CN116766841A - An amphibious wall-climbing special operation robot and its working method - Google Patents

Abstract

The invention belongs to the field of robot technology and relates to an amphibious wall-climbing special operation robot and a working method. It includes a robot body; a flow channel control component installed on the top of the robot body for adjusting the fluid flow; and an adsorption device installed at the bottom of the robot body. Component, the adsorption component is located below the flow channel control component and connected with the flow channel control component; several motion components are provided at the bottom of the robot body. The propeller blade pitch adjustment is realized through the non-contact self-generating blade pitch adjustment component, and the flow channel cross-sectional size adjustment of the flow channel control component is realized through the flow control device, which not only realizes the stability of the wall surface of the robot in both liquid and gas fluid media Adsorption wall-climbing operations, and the ability to freely switch between wall-climbing at the interface of two fluid media, improve the stability and reliability of the robot's wall-climbing operations in various fluid media such as liquids, gases, and gas-liquid interfaces, and expand the climbing capabilities Application scope of wall working robot.

Description

An amphibious wall-climbing special operation robot and its working method

Technical field

The invention belongs to the field of robot technology, and specifically relates to an amphibious wall-climbing special operation robot and a working method.

Background technique

A wall climbing robot is an automated robot that can climb on vertical walls and complete tasks. The robot automatically attaches to and crawls on the surface of each equipment platform to efficiently complete the reconnaissance, maintenance, welding, repair and surface spraying of the surface of the structure. Sanding, grinding and cleaning work liberates humans from harsh and dangerous environments and has high economic and social benefits.

Currently, wall-climbing robots that work in air media (such as building exterior walls, glass curtains, etc.) mainly rely on hoisting, magnetic suction or vacuum adsorption operations; while for water media (such as ship hull walls, offshore equipment surfaces, etc.) Wall climbing robots mainly rely on magnetic adsorption, thrust adsorption or negative pressure adsorption. However, there are also quite a few application scenarios where the wall to which the robot is attached is made of non-magnetic material, and marine organisms often grow on the surface of underwater structures, making magnetic adsorption, vacuum adsorption and other methods inapplicable. When the robot moves from the surface of a structure in one medium to another medium (such as using a wall-climbing robot to clean attachments on the surface of a ship, repair or maintain offshore equipment platforms), if thrust or negative pressure adsorption is used, the robot enters When it reaches the surface of a structure in the air, the adsorption force will decrease sharply, causing the robot to fall off or even overturn.

Conventional wall-climbing robots can generally only operate in a specific medium. For example, the utility model patent application number 202220224491.8 discloses a negative pressure adsorption air-land amphibious robot, and the invention patent application number 202111131364.X An amphibious three-mode flying adsorption wall-climbing robot and a control method have been disclosed. The invention patent application number 201310118990.4 discloses a flying and wall-climbing amphibious robot and its control method. The invention patent application number 201810662969.3 discloses a combination of both Amphibious robot with flying and wall climbing functions.

Underwater environment operations, such as cleaning, testing, welding, spraying, etc., require special operating robots to complete. The robots are required to be able to stably adsorb and climb walls in both gas and liquid media. However, due to gas and liquid The adsorption forces in the two media are different, which requires the robot to have the function of freely climbing the wall and switching between different fluid media and automatically adjusting the adsorption. Currently, there are no reports of wall-climbing special operation robots that can achieve this function.

Contents of the invention

One object of the present invention is to provide an amphibious wall-climbing special operation robot, which can realize the robot's stable adsorption and wall-climbing operation on the wall in two fluid media, namely liquid and gas, as well as a gas-liquid interface composite medium.

The technical solution adopted by the present invention to solve the technical problem is: an amphibious wall-climbing special operation robot, including:

The robot body is used to install and fix various components of the robot;

The flow channel control component installed at the top center of the robot body is used to adjust the fluid flow and velocity;

An adsorption component is provided at the bottom of the robot body. The adsorption component is located below the flow channel control component and is connected to the flow channel control component. The adsorption component is used to provide the adsorption force required for wall crawling of the robot;

Several motion components are provided at the bottom of the robot body to drive the robot to complete wall crawling motions.

Specifically, the flow channel control assembly includes a body, a control motor, a diversion device and a flow control device. The body is annular. The top of the robot body is provided with a circular through hole that is suitable for the body. The body is installed and fixed on the robot. At the circular through hole on the top of the body, the flow control device is installed in the body, the flow guide device is set in the center of the body, the inner end of the flow control device is connected to the outer wall of the flow guide device, the control motor is installed on the outside of the body, and the control motor The output shaft passes through the body and is connected to the outer end of the flow control device. The motor is controlled to drive the flow control device to adjust the cross-section size of the flow channel, thereby adjusting the fluid flow through the flow channel control component.

Further, the body includes a fixed ring and a fixed shell. The fixed ring is sealingly connected to the circular through hole on the top of the robot body. The fixed shell is arranged and wrapped around the outside of the fixed ring. An annular cavity is formed between the fixed shell and the fixed ring. .

Further, the flow control device includes: a trapezoidal fan blade, a guide shaft, a driving shaft, a bearing seat, a driving gear, a reversing gear, and a reversing shaft. A number of driving gears are evenly distributed on the outer wall of the fixed ring. The reversing gears are The number is one less than the number of driving gears. One side of the driving gear and the reversing gear are arranged in sequence, and the adjacent driving gears and reversing gears are meshed and connected in sequence. The other side of the starting driving gear is connected to the end of the driving gear. There is no reversing gear between the driving gears. The driving gear and the reversing gear are installed on the outer wall of the fixed ring through the bearing seat. The reversing gear is rotationally connected to the bearing seat through the reversing shaft. The driving gear is connected to the bearing seat through the driving shaft. Rotation connection, the number of trapezoidal fan blades is consistent with the number of driving gears and their positions are corresponding. The inner end of the trapezoidal fan blade is rotationally connected to the outer wall of the flow guide device through the guide shaft. The outer end of the trapezoidal fan blade passes through the guide shaft through the fixed ring and is connected to the air guide device. The bearing seat is connected to the drive shaft. The starting drive gear is connected to the output shaft of the control motor. The control motor drives the starting drive gear to rotate. Through the sequential meshing connection of the drive gear and the reversing gear, all the components connected to the outer wall of the fixed ring are driven. The driving gear rotates synchronously, and is driven through the connection of the driving shaft, bearing seat, and guide shaft, thereby driving the trapezoidal fan blades to rotate to adjust the angle and attitude, and adjust the cross-section size of the flow channel between the fixed ring and the flow guide device.

Further, the inner wall of the fixed ring is a concave arc-shaped surface with a large middle diameter and small upper and lower top surface diameters, and the outer wall of the flow guide device is a convex arc-shaped surface with a large middle diameter and small upper and lower top surface diameters. The trapezoidal fan The end where the blade connects to the guide device is a concave arc-shaped surface that is compatible with the outer wall of the guide device. The end where the trapezoidal fan blade is connected to the fixed ring is a convex arc-shaped surface that is compatible with the inner wall of the fixed ring. When all trapezoidal fans When the blades rotate to the horizontal position, the adjacent trapezoidal fan blades, as well as the trapezoidal fan blades, the fixed ring and the flow guide device are tightly sealed to achieve complete closure of the annular flow channel between the fixed ring and the flow guide device; the drive shaft , bearing seat, driving gear, reversing gear, and reversing shaft are all located in the annular cavity between the fixed shell and the fixed ring.

Specifically, the adsorption component includes an adsorption power motor, a power transmission component, a self-generating component, a blade pitch adjustment component, a propeller, a propeller hub, and a guide tube. The guide tube is arranged directly below the flow channel control component, and the power transmission component The components, self-generating components, blade pitch adjustment components, propellers, and propeller hubs are all arranged in the guide tube. There are two groups of propeller hubs. Each group of propeller hubs includes a propeller column, and the propeller column includes a first propeller column and a second propeller column. The first propeller column and the second propeller column are arranged up and down coaxially. There are several propellers on the first propeller column and the second propeller column. The first propeller column and the second propeller column are both equipped with blade pitch adjustment. Component, the blade pitch adjustment component is connected to the propeller and is used to adjust the blade pitch of the propeller; the adsorption power motor is laterally installed and fixed inside the robot body, and the top of the power transmission component is connected and fixed to the robot body, and the output shaft of the adsorption power motor and the power The transmission assembly is connected. The first propeller column and the second propeller column are arranged below the power transmission assembly in turn. The power transmission assembly is connected to the first propeller column and the second propeller column respectively and drives the first propeller column and the second propeller column to rotate. The power transmission assembly A self-generating component is provided below the transmission component, and the self-generating component is used to supply power to the blade pitch adjustment component in the first propeller column and the second propeller column.

Further, the power transmission assembly includes a base body, a coupling, a power input shaft, a reversing bevel gear, a first support bearing, a reversing shaft two and a power bevel gear. The base body is connected and fixed to the robot body and fixed to the guide tube. At the center of the inner upper part, the power input shaft, the reversing bevel gear, the first support bearing, the second reversing shaft and the power bevel gear are all arranged in the base body. The reversing bevel gear includes the first reversing bevel gear and the second reversing bevel gear. teeth, the second reversing bevel teeth are located below the first reversing bevel teeth and at the coaxial center. The second reversing shaft includes a first reversing shaft and a second reversing shaft. The second reversing shaft is sleeved on the first reversing bevel gear. On the reversing shaft and the inner diameter of the second reversing shaft is larger than the outer diameter of the first reversing shaft, the first reversing shaft can realize non-contact rotation in the second reversing shaft, and the adsorption power motor communicates with the power through the coupling. One end of the input shaft is connected, and the other end of the power input shaft is connected with a power bevel gear; the first reversing bevel gear and the second reversing bevel gear are meshed and connected with the power bevel gear, and the second reversing bevel gear is sleeved and fixed on the third reversing bevel gear. The upper part of the second reversing shaft, the bottom of the second reversing shaft is connected and fixed with the first propeller column, the first reversing bevel gear is fixedly connected with the top of the first reversing shaft, and the bottom of the first reversing shaft passes downwards The second reversing shaft and the first propeller post are connected and fixed with the second propeller post. The first reversing bevel gear, the second reversing bevel gear and the power bevel gear are respectively installed inside the base body through the first support bearing.

The adsorption power motor drives the power input shaft and the power bevel gear to rotate. Through the meshing effect of the power bevel gear with the first reversing bevel gear and the second reversing bevel gear, the first reversing bevel gear drives the first reversing shaft to rotate, thereby The second propeller column and the propeller on the second propeller column are driven to rotate as a whole; the second reversing bevel gear drives the second reversing shaft to rotate, which in turn drives the first propeller column and the propeller on the first propeller column to rotate as a whole.

Further, the second reversing shaft also includes a key and a second support bearing. There are two keys, which are respectively arranged horizontally on the first propeller column and the second propeller column. One end of the key on the first propeller column is fixed to the first propeller column. on the second propeller column, and the other end is fixedly connected to the second reversing shaft, so that when the second reversing shaft rotates, the first propeller column is driven to rotate as a whole; one end of the key on the second propeller column is fixed on the second propeller column, and the other end is fixed on the second propeller column. Connected to the first reversing shaft, so that when the first reversing shaft rotates, it drives the second propeller column to rotate as a whole; there are four second support bearings, which are respectively arranged in the first propeller column and the second propeller column from top to bottom. The upper and lower parts in the propeller column, and the second support bearing is coaxial with the first propeller column and the second propeller column.

Further, the self-generating component includes a magnet, a first excitation coil, a first receiving coil, a second excitation coil, and a second receiving coil. The magnet is fixedly installed on the bottom of the base body and is distributed in an annular shape. The N and S directions are arranged as needed. And with the first receiving coil, the electromagnetic induction effect can be achieved. The outside of the magnet is close to the first receiving coil, the first excitation coil is horizontally arranged in the base above the magnet, the magnet and the first receiving coil are located at the top of the first propeller column, and the magnet and the first receiving coil are located on the same horizontal plane. A second excitation coil is provided at the bottom of one propeller column, and a second receiving coil is provided at the top of the second propeller column.

When the adsorption power motor is started, the second reversing shaft is driven to rotate through the coupling, power input shaft, power bevel gear, and second reversing bevel gear in sequence, and the second reversing shaft drives the first propeller column to rotate. The first receiving coil on the first propeller column rotates around the magnet, and the first receiving coil generates an induced current by cutting the magnetic lines of force generated by the magnet; on the one hand, the first receiving coil supplies power to the blade pitch adjustment component in the first propeller column, On the other hand, the first receiving coil supplies power to the second excitation coil at the bottom of the first propeller column, and then the second excitation coil generates an excitation magnetic field. The second receiving coil in the second propeller column generates an induced current through the principle of electromagnetic induction. Contactless power generation supplies power to the blade pitch adjustment component in the second propeller column.

As a backup preferred solution, when the adsorption power motor is not started, the pitch adjustment function of the propeller can also be realized. Specifically, the first excitation coil is powered by an external power supply, the first excitation coil generates a magnetic field, and the first receiving coil generates electricity through electromagnetic induction. Function, on the one hand, the first receiving coil supplies power to the blade pitch adjustment component in the first propeller column; on the other hand, the first receiving coil supplies power to the second excitation coil at the bottom of the first propeller column and excites the magnetic field; the second The second receiving coil in the propeller column supplies power to the blade pitch adjustment component in the second propeller column through electromagnetic induction of the magnetic field generated by the second excitation coil.

Further, the blade pitch adjustment assembly includes a first pitch adjustment module and a second pitch adjustment module.

The first pitch adjustment module is disposed in the first propeller column. The first pitch adjustment module includes a first pitch motor, a first hollow coupling, a first pitch power bevel gear, and a plurality of first pitch synchronous umbrellas. teeth, the first pitch-adjustable motor is fixedly installed in the lower part of the first propeller column, the first receiving coil supplies power to the first pitch-adjustable motor, and the output end of the first pitch-adjustable motor is connected to the first pitch-adjustable motor through the first hollow coupling. The power bevel gear, the first pitch-adjustable power bevel gear is located in the upper part of the first propeller column. The top of the first pitch-adjustable power bevel gear is connected to the second support bearing. The number of the first pitch-adjustable synchronous bevel gear is related to the first propeller column. The number of propellers on the machine is the same. One end of the first pitch-adjustable synchronous bevel gear is fixedly connected to the corresponding propeller, and the other end is meshed with the first pitch-adjustable power bevel gear. The first pitch-adjustable motor, the first hollow coupling, The first pitch-adjustable power bevel gears are all hollow shaft structures. The hollow structure reserves space for the first reversing shaft to pass through the first pitch-adjustable power bevel gears without contact, and the inner diameter of the hollow structure is larger than the outer diameter of the first reversing shaft; The first pitch-adjustable motor drives the first pitch-adjustable power bevel gear to rotate through the first hollow coupling, thereby driving several first pitch-adjustable synchronous bevel gears that are meshed and connected to rotate, thereby driving the propeller to rotate, thereby realizing the propeller rotation of the first propeller column. Blade angle and pitch adjustment.

Similar to the first pitch adjustment module, the second pitch adjustment module includes a second pitch motor, a second hollow coupling, a second pitch power bevel gear, a third support bearing and several second pitch synchronizers. bevel gear, the second pitch-adjustable motor is fixedly installed in the lower part of the second propeller column, the second receiving coil supplies power to the second pitch-adjustable motor, and the output shaft of the second pitch-adjustable motor is connected to the second pitch-adjustable motor through a second hollow coupling. The second pitch-adjustable power bevel tooth is located in the upper part of the second propeller column. The top of the second pitch-adjustable power bevel tooth is connected to the second propeller column through a third support bearing. The third support bearing is located in the second propeller column. On the axis below the inner top of the column, the outer end surface is fixed inside the second propeller column, and the inner end surface is sleeved on the outer end surface circumference of the second pitch-adjustable power bevel gear to realize the rotation of the second pitch-adjustable power bevel gear relative to the second propeller column. The key of the second propeller column is disposed transversely between the third support bearing and the second support bearing at the inner top of the second propeller column. The number of the second pitch-adjustable synchronous bevel teeth is consistent with the number of propellers on the second propeller column. One end of the two pitch-adjustable synchronous bevel teeth is fixedly connected to the corresponding propeller, and the other end is meshed with the second pitch-adjustable power bevel gear. The second pitch-adjustable motor, the second hollow coupling, and the second pitch-adjustable power bevel gear are all It is a hollow shaft structure, and the hollow structure reserves space for the first reversing shaft to penetrate the first pitch-adjustable power bevel gear without contact, and the inner diameter of the hollow structure is larger than the outer diameter of the first reversing shaft; the second pitch-adjustable motor passes through the second The hollow coupling drives the second pitch-adjustable power bevel gear to rotate, thereby driving several second pitch-adjustable synchronous bevel gears in meshing connection to rotate, and then drives the propeller to rotate, thereby realizing the angle and pitch adjustment of the propeller blade of the second propeller column.

Further, the propeller includes a propeller blade, a stern shaft and a stern shaft bearing. The blades are fixedly connected to the outer end of the stern shaft, and the inner end of the stern shaft is connected to the corresponding first pitch-adjustable synchronous bevel gear and the second through the stern shaft bearing. The pitch-adjustable synchronous bevel gear is connected and fixed.

Further, the propeller hub also includes a cover plate and a deflector. The cover plate includes an upper propeller column cover plate and a propeller column lower cover plate. The tops of the first propeller column and the second propeller column are both provided with propeller column upper cover plates. , the bottoms of the first propeller column and the second propeller column are provided with propeller column lower covers, the deflector is arranged below the second propeller pillar, and the deflector cover is connected and fixed with the bottom end of the first reversing shaft.

Preferably, a power conditioning module and a motor control module circuit can be provided between the first receiving coil and the first pitch-adjustable motor, and the first receiving coil and the second excitation coil to realize magnetic field excitation control and motor control respectively, achieving high efficiency. Electromagnetic induction discovery and propeller pitch adaptive control.

Also preferably, a motor control module circuit can be provided between the second excitation coil and the second pitch-adjustable motor, thereby realizing adaptive control of the propeller pitch in the second pitch adjustment module.

Preferably, the propeller pitch adjustment angles in the first pitch adjustment module and the second pitch adjustment module can be independently adjusted according to actual conditions and are not coupled, thereby achieving high efficiency and adaptive characteristics of fluid propulsion.

Preferably, the number of blades in the first pitch adjustment module and the second pitch adjustment module can be set as needed to achieve the most efficient propulsion of the fluid.

Further, the robot body includes a frame, which is used to install and connect the flow channel control component, the adsorption component and the motion component. The bottom of the frame is provided with a bottom plate for forming a negative pressure adsorption channel. The bottom of the outer periphery of the frame is provided with a floating block. The block is used to create buoyancy for the robot body in the liquid medium.

Furthermore, the motion component is an important mechanism that drives the robot to complete the wall crawling motion. It can be a wheel-type, crawler-type or other moving mechanism. In the present invention, a wheel-type mechanism is used. The motion component includes a wheel train and a motion drive module. The motion drive The module drive wheel train drives the robot body to move.

Furthermore, for wall-climbing special work robots, in addition to the above basic components, they can also be equipped with corresponding work load tools as needed, such as cavitation cleaning systems, robotic arm operating systems and other devices.

The working method of the amphibious wall-climbing special operation robot of the present invention includes a crawling movement method of the robot in an adsorption state on the wall surface, and an adsorption adjustment method of the robot in different fluid media.

The crawling movement method of the robot while adsorbing on the wall, the steps are as follows:

1) The adsorption power motor drives the power bevel gear to rotate through the power input shaft, and then drives the first reversing bevel gear and the second reversing bevel gear that are meshed with the power bevel gear to rotate. The first reversing bevel gear drives the reversing bevel gear that is fixedly connected to it. The first reversing shaft rotates, and the first reversing shaft is fixedly connected to the second propeller column through a key, thereby driving the second propeller column and the propeller on the second propeller column to rotate; the second reversing bevel gear drives the second reversing shaft Rotate, and the second reversing shaft is fixedly connected to the first propeller column through a key, thereby driving the first propeller column and the propeller on the first propeller column to rotate as a whole.

2) The propeller drives the fluid to flow. The fluid flows upward from between the bottom plate and the wall of the robot body through the guide tube and is discharged through the flow channel control component. The cross-sectional area of the flow channel is small and the flow speed is fast. According to Bernoulli's equation: It is known that the pressure is small where the flow speed is high, and the pressure is strong where the flow speed is low. Therefore, the fluid pressure in the channel between the bottom plate and the wall of the robot body 1 and in the guide tube and guide device is smaller than the outside, so that the pressure of the fluid will be The robot body is pressed against the wall, and the robot realizes the negative pressure adsorption function.

3) By controlling the motion components to perform forward and backward movement and steering functions, the robot can crawl on the wall.

The adsorption adjustment method of robots in different fluid media, the steps are as follows:

1) When the fluid medium is gas, due to the low viscosity of the fluid, the propeller blade pitch is increased and the fluid channel cross-section size of the flow channel control component is reduced:

a. The first pitch-adjustable motor rotates forward, drives the first pitch-adjustable power bevel gear to rotate through the first hollow coupling, and then drives a number of first pitch-adjustable synchronous bevel gears meshed with the first pitch-adjustable power bevel gear to rotate, The first pitch-adjustable synchronous bevel teeth are fixedly connected to the stern shaft of the propeller, and the blades are fixedly connected to the stern shaft, thereby driving the blades to rotate and increasing the blade pitch on the first propeller column; similarly, the second pitch-adjustable motor is turn, ultimately increasing the blade pitch on the second propeller column;

b. Control the motor to rotate forward, driving the initial driving gear to rotate. Through the meshing effect of the adjacent driving gears and the reversing gears, all the driving gears on the outer wall of the fixed ring are driven to rotate synchronously. The driving gears pass through the drive shaft and bearing seat. It is connected to the guide shaft on the inner wall of the fixed ring, and then drives the guide shaft and the trapezoidal fan blade connected to the guide shaft to rotate synchronously. The trapezoidal fan blade is located between the fixed ring and the guide device. The trapezoidal fan blade rotates to a horizontal or nearly horizontal state. , the cross-section of the fluid channel between the fixed ring and the guide device gradually decreases, and the rotation angle of the trapezoidal fan blades is selected as needed. When the trapezoidal fan blades rotate to a horizontal or nearly horizontal state, the flow between the trapezoidal fan blades, the trapezoidal fan blades and The spaces between the flow guide devices and between the trapezoidal fan blades and the fixed ring are completely sealed, and the fluid can only pass through the inner wall flow channel of the flow guide device;

2) When the fluid medium is liquid, due to the increase in fluid viscosity, the propeller blade pitch can be reduced and the fluid channel cross-section size of the flow channel control component can be increased: the first pitch-controlled motor reverses, ultimately driving the blades to reverse direction. Rotate in the opposite direction to reduce the pitch of the blade on the first propeller column; the second pitch-controlled motor reverses to ultimately reduce the pitch of the blade on the second propeller column; the control motor reverses to ultimately drive the trapezoidal fan blades to the vertical or vertical direction. When the trapezoidal fan blade rotates to a vertical or nearly vertical state, the cross-section of the fluid channel between the fixed ring and the guide device gradually increases. Select the rotation angle of the trapezoidal fan blade as needed. When the trapezoidal fan blade rotates to a vertical or nearly vertical state, the fixed ring and guide device The fluid channel cross-section between them reaches the maximum;

3) When the robot is at the gas-liquid interface, adjust the forward and reverse rotation of the first pitch-adjustable motor and the second pitch-adjustable motor as needed to adjust the propeller pitch to the maximum and minimum pitch values as needed. between the states between, and synchronously controls the forward and reverse rotation of the motor to adjust the attitude of the trapezoidal fan blades, and adjust the amplitude as needed to the state between the horizontal and vertical blades, thereby achieving a balance between fluid flow and speed, and realizing the robot body The adsorption force on the wall at the gas-liquid interface is accurately controllable, allowing the robot body to stably adsorb and move from the gas medium to the liquid medium or from the liquid medium to the gas medium.

The invention has the following beneficial effects: the amphibious wall-climbing special operation robot of the invention realizes the automatic adjustment of the propeller's blade pitch without relying on external energy through the blade pitch adjustment assembly, and realizes the adjustment of the flow channel cross-section size of the flow channel control assembly through the flow control device. , thereby realizing the robot's stable adsorption and wall-climbing operation on the wall in both liquid and gas fluid media, and creatively realizing the robot's stable adsorption and wall-climbing transition at the gas-liquid interface, improving the robot's stability in both liquid and gas fluid media. It has the stability and reliability of wall-climbing operations and can freely switch between wall-climbing operations at the interface of two fluid media, which expands the application scope of wall-climbing robots.

Description of drawings

Figure 1 is a perspective view of the overall structure of the amphibious wall-climbing special work robot of the present invention.

Figure 2 is a bottom view of the amphibious wall-climbing special work robot of the present invention.

Figure 3 is a left view of the amphibious wall-climbing special work robot of the present invention.

Fig. 4 is a cross-sectional view taken along line A-A in Fig. 3 .

FIG. 5 is an enlarged structural view of part C in FIG. 4 .

Figure 6 is a perspective view of the overall structure of the flow channel control assembly of the present invention.

Figure 7 is a perspective view of the overall structure of the flow channel control assembly of the present invention with the fixed shell removed.

Figure 8 is a top view of the flow channel control assembly of the present invention with the fixed shell removed.

Figure 9 is a front view of the flow channel control assembly of the present invention with the fixed shell removed.

Figure 10 is a schematic structural diagram of the trapezoidal fan blades of the flow channel control assembly of the present invention in a vertical state.

Figure 11 is a schematic structural diagram of the trapezoidal fan blades of the flow channel control assembly of the present invention in a horizontal state.

Figure 12 is a perspective view of the overall structure of the adsorption assembly of the present invention.

Figure 13 is a front view of the adsorption assembly of the present invention.

FIG. 14 is a cross-sectional view taken along the line B-B in FIG. 13 .

FIG. 15 is an enlarged structural view of part D in FIG. 14 .

FIG. 16 is an enlarged structural view of part E in FIG. 14 .

FIG. 17 is an enlarged structural view of part F in FIG. 14 .

In the figure, 1. Robot body, 2. Flow channel control component, 3. Adsorption component, 4. Movement component, 5. Working load tool, 11. Frame, 12. Floating block, 13. Base plate, 21. Component body, 22 , control motor, 23. diversion device, 24. flow control device, 211. fixed ring, 212. fixed shell, 241. trapezoidal fan blade, 242. guide shaft, 243. drive shaft, 244. bearing seat, 245. drive Gear, 246. Reversing gear, 247. Reversing shaft one, 31. Adsorption power motor, 32. Power transmission component, 33. Self-generating component, 34. Blade pitch adjustment component, 35. Propeller, 36. Propeller hub, 37. Guide tube, 321. Base body, 322. Coupling, 323. Power input shaft, 324. Reversing bevel gear, 325. First support bearing, 326. Reversing shaft two, 327. Power bevel gear, 3241 , first reversing bevel gear, 3242, second reversing bevel gear, 3261, first reversing shaft, 3262, second reversing shaft, 3263, key, 3264, second support bearing, 331, magnet, 332, First excitation coil, 333. First receiving coil, 334. Second excitation coil, 335. Second receiving coil, 341. First pitch adjustment module, 342. Second pitch adjustment module, 3411. First pitch adjustment Motor, 3412, first hollow coupling, 3413, first pitch-adjustable power bevel gear, 3414, first pitch-adjustable synchronous bevel gear, 3421, second pitch-adjustable motor, 3422, second hollow coupling, 3423, Second pitch-adjustable power bevel gear, 3424, second pitch-adjustable synchronous bevel gear, 3425, third support bearing, 351, propeller blade, 352, stern shaft, 353, stern shaft bearing, 361, propeller column, 362, cover plate , 363. Windshield, 3611. First propeller column, 3612. Second propeller column, 3621. Propeller column upper cover, 3622. Propeller column lower cover, 41. Gear train, 42. Motion drive module.

Detailed ways

The following are specific embodiments of the present invention to further describe the technical solution of the present invention, but the protection scope of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the protection scope of the present invention.

As shown in Figure 1-4, an amphibious wall-climbing special operation robot includes:

The robot body 1 is used to install and fix various components of the robot;

The flow channel control component 2 installed at the top center of the robot body 1 is used to adjust the fluid flow and flow speed;

The adsorption component 3 is provided at the bottom of the robot body 1. The adsorption component 3 is located below the flow channel control component 2 and is connected to the flow channel control component 2. The adsorption component 3 is used to provide the adsorption force required for the robot to crawl on the wall;

Several motion components 4 arranged at the bottom of the robot body 1 are used to drive the robot to complete wall crawling motion.

The motion component 4 is an important mechanism that drives the robot to complete the wall crawling motion. It can be a wheel-type, crawler-type or other moving mechanism. In the present invention, a wheel-type mechanism is used. The motion component 4 includes a gear train 41 and a motion drive module 42. The driving module 42 drives the gear train 41 to drive the robot body 1 to move. Both the gear train 41 and the motion drive module 42 adopt existing technology, and their specific structures will not be described in detail in the present invention.

As shown in Figure 6, the flow channel control assembly 2 includes a body 21, a control motor 22, a flow guide device 23 and a flow control device 24. The body 21 is annular, and the top of the robot body 1 is provided with a circular ring that is adapted to the body 21. The main body 21 is installed and fixed at the circular through hole on the top of the robot body 1. The flow control device 24 is installed in the main body 21. The flow guide device 23 is set in the center of the main body 21. The inner end of the flow control device 24 is connected with the guide device 23. The outer wall of the flow device 23 is connected, and the control motor 22 is installed on the outside of the body 21. The output shaft of the control motor 22 passes through the body 21 and is connected to the outer end of the flow control device 24. The control motor 22 drives the flow control device 24 to adjust the flow channel cross-section size. , thereby regulating the fluid flow through the flow channel control assembly 2.

The body 21 includes a fixed ring 211 and a fixed shell 212. The fixed ring 211 is sealingly connected to the circular through hole on the top of the robot body 1. The fixed shell 212 is arranged and wrapped around the outside of the fixed ring 211. There is a gap between the fixed shell 212 and the fixed ring 211. An annular cavity is formed.

As shown in Figures 7-9, the flow control device 24 includes: a trapezoidal fan blade 241, a guide shaft 242, a driving shaft 243, a bearing seat 244, a driving gear 245, a reversing gear 246, a reversing shaft 247, a fixed ring 211 There are a number of driving gears 245 evenly distributed on the outer wall. The number of the reversing gears 246 is one less than the number of the driving gears 245. One side of the driving gear 245 and the reversing gears 246 are arranged in sequence, and the adjacent driving gears 245 are connected to the reversing gears. The gears 246 are meshed and connected in sequence. There is no reversing gear 246 between the other side of the initial driving gear 245 and the end driving gear 245. The driving gear 245 and the reversing gear 246 are both installed on the fixed ring 211 through the bearing seat 244. On the outer wall, the reversing gear 246 is rotatably connected to the bearing seat 244 through the reversing shaft 247, the driving gear 245 is rotatably connected to the bearing seat 244 through the driving shaft 243, the number of the trapezoidal fan blades 241 is consistent with the number of the driving gear 245 and the position corresponds , the inner end of the trapezoidal fan blade 241 is rotatably connected to the outer wall of the flow guide 23 through the guide shaft 242, and the outer end of the trapezoidal fan blade 241 passes through the guide shaft 242 through the fixed ring 211 and is connected to the bearing seat 244 connected to the drive shaft 243, The initial drive gear 245 is connected to the output shaft of the control motor 22. The control motor 22 drives the initial drive gear 245 to rotate. Through the sequential meshing connection of the drive gear 245 and the reversing gear 246, all drives connected to the outer wall of the fixed ring 211 are driven. The gear 245 rotates synchronously, and the driving gear 245 is driven by the connection between the driving shaft 243, the bearing seat 244, and the guide shaft 242, thereby driving the trapezoidal fan blade 241 to rotate to adjust the angle and attitude, and finally realize the flow between the fixed ring 211 and the guide device 23. Channel section size adjustment.

The inner wall of the fixed ring 211 is a concave arc-shaped surface with a large middle diameter and small upper and lower top surface diameters. The outer wall of the flow guide 23 is a convex arc-shaped surface with a large middle diameter and small upper and lower top surface diameters. The trapezoidal fan blades 241 and One end connected to the air guide device 23 is an inner concave arc surface that is adapted to the outer wall of the air guide device 23, and one end connected to the trapezoidal fan blade 241 and the fixed ring 211 is an outer convex arc surface adapted to the inner wall of the fixed ring 211. When all the trapezoidal fan blades 241 rotate to the horizontal position, the adjacent trapezoidal fan blades 241 and the trapezoidal fan blades 241 and the fixed ring 211 and the flow guide device 23 are tightly sealed, thereby realizing the connection between the fixed ring 211 and the flow guide device 23. The annular flow channel between them is completely closed, as shown in Figure 11; when all the trapezoidal fan blades 241 rotate to the vertical position, the cross section of the flow channel between the fixed ring 211 and the guide device 23 is the largest, as shown in Figure 10. The driving shaft 243, the bearing seat 244, the driving gear 245, the reversing gear 246, and the reversing shaft 247 are all located in the annular cavity between the fixed shell 212 and the fixed ring 211.

As shown in Figures 5 and 12, the adsorption component 3 includes an adsorption power motor 31, a power transmission component 32, a self-generating component 33, a blade pitch adjustment component 34, a propeller 35, a propeller hub 36, a guide tube 37, and a guide tube 37 Arranged directly below the flow channel control assembly 2, the power transmission assembly 32, the self-generating assembly 33, the blade pitch adjustment assembly 34, the propeller 35, and the propeller hub 36 are all located in the guide tube 37. The propeller hub 36 is provided with two groups. , each set of propeller hubs 36 includes a propeller column 361, and the propeller column 361 includes a first propeller column 3611 and a second propeller column 3612. The first propeller column 3611 and the second propeller column 3612 are arranged coaxially up and down. The first propeller column 3611 and The second propeller column 3612 is provided with a plurality of propellers 35. The first propeller column 3611 and the second propeller column 3612 are each provided with a blade pitch adjustment assembly 34. The blade pitch adjustment assembly 34 is connected to the propeller 35 for adjusting the propeller. The blade pitch is 35; the adsorption power motor 31 is laterally installed and fixed inside the robot body 1, the top of the power transmission assembly 32 is connected and fixed to the robot body 1, the output shaft of the adsorption power motor 31 is connected to the power transmission assembly 32, and the first propeller column 3611 and the second propeller column 3612 are arranged in sequence below the power transmission assembly 32. The power transmission assembly 32 is connected to the first propeller column 3611 and the second propeller column 3612 respectively and drives the first propeller column 3611 and the second propeller column 3612 to rotate. A self-generating assembly 33 is provided below the transmission assembly 32. The self-generating assembly 33 is used to power the blade pitch adjustment assembly 34 in the first propeller column 3611 and the second propeller column 3612.

As shown in Figures 5, 12, 14, and 15, the power transmission assembly 32 includes a base body 321, a coupling 322, a power input shaft 323, a reversing bevel gear 324, a first support bearing 325, a reversing shaft 2 326, and a power umbrella. Teeth 327, the base 321 is connected and fixed to the robot body 1, the power input shaft 323, the reversing bevel gear 324, the first support bearing 325, the second reversing shaft 326 and the power bevel gear 327 are all arranged in the base 321 and fixed on the guide At the upper center of the inside of the barrel 37, the reversing bevel gear 324 includes a first reversing bevel gear 3241 and a second reversing bevel gear 3242. The second reversing bevel gear 3242 is located below the first reversing bevel gear 3241 and is coaxial. center, the second reversing shaft 326 includes a first reversing shaft 3261 and a second reversing shaft 3262. The second reversing shaft 3262 is sleeved on the first reversing shaft 3261 and the inner diameter of the second reversing shaft 3262 is larger than the first reversing shaft 3262. The outer diameter of the reversing shaft 3261, the first reversing shaft 3261 can realize non-contact rotation in the second reversing shaft 3262, the adsorption power motor 31 is connected to one end of the power input shaft 323 through the coupling 322, and the power input shaft The other end of 323 is connected with a power bevel tooth 327. The first reversing bevel tooth 3241 and the second reversing bevel tooth 3242 are meshed and connected with the power bevel tooth 327. The second reversing bevel tooth 3242 is sleeved and fixed on the second reversing bevel tooth. The upper part of the shaft 3262 and the bottom of the second reversing shaft 3262 are connected and fixed with the first propeller post 3611. The first reversing bevel gear 3241 is fixedly connected with the top of the first reversing shaft 3261. The bottom of the first reversing shaft 3261 faces It passes through the second reversing shaft 3262 and the first propeller column 3611 and is connected and fixed with the second propeller column 3612. The first reversing shaft 3261 can rotate without contact in the second reversing shaft 3262 and the first propeller column 3611. , the first reversing bevel gear 3241, the second reversing bevel gear 3242 and the power bevel gear 327 are respectively installed inside the base body 321 through the first support bearing 325.

The adsorption power motor 31 drives the power input shaft 323 and the power bevel gear 327 to rotate. Through the meshing effect of the power bevel gear 327 with the first reversing bevel gear 3241 and the second reversing bevel gear 3242, the first reversing bevel gear 3241 drives the second reversing bevel gear 3241. A reversing shaft 3261 rotates, thereby driving the second propeller column 3612 and the propeller 35 on the second propeller column 3612 to rotate as a whole; the second reversing bevel gear 3242 drives the second reversing shaft 3262 to rotate, thereby driving the first propeller column 3611 And the propeller 35 on the first propeller column 3611 rotates as a whole.

As shown in Figure 12-14, the second reversing shaft 326 also includes a key 3263 and a second support bearing 3264. There are two keys 3263, which are respectively arranged horizontally on the first propeller column 3611 and the second propeller column 3612. The first propeller One end of the key 3263 on the column 3611 is fixed on the first propeller column 3611, and the other end is fixedly connected on the second reversing shaft 3262, so that when the second reversing shaft 3262 rotates, it drives the first propeller column 3611 to rotate as a whole; One end of the key 3263 on the propeller column 3612 is fixed on the second propeller column 3612, and the other end is fixedly connected to the first reversing shaft 3261, so that when the first reversing shaft 3261 rotates, it drives the second propeller column 3612 to rotate as a whole; There are four second support bearings 3264, which are respectively arranged in the upper and lower parts of the first propeller column 3611 and the second propeller column 3612 from top to bottom, and the second support bearing 3264 is in contact with the first propeller column 3611 and the second propeller column. The column 3612 is coaxial. The inner diameter of the two second support bearings 3264 in the first propeller column 3611 is larger than the outer diameter of the first reversing shaft 3261. The second propeller column 3612 is connected to the first reversing shaft through the two second support bearings 3264. Connect to shaft 3261.

As shown in Figure 14, the self-generating component 33 includes a magnet 331, a first excitation coil 332, a first receiving coil 333, a second excitation coil 334, and a second receiving coil 335. The magnet 331 is fixedly installed on the bottom of the base 321 and is in an annular shape. Distribution, N and S directions are arranged as needed and can achieve electromagnetic induction effect with the first receiving coil 333. The outside of the magnet 331 is close to the first receiving coil 333. The first excitation coil 332 is horizontally disposed in the base 321 above the magnet 331. The magnet 331 and the first receiving coil 333 are both located at the top of the first paddle 3611, and the magnet 331 and the first receiving coil 333 are located at the top of the first paddle 3611. A receiving coil 333 is located on the same horizontal plane, a second excitation coil 334 is provided at the bottom of the first paddle 3611, and a second receiving coil 335 is provided at the top of the second paddle 3612.

When the adsorption power motor 31 is started, the second reversing shaft 3262 is driven to rotate through the transmission functions of the coupling 322, the power input shaft 323, the power bevel gear 327, and the second reversing bevel gear 3242. The second reversing shaft 3262 The first propeller post 3611 is driven to rotate, and the first receiving coil 333 on the first propeller post 3611 rotates around the magnet 331. The first receiving coil 333 generates an induced current by cutting the magnetic lines of force generated by the magnet 331; on the one hand, the first receiving coil 333 Supplies power to the blade pitch adjustment component 34 in the first propeller column 3611. On the other hand, the first receiving coil 333 supplies power to the second excitation coil 334 at the bottom of the first propeller column 3611, and then the second excitation coil 334 generates an excitation magnetic field. , the second receiving coil 335 in the second propeller column 3612 generates an induced current through the principle of electromagnetic induction to achieve contactless power generation, and supplies power to the blade pitch adjustment component 34 in the second propeller column 3612.

As a backup preferred solution, when the adsorption power motor 31 is not started, the pitch adjustment function of the propeller can also be realized. Specifically, the first excitation coil 332 is powered by an external power supply, the first excitation coil 332 generates a magnetic field, and the first receiving coil 333 passes Electromagnetic induction realizes power generation. On the one hand, the first receiving coil 333 supplies power to the blade pitch adjustment component 34 in the first propeller column 3611. On the other hand, the first receiving coil 333 supplies power to the second propeller pitch adjustment assembly 34 in the first propeller column 3611. The excitation coil 334 supplies power and excites the magnetic field. The second receiving coil 335 in the second propeller column 3612 supplies power to the blade pitch adjustment component 34 in the second propeller column 3612 through electromagnetic induction of the magnetic field generated by the second excitation coil 334.

In another embodiment of the present invention, the second excitation coil 334 can be replaced by a magnet to generate a magnetic field for cutting by the second receiving coil 335. The second receiving coil 335 supplies power to the blade pitch adjustment assembly 34 in the second propeller column 3612.

As shown in FIG. 14 , the blade pitch adjustment assembly 34 includes a first pitch adjustment module 341 and a second pitch adjustment module 342 .

As shown in Figure 16, the first pitch adjustment module 341 is provided in the first propeller column 3611. The first pitch adjustment module 341 includes a first pitch motor 3411, a first hollow coupling 3412, a first pitch power Bevel teeth 3413 and several first pitch-adjustable synchronous bevel teeth 3414. The first pitch-adjustable motor 3411 is fixedly installed in the lower part of the first propeller column 3611. The first receiving coil 333 supplies power to the first pitch-adjustable motor 3411. The output end of the pitch motor 3411 is connected to the first pitch-adjustable power bevel gear 3413 through the first hollow coupling 3412. The first pitch-adjustable power bevel gear 3413 is located in the upper part of the first propeller column 3611. The first pitch-adjustable power bevel gear 3413 The top is connected to the second support bearing 3264. The number of the first pitch-adjustable synchronous bevel teeth 3414 is consistent with the number of propellers 35 on the first propeller column 3611. One end of the first pitch-adjustable synchronous bevel teeth 3414 is fixed to the corresponding propeller 35. connection, and the other end is meshed with the first pitch-adjustable power bevel gear 3413. The first pitch-adjustable motor 3411, the first hollow coupling 3412, and the first pitch-adjustable power bevel gear 3413 are all hollow shaft structures, and the hollow structure is the third A reversing shaft 3261 penetrates the reserved space of the first pitch-adjustable power bevel gear 3413 without contact, and the inner diameter of the hollow structure is larger than the outer diameter of the first reversing shaft 3261; the first pitch-adjustable motor 3411 passes through the first hollow coupling 3412 The first pitch-adjustable power bevel gear 3413 is driven to rotate, thereby driving several first pitch-adjustable synchronous bevel gears 3414 in meshing connection to rotate, thereby driving the propeller 35 to rotate, thereby realizing the angle and pitch adjustment of the propeller 35 blades of the first propeller column 3611.

As shown in Figure 17, the second pitch adjustment module 342 includes a second pitch motor 3421, a second hollow coupling 3422, a second pitch power bevel gear 3423, a third support bearing 3425 and several second pitch adjustment modules. Synchronous bevel gear 3424, the second pitch-adjustable motor 3421 is fixedly installed in the lower part of the second propeller column 3612, the second receiving coil 335 supplies power to the second pitch-adjustable motor 3421, and the output shaft of the second pitch-adjustable motor 3421 passes through the second hollow The coupling 3422 is connected to the second pitch-adjustable power bevel tooth 3423. The second pitch-adjustable power bevel tooth 3423 is located at the upper part of the second propeller column 3612. The top of the second pitch-adjustable power bevel tooth 3423 is connected to the third pitch-adjustable bevel tooth 3425 through the third support bearing 3425. The two propeller columns 3612 are connected, the third support bearing 3425 is located on the axis below the inner top of the second propeller column 3612, the outer end face is fixed inside the second propeller column 3612, and the inner end face is sleeved on the outer end face of the second pitch-adjustable power bevel gear 3423 On the circumference, the second pitch-adjustable power bevel gear 3423 rotates relative to the second propeller column 3612. The key 3263 of the second propeller column 3612 is transversely disposed on the third support bearing 3425 and the second support bearing 3264 at the top of the second propeller column 3612. The number of the second pitch-adjustable synchronous bevel teeth 3424 is consistent with the number of propellers 35 on the second propeller column 3612. One end of the second pitch-adjustable synchronous bevel teeth 3424 is fixedly connected to the corresponding propeller 35, and the other end is connected to the second propeller 35. The two pitch-adjustable power bevel gears 3423 are meshed and connected. The second pitch-adjustable motor 3421, the second hollow coupling 3422, and the second pitch-adjustable power bevel gear 3423 are all hollow shaft structures. The hollow structure is that the first reversing shaft 3261 has no contact. A space is reserved for the first pitch-adjustable power umbrella teeth 3413 longitudinally, and the inner diameter of the hollow structure is larger than the outer diameter of the first reversing shaft 3261; the second pitch-adjustable motor 3421 drives the second pitch-adjustable power umbrella through the second hollow coupling 3422 The teeth 3423 rotate, thereby driving several second pitch-adjustable synchronous bevel teeth 3424 in meshing connection to rotate, thereby driving the propeller 35 to rotate, thereby realizing the angle and pitch adjustment of the propeller 35 blades of the second propeller column 3612.

As shown in Figure 16, the propeller 35 includes a propeller blade 351, a stern shaft 352 and a stern shaft bearing 353. The propeller blade 351 is fixedly connected to the outer end of the stern shaft 352, and the inner end of the stern shaft 352 is connected to the corresponding third through the stern shaft bearing 353. The first pitch-adjustable synchronous bevel tooth 3414 and the second pitch-adjustable synchronous bevel tooth 3424 are connected and fixed.

As shown in Figures 12 and 14, the propeller hub 36 also includes a cover plate 362 and a deflector 363. The cover plate 362 includes a propeller column upper cover 3621 and a propeller column lower cover 3622, a first propeller column 3611 and a second propeller column. The top of the propeller column 3622 is provided with a propeller column upper cover 3621, the bottoms of the first propeller column 3611 and the second propeller column 3622 are both provided with a propeller column lower cover 3622, and the deflector 363 is provided below the second propeller column 3622. The air deflector is connected and fixed to the bottom end of the first reversing shaft 3261.

Preferably, a power conditioning module and a motor control module circuit can be provided between the first receiving coil 333 and the first pitch-adjustable motor 3411, and between the first receiving coil 333 and the second excitation coil 334 to realize magnetic field excitation control and motor control respectively. , realizing efficient electromagnetic induction discovery and propeller pitch adaptive control.

Also preferably, a motor control module circuit can be provided between the second excitation coil 334 and the second pitch-adjustable motor 3421 to achieve adaptive control of the propeller pitch in the second pitch adjustment module 342 .

Preferably, the propeller pitch adjustment angles in the first pitch adjustment module 341 and the second pitch adjustment module 342 can be independently adjusted according to actual conditions and are not coupled, thereby achieving high efficiency and adaptive characteristics of fluid propulsion.

Preferably, the number of blades 351 in the first pitch adjustment module 341 and the second pitch adjustment module 342 can be set as needed to achieve the most efficient propulsion of the fluid.

As shown in Figures 1 and 2, the robot body 1 includes a frame 11. The frame 11 is used to install and connect the flow channel control component 2, the adsorption component 3 and the movement component 4. The bottom of the frame 11 is provided with a bottom plate 13 for forming a negative pressure adsorption channel. , the outer peripheral bottom of the frame 11 is provided with a floating block 12, which is used to generate buoyancy for the robot body in the liquid medium. The fluid flow direction is generally from the channel between the bottom plate 13 and the wall to the flow channel control assembly 2 through the flow guide tube 37 .

The motion component 4 is an important mechanism that drives the robot to complete the wall crawling motion. It can be a wheel-type, crawler-type or other moving mechanism. In the present invention, a wheel-type mechanism is used. The motion component 4 includes a gear train 41 and a motion drive module 42. The driving module 42 drives the gear train 41 to drive the robot body 1 to move.

For wall-climbing special work robots, in addition to the above basic components, it can also be equipped with corresponding work load tools 5 as needed. The work load tools 5 are cavitation cleaning systems, robotic arm operating systems and other devices. For example, it is equipped with a cleaning nozzle as a working module to achieve cleaning effects on wall surfaces. In addition to the cleaning nozzle, the work load tool 5 can also be equipment such as a cleaning disk, a mechanical arm, and a detection sensor.

The working method of the amphibious wall-climbing special operation robot of the present invention includes a crawling movement method of the robot in an adsorption state on the wall surface, and an adsorption adjustment method of the robot in different fluid media.

The crawling movement method of the robot while adsorbing on the wall, the steps are as follows:

1) The adsorption power motor 31 drives the power bevel gear 327 to rotate through the power input shaft 323, thereby driving the first reversing bevel gear 3241 and the second reversing bevel gear 3242 that are meshed with the power bevel gear 327 to rotate. The teeth 3241 drive the first reversing shaft 3261 fixedly connected with it to rotate. The first reversing shaft 3261 is fixedly connected to the second propeller column 3612 through the key 3263, and then drives the second propeller column 3612 and the propeller 35 on the second propeller column 3612. Rotate; the second reversing bevel teeth 3242 drive the second reversing shaft 3262 to rotate. The second reversing shaft 3262 is fixedly connected to the first propeller column 3611 through the key 3263, and then drives the first propeller column 3611 and the first propeller column 3611 to move upward. The propeller 35 rotates as a whole.

2) The propeller drives the fluid to flow. The fluid flows upward from between the bottom plate 13 and the wall of the robot body through the guide tube 37 and is discharged through the flow channel control assembly 2. The cross-sectional area of the flow channel is small and the flow speed is fast. According to Bernoulli's equation: It is known that the pressure is small where the flow speed is high, and the pressure is strong where the flow speed is low. Therefore, the fluid pressure in the channel between the bottom plate 13 and the wall of the robot body 1 and the flow guide tube 37 and the flow guide device 23 is smaller than the outside, thereby realizing the fluid flow. The pressure squeezes the robot body 1 against the wall, and the robot realizes the negative pressure adsorption function.

3) By controlling the motion component 4 to perform forward and backward movement and steering functions, the robot can crawl on the wall.

The adsorption adjustment method of robots in different fluid media, the steps are as follows:

1) When the fluid medium is gas, due to the low viscosity of the fluid, the pitch of the blades 351 of the propeller 35 is increased and the cross-sectional size of the fluid channel of the flow channel control assembly 2 is reduced:

a. The first pitch-adjustable motor 3411 rotates forward and drives the first pitch-adjustable power bevel gear 3413 to rotate through the first hollow coupling 3412, thereby driving a number of first pitch-adjustable bevel gears 3413 meshed and connected to the first pitch-adjustable bevel gear 3413 for synchronization. The bevel teeth 3414 rotate, and the first pitch-adjustable synchronous bevel teeth 3414 are fixedly connected to the stern shaft 352 of the propeller 35, and the blades 351 are fixedly connected to the stern shaft 352, thereby driving the blades 351 to rotate and increasing the propeller force on the first propeller column 3611. The pitch of blade 351; similarly, the second pitch-controlled motor 3421 rotates forward, ultimately increasing the pitch of blade 351 on the second propeller column 3612;

b. Control the motor 22 to rotate forward, driving the initial driving gear 245 to rotate. Through the meshing effect of the adjacent driving gear 245 and the reversing gear 246, all the driving gears 245 on the outer wall of the fixed ring 21 are driven to rotate synchronously. 245 is connected to the guide shaft 242 on the inner wall of the fixed ring 21 through the drive shaft 243 and the bearing seat 244, and then drives the guide shaft 242 and the trapezoidal fan blade 241 connected to the guide shaft 242 to rotate synchronously. The trapezoidal fan blade 241 is located between the fixed ring 21 and the flow guide. Between the devices 23, when the trapezoidal fan blade 241 rotates to a horizontal or nearly horizontal state, the cross-section of the fluid channel between the fixed ring 21 and the guide device 23 gradually decreases. The rotation angle of the trapezoidal fan blade 241 is selected as needed. When the trapezoidal fan blade 241 is When the fan blades 241 rotate to a horizontal or nearly horizontal state, the space between the trapezoidal fan blades 241 , the space between the trapezoidal fan blades 241 and the guide device 23 , and the space between the trapezoidal fan blades 241 and the fixed ring 21 are all completely sealed, and the fluid can only flow from the guide device 23 . Pass through the inner wall flow channel of the flow device 23;

2) When the fluid medium is liquid, due to the increase in fluid viscosity, the pitch of the blades 351 of the propeller 35 is reduced and the cross-sectional size of the fluid channel of the flow channel control assembly 2 is increased: the first pitch-adjustable motor 3411 is reversed and finally drives The propeller blades 351 rotate in reverse direction to reduce the pitch of the blades 351 on the first propeller column 3611; the second pitch-adjustable motor 3421 rotates in the reverse direction to finally reduce the pitch of the blades 351 on the second propeller column 3612; the control motor 22 reverses the rotation direction. rotation, eventually driving the trapezoidal fan blade 241 to rotate to a vertical or nearly vertical state. The cross-section of the fluid channel between the fixed ring 21 and the guide device 23 gradually increases. The rotation angle of the trapezoidal fan blade 241 is selected as needed. When the trapezoidal fan blade 241 When rotated to a vertical or nearly vertical state, the fluid channel cross-section between the fixed ring 21 and the flow guide device 23 reaches the maximum;

3) When the robot is at the gas-liquid interface, adjust the forward and reverse rotation of the first pitch-adjustable motor 3411 and the second pitch-adjustable motor 3421 as needed to adjust the propeller pitch, and adjust the amplitude as needed to the maximum pitch and In the state between the minimum value, the forward and reverse rotation of the motor 22 is synchronously controlled to adjust the posture of the trapezoidal fan blade 241, and the amplitude is adjusted as needed to the state between the horizontal and vertical blades, thereby achieving a balance of fluid flow and speed. , the adsorption force of the robot body 1 on the wall at the gas-liquid interface is accurately controllable, so that the robot body 1 can stably adsorb and move from the gas medium to the liquid medium or from the liquid medium to the gas medium.

The present invention is not limited to the above embodiments. Anyone should know that structural changes made under the inspiration of the present invention, and any technical solutions that are the same or similar to the present invention, fall within the protection scope of the present invention.

The technology, shape, and structural parts not described in detail in the present invention are all known technologies.

Claims (10)

1. An amphibious wall climbing special operation robot, which is characterized by comprising:

the robot body is used for installing and fixing all parts of the robot;

The flow channel control assembly is arranged at the center of the top of the robot body and is used for adjusting the flow rate and the flow velocity of the fluid;

the adsorption component is arranged at the inner bottom of the robot body, is positioned below the flow passage control component and is communicated with the flow passage control component, and is used for providing adsorption force required by crawling on the wall surface of the robot;

the robot comprises a robot body and a plurality of motion components arranged at the bottom of the robot body and used for driving the robot to finish wall crawling motion.

2. The amphibious wall climbing special operation robot according to claim 1, wherein the flow channel control assembly comprises a body, a control motor, a flow guiding device and a flow control device, the body is in a circular shape, a circular through hole which is adaptive to the body is formed in the top of the robot body, the body is fixedly arranged at the circular through hole in the top of the robot body, the flow control device is arranged in the body, the flow guiding device is arranged in the center of the body, the inner end of the flow control device is connected with the outer wall of the flow guiding device, the control motor is arranged on the outer side of the body, an output shaft of the control motor penetrates through the body and is connected with the outer end of the flow control device, and the control motor drives the flow control device to adjust the section size of the flow channel so as to adjust the flow of fluid passing through the flow channel control assembly.

3. The amphibious wall-climbing special operation robot according to claim 2, wherein the body comprises a fixed ring and a fixed shell, the fixed ring is in sealing connection with a circular through hole at the top of the robot body, the fixed shell is arranged and enveloped on the outer side of the fixed ring, and an annular cavity is formed between the fixed shell and the fixed ring;

the flow control device includes: the device comprises trapezoid fan blades, a guide shaft, a driving shaft, a bearing seat, driving gears, reversing gears and a reversing shaft I, wherein a plurality of driving gears are uniformly distributed on the outer wall of a fixed ring, the number of the reversing gears is one less than that of the driving gears, one side of each driving gear is sequentially arranged at intervals with the reversing gears, adjacent driving gears are sequentially meshed with the reversing gears, no reversing gears are arranged between the other side of the initial driving gear and the driving gear at the tail end, the driving gears and the reversing gears are all arranged on the outer wall of the fixed ring through the bearing seat, the reversing gears are rotationally connected with the bearing seat through the reversing shaft I, the driving gears are rotationally connected with the bearing seat through the driving shaft I, the number of trapezoid fan blades is consistent with the number of the driving gears and correspond to the position, the inner ends of the trapezoid fan blades are rotationally connected to the outer wall of a flow guiding device through the guide shaft, the outer ends of the trapezoid fan blades penetrate through the fixed ring and are connected with the bearing seat connected with the driving shaft, the initial driving gear is connected with an output shaft of a control motor, the control motor drives the initial driving gear to rotate, all driving gears connected with the outer wall of the fixed ring are sequentially meshed and are driven to rotate synchronously, the driving gears are driven to rotate, the driving gears and the trapezoid fan blades are connected with the outer wall of the fixed ring through the driving gears, the driving shaft and the driving gear are correspondingly connected with the driving gears to the driving shaft and the driving gear are respectively;

The inner wall of the fixed ring is a concave arc surface with a large middle diameter and a small upper and lower top surface diameters, the outer wall of the flow guiding device is a convex arc surface with a large middle diameter and a small upper and lower top surface diameters, one end of each trapezoidal fan blade connected with the flow guiding device is a concave arc surface matched with the outer wall of the flow guiding device, one end of each trapezoidal fan blade connected with the fixed ring is a convex arc surface matched with the inner wall of the fixed ring, and when all the trapezoidal fan blades rotate to a horizontal position, the adjacent trapezoidal fan blades and the trapezoidal fan blades, the fixed ring and the flow guiding device are bonded and sealed, so that the annular flow passage between the fixed ring and the flow guiding device is completely closed; the driving shaft, the bearing seat, the driving gear, the reversing gear and the reversing shaft I are all positioned in the annular cavity between the fixed shell and the fixed ring.

4. The amphibious wall-climbing special operation robot according to claim 1, wherein the adsorption assembly comprises an adsorption power motor, a power transmission assembly, a self-generating assembly, a blade pitch adjusting assembly, a propeller hub and a guide cylinder, the guide cylinder is arranged right below the flow passage control assembly, the power transmission assembly, the self-generating assembly, the blade pitch adjusting assembly, the propeller and the propeller hub are all arranged in the guide cylinder, the propeller hub is provided with two groups, each group of propeller hubs comprises a first propeller column and a second propeller column, the first propeller column and the second propeller column are arranged up and down coaxially, a plurality of propellers are arranged on the first propeller column and the second propeller column, and the blade pitch adjusting assembly is connected with the propeller and used for adjusting the pitch of the propeller; the power transmission assembly is connected with the first oar post and the second oar post respectively, drives the first oar post and the second oar post to rotate, and the below of power transmission assembly is equipped with from generating assembly, and from generating assembly is used for supplying power for the blade pitch adjustment assembly in the first oar post and the second oar post.

5. The amphibious wall climbing special operation robot according to claim 4, wherein the power transmission assembly comprises a base body, a coupler, a power input shaft, reversing bevel gears, a first supporting bearing, a reversing shaft II and power bevel gears, wherein the base body is fixedly connected with the robot body, the power input shaft, the reversing bevel gears, the first supporting bearing, the reversing shaft II and the power bevel gears are all arranged in the base body, the reversing bevel gears comprise a first reversing bevel gear and a second reversing bevel gear, the second reversing bevel gear is positioned below the first reversing bevel gear and is coaxial, the reversing shaft II comprises a first reversing shaft and a second reversing shaft, the second reversing shaft is sleeved on the first reversing shaft, the inner diameter of the second reversing shaft is larger than the outer diameter of the first reversing shaft, the first reversing shaft can rotate in the second reversing shaft in a non-contact manner, the adsorption power motor is connected with one end of the power input shaft through the coupler, the other end of the power input shaft is connected with the power bevel gears, the first reversing bevel gear and the second reversing bevel gear are both meshed with the power bevel gears, a second reversing bevel gear sleeve is arranged below the first reversing bevel gear and the second reversing bevel gear, the second reversing shaft II is fixedly arranged on the first reversing shaft and the second reversing shaft II is fixedly connected with the first reversing shaft and the second bevel gear through the first reversing shaft and the second reversing shaft, the first reversing shaft and the second reversing shaft is fixedly connected with the bottom of the first reversing shaft and the second reversing shaft II is fixedly arranged on the first reversing shaft and the second reversing shaft;

The adsorption power motor drives the power input shaft and the power bevel gear to rotate, and the first reversing bevel gear drives the first reversing shaft to rotate through the meshing action of the power bevel gear, the first reversing bevel gear and the second reversing bevel gear, so that the second propeller post and the propeller on the second propeller post are driven to integrally rotate; the second reversing umbrella tooth drives the second reversing shaft to rotate, so that the first propeller post and the propeller on the first propeller post are driven to integrally rotate;

the second reversing shaft further comprises two keys and a second supporting bearing, wherein the two keys are respectively and horizontally arranged on the first paddle column and the second paddle column, one end of each key on the first paddle column is fixed on the first paddle column, and the other end of each key is fixedly connected to the second reversing shaft, so that the second reversing shaft drives the first paddle column to integrally rotate when rotating; one end of a key on the second paddle column is fixed on the second paddle column, and the other end of the key is fixedly connected to the first reversing shaft, so that the second paddle column is driven to integrally rotate when the first reversing shaft rotates; the second support bearings are four and are respectively arranged at the upper part and the lower part in the first paddle column and the second paddle column from top to bottom, and the second support bearings are coaxial with the first paddle column and the second paddle column.

6. The amphibious wall climbing special operation robot according to claim 4, wherein the self-power generation assembly comprises a magnet, a first exciting coil, a first receiving coil, a second exciting coil and a second receiving coil, wherein the magnet is fixedly arranged at the bottom of a base body and distributed in a ring shape, the magnet is arranged in a N, S direction according to requirements and can realize an electromagnetic induction effect with the first receiving coil, the outer side of the magnet is close to the first receiving coil, the first exciting coil is horizontally arranged in the base body above the magnet, the magnet and the first receiving coil are both positioned at the top in a first paddle column, the magnet and the first receiving coil are positioned on the same horizontal plane, the bottom in the first paddle column is provided with the second exciting coil, and the top in the second paddle column is provided with the second receiving coil;

When the adsorption power motor is started, the second reversing shaft is driven to rotate under the transmission action of the coupler, the power input shaft, the power bevel gear and the second reversing bevel gear in sequence, the second reversing shaft drives the first paddle column to rotate, the first receiving coil on the first paddle column rotates around the magnet, and the first receiving coil generates induction current through magnetic force lines generated by cutting the magnet; on one hand, the first receiving coil supplies power for a blade pitch adjusting component in the first propeller post, on the other hand, the first receiving coil supplies power for a second exciting coil at the bottom in the first propeller post, then the second exciting coil generates an exciting magnetic field, and the second receiving coil in the second propeller post generates induced current through an electromagnetic induction principle so as to realize non-contact power generation and supply power for the blade pitch adjusting component in the second propeller post;

when the adsorption power motor is not started, the first excitation coil is powered by an external power supply, the first excitation coil generates a magnetic field, the first receiving coil achieves a power generation effect through electromagnetic induction, on one hand, the first receiving coil supplies power for a blade pitch adjusting assembly in the first blade column, on the other hand, the first receiving coil supplies power for a second excitation coil at the bottom in the first blade column and excites the magnetic field, and the second receiving coil in the second blade column supplies power for the blade pitch adjusting assembly in the second blade column through the magnetic field generated by the electromagnetic induction of the second excitation coil.

7. The amphibious wall climbing special work robot of claim 4, wherein the blade pitch adjustment assembly comprises a first pitch adjustment module and a second pitch adjustment module;

the first pitch adjusting module is arranged in the first propeller post and comprises a first pitch adjusting motor, a first hollow coupler, first pitch adjusting power bevel gears and a plurality of first pitch adjusting synchronous bevel gears, wherein the first pitch adjusting motor is fixedly arranged at the lower part in the first propeller post, a first receiving coil supplies power for the first pitch adjusting motor, the output end of the first pitch adjusting motor is connected with the first pitch adjusting power bevel gears through the first hollow coupler, the first pitch adjusting power bevel gears are positioned at the upper part in the first propeller post, the top parts of the first pitch adjusting power bevel gears are connected with a second supporting bearing, the number of the first pitch adjusting synchronous bevel gears is consistent with that of the propellers on the first propeller post, one end of each first pitch adjusting synchronous bevel gear is fixedly connected with the corresponding propeller, the other end of each first pitch adjusting synchronous bevel gear is in meshed connection with the corresponding propeller, each first pitch adjusting motor, each first hollow coupler and each first pitch adjusting power bevel gear is of a hollow shaft structure, each hollow structure is a first reversing shaft non-contact longitudinal penetrating power bevel gear, and the hollow shaft is larger than the outer diameter of the first reversing shaft; the first pitch-adjusting motor drives the first pitch-adjusting power bevel gear to rotate through the first hollow coupler, so that a plurality of first pitch-adjusting synchronous bevel gears which are in meshed connection are driven to rotate, and further, the propeller is driven to rotate, and the adjustment of the angle pitch of the propeller blade of the first propeller post is realized;

The second pitch adjusting module comprises a second pitch adjusting motor, a second hollow coupler, a second pitch adjusting power bevel gear, a third supporting bearing and a plurality of second pitch adjusting synchronous bevel gears, the second pitch adjusting motor is fixedly arranged at the lower part in the second propeller post, a second receiving coil supplies power for the second pitch adjusting motor, an output shaft of the second pitch adjusting motor is connected with the second pitch adjusting power bevel gear through the second hollow coupler, the second pitch adjusting power bevel gear is positioned at the upper part in the second propeller post, the top of the second pitch adjusting power bevel gear is connected with the second propeller post through the third supporting bearing, the third supporting bearing is positioned on the lower shaft center of the inner top of the second propeller post, the outer end surface is fixed in the second propeller post, the inner end surface is sleeved on the circumference of the outer end surface of the second pitch-adjusting power bevel gear, the second pitch-adjusting power bevel gear rotates relative to the second propeller post, a key of the second propeller post is transversely arranged between the third support bearing and the second support bearing at the inner top of the second propeller post, the number of the second pitch-adjusting synchronous bevel gear is consistent with that of the propellers on the second propeller post, one end of the second pitch-adjusting synchronous bevel gear is fixedly connected with the corresponding propellers, the other end of the second pitch-adjusting synchronous bevel gear is meshed with the second pitch-adjusting power bevel gear, the second pitch-adjusting motor, the second hollow coupler and the second pitch-adjusting power bevel gear are of hollow shaft structures, the hollow structures are formed by longitudinally penetrating the first pitch-adjusting power bevel gear in a non-contact mode through mode, and the inner diameter of the hollow structures is larger than the outer diameter of the first reversing shaft; the second pitch-adjusting motor drives the second pitch-adjusting power bevel gear to rotate through the second hollow coupler, so that a plurality of second pitch-adjusting synchronous bevel gears in meshed connection are driven to rotate, and then the propeller is driven to rotate, and the propeller blade angle pitch adjustment of the second propeller post is realized.

8. The amphibious wall climbing special operation robot according to claim 4, wherein the propeller comprises a blade, a stern shaft and a stern shaft bearing, the blade is fixedly connected to the outer end of the stern shaft, and the inner end of the stern shaft is fixedly connected with the corresponding first distance-adjusting synchronous bevel gear and second distance-adjusting synchronous bevel gear through the stern shaft bearing;

the propeller hub further comprises a cover plate and a guide cover, the cover plate comprises a propeller column upper cover plate and a propeller column lower cover plate, the top of the first propeller column and the top of the second propeller column are both provided with a propeller column upper cover plate, the bottoms of the first propeller column and the second propeller column are both provided with a propeller column lower cover plate, the guide cover is arranged below the second propeller column, and the guide cover is fixedly connected with the bottom end of the first reversing shaft.

9. The amphibious wall climbing special operation robot according to claim 1, wherein the robot body comprises a frame, the frame is used for installing and connecting a flow channel control assembly, an adsorption assembly and a motion assembly, a bottom plate for forming a negative pressure adsorption channel is arranged at the bottom of the frame, a floating block is arranged at the bottom of the periphery of the frame, and the floating block is used for enabling the robot body to generate buoyancy in a liquid medium;

the motion assembly comprises a gear train and a motion driving module, and the motion driving module drives the gear train to move.

10. The working method of the amphibious wall climbing special operation robot according to any one of claims 1 to 9, comprising the following steps:

(1) The crawling movement method of the robot in the adsorption state on the wall surface comprises the following steps:

1) The adsorption power motor drives the power bevel gear to rotate through the power input shaft, so that the first reversing bevel gear and the second reversing bevel gear which are in meshed connection with the power bevel gear are driven to rotate, the first reversing bevel gear drives the first reversing shaft fixedly connected with the first reversing bevel gear to rotate, the first reversing shaft is fixedly connected with the second oar post through a key, and then the second oar post and a propeller on the second oar post are driven to rotate; the second reversing umbrella tooth drives the second reversing shaft to rotate, and the second reversing shaft is fixedly connected with the first propeller post through a key, so that the first propeller post and a propeller on the first propeller post are driven to integrally rotate;

2) The propeller drives fluid to flow, and the fluid upwards flows through the flow channel control assembly through the draft tube between bottom plate and the wall of robot body and discharges, and the runner sectional area is little, and the velocity of flow is fast, according to Bernoulli's equation:it is known that: the pressure intensity of the flow velocity is high, the pressure intensity of the place with low flow velocity is high, so that the fluid pressure in the channel between the bottom plate and the wall surface of the robot body and the fluid pressure in the guide cylinder and the guide device are lower than the outside, the robot body is extruded on the wall surface by the pressure intensity of the fluid, and the negative pressure adsorption function is realized by the robot;

3) The crawling function of the robot on the wall surface is realized by controlling the motion assembly to move forwards and backwards and turn;

(2) The adsorption adjusting method of the robot in different fluid media comprises the following steps:

1) When the fluid medium is gas, the blade pitch of the propeller is increased and the size of the fluid channel section of the flow channel control assembly is reduced due to the smaller viscosity of the fluid:

a. the first pitch-adjusting motor rotates positively, the first pitch-adjusting power bevel gear is driven to rotate through the first hollow coupler, and then a plurality of first pitch-adjusting synchronous bevel gears meshed with the first pitch-adjusting power bevel gear are driven to rotate, the first pitch-adjusting synchronous bevel gears are fixedly connected with a stern shaft of the propeller, and the stern shaft is fixedly connected with a blade, so that the blade is driven to rotate, and the blade pitch on a first blade column is increased; similarly, the second pitch-adjusting motor rotates positively, and finally the pitch of the blades on the second blade column is increased;

b. the motor is controlled to rotate positively to drive the initial driving gear to rotate, all driving gears on the outer wall of the fixed ring are driven to rotate synchronously through the meshing action of the adjacent driving gears and the reversing gear, the driving gears are connected with the guide shafts on the inner wall of the fixed ring through driving shafts and bearing seats to drive the guide shafts and the trapezoid fan blades connected with the guide shafts to rotate synchronously, the trapezoid fan blades are positioned between the fixed ring and the flow guiding device, the cross section of a fluid channel between the fixed ring and the flow guiding device is gradually reduced in the rotating process of the trapezoid fan blades to a horizontal or nearly horizontal state, the rotating angle of the trapezoid fan blades is selected according to the requirement, and when the trapezoid fan blades rotate to the horizontal or nearly horizontal state, the trapezoid fan blades are completely sealed, and fluid can only pass through the inner wall flow channels of the flow guiding device;

2) When the fluid medium is liquid, the blade pitch of the propeller is reduced at the moment due to the increase of the viscosity of the fluid, and the size of the fluid channel section of the flow passage control assembly is increased: the first pitch-adjusting motor rotates reversely, and finally drives the paddles to rotate reversely, so that the pitch of the paddles on the first paddle column is reduced; the second pitch-adjusting motor rotates reversely, and finally the pitch of the blades on the second blade column is reduced; controlling the motor to rotate reversely, finally driving the trapezoidal fan blades to rotate to a vertical or nearly vertical state, gradually increasing the section of the fluid channel between the fixed ring and the flow guiding device, selecting the rotation angle of the trapezoidal fan blades according to the requirement, and maximizing the section of the fluid channel between the fixed ring and the flow guiding device when the trapezoidal fan blades rotate to the vertical or nearly vertical state;

3) When the robot is positioned at the gas-liquid interface, the forward and reverse rotation of the first distance-adjusting motor and the second distance-adjusting motor are adjusted according to the requirement, the propeller pitch is adjusted, the range of the adjustment is adjusted to the state between the maximum value and the minimum value of the pitch according to the requirement, the forward and reverse rotation of the motor is synchronously controlled, the adjustment of the posture of the trapezoid fan blades is realized, the range of the adjustment is adjusted to the state between the horizontal and the vertical of the fan blades according to the requirement, the balance of the fluid flow and the speed is further realized, the accurate and controllable adsorption force of the robot body on the wall surface at the gas-liquid interface is realized, and therefore the robot body is enabled to be stably adsorbed and moved from a gas medium to a liquid medium or from the liquid medium to the gas medium.