A wall-climbing robot

Abstract

The present application relates to the field of robot technology, specifically discloses a wheel-foot type wall-climbing robot, two leg mechanisms are respectively located at two ends of a waist mechanism, characterized in that the leg mechanism comprises a suction cup, a suction cup connecting piece is coaxially connected and fixed to the upper end of the suction cup, a universal joint is coaxially fixed to the upper end of the suction cup connecting piece, a wheel-leg shaft is coaxially fixed to the upper end of the universal joint, a wheel is arranged on the wheel-leg shaft and a linear motor for controlling the wheel is arranged, the waist mechanism comprises a first waist connecting piece and a second waist connecting piece, and a third steering engine is arranged between the first waist connecting piece and the second waist connecting piece. The present application can realize low energy consumption and high efficiency walking on vertical or high-altitude surfaces and planes, and can meet and adapt to the application of various environments.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a wheel-legged wall-climbing robot. Background Technology

[0002] In modern industry and construction, there is a need for the inspection, maintenance, and cleaning of vertical surfaces at heights. Traditional manual methods present safety risks and inefficiencies. To address these issues, robotics technology is widely applied to various vertical surface operations. Legged designs are a common approach for existing wall-climbing robots, typically equipped with suction cups or other attachment devices. The alternating leg movements in legged locomotion ensure that the foot-end suction device remains in constant contact with the working environment surface, guaranteeing stable adhesion. Simultaneously, legged locomotion provides the robot with strong obstacle-crossing capabilities, improving its environmental adaptability. However, the relatively low efficiency of legged locomotion prevents this design from operating efficiently on near-horizontal surfaces. Therefore, designing a wall-climbing robot that can move on both vertical and high-altitude surfaces while also achieving low energy consumption and high efficiency on planar surfaces is of great significance.

[0003] Therefore, in order to solve this problem, we propose a wheel-footed wall-climbing robot. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a wheel-legged wall-climbing robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A wheeled wall-climbing robot includes two leg mechanisms and a waist mechanism. The two leg mechanisms are located at opposite ends of the waist mechanism. Each leg mechanism includes a suction cup, with a suction cup connector coaxially fixed to the upper end of the suction cup. A universal joint is coaxially fixed to the upper end of the suction cup connector, and a wheel-leg axle is coaxially fixed to the upper end of the universal joint. The wheel-leg axle is equipped with a wheel and a linear motor for controlling the wheel. The waist mechanism includes a first waist connector and a second waist connector, with a third servo motor located between the first waist connector and the second waist connector.

[0007] Preferably, the leg mechanism further includes a first servo or a second servo, and the upper end of the wheel leg axle is fixed to the output shaft of the first servo or the second servo.

[0008] Preferably, the wheel is coaxially slidably mounted on the wheel leg axle, and the linear motor is fixedly mounted on the wheel leg axle, with the output shaft of the linear motor facing downward and axially assembled with the wheel.

[0009] Preferably, one end of the first waist connector is fixedly connected to the non-output shaft end of the first servo motor, and the other end is fixedly connected to the non-output shaft end of the third servo motor.

[0010] Preferably, the waist mechanism further includes two vacuum solenoid valves and two vacuum generators, all of which are fixedly mounted on the first waist connector.

[0011] Preferably, one end of the second waist connector is mounted on the output shaft of the third servo, and the other end is fixedly connected to the non-output shaft end of the second servo.

[0012] Preferably, the waist mechanism further includes an air pump, which is fixedly installed on the second waist connector. The two suction cups are respectively connected to the air inlets of the two vacuum solenoid valves through air pipes. The air outlets of the two vacuum solenoid valves are respectively connected to one end of the two vacuum generators through air pipes. The other end of the two vacuum generators is connected to the air port of the air pump through air pipes.

[0013] Preferably, the waist mechanism further includes two casters, which are fixedly installed on both sides of the second waist connector.

[0014] Preferably, each of the two vacuum generators is connected to a three-way valve between itself and the air pump, and the two three-way valves are connected to the two suction cups respectively through air pipes.

[0015] Preferably, a spring is detachably installed on the side of the wheel and at the end of the universal joint near the suction cup.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. This invention enables switching between wheeled and legged locomotion, providing a flexible, safe, and multifunctional working mode. It is adaptable to various application scenarios and has high work efficiency. It not only has the ability to walk on vertical surfaces but also has the ability to move on wheels on planes, overcoming the shortcomings of existing wall-climbing robots that are difficult to balance locomotion efficiency and obstacle-crossing ability.

[0018] 2. The present invention allows for flexible adjustment of the distance between two symmetrical wheels, enabling it to be used for internal inspection of pipes of various diameters, adapting to the inside of pipes, and achieving stable movement, resulting in high work efficiency.

[0019] 3. This invention can be used on water surfaces, effectively meeting and adapting to various environmental applications, and has high work efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a wheel-footed wall-climbing robot according to the present invention.

[0021] Figure 2 A schematic diagram of the process of switching from legged to wheeled mode in a wall-climbing robot according to the present invention.

[0022] Figure 3 This is a schematic diagram of the process of switching from legged to wheeled mode for a wall-climbing robot according to the present invention.

[0023] Figure 4 This is a schematic diagram of the process three for switching from legged to wheeled operation of a wheeled wall-climbing robot according to the present invention.

[0024] Figure 5 This is a schematic diagram of the process four for switching from legged to wheeled operation of a wheeled wall-climbing robot according to the present invention.

[0025] Figure 6 This is a schematic diagram illustrating the process of switching from wheeled to legged mode in a wheeled wall-climbing robot according to the present invention.

[0026] Figure 7 This is a schematic diagram of the process of switching from wheeled to legged mode in a wheeled wall-climbing robot according to the present invention.

[0027] Figure 8 This is a schematic diagram of the process three for switching from wheeled to legged mode in a wheeled wall-climbing robot according to the present invention.

[0028] In the diagram: 1. Suction cup; 2. Suction cup connector; 3. Wheel; 4. Wheel leg axle; 5. First servo motor; 6. First waist connector; 7. Third servo motor; 8. Second waist connector; 9. Second servo motor; 10. Linear motor; 11. Universal joint; 12. Air pump; 13. Universal wheel; 14. Vacuum solenoid valve; 15. Vacuum generator. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0030] Reference Figure 1-8 A wheel-legged wall-climbing robot includes two leg mechanisms and a waist mechanism, with the two leg mechanisms located at opposite ends of the waist mechanism. The two leg mechanisms of the robot have the same design but differ in size.

[0031] Each leg mechanism, from bottom to top, consists of a suction cup 1, a suction cup connector 2, a universal joint 11, a wheel 3, a wheel-leg axle 4, a linear motor 10, and either a first servo motor 5 or a second servo motor 9. The suction cup 1 and suction cup connector 2 are fixedly connected coaxially. The lower end of the universal joint 11 is fixedly connected coaxially to the suction cup connector 2. One end of the wheel-leg axle 4 has a square cross-section, which is coaxially connected to the output shaft of the first servo motor 5. The other end of the wheel-leg axle 4 has a circular cross-section, which is coaxially connected to the universal joint 11. This allows the robot to adapt to surfaces of varying curvature. The wheel 3 is coaxially connected to the wheel-leg axle 4, with its square inner hole facing upwards. When mounted on the wheel-leg axle 4, the wheel 3 drives the first servo motor 5 to rotate, which in turn drives the wheel-leg axle 4 to rotate, thus rotating the wheel 3 mounted on it. A linear motor 10 is fixedly mounted on the square end of the wheel leg axle 4. The output shaft of the linear motor 10 is axially mounted with the wheel 3 facing downwards. Driving the linear motor 10 enables the wheel 3 to move along the axis of the wheel leg axle 4. When the wheel 3 moves to a position that can wrap around the universal joint 11 pivot, the two ends of the universal joint are coaxial and locked. The length of the suction cup 1 is shorter than the radius of the wheel 3.

[0032] The waist mechanism includes a first waist connector 6, a third servo motor 7, a second waist connector 8, an air pump 12, a caster wheel 13, two vacuum generators 15, two vacuum solenoid valves 14, and the air pump 12. The first waist connector 6 is horizontally positioned with the non-output shaft end of the first servo motor 5 fixedly mounted on its left end and the non-output shaft end of the third servo motor 7 fixedly connected to its right end. By rotating the first servo motor 5, the entire waist mechanism can be rotated around the axis of the wheel leg axle 4. Two vacuum generators 15 and two vacuum solenoid valves 14 are fixedly mounted on the first waist connector 6 to control the adsorption of the suction cup 1. The output shaft of the third servo motor 7 is perpendicular to the plane formed by the waist mechanism and the leg mechanism, and is axially assembled with the second waist connector 8. The third servo motor 7 enables the second waist connector 8 to rotate clockwise or counterclockwise around the output shaft. The other end of the second waist connector 8 is fixedly connected to the non-output shaft end of the second servo motor 9. By driving the third servo motor 7 to rotate, the first waist connector 6 can rotate relative to the second waist connector 8, with the rotation axis perpendicular to the plane formed by the waist mechanism and the leg mechanism. An air pump 12 is fixedly installed on the right end of the second waist connector 8, and casters 13 are fixedly installed at the front and rear. The robot's air circuit connection sequence is as follows: the suction cup 1 is connected to the air inlet of the vacuum solenoid valve 14, the air outlet of the vacuum solenoid valve 14 is connected to one end of the vacuum generator 15, and the other end of the vacuum generator 15 is connected to the air inlet of the air pump 12, thereby achieving the function of adsorption and desorption of the suction cup 1. The first servo motor 5, the second servo motor 9, and the third servo motor 7 can all perform precise rotation control or continuous rotation control.

[0033] Two three-way valves are connected between the two vacuum generators 15 and the air pump 12. Each three-way valve is connected to one of the two suction cups 1 via an air pipe. Specifically, each three-way valve is directly connected to the air pump 12 via one air pipe, and then connected to the vacuum generator 15 and suction cup 1 via two other air pipes. Each three-way valve can independently connect to the suction cup 1 and the air pump 12. When the air pump 12 is activated, the corresponding suction cup 1 can release air. A spring is detachably mounted on the side of the wheel 3 and near the suction cup 1 of the universal joint 11. The spring is angled and can be removed during normal use.

[0034] like Figure 2 This is a schematic diagram illustrating the process of switching from legged to wheeled mode for a wall-climbing robot according to the present invention. When the robot is standing, the two vacuum solenoid valves 14 are de-energized, and the air inlet and outlet are connected, meaning the inner cavity of the suction cup 1 is connected to the air pump 12, and the two suction cups 1 adhere to the air. The linear motor 10 is then driven, causing the two wheels 3 to move upwards along the axis of the wheel leg axle 4.

[0035] like Figure 3 This is a schematic diagram illustrating the second process of switching from legged to wheeled mode for a wall-climbing robot according to the present invention. The two wheels 3 are driven axially upwards by the linear motor 10. When the wheels 3 disengage from the universal joint 11, the universal joint unlocks, and the robot's waist and the portion above the universal joint 11 on its legs all fall down. Simultaneously, the two vacuum solenoid valves 14 are energized, connecting the air inlet and outlet, meaning the suction cup 1's inner cavity is open to the atmosphere, and the suction cup 1 loses its adsorption function.

[0036] like Figure 4 This is a schematic diagram of the process three for switching from legged to wheeled mode in a wall-climbing robot according to the present invention. The third servo motor 7 drives the second waist connector 8 and all the leg and waist mechanisms connected to it to rotate counterclockwise around the output shaft of the third servo motor 7 until the second waist connector 8 and the first waist connector 6 are parallel and then stop. At this point, a T-shaped wheeled movement mode has been initially formed, and the two wheels 3 are collinear with the wheel leg axle 4, making the wheeled movement more stable.

[0037] like Figure 5 This is a schematic diagram of the process four for switching from legged to wheeled mode in a wall-climbing robot according to the present invention. Since the two suction cups 1 are still swinging on both sides of the wheel legs under the influence of gravity, affecting the motion effect of the legged movement, the two linear motors 10 are driven at this time, respectively driving the two wheels 3 to move axially towards the suction cups 1. When the wheels 3 move to a position that can cover the universal joint 11 pivot, the two ends of the universal joint are coaxial and locked, and the linear motors 10 stop driving. At this point, the two suction cups 1 are lifted off the ground due to the constraint of the universal joint 11, and the wheels 3 on the wheel legs and the universal wheels 13 are in close contact with the ground. Thus, the wall-climbing robot completes the switch from legged to wheeled mode. The switch to wheeled mode allows it to walk on a horizontal surface.

[0038] like Figure 6 This is a schematic diagram illustrating the process of switching from wheeled to legged mode in a wheeled wall-climbing robot according to the present invention. The third servo motor 7 drives the second waist connector 8 and all the legs and waist mechanisms connected to it to rotate clockwise around the output shaft until the second waist connector 8 and the first waist connector 6 are parallel and then stop.

[0039] like Figure 7 This is a schematic diagram of the second process of switching from wheeled to legged mode for a wheeled wall-climbing robot according to the present invention. Two linear motors 10 drive two wheels 3 to move upwards along the axis of their output shafts. When the wheels 3 disengage from the universal joint 11, the universal joint unlocks, and the two linear motors 10 stop driving. The two vacuum solenoid valves 14 are de-energized, and the air inlet and outlet become connected, meaning the inner cavity of the suction cup 1 is connected to the air pump 12, and the two suction cups 1 adhere to the air.

[0040] like Figure 8 This is a schematic diagram of the process three for switching from wheeled to legged mode in a wall-climbing robot according to the present invention. The linear motor 10 drives the two wheels 3 to move towards the suction cup 1. As the wheels 3 gradually wrap around the axle of the universal joint 11, the rotatable angle of the universal joint 11 gradually decreases until the two ends of the universal joint are coaxial and locked. At this point, the robot's waist and leg components can be set into a fully standing position, i.e., the wall-climbing robot is in a standing state. It can then perform suction walking on vertical surfaces or high-altitude surfaces.

[0041] In use, the robot body can be installed in conjunction with other devices, such as related detection or cleaning devices, or multiple robot bodies of the present invention can be mounted on one device. In practical applications, the present invention can achieve low-energy and high-efficiency walking on vertical or high-altitude surfaces and planes.

[0042] Simultaneously, this invention allows the linear motor 10 to adjust the position of the corresponding wheel 3, i.e., to extend and retract the wheel 3, thereby increasing or decreasing the robot's walking width. In use, when the distance between the two symmetrical wheels 3 is adjusted to a wider range, the robot can traverse wider pits. Furthermore, through flexible distance adjustment, this invention can be used for internal inspection of pipes of various diameters; by adjusting the interval between the two wheels 3, it matches and adapts to the internal structure of the pipe, achieving stable movement and high work efficiency.

[0043] After installing the springs, specifically on the sides of both wheels 3 and the end of the corresponding universal joint 11 near the suction cup 1, the springs are inclined. The springs then stretch and restrict the wheels 3 and the corresponding universal joint 11. If the corresponding linear motor 10 is activated to extend and retract to adjust the position of the wheels 3, the springs can pull and control the rotation of the corresponding universal joint 11, thus controlling the suction cup 1 to rotate along the rotation direction of the universal joint 11. Simultaneously, the corresponding first servo motor 5 or second servo motor 9 can also control the rotation of the corresponding wheel leg axle 4, ultimately controlling the suction cup 1 to rotate around the output axis of the first servo motor 5 or second servo motor 9. All the above electrical devices are waterproofed, allowing the invention to be installed with a water-based device, such as an existing floating device or monitoring device with a floating board. Once set up on water, suction cup 1 is submerged. At this point, the three-way control valve can be activated, connecting suction cup 1 and air pump 12. Air pump 12 starts, causing suction cup 1 to release air. This airflow generates thrust, driving the entire device to move on the water. Furthermore, as described above, the linear motor 10 can activate the telescopic adjustment wheel 3, and the first servo motor 5 or the second servo motor 9 can rotate, ultimately controlling the direction of suction cup 1, thus controlling the overall device's direction on the water surface. This invention effectively meets and adapts to various environmental applications and has high working efficiency.

[0044] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A wheel-legged wall-climbing robot, comprising two leg mechanisms and a waist mechanism, wherein the two leg mechanisms are respectively located at both ends of the waist mechanism, characterized in that, The leg mechanism includes a suction cup (1), a suction cup connector (2) is coaxially fixed to the upper end of the suction cup (1), a universal joint (11) is coaxially fixed to the upper end of the suction cup connector (2), a wheel leg axle (4) is coaxially fixed to the upper end of the universal joint (11), a wheel leg axle (4) is provided on the wheel leg axle (4) and a linear motor (10) for controlling the wheel (3) is provided. The waist mechanism includes a first waist connector (6) and a second waist connector (8), and a third servo motor (7) is provided between the first waist connector (6) and the second waist connector (8). The wheel (3) is coaxially slidably mounted on the wheel leg axle (4), and the linear motor (10) is fixedly mounted on the wheel leg axle (4). The output shaft of the linear motor (10) faces downward and is axially assembled with the wheel (3). The leg mechanism also includes a first servo motor (5) or a second servo motor (9), and the upper end of the wheel leg axle (4) is fixed to the output shaft of the first servo motor (5) or the second servo motor (9); One end of the first waist connector (6) is fixedly connected to the non-output shaft end of the first servo motor (5), and the other end is fixedly connected to the non-output shaft end of the third servo motor (7); A spring is detachably installed on the side of the wheel (3) and the end of the universal joint (11) near the suction cup (1).

2. The wheel-legged wall-climbing robot according to claim 1, characterized in that, The waist mechanism also includes two vacuum solenoid valves (14) and two vacuum generators (15), which are fixedly mounted on the first waist connector (6).

3. The wheel-legged wall-climbing robot according to claim 1, characterized in that, One end of the second waist connector (8) is mounted on the output shaft of the third servo (7), and the other end is fixedly connected to the non-output shaft end of the second servo (9).

4. A wheel-legged wall-climbing robot according to claim 1, characterized in that, The waist mechanism also includes an air pump (12), which is fixedly installed on the second waist connector (8). Two suction cups (1) are connected to the air inlets of two vacuum solenoid valves (14) through air pipes. The air outlets of the two vacuum solenoid valves (14) are connected to one end of two vacuum generators (15) through air pipes. The other end of the two vacuum generators (15) is connected to the air inlet of the air pump (12) through air pipes.

5. A wheel-legged wall-climbing robot according to claim 1, characterized in that, The waist mechanism also includes two casters (13), which are fixedly installed on both sides of the second waist connector (8).

6. A wheel-legged wall-climbing robot according to claim 4, characterized in that, Two three-way valves are connected between the two vacuum generators (15) and the air pump (12), and the two three-way valves are connected to the two suction cups (1) respectively through air pipes.

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