Wall-climbing robot capable of crossing a fold and method of climbing thereof

Abstract

The application relates to a wall-climbing robot capable of crossing corners and a wall-climbing method thereof, which comprises a front walking module, a rear walking module and a wall-climbing adjusting module. The front walking module comprises a front walking driving unit and a front walking adsorption unit. The rear walking module comprises a rear walking driving unit and a rear walking adsorption unit. The wall-climbing adjusting module is arranged between the front walking module and the rear walking module and comprises a lifting assembly, an angle adjusting assembly and a wall-climbing adsorption unit. The lifting assembly and the angle adjusting assembly are connected with the wall-climbing adsorption unit. The wall-climbing adsorption unit comprises two groups of wall-climbing adsorption assemblies hinged to the driving end of the lifting assembly. The angle adjusting assembly is connected with the two groups of wall-climbing adsorption assemblies and drives the relative rotation angle of the two groups of wall-climbing adsorption assemblies. The wall-climbing robot can realize the functions of crossing outer corners and inner corner wall surfaces, and improves the stability and safety of the wall-climbing robot when crossing corners.

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 traversing angles and its climbing method. Background Technology

[0002] Magnetic wall-climbing robots are a type of special-purpose robot, primarily used in harsh, dangerous, and extreme working conditions to perform specific tasks such as detection, inspection, welding, or grinding on magnetically conductive walls. Currently, magnetic wall-climbing robots are widely used in steel-structure-based production and construction industries such as nuclear power, petrochemicals, construction, fire services, and shipbuilding.

[0003] However, in actual use, wall-climbing robots can only walk on relatively flat surfaces. In some situations, wall-climbing robots need to traverse terrain with certain angles, such as outward and inward bends. Existing wall-climbing robots cannot complete this type of walking. When climbing outward bends, they are prone to falling off the wall, resulting in poor stability and safety performance. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problem that wall-climbing robots in the prior art cannot climb walls with external and internal corners, and to provide a wall-climbing robot and its climbing method that can cross corners, thereby improving the stability and safety of the wall-climbing robot when crossing corners.

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

[0006] A forward walking module, comprising: a forward walking drive unit and a forward walking adsorption unit;

[0007] The rear walking module includes: a rear walking drive unit and a rear walking adsorption unit;

[0008] A wall-climbing adjustment module is disposed between the front walking module and the rear walking module, and includes a lifting component, an angle adjustment component, and a wall-climbing adsorption unit. The lifting component and the angle adjustment component are both connected to the wall-climbing adsorption unit. The wall-climbing adsorption unit includes two sets of wall-climbing adsorption components hinged to the driving end of the lifting component. The angle adjustment component is connected to the two sets of wall-climbing adsorption components and drives the relative rotation angle of the two sets of wall-climbing adsorption components.

[0009] In one embodiment of the present invention, the forward walking drive unit includes: two coaxially arranged first wheels and a first drive source that drives the two first wheels to rotate synchronously;

[0010] The rear-walking drive unit includes: two coaxially arranged second wheels and a second drive source that drives the two second wheels to rotate synchronously.

[0011] In one embodiment of the present invention, the forward-walking adsorption unit includes: a first magnetic adsorption component located between two first wheel bodies, the first magnetic adsorption component being arranged around the central axis of the first wheel body, and the first magnetic adsorption component being a semi-enclosed magnetic adsorption;

[0012] The rear-walking adsorption unit includes: a second magnetic adsorption component located between two second wheels, the second magnetic adsorption component being arranged around the central axis of the second wheels, and the second magnetic adsorption component being a semi-enclosed magnetic adsorption.

[0013] In one embodiment of the present invention, the wall-climbing adjustment module is fixedly connected to the front walking module via a mounting base, and a passive adaptation module is provided between the wall-climbing adjustment module and the rear walking module, the passive adaptation module being rotatably connected to the wall-climbing adjustment module and the rear walking module.

[0014] In one embodiment of the present invention, the passive adaptation module includes:

[0015] A rotating shaft is fixedly connected to the rear walking module, and the rotating shaft is connected to the wall climbing adjustment module through a rolling bearing or a sliding bearing;

[0016] An angle encoder is connected to the rotating shaft, and the angle encoder detects the rotation angle of the rotating shaft;

[0017] A hydraulic damper acts on the rotating shaft to limit its rotation angle.

[0018] In one embodiment of the present invention, the forward walking module further includes a first mounting bracket and a first side pushing component located on the first mounting bracket, the first side pushing component being located at the front end of the forward walking module to push against the wall surface;

[0019] The rear-moving module also includes a second mounting bracket and a second side-pushing component located on the second mounting bracket. The second side-pushing component is located at the rear end of the rear-moving module to push against the wall surface.

[0020] To address the aforementioned technical problems, the present invention also provides a climbing method for a wall-climbing robot capable of crossing corners. Based on the aforementioned wall-climbing robot capable of crossing corners, when the wall-climbing robot crosses a corner, the lifting component drives the wall-climbing adsorption component to move towards the wall surface, and the angle adjustment component adjusts the relative rotation angle of the two sets of wall-climbing adsorption components according to the angle of crossing the corner.

[0021] In one embodiment of the present invention, when the wall-climbing robot crosses an outward bend from a vertical plane to a horizontal plane, the following steps are included:

[0022] S1-1, both the forward and backward walking modules are attached to the vertical surface. The wheel center in the forward walking module is on the same straight line as the outer corner point. The wall-climbing adjustment module maintains sufficient magnetic attraction with the vertical surface, and the wall-climbing robot begins to climb over the outer corner.

[0023] S1-2, The wheel center of the forward walking module is located on the center line of the outer corner. At this time, the two sets of wall climbing adsorption components are parallel to each other and maintain sufficient magnetic attraction with the vertical plane.

[0024] S1-3. The wall-climbing adjustment module of the wall-climbing robot is located at the outer corner. At this time, the angle adjustment component drives the two sets of wall-climbing adsorption components to rotate and adjust the relative angle, so that the set of wall-climbing adsorption components close to the forward walking module is parallel to the horizontal plane, and the set of wall-climbing adsorption components close to the rear walking module is parallel to the vertical plane.

[0025] S1-4. When the wheel center in the rear walking module crosses the outer corner point, the wall-climbing adsorption unit maintains sufficient magnetic attraction with the horizontal plane to complete the crossing of the outer corner.

[0026] In one embodiment of the present invention, when the wall-climbing robot crosses an outward bend from a horizontal plane to a vertical plane, the following steps are included:

[0027] S2-1, the forward walking module and the rear walking module are both attached to the horizontal surface. The wheel center of the wheel in the forward walking module is on the same straight line as the outer corner point. The wall climbing adjustment module maintains sufficient magnetic attraction with the horizontal surface. The wall climbing robot begins to climb over the outer corner.

[0028] S2-2, The wheel center of the forward walking module is located on the center line of the outer corner. At this time, the two sets of wall climbing adsorption components are parallel to each other and maintain sufficient magnetic attraction with the horizontal plane.

[0029] S2-3. The wall-climbing adjustment module of the wall-climbing robot is located at the outer corner. At this time, the angle adjustment component drives the two sets of wall-climbing adsorption components to rotate and adjust the relative angle, so that the set of wall-climbing adsorption components close to the forward walking module is parallel to the vertical plane, and the set of wall-climbing adsorption components close to the rear walking module is parallel to the horizontal plane.

[0030] S2-4. When the wheel center in the rear walking module moves to a position close to the outer corner point, the lifting component pushes the wall-climbing adsorption unit to apply pressure, so as to counteract the magnetic attraction between the wall-climbing adsorption component and the vertical surface.

[0031] S2-5. When the wheel center in the rear walking module crosses the outer corner point, the lifting component does not apply pressure, and the wall-climbing adsorption unit maintains sufficient magnetic attraction with the vertical surface to complete the crossing of the outer corner.

[0032] In one embodiment of the present invention, when the wall-climbing robot crosses an inward bend, the following steps are included:

[0033] S3-1. Both the front walking module and the rear walking module are attached to the first side. When the wall-climbing robot approaches the inner corner, the side pushing component in the front walking module extends and abuts against the second side in the direction of the wall-climbing robot's movement. As the wall-climbing robot moves toward the second side, the side pushing component slowly retracts until the wheels in the front walking module contact the inner side of the second side.

[0034] S3-2. When the front walking module of the wall-climbing robot detaches from the first side and moves towards the second side, the lifting component pushes the wall-climbing adsorption unit to adsorb onto the first side. After the front walking module of the wall-climbing robot completely lands on the second side, the lifting component drives the wall-climbing adsorption unit to detach from the first side.

[0035] S3-3, the front walking module of the wall-climbing robot continues to walk on the second side until the rear walking module of the wall-climbing robot lands completely on the second side. Then, the side pushing component in the rear walking module extends and abuts against the first side, completing the crossing of the inner angle.

[0036] The technical solution of the present invention has the following advantages compared with the prior art:

[0037] This invention discloses a wall-climbing robot capable of traversing corners and a climbing method. It includes a forward walking module and a rear walking module to enable the robot to move across different wall surfaces. A wall-climbing adjustment module, when the robot traverses a corner, uses a lifting component to move the wall-climbing adsorption component closer to the wall surface. An angle adjustment component adjusts the relative rotation angle of the two sets of wall-climbing adsorption components according to the angle of the corner being traversed, thereby enabling the robot to traverse both outer and inner corner walls, improving the stability and safety of the wall-climbing robot when crossing corners. Attached Figure Description

[0038] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein...

[0039] Figure 1 This is a schematic diagram of the overall structure of the wall-climbing robot of the present invention;

[0040] Figure 2 This is a schematic diagram of the forward-walking module of the present invention;

[0041] Figure 3 This is a schematic diagram of the rear walking module of the present invention;

[0042] Figure 4 This is a schematic diagram of the wall-climbing adjustment module of the present invention;

[0043] Figure 5 This is a schematic diagram of the passive adaptation module of the present invention;

[0044] Figure 6 This is a step diagram of the wall-climbing robot of the present invention crossing an outward bend from a vertical plane to a horizontal plane;

[0045] Figure 7 This is a step diagram of the wall-climbing robot of the present invention crossing an outward angle from a horizontal plane to a vertical plane;

[0046] Figure 8 This is a diagram showing the steps of the wall-climbing robot of the present invention crossing an inner bend.

[0047] Explanation of reference numerals in the accompanying drawings: 1. Frame; 2. Forward walking module; 21. Forward walking drive unit; 22. Forward walking adsorption unit; 23. First support; 24. First side pushing assembly; 3. Wall climbing adjustment module; 31. Lifting assembly; 32. Angle adjustment assembly; 33. Wall climbing adsorption unit; 331. Wall climbing adsorption assembly; 4. Rear walking module; 41. Rear walking drive unit; 42. Rear walking adsorption unit; 43. Second support; 44. Second side pushing assembly; 5. Passive adaptation module; 51. Rotating shaft; 52. Angle encoder. Detailed Implementation

[0048] 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.

[0049] Example 1

[0050] Reference Figures 1-3 As shown, this invention discloses a wall-climbing robot, including a frame 1. The frame 1 is sequentially provided with a front walking module 2, a wall-climbing adjustment module 3, and a rear walking module 4. The front walking module 2 includes a front walking drive unit 21 and a front walking adsorption unit 22. The rear walking module 4 includes a rear walking drive unit 41 and a rear walking adsorption unit 42. The front walking drive unit 21 and the rear walking drive unit 41 cooperate to support the frame and realize the walking function of the wall-climbing robot. The front walking adsorption unit 22 cooperates with the rear walking module 4 to realize the adsorption of the wall-climbing robot on the wall surface.

[0051] The wall-climbing adjustment module 3 is positioned between the front walking module 2 and the rear walking module 4, as shown in the reference. Figure 4 As shown, the wall-climbing adjustment module 3 includes a lifting component 31, an angle adjustment component 32, and a wall-climbing adsorption unit 33. Both the lifting component 31 and the angle adjustment component 32 are connected to the wall-climbing adsorption unit 33. The lifting component 31 includes a slide rail, a lifting drive source, and a lifting platform. The lifting drive source drives the lifting platform to reciprocate on the slide rail. The lifting drive source can be an electro-hydraulic actuator. The wall-climbing adsorption unit 33 is disposed on the lifting platform. The wall-climbing adsorption unit 33 includes two sets of wall-climbing adsorption components 331 hinged on the lifting platform. The angle adjustment component 32 includes two sets of adjustment drive sources. The actuators of the two sets of adjustment drive sources are respectively connected to the two sets of wall-climbing adsorption components 331 and drive the relative rotation angle of the two sets of wall-climbing adsorption components 331. The adjustment drive source can be an electro-hydraulic actuator.

[0052] In this embodiment, the wall-climbing robot is equipped with a front walking module 2 and a rear walking module 4 to enable the robot to walk on different wall surfaces. A wall-climbing adjustment module 3 is provided so that when the robot crosses a corner, the lifting component 31 drives the wall-climbing adsorption component 331 to move closer to the wall surface. The angle adjustment component 32 adjusts the relative rotation angle of the two sets of wall-climbing adsorption components 331 according to the angle of the corner being crossed, which can adapt to the corner angle of different wall surfaces, thereby realizing the function of crossing outer and inner corner walls and improving the stability and safety of the wall-climbing robot when crossing corners.

[0053] Referring to Figure 2, the forward walking module 2 includes: a forward walking drive unit 21 and a forward walking adsorption unit 22, wherein:

[0054] The forward walking drive unit 21 includes: two coaxially arranged first wheels and a first drive source that drives the two first wheels to rotate synchronously. The first wheels support the bracket, and the first drive source drives the first wheels to rotate, thereby realizing the walking of the wall-climbing robot.

[0055] The forward-moving adsorption unit 22 includes: a first magnetic adsorption component located between two first wheel bodies. The first magnetic adsorption component is arranged around the central axis of the first wheel body. The first magnetic adsorption component is a semi-enclosed magnetic adsorption. The first magnetic adsorption component is composed of multiple permanent magnets spliced ​​together to ensure that it can provide sufficient magnetic attraction force when crossing inner and outer corners. The magnetic attraction force of each group of permanent magnets can be measured individually by a force sensor. Each group of permanent magnets adopts a Halbach array to obtain the maximum magnetic attraction force.

[0056] In this embodiment, the forward walking module 2 further includes a first mounting frame 23 and a first side-pushing component 24 located on the first mounting frame 23. The first side-pushing component 24 is located at the front end of the forward walking module 2 to push against the wall surface. The first side-pushing component 24 includes a first side-pushing drive source and a first side-pushing member. The first side-pushing drive source is disposed on the first mounting frame 23 and drives the first side-pushing member to move. When the wall-climbing robot is climbing the inner corner frame, for example, when the wall-climbing robot is climbing from a horizontal wall to a vertical wall, as the wall-climbing robot approaches the vertical wall, the first side-pushing member extends to abut against the vertical wall. Then, as the wall-climbing robot slowly approaches the vertical wall, the first side-pushing member slowly shortens, thereby ensuring the stability of the wall-climbing robot and preventing it from being suddenly sucked onto the vertical wall. The first side-pushing drive source can be an electro-hydraulic actuator.

[0057] Reference Figure 3 As shown, in this embodiment, the structure of the rear walking module 4 is basically the same as that of the front walking module 2. Therefore, the rear walking module 4 includes: a rear walking drive unit 41 and a rear walking adsorption unit 42, wherein:

[0058] The rear walking drive unit 41 includes: two coaxially arranged second wheels and a second drive source that drives the two second wheels to rotate synchronously. The second wheels support the bracket, and the second drive source drives the second wheels to rotate, thereby realizing the walking of the wall-climbing robot.

[0059] The rear-walking adsorption unit 42 includes: a second magnetic adsorption component located between two second wheels. The second magnetic adsorption component is arranged around the central axis of the second wheels. The second magnetic adsorption component is a semi-enclosed magnetic adsorption. The second magnetic adsorption component is composed of multiple permanent magnets spliced ​​together to ensure that it can provide sufficient magnetic attraction force when crossing inner and outer corners. The magnetic attraction force of each group of permanent magnets can be measured individually by a force sensor. Each group of permanent magnets adopts a Halbach array to obtain the maximum magnetic attraction force.

[0060] In this embodiment, the rear walking module 4 further includes a second mounting frame 43 and a second side-pushing assembly 44 located on the second mounting frame 43. The second side-pushing assembly 44 is located at the rear end of the rear walking module 4 to push against the wall surface. The second side-pushing assembly 44 includes a second side-pushing drive source and a second side-pushing member. The second side-pushing drive source is disposed on the second mounting frame 43 and drives the second side-pushing member to move. When the wall-climbing robot needs to climb the inner corner frame, for example, when the wall-climbing robot climbs from the horizontal wall to the vertical wall, the second side-pushing member extends to abut against the vertical wall. Then, the second side-pushing member slowly extends, causing the wall-climbing robot to be lifted as a whole, thereby facilitating the wall-climbing robot to climb from the horizontal wall to the vertical wall. The first side-pushing drive source can be an electro-hydraulic actuator. For details on the use and working principle of the first side pushing component 24 and the second side pushing component 44, please refer to the specific description in Chinese Patent Application No. 202310154784.2.

[0061] Reference Figure 1 As shown, in this embodiment, the wall-climbing adjustment module 3 and the front walking module 2 are fixedly connected by a mounting base. A passive adaptation module 5 is provided between the wall-climbing adjustment module 3 and the rear walking module 4, and the passive adaptation module 5 rotatably connects the wall-climbing adjustment module 3 and the rear walking module 4.

[0062] In other embodiments, a passive adaptation module 5 may also be provided between the wall-climbing adjustment module 3 and the forward walking module 2. The passive adaptation module 5 is rotatably connected to the wall-climbing adjustment module 3 and the forward walking module 2. The wall-climbing adjustment module 3 and the rear walking module 4 are fixedly connected by a mounting base.

[0063] By adjusting the passive adaptation module 5, the requirement that the front and rear wheels touch the ground simultaneously when the curvature of the wall surface where the front wheel is located is inconsistent with that of the wall surface where the rear wheel is located is met, and the safety of the wall-climbing robot structure is improved.

[0064] Reference Figure 5 As shown, the passive adaptation module 5 includes: a rotating shaft 51, an angle encoder 52, and a hydraulic damper. In this embodiment, the rotating shaft 51 is fixedly connected to the rear walking module 4. The rotating shaft 51 is connected to the wall climbing adjustment module 3 through a rolling bearing or a sliding bearing. The angle encoder 52 is connected to the rotating shaft 51 and detects the rotation angle of the rotating shaft 51. The hydraulic damper acts on the rotating shaft 51 to limit the rotation angle of the rotating shaft 51 and also plays a role in buffering and shock absorption.

[0065] Example 2

[0066] Based on the above embodiment 1, the present invention also discloses a climbing method for a wall-climbing robot capable of crossing angles. When the wall-climbing robot crosses an angle, the lifting component 31 drives the wall-climbing adsorption component 331 to move towards the wall surface. The angle adjustment component 32 adjusts the relative rotation angle of the two sets of wall-climbing adsorption components 331 according to the angle of crossing the angle, specifically including the following three typical cases:

[0067] First scenario

[0068] Reference Figure 6 As shown, when the wall-climbing robot crosses the outward angle from the vertical plane to the horizontal plane, it includes the following steps (in this embodiment, taking the example of climbing from the outside of the vertical plane of the frame to the outside of the top surface of the frame):

[0069] In the initial state, the wall-climbing robot adheres to and walks on the vertical surface. Both the front walking module 2 and the rear walking module 4 are adhered to the vertical surface. During the continuous walking process, the wheel center of the front walking module 2 and the outer corner point are on the same straight line. The wall-climbing adjustment module 3 maintains sufficient magnetic attraction with the vertical surface, and the wall-climbing robot begins to climb over the outer corner.

[0070] The wheel center in the forward walking module 2 is located on the center line of the outer corner. At this time, the two sets of wall climbing adsorption components 331 are parallel to each other and maintain sufficient magnetic attraction with the vertical plane.

[0071] As the wall-climbing robot continues to move forward, the wall-climbing adjustment module 3 in the wall-climbing robot will move to the outer corner. At this time, the angle adjustment component 32 drives the two sets of wall-climbing adsorption components 331 to rotate and adjust the relative angle, so that the set of wall-climbing adsorption components 331 close to the forward walking module 2 is parallel to the horizontal plane, and the set of wall-climbing adsorption components 331 close to the rear walking module 4 is parallel to the vertical plane.

[0072] The wall-climbing robot continues to move forward. When the wheel center in the rear walking module 4 crosses the outer corner point, the wall-climbing adsorption unit 33 maintains sufficient magnetic attraction with the horizontal plane to complete the crossing of the outer corner.

[0073] The second scenario

[0074] Reference Figure 7 As shown, when the wall-climbing robot crosses an outer corner from a horizontal plane to a vertical plane, it includes the following steps (in this embodiment, the most difficult case of crossing an outer corner is taken as an example, where the robot climbs from the outside of the bottom surface of the frame to the outside of the vertical surface of the frame):

[0075] In the initial state, both the forward walking module 2 and the rear walking module 4 are attached to the horizontal surface, that is, they are upside down and attached to the bottom of the frame. During continuous walking, the wheel center of the forward walking module 2 and the outer corner point are on the same straight line. The wall climbing adjustment module 3 maintains sufficient magnetic attraction with the horizontal surface, and the wall climbing robot begins to climb over the outer corner.

[0076] The wheel center of the forward walking module 2 is located on the center line of the outer corner. At this time, the two sets of wall climbing adsorption components 331 are parallel to each other and maintain sufficient magnetic attraction with the horizontal plane.

[0077] As the wall-climbing robot continues to move forward, the wall-climbing adjustment module 3 in the wall-climbing robot will move to the outer corner. At this time, the angle adjustment component 32 drives the two sets of wall-climbing adsorption components 331 to rotate and adjust the relative angle, so that the set of wall-climbing adsorption components 331 close to the forward walking module 2 is parallel to the vertical plane, and the set of wall-climbing adsorption components 331 close to the rear walking module 4 is parallel to the horizontal plane.

[0078] Since the wall-climbing robot is upside down in this embodiment, the frame cannot provide the corresponding support force when crossing the outer corner. When the wheel center in the rear walking module 4 moves to a position close to the outer corner point, the wall-climbing robot is prone to slipping due to insufficient driving force. In order to overcome this problem, the lifting component 31 pushes the wall-climbing adsorption unit 33 to apply pressure, so as to counteract the magnetic attraction between the wall-climbing adsorption component 331 and the vertical surface, and can still provide a certain amount of additional support force to help the rear walking module 4 pass through the outer corner point smoothly.

[0079] When the wheel center in the rear walking module 4 crosses the outer corner point, the lifting component 31 applies pressure without load, and the wall climbing adsorption unit 33 maintains sufficient magnetic attraction with the vertical surface to complete the crossing of the outer corner.

[0080] When the wall-climbing robot crosses other types of outward angles, the climbing method is similar to the first and second cases described above, and will not be repeated here.

[0081] The third scenario

[0082] Reference Figure 8 As shown, when the wall-climbing robot crosses an inner corner, it includes the following steps (in this embodiment, taking the example of climbing from the inside of the vertical plane of the frame to the inside of the top surface of the frame, this is the most dangerous situation for the robot to overturn):

[0083] In the initial state, both the front walking module 2 and the rear walking module 4 are attached to the vertical surface. When the wall-climbing robot approaches the inner corner, the side pushing component in the front walking module 2 extends and abuts against the horizontal surface in the direction of the wall-climbing robot's movement. As the wall-climbing robot moves towards the horizontal surface, the side pushing component slowly retracts until the wheels in the front walking module 2 contact the inner side of the horizontal surface.

[0084] As the wall-climbing robot continues to move forward, when the front walking module 2 of the wall-climbing robot leaves the vertical surface and moves horizontally, the wall-climbing robot will tilt at a certain angle (5-8°). This is when the wall-climbing robot is most likely to fall off. In order to overcome this problem, the lifting component 31 pushes the wall-climbing adsorption unit 33 to adhere to the vertical surface, ensuring that the wall-climbing robot has a sufficiently large adsorption force until the front walking module 2 of the wall-climbing robot completely falls to the horizontal surface. Then, the lifting component 31 drives the wall-climbing adsorption unit 33 to detach from the first side.

[0085] The front walking module 2 of the wall-climbing robot continues to walk on the first horizontal plane until the rear walking module 4 of the wall-climbing robot lands completely on the second side. Then, the side pushing component in the rear walking module 4 extends and abuts against the vertical plane to counteract the magnetic attraction between the rear walking module 4 and the vertical plane, thus completing the crossing of the inner angle.

[0086] When the wall-climbing robot traverses other types of inward bends, the climbing method is similar to the third case described above, and will not be repeated here. Obviously, the above embodiments are merely examples for clear illustration and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications 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 traversing angles, characterized in that, include: A forward walking module, comprising: a forward walking drive unit and a forward walking adsorption unit; The rear walking module includes: a rear walking drive unit and a rear walking adsorption unit; A wall-climbing adjustment module is disposed between the front walking module and the rear walking module, and includes a lifting component, an angle adjustment component, and a wall-climbing adsorption unit. The lifting component and the angle adjustment component are both connected to the wall-climbing adsorption unit. The wall-climbing adsorption unit includes two sets of wall-climbing adsorption components hinged to the driving end of the lifting component. The angle adjustment component is connected to the two sets of wall-climbing adsorption components and drives the relative rotation angle of the two sets of wall-climbing adsorption components. The wall-climbing adjustment module is fixedly connected to the front walking module via a mounting base. A passive adaptation module is provided between the wall-climbing adjustment module and the rear walking module, and the passive adaptation module is rotatably connected to the wall-climbing adjustment module and the rear walking module.

2. The wall-climbing robot capable of traversing angles according to claim 1, characterized in that: The forward-moving drive unit includes: two coaxially arranged first wheels and a first drive source that drives the two first wheels to rotate synchronously. The rear-walking drive unit includes: two coaxially arranged second wheels and a second drive source that drives the two second wheels to rotate synchronously.

3. The wall-climbing robot capable of traversing bends according to claim 2, characterized in that: The forward-moving adsorption unit includes: a first magnetic adsorption component located between two first wheel bodies, the first magnetic adsorption component being arranged around the central axis of the first wheel body, and the first magnetic adsorption component being a semi-enclosed magnetic adsorption; The rear-walking adsorption unit includes: a second magnetic adsorption component located between two second wheels, the second magnetic adsorption component being arranged around the central axis of the second wheels, and the second magnetic adsorption component being a semi-enclosed magnetic adsorption.

4. The wall-climbing robot capable of traversing angles according to claim 1, characterized in that: The passive adaptation module includes: A rotating shaft is fixedly connected to the rear walking module, and the rotating shaft is connected to the wall climbing adjustment module through a rolling bearing or a sliding bearing; An angle encoder is connected to the rotating shaft, and the angle encoder detects the rotation angle of the rotating shaft; A hydraulic damper acts on the rotating shaft to limit its rotation angle.

5. The wall-climbing robot capable of traversing angles according to claim 1, characterized in that: The forward walking module also includes a first mounting bracket and a first side pushing component located on the first mounting bracket, the first side pushing component being located at the front end of the forward walking module to push against the wall surface; The rear-moving module also includes a second mounting bracket and a second side-pushing component located on the second mounting bracket. The second side-pushing component is located at the rear end of the rear-moving module to push against the wall surface.

6. A climbing method for a wall-climbing robot capable of traversing angles, based on the wall-climbing robot capable of traversing angles as described in any one of claims 1 to 5, characterized in that: When the wall-climbing robot crosses a bend, the lifting component drives the wall-climbing adsorption component to move closer to the wall surface, and the angle adjustment component adjusts the relative rotation angle of the two sets of wall-climbing adsorption components according to the angle of crossing the bend.

7. The climbing method for a wall-climbing robot capable of traversing angles according to claim 6, characterized in that: When the wall-climbing robot crosses an outward bend from a vertical plane to a horizontal plane, the following steps are included: S1-1, both the forward and backward walking modules are attached to the vertical surface. The wheel center in the forward walking module is on the same straight line as the outer corner point. The wall-climbing adjustment module maintains sufficient magnetic attraction with the vertical surface, and the wall-climbing robot begins to climb over the outer corner. S1-2, The wheel center of the forward walking module is located on the center line of the outer corner. At this time, the two sets of wall climbing adsorption components are parallel to each other and maintain sufficient magnetic attraction with the vertical plane. S1-3. The wall-climbing adjustment module of the wall-climbing robot is located at the outer corner. At this time, the angle adjustment component drives the two sets of wall-climbing adsorption components to rotate and adjust the relative angle, so that the set of wall-climbing adsorption components close to the forward walking module is parallel to the horizontal plane, and the set of wall-climbing adsorption components close to the rear walking module is parallel to the vertical plane. S1-4. When the wheel center in the rear walking module crosses the outer corner point, the wall-climbing adsorption unit maintains sufficient magnetic attraction with the horizontal plane to complete the crossing of the outer corner.

8. The climbing method for a wall-climbing robot capable of traversing angles according to claim 6, characterized in that: When the wall-climbing robot crosses an outward angle from a horizontal plane to a vertical plane, the following steps are included: S2-1, the forward walking module and the rear walking module are both attached to the horizontal surface. The wheel center of the wheel in the forward walking module is on the same straight line as the outer corner point. The wall climbing adjustment module maintains sufficient magnetic attraction with the horizontal surface. The wall climbing robot begins to climb over the outer corner. S2-2, The wheel center of the forward walking module is located on the center line of the outer corner. At this time, the two sets of wall climbing adsorption components are parallel to each other and maintain sufficient magnetic attraction with the horizontal plane. S2-3. The wall-climbing adjustment module of the wall-climbing robot is located at the outer corner. At this time, the angle adjustment component drives the two sets of wall-climbing adsorption components to rotate and adjust the relative angle, so that the set of wall-climbing adsorption components close to the forward walking module is parallel to the vertical plane, and the set of wall-climbing adsorption components close to the rear walking module is parallel to the horizontal plane. S2-4. When the wheel center in the rear walking module moves to a position close to the outer corner point, the lifting component pushes the wall-climbing adsorption unit to apply pressure, so as to counteract the magnetic attraction between the wall-climbing adsorption component and the vertical surface. S2-5. When the wheel center in the rear walking module crosses the outer corner point, the lifting component does not apply pressure, and the wall-climbing adsorption unit maintains sufficient magnetic attraction with the vertical surface to complete the crossing of the outer corner.

9. The climbing method for a robot capable of traversing angled walls according to claim 6, characterized in that: When the wall-climbing robot crosses an inward bend, the following steps are included: S3-1. Both the front walking module and the rear walking module are attached to the first side. When the wall-climbing robot approaches the inner corner, the side pushing component in the front walking module extends and abuts against the second side in the direction of the wall-climbing robot's movement. As the wall-climbing robot moves toward the second side, the side pushing component slowly retracts until the wheels in the front walking module contact the inner side of the second side. S3-2. When the front walking module of the wall-climbing robot detaches from the first side and moves towards the second side, the lifting component pushes the wall-climbing adsorption unit to adsorb onto the first side until the front walking module of the wall-climbing robot completely lands on the second side. Then, the lifting component drives the wall-climbing adsorption unit to detach from the first side. S3-3, the front walking module of the wall-climbing robot continues to walk on the second side until the rear walking module of the wall-climbing robot lands completely on the second side. Then, the side pushing component in the rear walking module extends and abuts against the first side, completing the crossing of the inner angle.

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