Wall climbing robot

Abstract

The present invention discloses a wall-climbing robot, comprising: a wall-climbing device, the wall-climbing device comprising: a main frame; a driving device, arranged on the main frame; a walking device, used for walking along a working surface, the walking devices being two, the driving device being connected to the walking devices and being able to drive the walking devices to move in a first direction, so that the two walking devices are close to or separated from each other and in contact with the working surface. The wall-climbing robot of this scheme enables the two walking devices to approach or separate from each other through the driving device, thereby greatly increasing the reliability when the two walking devices are in contact with the working surface and improving the problem of the traditional wall-climbing robot having weak adsorption force and being easy to fall off.

Description

Technical Field

[0001] The invention relates to walking equipment technology, and in particular to a wall-climbing robot. Background Art

[0002] With the rapid development of modern society and science and technology, the application of wall-climbing robots has gradually emerged, especially in operations in high-risk environments such as high-altitude cleaning, robots can replace workers.

[0003] An existing wall-climbing robot generally comprises an adsorption device, a main body and a walking device. The robot main body is adsorbed on a working surface by the adsorption device, and the robot is driven to walk on the working surface by the walking device.

[0004] However, the adsorption force of the adsorption device of the existing wall-climbing robot is relatively small, which can easily cause the wall-climbing robot to fall, thereby reducing the reliability of the use of the wall-climbing robot. Summary of the invention

[0005] In view of the above problems, the present invention provides a wall-climbing robot to increase the reliability of the wall-climbing robot when operating on a working surface.

[0006] The present invention provides a wall-climbing robot, comprising a wall-climbing device, which comprises: a main frame; a driving device, which is arranged on the main frame; a walking device, which is used to walk along a working surface, wherein there are at least two walking devices, and the driving device is connected to the walking devices and can drive the walking devices to move in a first direction so that at least two of the walking devices are close to or separated from each other and contact the working surface.

[0007] Based on the above, the present invention provides a wall-climbing robot. When it is necessary to walk on a column, the driving device can drive the walking device to move in the first direction, so that at least two walking devices are close to each other, so that at least two walking devices can contact the working surfaces on both sides of the column, and then at least two walking devices can cooperate to clamp the column, and then the walking device can walk along the working surface to move the wall-climbing robot on the column. When the wall-climbing robot needs to walk in a pipeline, the wall-climbing robot can be placed in the pipeline, and then the driving device can drive the walking device to move in the first direction, so that at least two walking devices are separated from each other, so that at least two walking devices can contact the inner walls on both sides of the pipeline, even if at least two walking devices contact the working surface, and then at least two walking devices are supported in the pipeline, and then the walking device can walk along the working surface to move the wall-climbing robot in the pipe body. Since the driving device can clamp at least two walking devices on the column or support them in the pipe body, the falling of the wall-climbing robot can be effectively prevented, and the reliability of the use of the wall-climbing robot is improved.

[0008] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, in which:

[0010] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0011] Figure 1 A schematic diagram of the structure of a wall-climbing robot provided by an embodiment of the present invention;

[0012] Figure 2 A schematic diagram of the partial structure of a wall-climbing robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0013] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments. However, it should be understood that the accompanying drawings are provided only for a better understanding of the present invention and should not be construed as limiting the present invention.

[0014] Figure 1 This is a schematic diagram of the structure of a wall-climbing robot provided by an embodiment of the present invention. Figure 1 An embodiment of the present invention provides a wall-climbing robot, including a wall-climbing device, which includes: a main frame 10; a driving device 20, which is arranged on the main frame 10; a walking device 30, which is used to walk along a working surface, and there are at least two walking devices 30. The driving device 20 is connected to the walking device 30 and can drive the walking device 30 to move in a first direction so that at least two walking devices 30 are close to or separated from each other and contact the working surface.

[0015] The wall-climbing robot in this embodiment, when it needs to walk on the column, can drive the walking device 30 to move in the first direction through the driving device 20, so that at least two walking devices 30 are close to each other, so that at least two walking devices 30 can contact the working surfaces on both sides of the column, and then at least two walking devices 30 can cooperate to clamp the column, and then the walking device 30 can walk along the working surface to move the wall-climbing robot on the column. When the wall-climbing robot needs to walk in a pipe, the wall-climbing robot can be placed in the pipe, and then the driving device 20 drives the walking device 30 to move in the first direction, so that at least two walking devices 30 are separated from each other, so that at least two walking devices 30 can contact the inner walls on both sides of the pipe, even if at least two walking devices 30 are in contact with the working surface, so that at least two walking devices 30 are supported in the pipe, and then the walking device 30 can walk along the working surface to move the wall-climbing robot in the pipe. Since at least two walking devices 30 can be clamped on the column or supported in the tube by the driving device 20, the wall-climbing robot can be effectively prevented from falling, thereby improving the reliability of the use of the wall-climbing robot.

[0016] In this embodiment, preferably, the wall climbing device also includes a connecting arm 40, which extends along a second direction, and the second direction is perpendicular to the plane where the main frame 10 is located. The walking device 30 is connected to the driving device 20 through the connecting arm 40 so that there is a set distance between the walking device 30 and the main frame 10, and the first direction is perpendicular to the second direction.

[0017] When the wall-climbing robot walks on the column, the connecting arm 40 can form a set distance between the walking device 30 and the main frame 10. Therefore, when the walking device 30 clamps the column, the main frame 10 can maintain a certain distance from the column, so that the wall-climbing robot does not let the main frame 10 rub and collide with the column during the walking operation, which plays a role in protecting the main frame 10. In addition, the walking device 30 forms a set distance with the main frame 10, so at least two walking devices 30 can be clamped in the middle of the column, which is conducive to improving the stability of clamping.

[0018] In this embodiment, preferably, the wall climbing device further includes a guide rail 70, the guide rail 70 is arranged along the first direction, the connecting arm 40 is slidably arranged on the guide rail 70, and the driving device 20 includes: a lead screw 201, the lead screw 201 is arranged along the first direction, the connecting arm 40 is sleeved on the lead screw 201 through a threaded hole and is threadedly connected to the lead screw 201; a driving part 202, the driving part 202 is connected to the lead screw 201, and is used to drive the lead screw 201 to rotate relative to the main frame 10 with the axis as the center, thereby driving the connecting arm 40 to slide along the guide rail 70, so as to drive the two walking devices 30 to approach or separate from each other. The guiding effect of the guide rail 70 can improve the stability of the movement of the connecting arm 40, and the use of a lead screw in the driving device 20 is conducive to simplifying the structure and improving the reliability of use.

[0019] Preferably, the driving part 202 is a driving handle, which is directly connected to the lead screw 201. The driving handle can be turned to drive the lead screw 201 to rotate around the axis and drive the connecting arm 40 and the walking device 30 to move along the first direction. Of course, the driving part 202 can also be a driving motor, and the lead screw 201 can also be replaced by other devices, as long as the movement of the connecting arm 40 and the walking device 30 can be driven. The guide rail 70 can be composed of two guide shafts, which are located on both sides of the lead screw 201 and are parallel to the lead screw 201. The connecting arm 40 is sleeved and connected to the lead screw 201 through a threaded hole, and is sleeved and connected to the two guide shafts through two connecting through holes, so as to realize the sliding track of the connecting arm 40 in the first direction, thereby driving the walking device 30 to move along the first direction. Therefore, it is beneficial to improve the stability of the movement of the connecting arm 40 and make the structure of the wall-climbing robot more compact.

[0020] In this embodiment, preferably, at least two walking devices 30 are arranged opposite to each other, and the driving device 20 is used to drive the walking device 30 to move in the first direction, so that the at least two walking devices 30 can approach each other and contact the working surfaces on both sides of the column, so that the at least two walking devices 30 can cooperate to clamp the column. Since the at least two walking devices 30 can cooperate to clamp the column, the wall-climbing robot can be effectively prevented from falling, thereby improving the reliability of the wall-climbing robot.

[0021] In this embodiment, preferably, the wall climbing device further comprises a support member 50, which is arranged on the frame, and the first direction is parallel to the plane where the frame is located, and the support member 50 is used to be located between at least two walking devices 30 and contact the column when at least two walking devices 30 clamp the column. Thus, when at least two walking devices 30 clamp the column, the support member 50 can contact the column, thereby forming a three-point support, thereby improving the walking stability of the wall climbing robot.

[0022] Preferably, the support member 50 is a guide wheel. When the wall-climbing robot walks on the column, the guide wheel provided on the main frame 10 can contact the column and move synchronously with the walking device 30. The guide wheel can support and reduce the effect of friction, thereby improving the flexibility and stability of the movement of the wall-climbing robot. Preferably, the guide wheel is a universal wheel, which is conducive to improving the flexibility of the wall-climbing robot.

[0023] Figure 2 This is a schematic diagram of a guide wheel of a wall-climbing robot provided by an embodiment of the present invention. Figure 2 In this embodiment, preferably, there are four guide wheels, which are symmetrically distributed on the upper and lower sides of the main frame 10, providing more stable support for the main frame 10 and reducing friction, thereby enhancing the overall flexibility and stability of the wall-climbing robot when walking on the column.

[0024] In this embodiment, preferably, the wall-climbing robot further includes a buffer spring 80, and the connecting arm 40 is connected to the walking device 30 via the buffer spring 80. When the connecting arm 40 drives the walking device 30 to move along the first direction and contact the working surface, the walking device 30 can apply elastic pressure to the working surface under the action of the buffer spring 80, so that the walking device 30 and the working surface fit more closely. In addition, when the walking device 30 contacts the working surface, the buffer spring 80 can generate a certain buffer force to protect the walking device 30.

[0025] In this embodiment, preferably, the wall-climbing robot further includes a connecting bracket 60, which is connected to the main frame 10 and extends in a direction perpendicular to the plane where the main frame 10 is located, and a cleaning device 601 is provided on the connecting bracket 60, and the cleaning device 601 is used to clean the working surface. Therefore, when the wall-climbing robot walks on the working surface, the cleaning device 601 can clean the working surface, thereby improving the convenience of using the wall-climbing robot.

[0026] The connecting bracket 60 can be parallel to the connecting arm 40, and cleaning devices 601 can be arranged at intervals on both sides of the connecting bracket 60. When the wall-climbing robot works on the outer surface of the column, the walking device 30 cooperates to clamp the column and the connecting bracket 60 is located outside the column. At this time, the cleaning device 601 inside the connecting bracket 60 can be opened to clean the working surface inside the wall-climbing robot. Similarly, when the wall-climbing robot works on the inner surface of the pipeline, the walking device 30 cooperates to support the inner surface of the pipeline, and the outer cleaning device 601 is opened for cleaning, making the working application scenario more flexible.

[0027] In this embodiment, preferably, a track 602 is provided on the connecting bracket 60, and the track 602 extends along the length direction of the connecting bracket 60. The main frame 10 is slidably arranged on the track 602. There are two wall climbing devices, and the main frames 10 of the two wall climbing devices can slide along the track 602 to approach or separate from each other. Since the main frames 10 of the two wall climbing devices can slide along the track 602 to approach or separate from each other, the distance between the two wall climbing devices can be adjusted according to the diameter of the column or pipe, so that the walking device 30 can contact the working surface, thereby improving the versatility of the wall climbing robot. In addition, since the walking devices 30 of the two wall climbing devices are in contact with the working surface, there are more support points between the wall climbing robot and the working surface, and the reliability is stronger.

[0028] In this embodiment, preferably, there are two connecting brackets 60, the two connecting brackets 60 are arranged at an interval, and the main frame 10 is sandwiched between the two connecting brackets 60. Since the main frame 10 can slide between the two connecting brackets 60, the sliding stability of the main frame 10 is improved. In addition, during the cleaning process of the working surface, since the cleaning devices 601 on the two connecting brackets 60 can clean the working surface from different directions, the cleaning efficiency and effect can be improved.

[0029] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A wall-climbing robot, characterized in that: The invention comprises a wall climbing device, wherein the wall climbing device comprises: Main frame; A driving device, arranged on the main frame; A walking device, used for walking along the working surface, wherein the walking devices are at least two, and the driving device is connected to the walking devices and can drive the walking devices to move in a first direction, so that at least two of the walking devices are close to or separated from each other and contact the working surface; Wherein, at least two of the walking devices are arranged opposite to each other, and the driving device is used to drive the walking devices to move in the first direction, so that the at least two walking devices can approach each other and contact the working surfaces on both sides of the column, so that the at least two walking devices can cooperate to clamp the column, or so that the at least two walking devices can separate from each other and contact the working surface of the inner wall of the tube body, so that the at least two walking devices can cooperate to be supported in the tube body; The wall climbing device further includes a connecting arm, the connecting arm extending along a second direction, the second direction being perpendicular to the plane where the main frame is located, the walking device is connected to the driving device through the connecting arm so that there is a set distance between the walking device and the main frame, and the first direction is perpendicular to the second direction; The wall climbing device also includes a guide rail, which is arranged along the first direction, and the connecting arm is slidably arranged on the guide rail. The driving device includes: a screw, which is arranged along the first direction, and the connecting arm is sleeved on the screw through a threaded hole and is threadedly connected to the screw; a driving part, which is connected to the screw and is used to drive the screw to rotate relative to the main frame with the axis as the center, thereby driving the connecting arm to slide along the guide rail to drive at least two of the walking devices to approach or separate from each other.

2. The wall-climbing robot according to claim 1, characterized in that: The wall climbing device also includes a support member, which is arranged on the frame. The first direction is parallel to the plane where the frame is located. The support member is used to be located between at least two of the walking devices and in contact with the column when at least two of the walking devices clamp the column.

3. The wall-climbing robot according to claim 2, characterized in that: The supporting member is a guide wheel.

4. The wall-climbing robot according to claim 1, characterized in that: It also includes a buffer spring, and the connecting arm is connected to the walking device through the buffer spring.

5. The wall-climbing robot according to claim 1, characterized in that: It also includes a connecting bracket, which is connected to the main frame and extends in a direction perpendicular to the plane where the main frame is located. The connecting bracket is provided with a cleaning device, and the cleaning device is used to clean the working surface.

6. The wall-climbing robot according to claim 5, characterized in that: The connecting bracket is provided with a track, the track extends along the length direction of the connecting bracket, the main frame is slidably arranged on the track, there are two wall climbing devices, and the main frames of the two wall climbing devices can slide along the track to approach or separate from each other.

7. The wall-climbing robot according to claim 5 or 6, characterized in that: There are two connecting brackets, the two connecting brackets are arranged at an interval, and the main frame is clamped between the two connecting brackets.

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