Wall-climbing robot adsorption wheel and wall-climbing robot

Abstract

The invention discloses a wall-climbing robot adsorption wheel and a wall-climbing robot, and relates to the technical field of robots, the wall-climbing robot adsorption wheel comprises a first driving device, a wheel body, a second driving device and a magnetic adsorption unit arranged in an inner cavity of the wheel body, and a body of the second driving device is fixedly connected to a wall-climbing robot body; an output shaft of the second driving device is fixedly connected with the magnetic adsorption unit, and when the wall-climbing robot walks on a straight metal wall face, the direction of the maximum adsorption force of the magnetic adsorption unit is perpendicular to the metal wall face where the robot is walking. When the wall-climbing robot moves forwards between a concave-convex curved surface or two wall surfaces intersecting at a certain angle, the direction of the maximum adsorption force of the magnetic adsorption units in the wheel bodies is changed, so that the direction of the maximum adsorption force of the magnetic adsorption units is perpendicular to the tangent line of the metal wall surface on which the robot is going to walk; the adsorption force between the magnetic adsorption unit and the metal wall surface to be adsorbed is improved, and the desorption and falling risks of the wall-climbing robot are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a wall-climbing robot adsorption wheel and a wall-climbing robot. BACKGROUND

[0002] At present, as a core equipment for replacing manual work on high-altitude and vertical metal wall surface, the wall-climbing robot has been widely applied in the fields of petrochemical industry, shipbuilding, electric power and the like. The magnetic adsorption type wheeled wall-climbing robot becomes the mainstream choice for metal wall surface work due to the characteristics of flexible movement and low energy consumption. The existing wheeled magnetic wall-climbing robot realizes stable adsorption on the metal wall surface through the magnetic force of the magnetic adsorption unit, and realizes the movement of the wall-climbing robot along the wall surface by relying on the motor drive of the wheeled movement unit. The wall-climbing robot is mainly used for basic work such as detection and cleaning of metal wall surface. However, when the robot moves between two wall surfaces intersecting at a certain angle (such as an elliptical head of a storage tank or an arc-shaped wall surface of a ship), the outermost edge of the magnetic adsorption unit is closest to the metal wall surface on which the robot is walking and cannot be adjusted, resulting in insufficient adsorption force between the magnetic adsorption unit and the metal wall surface to be walked on, and there is a risk of detachment and falling. SUMMARY

[0003] The purpose of the present application is to provide a wall-climbing robot adsorption wheel and a wall-climbing robot to solve the problems existing in the prior art and reduce the risk of detachment and falling of the wall-climbing robot.

[0004] To achieve the above-mentioned purpose, the present application provides the following solutions: The present application provides a wall-climbing robot adsorption wheel, comprising a first driving device, a wheel body, a second driving device and a magnetic adsorption unit arranged in the internal cavity of the wheel body. The first driving device is arranged in the internal cavity of the wheel body, the body of the first driving device is fixedly connected to the body of the wall-climbing robot, the output shaft of the first driving device is fixedly connected to the wheel body, and the first driving device can drive the wheel body to continuously rotate around the output shaft of the first driving device. The body of the second driving device is fixedly connected to the body of the wall-climbing robot, the output shaft of the second driving device is fixedly connected to the magnetic adsorption unit, the magnetic adsorption unit is arranged in the wheel body, the output shaft of the second driving device is collinear with the output shaft of the first driving device, and the second driving device can drive the magnetic adsorption unit to rotate around the output shaft of the second driving device to change the direction of the maximum adsorption force of the magnetic adsorption unit.

[0005] In some embodiments, the magnetic adsorption unit comprises a mounting frame and a magnet, a mounting groove is formed in the mounting frame, the mounting frame is fixedly connected to the output shaft of the second driving device, and the magnet is embedded in the mounting groove.

[0006] In some embodiments, the outermost edge of the magnet has a circular arc surface, and the circular arc surface is a magnetic pole surface, and the center of the circular arc surface is located on the output shaft of the second driving device.

[0007] In some embodiments, the wheel body comprises a tubular hub, and detachable hub covers are arranged at both ends of the hub.

[0008] In some embodiments, the second driving device comprises a steering engine.

[0009] The application also provides a wall-climbing robot, which comprises a wall-climbing robot body, and the wall-climbing robot suction wheels according to any one of the above embodiments are connected to both sides of the wall-climbing robot body in the advancing direction, and the wall-climbing robot suction wheels are symmetrically arranged on both sides of the wall-climbing robot body in the advancing direction.

[0010] In some embodiments, the wall-climbing robot body comprises a cabin body and a connecting rod, the number of the cabin body is two, and the cabin body is distributed in front and back along the advancing direction of the wall-climbing robot, the extending direction of the connecting rod and the advancing direction of the cabin body are in the same virtual plane perpendicular to the metal wall surface, and both ends of the connecting rod are hingedly connected with the two cabin bodies, so that one cabin body can rotate around the other cabin body in the virtual plane.

[0011] In some embodiments, the wall-climbing robot body further comprises a suspension unit, the suspension unit comprises a wheel connecting piece and a damping element, one end of the wheel connecting piece is hingedly connected with the cabin body, and the other end of the wheel connecting piece is fixedly connected with the first driving device and the second driving device, one end of the damping element is hingedly connected with the cabin body, and the other end of the damping element is hingedly connected with the end of the wheel connecting piece away from the cabin body, the wheel connecting piece can rotate around the hinged joint between the wheel connecting piece and the cabin body under the driving of the wheel body, and the damping element and the wheel connecting piece are arranged at an angle, and the damping element can provide a supporting force for the rotation of the wheel connecting piece.

[0012] In some embodiments, a magnetic suction disc parallel to the metal wall surface is arranged on the side of the cabin body close to the metal wall surface, and the distance from the magnetic suction disc to the metal wall surface can be adjusted.

[0013] In some embodiments, an identification and collection unit is arranged on the cabin body, and the identification and collection unit can collect wall surface images in real time.

[0014] The application has the following technical effects relative to the prior art: The application provides a wall-climbing robot adsorption wheel and a wall-climbing robot, which are characterized by the following technical solutions: a magnetic adsorption unit is arranged in the wheel body, the body of a second driving device is fixedly connected to the body of the wall-climbing robot, and the output shaft of the second driving device is fixedly connected to the magnetic adsorption unit, so as to change the direction of the maximum adsorption force of the magnetic adsorption unit, when the wall-climbing robot moves on a flat metal wall, the direction of the maximum adsorption force of the magnetic adsorption unit is perpendicular to the metal wall on which the robot moves, so that the wall-climbing robot is adsorbed on the flat metal wall, when the wall-climbing robot moves forward between a concave-convex curved surface (such as an elliptical head of a storage tank or an arc-shaped wall surface of a ship) or two wall surfaces intersecting at a certain angle, the direction of the maximum adsorption force of the magnetic adsorption unit in the wheel body is changed, so that the direction of the maximum adsorption force of the magnetic adsorption unit is perpendicular to the tangent of the metal wall on which the robot is about to move, so as to improve the adsorption force between the magnetic adsorption unit and the metal wall to be adsorbed and reduce the risk of desorption and falling of the wall-climbing robot. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described in the following only constitute some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0016] Figure 1 A wall-climbing robot structure schematic diagram in an embodiment of the present application; Figure 2 Another wall-climbing robot structure schematic diagram in an embodiment of the present application; Figure 3 Another wall-climbing robot structure schematic diagram in an embodiment of the present application; Figure 4 A structure schematic diagram in the cavity in the wheel body in an embodiment of the present application; Figure 5 An explosion schematic diagram of the structure in the cavity in the wheel body in an embodiment of the present application; Figure 6 A schematic diagram of the wall-climbing robot moving forward on a metal wall in an embodiment of the present application; Figure 7 A schematic diagram of the wall-climbing robot magnetic adsorption disc and cabin body connection in an embodiment of the present application; Figure 8 A wall-climbing robot suspension unit structure schematic diagram in an embodiment of the present application; In the figure: 1-wheel body; 11-first driving device; 111-driving motor; 112-U-shaped connecting piece; 12-magnetic adsorption unit; 121-mounting frame; 122-magnet; 13-second driving device; 131-rudder; 14-wheel hub; 141-wheel hub cover; 2-cabin body; 21-connecting rod; 3-suspension unit; 31-wheel connecting piece; 32-damping element; 321-shock absorber; 322-coil spring; 4-magnetic adsorption disc; 41-ball screw; 42-guide rod; 5-recognition and collection unit; 51-camera; 6-metal wall surface. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0018] The purpose of the present application is to provide a wall-climbing robot adsorption wheel and a wall-climbing robot to solve the problems existing in the prior art and reduce the risk of wall-climbing robot detachment and falling.

[0019] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0020] Embodiment one The present embodiment provides a wall-climbing robot adsorption wheel, which comprises a wheel body, a first driving device, a magnetic adsorption unit, a second driving device and a wheel hub. Figures 1-5As shown, the wall-climbing robot comprises a first driving device 11, a wheel body 1, a second driving device 13 and a magnetic adsorption unit 12 arranged in the internal cavity of the wheel body 1. The first driving device 11 is arranged in the internal cavity of the wheel body 1, the body of the first driving device 11 is fixedly connected to the wall-climbing robot body, the output shaft of the first driving device 11 is fixedly connected to the wheel body 1, and the first driving device 11 can drive the wheel body 1 to continuously rotate around the output shaft of the first driving device 11. The body of the second driving device 13 is fixedly connected to the wall-climbing robot body, the output shaft of the second driving device 13 is fixedly connected to the magnetic adsorption unit 12, the magnetic adsorption unit 12 is arranged in the internal cavity of the wheel body 1, the output shaft of the second driving device 13 is collinear with the output shaft of the first driving device 11, and the second driving device 13 can drive the magnetic adsorption unit 12 to rotate around the output shaft of the second driving device 13 to change the direction of the maximum adsorption force of the magnetic adsorption unit 12. When the wall-climbing robot walks on a flat metal wall surface, the direction of the maximum adsorption force of the magnetic adsorption unit 12 is perpendicular to the metal wall surface 6 on which the robot is walking, so that the wall-climbing robot is adsorbed on the flat metal wall surface. When the wall-climbing robot moves forward between a concave-convex curved surface (such as an elliptical head of a storage tank or an arc-shaped wall surface of a ship) or two wall surfaces intersecting at a certain angle, the direction of the maximum adsorption force of the magnetic adsorption unit 12 in the internal cavity of the wheel body 1 is changed, so that the direction of the maximum adsorption force of the magnetic adsorption unit 12 is perpendicular to the tangent of the metal wall surface 6 on which the robot is about to walk, so as to improve the adsorption force between the magnetic adsorption unit 12 and the metal wall surface 6 to be adsorbed and reduce the risk of detachment and falling of the wall-climbing robot.

[0021] In some embodiments of the present embodiment, the magnetic adsorption unit 12 comprises a mounting frame 121 and a magnet 122. The mounting frame 121 is provided with a mounting groove, the mounting frame 121 is fixedly connected to the output shaft of the second driving device 13, and the magnet 122 is embedded in the mounting groove. The mounting frame 121 is driven by the second driving device 13 to rotate around the output shaft of the second driving device 13, so as to drive the magnet 122 in the mounting groove to rotate around the output shaft of the second driving device 13 to change the direction of the maximum adsorption force of the magnet 122. For example, when the wall-climbing robot is about to move from the side wall of a storage tank to the top wall of the storage tank, the direction of the maximum adsorption force of the magnet 122 is changed from being perpendicular to the side wall of the storage tank to being perpendicular to the top wall of the storage tank, so as to reduce the risk of detachment and falling of the wall-climbing robot when moving from the side wall of the storage tank to the top wall of the storage tank.

[0022] Specifically, for the magnet, although each surface thereof can be adsorbed on the metal wall surface, the magnetic attraction of each surface of the magnet to the metal wall surface is different. Magnetic field lines start from the north pole (N pole), pass through the external space and return to the south pole (S pole), forming a closed magnetic field loop. Under the action of the magnetic field of the magnet, the magnetic domains inside the metal wall surface will be arranged in a direction. The S pole of the magnetic domain near the N pole of the magnet will turn to this side, and the N pole of the magnetic domain near the S pole of the magnet will turn to this side, so that the metal wall surface is magnetized into a “temporary magnet”. The magnetic pole surface of the magnet has a very high magnetic field line density and a strong magnetic field strength, and has the largest magnetic attraction to the metal wall surface. The surface of the other non-magnetic pole is a magnetic field diffused from the magnetic pole, has a low magnetic field line density and a weak magnetic field strength, and has a magnetic attraction to the metal wall surface much smaller than that of the magnetic pole surface. Therefore, the magnetic pole surface of the magnet can generate the largest adsorption force on the metal wall surface.

[0023] In some embodiments of the present embodiment, the outermost edge of the magnet 122 has a circular arc surface, and the circular arc surface is a magnetic pole surface. The center of the circular arc surface is located on the output shaft of the second driving device, so that the circular arc surface has the same and the largest adsorption force on the circumference of the wheel body, and the local adsorption force is insufficient to cause the wall climbing robot to fall off or fall.

[0024] Specifically, the magnet 122 is a neodymium iron boron magnet. The neodymium iron boron magnet has the highest maximum magnetic energy product among all magnetic materials at present, can generate a stronger magnetic field in a smaller volume, has a higher mechanical strength than other brittle magnetic materials (such as ferrite), is easier to process, such as cutting, drilling and grinding, can be made into various complex shapes, such as square, cylinder, ring and tile, and is suitable for different scenes.

[0025] In some embodiments of the present embodiment, the wheel body 1 includes a tubular hub 14, and hub covers 141 are detachably connected to both ends of the hub 14. After the first driving device 11 and the permanent magnetic adsorption unit 12 are arranged in the internal cavity of the hub 14, the hub covers 141 at both ends of the hub 14 are covered, and an adsorption wheel capable of controlling the direction of the maximum adsorption force is formed. Compared with the magnetic wheel in the prior art, on the one hand, the direction of the maximum adsorption force of the adsorption wheel can be concentrated in a part of the circumferential direction of the wheel body 1, so that when the wall climbing robot moves from the side wall of the storage tank to the top wall of the storage tank, the direction of the maximum adsorption force is rotated from being perpendicular to the side wall of the storage tank to being perpendicular to the top wall of the storage tank, thereby improving the adsorption force on the top wall of the storage tank, weakening the adsorption force on the side wall of the storage tank, ensuring the firmness of the wall climbing robot during movement and reducing the movement resistance. On the other hand, the circumferential direction of the existing magnetic wheel is provided with permanent magnets, which are heavy, thereby increasing the energy consumption of the movement of the wall climbing robot. However, the wall climbing robot adsorption wheel in the present embodiment does not need to be provided with permanent magnets in the circumferential direction of the wheel body 1, thereby reducing the weight of the adsorption wheel and reducing the energy consumption of the movement of the wall climbing robot.

[0026] In some embodiments of the present embodiment, the second driving device 13 comprises a steering wheel 131, according to the tangent of the wall surface to be walked and the angle between the output shaft of the second driving device and the tangent of the wall surface being walked, the steering wheel 131 drives the magnetic adsorption unit 12 to rotate at the same angle as the angle, until the direction of the maximum adsorption force of the magnetic adsorption unit is perpendicular to the tangent of the wall surface to be walked.

[0027] In some embodiments of the present embodiment, the body of the steering wheel 131 is arranged on the outside of the wheel body 1 near one end of the wall climbing robot body, the output shaft of the steering wheel 131 penetrates through the through hole on the hub cover 14 and extends into the internal cavity of the wheel body 1, and is fixedly connected with the magnetic adsorption unit 12, so as to reduce the occupation of the internal space of the wheel body 1, a sealing bearing is arranged between the output shaft of the steering wheel 131 and the through hole on the hub cover 14, so as to avoid the mutual influence between the rotation of the wheel body 1 and the rotation of the steering wheel 131 driving the magnetic adsorption unit 12, and improve the waterproof sealing performance of the wheel body 1, the first driving device 11 comprises a driving motor 111, the driving motor 111 is arranged in the internal cavity of the wheel body 1 away from one end of the wall climbing robot body, the driving motor 111 is fixedly connected with the wheel connecting piece 31 through a U-shaped connecting piece 112, and the output shaft of the driving motor 111 is fixedly connected with the wheel body 1 to drive the wheel body 1 to rotate.

[0028] In some embodiments of the present embodiment, the material of the hub 14 is aluminum alloy, which is lighter than the steel hub 14, thereby reducing the energy consumption of the wall climbing robot moving, and having strong corrosion resistance, so that the wall climbing robot can better adapt to more severe environments, such as chemical energy storage tank detection and maintenance, ship steel structure periodic rust removal and coating, and nondestructive testing of offshore platform facilities, a polytetrafluoroethylene corrosion-resistant layer is sprayed on the surface of the aluminum alloy hub 14, and then the hub cover is sealed at both ends of the hub 14, and a rubber tire is sleeved on the outside of the hub 14 to absorb the impact of the uneven metal wall surface 6 on the wall climbing robot.

[0029] Embodiment two The present embodiment provides a kind of wall climbing robot, as Figures 1-8 As shown, the wall climbing robot body is connected with any one of the wall climbing robot adsorption wheel in embodiment one on the both sides of the advancing direction of the wall climbing robot body, and the wall climbing robot adsorption wheel is symmetrically arranged on the both sides of the advancing direction of the wall climbing robot body, while the wall climbing robot moves forward by the first driving device 11 driving the wheel body 1 to rotate between the concave-convex curved surface (such as storage tank elliptical head, ship arc wall surface) or two wall surfaces intersecting at a certain angle, the direction of the maximum adsorption force of the magnetic adsorption unit can be changed, so as to improve the adsorption force between the magnetic adsorption unit 12 and the metal wall surface 6 to be adsorbed, and reduce the risk of the wall climbing robot detaching and falling.

[0030] In some embodiments of the present embodiment, the wall-climbing robot body comprises two cabin bodies 2 distributed in front and back along the advancing direction and connecting rods 21 extending in the same virtual plane perpendicular to the metal wall surface 6 as the advancing direction of the cabin bodies 2, the two ends of the connecting rods 21 are hingedly connected with the two cabin bodies 2, so that one cabin body 2 can rotate around the other cabin body 2 along the virtual plane, by arranging two cabin bodies 2, two wall-climbing robot suction wheels are symmetrically arranged on both sides of each cabin body 2, when encountering two metal wall surfaces 6 intersecting at a certain angle, the two cabin bodies 2 can rotate relative to each other, so that the two cabin bodies 2 can adapt to the road conditions of the metal wall surfaces 6 they are located in respectively, improving the adaptability of the wall-climbing robot to the road conditions of the metal wall surface 6, reducing the probability of being stuck between the two metal wall surfaces 6, and ensuring the smoothness of the movement of the wall-climbing robot.

[0031] In some embodiments of the present embodiment, the number of connecting rods 21 is two, which are symmetrically arranged on both sides of the advancing direction of the cabin body, and are hingedly connected with the two cabin bodies 2 on both sides of the cabin body 2, so as to improve the connection strength of the two cabin bodies 2 when the wall-climbing robot advances.

[0032] In some embodiments of the present embodiment, the wall-climbing robot body further comprises a suspension unit 3, the suspension unit 3 comprises a wheel connecting piece 31 and a damping element 32, one end of the wheel connecting piece 31 is hingedly connected with the cabin body 2, the other end is fixedly connected with the first driving device 11 and the second driving device 13, one end of the damping element 32 is hingedly connected with the cabin body 2, the other end is hingedly connected with the end of the wheel connecting piece 31 away from the cabin body 2, when the suction wheel moves along the uneven metal wall surface 6, the wheel connecting piece 31 can be rotated around the hinge point of the wheel connecting piece 31 and the cabin body 2 under the driving of the wheel body 1, and the damping element 32 is arranged at an angle with the wheel connecting piece 31, the damping element 32 can provide support force for the rotation of the wheel connecting piece 31, so that the vibration of the suction wheel is not directly transmitted to the cabin body 2 or the suction wheel on the other side, specifically, the included angle between the damping element 32 and the wheel connecting piece 31 is greater than 30°, so as to better absorb the vertical impact of the road surface and reduce the conversion of the vertical impact force into lateral component force, thereby reducing the lateral load of the wheel connecting piece 31 and the wear of the damping element 32.

[0033] Specifically, the damping element 32 includes a shock absorber 321 and a coil spring 322, the piston rod of the shock absorber 321 is hinged to the cabin 2 at one end away from the sleeve, the sleeve is hinged to the wheel connecting piece 31 at one end away from the cabin 2, the coil spring 322 is sleeved outside the piston rod of the shock absorber 321, one end is fixedly connected to the sleeve of the shock absorber 321, and the other end is fixedly connected to the end of the piston rod away from the sleeve. When the wall-climbing robot is stationary, the coil spring 322 supports the cabin 2 by deforming itself, and when the wall-climbing robot encounters a rough metal wall surface 6, the spring can absorb impact energy by compression / extension to reduce the impact force directly transmitted to the vehicle body. The shock absorber 321 has a piston and oil inside, when the spring is compressed / expanded to drive the piston of the shock absorber 321 to move, the oil generates damping force to slow down the movement speed of the piston, thereby playing a damping effect.

[0034] In some embodiments of the present embodiment, the side of the cabin 2 close to the metal wall surface 6 is provided with a magnetic suction disc 4 parallel to the metal wall surface 6, and the distance from the magnetic suction disc 4 to the metal wall surface 6 can be adjusted. For the metal wall surface of 304 and 316 stainless steel, if the same type of austenitic welding material is used during welding, the adsorption force after the weld cools is relatively weak. When the adsorption wheel passes through the weld area, by moving the magnetic suction disc 4 close to the metal wall surface 6, the adsorption force on the metal wall surface 6 can be further enhanced to reduce the risk of detachment and falling of the wall-climbing robot.

[0035] Specifically, a step distance adjusting motor is fixedly arranged in the cabin 2, a ball screw 41 is connected to the output shaft of the motor of the step distance adjusting motor, and the ball screw 41 is threadedly connected between the magnetic suction disc 4. The cabin 2 is also fixedly connected with a guide rod 42, and the guide rod 42 is slidingly connected between the magnetic suction disc 4. Starting the step distance adjusting motor, the ball screw 41 rotates around the output shaft of the motor of the step distance adjusting motor, thereby adjusting the distance from the magnetic suction disc 4 to the metal wall surface 6.

[0036] In some embodiments of the present embodiment, the cabin 2 is provided with an identification and collection unit 5, which can collect wall surface images in real time. Specifically, the identification and collection unit 5 includes a camera 51, which is an industrial high-definition low-illumination area array camera. The lens is provided with an anti-fog coating to adapt to the humid working environment. Two cabins 2 are each provided with one camera 51, and the lenses are respectively directed to the front and rear of the wall-climbing robot to collect images of the metal wall surface 6 on the walking path of the wall-climbing robot.

[0037] In some embodiments of the present embodiment, the wall-climbing robot further comprises a control module arranged inside the cabin, the control module is connected with the identification and collection unit 5, the drive motor 111, the steering wheel 131 and the step distance adjusting motor, the identification and collection unit 5 can collect wall surface images in real time and transmit them to the control module, the control module is built-in with a welding seam identification algorithm and a concave-convex feature identification algorithm, the collected metal wall surface images are converted into coordinate signals, control instructions are output according to the welding seam position and the concave-convex features of the metal wall surface 6, and are transmitted to the drive motor 111, the steering wheel 131 and the step distance adjusting motor, the driving speed of the wall-climbing robot is adjusted by the drive motor 111, when the wall-climbing robot is driving on the concave metal wall surface or the welding seam area, the driving speed of the wall-climbing robot is reduced, when the wall-climbing robot is driving on the flat metal wall surface, the driving speed of the wall-climbing robot is increased, the direction of the maximum adsorption force of the magnetic adsorption unit is adjusted by the steering wheel 131, and the distance between the magnetic adsorption disc 4 and the metal wall surface 6 is controlled by the step distance adjusting motor.

[0038] In some embodiments of the present embodiment, a nitrile rubber sealing ring is installed at the joint of the cabin 2 to enhance the waterproof performance of the cabin 2, and a zinc-based anti-corrosion coating is sprayed at the welding and bolt connection of the wall-climbing robot.

[0039] Embodiment three A ship repair factory needs to maintain the hull shell of a bulk carrier parked in the dock, the hull shell is an arc-shaped steel wall surface (the maximum curvature radius is 2.5 m), which is distributed with dense circumferential welds and longitudinal welds, and some areas are attached with marine organisms such as seaweed and shellfish, a wall-climbing robot in embodiment two is deployed, and a high-pressure miniature cleaning water gun is integrated in the cabin 2 of the wall-climbing robot. Before use, parameter calibration is performed, on the simulated hull wall surface in the shipyard, the welding seam identification algorithm of the camera 51 is calibrated to ensure that the 10 mm wide welding seam can be accurately identified through the thin seaweed layer, the angle adjustment response threshold of the steering wheel 131 is set (when the wall surface curvature changes by more than 5°, the steering wheel 131 automatically adjusts the adsorption force direction), the displacement parameters of the step distance adjusting motor are calibrated, the distance between the magnetic adsorption disc and the metal wall surface is set to 5 cm when walking on the metal wall surface 6, and the magnetic adsorption disc 4 is set to move down by 3 cm when passing through the welding seam. Action test: the robot is placed on the arc-shaped wall surface, the driving speed of the drive motor 111 is tested (the safe moving speed is set to adapt to the complex hull wall surface), the welding seam area is simulated (10 mm wide non-metallic strips are pasted), the response speed of the magnetic adsorption disc 4 is tested, and the control accuracy of the steering wheel 131 on the direction of the maximum adsorption force when the metal wall surface curvature changes is tested. After the action test is completed, the wall-climbing robot is adsorbed on the hull shell for maintenance of the hull shell. Periodic maintenance: every 8 hours of operation, stop the inspection cabin 2 sealing ring is damaged, whether the surface of the magnet 122 has sea water (if any, then washed with fresh water and dry), drive motor 111 and steering gear 131 terminal corrosion, clean camera 51 lens (remove the attached salt fog, dust, to avoid affecting the accuracy of identification), every week for sealed bearings to supplement the corrosion lubricating grease, every two weeks to check the elasticity of the coil spring 322.

[0040] The principles and implementation manners of the present application are described by using specific examples in the present application. The above examples are only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the present application should not be understood as a limitation of the present application.

Claims

1. An adsorption wheel for a wall-climbing robot, characterized in that: include A first driving device and a wheel body are present. The first driving device is disposed within a cavity inside the wheel body. The body of the first driving device is fixedly connected to the body of the wall-climbing robot. The output shaft of the first driving device is fixedly connected to the wheel body. The first driving device is capable of driving the wheel body to rotate continuously around the output shaft of the first driving device. The second drive device and the magnetic adsorption unit disposed in the cavity inside the wheel body are connected to the body of the wall-climbing robot. The output shaft of the second drive device is fixedly connected to the magnetic adsorption unit. The magnetic adsorption unit is disposed inside the wheel body. The output shaft of the second drive device is collinear with the output shaft of the first drive device. The second drive device can drive the magnetic adsorption unit to rotate around the output shaft of the second drive device to change the direction of the maximum adsorption force of the magnetic adsorption unit.

2. The wall-climbing robot's adsorption wheel according to claim 1, characterized in that: The magnetic adsorption unit includes a mounting frame and a magnet. The mounting frame has a mounting groove and is fixedly connected to the output shaft of the second drive device. The magnet is embedded in the mounting groove.

3. The wall-climbing robot's adsorption wheel according to claim 2, characterized in that: The outermost edge of the magnet has an arc surface, and the arc surface is a magnetic pole surface. The center of the arc surface is located on the output shaft of the second drive device.

4. The wall-climbing robot's adsorption wheel according to claim 1, characterized in that: The wheel body includes a tubular hub, and hub caps that can be detachably connected to both ends of the hub.

5. The wall-climbing robot's adsorption wheel according to claim 4, characterized in that: The second drive unit includes a servo motor.

6. A wall-climbing robot, characterized in that: The invention includes a wall-climbing robot body, wherein the wall-climbing robot body has wall-climbing robot adsorption wheels connected to both sides of the wall-climbing robot body in the forward direction, and the wall-climbing robot adsorption wheels are symmetrically arranged on both sides of the wall-climbing robot body in the forward direction.

7. The wall-climbing robot according to claim 6, characterized in that: The wall-climbing robot body includes a cabin and a connecting rod. There are two cabins, which are distributed back and forth along the forward direction of the wall-climbing robot. The extension direction of the connecting rod is on the same virtual plane perpendicular to the metal wall as the forward direction of the cabin. Both ends of the connecting rod are hinged to the two cabins, so that one cabin can rotate around the other cabin along the virtual plane.

8. The wall-climbing robot according to claim 7, characterized in that: The wall-climbing robot body also includes a suspension unit, which includes a wheel connector and a shock-absorbing element. One end of the wheel connector is hinged to the cabin, and the other end is fixedly connected to the first drive device and the second drive device. One end of the shock-absorbing element is hinged to the cabin, and the other end is hinged to the end of the wheel connector away from the cabin. The wheel connector can rotate around the hinge point between the wheel connector and the cabin under the drive of the wheel body. The shock-absorbing element is set at an angle to the wheel connector, and the shock-absorbing element can provide support force for the rotation of the wheel connector.

9. The wall-climbing robot according to claim 7, characterized in that: A magnetic chuck parallel to the metal wall is provided on the side of the cabin closest to the metal wall, and the distance between the magnetic chuck and the metal wall can be adjusted.

10. The wall-climbing robot according to claim 7, characterized in that: The cabin is equipped with an identification and acquisition unit, which can acquire wall images in real time.

Images