Wall-climbing robot capable of climbing inner corner of frame type and application thereof

Abstract

The application relates to a wall-climbing robot capable of climbing a frame-type inner corner and an application thereof, which comprises a first walking and adsorbing module, a first lifting assembly and a first side pushing assembly. The first walking and adsorbing module comprises a first wheel body adsorbing unit, the first wheel body adsorbing unit being capable of being adsorbed on a wall surface and walking, the first lifting assembly being located at the lower side of the first walking and adsorbing module and being capable of lifting the first wheel body adsorbing unit, and the first side pushing assembly being located at the front side of the first wheel body adsorbing unit to push the wall surface. The second walking and adsorbing module comprises a second wheel body adsorbing unit, a second lifting assembly and a second side pushing assembly. The second wheel body adsorbing unit is capable of being adsorbed on a wall surface and walking, the second lifting assembly is located at the lower side of the second walking and adsorbing module and is capable of lifting the second wheel body adsorbing unit, and the second side pushing assembly is located at the rear side of the first walking and adsorbing unit to push the wall surface. The wall-climbing robot can climb around a frame-type inner wall, has high flexibility and good stability.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and in particular to a wall-climbing robot capable of climbing the inner corner of a frame and its applications. Background Technology

[0002] Wall-climbing robots are automated robots that can climb vertical walls and complete tasks. They are also known as wall-moving robots. Wall-climbing robots must possess two basic functions: adhesion and movement. Common adhesion methods include negative pressure adhesion and permanent magnet adhesion. Negative pressure adhesion uses a suction cup to create negative pressure, allowing it to adhere to the wall surface regardless of the wall material. Permanent magnet adhesion, using either permanent magnets or electromagnets, is only suitable for adhering to magnetically conductive walls. Wall-climbing robots are mainly used in petrochemical plants for flaw detection or painting of large cylindrical tanks, or for cleaning and painting buildings. In the nuclear industry, they are used for thickness measurement and inspection, and they can also be used in firefighting and shipbuilding industries.

[0003] However, existing wheeled robots are not suitable for climbing within the inner corners of a frame. Specifically, existing wheeled wall-climbing robots cannot climb from the ground to a vertical wall, nor from a vertical wall to the top, nor from the top to a vertical wall, nor from a vertical wall to the ground. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the technical defects of the prior art, which is not applicable to the working conditions of frame-type inner corner crawling and has poor stability.

[0005] To solve the above-mentioned technical problems, the present invention provides a wall-climbing robot capable of climbing the inner corner of a frame, comprising:

[0006] The first walking adsorption module includes a first frame and a first wheel adsorption unit, a first lifting component and a first side pushing component disposed on the first frame. The first wheel adsorption unit can adsorb onto the wall and walk. The first lifting component is located on the lower side of the first walking adsorption module and can lift the first wheel adsorption unit. The first side pushing component is located on the front side of the first walking adsorption unit to push against the wall.

[0007] The second walking adsorption module includes a second frame and a second wheel adsorption unit, a second lifting component and a second side pushing component disposed on the second frame. The second wheel adsorption unit can adsorb onto the wall surface and walk. The second lifting component is located below the second walking adsorption module and can raise the second wheel adsorption unit. The second side pushing component is located behind the first walking adsorption unit to push against the wall surface.

[0008] The first frame is fixed or hinged to the second frame.

[0009] Preferably, the lifting direction of the first lifting component is set at an angle to the vertical direction, and the lifting direction of the second lifting component is set at an angle to the vertical direction;

[0010] Along the direction of travel of the wall-climbing robot, the wall-climbing robot climbs from the first working wall to the second working wall;

[0011] When the first walking adsorption unit is in front of the second walking adsorption unit, the force applied by the first lifting component to the first wheel adsorption unit can be decomposed into a first decomposition force and a second decomposition force. The first decomposition force can cause the first walking adsorption unit to detach from the first working wall so that the magnetic attraction between the first walking adsorption unit and the first working wall disappears. The second decomposition force increases the positive pressure between the first adsorption unit and the second working wall to enhance the driving force of the wall-climbing robot.

[0012] When the second walking adsorption unit is located in front of the first walking adsorption unit, the force applied by the second lifting component to the second wheel adsorption unit can be decomposed into a third decomposition force and a fourth decomposition force. The third decomposition force can cause the second walking adsorption unit to detach from the first working wall so that the magnetic attraction between the second walking adsorption unit and the first working wall disappears. The fourth decomposition force increases the positive pressure between the second adsorption unit and the second working wall to enhance the driving force of the wall-climbing robot.

[0013] Wherein, the first decomposition force and the third decomposition force are perpendicular to the first working wall surface, and the second decomposition force and the fourth decomposition force are perpendicular to the second working wall surface.

[0014] Preferably, the first lifting component and the second lifting component are symmetrically arranged with respect to the wall-climbing robot; the first side-pushing component and the second side-pushing component are symmetrically arranged with respect to the wall-climbing robot.

[0015] Preferably, the system also includes a sensing component, which includes a first displacement sensor, a second displacement sensor, a first force sensor, and a second force sensor.

[0016] The first displacement sensor is located on the first frame to detect the distance between the first walking adsorption module and the wall to be climbed in front, and the second displacement sensor is located on the second frame to detect the distance between the second walking adsorption module and the wall behind.

[0017] The first wheel adsorption unit includes a first magnetic adsorption component, which includes multiple sets of first magnetic sub-units arranged sequentially. Each set of first magnetic sub-units is provided with a first force sensor, which detects the magnetic attraction between its corresponding first magnetic sub-unit and the adjacent working wall surface.

[0018] The second wheel adsorption unit includes a second magnetic adsorption component, which includes multiple sets of second magnetic sub-units arranged in sequence. Each set of second magnetic sub-units is equipped with a second force sensor, which detects the magnetic attraction between its corresponding second magnetic sub-unit and the adjacent working wall surface.

[0019] Preferably, the first wheel adsorption unit includes a first wheel assembly and a first magnetic adsorption assembly. The first wheel assembly includes a first wheel and a second wheel that can rotate synchronously. The first magnetic adsorption assembly is located between the first wheel and the second wheel. The first magnetic adsorption assembly is arranged around the central axis of the first wheel and the second wheel. The first magnetic adsorption assembly is a semi-enclosed magnetic adsorption.

[0020] The second wheel adsorption unit includes a second wheel assembly and a second magnetic adsorption assembly. The second wheel assembly includes a third wheel and a fourth wheel that can rotate synchronously. The second magnetic adsorption assembly is located between the third wheel and the fourth wheel. The second magnetic adsorption assembly is arranged around the central axis of the third wheel and the fourth wheel. The second magnetic adsorption assembly is a semi-enclosed magnetic adsorption.

[0021] Preferably, the first wheel adsorption unit includes a first knob plunger and a first rotating seat, the first magnetic adsorption component is disposed on the first rotating seat, and the first rotating seat is capable of rotating around the central axis of the first wheel and the second wheel;

[0022] After the first rotating seat drives the first magnetic adsorption component to rotate to the working position, the first rotating seat is fixed to the first frame by the first knob plunger. The wall-climbing robot can perform wall-climbing work. The working position refers to the position where the magnetic attraction between the first magnetic adsorption component and the current working wall surface is the greatest.

[0023] After the first rotating seat drives the first magnetic adsorption component to rotate to a non-working position, the first rotating seat is fixed to the first frame by the first knob plunger so that the wall-climbing robot can detach from the current working wall surface. The non-working position refers to the position where the magnetic attraction between the first magnetic adsorption component and the current working wall surface is the smallest.

[0024] Preferably, the second wheel adsorption unit includes a second knob plunger and a second rotating seat, the second magnetic adsorption component is disposed on the second rotating seat, and the second rotating seat is capable of rotating around the central axis of the third wheel and the fourth wheel;

[0025] After the second rotating seat drives the second magnetic adsorption component to rotate to the working position, the second rotating seat is fixed to the second frame by the second knob plunger. The wall-climbing robot can perform wall-climbing work. The working position refers to the position where the magnetic attraction between the second magnetic adsorption component and the current working wall surface is the greatest.

[0026] After the second rotating seat drives the second magnetic adsorption component to rotate to a non-working position, the second rotating seat is fixed to the second frame by the second knob plunger so that the wall-climbing robot can detach from the current working wall surface. The non-working position refers to the position where the magnetic attraction between the second magnetic adsorption component and the current working wall surface is the smallest.

[0027] Preferably, both the first magnetic adsorption component and the second magnetic adsorption component are composed of an array of magnets.

[0028] Preferably, a passive adaptation module is provided between the first walking adsorption module and the second walking adsorption module. The passive adaptation module includes a first buffer, a second buffer and a rotating shaft. The first frame and the second frame are connected by the rotating shaft, which is horizontally arranged. The first buffer and the second buffer are provided between the first frame and the second frame. The first buffer and the second buffer are both vertically arranged on both sides of the first rotating shaft.

[0029] This invention discloses an application of a wall-climbing robot capable of climbing the inner corner of a frame, applying the aforementioned wall-climbing robot capable of climbing the inner corner of a frame to working conditions with inner corners of a frame.

[0030] The technical solution of the present invention has the following advantages over the prior art:

[0031] 1. The present invention enables the first walking adsorption module to walk on a flat working wall surface through the first walking adsorption module, and enables the second walking adsorption module to walk on a flat working wall surface through the second walking adsorption module. The first lifting component can lift the first walking adsorption module, thereby facilitating the first walking adsorption module to cross corners and climb onto adjacent walls.

[0032] 2. The wall-climbing robot climbs clockwise along the inner wall of the frame. When the wall-climbing robot climbs counterclockwise along the inner wall of the frame, the second walking adsorption module is in front and the first walking adsorption module is behind. Through the cooperation of the second lifting component and the first side pushing component, the wall-climbing robot can climb counterclockwise along the inner wall.

[0033] 3. The wall-climbing robot can move in both directions. Depending on the needs, the first or second walking adsorption module can be used as the front of the vehicle, which is highly flexible.

[0034] 4. The first and second side pushing components in this invention also have the following functions: When the wall-climbing robot is walking, as the first walking adsorption module slowly approaches the wall to be climbed, the first side pushing component extends a pushing rod, which pushes against the wall to be climbed. Then, as the first walking adsorption module approaches the wall to be climbed, the pushing rod slowly retracts, but the end of the pushing rod continues to push against the wall to be climbed, thereby preventing the first walking adsorption module from being suddenly adsorbed to the wall to be climbed, thus ensuring the robot walks stably. Similarly, when the second walking adsorption module slowly approaches the wall to be climbed, the second side pushing component extends a pushing rod, which pushes against the wall to be climbed. Then, as the second walking adsorption module approaches the wall to be climbed, the pushing rod slowly retracts, but the end of the pushing rod continues to push against the wall to be climbed, thereby preventing the second walking adsorption module from being suddenly adsorbed to the wall to be climbed, thus ensuring the robot walks stably. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ;

[0036] Figure 2 This is a cross-sectional view of the present invention. Figure 1 ;

[0037] Figure 3 for Figure 2 A magnified view of the area;

[0038] Figure 4 This is a structural diagram of the passive adaptation module;

[0039] Figure 5 This is a schematic diagram of the structure of the present invention. Figure 2 ;

[0040] Figure 6 This is a cross-sectional view of the present invention. Figure 2 ;

[0041] Figure 7 This is a schematic diagram of the structure of the present invention. Figure 3 ;

[0042] Figure 8 This is a schematic diagram of a frame-type inner wall.

[0043] Figure 9 This is a schematic diagram of the first working wall and the second working wall.

[0044] Explanation of reference numerals in the accompanying drawings: 10. First walking adsorption module; 11. First side pushing assembly; 12. First magnetic adsorption assembly; 13. First lifting assembly; 14. First frame; 141. First side plate; 15. Second frame; 151. Second side plate; 20. Second walking adsorption module; 21. Second side pushing assembly; 22. Second magnetic adsorption assembly; 23. Second lifting assembly; 30. First wheel; 31. Second wheel; 32. Third wheel; 33. Fourth wheel; 40. First displacement sensor; 41. First force sensor; 50. Rotating shaft; 51. Bearing seat; 52. Rotary bearing; 53. First buffer; 54. Second buffer; 60. First rotating seat; 61. First knob plunger. Detailed Implementation

[0045] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0046] Reference Figures 1-9 As shown, the present invention discloses a wall-climbing robot that can climb the inner corner of a frame, including a first walking adsorption module 10 and a second walking adsorption module 20.

[0047] The first walking adsorption module 10 includes a first frame 14 and a first wheel body 30 adsorption unit, a first lifting component 13 and a first side pushing component 11 disposed on the first frame 14. The first wheel body 30 adsorption unit can adsorb onto the wall surface and walk. The first lifting component 13 is located on the lower side of the first walking adsorption module 10 and can lift the first wheel body 30 adsorption unit. The first side pushing component 11 is located on the front side of the first walking adsorption unit to push against the wall surface.

[0048] The second walking adsorption module 20 includes a second frame 15 and a second wheel body 31 adsorption unit, a second lifting component 23 and a second side pushing component 21 disposed on the second frame 15. The second wheel body 31 adsorption unit can adsorb onto the wall surface and walk. The second lifting component 23 is located on the lower side of the second walking adsorption module 20 and can lift the second wheel body 31 adsorption unit. The second side pushing component 21 is located on the rear side of the first walking adsorption unit to push against the wall surface.

[0049] The first frame 14 is fixed or hinged to the second frame 15.

[0050] The working principle of this invention is as follows: the first walking adsorption module 10 can walk on a flat working wall surface, the second walking adsorption module 20 can walk on a flat working wall surface, and the first lifting component 13 can lift the first walking adsorption module 10, thereby facilitating the first walking adsorption module 10 to pass through corners and climb onto adjacent walls.

[0051] Specifically, a working scenario is provided, which is the inner wall of a rectangular frame; the inner wall of the rectangular frame includes a horizontal wall, a vertical wall, a top wall, and a vertical wall arranged sequentially.

[0052] When the wall-climbing robot needs to climb from a horizontal wall to a vertical wall along the forward direction, the following steps may be included: (a) When the first walking adsorption module 10 slowly approaches the vertical wall, the first lifting component 13 operates to raise the first walking adsorption module 10, so that the first walking adsorption module 10 climbs to the vertical wall; (b) After the first walking adsorption module 10 climbs to the vertical wall, the first walking adsorption module 10 continues to walk upward along the vertical wall; (c) While the first walking adsorption module 10 continues to walk upward along the vertical wall, the second walking adsorption module 20 is still walking forward on the horizontal wall. At this time, by operating the second pushing component, the second walking adsorption module 20 can be lifted to one side of the vertical wall; (d) Afterward, the second walking adsorption module 20 also walks along the vertical wall, thereby realizing that the wall-climbing robot as a whole walks along the vertical wall.

[0053] When the wall-climbing robot needs to climb from the vertical wall to the top wall along the forward direction, the following steps may be included: (a) When the first walking adsorption module 10 slowly approaches the top wall, the first lifting component 13 operates to tilt and lift the first walking adsorption module 10 towards the top wall, so that the first walking adsorption module 10 climbs to the top wall; (b) After the first walking adsorption module 10 climbs to the top wall, the first walking adsorption module 10 continues to walk forward along the top wall; (c) While the first walking adsorption module 10 continues to walk forward along the top wall, the second walking adsorption module 20 is still walking upward on the vertical wall. At this time, the second pushing component operates to lift the second walking adsorption module 20 to the top wall; (d) Afterward, the second walking adsorption module 20 also walks along the top wall, thereby realizing that the entire wall-climbing robot walks along the top wall.

[0054] When the wall-climbing robot needs to climb from the top wall to the vertical wall along the forward direction, the following steps may be included: (a) When the first walking adsorption module 10 slowly approaches the vertical wall, the first lifting component 13 operates to tilt and lift the first walking adsorption module 10 towards the vertical wall, so that the first walking adsorption module 10 climbs to the vertical wall; (b) After the first walking adsorption module 10 climbs to the vertical wall, the first walking adsorption module 10 continues to walk down along the vertical wall; (c) While the first walking adsorption module 10 continues to walk down along the vertical wall, the second walking adsorption module 20 is still moving forward on the top wall. At this time, the second pushing component operates to lift the second walking adsorption module 20 to the vertical wall; (d) Afterward, the second walking adsorption module 20 also walks along the vertical wall, thereby realizing that the wall-climbing robot as a whole walks along the top wall.

[0055] When the wall-climbing robot needs to climb from the top wall to the vertical wall along the forward direction, the following steps may be included: (a) When the first walking adsorption module 10 slowly approaches the vertical wall, the first lifting component 13 operates to tilt and lift the first walking adsorption module 10 towards the vertical wall, so that the first walking adsorption module 10 climbs to the vertical wall; (b) After the first walking adsorption module 10 climbs to the vertical wall, the first walking adsorption module 10 continues to walk down along the vertical wall; (c) While the first walking adsorption module 10 continues to walk down along the vertical wall, the second walking adsorption module 20 is still moving forward on the top wall. At this time, the second pushing component operates to lift the second walking adsorption module 20 to the vertical wall; (d) Afterward, the second walking adsorption module 20 also walks along the vertical wall, thereby realizing that the wall-climbing robot as a whole walks along the top wall.

[0056] When the wall-climbing robot needs to climb from a vertical wall to a horizontal wall along the forward direction, the following steps may be included: (a) When the first walking adsorption module 10 slowly approaches the horizontal wall, the first lifting component 13 operates to tilt and lift the first walking adsorption module 10 towards the horizontal wall, so that the first walking adsorption module 10 climbs to the horizontal wall; (b) After the first walking adsorption module 10 climbs to the horizontal wall, the first walking adsorption module 10 continues to move forward along the horizontal wall; (c) While the first walking adsorption module 10 continues to move forward along the horizontal wall, the second walking adsorption module 20 is still moving forward on the vertical wall. At this time, the second pushing component operates to push the second walking adsorption module 20 to the horizontal wall; (d) Afterward, the second walking adsorption module 20 also moves along the horizontal wall, thereby realizing that the wall-climbing robot moves along the top wall as a whole.

[0057] The aforementioned walking method involves the wall-climbing robot climbing clockwise along the inner wall of the frame. When the wall-climbing robot climbs counterclockwise along the inner wall of the frame, the second walking adsorption module 20 is in front, and the first walking adsorption module 10 is behind. The second lifting component 23 and the first side-pushing component 11 cooperate to achieve the wall-climbing robot's counterclockwise climbing along the inner wall. Therefore, in this invention, the wall-climbing robot can move in both directions, using either the first walking adsorption module 10 or the second walking adsorption module 20 as the leading edge as needed.

[0058] The first side-pushing component 11 and the second side-pushing component 21 in this invention also have the following functions: When the wall-climbing robot is walking, as the first walking adsorption module 10 slowly approaches the wall to be climbed, the first side-pushing component 11 extends a pushing rod, which pushes against the wall to be climbed. Then, as the first walking adsorption module 10 approaches the wall to be climbed, the pushing rod slowly retracts, but the end of the pushing rod continues to push against the wall to be climbed, thereby preventing the first walking adsorption module 10 from being suddenly adsorbed to the wall to be climbed, thus ensuring stable robot walking. Similarly, when the second walking adsorption module 20 slowly approaches the wall to be climbed, the second side-pushing component 21 extends a pushing rod, which pushes against the wall to be climbed. Then, as the second walking adsorption module 20 approaches the wall to be climbed, the pushing rod slowly retracts, but the end of the pushing rod continues to push against the wall to be climbed, thereby preventing the second walking adsorption module 20 from being suddenly adsorbed to the wall to be climbed, thus ensuring stable robot walking.

[0059] Furthermore, to facilitate the wall-climbing robot's detachment from the current working wall and its ascent to the next working wall, the lifting direction of the first lifting component 13 is set at an angle to the vertical direction, and the lifting direction of the second lifting component 23 is also set at an angle to the vertical direction. For example... Figure 2 As shown, the first lifting assembly 13 pushes downwards and to the right, while the second lifting assembly 23 pushes downwards and to the left. The first lifting assembly 13 may include a first lifting drive source and a first push rod. The first lifting drive source is fixedly mounted to the first frame 14 and drives the first push rod. The first lifting drive source may be a hydraulic EHA (Electronic Hydraulic Actuator), and it is tilted downwards and to the right. Similarly, the second lifting assembly 23 may include a second lifting drive source and a second push rod. The second lifting drive source is fixedly mounted to the second frame 15 and drives the second push rod. The second lifting drive source may be a hydraulic EHA (Electronic Hydraulic Actuator), and it is tilted downwards and to the left.

[0060] Along the direction of travel of the wall-climbing robot, the robot climbs from the first working wall to the second working wall. The first and second working walls are adjacent working walls, and there is an angle between the first and second working walls.

[0061] When the first walking adsorption unit is in front of the second walking adsorption unit, the force applied by the first lifting component 13 to the first wheel adsorption unit can be decomposed into a first decomposition force and a second decomposition force. The first decomposition force can cause the first walking adsorption unit to detach from the first working wall so that the magnetic attraction between the first walking adsorption unit and the first working wall disappears. The second decomposition force increases the positive pressure between the first adsorption unit and the second working wall to enhance the driving force of the wall-climbing robot.

[0062] When the second walking adsorption unit is located in front of the first walking adsorption unit, the force applied by the second lifting component 23 to the second wheel adsorption unit can be decomposed into a third decomposition force and a fourth decomposition force. The third decomposition force can cause the second walking adsorption unit to detach from the first working wall so that the magnetic attraction between the second walking adsorption unit and the first working wall disappears. The fourth decomposition force increases the positive pressure between the second adsorption unit and the second working wall to enhance the driving force of the wall-climbing robot.

[0063] The first and third decomposition forces are perpendicular to the first working wall surface, while the second and fourth decomposition forces are perpendicular to the second working wall surface. The first lifting assembly 13 and the second lifting assembly 23 are symmetrically arranged relative to the wall-climbing robot. The first side-pushing assembly 11 and the second side-pushing assembly 21 are also symmetrically arranged relative to the wall-climbing robot. This symmetrical arrangement allows the wall-climbing robot to move in both directions, increasing its flexibility. The symmetrical arrangement is optimal, allowing the wall-climbing robot to operate without distinguishing between front and rear sections, thus reducing excessive turning and stationary maneuvers on the wall surface. Of course, the wall-climbing robot can also function with an asymmetrical arrangement.

[0064] The present invention also includes a sensing assembly comprising a first displacement sensor 40, a second displacement sensor, a first force sensor 41, and a second force sensor. The first displacement sensor 40 is located on the first frame 14 to detect the distance between the first walking adsorption module 10 and the wall to be climbed in front, and the second displacement sensor is located on the second frame 15 to detect the distance between the second walking adsorption module 20 and the wall behind.

[0065] The first magnetic adsorption unit includes a first magnetic adsorption component 12, which comprises multiple sets of first magnetic sub-units arranged sequentially. Each set of first magnetic sub-units is equipped with a first force sensor 41, which detects the magnetic attraction between its corresponding first magnetic sub-unit and the adjacent working wall surface. By cooperating with multiple first magnetic sub-units, the magnetic attraction between each area of ​​the first magnetic adsorption component 12 and its adjacent working wall surface can be better detected. Specifically, three sets of first magnetic sub-units can be provided. Of course, more sets of second magnetic sub-units can also be provided according to operational requirements.

[0066] The second magnetic adsorption unit includes a second magnetic adsorption component 22, which comprises multiple sets of sequentially arranged second magnetic sub-units. Each second magnetic sub-unit is equipped with a second force sensor, which detects the magnetic attraction between its corresponding second magnetic sub-unit and the adjacent working wall surface. By cooperating with multiple second magnetic sub-units, the magnetic attraction between each area of ​​the second magnetic adsorption component 22 and its adjacent working wall surface can be better detected. Specifically, three sets of second magnetic sub-units can be provided. Of course, more sets of second magnetic sub-units can be provided according to operational requirements. In this invention, the first and second magnetic sub-units can be composed of multiple magnets arranged in an array.

[0067] Specifically, when the first walking adsorption module 10 acts as the lead vehicle, the first displacement sensor 40 detects the distance between the first walking adsorption module 10 and the wall to be climbed. When the first displacement sensor 40 detects that the distance between the first walking adsorption module 10 and the wall to be climbed is within a preset range, the first side-pushing component starts working, and the first side-pushing component 11 pushes against the wall to be climbed, thereby ensuring that the first walking adsorption module 10 overcomes the magnetic attraction and slowly approaches the wall to be climbed. Similarly, when the second walking adsorption module 20 acts as the lead vehicle, the second displacement sensor detects the distance between the second walking adsorption module 20 and the wall to be climbed. When the second displacement sensor detects that the distance between the second walking adsorption module 20 and the wall to be climbed is within a preset range, the second side-pushing component 21 operates, and pushes against the wall to be climbed, thereby ensuring that the second walking adsorption module 20 overcomes the magnetic attraction and slowly moves into the wall to be climbed. In this way, the walking stability of the wall-climbing robot is improved.

[0068] The first wheel body 30 adsorption unit includes a first wheel body 30 assembly and a first magnetic adsorption assembly 12. The first wheel body 30 assembly includes a first wheel and a second wheel that can rotate synchronously. The first magnetic adsorption assembly 12 is located between the first wheel and the second wheel. The first magnetic adsorption assembly 12 is arranged around the central axis of the first wheel and the second wheel. The first magnetic adsorption assembly 12 is a semi-enclosed magnetic adsorption.

[0069] The second wheel assembly 31 includes a second wheel assembly 31 and a second magnetic adsorption assembly 22. The second wheel assembly 31 includes a third wheel and a fourth wheel that can rotate synchronously. The second magnetic adsorption assembly 22 is located between the third and fourth wheels and is arranged around the central axis of the third and fourth wheels. The second magnetic adsorption assembly 22 is a semi-enclosed magnetic adsorption. The semi-enclosed magnetic adsorption ensures that the first wheel assembly 30 and the second wheel assembly 31 can adhere to the working wall surface and also facilitates the separation of the wall-climbing robot from the working wall surface. Specifically, when the semi-enclosed first magnetic adsorption assembly 12 and the second magnetic adsorption assembly 22 are close to the working wall surface, the wall-climbing robot adheres tightly to the working wall surface, thus ensuring that the wall-climbing robot can climb walls with inner corners. When the semi-enclosed first magnetic adsorption assembly 12 and the second magnetic adsorption assembly 22 are away from the working wall surface, the wall-climbing robot can easily detach from the working wall surface.

[0070] Furthermore, to adjust the positions of the first magnetic adsorption component 12 and the second magnetic adsorption component 22, the adsorption unit of the first wheel 30 includes a first rotary plunger 61 and a first rotating seat 60. The first magnetic adsorption component 12 is mounted on the first rotating seat 60, which can rotate around the central axis of the first wheel and the second wheel. After the first rotating seat 60 drives the first magnetic adsorption component 12 to a working position, the first rotating seat 60 is fixed to the first frame 14 by the first rotary plunger 61, enabling the wall-climbing robot to perform wall-climbing operations. The working position refers to the position where the magnetic attraction between the first magnetic adsorption component 12 and the current working wall surface is at its maximum. After the first rotating seat 60 drives the first magnetic adsorption component 12 to a non-working position, the first rotating seat 60 is fixed to the first frame 14 by the first rotary plunger 61 to allow the wall-climbing robot to detach from the current working wall surface. The non-working position refers to the position where the magnetic attraction between the first magnetic adsorption component 12 and the current working wall surface is at its minimum.

[0071] The second wheel body 31 adsorption unit includes a second knob plunger and a second rotating seat. The second magnetic adsorption component 22 is disposed on the second rotating seat, which can rotate around the central axis of the third and fourth wheels. After the second rotating seat drives the second magnetic adsorption component 22 to rotate to the working posture, the second rotating seat is fixed to the second frame 15 by the second knob plunger. The wall-climbing robot can then perform wall-climbing work. The working posture refers to the posture in which the magnetic attraction force between the second magnetic adsorption component 22 and the current working wall surface is the greatest.

[0072] After the second rotating seat drives the second magnetic adsorption component 22 to rotate to a non-working position, the second rotating seat is fixed to the second frame 15 by the second knob plunger so that the wall-climbing robot can detach from the current working wall. The non-working position refers to the position where the magnetic attraction between the second magnetic adsorption component 22 and the current working wall is the smallest.

[0073] This invention includes a friction sleeve. The inner side of the friction sleeve is connected to a motor mounting base (here, the motor mounting base is used to fix the motor that drives the wheel to rotate), and the outer side of the friction sleeve is connected to a rotating base, which can rotate relative to the friction sleeve. The outer side of the rotating base is fixedly connected to a force sensor. The rotating base and the motor mounting base are coaxial. When the wall-climbing robot is working, the rotating base rotates to the working position and the knob plunger restricts the continued rotation of the magnetic adsorption module mounting base. At this time, the magnetic attraction between the magnetic adsorption component and the working wall surface is at its maximum, ensuring the safety of the wall-climbing robot working on the working wall surface. When the wall-climbing robot is about to detach from the working wall surface, the knob plunger is manually pulled outward to rotate the rotating base to a non-working position, and the knob plunger restricts the continued rotation of the magnetic adsorption module mounting base. At this time, the magnetic attraction between the magnetic adsorption component and the working wall surface is at its minimum, facilitating the wall-climbing robot to detach from the working wall surface.

[0074] In this invention, both the first magnetic adsorption component 12 and the second magnetic adsorption component 22 are composed of arrayed magnets. The arrayed magnet arrangement allows for better control of the magnetic field distribution and enhances the magnetic attraction force. Specifically, both the first magnetic adsorption component 12 and the second magnetic adsorption component 22 can be composed of three large magnet arrays, which can form a semi-enclosed magnetic adsorption angle, enabling the wall-climbing robot to overcome obstacles within the frame's inner corner. A protective shell can also be provided on the magnets to improve their lifespan.

[0075] Currently, crossing the inner corner of the frame is achieved through a semi-enclosed fixed magnet. Compared to other patents, this reduces the need for a magnet rotation motor, which can significantly reduce the robot's weight and increase its load capacity. Furthermore, the structure is simpler and easier to arrange.

[0076] A passive adaptation module is provided between the first walking adsorption module 10 and the second walking adsorption module 20. The passive adaptation module includes a first buffer 53, a second buffer 54, and a rotating shaft 50. The first frame 14 and the second frame 15 are connected by the rotating shaft 50, which is horizontally positioned. The first buffer 53 and the second buffer 54 are provided between the first frame 14 and the second frame 15, and both the first buffer 53 and the second buffer 54 are vertically positioned on both sides of the first rotating shaft 50. The first buffer 53 and the second buffer 54 can be hydraulic buffers. Specifically, the first frame 14 includes a first side plate 141, and the second frame 15 includes a second side plate 151. The rotating shaft 50 is provided on the first side plate 141, and the bearing seat 51 is provided on the second frame 15. The rotating shaft 50 and the bearing seat 51 are connected by a rotating bearing 52. By providing the first buffer 53 and the second buffer 54, the rotation angle between the first walking adsorption module 10 and the second walking adsorption module 20 is limited, and shock absorption is also achieved. Furthermore, an angle encoder is connected to the end of the rotating bearing 52. When the second walking adsorption module 20 rotates relative to the first walking adsorption module 10, the angle encoder detects the rotation angle in real time.

[0077] This invention discloses an application of a wall-climbing robot capable of climbing the inner corner of a frame, applying the aforementioned wall-climbing robot capable of climbing the inner corner of a frame to working conditions with inner corners of a frame.

[0078] In this invention, in order to reduce the size and weight of the wall-climbing robot, the first rotating seat 60 can be locked to the housing of the drive motor of the first wheel body 30 and / or the second wheel body 31 by the first knob plunger 61, and the second rotating seat can be locked to the housing of the drive motor of the third wheel body 32 and / or the fourth wheel body 33 by the second knob plunger. In this way, the wall-climbing robot is easy to carry.

[0079] Current wall-climbing robots come with high-density lithium batteries and operate wirelessly, completely eliminating the constraints of cables.

[0080] Reference Figure 9As shown, when the wall-climbing robot of this invention crosses the inner corner of the frame (assuming it is currently traveling on the first working wall and needs to climb to the second working wall, and there is an angle between the second and first working walls), displacement and force sensors arranged on the robot detect when the front wheel reaches a certain distance from the second working wall or when the side sensor of the wheel detects the magnetic attraction generated by approaching the second working wall. At this point, the pushing component corresponding to the front wheel extends a pushing rod to prevent the wall-climbing robot from suddenly accelerating towards the second working wall due to the magnetic attraction. As the wall-climbing robot gradually approaches the second working wall, the pushing rod of the pushing component corresponding to the front wheel gradually retracts. A buffer and shock-absorbing device is provided at the top of the pushing rod to ensure the stability of the wall-climbing robot when approaching the second working wall. When the front wheel is completely close to the second working wall, the pushing rod corresponding to the front wheel completely retracts. The front wheel refers to the wheel corresponding to the walking adsorption module on the front side.

[0081] When the wall-climbing robot begins to cross the inner corner, the front wheel tilting cylinder slowly extends to overcome the magnetic attraction between the front wheel and the first working wall surface. When the force sensor at the bottom of the wheel can no longer detect the magnetic attraction between the front wheel and the first working wall surface, the front wheel tilting cylinder retracts completely.

[0082] When the force sensor at the bottom of the wheel detects the set magnetic attraction force, and the rear wheel is in full contact with the second working wall, the horizontal cylinder of the rear wheel slowly extends. When the distance sensor detects that the rear wheel is a certain distance away from the first working wall or the wheel side sensor cannot detect the magnetic attraction force between the rear wheel and the first working wall, the horizontal cylinder of the rear wheel retracts completely.

[0083] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A wall-climbing robot capable of climbing the inner corners of a frame, characterized in that, include: The first walking adsorption module includes a first frame and a first wheel adsorption unit, a first lifting component and a first side pushing component disposed on the first frame. The first wheel adsorption unit can adsorb onto the wall and walk. The first lifting component is located on the lower side of the first walking adsorption module and can lift the first wheel adsorption unit. The first side pushing component is located on the front side of the first walking adsorption unit to push against the wall. The second walking adsorption module includes a second frame and a second wheel adsorption unit, a second lifting component and a second side pushing component disposed on the second frame. The second wheel adsorption unit can adsorb onto the wall surface and walk. The second lifting component is located below the second walking adsorption module and can raise the second wheel adsorption unit. The second side pushing component is located behind the first walking adsorption unit to push against the wall surface. Wherein, the first frame is fixed or hinged to the second frame; The lifting direction of the first lifting component is set at an angle to the vertical direction, and the lifting direction of the second lifting component is set at an angle to the vertical direction; Along the direction of travel of the wall-climbing robot, the wall-climbing robot climbs from the first working wall to the second working wall; When the first walking adsorption unit is in front of the second walking adsorption unit, the force applied by the first lifting component to the first wheel adsorption unit can be decomposed into a first decomposition force and a second decomposition force. The first decomposition force can cause the first walking adsorption unit to detach from the first working wall surface, and the second decomposition force increases the positive pressure between the first adsorption unit and the second working wall surface to enhance the driving force of the wall-climbing robot. When the second walking adsorption unit is located in front of the first walking adsorption unit, the force applied by the second lifting component to the second wheel adsorption unit can be decomposed into a third decomposition force and a fourth decomposition force. The third decomposition force can cause the second walking adsorption unit to detach from the first working wall surface, and the fourth decomposition force increases the positive pressure between the second adsorption unit and the second working wall surface to enhance the driving force of the wall-climbing robot. Wherein, the first decomposition force and the third decomposition force are perpendicular to the first working wall surface, and the second decomposition force and the fourth decomposition force are perpendicular to the second working wall surface; The first side pushing component is configured such that when the first walking adsorption module slowly approaches the wall to be climbed, the first side pushing component extends a pushing rod, which pushes against the wall to be climbed. Then, when the first walking adsorption module approaches the wall to be climbed, the pushing rod slowly retracts, but the end of the pushing rod continues to push against the wall to be climbed, thereby preventing the first walking adsorption module from being suddenly adsorbed to the wall to be climbed.

2. The wall-climbing robot with a climbable frame-type inner corner as described in claim 1, characterized in that, The first lifting component and the second lifting component are symmetrically arranged with respect to the wall-climbing robot; the first side-pushing component and the second side-pushing component are symmetrically arranged with respect to the wall-climbing robot.

3. The wall-climbing robot with a climbable frame-type inner corner as described in claim 1, characterized in that, It also includes a sensing component, which includes a first displacement sensor, a second displacement sensor, a first force sensor, and a second force sensor; The first displacement sensor is located on the first frame to detect the distance between the first walking adsorption module and the wall to be climbed in front, and the second displacement sensor is located on the second frame to detect the distance between the second walking adsorption module and the wall behind. The first wheel adsorption unit includes a first magnetic adsorption component, which includes multiple sets of first magnetic sub-units arranged sequentially. Each set of first magnetic sub-units is provided with a first force sensor, which detects the magnetic attraction between its corresponding first magnetic sub-unit and the adjacent working wall surface. The second wheel adsorption unit includes a second magnetic adsorption component, which includes multiple sets of second magnetic sub-units arranged in sequence. Each set of second magnetic sub-units is equipped with a second force sensor, which detects the magnetic attraction between its corresponding second magnetic sub-unit and the adjacent working wall surface.

4. The wall-climbing robot with a climbable frame-type inner corner as described in claim 1, characterized in that, The first wheel adsorption unit includes a first wheel assembly and a first magnetic adsorption assembly. The first wheel assembly includes a first wheel and a second wheel that can rotate synchronously. The first magnetic adsorption assembly is located between the first wheel and the second wheel. The first magnetic adsorption assembly is arranged around the central axis of the first wheel and the second wheel. The first magnetic adsorption assembly is a semi-enclosed magnetic adsorption. The second wheel adsorption unit includes a second wheel assembly and a second magnetic adsorption assembly. The second wheel assembly includes a third wheel and a fourth wheel that can rotate synchronously. The second magnetic adsorption assembly is located between the third wheel and the fourth wheel. The second magnetic adsorption assembly is arranged around the central axis of the third wheel and the fourth wheel. The second magnetic adsorption assembly is a semi-enclosed magnetic adsorption.

5. The wall-climbing robot capable of climbing the inner corner of a frame according to claim 4, characterized in that, The first wheel adsorption unit includes a first knob plunger and a first rotating seat. The first magnetic adsorption component is disposed on the first rotating seat, and the first rotating seat can rotate around the central axis of the first wheel and the second wheel. After the first rotating seat drives the first magnetic adsorption component to rotate to the working position, the first rotating seat is fixed to the first frame by the first knob plunger. The wall-climbing robot can perform wall-climbing work. The working position refers to the position where the magnetic attraction between the first magnetic adsorption component and the current working wall surface is the greatest. After the first rotating seat drives the first magnetic adsorption component to rotate to a non-working position, the first rotating seat is fixed to the first frame by the first knob plunger so that the wall-climbing robot can detach from the current working wall surface. The non-working position refers to the position where the magnetic attraction between the first magnetic adsorption component and the current working wall surface is the smallest.

6. The wall-climbing robot capable of climbing the inner corner of a frame according to claim 4, characterized in that, The second wheel adsorption unit includes a second knob plunger and a second rotating seat. The second magnetic adsorption component is disposed on the second rotating seat, and the second rotating seat can rotate around the central axis of the third wheel and the fourth wheel. After the second rotating seat drives the second magnetic adsorption component to rotate to the working position, the second rotating seat is fixed to the second frame by the second knob plunger. The wall-climbing robot can perform wall-climbing work. The working position refers to the position where the magnetic attraction between the second magnetic adsorption component and the current working wall surface is the greatest. After the second rotating seat drives the second magnetic adsorption component to rotate to a non-working position, the second rotating seat is fixed to the second frame by the second knob plunger so that the wall-climbing robot can detach from the current working wall surface. The non-working position refers to the position where the magnetic attraction between the second magnetic adsorption component and the current working wall surface is the smallest.

7. The wall-climbing robot with a climbable frame-type inner corner as described in claim 4, characterized in that, Both the first magnetic adsorption component and the second magnetic adsorption component are composed of an array of magnets.

8. The wall-climbing robot with a climbable frame-type inner corner according to claim 1, characterized in that, A passive adaptation module is provided between the first walking adsorption module and the second walking adsorption module. The passive adaptation module includes a first buffer, a second buffer and a rotating shaft. The first frame and the second frame are connected by the rotating shaft, which is horizontally set. The first buffer and the second buffer are provided between the first frame and the second frame. The first buffer and the second buffer are both vertically set on both sides of the first rotating shaft.

9. An application of a wall-climbing robot capable of climbing the inner corners of a frame, characterized in that, The wall-climbing robot capable of climbing the inner corner of a frame as described in any one of claims 1-8 is applied to a frame-inner-corner working condition.

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