Wall climbing robot pick and place device

Abstract

The present invention provides a wall-climbing robot pick-and-place device, comprising: a base; a magnetic adsorption structure, which is arranged on the base, and the magnetic force of the magnetic adsorption structure used to adsorb the working wall surface can be adjusted to control the separation or fixation of the base from the working wall surface; a bearing structure, which is arranged on the base and is used to carry the wall-climbing robot; wherein the wall-climbing robot can move from the working wall surface and adsorb onto the bearing structure; the magnetic force of the magnetic adsorption structure adsorbed on the working wall surface is adjusted, so that the wall-climbing robot pick-and-place device and the wall-climbing robot are separated from the working wall surface. The present invention realizes the reliable separation of the wall-climbing robot from the working wall surface; by designing the magnetic force of the magnetic adsorption structure to be adjustable, the rapid separation and rapid installation of the wall-climbing robot on the working wall surface are ensured; when the present invention is working, by adjusting the magnetic force of the magnetic adsorption structure, only one staff member is required to easily remove the wall-climbing robot and the pick-and-place device from the working wall surface, thereby improving safety and work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a picking and placing device of a wall-climbing robot. Background Art

[0002] Wall-climbing robots are a research hotspot in the field of special robots. They can not only move on the ground, but also move on inclined or vertical walls and complete preset work tasks. For cleaning and inspection of ferromagnetic surfaces such as large oil tanks and ships, magnetic adsorption wall-climbing robots are usually used to perform the above work. For operational safety considerations, most wall-climbing robots in the prior art are of permanent magnetic adsorption type, that is, when the system is powered off, the wall-climbing robot can still stably adsorb on the wall surface where the work is required. The wall-climbing robot of permanent magnetic adsorption method has the advantages of compact structure, large adsorption force and no need for additional energy consumption, and is widely used. At present, the most widely used wall-climbing robots are wheeled wall-climbing robots using permanent magnetic adsorption method. However, after the work of this type of wall-climbing robot is completed, the magnetic force of the permanent magnet cannot be effectively controlled, making it very cumbersome and difficult to remove the wall-climbing robot from the working wall surface. It is difficult for a single staff member to overcome the magnetic force of the permanent magnet by manpower to remove the wall-climbing robot from the wall surface. Therefore, it requires the cooperation of multiple staff members to remove the wall-climbing robot from the wall surface, which is time-consuming, labor-intensive and inefficient. At the same time, safety accidents may also occur due to the lack of tacit cooperation among multiple staff members.

[0003] There are some devices in the prior art that facilitate the removal of a wall-climbing robot from a wall by permanent magnetic adsorption. For example, the invention patent with publication number CN111301545A proposes an auxiliary device for a wall-climbing robot. When the device is working, the steel wheel of the wall-climbing robot is fixed by a clamp, and the movement of the clamp is controlled by a pull rod to make the steel wheel adsorbed or detached from the wall. It is still necessary to overcome the magnetic force between the steel wheel and the magnetic wall to assist the wall-climbing robot to detach from the wall. If the adsorption force of the steel wheel is large, the auxiliary detachment will be quite difficult; the utility model with publication number CN211494409U proposes a permanent magnet demagnetization device for a wall-climbing robot, which controls the distance between the magnet and the adsorption surface to achieve the purpose of controlling the size of the magnetic force. However, most of the commonly used wall-climbing robots are magnetic wheel adsorption type, and the above technical solution cannot be used to effectively complete magnetic control. Summary of the invention

[0004] The invention provides a wall-climbing robot pick-and-place device to solve the problem in the prior art that the wall-climbing robot is difficult to detach from a working wall surface.

[0005] In order to solve the above problems, the present invention provides a wall-climbing robot picking and placing device, comprising: a base; a magnetic adsorption structure, which is arranged on the base, and the magnetic force of the magnetic adsorption structure used to adsorb the working wall surface is adjustable to control the separation or fixation of the base and the working wall surface; a supporting structure, which is arranged on the base and is used to support the wall-climbing robot; wherein the wall-climbing robot can move from the working wall surface and be adsorbed onto the supporting structure; adjust the magnetic force of the magnetic adsorption structure adsorbed on the working wall surface, so that the wall-climbing robot picking and placing device and the wall-climbing robot are separated from the working wall surface.

[0006] Furthermore, a bearing structure, a base and a magnetic adsorption structure form a set of pick-and-place mechanisms, and the pick-and-place mechanisms are multiple groups, and the multiple groups of pick-and-place mechanisms correspond to the number of rows of magnetic wheels of the wall-climbing robot.

[0007] Furthermore, the bearing structure includes a transition track and a bearing track, wherein the transition track is arranged at one end of the bearing track, and the transition track is used to connect the bearing track and the working wall surface, wherein the wall-climbing robot moves onto the bearing track through the transition track.

[0008] Furthermore, the bearing structure also includes a limiting portion, which is arranged on the transition track and the bearing track, and is used to constrain the wall-climbing robot to move along the extension direction of the transition track and the bearing track.

[0009] Furthermore, the limiting part includes a first limiting member and a second limiting member, and the first limiting member and the second limiting member are correspondingly arranged on both sides of the transition track and the load-bearing track to jointly constrain the wall-climbing robot to move between the first limiting member and the second limiting member.

[0010] Furthermore, the wall-climbing robot pick-and-place device also includes an adjustment structure, which is connected to the multiple groups of pick-and-place mechanisms respectively to adjust the relative positions of the multiple groups of pick-and-place mechanisms.

[0011] Furthermore, the adjustment structure includes a guide member and a first limiting ring, a second limiting ring, a third limiting ring and a fourth limiting ring respectively mounted on the guide member, the first limiting ring, the second limiting ring, the third limiting ring and the fourth limiting ring are movably arranged along the extension direction of the guide member, and can be adjustably clamped and fixed on the guide member loosely and tightly; multiple groups of pick-and-place mechanisms include a first pick-and-place mechanism and a second pick-and-place mechanism, the first pick-and-place mechanism is arranged between the first limiting ring and the second limiting ring, and is respectively abutted against the first limiting ring and the second limiting ring; the second pick-and-place mechanism is arranged between the third limiting ring and the fourth limiting ring, and is respectively abutted against the third limiting ring and the fourth limiting ring; wherein, by adjusting the positions of the first limiting ring, the second limiting ring, the third limiting ring and the fourth limiting ring on the guide member, the distance between the first pick-and-place mechanism and the second pick-and-place mechanism is adjusted.

[0012] Furthermore, the first limiting ring, the second limiting ring, the third limiting ring and the fourth limiting ring have the same structure and are all adjustment rings. The adjustment rings are sleeved on the guide member, and the inner diameter of the adjustment rings is adjustable so that they can be fixedly set or slidably set on the guide member.

[0013] Furthermore, the first picking and placing mechanism also includes a self-lubricating bushing, which is sleeved on the guide member and can slide along the extension direction of the guide member; wherein, there are two self-lubricating bushings, and the two self-lubricating bushings are respectively arranged on both sides of the base of the first picking and placing mechanism to drive the base to slide along the guide member; one self-lubricating bushing abuts against the first limiting ring, and the other self-lubricating bushing abuts against the second limiting ring.

[0014] Furthermore, there are multiple adjustment structures, and the multiple adjustment structures are arranged at intervals along the extension direction of the base or the supporting structure.

[0015] Furthermore, the magnetic adsorption structure includes an adjustable adsorption part and a permanent magnet part. The adjustable adsorption part is arranged at one end of the base, and the magnetic force of the adjustable adsorption part for adsorbing the working wall surface is adjustable; the permanent magnet part is arranged at the other end of the base.

[0016] Furthermore, the permanent magnet part includes a shell arranged on the base and a permanent magnet, a first yoke and a second yoke respectively fixed in the shell, wherein the permanent magnet is arranged between the first yoke and the second yoke, the first yoke and the second yoke are used to abut and adsorb the working wall surface, and there is a gap between the permanent magnet and the working wall surface.

[0017] Furthermore, the wall-climbing robot picking and placing device also includes a positioning structure, which is arranged at one end of the base or the supporting structure to limit the position of the wall-climbing robot on the supporting structure.

[0018] Furthermore, the positioning structure adopts elastic material to cushion the impact borne by the wall-climbing robot.

[0019] Furthermore, the picking and placing device of the wall-climbing robot also includes a handle, which is arranged on the base or the supporting structure; there are multiple handles, and the multiple handles are arranged at intervals along the extension direction of the base or the supporting structure.

[0020] Applying the technical solution of the present invention, the present invention provides a wall-climbing robot pick-and-place device, comprising: a base; a magnetic adsorption structure, which is arranged on the base, and the magnetic force of the magnetic adsorption structure used to adsorb the working wall surface is adjustable to control the separation or fixation of the base and the working wall surface; a supporting structure, which is arranged on the base and is used to support the wall-climbing robot; wherein the wall-climbing robot can move from the working wall surface and be adsorbed onto the supporting structure; the magnetic force of the magnetic adsorption structure adsorbed on the working wall surface is adjusted to separate the wall-climbing robot pick-and-place device and the wall-climbing robot from the working wall surface. The present invention realizes the reliable detachment of the wall-climbing robot from the working wall surface by proposing a wall-climbing robot pick-up and placement device; realizes the rapid detachment and rapid fixation of the wall-climbing robot pick-up and placement device from the working wall surface by designing an adjustable magnetic force of the magnetic adsorption structure, thereby ensuring the rapid detachment and rapid installation of the wall-climbing robot on the working wall surface; when the present invention is working, the magnetic adsorption structure is controlled to be adsorbed on the working wall surface, and the wall-climbing robot moves from the working wall surface to the bearing structure through its own magnetic wheel, and then by adjusting the magnetic force of the magnetic adsorption structure, only one staff member is needed to easily remove the wall-climbing robot and the pick-up and placement device from the working wall surface, thereby greatly reducing the workload and improving safety and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 A schematic diagram showing the specific structure of a wall-climbing robot pick-and-place device provided by an embodiment of the present invention is shown;

[0023] Figure 2 A specific structural schematic diagram of a bearing structure provided by an embodiment of the present invention is shown;

[0024] Figure 3 A partial structural schematic diagram of an adjustment structure provided by an embodiment of the present invention is shown;

[0025] Figure 4 A schematic diagram showing the installation of the adjustable adsorption part and the permanent magnet part on the base provided by an embodiment of the present invention is shown;

[0026] Figure 5 A schematic diagram showing a specific structure of a permanent magnet portion provided by an embodiment of the present invention is shown;

[0027] Figure 6 A schematic diagram showing the movement of a wall-climbing robot toward a wall-climbing robot pick-and-place device provided by an embodiment of the present invention;

[0028] Figure 7A schematic diagram showing the cooperation between the wall-climbing robot and the wall-climbing robot pick-and-place device provided in an embodiment of the present invention is shown.

[0029] The above drawings include the following reference numerals:

[0030] 10. Base;

[0031] 20. Magnetic adsorption structure; 21. Adjustable adsorption part; 22. Permanent magnet part; 221. Shell; 222. Permanent magnet; 223. First magnetic yoke; 224. Second magnetic yoke;

[0032] 30. bearing structure; 31. transition track; 311. inclined plane; 32. bearing track; 33. limiting part; 331. first limiting member; 332. second limiting member;

[0033] 40. Wall climbing robot;

[0034] 50. Adjustment structure; 51. Guide member; 52. First limiting ring; 53. Second limiting ring; 54. Third limiting ring; 55. Fourth limiting ring;

[0035] 60. First pick-and-place mechanism; 61. Self-lubricating bushing;

[0036] 70. Second pick-and-place mechanism;

[0037] 80. Positioning structure;

[0038] 90. Handle. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] like Figures 1 to 7 As shown, an embodiment of the present invention provides a wall-climbing robot pick-and-place device, comprising: a base 10, a magnetic adsorption structure 20 and a bearing structure 30; the magnetic adsorption structure 20 is arranged on the base 10, and the magnetic force of the magnetic adsorption structure 20 for adsorbing the working wall surface is adjustable to control the base 10 to be separated from or fixed to the working wall surface; the bearing structure 30 is arranged on the base 10, and is used to carry the wall-climbing robot 40; wherein, as Figure 6 and Figure 7As shown, the wall-climbing robot 40 can move from the working wall surface and be adsorbed onto the supporting structure 30; the magnetic force of the magnetic adsorption structure 20 adsorbed on the working wall surface is adjusted so that the wall-climbing robot picking and placing device and the wall-climbing robot 40 are separated from the working wall surface.

[0041] The present invention realizes the reliable detachment of the wall-climbing robot 40 from the working wall surface by proposing a wall-climbing robot picking and placing device; by designing the magnetic force of the magnetic adsorption structure 20 to be adjustable, the rapid detachment and rapid fixation of the wall-climbing robot picking and placing device from the working wall surface are realized, thereby ensuring the rapid detachment and rapid installation of the wall-climbing robot 40 on the working wall surface; when the present invention is working, the magnetic adsorption structure 20 is controlled to be adsorbed on the working wall surface, and the wall-climbing robot 40 moves from the working wall surface to the supporting structure 30 through its own magnetic wheel, and then by adjusting the magnetic force of the magnetic adsorption structure 20, only one staff member is needed to easily remove the wall-climbing robot 40 and the picking and placing device from the working wall surface, thereby greatly reducing the workload and improving safety and work efficiency.

[0042] like Figure 1 , Figure 6 and Figure 7 As shown, a bearing structure 30, a base 10 and a magnetic adsorption structure 20 form a set of pick-and-place mechanisms, and there are multiple sets of pick-and-place mechanisms, and the multiple sets of pick-and-place mechanisms correspond to the number of rows of magnetic wheels of the wall-climbing robot 40. By providing multiple sets of pick-and-place mechanisms, the wall-climbing robot pick-and-place device can be applicable to multiple types of wall-climbing robots (for example, a wall-climbing robot with multiple rows of magnetic wheels), thereby increasing the scope of application.

[0043] like Figure 1 and Figure 2 As shown, the bearing structure 30 includes a transition track 31 and a bearing track 32, wherein the transition track 31 is arranged at one end of the bearing track 32, and the transition track 31 is used to connect the bearing track 32 and the working wall surface, wherein the wall-climbing robot 40 moves to the bearing track 32 through the transition track 31. By setting the transition track 31, the smooth movement process of the wall-climbing robot 40 from the working wall surface to the bearing track 32 is ensured; by setting the bearing track 32, the effective bearing of the wall-climbing robot 40 is ensured.

[0044] In a specific embodiment of the present invention, Figure 2 As shown, the transition track 31 has an inclined surface 311 , and two ends of the inclined surface 311 are respectively close to the working wall surface and the carrying track 32 , so as to facilitate the wall-climbing robot 40 to move from the working wall surface to the carrying track 32 .

[0045] Optionally, in another embodiment of the present invention not shown in the figure, the transition track 31 has an inclined step surface, and the two ends of the step surface are respectively close to the working wall surface and the supporting track 32. By setting the step height on the step surface to be smaller than the magnetic wheel diameter of the wall-climbing robot 40, the smooth movement of the wall-climbing robot 40 on the transition track 31 is ensured.

[0046] It should be noted that: in a specific embodiment of the present invention, magnetic conductive material can be used at the position of the supporting structure 30 close to the wall-climbing robot 40 to facilitate the adsorption and fixation of the magnetic wheels of the wall-climbing robot 40; magnetic-resistive material can be used at the position of the supporting structure 30 close to the working wall surface to reduce the magnetic force generated by the magnetic wheels of the wall-climbing robot 40 on the supporting structure 30 to adsorb the working wall surface, thereby reducing the resistance of the staff to remove the wall-climbing robot's picking and placing device from the working wall surface.

[0047] Specifically, the bearing structure 30 further includes a limiting portion 33, which is disposed on the transition track 31 and the bearing track 32, and is used to constrain the wall-climbing robot 40 from moving along the extension direction of the transition track 31 and the bearing track 32. By providing the limiting portion 33, the wall-climbing robot 40 is effectively constrained from moving along the extension direction of the transition track 31 and the bearing track 32, thereby preventing the wall-climbing robot 40 from falling off the transition track 31 and the bearing track 32.

[0048] like Figure 1 and Figure 2 As shown, the limiting part 33 includes a first limiting member 331 and a second limiting member 332, which are correspondingly arranged at both sides of the transition track 31 and the load-bearing track 32 to jointly constrain the wall-climbing robot 40 to move between the first limiting member 331 and the second limiting member 332. By providing the first limiting member 331 and the second limiting member 332, the working reliability of the limiting part 33 is ensured, and the structure of the limiting part 33 is simplified.

[0049] Specifically, the wall-climbing robot pick-and-place device further includes an adjustment structure 50, which is respectively connected to the multiple pick-and-place mechanisms to adjust the relative positions of the multiple pick-and-place mechanisms. By providing the adjustment structure 50, the relative positions of the multiple pick-and-place mechanisms are effectively adjusted, so that the wall-climbing robot pick-and-place device can be applied to multiple types of wall-climbing robots (for example, wall-climbing robots with different spacings between each row of magnetic wheels), thereby improving versatility.

[0050] like Figure 1 and Figure 3As shown, the adjustment structure 50 includes a guide member 51 and a first limiting ring 52, a second limiting ring 53, a third limiting ring 54 and a fourth limiting ring 55 respectively sleeved on the guide member 51, the first limiting ring 52, the second limiting ring 53, the third limiting ring 54 and the fourth limiting ring 55 are movably arranged along the extension direction of the guide member 51, and can be adjusted to be loosely clamped and fixed on the guide member 51; the multiple groups of pick-up and place mechanisms include a first pick-up and place mechanism 60 and a second pick-up and place mechanism 70, and the first pick-up and place mechanism 60 is arranged The first and second stop rings 52 and 53 are located between the first and second stop rings 52 and 53, and are respectively in contact with the first and second stop rings 52 and 53; the second pick-and-place mechanism 70 is located between the third and fourth stop rings 54 and 55, and is respectively in contact with the third and fourth stop rings 54 and 55; wherein, by adjusting the positions of the first, second, third and fourth stop rings 52, 53, 54 and 55 on the guide member 51, the distance between the first and second pick-and-place mechanism 60 and 70 is adjusted. This arrangement not only ensures the working reliability of the adjustment structure 50, but also ensures the simplification of the structure of the adjustment structure 50, and at the same time, makes the adjustment structure 50 convenient for subsequent procurement and processing, and has a low cost.

[0051] Specifically, the first stop ring 52, the second stop ring 53, the third stop ring 54 and the fourth stop ring 55 have the same structure, and are all adjustment rings, which are sleeved on the guide member 51, and the inner diameter of the adjustment ring is adjustable, so that the adjustment ring can be fixedly set or slidably set on the guide member 51. By providing the common adjustment rings in the prior art, the subsequent replacement and maintenance of the first stop ring 52, the second stop ring 53, the third stop ring 54 and the fourth stop ring 55 are facilitated, and the cost is further reduced.

[0052] like Figure 1 and Figure 3 As shown, the first pick-and-place mechanism 60 also includes a self-lubricating bushing 61, which is sleeved on the guide member 51 and can slide along the extension direction of the guide member 51; wherein, there are two self-lubricating bushings 61, which are respectively arranged on both sides of the base 10 of the first pick-and-place mechanism 60 to drive the base 10 to slide along the guide member 51; one self-lubricating bushing 61 abuts against the first limiting ring 52, and the other self-lubricating bushing 61 abuts against the second limiting ring 53. By providing the self-lubricating bushing 61, the base 10 can slide smoothly along the guide member 51, which not only effectively constrains the sliding freedom of the base 10 relative to the guide member 51, but also reduces the wear of the guide member 51 and improves the service life.

[0053] Furthermore, there are multiple adjustment structures 50, and the multiple adjustment structures 50 are arranged at intervals along the extension direction of the base 10 or the supporting structure 30. By providing multiple adjustment structures 50, the overall rigidity of the wall-climbing robot pick-and-place device is effectively improved, and the safety is improved.

[0054] In a specific embodiment of the present invention, Figure 1 As shown, there are two adjustment structures 50 , and the two adjustment structures 50 are arranged at intervals along the extension direction of the bearing structure 30 to achieve effective adjustment of the bearing structure 30 .

[0055] like Figure 4 As shown, the magnetic adsorption structure 20 includes an adjustable adsorption part 21 and a permanent magnet part 22. The adjustable adsorption part 21 is arranged at one end of the base 10, and the magnetic force of the adjustable adsorption part 21 for adsorbing the working wall surface is adjustable; the permanent magnet part 22 is arranged at the other end of the base 10. By arranging the adjustable adsorption part 21 and the permanent magnet part 22, it is ensured that the magnetic force of the magnetic adsorption structure 20 is adjustable, and the magnetic adsorption structure 20 still has a certain magnetic force in the case of power failure, thereby avoiding the problem of the wall-climbing robot picking and placing device falling off from the working wall surface in the case of power failure.

[0056] In a specific embodiment of the present invention, the adjustable adsorption part 21 can adopt a common electromagnet structure, which is simple in structure and reliable in operation; the permanent magnet part 22 can adopt a neodymium iron boron magnet, which is easy to purchase and has a large magnetic force.

[0057] like Figure 5 As shown, the permanent magnet part 22 includes a shell 221 disposed on the base 10 and a permanent magnet 222, a first magnetic yoke 223 and a second magnetic yoke 224 respectively fixed in the shell 221, wherein the permanent magnet 222 is disposed between the first magnetic yoke 223 and the second magnetic yoke 224, the first magnetic yoke 223 and the second magnetic yoke 224 are used to abut and adsorb the working wall surface, and there is a gap between the permanent magnet 222 and the working wall surface. This arrangement not only ensures the reliable adsorption of the permanent magnet part 22 to the working wall surface, but also makes the permanent magnet 222 not directly contact the working wall surface, thereby facilitating the subsequent separation of the permanent magnet part 22 from the working wall surface.

[0058] like Figure 1 As shown, the wall-climbing robot pick-and-place device further includes a positioning structure 80, which is disposed at one end of the base 10 or the supporting structure 30 to limit the position of the wall-climbing robot 40 on the supporting structure 30. By providing the positioning structure 80, the position of the wall-climbing robot 40 on the supporting structure 30 can be effectively limited, thereby preventing the wall-climbing robot 40 from falling off the supporting structure 30.

[0059] Optionally, the positioning structure 80 is made of elastic material to buffer the impact on the wall-climbing robot 40. By using the elastic material, while limiting the position of the wall-climbing robot 40, the problem of collision damage to the wall-climbing robot 40 is also avoided.

[0060] In a specific embodiment of the present invention, the positioning structure 80 is made of rubber material, which is easy to purchase and process and reduces the cost.

[0061] like Figure 1 As shown, the wall-climbing robot pick-and-place device further includes a handle 90, which is disposed on the base 10 or the supporting structure 30; there are multiple handles 90, and the multiple handles 90 are disposed at intervals along the extension direction of the base 10 or the supporting structure 30. By providing multiple handles 90, it is further convenient for the staff to operate the wall-climbing robot pick-and-place device, making it more convenient for the staff to hold and use it.

[0062] In summary, the present invention provides a wall-climbing robot picking and placing device, which realizes the reliable detachment of the wall-climbing robot 40 from the working wall surface; by designing the magnetic force of the magnetic adsorption structure 20 to be adjustable, the wall-climbing robot picking and placing device can be quickly detached and quickly fixed from the working wall surface, thereby ensuring the quick detachment and quick installation of the wall-climbing robot 40 on the working wall surface; when the present invention is working, the magnetic adsorption structure 20 is controlled to be adsorbed on the working wall surface, and the wall-climbing robot 40 moves from the working wall surface to the supporting structure 30 through its own magnetic wheel, and then by adjusting the magnetic force of the magnetic adsorption structure 20, only one staff member is needed to easily remove the wall-climbing robot 40 and the picking and placing device from the working wall surface, which greatly reduces the workload and improves safety and work efficiency.

[0063] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0064] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0065] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0066] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0067] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wall-climbing robot pick-and-place device, It is characterized in that include: Base (10); A magnetic adsorption structure (20) is arranged on the base (10), and the magnetic force of the magnetic adsorption structure (20) for adsorbing the working wall surface is adjustable to control the separation or fixation of the base (10) and the working wall surface; A bearing structure (30) is arranged on the base (10) and is used to bear the wall-climbing robot (40); The wall-climbing robot (40) can move from the working wall surface and be adsorbed onto the supporting structure (30); the magnetic force of the magnetic adsorption structure (20) adsorbed onto the working wall surface is adjusted so that the wall-climbing robot pick-and-place device and the wall-climbing robot (40) are separated from the working wall surface; The magnetic adsorption structure (20) comprises an adjustable adsorption portion (21) and a permanent magnet portion (22); the adjustable adsorption portion (21) is arranged at one end of the base (10); the magnetic force of the adjustable adsorption portion (21) for adsorbing the working wall surface is adjustable; and the permanent magnet portion (22) is arranged at the other end of the base (10); The permanent magnet part (22) comprises a shell (221) arranged on the base (10), a permanent magnet (222), a first magnetic yoke (223) and a second magnetic yoke (224) respectively fixed in the shell (221), wherein the permanent magnet (222) is arranged between the first magnetic yoke (223) and the second magnetic yoke (224), the first magnetic yoke (223) and the second magnetic yoke (224) are used to abut and absorb the working wall surface, and there is a gap between the permanent magnet (222) and the working wall surface.

2. The wall-climbing robot pick-and-place device according to claim 1, It is characterized in that A bearing structure (30), a base (10) and a magnetic adsorption structure (20) form a set of pick-and-place mechanisms, and the pick-and-place mechanisms are multiple sets, and the multiple sets of pick-and-place mechanisms correspond to the number of magnetic wheel rows of the wall-climbing robot (40).

3. The wall-climbing robot pick-and-place device according to claim 2, It is characterized in that The supporting structure (30) comprises a transition track (31) and a supporting track (32), wherein the transition track (31) is arranged at one end of the supporting track (32), and the transition track (31) is used to connect the supporting track (32) and the working wall surface, wherein the wall-climbing robot (40) moves onto the supporting track (32) via the transition track (31).

4. The wall-climbing robot pick-and-place device according to claim 3, It is characterized in that The bearing structure (30) further comprises a limiting portion (33), wherein the limiting portion (33) is arranged on the transition track (31) and the bearing track (32), and the limiting portion (33) is used to constrain the wall-climbing robot (40) to move along the extension direction of the transition track (31) and the bearing track (32).

5. The wall-climbing robot pick-and-place device according to claim 4, It is characterized in that The limiting portion (33) comprises a first limiting member (331) and a second limiting member (332), wherein the first limiting member (331) and the second limiting member (332) are correspondingly arranged on both sides of the transition track (31) and the supporting track (32) to jointly constrain the wall-climbing robot (40) to move between the first limiting member (331) and the second limiting member (332).

6. The wall-climbing robot pick-and-place device according to claim 2, It is characterized in that The wall-climbing robot pick-and-place device further comprises an adjustment structure (50), wherein the adjustment structure (50) is respectively connected to the plurality of groups of the pick-and-place mechanisms to adjust the relative positions of the plurality of groups of the pick-and-place mechanisms.

7. The wall-climbing robot pick-and-place device according to claim 6, It is characterized in that The adjustment structure (50) comprises a guide member (51) and a first limiting ring (52), a second limiting ring (53), a third limiting ring (54) and a fourth limiting ring (55) respectively sleeved on the guide member (51); the first limiting ring (52), the second limiting ring (53), the third limiting ring (54) and the fourth limiting ring (55) are movably arranged along the extension direction of the guide member (51) and are all adjustable and loosely clamped and fixed on the guide member (51); The plurality of groups of pick-and-place mechanisms include a first pick-and-place mechanism (60) and a second pick-and-place mechanism (70); the first pick-and-place mechanism (60) is arranged between the first limiting ring (52) and the second limiting ring (53), and is respectively in contact with the first limiting ring (52) and the second limiting ring (53); the second pick-and-place mechanism (70) is arranged between the third limiting ring (54) and the fourth limiting ring (55), and is respectively in contact with the third limiting ring (54) and the fourth limiting ring (55); Wherein, by adjusting the positions of the first limiting ring (52), the second limiting ring (53), the third limiting ring (54) and the fourth limiting ring (55) on the guide member (51), the distance between the first picking and placing mechanism (60) and the second picking and placing mechanism (70) is adjusted.

8. The wall-climbing robot pick-and-place device according to claim 7, It is characterized in that The first limiting ring (52), the second limiting ring (53), the third limiting ring (54) and the fourth limiting ring (55) have the same structure and are all adjustable rings. The adjusting rings are sleeved on the guide member (51). The inner diameter of the adjusting ring is adjustable so that they can be fixedly arranged or slidably arranged on the guide member (51).

9. The wall-climbing robot pick-and-place device according to claim 7, It is characterized in that The first pick-and-place mechanism (60) also includes a self-lubricating bushing (61), which is sleeved on the guide member (51) and can slide along the extension direction of the guide member (51); wherein there are two self-lubricating bushings (61), and the two self-lubricating bushings (61) are respectively arranged on both sides of the base (10) of the first pick-and-place mechanism (60) to drive the base (10) to slide along the guide member (51); one of the self-lubricating bushings (61) abuts against the first limiting ring (52), and the other self-lubricating bushing (61) abuts against the second limiting ring (53).

10. The wall-climbing robot pick-and-place device according to claim 6, It is characterized in that There are a plurality of the adjustment structures (50), and the plurality of the adjustment structures (50) are arranged at intervals along the extension direction of the base (10) or the supporting structure (30).

11. The wall-climbing robot pick-and-place device according to claim 1, It is characterized in that The wall-climbing robot picking and placing device also includes a positioning structure (80), which is arranged at one end of the base (10) or the supporting structure (30) to limit the position of the wall-climbing robot (40) on the supporting structure (30).

12. The wall-climbing robot pick-and-place device according to claim 11, It is characterized in that The positioning structure (80) is made of elastic material to cushion the impact borne by the wall-climbing robot (40).

13. The wall-climbing robot pick-and-place device according to claim 1, It is characterized in that The wall-climbing robot pick-and-place device also includes a handle (90), and the handle (90) is arranged on the base (10) or the supporting structure (30); there are multiple handles (90), and the multiple handles (90) are arranged at intervals along the extension direction of the base (10) or the supporting structure (30).

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