Surface adaptive underwater wall-climbing robot

Abstract

The present invention belongs to the technical field of wall-climbing robots, and in particular to a curved surface adaptive underwater wall-climbing robot, which includes a frame, a swing arm mechanism, an adsorption walking mechanism and two driving mechanisms, wherein the swing arm mechanism is installed at the front side of the top of the frame, the adsorption walking mechanism includes two driving wheels, two magnetic adsorption units and two auxiliary magnetic wheels, the two auxiliary magnetic wheels are respectively installed at the front and rear sides of the bottom of the frame, the two driving mechanisms are respectively hinged to the two sides of the front end of the frame through two hinge mechanisms, the two magnetic adsorption units are respectively installed at the bottom of the two driving mechanisms, the two driving wheels are respectively connected to the output ends of the two driving mechanisms, and the horizontal positions of the bottoms of the two driving wheels are lower than the horizontal positions of the bottoms of the magnetic adsorption units. The curved surface adaptive underwater wall-climbing robot provided by the present invention is suitable for underwater execution work, and has the advantages of simple and light structure, good flexibility, strong load capacity, and both obstacle crossing ability and curved surface adaptability.

Description

Technical Field

[0001] The invention belongs to the technical field of wall-climbing robots, and in particular relates to a curved surface self-adaptive underwater wall-climbing robot. Background Art

[0002] Cleaning and rust removal of ships are key issues in ship maintenance. The more mature way nowadays is for workers to wear equipment to enter the underwater environment or use handheld cleaning equipment to clean the ship after it enters the dock. However, this manual operation method is inefficient, has a long cycle time, and is physically and mentally burdensome to workers. In addition, due to the limitation of the number of docks, multiple ships cannot be operated at the same time. The wall-climbing robot is equipped with a cleaning device to perform operations, which organically combines the high-pressure water non-destructive cleaning process, the real-time monitoring system and the wall-climbing robot. It has high cleaning efficiency and convenient operation, which greatly saves the labor of workers. Some foreign shipyards have begun to use wall-climbing robots, but they are basically used in water environments, and most of them have complex structures, bulky operations, and low load capacity. Common wall-climbing robot adsorption methods include vacuum adsorption, thrust adsorption, magnetic adsorption and electrostatic adsorption. Among them, magnetic adsorption is divided into permanent magnetic adsorption and electromagnetic adsorption. The electromagnetic adsorption wall-climbing robot has a complex structure and poor safety, so it is less used.

[0003] The patent "A wheeled magnetic adsorption wall-climbing robot" (application number: 201610364096.9) proposes a permanent magnetic wheeled wall-climbing robot, which is light in structure and flexible in movement. It can achieve autonomous obstacle avoidance through cameras and ranging sensors, but the distance between its body and the wall is small, its surface adaptability is weak, and its load capacity is low, so it is only suitable for large-surface inspection operations. The patent "A crawler-type wall-climbing robot" (application number: 201610350206.6) proposes a crawler-type wall-climbing robot, which can achieve the conversion of magnetic field distribution state by setting up a magnetic adsorption structure of a steering gear, making it easy for the robot to go up and down the wall, and has a reliable adsorption and a strong load capacity, but the robot has a complex structure, poor surface adaptability and obstacle crossing ability, and is limited in application in the ship wall working environment. The patent "A wheel-leg combined wall-climbing robot with multi-chamber adsorption" (application number: 201710103129.9) proposes a wheel-leg combined wall-climbing robot. The robot adopts negative pressure adsorption and is equipped with an obstacle-crossing arm to cooperate with the robot's movement, thereby improving the robot's obstacle-crossing ability. However, the vacuum adsorption method has high requirements on the wall surface, is easy to break the vacuum, the adsorption is not stable enough, and the structure's adaptability to curved surfaces is also insufficient.

[0004] However, the ship wall cleaning equipment has a certain weight and will generate a large recoil force when working. At the same time, the hull surface is a multi-curvature, multi-obstacle curved surface, which requires the wall-climbing robot to have many characteristics. Existing wall-climbing robots at home and abroad are generally used in flat water environments. Due to the limitations of the structure of the magnetic adsorption unit and the distribution of magnetic force, they generally have the disadvantages of complex and bulky structure, poor flexibility, and inability to take into account the load capacity, obstacle crossing ability and curved surface adaptability. Therefore, their role in ship wall maintenance operations is limited. Summary of the invention

[0005] The purpose of the present invention is to provide a curved surface adaptive underwater wall-climbing robot, aiming to solve the technical problems that the wall-climbing robots used in underwater ships in the prior art have complex and bulky structures, poor flexibility, and cannot take into account the load capacity, obstacle crossing ability and curved surface adaptability.

[0006] To achieve the above-mentioned objectives, an embodiment of the present invention provides a curved surface adaptive underwater wall-climbing robot, comprising a frame, a swing arm mechanism, an adsorption walking mechanism and two driving mechanisms, wherein the swing arm mechanism is installed at the front side of the top of the frame, the adsorption walking mechanism comprises two driving wheels, two magnetic adsorption units and two auxiliary magnetic wheels, the two auxiliary magnetic wheels are respectively installed at the front and rear sides of the bottom of the frame, the two driving mechanisms are respectively hinged at the two sides of the front end of the frame through two hinge mechanisms, the two magnetic adsorption units are respectively installed at the bottom of the two driving mechanisms, the two driving wheels are respectively connected to the output ends of the two driving mechanisms, and the horizontal positions of the bottoms of the two driving wheels are lower than the horizontal positions of the bottoms of the magnetic adsorption units.

[0007] Optionally, the articulated mechanism includes a connecting shaft, an articulated seat and an articulated shaft, the articulated seat is connected to the side of the frame, and the end of the articulated seat is provided with a articulated hole whose axis extends in the horizontal direction, the connecting shaft is connected to the side of the driving mechanism, and the connecting shaft is provided with an axial hole whose axis extends in the horizontal direction, the articulated shaft passes through the articulated hole and the axial hole and articulates the articulated seat with the connecting shaft.

[0008] Optionally, each of the driving wheels includes a first hub and a rubber skin covering the outer circumference of the first hub, and the first hub is connected to the output end of the driving mechanism.

[0009] Optionally, the surface of the rubber skin is provided with a friction pattern.

[0010] Optionally, the magnetic adsorption unit includes a special-shaped NdFeB permanent magnet, a magnet protection cover and a magnetic yoke iron block, the magnetic yoke iron block is fixed to the bottom of the driving mechanism, the magnet protection cover is sleeved on the outside of the special-shaped NdFeB permanent magnet, the special-shaped NdFeB permanent magnet is fixed to the bottom of the magnetic yoke iron block, and the horizontal position of the bottom of the special-shaped NdFeB permanent magnet is higher than the horizontal position of the bottom of the driving wheel.

[0011] Optionally, the auxiliary magnetic wheel includes a second hub, an annular NdFeB permanent magnet, a nylon sleeve and an annular yoke block, the second hub is rotatably mounted on the bottom of the frame, the annular yoke block is mounted on the second hub, the nylon sleeve is sleeved on the outside of the annular NdFeB permanent magnet, and the annular NdFeB permanent magnet is fixed to the inner side of the annular yoke block.

[0012] Optionally, a universal wheel frame is provided at the bottom of the frame, and the auxiliary magnetic wheel is mounted on the universal wheel frame.

[0013] Optionally, the driving mechanism includes a first sealed shell and a first motor and a first reducer arranged inside the first sealed shell. The first sealed shell is hinged to the side of the frame through the hinge mechanism. The main shaft of the first motor is connected to the input hole of the first reducer. The output shaft of the first reducer extends out of the first sealed shell and is connected to an adjacent driving wheel.

[0014] Optionally, the swing arm mechanism includes a second sealed shell, a second motor, a second reducer and a swing arm, the second sealed shell is installed at the front side of the top of the frame, the second motor and the second reducer are both arranged in the second sealed shell, the main shaft of the second motor is connected to the input hole of the second reducer, the output shaft of the second reducer extends out of the second sealed shell, and the swing arm is connected to the output shaft of the second reducer.

[0015] Optionally, a self-rotating nozzle is installed at the end of the swing arm.

[0016] The above one or more technical solutions in the curved surface adaptive underwater wall climbing robot provided by the embodiment of the present invention have at least one of the following technical effects: the robot's adsorption walking mechanism is provided with two left and right driving mechanisms, each of which drives a driving wheel respectively, and the two driving wheels cooperate with two auxiliary magnetic wheels to realize the walking of the entire robot, and a magnetic adsorption unit is installed below the driving mechanism, and the magnetic adsorption unit forms a certain distance with the wall surface, so that under the action of the magnetic adsorption unit, the driving wheel can be closely attached to the wall surface; at the same time, the provided hinge mechanism enables the left and right driving mechanisms to form a certain angle of swing according to the condition of the wall surface, so that the two driving wheels connected to the two driving mechanisms can also form a certain angle of swing according to the condition of the wall surface; when the robot walks on a wall with different curvatures, the driving wheels on both sides will swing around the hinge mechanism with the ups and downs of the wall surface, so that the driving wheel, the auxiliary magnetic wheel and the wall surface are closely attached, and the gap between the magnetic adsorption unit and the wall surface will not change significantly, ensuring that the robot can be stably adsorbed and walked without the danger of overturning, so that the robot has the ability to adapt to the curved surface, and then the robot can be more flexible in the maintenance operations of various walls.

[0017] The curved surface adaptive underwater wall-climbing robot provided in the embodiment of the present invention is suitable for performing underwater work on ships. It has the advantages of simple and light structure, good flexibility, strong load capacity, and both obstacle surmounting ability and curved surface adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 labor.

[0019] Figure 1 A schematic structural diagram of a curved surface adaptive underwater wall-climbing robot provided in an embodiment of the present invention.

[0020] Figure 2 for Figure 1 A cutaway view from another perspective of the surface-adaptive underwater wall-climbing robot.

[0021] Figure 3 for Figure 1 Side view of the surface-adaptive underwater wall-climbing robot in Figure 2.

[0022] Figure 4 for Figure 1 Schematic diagram of the structural decomposition of the surface adaptive underwater wall-climbing robot.

[0023] Figure 5 for Figure 1Schematic diagram of the structure of the surface-adaptive underwater wall-climbing robot walking on a curved surface.

[0024] Figure 6 for Figure 1 Schematic diagram of the structure of the surface-adaptive underwater wall-climbing robot walking on another curved surface.

[0025] Figure 7 A schematic diagram of the partial structure of a curved surface adaptive underwater wall-climbing robot provided in an embodiment of the present invention.

[0026] Among them, the reference numerals in the figure are:

[0027] 10—frame 11—universal wheel frame 20—swing arm mechanism

[0028] 21—Second sealed housing 22—Second motor 23—Second reducer

[0029] 24—swing arm 30—adsorption walking mechanism 31—driving wheel

[0030] 32—magnetic adsorption unit 33—auxiliary magnetic wheel 40—driving mechanism

[0031] 41 - first sealed housing 42 - first motor 43 - first reducer

[0032] 50—hinge mechanism 51—connecting shaft 52—hinge seat

[0033] 53—articulated shaft 241—self-rotating nozzle 311—first wheel hub

[0034] 312—Rubber skin 321—Special-shaped NdFeB permanent magnet 322—Magnet protective cover

[0035] 323 - magnetic yoke iron block 331 - second wheel hub 332 - annular NdFeB permanent magnet

[0036] 333—Nylon sleeve 334—Annular yoke iron block. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. Figures 1 to 7 The described embodiments are exemplary and are intended to be used to explain the embodiments of the present invention, but should not be construed as limiting the present invention.

[0038] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0040] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0041] In one embodiment of the present invention, Figures 1 to 7 As shown, a curved surface self-adaptive underwater wall-climbing robot is provided, which is suitable for performing related cleaning, rust removal, maintenance and other tasks on ships, etc. For example, the curved surface self-adaptive underwater wall-climbing robot of this embodiment can be used for crawling operations on other metal curved surfaces such as water drilling platforms, wind towers, oil tanks and other environments.

[0042] Specifically, the curved surface adaptive underwater wall-climbing robot includes a frame 10, a swing arm mechanism 20, an adsorption walking mechanism 30 and two driving mechanisms 40, wherein the swing arm mechanism 20 is installed at the front side of the top of the frame 10, the adsorption walking mechanism 30 includes two driving wheels 31, two magnetic adsorption units 32 and two auxiliary magnetic wheels 33, and the two auxiliary magnetic wheels 33 are respectively installed at the front and rear sides of the bottom of the frame 10, and the two driving mechanisms 40 are connected by two hinge mechanisms 50 (see Figure 7) are respectively hinged to both sides of the front end of the frame 10, and the driving mechanism 40 is directly hinged to the frame 10 through the hinge mechanism 50, so that the entire robot can be more compact. The two magnetic adsorption units 32 are respectively installed at the bottom of the two driving mechanisms 40, and the two driving wheels 31 are respectively connected to the output ends of the two driving mechanisms 40, and the horizontal positions of the bottoms of the two driving wheels 31 are lower than the horizontal positions of the bottoms of the magnetic adsorption units 32.

[0043] More specifically, the adsorption walking mechanism 30 of the robot provided in this embodiment is provided with two left and right driving mechanisms 40, each of which drives a driving wheel 31 respectively, and the two driving wheels 31 cooperate with two auxiliary magnetic wheels 33 to realize the walking of the entire robot, and a magnetic adsorption unit 32 is installed below the driving mechanism 40, and the magnetic adsorption unit 32 forms a certain distance with the wall surface, so that under the action of the magnetic adsorption unit 32, the driving wheel 31 can be closely attached to the wall surface; at the same time, the articulated mechanism 50 is provided so that the driving mechanisms 40 on the left and right sides can form a certain angle of swing (such as Figures 5-6 As shown), in this way, the two driving wheels 31 connected to the two driving mechanisms 40 can also swing at a certain angle according to the condition of the wall; when the robot walks on walls with different curvatures, the driving wheels 31 on both sides will swing around the hinge mechanism 50 along with the ups and downs of the wall, so that the driving wheels 31 and the auxiliary magnetic wheels 33 are closely attached to the wall, and the gap between the magnetic adsorption unit 32 and the wall will not change significantly, ensuring that the robot can walk stably with adsorption without the risk of overturning, thereby enabling the robot to have the ability to adapt to curved surfaces, and thus making the robot more flexible in maintenance operations on various walls.

[0044] The curved surface adaptive underwater wall climbing robot provided by the embodiment of the present invention is suitable for performing work on ships underwater. It has the advantages of simple and light structure, good flexibility, strong load capacity, and both obstacle crossing ability and curved surface adaptability. Compared with crawler and bionic foot robots, the robot of this embodiment has the advantages of simple structure, flexible walking, and strong wall adaptability. It can be equipped with a rust removal and cleaning device to replace manual attachment to the curved wall of ships, etc., to achieve high-efficiency operation.

[0045] Furthermore, the robot of the present invention adopts modular design, and different mechanisms do not interfere with each other but cooperate with each other. During installation and maintenance, the robot can be disassembled, replaced and assembled in blocks, making maintenance more convenient. Figures 1-2 As shown, the two driving wheels 31 are symmetrically arranged on the left and right sides, and the auxiliary magnetic wheel 33 is located at the front and rear of the whole machine at the center plane of the machine; the swing arm mechanism 20 is installed on the front and rear frames 10 to improve the steering stability and flexibility of the robot.

[0046] In another embodiment of the present invention, Figure 7 As shown, the articulated mechanism 50 of the provided curved surface adaptive underwater wall climbing robot comprises a connecting shaft 51, an articulated seat 52 and an articulated shaft 53, the articulated seat 52 is connected to the side of the frame 10, and the end of the articulated seat 52 is provided with an articulated hole (not shown) whose axis extends in the horizontal direction, the connecting shaft 51 is connected to the side of the driving mechanism 40, and the connecting shaft 51 is provided with an axis hole (not shown) whose axis extends in the horizontal direction, and the articulated shaft 53 passes through the articulated hole and the axis hole and articulates the articulated seat 52 with the connecting shaft 51. Specifically, the provision of the connecting shaft 51 allows a certain spacing to be formed between the driving mechanism 40 and the frame 10, thus providing space for the subsequent swinging of the driving mechanism 40. At the same time, extending the axis of the shaft hole set at the end of the connecting shaft 51 in the horizontal direction and extending the axis of the hinge hole set at the hinge shaft 53 in the horizontal direction can ensure that when the hinge shaft 53 passes through the hinge hole and the shaft hole, the axis of the hinge shaft 53 is also extended in the horizontal direction. In this way, when the hinge seat 52 and the connecting shaft 51 rotate relative to each other, they swing around the hinge shaft 53, that is, they swing in the up and down directions. This is beneficial when the robot walks on a curved surface with different curvatures. The driving wheels 31 on both sides will follow the driving mechanism 40 and swing around the hinge shaft 53 with the undulations of the wall, so that the driving wheel 31 and the auxiliary magnetic wheel 33 are closely fitted to the wall to prevent overturning and realize the self-adaptation of the curved surface.

[0047] In another embodiment of the present invention, Figure 2 As shown, each of the driving wheels 31 of the provided curved surface adaptive underwater wall climbing robot includes a first hub 311 and a rubber skin 312 covering the outer circumference of the first hub 311, and the first hub 311 is connected to the output end of the driving mechanism 40. Specifically, when the driving wheel 31 encounters an obstacle such as a weld, the contact surface between the driving wheel 31 and the weld is small. Since the rubber skin 312 has a certain degree of softness, the compression amount of the wheel at the contact position is large, and the change of the gap between the magnetic adsorption unit 32 and the wall surface will not be too large, thereby ensuring the adsorption force; and when the auxiliary magnetic wheel 33 at the rear position crosses the obstacle, the driving magnetic adsorption unit 32 provides the main adsorption force and anti-overturning torque, thereby ensuring that the robot can cross the obstacle smoothly.

[0048] In another embodiment of the present invention, the surface of the rubber skin 312 of the curved surface adaptive underwater wall climbing robot is provided with a friction pattern (not shown). Specifically, the friction pattern provided on the rubber skin 312 can be formed by carving, and the friction force of the entire driving wheel 31 can be increased by its setting, so that it can walk on the wall better.

[0049] In another embodiment of the present invention, Figure 4As shown, the magnetic adsorption unit 32 of the curved surface adaptive underwater wall climbing robot provided includes a special-shaped NdFeB permanent magnet 321, a magnet protective cover 322 and a magnetic yoke iron block 323, wherein the magnetic yoke iron block 323 is fixed to the bottom of the driving mechanism 40, the magnet protective cover 322 is sleeved outside the special-shaped NdFeB permanent magnet 321, the special-shaped NdFeB permanent magnet 321 is fixed to the bottom of the magnetic yoke iron block 323, and the horizontal position of the bottom of the special-shaped NdFeB permanent magnet 321 is higher than the horizontal position of the bottom of the driving wheel 31. Specifically, the magnetic yoke iron block 3233 plays the role of installing the special-shaped NdFeB permanent magnet 321 at the bottom of the driving mechanism 40, and the magnet protective cover 322 can protect the special-shaped NdFeB permanent magnet 321 and prevent the special-shaped NdFeB permanent magnet 321 from being directly exposed and adsorbed on the wall.

[0050] In another embodiment of the present invention, Figure 4 As shown, the auxiliary magnetic wheel 33 of the curved surface adaptive underwater wall climbing robot provided includes a second hub 331, an annular NdFeB permanent magnet 332, a nylon sleeve 333 and an annular yoke block 334, wherein the second hub 331 is rotatably mounted on the bottom of the frame 10, the annular yoke block 334 is mounted on the second hub 331, the nylon sleeve 333 is sleeved outside the annular NdFeB permanent magnet 332, and the annular NdFeB permanent magnet 332 is fixed to the inner side of the annular yoke block 334. Specifically, the annular yoke block 334 plays the role of mounting the annular NdFeB permanent magnet 332 on the second hub 331, and the nylon sleeve 333 can protect the annular NdFeB permanent magnet 332 and prevent the annular NdFeB permanent magnet 332 from being directly exposed and adsorbed on the wall.

[0051] Furthermore, two auxiliary magnetic wheels 33 are arranged on the central axis of the whole machine.

[0052] In another embodiment of the present invention, Figure 4 As shown, a universal wheel frame 11 is provided at the bottom of the frame 10 of the provided curved surface adaptive underwater wall climbing robot, and the auxiliary magnetic wheel 33 is installed on the universal wheel frame 11. Specifically, the universal wheel frame 11 can be rotated, so that according to the walking path of the driving wheel 31, the auxiliary magnetic wheel 33 can swing to a suitable angle to cooperate with the driving wheel 31 to walk.

[0053] In another embodiment of the present invention, Figure 4As shown, the driving mechanism 40 of the curved surface adaptive underwater wall climbing robot provided includes a first sealed shell 41 and a first motor 42 and a first reducer 43 arranged in the first sealed shell 41. The first sealed shell 41 is hinged to the side of the frame 10 through the hinge mechanism 50. The main shaft of the first motor 42 is connected to the input hole of the first reducer 43. The output shaft of the first reducer 43 extends out of the first sealed shell 41 and is connected to an adjacent driving wheel 31. Specifically, the first motor 42 drives the first reducer 43, and the first reducer 43 drives the driving wheel 31 connected to its output shaft to rotate, so as to drive the entire robot to walk. Among them, the setting of the first sealed shell 41 can ensure that the first motor 42 and the first reducer 43 avoid accidents caused by contact with water.

[0054] In another embodiment of the present invention, Figure 4 As shown, the swing arm mechanism 20 of the curved surface adaptive underwater wall climbing robot provided includes a second sealed shell 21, a second motor 22, a second reducer 23 and a swing arm 24, the second sealed shell 21 is installed at the front side of the top of the frame 10, the second motor 22 and the second reducer 23 are both arranged in the second sealed shell 21, the main shaft of the second motor 22 is connected to the input hole of the second reducer 23, the output shaft of the second reducer 23 extends out of the second sealed shell 21, and the swing arm 24 is connected to the output shaft of the second reducer 23. Specifically, the second motor 22 drives the second reducer 23, and the output shaft of the second reducer 23 drives its swing arm 24 to rotate, and the swing arm 24 can perform a circular rotation around the output shaft of the second reducer 23, which reduces the length of the swing arm 24, reduces the load of the second motor 22, and makes the center of gravity of the robot as close to the coaxial line of the rotating shaft as possible, reducing the possibility of the robot overturning. Among them, the setting of the second sealed shell 21 can ensure that the second motor 22 and the second reducer 23 avoid touching water and causing accidents.

[0055] In another embodiment of the present invention, Figure 4 As shown, the end of the swing arm 24 of the provided curved surface adaptive underwater wall climbing robot is equipped with a self-rotating nozzle 241. The robot in this embodiment can perform cleaning operations by the self-rotation of the self-rotating nozzle 241 of the robot and the cooperation of the swing arm 24. The self-rotating nozzle 241 will start to rotate after reaching a certain pressure, forming a small cleaning annular surface, and at the same time, the swing arm 24 drives the self-rotating nozzle 241 to swing back and forth under the drive of the motor, thereby forming a circular cleaning surface of a certain width, thereby achieving efficient cleaning operations.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A curved surface adaptive underwater wall-climbing robot, characterized in that: The invention comprises a frame, a swing arm mechanism, an adsorption walking mechanism and two driving mechanisms, wherein the swing arm mechanism is installed at the front side of the top of the frame, the adsorption walking mechanism comprises two driving wheels, two magnetic adsorption units and two auxiliary magnetic wheels, the two auxiliary magnetic wheels are respectively installed at the front and rear sides of the bottom of the frame, the two driving mechanisms are respectively hinged at the two sides of the front end of the frame through two hinge mechanisms, the two magnetic adsorption units are respectively installed at the bottom of the two driving mechanisms, the two driving wheels are respectively connected to the output ends of the two driving mechanisms, and the horizontal positions of the bottoms of the two driving wheels are lower than the horizontal positions of the bottoms of the magnetic adsorption units; the hinge mechanism comprises a connecting shaft, an hinge seat and a hinge shaft, the hinge The seat is connected to the side of the frame, and the end of the articulated seat is provided with a hinge hole whose axis extends in the horizontal direction, the connecting shaft is connected to the side of the driving mechanism, and the connecting shaft is provided with an axial hole whose axis extends in the horizontal direction, the articulated shaft passes through the articulated hole and the axial hole and articulates the articulated seat with the connecting shaft; the magnetic adsorption unit includes a special-shaped NdFeB permanent magnet, a magnet protection cover and a magnetic yoke iron block, the magnetic yoke iron block is fixed to the bottom of the driving mechanism, the magnet protection cover is sleeved on the outside of the special-shaped NdFeB permanent magnet, the special-shaped NdFeB permanent magnet is fixed to the bottom of the magnetic yoke iron block, and the horizontal position of the bottom of the special-shaped NdFeB permanent magnet is higher than the horizontal position of the bottom of the driving wheel.

2. The curved surface adaptive underwater wall-climbing robot according to claim 1, characterized in that: Each of the driving wheels comprises a first hub and a rubber skin covering the outer circumference of the first hub, and the first hub is connected to the output end of the driving mechanism.

3. The curved surface adaptive underwater wall-climbing robot according to claim 2, characterized in that: The surface of the rubber skin is provided with a friction pattern.

4. The curved surface adaptive underwater wall-climbing robot according to claim 1, characterized in that: The auxiliary magnetic wheel includes a second hub, an annular NdFeB permanent magnet, a nylon sleeve and an annular yoke block. The second hub is rotatably mounted on the bottom of the frame, the annular yoke block is mounted on the second hub, the nylon sleeve is sleeved on the outside of the annular NdFeB permanent magnet, and the annular NdFeB permanent magnet is fixed to the inner side of the annular yoke block.

5. The curved surface adaptive underwater wall-climbing robot according to claim 1, characterized in that: A universal wheel frame is arranged at the bottom of the frame, and the auxiliary magnetic wheel is installed on the universal wheel frame.

6. The curved surface adaptive underwater wall-climbing robot according to any one of claims 1 to 5, characterized in that: The driving mechanism includes a first sealed shell and a first motor and a first reducer which are arranged in the first sealed shell. The first sealed shell is hinged to the side of the frame through the hinge mechanism. The main shaft of the first motor is connected to the input hole of the first reducer. The output shaft of the first reducer extends out of the first sealed shell and is connected to an adjacent driving wheel.

7. The curved surface adaptive underwater wall-climbing robot according to any one of claims 1 to 5, characterized in that: The swing arm mechanism includes a second sealed shell, a second motor, a second reducer and a swing arm. The second sealed shell is installed at the front side of the top of the frame. The second motor and the second reducer are both arranged in the second sealed shell. The main shaft of the second motor is connected to the input hole of the second reducer. The output shaft of the second reducer extends out of the second sealed shell. The swing arm is connected to the output shaft of the second reducer.

8. The curved surface adaptive underwater wall-climbing robot according to claim 7, characterized in that: A self-rotating nozzle is installed at the end of the swing arm.

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