Wall climbing robot

Abstract

The present invention relates to the field of mechanical engineering technology, and discloses a wall-climbing robot. The wall-climbing robot comprises a frame, a cleaning mechanism, a driving mechanism, a permanent magnetic universal wheel and an arc-shaped magnet; the cleaning mechanism is mounted on the frame; the driving mechanism comprises two driving wheels, the two driving wheels are mounted at the front end of the frame and symmetrically distributed on opposite sides of the frame; the permanent magnetic universal wheel is mounted at the end of the frame; the arc-shaped magnet is mounted at the front end of the frame and is located between the two driving wheels, the arc surface of the arc-shaped magnet is arranged forward and the magnetic force of the arc-shaped magnet decreases from top to bottom along the arc surface, and the height of the bottom of the arc-shaped magnet is higher than the height of the bottom of the driving wheel. The wall-climbing robot provided by the present invention can be used for cleaning cabins, and the wall-climbing robot can walk on the complex surface of the cabin and can transition between walls with a certain inclination angle, and has high safety and strong transition ability.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical engineering, and in particular to a wall-climbing robot. Background Art

[0002] During the long-term operation of cargo ships, due to the erosion of sewage, the surface of the cabin is prone to large-scale paint peeling and corrosion and rust. In serious cases, it may even pollute the cargo in the cabin. In addition, when the cargo ship docks at the port to change and load cargo, it is also necessary to ensure the cleanliness of the cabin. Therefore, the cargo ship needs to be cleaned regularly.

[0003] In the related technology, ship cleaning mainly includes two methods: manual cleaning and robot cleaning. Among them, when relying on manual cleaning, workers need to hold cleaning tools and suspend them in the cabin from a high altitude. This cleaning method has a high risk factor, high operational risk, and poor cleaning effect. When relying on robot cleaning, due to factors such as the structure of the equipment itself, the robot equipment is only suitable for crawling on walls with uniform surfaces or small curvatures, but cannot transition between walls with a certain inclination angle, and cannot walk on complex surfaces in the cargo hold. The robot equipment has poor adaptability, a limited cleaning range, and low cleaning efficiency.

[0004] Therefore, it is necessary to design a robot device for cabin cleaning with high safety and strong transition capability. Summary of the invention

[0005] The object of the present invention is to provide a wall-climbing robot which can walk on the complex surface of a cabin and can transition between walls with a certain inclination angle, and has high safety and strong transition ability.

[0006] In order to solve the above problems, the present invention provides a wall-climbing robot, comprising:

[0007] frame;

[0008] A cleaning mechanism is installed on the frame;

[0009] The driving mechanism comprises two driving wheels, which are mounted at the front end of the frame and symmetrically distributed on opposite sides of the frame;

[0010] A permanent magnetic universal wheel is installed at the end of the frame;

[0011] An arc magnet is installed at the front end of the frame and located between the two driving wheels. The arc surface of the arc magnet is arranged forward and the magnetic force of the arc magnet decreases from top to bottom along the arc surface. The height of the bottom of the arc magnet is higher than the height of the bottom of the driving wheel.

[0012] In one embodiment, the arc angle of the arc-shaped magnet is 110°-130°.

[0013] In one embodiment, the arc-shaped magnet includes a shell and a front magnet, a middle magnet, and a bottom magnet sequentially arranged in the shell, and the magnetic forces of the front magnet, the middle magnet, and the bottom magnet decrease gradually.

[0014] In one embodiment, the driving mechanism also includes two power motors and two reducers, and the two power motors and the two reducers are both installed on the frame and are symmetrically distributed on opposite sides of the frame; the two power motors are connected to the input shafts of the two reducers one by one, and the two driving wheels are connected to the output shafts of the two reducers one by one.

[0015] In one embodiment, the two reducers are arranged between the two driving wheels, and the arc magnet is connected under the reducer; the driving mechanism also includes a flange shaft and a clamping member, the flange shaft is connected between the two reducers, and the clamping member is used to fix the flange shaft to the frame.

[0016] In one embodiment, the cleaning mechanism comprises:

[0017] A mounting frame, rotatably mounted on the frame;

[0018] A swing arm motor is installed on the frame, the swing arm motor is connected to the mounting frame, and is used to drive the mounting frame to rotate around an axis;

[0019] A swing arm assembly is mounted on the mounting frame;

[0020] A cleaning assembly is installed on the swing arm assembly.

[0021] In one embodiment, the swing arm assembly comprises:

[0022] A support rod, fixedly mounted on the mounting frame;

[0023] An electric push rod, hinged to one end of the support rod;

[0024] A first connecting rod, hinged to one end of the electric push rod away from the support rod;

[0025] A second connecting rod, one end of which is hinged to an end of the support rod away from the electric push rod, and the other end of which is hinged to an end of the first connecting rod away from the electric push rod, and the cleaning assembly is connected to the second connecting rod;

[0026] A third connecting rod, one end of which is fixedly connected to the second connecting rod, and the other end of which is hinged to the hinge between the electric push rod and the first connecting rod;

[0027] When the electric push rod is extended or retracted, it can drive the first connecting rod, the second connecting rod and the third connecting rod to rotate, so as to drive the cleaning component to rise and fall.

[0028] In one embodiment, the cleaning component includes a water pipe joint and a high-pressure nozzle connected to the water pipe joint, and the high-pressure nozzle can be used to spray high-pressure water.

[0029] In one embodiment, the high-pressure nozzle includes a plurality of cleaning tool holders, the plurality of cleaning tool holders are rotatably connected to the water pipe joints, and the cleaning tool holders are provided with a plurality of high-pressure nozzles.

[0030] In one embodiment, the cleaning assembly further includes a protective cover disposed outside the high-pressure nozzle.

[0031] The wall-climbing robot provided by the present invention can be used for cleaning the cabin, and can walk between multiple walls of the cabin. Specifically, the arc-shaped magnet installed at the front end of the frame and the permanent magnetic universal wheel installed at the end of the frame have a certain adsorption force on the wall to be cleaned, which can make the wall-climbing robot attached to the wall to be cleaned. At the same time, the wall to be cleaned can be cleaned by using the cleaning assembly; the driving mechanism and the permanent magnetic universal wheel cooperate to realize the free movement of the wall-climbing robot on the wall to be cleaned. Among them, since the arc-shaped magnet is installed between the driving wheels and the height of the bottom of the arc-shaped magnet is higher than the height of the bottom of the driving wheel, when the wall-climbing robot is attached to the wall to be cleaned, under the support of the driving wheel, the bottom of the arc-shaped magnet has a certain distance from the wall to be cleaned, which is conducive to the forward movement of the wall-climbing robot, and can also improve the obstacle crossing ability of the wall-climbing robot. Since the arc surface of the arc magnet is arranged forward and the magnetic force of the arc magnet decreases from top to bottom along the arc surface, when the wall-climbing robot is attached to the wall to be cleaned, the front arc surface and the bottom surface of the arc magnet will both generate adsorption force on the wall to be cleaned, and when the wall-climbing robot transitions between different wall surfaces, the adsorption force of the arc magnet on the front wall surface is much greater than the adsorption force on the rear wall surface (the wall surface where the wall-climbing robot is located before the transition, i.e., the bottom surface), and at the same time, the friction between the front wall surface and the driving wheel can provide a transition driving force for the wall-climbing robot, so that the wall-climbing robot can stably transition between walls with a certain inclination angle, and is not prone to overturning and falling off during the transition process, thereby enabling the wall-climbing robot to move between complex wall surfaces. In summary, the wall-climbing robot using the above structural design can be used to clean cabins, can freely walk between complex walls and walls with a certain inclination angle, has high stability and reliability, and has high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A three-dimensional schematic diagram of a wall-climbing robot provided by an embodiment of the present invention;

[0034] Figure 2 for Figure 1 A side view of the wall-climbing robot shown;

[0035] Figure 3 A schematic diagram of a wall-climbing robot provided by an embodiment of the present invention in use;

[0036] Figure 4 for Figure 1 The schematic diagram of the structure of the arc magnet in the wall-climbing robot shown;

[0037] Figure 5 for Figure 1 An enlarged view of the reducer connection position in the wall-climbing robot shown;

[0038] Figure 6 for Figure 1 A top view of the wall-climbing robot shown;

[0039] Figure 7 for Figure 1 A front view of the wall-climbing robot shown;

[0040] Figure 8 for Figure 1 Bottom view of the wall-climbing robot shown.

[0041] Description of main component symbols:

[0042] 100. Wall-climbing robot;

[0043] 10. Rack;

[0044] 21. Mounting frame; 22. Swing arm motor; 23. Swing arm assembly; 24. Cleaning assembly; 25. Swing arm reducer; 231. Support rod; 232. Electric push rod; 233. First connecting rod; 234. Second connecting rod; 235. Third connecting rod; 241. Water pipe joint; 242. High-pressure nozzle; 243. Connecting rod; 245. Protective cover; 2421. Cleaning tool holder; 24211. High-pressure nozzle;

[0045] 30. Driving mechanism; 31. Driving wheel; 32. Power motor; 33. Speed ​​reducer; 34. Flange shaft; 35. Clamping piece;

[0046] 40. Permanent magnetic universal wheel;

[0047] 50, arc magnet; 51, front magnet; 52, middle magnet; 53, bottom magnet;

[0048] 60. Control cabinet;

[0049] 70.Magnet connector. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0051] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. is based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the patent. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0052] The present invention provides a wall-climbing robot. Figure 1 and Figure 2 As shown, the wall-climbing robot 100 includes a frame 10, a cleaning mechanism, a driving mechanism 30, a permanent magnetic universal wheel 40 and an arc magnet 50. Among them, the cleaning mechanism is installed on the frame 10. The driving mechanism 30 includes two driving wheels 31, and the two driving wheels 31 are installed at the front end of the frame 10 and symmetrically distributed on opposite sides of the frame 10. The permanent magnetic universal wheel 40 is installed at the end of the frame 10. The arc magnet 50 is installed at the front end of the frame 10 and is located between the two driving wheels 31. The arc surface of the arc magnet 50 is arranged forward and the magnetic force of the arc magnet 50 decreases from top to bottom along the arc surface. The height of the bottom of the arc magnet 50 is higher than the height of the bottom of the driving wheel 31.

[0053] The wall-climbing robot 100 provided by the present invention can be used to clean a cabin, and can move between multiple walls of the cabin. Specifically, the arc magnet 50 installed at the front end of the frame 10 and the permanent magnetic universal wheel 40 installed at the end of the frame 10 have a certain adsorption force on the wall to be cleaned, which can make the wall-climbing robot 100 adhere to the wall to be cleaned. At the same time, the wall to be cleaned can be cleaned by using the cleaning component 24; the driving mechanism 30 and the permanent magnetic universal wheel 40 cooperate to realize the free movement of the wall-climbing robot 100 on the wall to be cleaned. Figure 1 and Figure 3 As shown, since the arc magnet 50 is installed between the driving wheels 31 and the height of the bottom of the arc magnet 50 is higher than the height of the bottom of the driving wheel 31, when the wall-climbing robot 100 is attached to the wall to be cleaned, under the support of the driving wheel 31, the bottom of the arc magnet 50 is at a certain distance from the wall to be cleaned, which is conducive to the forward movement of the wall-climbing robot 100 and can also improve the obstacle-crossing ability of the wall-climbing robot 100. Since the arc surface of the arc magnet 50 is arranged forward and the magnetic force of the arc magnet 50 decreases from top to bottom along the arc surface, when the wall-climbing robot 100 is attached to the wall to be cleaned, the front end arc surface and the bottom surface of the arc magnet 50 will generate adsorption force on the wall to be cleaned, and when the wall-climbing robot 100 transitions between different wall surfaces, the arc magnet 50 has an adsorption force on the front end wall surface (for example Figure 3 The adsorption force of the rear wall (shown in A) is much greater than that of the rear wall (the wall where the wall-climbing robot 100 is located before the transition, i.e., the bottom surface, for example Figure 3 The wall-climbing robot 100 can be moved between complex walls by using the above-mentioned structure design. In summary, the wall-climbing robot 100 with the above-mentioned structure design can be used for cleaning cabins, can walk freely between complex walls and walls with a certain inclination angle, has high stability and reliability, and has high practicality.

[0054] In addition, the above-mentioned wall-climbing robot 100 is equipped with arc magnets 50 and permanent magnetic universal wheels 40 at the same time. Through reasonable arrangement, the magnetic energy utilization rate of the arc magnets 50 and the permanent magnetic universal wheels 40 is effectively improved, so that the wall-climbing robot 100 has a larger adsorption force and can withstand a larger load, so that it can be matched with various types of cleaning mechanisms. During the movement of the wall-climbing robot 100, the permanent magnetic universal wheels 40 always maintain a good adsorption force with the wall to be cleaned, thereby effectively preventing the wall-climbing robot 100 from slipping and overturning, with high reliability, and the permanent magnetic universal wheels 40 can rotate with the rotation of the wall-climbing robot 100, with high flexibility.

[0055] It should be noted that if Figure 1 and Figure 2 As shown, the wall-climbing robot 100 provided in the embodiment of the present invention also includes a control cabinet 60. The control cabinet 60 is electrically connected to the driving mechanism 30 and the cleaning mechanism, and can be used to control the movement of the wall-climbing robot 100 on the wall to be cleaned and to carry out cleaning operations, etc. The control cabinet 60 can adopt a commonly used structure in the prior art, which will not be described in detail here.

[0056] It can be understood that the wall-climbing robot 100 provided in the embodiment of the present invention can be used not only for cleaning ships, but also for cleaning large oil tanks, wind towers and other equipment, or it can also be equipped with other types of mechanisms to achieve operations such as spraying and inspection of metal walls, which will not be described in detail here.

[0057] The wall-climbing robot 100 provided in the embodiment of the present invention can be designed to have a spacing of 4mm-10mm between the bottom of the arc magnet 50 and the wall surface according to actual use requirements, that is, the bottom of the arc magnet 50 is 4mm-10mm higher than the bottom of the driving wheel 31.

[0058] In one embodiment provided by the present invention, the arc range of the arc magnet 50 is 110°-130°. The arc magnet 50 with the above-mentioned structural design has a larger vertical coverage range, can provide sufficient adsorption force, and can assist the wall-climbing robot 100 to achieve movement between walls with an angle of 135°-180°. It is understandable that in the design of existing ships, the minimum angle between the cabin walls can be designed to be 120°. Therefore, in order to further optimize the structure of the arc magnet 50 and the wall-climbing robot 100, an arc magnet 50 with an arc of 120° can be selected.

[0059] In one embodiment provided by the present invention, Figure 4 As shown, the arc magnet 50 includes a shell (not shown in the figure) and a front magnet 51, a middle magnet 52, and a bottom magnet 53 arranged in the shell. The front magnet 51, the middle magnet 52, and the bottom magnet 53 are arranged in the shell from top to bottom along the arc surface and the magnetic force decreases gradually.

[0060] In some embodiments, Figure 4 As shown, the front magnet 51, the middle magnet 52, and the bottom magnet 53 are fan-shaped magnets of the same material and different sizes, and the volumes of the front magnet 51, the middle magnet 52, and the bottom magnet 53 are reduced in sequence. This structural design can ensure the continuity and uniformity of the magnetic force, and at the same time ensure that the magnetic force changes linearly along the arc surface. Alternatively, in some embodiments, the front magnet 51, the middle magnet 52, and the bottom magnet 53 can also be fan-shaped magnets of different materials and the same size, and the ferromagnetic force per unit volume of the front magnet 51, the middle magnet 52, and the bottom magnet 53 is weakened in sequence.

[0061] In order to facilitate fixing the arc magnet 50, in one embodiment provided by the present invention, as Figure 1 As shown, the wall-climbing robot 100 further includes a magnet connector 70 disposed on the frame 10 .

[0062] In one embodiment provided by the present invention, the driving wheel 31 is a rubber wheel. The rubber wheel has a high friction coefficient and a large friction force, is not prone to slipping and overturning during use, and has high reliability. In addition, when the front wheel goes over an obstacle, such as a weld on a wall, the contact area between the driving wheel 31 and the wall is reduced and the pressure is increased. Since rubber has elasticity, the rubber wheel can deform to a certain extent when in contact with the obstacle, so that the compression at the contact position increases. In this way, it can be ensured that the distance between the arc magnet 50 and the wall changes less, and the arc magnet 50 can provide sufficient adsorption force to allow the wall-climbing robot 100 to be firmly attached to the wall to be cleaned, thereby ensuring that the wall-climbing robot 100 can smoothly cross obstacles and walk stably.

[0063] Furthermore, in some embodiments, the hub of the driving wheel 31 is made of aluminum alloy. The aluminum alloy hub has high strength, is not easily deformed or damaged during use, can withstand large loads, and has high safety. In addition, the aluminum alloy hub is light in weight, easy to process, and has high practicality.

[0064] In one embodiment provided by the present invention, the permanent magnetic universal wheel 40 is composed of a cylindrical NdFeB permanent magnet, and its outer ring is wrapped with a layer of hard rubber. The rubber layer is arranged on the outer ring of the permanent magnetic universal wheel 40 to prevent the magnet from being worn out during long-term use and to prevent the magnet from being damaged by collision. At the same time, the rubber layer can also increase the friction between the permanent magnetic universal wheel 40 and the wall surface, effectively avoiding slipping and overturning, thereby effectively improving the reliability of the wall-climbing robot 100.

[0065] In one embodiment provided by the present invention, Figure 1 and Figure 6 As shown, the driving mechanism 30 also includes two power motors 32 and two reducers 33, which are both mounted on the frame 10 and symmetrically distributed on opposite sides of the frame 10; the two power motors 32 are connected to the input shafts of the two reducers 33 in a one-to-one correspondence, and the two driving wheels 31 are connected to the output shafts of the two reducers 33 in a one-to-one correspondence. With the above modular design, the independence between the various parts is high, easy to repair, maintain and replace, and easy to assemble. In addition, with the above assembly method, the structure is compact, and the overall size of the wall-climbing robot 100 can be relatively reduced, thereby effectively improving the flexibility of the wall-climbing robot 100, so that the wall-climbing robot 100 can walk freely on the walls and narrow ribs of the cabin, thereby expanding the cleaning range of the wall-climbing robot 100.

[0066] In one embodiment provided by the present invention, Figure 1 , Figure 5 and Figure 7 As shown, two reducers 33 are arranged between two driving wheels 31, and arc magnets 50 are connected below the reducers 33; the driving mechanism 30 also includes a flange shaft 34 and a clamping member 35, wherein the flange shaft 34 is connected between the two reducers 33, and the clamping member 35 is used to fix the flange shaft 34 to the frame 10. With the above assembly method, the structural design is reasonable, and each part is relatively compact, which can relatively reduce the width and overall size of the wall-climbing robot 100, thereby effectively improving the flexibility of the wall-climbing robot 100, so that the wall-climbing robot 100 can walk freely on the walls and narrow ribs of the cabin, thereby expanding the cleaning range of the wall-climbing robot 100.

[0067] In one embodiment provided by the present invention, Figure 1 and Figure 2 As shown, the cleaning mechanism includes a mounting frame 21, a swing arm motor 22, a swing arm assembly 23 and a cleaning assembly 24. Among them, the mounting frame 21 is rotatably mounted on the frame 10, the swing arm motor 22 is mounted on the frame 10, and the swing arm motor 22 is connected to the mounting frame 21, and is used to drive the mounting frame 21 to rotate around the axis. The swing arm assembly 23 is mounted on the mounting frame 21, and the cleaning assembly 24 is mounted on the swing arm assembly 23. With the above structural design, the mounting frame 21 can be driven to rotate around the axis through the swing arm motor 22, and the mounting frame 21 can drive the swing arm assembly 23 and the cleaning assembly 24 installed on the swing arm assembly 23 to rotate on a plane parallel to the wall to be cleaned during the rotation of the mounting frame 21 around the axis, thereby improving the coverage and cleaning range of the cleaning assembly 24.

[0068] The structure of the mounting frame 21 is not unique. In some embodiments, Figure 1 As shown, the mounting frame 21 may be a single mounting rod; or, in some embodiments, the mounting frame 21 may also be a triangular support frame, which may be specifically designed according to actual conditions and is not limited here.

[0069] In one embodiment provided by the present invention, Figure 1 and Figure 2 As shown, the swing arm assembly 23 includes a support rod 231, an electric push rod 232, a first connecting rod 233, a second connecting rod 234 and a third connecting rod 235. The support rod 231 is fixedly mounted on the mounting frame 21; the electric push rod 232 is hinged to one end of the support rod 231 (such as Figure 3 The first connecting rod 233 is hinged to the end of the electric push rod 232 away from the support rod 231 (as shown in FIG. Figure 3 b); one end of the second connecting rod 234 (as shown in Figure 3 (as shown in Fig. Figure 3 d), the other end (as shown in Figure 3e) is hinged to the end of the first connecting rod 233 away from the electric push rod 232 (as shown in FIG. Figure 3 As shown in FIG. 5 , the cleaning assembly 24 is connected to the second connecting rod 234; one end of the third connecting rod 235 is fixedly connected to the second connecting rod 234, and the other end is hinged to the hinge of the electric push rod 232 and the first connecting rod 233 (as shown in FIG. Figure 3 When the electric push rod 232 is extended or retracted, it can drive the first connecting rod 233, the second connecting rod 234 and the third connecting rod 235 to rotate, so as to drive the cleaning assembly 24 to rise or fall. With the above structural design, the cleaning assembly 24 can be lifted and lowered by the push-pull movement of the electric push rod 232, thereby preventing the cleaning assembly 24 from colliding with the wall surface, which is beneficial for the wall-climbing robot 100 to traverse obstacles and transition between multiple walls.

[0070] The specific movement process of the swing arm assembly 23 is as follows: when the wall-climbing robot 100 needs to overcome obstacles or move between different wall surfaces, the cleaning assembly 24 needs to be lifted. At this time, the electric push rod 232 can be controlled to retract. Under the pulling force of the electric push rod 232, the third connecting rod 235 can rotate around the hinge point X in the direction of the electric push rod 232, thereby driving the first connecting rod 233 and the second connecting rod 234 to rotate in the same direction around the hinge point X, so that one end of the second connecting rod 234 used to install the cleaning assembly 24 is lifted upward, and the cleaning assembly 24 is lifted. When the wall-climbing robot 100 performs a cleaning operation, it is necessary to lower the cleaning assembly 24 to the working position. At this time, the electric push rod 232 can be controlled to extend. Under the thrust of the electric push rod 232, the third connecting rod 235 can rotate around the hinge point X in the direction away from the electric push rod 232, thereby driving the first connecting rod 233 and the second connecting rod 234 to rotate in the same direction around the hinge point X, so that the end of the second connecting rod 234 used to install the cleaning assembly 24 moves downward, and the cleaning assembly 24 is lowered. Among them, by reasonably designing the dimensions of the electric push rod 232, the first connecting rod 233, the second connecting rod 234 and the third connecting rod 235, a large angle rotation of the swing arm assembly 23 can be achieved, and the lifting angle of the second connecting rod 234 can reach 80° (compared to the initial setting position), and the reciprocating swing angle of the swing arm assembly 23 can be adjusted according to the actual working conditions.

[0071] The swing arm assembly 23 adopting the above structural design has a simple structure, is easy to control, and has a relatively large lifting angle range, which can adapt to the movement of the wall-climbing robot 100 on a complex wall surface. In addition, during the swinging process of the above swing arm assembly 23, it mainly relies on the rotation of the first connecting rod 233, the second connecting rod 234 and the third connecting rod 235, while the support rod 231 and the mounting frame 21 remain stable. In this way, when the first connecting rod 233, the second connecting rod 234 and the third connecting rod 235 rotate, the frame 10 will not be pulled to shake, and the cleaning assembly 24 is not easy to cause the wall-climbing robot 100 to slip and overturn during the lifting process, and the stability is high.

[0072] It is understood that, in order to simplify the structure, the second connecting rod 234 and the third connecting rod 235 can be selected from integrally formed L-shaped connecting rods. In addition, the electric push rod 232 can be driven to extend and retract using a servo motor, or can be driven to extend and retract using a cylinder, which is not limited here.

[0073] To improve control accuracy, Figure 1 As shown, the cleaning mechanism may further include a swing arm reducer 25 connected between the swing arm motor 22 and the mounting bracket 21 .

[0074] In one embodiment provided by the present invention, Figure 1 As shown, the cleaning assembly 24 includes a water pipe joint 241 and a high-pressure nozzle 242 connected to the water pipe joint 241. The high-pressure nozzle 242 can be used to spray high-pressure water. The high-pressure water jet can effectively remove the rust on the wall without damaging the internal metal wall, and the cleaning effect is better.

[0075] Of course, in some embodiments, depending on the cleaning object and cleaning needs, the cleaning component 24 may also include a cleaning sponge, etc. The specific design may be based on actual conditions and is not limited here.

[0076] To further improve the structure of the cleaning mechanism, the cleaning assembly 24 can be detachably connected to the swing arm assembly 23. For example, in one embodiment provided by the present invention, Figure 1 and Figure 2 As shown, the cleaning assembly 24 also includes a connecting rod 243, one end of which is detachably connected to the second connecting rod 234 through a bolt and a clamping structure, and the other end is used to install a high-pressure nozzle 242, and the high-pressure nozzle 242 is detachably connected to the connecting rod 243 through a bolt and a clamping structure. The cleaning assembly 24 is designed to be a detachable structure for easy maintenance and replacement, and cleaning heads of different types and sizes can be replaced according to cleaning needs to achieve multiple cleaning functions.

[0077] In one embodiment provided by the present invention, Figure 1 and Figure 8 As shown, the high-pressure spray head 242 includes multiple groups of cleaning blade holders 2421, which are rotatably connected to the water pipe joint 241, and multiple high-pressure nozzles 24211 are provided on the cleaning blade holder 2421. When high-pressure water is sprayed, the cleaning blade holder 2421 is driven to rotate, thereby increasing the coverage of the water spray of the cleaning blade holder 2421 and ensuring the cleaning effect of the cleaning blade holder 2421.

[0078] In order to improve the cleaning effect and cleaning efficiency, in one embodiment provided by the present invention, Figure 1 and Figure 8As shown, the cleaning assembly 24 also includes a protective cover 245 that is arranged outside the high-pressure nozzle 242. By providing the protective cover 245, it is possible to effectively prevent the water mist from diffusing and improve the cleaning quality.

[0079] The protective cover 245 may be composed of an aluminum alloy shell and a rubber bottom ring.

[0080] When high-pressure water is used for cleaning, in order to ensure the safety of the power motor 32 and the swing arm motor 22, a waterproof shell (not shown in the figure) can be set outside the power motor 32 and the swing arm motor 22, so that the power motor 32 and the swing arm motor 22 can work in a water mist environment for a long time.

[0081] The specific working process of the wall-climbing robot 100 provided by the present invention is as follows: First, the wall-climbing robot 100 is remotely controlled to walk along the cabin wall. When the wall-climbing robot 100 arrives at the position of the wall to be cleaned, the cleaning mechanism can be controlled to open and perform the cleaning task. When the wall-climbing robot 100 needs to cross obstacles such as welds or move between walls with a certain inclination angle, the electric push rod 232 is used to lift the cleaning component 24 so that the wall-climbing robot 100 can move normally. After the wall-climbing robot 100 successfully crosses the obstacle or transitions smoothly, the electric push rod 232 is used to make the cleaning component 24 fall back, and the cleaning component 24 is kept at a reasonable cleaning distance from the wall to be cleaned, so that the cleaning component 24 can perform the cleaning task normally. The wall-climbing robot 100 provided by the present invention can optimize the size and direction of the adsorption force during the movement of the wall-climbing robot 100 by installing an arc magnet 50 and a permanent magnetic universal wheel 40 on the frame 10, so that the wall-climbing robot 100 can walk freely on a complex wall. At the same time, by reasonably arranging the arc magnet 50 and the permanent magnet universal wheel 40, the magnetic energy utilization rate of the arc magnet 50 and the permanent magnet universal wheel 40 can be effectively improved, and the adsorption force of the wall-climbing robot 100 can be improved, so that it can withstand a large load, so that it can be matched with various types of cleaning mechanisms to achieve a variety of cleaning functions. Secondly, by adopting a modular design, the connection between each part is compact, which can relatively reduce the width and overall size of the wall-climbing robot 100, thereby effectively improving the flexibility of the wall-climbing robot 100, so that the wall-climbing robot 100 can walk freely on the walls and narrow ribs of the cabin, and then the cleaning range of the wall-climbing robot 100 can be expanded. Finally, by designing the swing arm assembly 23 and the cleaning assembly 24, the height adjustment and angle adjustment of the cleaning mechanism can be realized, effectively improving the cleaning quality and convenience of use. In summary, the wall-climbing robot 100 using the above-mentioned structural design can be used to clean the cabin, can walk freely between complex walls and walls with a certain inclination angle, has high stability and reliability, and has high practicality.

[0082] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A wall-climbing robot, characterized in that: include: frame; A cleaning mechanism is installed on the frame; The driving mechanism comprises two driving wheels, which are mounted at the front end of the frame and symmetrically distributed on opposite sides of the frame; A permanent magnetic universal wheel, mounted at the end of the frame; An arc-shaped magnet is installed at the front end of the frame and is located between the two driving wheels, the arc surface of the arc-shaped magnet is arranged forward and the magnetic force of the arc-shaped magnet decreases from top to bottom along the arc surface, and the height of the bottom of the arc-shaped magnet is higher than the height of the bottom of the driving wheel; A control cabinet is electrically connected to the driving mechanism and the cleaning mechanism.

2. The wall-climbing robot according to claim 1, characterized in that: The arc angle of the arc-shaped magnet is 110°-130°.

3. The wall-climbing robot according to claim 1, characterized in that: The arc magnet comprises a shell and a front magnet, a middle magnet and a bottom magnet which are arranged in the shell in sequence, and the magnetic forces of the front magnet, the middle magnet and the bottom magnet decrease gradually.

4. The wall-climbing robot according to any one of claims 1 to 3, characterized in that: The driving mechanism also includes two power motors and two reducers, which are both installed on the frame and symmetrically distributed on opposite sides of the frame; the two power motors are connected to the input shafts of the two reducers one by one, and the two driving wheels are connected to the output shafts of the two reducers one by one.

5. The wall-climbing robot according to claim 4, characterized in that: The two reducers are arranged between the two driving wheels, and the arc magnet is connected under the reducer; the driving mechanism also includes a flange shaft and a clamping member, the flange shaft is connected between the two reducers, and the clamping member is used to fix the flange shaft to the frame.

6. The wall-climbing robot according to any one of claims 1 to 3, characterized in that: The cleaning mechanism comprises: A mounting frame, rotatably mounted on the frame; A swing arm motor is installed on the frame, the swing arm motor is connected to the mounting frame, and is used to drive the mounting frame to rotate around an axis; A swing arm assembly is mounted on the mounting frame; A cleaning assembly is installed on the swing arm assembly.

7. The wall-climbing robot according to claim 6, characterized in that: The swing arm assembly comprises: A support rod, fixedly mounted on the mounting frame; An electric push rod, hinged to one end of the support rod; A first connecting rod, hinged to one end of the electric push rod away from the support rod; A second connecting rod, one end of which is hinged to an end of the support rod away from the electric push rod, and the other end of which is hinged to an end of the first connecting rod away from the electric push rod, and the cleaning assembly is connected to the second connecting rod; A third connecting rod, one end of which is fixedly connected to the second connecting rod, and the other end of which is hinged to the hinge between the electric push rod and the first connecting rod; When the electric push rod is extended or retracted, it can drive the first connecting rod, the second connecting rod and the third connecting rod to rotate, so as to drive the cleaning component to rise and fall.

8. The wall-climbing robot according to claim 6, characterized in that: The cleaning component includes a water pipe joint and a high-pressure nozzle connected to the water pipe joint, and the high-pressure nozzle can be used to spray high-pressure water.

9. The wall-climbing robot according to claim 8, characterized in that: The high-pressure spray head comprises a plurality of cleaning tool holders, which are rotatably connected to the water pipe joints, and a plurality of high-pressure nozzles are arranged on the cleaning tool holders.

10. The wall-climbing robot according to claim 8, characterized in that: The cleaning component also includes a protective cover arranged outside the high-pressure nozzle.

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