A wall-climbing robot for smooth plane and a wall-climbing method thereof

Abstract

The present invention discloses a wall-climbing robot for a smooth plane and a wall-climbing method thereof. The wall-climbing robot comprises a main frame, an inner frame and an outer frame, wherein the inner frame and the outer frame with vacuum adsorption function are respectively arranged inside and outside the main frame, so that when performing linear motion, the robot completes linear forward or backward motion along the guiding route of the outer frame, and when performing turning motion, the robot uses the inner frame located inside the main frame as the rotation center to perform rapid turning work. It is precisely because the rotation center is inside the main frame that the technical effect of small space required for turning is achieved; the present invention also has the following advantages: vacuum adsorption is selected, the adsorption capacity is strong, and the controllability is strong; a frame structure is selected, and the moving distance is controllable; a hollow frame structure is selected, and the overall dead weight is light; the cost is lower than other wall-climbing robot equipment solutions.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, specifically mechanical fields such as construction, fire fighting, equipment detection, etc., so that robots can perform maintenance, detection and cleaning work on high-altitude vertical smooth glass curtain walls, and particularly to a wall-climbing robot for smooth planes and a wall-climbing method thereof. Background Art

[0002] With the continuous development of the economic level, more and more high-risk and heavy work is being replaced by robots, such as the cleaning of curtain walls of high-rise buildings; inspection, quality inspection, cutting, welding, and grinding of facilities such as petrochemical storage tanks, offshore platforms and bridges; rust removal, spraying and skin inspection of ships and aircraft and maintenance and repair of nuclear facilities. Wall-climbing robots are gradually replacing manual labor to perform dangerous and heavy operations, especially the inspection of nuclear waste liquid storage tanks, which is extremely harmful to the human body and extremely dangerous.

[0003] However, current wall-climbing robots have large turning spaces, large volumes, heavy weight, and high manufacturing and use costs. Summary of the invention

[0004] The object of the present invention is to provide a wall-climbing robot and a wall-climbing method for a smooth surface with a small turning space in view of the defects and shortcomings of the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following scheme: The present invention provides a wall-climbing robot for smooth planes, comprising a main frame, an inner frame and an outer frame, wherein the inner frame is located inside the main frame and connected to the inner wall of the main frame, an internal mounting frame is arranged below the inner frame, and the internal mounting frame and the inner frame can generate relative rotation, the internal mounting frame is provided with at least one internal vacuum suction cup for adsorbing the wall, the internal mounting frame is connected to a first motor for driving the main frame to rotate, and the inner frame is connected to the output shaft of the first motor; the outer frames are arranged on both sides of the main frame, and the outer frames are connected to the outer wall of the main frame through a rotating arm, the rotating arm is connected to a second motor for driving the main frame to move in a straight line, and the outer frame is provided with at least one external vacuum suction cup for adsorbing the wall.

[0006] Preferably, the main frame includes a first chamber for realizing internal adsorption of the wall and a second chamber for realizing walking drive, the inner frame is located in the first chamber, and the second motor is located in the second chamber.

[0007] Preferably, when the second chamber is only provided on one side of the first chamber, the upper parts of the outer frames on both sides of the main frame are connected as a whole through a connecting rod, and the connecting rod is located above the main frame.

[0008] Preferably, two outer frames are provided on one side of the main frame, and each of the outer frames is connected to one external vacuum suction cup, and the number of the internal vacuum suction cups is 4.

[0009] Preferably, when the outer frames on the same side are connected, only one second motor is provided.

[0010] Preferably, the inner frame is located between the first motor and the internal mounting frame, and an end of an output shaft of the first motor is movably connected to the internal mounting frame.

[0011] Preferably, the main frame is a hollow rectangular parallelepiped frame.

[0012] Preferably, the internal mounting frame is a rectangular parallelepiped frame, and the first motor is mounted in the middle of the internal mounting frame.

[0013] The present invention also provides a wall climbing method using the above-mentioned wall climbing robot for smooth plane, comprising the following contents:

[0014] Linear motion: When the internal vacuum cups of the inner frame are adsorbed on the wall, the external vacuum cups of the outer frame are separated from the wall. At this time, the second motor rotates to make the outer frame move forward relative to the inner frame and the main frame. After that, the external vacuum cups of the outer frame are adsorbed on the wall, and the internal vacuum cups of the inner frame are separated from the wall. The second motor rotates again to make the inner frame and the main frame move forward relative to the outer frame, completing the linear forward motion of the robot. The linear backward motion can be achieved by controlling the main frame, inner frame and outer frame to move backward through the second motor.

[0015] Turning movement: The external vacuum cups of the outer frame are detached from the wall, and the internal vacuum cups of the inner frame are adsorbed on the wall. At this time, the outer frame and the main frame are driven to rotate horizontally 90 degrees relative to the inner frame through the rotation of the first motor, completing a horizontal rotation.

[0016] Compared with the prior art, the present invention has achieved the following beneficial effects:

[0017] 1. In the wall-climbing robot for smooth surfaces provided by the present invention, an inner frame and an outer frame with a vacuum adsorption function are respectively arranged inside and outside the main frame, so that when performing linear motion, the robot completes a linear forward or backward motion along the guide route of the outer frame. When performing a turning motion, the robot uses the inner frame located inside the main frame as the rotation center to perform a rapid turning operation. It is precisely because the rotation center is inside the main frame that the technical effect of a small space required for turning is achieved;

[0018] 2. The present invention also has the following advantages: it uses vacuum adsorption, which has strong adsorption capacity and controllability; it uses a frame structure, and the moving distance is controllable; it uses a hollow frame structure, and the overall weight is light; the cost is lower than other wall-climbing robot equipment solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments 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.

[0020] Figure 1 It is a schematic diagram of the overall structure of the wall-climbing robot for a smooth surface according to the present invention;

[0021] Figure 2 for Figure 1 Schematic diagram of the local structure;

[0022] Figure 3 It is a schematic diagram of the structure of the inner frame of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the main frame of the present invention;

[0024] Among them, 1 is a first motor; 2 is an internal vacuum suction cup; 3 is a main frame; 4 is an external vacuum suction cup; 5 is an external frame; 6 is an internal frame; 7 is a second motor; 8 is a connecting rod; 9 is a rotating arm; 10 is an internal mounting frame; 11 is a first chamber; 12 is a second chamber. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The object of the present invention is to provide a wall-climbing robot and a wall-climbing method for a smooth surface with a small turning space in view of the defects and shortcomings of the prior art.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] like Figure 1-4As shown, the present invention provides a wall-climbing robot for a smooth plane, comprising a main frame 3, an inner frame 6 and an outer frame 5, the inner frame 6 is located inside the main frame 3 and connected to the inner wall of the main frame 3, an internal mounting frame 10 is arranged below the inner frame 6, and the internal mounting frame 10 and the inner frame 6 can generate relative rotation, at least one internal vacuum suction cup 2 for adsorbing the wall is arranged on the internal mounting frame 10, the internal mounting frame 10 is connected to a first motor 1 for driving the main frame 3 to rotate, and the inner frame 6 is connected to the output shaft of the first motor 1; outer frames 5 are arranged on both sides of the main frame 3, the outer frames 5 are connected to the outer wall of the main frame 3 through a rotating arm 9, the rotating arm 9 is connected to a second motor 7 for driving the main frame 3 to move linearly, and at least one external vacuum suction cup 4 for adsorbing the wall is arranged on the outer frame 5. Among them, the vacuum suction cup is a structure in the prior art, and the vacuum adsorption device matched therewith is also a structure in the prior art, which will not be introduced in detail here; the second motor 7 can be connected to the rotating arm 9, or it can be connected through a transmission structure such as a gear transmission or a belt transmission in the prior art, as long as the corresponding drive can be achieved; the rotating arm 9 is fixedly connected to the second motor 7 and the corresponding driving structure, and the other positions are hinged to facilitate driving the robot to perform linear motion; an inner frame 6 and an outer frame 5 with vacuum adsorption function are respectively arranged inside and outside the main frame 3, so that when performing linear motion, the robot completes a linear forward or backward motion along the guiding route of the outer frame 5. When performing turning motion, the robot uses the inner frame 6 located inside the main frame 3 as the rotation center to perform rapid turning. It is precisely because the rotation center is inside the main frame 3 that the technical effect of small space required for turning is achieved.

[0029] To facilitate installation, the main frame 3 in the present invention includes a first chamber 11 for realizing internal adsorption of the wall and a second chamber 12 for realizing walking drive. The inner frame 6 and the components connected thereto are located in the first chamber 11, and the second motor 7 is located in the second chamber 12. The second chamber 12 can be arranged on both sides of the first chamber 11. Of course, in order to reduce the structural volume, the second chamber 12 can also be arranged on one side of the first chamber 11. And when the second chamber 12 is only arranged on one side of the first chamber 11, in order to achieve the technical purpose of a small number of second motors 7 being able to drive the outer frame 5 to move, the upper parts of the outer frames 5 on both sides of the main frame 3 are connected as a whole by connecting rods 8, and the connecting rods 8 are located above the main frame 3.

[0030] In order to ensure the stability of the robot's movement, two outer frames 5 are provided on one side of the main frame 3 in the present invention, and each outer frame 5 is connected to an external vacuum suction cup 4, and the number of the internal vacuum suction cups 2 is 4.

[0031] In the present invention, when the outer frames 5 on the same side are connected, only one second motor 7 is provided.

[0032] In order to ensure the stability of the steering movement, the inner frame 6 in the present invention is located between the first motor 1 and the internal mounting frame 10 , and the end of the output shaft of the first motor 1 is movably connected to the internal mounting frame 10 .

[0033] In order to reduce deadweight, the main frame 3 in the present invention is a hollow rectangular parallelepiped frame.

[0034] In the present invention, the internal mounting frame 10 is a rectangular parallelepiped frame, and the first motor 1 is mounted in the middle of the internal mounting frame 10 .

[0035] The present invention also provides a wall climbing method using the above-mentioned wall climbing robot for smooth planes, comprising the following contents:

[0036] Linear motion: when the internal vacuum suction cups 2 of the inner frame 6 are adsorbed on the wall, the external vacuum suction cups 4 of the outer frame 5 are separated from the wall, and the second motor 7 rotates at this time to make the outer frame 5 move forward relative to the inner frame 6 and the main frame 3. After that, the external vacuum suction cups 4 of the outer frame 5 are adsorbed on the wall, and the internal vacuum suction cups 2 of the inner frame 6 are separated from the wall. The second motor 7 rotates again to make the inner frame 6 and the main frame 3 move forward relative to the outer frame 5, completing the linear forward motion of the robot; the linear backward motion process can be controlled by the second motor 7 to control the main frame 3, the inner frame 6 and the outer frame 5 to move backward;

[0037] Turning movement: the external vacuum cups 4 of the outer frame 5 are detached from the wall, and the internal vacuum cups 2 of the inner frame 6 are adsorbed on the wall. At this time, the outer frame 5 and the main frame 3 are driven to rotate horizontally 90 degrees relative to the inner frame 6 through the rotation of the first motor 1, completing a horizontal rotation.

[0038] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the wall-climbing robot for smooth surfaces and its core concept of the present invention. At the same time, for those skilled in the art, according to the concept of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A wall-climbing robot for smooth surfaces, characterized in that: The utility model comprises a main frame, an inner frame and an outer frame, wherein the inner frame is located inside the main frame and is connected to the inner wall of the main frame, an internal mounting frame is arranged below the inner frame, and the internal mounting frame and the inner frame can generate relative rotation, and the internal mounting frame is arranged with at least one internal vacuum suction cup for adsorbing the wall surface, the internal mounting frame is connected with a first motor for driving the main frame to rotate, and the inner frame is connected with the output shaft of the first motor; the outer frames are arranged on both sides of the main frame, and the outer frames are connected to the outer wall of the main frame through a rotating arm, and the rotating arm is connected with a second motor for driving the main frame to move linearly, and the outer frame is arranged with at least one external vacuum suction cup for adsorbing the wall surface; Linear motion: When the internal vacuum cups of the inner frame are adsorbed on the wall, the external vacuum cups of the outer frame are separated from the wall. At this time, the second motor rotates to make the outer frame move forward relative to the inner frame and the main frame. After that, the external vacuum cups of the outer frame are adsorbed on the wall, and the internal vacuum cups of the inner frame are separated from the wall. The second motor rotates again to make the inner frame and the main frame move forward relative to the outer frame, completing the linear forward motion of the robot. The linear backward motion can be achieved by controlling the main frame, inner frame and outer frame to move backward through the second motor. Steering movement: The external vacuum cups of the outer frame are separated from the wall, and the internal vacuum cups of the inner frame are attached to the wall. At this time, the outer frame and the main frame are driven to rotate horizontally 90 degrees relative to the inner frame through the rotation of the first motor, completing a horizontal rotation; The main frame includes a first chamber for realizing internal adsorption of the wall and a second chamber for realizing walking drive, the inner frame is located in the first chamber, and the second motor is located in the second chamber; When the second chamber is only provided on one side of the first chamber, the upper parts of the outer frames on both sides of the main frame are connected as one body by connecting rods, and the connecting rods are located above the main frame; Two outer frames are provided on one side of the main frame, and each outer frame is connected to one external vacuum suction cup, and the number of the internal vacuum suction cups is 4; When the outer frames on the same side are connected, only one second motor is provided; The main frame is a hollow rectangular parallelepiped frame.

2. The wall-climbing robot for a smooth surface according to claim 1, characterized in that: The inner frame is located between the first motor and the inner mounting frame, and the end of the output shaft of the first motor is movably connected to the inner mounting frame.

3. The wall-climbing robot for a smooth surface according to claim 1, characterized in that: The internal mounting frame is a rectangular parallelepiped frame, and the first motor is mounted in the middle of the internal mounting frame.

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