An underwater wall-climbing robot structure with adaptive variable curvature

Abstract

The present invention discloses an underwater wall-climbing robot structure capable of adaptively changing curvature. The disc motor of the wall-climbing robot structure is designed with a waterproof shell, and a belt wheel is built-in so that the robot can adapt to the underwater environment, and the structure is more compact. Compared with other adaptive robots, this robot adopts a crawler-type moving mechanism. When adaptively adapting to concave and convex surfaces, since the driving wheel and the driven wheel of the crawler on the same side are simultaneously installed between two baffles, an adaptive device is installed on the inner side between the driving wheel and the driven wheel. The supporting wheel and the internal permanent magnet of the adaptive device allow the driving wheel and the driven wheel to always fit closely with the wall surface, increase the effective contact points between the crawler and the wall surface, increase the friction force to prevent slipping, and reduce the overall adsorption force requirements. On the basis of ensuring the stability of the entire robot operation and obstacle crossing process, the equipment carried above can operate stably and safely.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and specifically to an underwater wall-climbing robot structure with adaptive variable curvature, which is suitable for various complex metal facades on land and underwater, such as variable curvature facades of ship hulls, variable curvature facades of offshore wind power towers, large steel facades, aircraft, large storage tank metal facades, etc. Background Art

[0002] Large ships, offshore wind turbine towers and large offshore buildings, etc., part of their surfaces are underwater, while part of their surfaces are high in the air. Metal structures located below the seawater will be contaminated by marine organisms. Over time, these metal surfaces will be mechanically damaged and corroded due to the attachment of marine organisms. At the same time, marine organisms such as biofilms, seaweed, and barnacles on the hull will increase the resistance of the hull, thereby increasing the fuel consumption of the hull and reducing the utilization rate of energy. In addition, another important impact of hull fouling on ships is that it will cause more fuel combustion, increase pollution emissions, aggravate air pollution, and increase the operating and transportation costs of ships. Structures located in the sky will cause mechanical rust and damage due to problems such as weathering and corrosion. At present, the cleaning, anti-corrosion, and inspection of some metal surfaces of large ships, offshore wind turbine towers, etc. in my country still use traditional manual operations, which are labor-intensive, low-safety, long-term, and inefficient. They are greatly affected by the weather environment and have environmental pollution problems.

[0003] Wall-climbing robots are an important part of the field of industrial robots. They are mainly used in facade scenes and can carry various inspections to replace manual operations. However, how to solve the weight, volume, structure, adsorption force and adaptability of wall-climbing robots is a key issue in technical research. Current wall-climbing robots generally use one-piece rigid structures such as permanent magnetic wheels or permanent magnetic tracks. Due to their relatively rigid structural characteristics, they are difficult to adapt to complex facade morphological features such as variable curvature and can only be adsorbed and moved on relatively flat walls. Variable curvature adaptive capability is a key issue in improving the facade motion performance of wall-climbing robots. It is the core guarantee of the robot's motion flexibility and path accuracy in the operation planning of large and complex metal facades with variable curvatures. It fundamentally restricts the promotion and application of robots. Therefore, the variable curvature adaptive problem has long been the focus of attention in the field of wall-climbing robot research.

[0004] Compared with the above traditional methods, the present invention has higher safety, more compact structure and higher stability while retaining the advantages of the above operation methods. In particular, the present invention has the advantages of being able to adapt to the concave and convex curved surfaces of the hull facade at the same time. Therefore, it is of great significance to study and invent such an underwater wall-climbing robot that can adapt to variable curvature. Summary of the invention

[0005] The present invention provides a new underwater wall-climbing robot structure, which solves the problems that the underwater wall-climbing robot structure cannot adapt to the curvature of the hull, is difficult to adsorb, and the existing robots are dangerous and inefficient. In addition, the robot structure is more compact.

[0006] To achieve the above-mentioned purpose, the invention adopts the following scheme: an underwater wall-climbing robot structure with adaptive variable curvature, characterized in that the wall-climbing robot structure includes connecting sheet metal, a control box, a support frame, an inner baffle, a crawler, an outer baffle, an outer permanent magnet, a rotating rod, a baffle boss, a rod bearing, a tensioning device, a support wheel, an inner permanent magnet, a fixed rod, a supporting connector, a telescopic spring, an inner rib of a front pulley, a rear pulley rib, a pulley bearing, a rotating shaft, a motor output shaft, a No. 1 O-ring, a motor housing, a front driving pulley, a ring motor mounting frame, a No. 2 O-ring, a deep groove ball bearing, a motor rear end cover, a disc motor, and an outer rib of a front pulley;

[0007] The control box is fixed to the middle of the upper surface of the connecting plate metal, and the support frame is connected to the upper surface of the connecting plate metal on both sides of the control box; a set of track transmission structures are respectively arranged on the left and right sides of the lower surface of the connecting plate metal through a set of baffles; each set of baffles includes an outer baffle and an inner baffle, and the four baffles in the two sets of baffles are arranged in parallel and vertically opposite to each other; the two sets of baffles have the same structure and are arranged in mirror symmetry, and the two sets of track transmission structures are also the same and the assembly method is also mirror symmetry; the four baffles are fixedly connected to the lower surface of the connecting plate metal through the baffle boss in the middle of the top;

[0008] Take the track transmission structure on the left as an example to describe its structure. The track transmission structure includes a front driving pulley, a rear driven pulley, a track, an external permanent magnet, a rotating rod, a rod bearing, a tensioning device, and an adaptive device.

[0009] The front driving pulley is a cylindrical cover-shaped structure, and a screw mounting hole is arranged on the closed side surface perpendicular to the central axis, and a motor assembly is installed inside the structure; wherein the motor assembly includes a motor output shaft, a No. 1 O-ring, a motor housing, an annular motor mounting frame, a No. 2 O-ring, a deep groove ball bearing, a motor rear end cover, and a disc motor; the output end of the motor output shaft of the motor assembly is arranged on the inner side of the closed side surface of the front driving pulley with the screw mounting hole, and the front pulley inner rib is arranged on the outer side of the closed side surface of the front driving pulley with the screw mounting hole, and the front pulley inner rib and the front driving pulley are arranged The closed side with the screw mounting hole and the motor output shaft of the motor assembly are fixed together by drilling and installing screws; the other end of the motor output shaft is fixed together with the output end of the disc motor, and the other end of the disc motor is fixed to the inner ring of the annular motor mounting frame; one end of the motor housing is sleeved on the output end of the motor output shaft of the motor assembly, and the two are sealed and connected by a No. 1 O-ring; the outer ring of the annular motor mounting frame is arranged between the motor housing and the rear end cover of the motor, and the three are fixed together by drilling and installing screws, and the three are sealed and connected by two No. 2 O-rings;

[0010] A limiting notch is arranged on the outer periphery of the rear end cover of the motor, an inner groove corresponding to the position of the limiting notch is arranged on the inner side surface of the front driving pulley away from the end of the motor output shaft, one side of the deep groove ball bearing is arranged in the inner limiting notch, and the other side is arranged in the inner groove; a front pulley outer rib is arranged on the outer side of the rear end cover of the motor, and a pulley rotating shaft is arranged on the outer side of the front pulley inner rib and the outer side of the front pulley outer rib, a pulley rotating shaft, a front pulley inner rib, and a closed side surface of the front driving pulley with a screw mounting hole are fixed together by punching and installing screws, and a pulley rotating shaft, a front pulley outer rib, and the rear end cover of the motor are fixed together by punching and installing screws;

[0011] The rear driven pulley is a cylindrical solid wheel body, and a rear pulley rib is provided on the outer side of two sides of the rear driven pulley perpendicular to the central axis, and a pulley rotating shaft is provided on the outer side of the two rear pulley ribs, and a pulley rotating shaft, a rear pulley rib and the side of the rear driven pulley on the same side are fixed together by drilling holes and installing screws;

[0012] The front driving pulley and the rear driven pulley are installed at the middle of the front part and the middle of the rear part between the outer baffle plate and the inner baffle plate on the left side through the pulley rotating shafts and pulley bearings on both sides of the two sides, and the front driving pulley and the rear driven pulley are connected by the crawler belt to achieve transmission; a tensioning device is respectively arranged at the top of the front part and the top of the rear part between the outer baffle plate and the inner baffle plate;

[0013] An outer permanent magnet is fixedly arranged at the lower part of the outer side of the inner baffle at a position opposite to the front driving pulley and the rear driven pulley; the outer permanent magnet is fixedly connected to the inner baffle by drilling a threaded hole on the inner baffle and arranging a matching threaded mounting part on the outer permanent magnet;

[0014] A fixed rod is provided in the middle between the outer baffle and the inner baffle to realize the fixed connection between the two; a rotating rod is fixedly provided on both sides of the fixed rod and is parallel to the fixed rod, and a rod bearing is provided at each end of the rotating rod. The rotating rod is installed between the outer baffle and the inner baffle through the rod bearing; each rotating rod is provided with an adaptive device;

[0015] The adaptive device comprises a spring base, a spring hook, a telescopic spring, a supporting connector, a supporting wheel, and an inner permanent magnet. The upper surface of the base of the spring hook is provided with a protruding portion with a through hole, and a guide rod extends downward from the middle of the lower surface thereof; the upper part of the telescopic spring is fixed on the base of the spring hook, the guide rod is located inside the telescopic spring, and the end of the lower part of the telescopic spring is fixed on the spring base, a guide shaft hole is provided in the middle of the spring base, and the guide rod slides up and down in the guide shaft hole. When the telescopic spring is compressed to the limit, the end of the guide rod does not contact the bottom of the guide shaft hole in the spring base; the supporting wheel is provided with a guide shaft hole in the middle of the spring base, and the guide shaft hole is provided in the middle of the spring base. The middle part of the supporting connecting piece is approximately an "n"-shaped structure, and a mounting shaft is horizontally connected on both sides of the "n"-shaped structure, and two supporting wheels are symmetrically fixedly installed on the mounting shafts on both sides of the supporting connecting piece; an internal permanent magnet is fixedly arranged inside the "n"-shaped structure of the supporting connecting piece; the lower surface of the spring base is in contact with the top of the "n"-shaped structure of the supporting connecting piece, and the inner side surface of the top of the "n"-shaped structure is fixedly connected to the internal permanent magnet; the distance between the two sides of the supporting connecting piece is smaller than the width of the crawler; the adaptive device is mounted on the rotating rod through the through hole of the raised part of the spring hanging ear;

[0016] The inner side of the crawler is a structure with teeth in the middle, and the support wheels on both sides of the support connector are located at the positions without teeth on both sides of the inner side of the lower part of the crawler. When the robot walks on a plane, the bottom of the support wheel and the positions without teeth on both sides of the inner side of the lower part of the crawler are located in the same horizontal plane;

[0017] The transmission surfaces of the front driving pulley and the rear driven pulley are also designed with teeth, and the teeth on the two are matched with the teeth on the crawler belt, so that the transmission between the two is realized through the crawler belt.

[0018] Compared with the prior art, the wall-climbing robot structure designed by the present invention has a disc motor with a waterproof shell, and adopts a built-in belt wheel to make the robot adapt to the underwater environment, and the structure is more compact. Compared with other adaptive robots, this robot adopts a crawler-type mobile mechanism. When adapting to concave and convex surfaces, the driving wheel and the driven wheel of the crawler on the same side are installed between two baffles at the same time, and the two baffles are rigidly connected. In addition, an adaptive device is installed on the inner side between the driving wheel and the driven wheel. The supporting wheel and the internal permanent magnet of the adaptive device allow the driving wheel and the driven wheel to always fit closely with the wall surface, increase the effective contact points between the crawler and the wall surface, increase the friction force to prevent slipping, and reduce the overall adsorption force requirements. On the basis of ensuring the stability of the entire robot operation and obstacle crossing process, the equipment carried on the top can operate stably and safely. The wall-climbing robot structure of the present invention can adapt to the concave and convex surfaces of the facade at the same time, carry a variety of operating equipment, and can be applied to various facade scenes, with high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the wall-climbing robot structure of the present invention;

[0020] Figure 2 A schematic diagram of the inner baffle structure of an embodiment of the wall-climbing robot structure of the present invention;

[0021] Figure 3 It is a schematic diagram of the assembly of components between the inner baffle plate and the outer baffle plate on the left side of an embodiment of the wall-climbing robot structure of the present invention;

[0022] Figure 4 It is a schematic cross-sectional structural diagram of the front driving pulley on the left side of an embodiment of the wall-climbing robot structure of the present invention;

[0023] Figure 5 A schematic side view of the structure of an adaptive device of an embodiment of the wall-climbing robot structure of the present invention;

[0024] Figure 6 A schematic diagram of the three-dimensional structure of an adaptive device of an embodiment of the wall-climbing robot structure of the present invention;

[0025] In the attached drawings: 1-1—connecting sheet metal, 1-2—control box, 1-3—support frame, 1-4—inner baffle, 1-5—track, 1-6—outer baffle, 1-7—external permanent magnet, 2-1—rotating rod, 2-2—baffle boss, 2-3—rod bearing, 2-4—tensioning device, 2-5—support wheel, 2-6—inner permanent magnet, 2-7—fixed rod, 2-8—support connector, 2-9—telescopic spring, 2-10—front pulley inner rib, 2-11—rear pulley rib, 2-12—pulley bearing, 3-1—rotating shaft, 3-2—motor output shaft, 3-3—No. 1 O-ring, 3-4—motor housing, 3-5—front driving pulley, 3-6—annular motor mounting bracket, 3-7—No. 2 O-ring, 3-8—deep groove ball bearing, 3-9—motor rear end cover, 3-10—disc motor, 3-11—front pulley outer rib. DETAILED DESCRIPTION

[0026] The following will provide a clear and complete description of the technical solutions in the implementation of the present invention in conjunction with the accompanying drawings in the implementation of the present invention. It is obvious that this implementation case is only a part of the embodiments of the present invention, rather than all the embodiments.

[0027] The present invention provides an underwater wall-climbing robot structure capable of adaptively changing curvature (referred to as the wall-climbing robot structure, see Figure 1-6 ), the wall-climbing robot structure includes a connecting sheet metal 1-1, a control box 1-2, a support frame 1-3, an inner baffle 1-4, a crawler track 1-5, an outer baffle 1-6, an outer permanent magnet 1-7, a rotating rod 2-1, a baffle boss 2-2, a rod bearing 2-3, a tensioning device 2-4, a support wheel 2-5, an inner permanent magnet 2-6, a fixed rod 2-7, a supporting connector 2-8, a telescopic spring 2-9, a front pulley inner rib 2-10, a rear pulley rib 2-11, a pulley bearing 2-12, a rotating shaft 3-1, a motor output shaft 3-2, a No. 1 O-ring 3-3, a motor housing 3-4, a front active pulley 3-5, an annular motor mounting frame 3-6, a No. 2 O-ring 3-7, a deep groove ball bearing 3-8, a motor rear end cover 3-9, a disc motor 3-10, and a front pulley outer rib 3-11.

[0028] The control box 1-2 is fixed to the middle of the upper surface of the connecting sheet metal 1-1, and the support frame 1-3 is connected to the upper surface of the connecting sheet metal 1-1 on both sides of the control box 1-2. A set of track transmission structures are respectively arranged on the left and right sides of the lower surface of the connecting sheet metal 1-1 through a set of baffles; each set of baffles includes an outer baffle 1-6 and an inner baffle 1-4 (with the side close to the middle of the connecting sheet metal 1-1 as the inner), and the four baffles in the two sets of baffles are arranged in parallel and vertically opposite. The two sets of baffles have the same structure and are arranged in mirror symmetry. The two sets of track transmission structures are also the same and the assembly method is also mirror symmetric. The four baffles are fixedly connected to the lower surface of the connecting sheet metal 1-1 through the baffle boss 2-2 in the middle of the top.

[0029] Taking a set of track transmission structures on the left side as an example to describe its structure, the track transmission structure includes a front driving pulley 3-5, a rear driven pulley, a track 1-5, an external permanent magnet 1-7, a rotating rod 2-1, a rod bearing 2-3, a tensioning device 2-4, and an adaptive device.

[0030] The front driving pulley 3-5 is a cylindrical cover-shaped structure, and a screw mounting hole is arranged on its closed side perpendicular to the central axis, and a motor assembly is installed inside it; wherein the motor assembly includes a motor output shaft 3-2, a No. 1 O-ring 3-3, a motor housing 3-4, an annular motor mounting frame 3-6, a No. 2 O-ring 3-7, a deep groove ball bearing 3-8, a motor rear end cover 3-9, and a disc motor 3-10; the output end of the motor output shaft 3-2 of the motor assembly is arranged opposite to the inner side of the closed side of the front driving pulley 3-5 provided with the screw mounting hole, and the front pulley inner retaining edge 2-10 is arranged on the outer side of the closed side of the front driving pulley 3-5 provided with the screw mounting hole, and the front pulley inner retaining edge 2-10, the front driving pulley 3 -5, a closed side surface provided with screw mounting holes, and the motor output shaft 3-2 of the motor assembly are fixed together by punching and installing screws; the other end of the motor output shaft 3-2 is fixed together with the output end of the disc motor 3-10, and the other end of the disc motor 3-10 is fixed on the inner ring of the annular motor mounting frame 3-6; one end of the motor housing 3-4 is sleeved on the output end of the motor output shaft 3-2 of the motor assembly, and the two are sealed and connected by a No. 1 O-ring 3-3; the outer ring of the annular motor mounting frame 3-6 is arranged between the motor housing 3-4 and the rear end cover 3-9 of the motor, and the three are fixed together by punching and installing screws, and the three are sealed and connected by two No. 2 O-rings 3-7.

[0031] The outer periphery of the rear end cover 3-9 of the motor is provided with a limit slot, and the inner side surface of the front driving pulley 3-5 away from the end of the motor output shaft 3-2 is provided with an inner groove slot corresponding to the position of the limit slot, and one side of the deep groove ball bearing 3-8 is provided in the inner limit slot, and the other side is provided in the inner groove slot. The outer side of the rear end cover 3-9 of the motor is provided with a front pulley outer rib 3-11, and the outer sides of the front pulley inner rib 2-10 and the front pulley outer rib 3-11 are both provided with a pulley rotating shaft 3-1, a pulley rotating shaft 3-1, a front pulley inner rib 2-10, and a closed side surface of the front driving pulley 3-5 provided with a screw mounting hole are fixed together by punching and screwing, and a pulley rotating shaft 3-1, a front pulley outer rib 3-11, and the rear end cover 3-9 of the motor are fixed together by punching and screwing.

[0032] The rear driven pulley is a cylindrical solid wheel body, and a rear pulley rib 2-11 is provided on the outer side of the two side surfaces of the rear driven pulley perpendicular to the central axis, and a pulley rotating shaft 3-1 is provided on the outer side of the two rear pulley ribs 2-11, and a pulley rotating shaft 3-1, a rear pulley rib 2-11 and the side surface of the rear driven pulley on the same side are fixed together by drilling holes and installing screws.

[0033] The front driving pulley 3-5 and the rear driven pulley are installed in the middle of the front and the middle of the rear between the outer baffle 1-6 and the inner baffle 1-4 on the left side through the pulley rotating shaft 3-1 and the pulley bearing 2-12 on both sides. The front driving pulley 3-5 and the rear driven pulley are connected by the track 1-5; a tensioning device 2-4 is respectively provided at the top of the front and the top of the rear between the outer baffle 1-6 and the inner baffle 1-4 for tensioning the track 1-5. The lower part of the tensioning device 2-4 is a structure in which shaft sleeves are mounted at both ends of a rod, and the two shaft sleeves are arranged on both sides of the upper surface of the upper part of the track 1-5 and contact it, and the ends of the two ends of the rod are provided with spring mounting seats facing vertically upward; the lower part of the vertically arranged tensioning spring is fixed on the spring mounting seat, and the upper part of the tensioning spring is fixed inside the transverse positioning frame; the transverse positioning frame is an approximately "π"-shaped structure, and the upper part of the tensioning spring is fixedly connected to the middle of the top inside it, and the supporting feet on both sides of the lower part are set on the top of the baffle by screws, and the tensioning spring is compressed and deformed by adjusting the distance between the bottom of the supporting feet of the transverse positioning frame and the top of the baffle, so that the track 1-5 obtains the initial tensioning force.

[0034] An external permanent magnet 1-7 is fixedly arranged at the lower part of the outer side of the inner baffle 1-4 (the side away from the pulley) at a position opposite to the front driving pulley 3-5 and the rear driven pulley. The distance between the bottom of the external permanent magnet 1-7 and the bottom of the inner baffle 1-4 is 10 mm; the external permanent magnet 1-7 is achieved by drilling a threaded hole on the inner baffle 1-4 and providing a matching threaded mounting part on the external permanent magnet 1-7 to achieve a fixed connection between the two.

[0035] A fixed rod 2-7 perpendicular to the outer baffle 1-6 and the inner baffle 1-4 is provided in the middle to achieve a fixed connection between the two; a rotating rod 2-1 parallel to the outer baffle 1-6 is fixedly provided on both sides of the fixed rod 2-7, and a rod bearing 2-3 is provided at each end of the rotating rod 2-1. The rotating rod 2-1 is installed between the outer baffle 1-6 and the inner baffle 1-4 through the rod bearing 2-3. Each rotating rod 2-1 is provided with an adaptive device;

[0036] The adaptive device includes a spring base, a spring hook, a telescopic spring 2-9, a supporting connector 2-8, a supporting wheel 2-5, and an internal permanent magnet 2-6. The upper surface of the base of the spring hook is provided with a protrusion with a through hole, and a guide rod extends downward from the middle of the lower surface; the upper part of the telescopic spring 2-9 is fixed to the base of the spring hook, the guide rod is located inside the telescopic spring 2-9, and the end of the lower part of the telescopic spring 2-9 is fixed to the spring base, and a guide shaft hole is provided in the middle of the spring base, and the guide rod slides up and down in the guide shaft hole. When the telescopic spring 2-9 is compressed to the limit, the end of the guide rod does not contact the bottom of the guide shaft hole in the spring base. The middle part of the supporting connector 2-8 is approximately an "n"-shaped structure, and a mounting shaft is horizontally connected on both sides of the "n"-shaped structure, and two supporting wheels 2-5 are symmetrically fixedly installed on the mounting shafts on both sides of the supporting connector 2-8; an internal permanent magnet 2-6 is fixedly arranged inside the "n"-shaped structure of the supporting connector 2-8; the lower surface of the spring base is in contact with the top of the "n"-shaped structure of the supporting connector 2-8, and the inner side surface of the top of the "n"-shaped structure is fixedly connected to the internal permanent magnet 2-6; the distance between the two sides of the supporting connector 2-8 is smaller than the width of the track 1-5; the adaptive device is mounted on the rotating rod 2-1 through the through hole of the raised part of the spring hook.

[0037] The inner side surface of the track 1-5 is a structure with teeth in the middle, and the support wheels 2-5 on both sides of the supporting connecting member 2-8 are located at the non-toothed positions on both sides of the lower inner side surface of the track 1-5. When the robot walks on the plane, the bottom of the support wheel 2-5 and the non-toothed positions on both sides of the lower inner side surface of the track 1-5 are located in the same horizontal plane (specifically, this can be achieved by adjusting the height of the rotating rod 2-1 and the size of the adaptive device).

[0038] The transmission surfaces of the front driving pulley 3-5 and the rear driven pulley are also designed with teeth, and the teeth on the two are matched with the teeth on the crawler 1-5, and the transmission between the two is realized through the crawler 1-5.

[0039] The model of the disc motor 3-10 is HT-03-D.

[0040] In the actual operation process of the wall-climbing robot structure of the present invention, the stretching and compression lengths of the telescopic spring 2-9 are determined by the shape of the actual hull wall and the degree of concavity and convexity. Usually, if the hull wall is a plane, the contact points of the support wheel 2-5, the front driving pulley 3-5 and the rear driven pulley pair 1-5 track remain in the same plane; if the hull wall is a concave curved surface, the telescopic spring 2-9 is stretched and deformed under the drive of the internal permanent magnet 2-6, thereby ensuring that the support wheel 2-5 is close to the wall; similarly, if the hull wall is a convex curved surface, the telescopic spring 2-9 will be compressed and deformed. In addition, the robot structure can be compatible with both underwater wall climbing and high-altitude wall climbing operating environments, and can be adjusted according to the equipment carried by the robot and or the requirements of the working environment.

[0041] The wall-climbing robot structure of the present invention has a disc motor 3-10 installed in a motor housing 3-4, and the right side is installed on the motor rear end cover 3-9 by a ring motor mounting frame 3-6 through a thread, wherein the motor output shaft 3-2 drives the front driving pulley 3-5 to rotate, and at the same time, the right side uses the working principle of the deep groove ball bearing 3-8 to keep the motor from rotating with the pulley. A through hole is set at the position where the motor rear end cover 3-9 is directly opposite to the front pulley outer rib 3-11 and the outer baffle 1-6, and a waterproof gland is installed, so that the disc motor 3-10 is electrically connected to the control box 1-2 through a conductive wire.

[0042] The fixed rod 2-7 is located between the inner baffle plate 1-4 and the outer baffle plate 1-6 to ensure a fixed distance between the two baffle plates to prevent a gap between the front and rear pulleys. The driving pulley is arranged between the inner baffle plate 1-4 and the outer baffle plate 1-6 by a rolling bearing and driven by a disc motor 3-10, thereby driving the track 1-5 and the rear driven pulley, so that the track device on one side can be moved. The connecting sheet metal 1-1 is fixed to the baffle boss 2-2 on the inner baffle plate 1-4 by screws, so that the structures on both sides of the track are rigidly connected, thereby realizing the synchronous movement of the moving track devices on both sides. At the same time, a total of 4 sets of external permanent magnets 1-7 are installed on the inner baffle plates 1-4 of the driving pulley and the rear driven pulley on both sides of the track to ensure the adsorption force requirements of the entire wall-climbing robot.

[0043] There are two sets of adaptive devices in each side track. When adapting to the concave surface, the support wheels 2-5 at both ends of the adaptive device play a supporting role and can roll back and forth in the track. With the characteristics of the internal permanent magnet 2-6 adsorption force direction following the change, the two sets of adaptive devices in the same side track will rotate in the direction of separation. At the same time, the support wheel 2-5 will stick to the wall surface and use the magnetic characteristics to make the adaptive device support force always perpendicular to the hull surface, so the telescopic spring 2-9 will be stretched; in addition, the tensioning device 2-4 is fixed to the top of the baffle. When the mobile device adapts to the concave surface, the spring in the 2-4 tensioning device will be compressed, and the upper track 1-5 will be flattened, so that the surplus of the upper track 1-5 is transferred to the bottom for compensation. The above components move simultaneously to realize the posture change of the adaptive module, thereby completing the concave surface adaptive movement.

[0044] When adapting to a convex surface, the two sets of adaptive devices in the crawler on the same side will rotate in similar directions, and the telescopic spring 2-9 will be compressed. At this time, the spring in the tensioning device 2-4 is compressed, and the upper crawler 1-5 is flattened, so that the excess of the upper crawler 1-5 is transferred to the lower part for compensation, thereby completing the convex surface adaptive movement. The above process is a specific description of the implementation plan.

[0045] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the invention.

[0046] Any matters not described in the present invention are applicable to the prior art.

Claims

1. An underwater wall-climbing robot structure capable of adaptively changing curvature, characterized in that: The wall-climbing robot structure includes connecting sheet metal, a control box, a support frame, an inner baffle, a crawler, an outer baffle, an outer permanent magnet, a rotating rod, a baffle boss, a rod bearing, a tensioning device, a support wheel, an inner permanent magnet, a fixed rod, a supporting connector, a telescopic spring, an inner rib of a front pulley, a rear pulley rib, a pulley bearing, a rotating shaft, a motor output shaft, a No. 1 O-ring, a motor housing, a front driving pulley, a ring motor mounting frame, a No. 2 O-ring, a deep groove ball bearing, a motor rear end cover, a disc motor, and an outer rib of a front pulley; The control box is fixed to the middle of the upper surface of the connecting plate metal, and the support frame is connected to the upper surface of the connecting plate metal on both sides of the control box; a set of track transmission structures are respectively arranged on the left and right sides of the lower surface of the connecting plate metal through a set of baffles; each set of baffles includes an outer baffle and an inner baffle, and the four baffles in the two sets of baffles are arranged in parallel and vertically opposite to each other; the two sets of baffles have the same structure and are arranged in mirror symmetry, and the two sets of track transmission structures are also the same and the assembly method is also mirror symmetry; the four baffles are fixedly connected to the lower surface of the connecting plate metal through the baffle boss in the middle of the top; Taking a set of crawler drive structures on the left as an example, the crawler drive structure includes a front driving pulley, a rear driven pulley, a crawler, an external permanent magnet, a rotating rod, a rod bearing, a tensioning device, and an adaptive device; The front driving pulley is a cylindrical cover-shaped structure, and a screw mounting hole is arranged on the closed side surface perpendicular to the central axis, and a motor assembly is installed inside the structure; wherein the motor assembly includes a motor output shaft, a No. 1 O-ring, a motor housing, an annular motor mounting frame, a No. 2 O-ring, a deep groove ball bearing, a motor rear end cover, and a disc motor; the output end of the motor output shaft of the motor assembly is arranged on the inner side of the closed side surface of the front driving pulley with the screw mounting hole, and the front pulley inner rib is arranged on the outer side of the closed side surface of the front driving pulley with the screw mounting hole, and the front pulley inner rib and the front driving pulley are arranged The closed side with the screw mounting hole and the motor output shaft of the motor assembly are fixed together by drilling and installing screws; the other end of the motor output shaft is fixed together with the output end of the disc motor, and the other end of the disc motor is fixed to the inner ring of the annular motor mounting frame; one end of the motor housing is sleeved on the output end of the motor output shaft of the motor assembly, and the two are sealed and connected by a No. 1 O-ring; the outer ring of the annular motor mounting frame is arranged between the motor housing and the rear end cover of the motor, and the three are fixed together by drilling and installing screws, and the three are sealed and connected by two No. 2 O-rings; A limiting notch is arranged on the outer periphery of the rear end cover of the motor, an inner groove corresponding to the position of the limiting notch is arranged on the inner side surface of the front driving pulley away from the end of the motor output shaft, one side of the deep groove ball bearing is arranged in the inner limiting notch, and the other side is arranged in the inner groove; a front pulley outer rib is arranged on the outer side of the rear end cover of the motor, and a pulley rotating shaft is arranged on the outer side of the front pulley inner rib and the outer side of the front pulley outer rib, a pulley rotating shaft, a front pulley inner rib, and a closed side surface of the front driving pulley with a screw mounting hole are fixed together by punching and installing screws, and a pulley rotating shaft, a front pulley outer rib, and the rear end cover of the motor are fixed together by punching and installing screws; The rear driven pulley is a cylindrical solid wheel body, and a rear pulley rib is provided on the outer side of two sides of the rear driven pulley perpendicular to the central axis, and a pulley rotating shaft is provided on the outer side of the two rear pulley ribs, and a pulley rotating shaft, a rear pulley rib and the side of the rear driven pulley on the same side are fixed together by drilling holes and installing screws; The front driving pulley and the rear driven pulley are installed at the middle of the front part and the middle of the rear part between the outer baffle plate and the inner baffle plate on the left side through the pulley rotating shafts and pulley bearings on both sides of the two sides, and the front driving pulley and the rear driven pulley are connected by the crawler belt to achieve transmission; a tensioning device is respectively arranged at the top of the front part and the top of the rear part between the outer baffle plate and the inner baffle plate; An outer permanent magnet is fixedly arranged at the lower part of the outer side of the inner baffle at a position opposite to the front driving pulley and the rear driven pulley; the outer permanent magnet is fixedly connected to the inner baffle by drilling a threaded hole on the inner baffle and arranging a matching threaded mounting part on the outer permanent magnet; A fixed rod is provided in the middle between the outer baffle and the inner baffle to realize the fixed connection between the two; a rotating rod is fixedly provided on both sides of the fixed rod and is parallel to the fixed rod, and a rod bearing is provided at each end of the rotating rod. The rotating rod is installed between the outer baffle and the inner baffle through the rod bearing; each rotating rod is provided with an adaptive device; The adaptive device comprises a spring base, a spring hook, a telescopic spring, a supporting connector, a supporting wheel, and an inner permanent magnet. The upper surface of the base of the spring hook is provided with a protruding portion with a through hole, and a guide rod extends downward from the middle of the lower surface thereof; the upper part of the telescopic spring is fixed on the base of the spring hook, the guide rod is located inside the telescopic spring, and the end of the lower part of the telescopic spring is fixed on the spring base, a guide shaft hole is provided in the middle of the spring base, and the guide rod slides up and down in the guide shaft hole. When the telescopic spring is compressed to the limit, the end of the guide rod does not contact the bottom of the guide shaft hole in the spring base; the supporting wheel is provided with a guide shaft hole in the middle of the spring base, and the guide shaft hole is provided in the middle of the spring base. The middle part of the supporting connecting piece is approximately an "n"-shaped structure, and a mounting shaft is horizontally connected on both sides of the "n"-shaped structure, and two supporting wheels are symmetrically fixedly installed on the mounting shafts on both sides of the supporting connecting piece; an internal permanent magnet is fixedly arranged inside the "n"-shaped structure of the supporting connecting piece; the lower surface of the spring base is in contact with the top of the "n"-shaped structure of the supporting connecting piece, and the inner side surface of the top of the "n"-shaped structure is fixedly connected to the internal permanent magnet; the distance between the two sides of the supporting connecting piece is smaller than the width of the crawler; the adaptive device is sleeved on the rotating rod through the through hole of the raised part of the spring hanging ear; The inner side of the crawler is a structure with teeth in the middle, and the support wheels on both sides of the support connector are located at the positions without teeth on both sides of the inner side of the lower part of the crawler. When the robot walks on a plane, the bottom of the support wheel and the positions without teeth on both sides of the inner side of the lower part of the crawler are located in the same horizontal plane; The transmission surfaces of the front driving pulley and the rear driven pulley are also designed with teeth, and the teeth on the two are matched with the teeth on the crawler belt, so that the transmission between the two is realized through the crawler belt; The distance between the bottom of the outer permanent magnet and the bottom of the inner baffle is 10 mm; The model of the disc motor is HT-03-D.

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