baffle (26) of two, the bottom of support frame (28) is fixed in at the top of baffle (26), the both sides of baffle (26) are contradicted in one side of first hold-in range (7) and second hold-in range (8) respectively.
6. The wall-climbing robot of claim 5, wherein: the bottom of the support frame (28) is fixed with a connecting frame (29), and a filter screen (25) is bonded on the inner side wall of the connecting frame (29).
7. The wall-climbing robot of claim 1, wherein: a limiting frame (311) is fixed on one side of the machine body (1), and a limiting plate (312) fixed on the outer side of the second rotating shaft (313) is abutted to one side of the limiting frame (311).
8. A wall-climbing robot as claimed in claim 3, wherein: the electric motor is characterized in that a placing frame (5) is fixed on one side of the machine body (1), a storage battery (6) is arranged inside the supporting frame (28), and the output end of the storage battery (6) is electrically connected to the input ends of the first motor (23) and the second motor (36) respectively.
9. A wall-climbing robot as claimed in claim 3, wherein: one side of the second fixing frame (31) is fixed on one side of the machine body (1), the tops of the supporting plate (38) and the supporting frame (28) are fixed on the bottom of the machine body (1), and the bottom of the first fixing frame (21) is fixed on the top of the machine body (1).
10. The wall-climbing robot of claim 1, wherein: the manufacturing method of the adhesion layer (32) comprises the following steps:
s1, cleaning the silicon wafer, selecting four solutions of alcohol, acetone, hydrogen peroxide and concentrated sulfuric acid, cleaning the silicon wafer by using the four solutions of alcohol, acetone, hydrogen peroxide and concentrated sulfuric acid in sequence, simultaneously placing the silicon wafer in the solutions for 7-9 hours respectively, and taking out the silicon wafer for later use after cleaning;
s2, silver plating, namely selecting three solutions of ionized water, silver nitrate and hydrofluoric acid, mixing the three solutions of ionized water, silver nitrate and hydrofluoric acid to obtain a mixed solution, placing the silicon wafer in the mixed solution to soak for 1-3 hours, and taking out the silicon wafer for later use after soaking;
s3, selecting three solutions of deionized water, hydrogen peroxide and hydrofluoric acid for silicon surface array, mixing the three solutions of the deionized water, the hydrogen peroxide and the hydrofluoric acid to obtain a mixed solution, and placing the silicon wafer in the mixed solution for 470-490 seconds to enable the surface of the silicon wafer to generate array characteristics;
s4, removing a silver film, selecting a concentrated nitric acid solution, soaking the silicon wafer in the concentrated nitric acid solution for 50-70 seconds, and taking out the silicon wafer, wherein the preparation of the array template on the surface of the silicon wafer is finished;
s5, array template, selecting a certain amount of deionized water, cleaning the surface of the silicon wafer by using the deionized water, and naturally drying the silicon wafer after cleaning;
s6, selecting a certain amount of polyurethane liquid, pouring the polyurethane liquid on the surface of the silicon wafer to remove bubbles on the surface of the silicon wafer, heating the silicon wafer by using an oven for 1-3 hours, and slowly stripping the polyurethane solid layer formed by heating along one side of the silicon wafer from the surface of the silicon wafer to obtain the adhesion layer (32);
s7, coating a certain amount of coating polyurethane adhesive on one side of the obtained adhesive layer (32) and the inner side of the limiting groove (37), and adhering the adhesive layer (32) to the inner side of the limiting groove (37).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210461231.7A CN114889721A (en) | 2022-04-28 | 2022-04-28 | Wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210461231.7A CN114889721A (en) | 2022-04-28 | 2022-04-28 | Wall-climbing robot |
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| US5174405A (en) * | 1989-08-31 | 1992-12-29 | Framatone | Self-traveling robotic vehicle with inclinable propulsion units |
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| CN111895219A (en) * | 2020-08-11 | 2020-11-06 | 广东电网有限责任公司广州供电局 | Wall-climbing robot |
| CN214084503U (en) * | 2020-12-29 | 2021-08-31 | 中国科学院沈阳自动化研究所 | Rolling adsorption wall-climbing robot with curved surface adaptability |
| CN214985729U (en) * | 2021-06-18 | 2021-12-03 | 常州工业职业技术学院 | Wheel-track type self-adaptive dynamic adsorption wall-climbing robot |
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2022
- 2022-04-28 CN CN202210461231.7A patent/CN114889721A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5174405A (en) * | 1989-08-31 | 1992-12-29 | Framatone | Self-traveling robotic vehicle with inclinable propulsion units |
| CN102012632A (en) * | 2010-09-10 | 2011-04-13 | 中国科学院合肥物质科学研究院 | Method for preparing bionic adhesion arrays with different top end structures |
| CN205852834U (en) * | 2016-08-04 | 2017-01-04 | 安徽工程大学 | A kind of Dancing Robot |
| CN111895219A (en) * | 2020-08-11 | 2020-11-06 | 广东电网有限责任公司广州供电局 | Wall-climbing robot |
| CN214084503U (en) * | 2020-12-29 | 2021-08-31 | 中国科学院沈阳自动化研究所 | Rolling adsorption wall-climbing robot with curved surface adaptability |
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Inventor after: Liu Jinfu Inventor after: Meng Tao Inventor after: Liu Shuai Inventor after: Wei Zhou Inventor after: Jin Wei Inventor before: Meng Tao Inventor before: Liu Shuai Inventor before: Wei Zhou Inventor before: Jin Wei Inventor before: Liao Chuguang |
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Application publication date: 20220812 |