Wall-climbing robot wheel-leg composite module

Abstract

This invention relates to a wheel-leg composite module for a wall-climbing robot. It includes a joint swing assembly, a variable magnetic force assembly, a wheel drive assembly, a lifting assembly, a base, and a drive wheel assembly. The lifting assembly is mounted on the base, and its output end is connected to the drive wheel assembly. One end of each of the two base sets is respectively mounted on both ends of the joint swing assembly, and the variable magnetic force assembly is mounted on the other end of the base. The variable magnetic force assembly includes a first transmission assembly, a first permanent magnet group, and a second permanent magnet group. The first permanent magnet group is fixedly mounted on the base, and the second permanent magnet group is rotatably mounted on the base. The output end of the first transmission assembly is connected to the second permanent magnet group, driving the second permanent magnet group to rotate relative to the first permanent magnet group to adjust the magnetic force of the variable magnetic force assembly. This invention enables switching between wheeled and legged movement modes, ensuring both the efficiency of wheeled movement and the obstacle-crossing capability of legged movement, improving the robot's flexibility, and allowing it to move safely and efficiently in complex environments.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a wheel-leg composite module for a wall-climbing robot. Background Technology

[0002] Research into wall-climbing robots began with the need to perform tasks on vertical or near-vertical surfaces. This can include applications in building maintenance, industrial inspection, rescue missions, or scientific research. Traditional wheeled robots may not be effective at moving in these environments, necessitating the development of robotic technology capable of climbing and attaching to vertical surfaces. The design combining wheels and legs overcomes some of the limitations of traditional wheeled robots. Wheels provide the ability to move quickly, while the leg system allows the robot to adapt to irregular surfaces and provides additional support and stability when needed. This design enables the robot to move on diverse surfaces, including flat and uneven surfaces. The wheel-leg hybrid module technology for wall-climbing robots integrates knowledge from multiple disciplines, from mechanical design to control systems, from materials science to electrical engineering, to achieve flexible and efficient movement on vertical surfaces.

[0003] In certain specific environments, there are jobs and tasks with harsh working conditions and dangers that are very difficult for humans to complete. As a result, solutions such as work vehicles and quadruped robots have been proposed. In order to enable work vehicles and quadruped robots to crawl on vertical planes, adsorption devices are added to work vehicles and multi-legged robots, such as electromagnetic adsorption, vacuum adsorption, and adsorption using rotor thrust. This has led to the development of tracked suction cup adsorption climbing vehicles, rotor climbing robots, electromagnetic adsorption quadruped climbing robots, and so on. However, while rotor-type climbing robots can operate at certain heights, they suffer from drawbacks such as high noise levels and low reliability, and are affected by factors such as wind at high altitudes. Tracked suction cup-adhesive climbing robots can plan relatively precise movement routes, but they have poor mobility, move slowly, are inefficient, have difficulty turning, and have poor obstacle-crossing ability, limiting their operation to large flat surfaces. Electromagnetically-adhesive quadrupedal climbing robots have some obstacle-crossing ability, but their structure and electromagnetic adsorption structure are relatively complex, heavy, and costly. Furthermore, when power is cut off, the entire robot will lose its magnetism and fall, causing damage and danger.

[0004] A Chinese patent discloses a multi-degree-of-freedom climbing robot, including a rotary assembly, a swing assembly, and a magnetic adsorption assembly. Two sets of the rotary assemblies are connected to the two ends of the swing assembly. The magnetic adsorption assembly is connected to the rotary assembly. The magnetic adsorption assembly includes a first radial magnet and a second radial magnet arranged coaxially. The first radial magnet is connected to a transmission assembly that drives the first radial magnet to rotate and adjust the magnetic force. This permanent magnet adsorption bipedal climbing robot can move and traverse within a certain space. However, relying on bipedal climbing on large flat surfaces suffers from low efficiency. Furthermore, due to structural limitations, the lifting and lowering of the robot's feet are not ideal. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, this invention provides a wheel-leg composite module for a wall-climbing robot, which can switch between wheeled and legged movement modes, improving the robot's flexibility and enabling it to move safely and efficiently in complex environments.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A wheel-leg composite module for a wall-climbing robot includes a joint swing assembly and a wheel-leg composite assembly. The wheel-leg composite assembly includes a variable magnetic force assembly, at least two sets of wheel drive assemblies, and a lifting assembly. The wheel drive assembly includes a base and a set of drive wheels. The lifting assembly is mounted on the base, and its output end is connected to the set of drive wheels, enabling the lifting assembly to drive the drive wheels to move up and down relative to the base. One end of each of the two sets of bases is respectively mounted on both ends of the joint swing assembly, and the variable magnetic force assembly is mounted on the other end of the base. The variable magnetic force assembly includes a first transmission assembly, a first permanent magnet group, and a second permanent magnet group. The first permanent magnet group is fixedly mounted on the base, and the second permanent magnet group is rotatably mounted on the base. The output end of the first transmission assembly is connected to the second permanent magnet group, driving the second permanent magnet group to rotate relative to the first permanent magnet group to adjust the magnitude of the magnetic force of the variable magnetic force assembly. The lifting assembly is mounted on the upper part of the base, and the variable magnetic force assembly is mounted on the lower part of the base, allowing the variable magnetic force assembly to directly contact the wall surface.

[0008] Based on the above technical solution, the present invention provides a wheel-leg composite module for a wall-climbing robot. By changing the distance between the drive wheel assembly and the base through a lifting component, the distance between the variable magnetic force component and the wall surface is adjusted. In use, the wheel-leg composite module is in contact with the wall surface. When the wheel drive assembly is lifted towards the base, the distance between the variable magnetic force component and the wall surface decreases. Simultaneously, in the variable magnetic force component, a first transmission component guides the rotation of a second permanent magnet group, changing the magnitude of the magnetic flux, thereby flexibly adjusting the magnetic force level between the wheel-leg composite module and the wall surface to meet the magnetic force variation requirements of the wheel-leg composite module in both wheeled and legged movement modes.

[0009] In wheeled motion mode, the lifting assembly controls the gap between the variable magnetic force assembly and the wall surface to maintain a customized value. In this state, by controlling the drive wheel assembly and the joint swing assembly, the wheel-leg composite module achieves wheeled motion. Controlling the joint swing assembly enables the robot to adapt to the curvature of the wall surface. In wheeled motion mode, the variable magnetic force assembly is in direct contact with the wall surface. When the robot faces obstacles, the variable magnetic force assembly adjusts the magnetic flux to achieve precise adhesion and detachment of the robot's feet. This unique motion method not only successfully handles various situations such as internal corner obstacles, external corner obstacles, and flange-shaped obstacles, but also demonstrates the robot's superior efficiency in complex environments. This design not only improves the robot's adaptability on vertical surfaces but also expands its potential applications in various scenarios.

[0010] In one embodiment, the joint rotation assembly includes a first rotation motor, a second rotation motor, a first connecting plate, and a fixed base; the second rotation motor, the first connecting plate, and the fixed base are each provided in two sets; one end of each of the two sets of first connecting plates is fixedly connected to the two sets of second rotation motors, the output ends of each of the two sets of second rotation motors are respectively connected to the two sets of fixed bases, and the two sets of fixed bases are respectively mounted on the two sets of bases; the other end of one set of first connecting plates is fixedly connected to the first rotation motor, and the other end of the other set of first connecting plates is connected to the output end of the first rotation motor. By controlling the first and second rotation motors, the included angle between the two sets of first connecting plates and the included angle between the base and the first connecting plate can be changed. The joint rotation assembly has a symmetrical structure on both sides, with the first rotation motor as the reference.

[0011] In one embodiment, the fixing seat includes a radial fixing seat and an axial fixing seat; one end of the axial fixing seat is connected to the output end of the second oscillating motor, and the other end of the axial fixing seat is fixedly connected to the radial fixing seat, and the radial fixing seat is fixedly installed on the base.

[0012] In one embodiment, the lifting assembly includes a second transmission assembly, two sets of transverse optical axes, two sets of longitudinal optical axes, a rotating ring, a linear bearing rotating frame, a linear bearing movable frame, and two sets of wheel fixing outer plates; the wheel drive assembly includes a driving wheel, a driven wheel, and a wheel connecting plate, one end of the wheel connecting plate being rotatably connected to the driving wheel, and the other end being rotatably connected to the driven wheel; the second transmission assembly and the rotating ring are mounted on the base, and the output end of the second transmission assembly is connected to the rotating ring to drive the rotating ring to rotate; the two sets of transverse optical axes are fixedly connected to the base and located on the left and right sides of the rotating ring; the two sets of longitudinal optical axes are located on the other two sides of the rotating ring, and the two ends of the two sets of longitudinal optical axes are slidably connected to the two sets of transverse optical axes through linear bearing movable frames; each set of longitudinal optical axes is fitted with a linear bearing rotating frame, and the two sets of linear bearing rotating frames are respectively connected to the rotating ring through rotating connecting plates; one end of each set of wheel fixing outer plates is connected to one end of each set of longitudinal optical axes, and the other end of each set of wheel fixing outer plates is rotatably connected to the wheel connecting plate. Two connecting plates clamp and mount the drive wheel and driven wheel. A rotating ring is mounted on the base and connected by connecting columns. With the rotating ring as the center, longitudinal and transverse optical axes are symmetrically mounted on both sides of the rotating ring. The drive wheel and driven wheel are located on either side below the rotating ring, and on either side of the first and second permanent magnet groups; this makes the entire structure more compact. Through the tight cooperation between the components, the robot can move efficiently on vertical surfaces using a wheel-leg hybrid mechanism. This structure provides the robot with high stability and flexibility for performing tasks in complex environments.

[0013] The second transmission component drives the rotating ring to rotate in the forward or reverse direction, thereby moving the rotating connecting plates on both sides, which in turn drives the linear bearing rotating frame to move back and forth along the longitudinal optical axis, and further drives the longitudinal optical axis to move back and forth along the transverse optical axis. When the two sets of longitudinal optical axes move towards each other, the drive wheel set is lifted, that is, moves towards the base, and the distance between it and the base decreases. When the two sets of longitudinal optical axes move in opposite directions, the drive wheel set is lowered, that is, the distance between the drive wheel set and the base increases.

[0014] In one embodiment, the second transmission assembly includes an elevator servo, a first small pulley, and a first synchronous belt. The elevator servo is mounted on the base, and its output end is connected to the first small pulley. The first small pulley is connected to the rotating ring via the first synchronous belt. The elevator servo is connected to the first small pulley via a flange, and the first small pulley is connected to the rotating ring via the first synchronous belt. When the elevator servo is activated, it drives the first small pulley to rotate, thereby causing the rotating ring to rotate.

[0015] In one embodiment, the upper part of the rotating ring is a gear that meshes with the timing belt, and the lower part of the rotating ring is connected to the linear bearing rotating frame through the rotating connecting plate; the two ends of the wheel connecting plate are rotatably connected to the shafts of the driving wheel and the driven wheel, respectively; and the two sets of wheel fixing outer plates are rotatably connected to the shafts of the driving wheel and the driven wheel, respectively.

[0016] In one embodiment, the first permanent magnet assembly includes a lower cover plate and multiple first magnetic blocks; the lower cover plate is fixedly connected to the base, and the multiple first magnetic blocks are annularly spaced on the lower cover plate; the second permanent magnet assembly includes a rotating shelf and multiple second magnetic blocks, the multiple second magnetic blocks are annularly spaced on the rotating shelf, and the multiple first magnetic blocks and multiple second magnetic blocks are coaxially arranged; the drive end of the first transmission assembly is connected to the rotating shelf, driving the rotating shelf to rotate. The variable magnetic force assembly provides a stable adsorption force for the robot's movement.

[0017] In one embodiment, both the first and second magnetic blocks are radial permanent magnets, with adjacent radial permanent magnets having opposite magnetic poles. The second magnetic block is located directly above the first magnetic block, and the number and position of the first and second magnetic blocks are arranged in a one-to-one correspondence. When the N pole of the first magnetic block is aligned with the N pole of the second magnetic block, and the S pole of the first magnetic block is aligned with the S pole of the second magnetic block, the magnetic field lines overlap, resulting in the maximum magnetic attraction force. When the N pole of the first magnetic block is aligned with the S pole of the second magnetic block, the magnetic field lines cancel each other out, resulting in the minimum magnetic attraction force.

[0018] In one embodiment, the first transmission assembly includes a rotary servo, a second small pulley, a second synchronous belt, and a large pulley; the rotary servo is mounted on the base, the large pulley is coaxially and fixedly connected to the rotating plate, the output end of the rotary servo is connected to the second small pulley, and the second synchronous belt meshes with the second small pulley and the large pulley respectively.

[0019] In one embodiment, the system further includes an upper cover plate and a fixed layer plate; the upper cover plate is installed on the top of the base, the lower cover plate is installed on the bottom of the base, and both the lower cover plate and the fixed layer plate are fixedly connected to the base via connecting columns, with the rotating layer plate and the large pulley located between the lower cover plate and the fixed layer plate; the base, rotating ring, fixed layer plate, rotating layer plate, and large pulley are located between the upper cover plate and the lower cover plate.

[0020] In this invention, two wheel-leg composite assemblies adhere to a wall surface and move rapidly via drive wheels. In the variable magnetic force assembly, a control servo motor rotates the second permanent magnet group, thereby changing the magnetic flux and achieving maximum magnetic attraction. Through cooperation with the lifting assembly, the bottom surfaces of the wheel-leg composite assemblies maintain a small gap while possessing a large magnetic attraction. Simultaneously, the joint swing assembly controls the distance between the two sets of wheel-leg composite assemblies to maintain a stable posture during movement.

[0021] The robot traverses flange-shaped obstacles through the coordinated operation of its joint swing assembly and wheel-leg composite assembly. The lifting assembly raises the drive and driven wheels, causing the variable magnetism assembly to adhere firmly to the wall surface, significantly increasing the magnetic force and making the obstacle-crossing process more stable. The lower wheel-leg composite assembly first loses its magnetic force and lifts off the wall. The joint swing assembly then causes the lower legs to flip over the central joint module to the upper part of the wall. Upon contact with the upper wall surface, the variable magnetism assembly restores the magnetic force, causing the wheel-leg composite assembly to firmly adhere to the wall surface.

[0022] In addition, the robot can also complete the transition between inner corners through the cooperation between the joint swing assembly and the wheel-leg composite assembly. During the transition, the wheel-leg composite assembly closer to the inner corner adheres tightly to the wall surface through the changing magnetic force assembly and the lifting assembly, ensuring a stable transition process; the wheel-leg composite assembly farther from the inner corner is lifted off the wall by the changing magnetic force assembly to remove the magnetic force, and the joint swing assembly causes the lower wheel-leg composite assembly to flip around the first swing motor in the middle to the upper end; when the lower wheel-leg composite assembly contacts the wall surface, the changing magnetic force assembly restores the magnetic force again, and the posture is adjusted so that the wheel-leg composite assembly is firmly attached to the wall surface; the other wheel-leg composite assembly is similarly lifted off the wall by removing the magnetic force, and the joint swing assembly works in conjunction with the movement to make the wheel-leg composite assembly attach to the plane.

[0023] Compared with existing technologies, the advantages are as follows: The wheel-leg hybrid module for a wall-climbing robot provided by this invention can switch between wheeled and legged movement modes, ensuring both the efficiency of wheeled movement and the obstacle-crossing capability of legged movement. It has stronger adaptability to wall surfaces and can be applied to more application scenarios. Compared with similar robots, the movement mode switching is more stable; it improves the robot's flexibility, enabling it to move safely and efficiently in complex environments. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0025] Figure 2 This is a first-view structural schematic diagram of the wheel-leg composite component of the present invention.

[0026] Figure 3 This is a second-view structural schematic diagram of the wheel-leg composite component of the present invention.

[0027] Figure 4 This is a schematic diagram of the lifting assembly and wheel drive assembly of the present invention.

[0028] Figure 5 This is a schematic diagram of the transmission relationship between the first transmission component and the second transmission component of the present invention.

[0029] Figure 6 This is a schematic diagram of the variable magnetic force component structure of the present invention.

[0030] Figure 7 This is a schematic diagram of the rotating ring structure of the present invention.

[0031] Figure 8 This is a schematic diagram of the lifting component of the present invention from a top-down perspective.

[0032] Figure 9 This is a schematic diagram of the lifting component of the present invention from a side view.

[0033] Figure 10 This is a schematic diagram of the first magnetic block and the second magnetic block of the present invention when their magnetic field lines coincide.

[0034] Figure 11 This is a schematic diagram of the cancellation of magnetic field lines between the first and second magnetic blocks of the present invention.

[0035] Figure 12 This is a schematic diagram of the wheel-type motion of the present invention.

[0036] Figure 13 This is a schematic diagram of the movement when the present invention overcomes obstacles.

[0037] Figure 14 This is a schematic diagram of the motion during the transition of the inner angle in this invention.

[0038] Reference numerals: 1. Joint swing assembly; 11. First swing motor; 12. Second swing motor; 13. First connecting plate; 14. Fixed base; 2. Wheel-leg composite assembly; 21. Variable magnetic force assembly; 2101. Rotary servo motor; 2102. Second small pulley; 2103. Second synchronous belt; 2104. Large pulley; 2105. Rotating shelf; 2106. Lower cover plate; 2107. Fixed shelf; 2108. First magnet; 2109. Second magnet 22. Lifting assembly; 2201. Transverse optical axis; 2202. Longitudinal optical axis; 2203. Rotating ring; 2204. Linear bearing rotating frame; 2205. Linear bearing moving frame; 2206. Wheel fixing outer plate; 2207. Rotating connecting plate; 2208. Lifting servo motor; 2209. First small pulley; 2210. First synchronous belt; 23. Base; 24. Drive wheel set; 241. Drive wheel; 242. Driven wheel; 243. Wheel connecting plate. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The present invention will be described in one embodiment below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and represent schematic diagrams, not actual pictures, and should not be construed as limiting the present patent. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the actual product size. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0040] In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances. In addition, if the embodiments of this invention involve descriptions of "first," "second," etc., such descriptions are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of those features. Furthermore, the meaning of "and / or" throughout the text is to include three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or a solution that simultaneously satisfies A and B.

[0041] Example 1:

[0042] like Figures 1 to 3As shown, this embodiment provides a wheel-leg composite module for a wall-climbing robot, including a joint swing assembly 1 and a wheel-leg composite assembly 2. The wheel-leg composite assembly 2 includes a variable magnetic force assembly 21, at least two sets of wheel drive assemblies, and a lifting assembly 22. The wheel drive assembly includes a base 23 and a drive wheel set 24. The lifting assembly 22 is mounted on the base 23, and its output end is connected to the drive wheel set 24. The lifting assembly 22 can drive the drive wheel set 24 to move up and down relative to the base 23. One end of each of the two sets of bases 23 is respectively mounted on both ends of the joint swing assembly 1, and the variable magnetic force assembly 21 is mounted on the other end of the base 23. The variable magnetic force assembly 21 includes a first transmission assembly, a first permanent magnet group, and a second permanent magnet group. The first permanent magnet group is fixedly mounted on the base 23, and the second permanent magnet group is rotatably mounted on the base 23. The output end of the first transmission assembly is connected to the second permanent magnet group, driving the second permanent magnet group to rotate relative to the first permanent magnet group to adjust the magnitude of the magnetic force of the variable magnetic force assembly 21. The lifting assembly 22 is installed on the upper part of the base 23, and the variable magnetic force assembly 21 is installed on the lower part of the base 23, so that the variable magnetic force assembly 21 can directly contact the wall surface.

[0043] According to the above technical solution, the present invention provides a wheel-leg composite module for a wall-climbing robot. The lifting component 22 changes the distance between the drive wheel assembly 24 and the base 23, thereby adjusting the distance between the variable magnetic force component 21 and the wall surface. In use, the wheel-leg composite module 21 is in contact with the wall surface. When the wheel drive assembly lifts towards the base 23, the distance between the variable magnetic force component 21 and the wall surface decreases. Simultaneously, in the variable magnetic force component 21, the first transmission component guides the second permanent magnet assembly to rotate, changing the magnitude of the magnetic flux and thus flexibly adjusting the magnetic force level between the wheel-leg composite module and the wall surface to meet the magnetic force variation requirements of the wheel-leg composite module in both wheeled and legged movement modes.

[0044] In wheeled motion mode, the lifting assembly 22 controls the gap between the variable magnetic force assembly 21 and the wall surface to maintain a customized value. In this state, the robot achieves wheeled motion by controlling the drive wheel assembly 24 and the joint pivot assembly 1. By controlling the joint pivot assembly 1, the robot is able to adapt to the curvature of the wall surface. In wheeled motion mode, the variable magnetic force assembly 21 is in direct contact with the wall surface. When the robot faces a transitional obstacle, the variable magnetic force assembly 21 adjusts the magnitude of the magnetic flux to achieve precise adhesion and detachment of the robot's feet. This unique motion method can not only successfully handle various situations such as internal corner obstacles, external corner obstacles, and flange-shaped obstacles, but also demonstrates the robot's superior ability to move efficiently in complex environments. This design not only improves the robot's adaptability on vertical surfaces, but also expands its potential applications in various scenarios.

[0045] In this embodiment, the robot can switch between wheeled and legged movement modes to adapt to different working environments. Specifically, when the robot is in wheeled movement mode, the joint pivoting component 1 rotates the wheel-leg composite component 2 to the same orientation, and the variable magnetic force component 21 adjusts the magnetic attraction force of the magnets, enabling the robot to stably complete wheeled movement on the wall surface; when the robot moves, the drive wheel 241 drives the entire robot to move. When the robot is in legged movement mode, the variable magnetic force component 21 can change the magnitude of the magnetic force, allowing the feet to adhere and detach, and the lifting component 22 changes the distance between the bottom magnet and the wall surface, causing the robot's feet to adhere tightly to the wall surface. Then, the joint pivoting component 1 rotates one end of the foot around the other end to complete the legged climbing movement.

[0046] Example 2

[0047] This embodiment is the same as embodiment 1 in other aspects. In this embodiment, as follows: Figure 1 As shown, the joint swing assembly 1 includes a first swing motor 11, a second swing motor 12, a first connecting plate 13, and a fixed base 14. Two sets of the second swing motor 12, the first connecting plate 13, and the fixed base 14 are provided. One end of each of the two sets of first connecting plates 13 is fixedly connected to one of the two sets of second swing motors 12, and the output ends of each of the two sets of second swing motors 12 are connected to one of the two sets of fixed bases 14. The two sets of fixed bases 14 are respectively mounted on two sets of bases 23. The other end of one set of first connecting plates 13 is fixedly connected to the first swing motor 11, and the other end of the other set of first connecting plates 13 is connected to the output end of the first swing motor 11. By controlling the first swing motor 11 and the second swing motor 12, the included angle between the two sets of first connecting plates 13 and the included angle between the base 23 and the first connecting plate 13 can be changed. The joint swing assembly 1 has a symmetrical structure on both sides, with the first swing motor 11 as the reference. The fixed base 14 includes a radial fixed base 14 and an axial fixed base 14; one end of the axial fixed base 14 is connected to the output end of the second swing motor 12, and the other end of the axial fixed base 14 is fixedly connected to the radial fixed base 14. The radial fixed base 14 is fixedly installed on the base 23.

[0048] Example 3

[0049] In this embodiment, as Figures 2 to 5As shown, the lifting assembly 22 includes a second transmission assembly, two sets of transverse optical axes 2201, two sets of longitudinal optical axes 2202, a rotating ring 2203, a linear bearing rotating frame 2204, a linear bearing moving frame, and two sets of wheel fixing outer plates 2206; the wheel drive assembly includes a drive wheel 241, a driven wheel 242, and a wheel connecting plate 243, one end of which is rotatably connected to the drive wheel 241, and the other end is rotatably connected to the driven wheel 242; the second transmission assembly and the rotating ring 2203 are mounted on the base 23, and the output end of the second transmission assembly is connected to the rotating ring 2203 to drive the rotating ring 2203 to rotate; the two sets of transverse optical axes 2201 are connected to the base 23 are fixedly connected and located on the left and right sides of the rotating ring 2203; two sets of longitudinal optical axes 2202 are located on the other two sides of the rotating ring 2203, and the two ends of the two sets of longitudinal optical axes 2202 are slidably connected to the two sets of transverse optical axes 2201 through linear bearing moving frames; each set of longitudinal optical axes 2202 is fitted with a linear bearing rotating frame 2204, and the two sets of linear bearing rotating frames 2204 are respectively connected to the rotating ring 2203 through rotating connecting plates 2207; one end of the two sets of wheel fixing outer plates 2206 is respectively connected to one end of the two sets of longitudinal optical axes 2202, and the other end of the two sets of wheel fixing outer plates 2206 is respectively rotatably connected to the wheel connecting plate 243. The two connecting plates clamp and install the driving wheel 241 and the driven wheel 242. A rotating ring 2203 is mounted on a base 23 and connected by connecting columns. With the rotating ring 2203 as the center, longitudinal optical axes 2202 and transverse optical axes 2201 are symmetrically mounted on both sides of the rotating ring 2203. Drive wheels 241 and driven wheels 242 are located on either side below the rotating ring 2203, and on either side of the first and second permanent magnet groups, making the entire structure more compact. Through the close cooperation between the components, the robot can move efficiently on vertical surfaces using a wheel-leg hybrid mechanism. This structure provides the robot with high stability and flexibility for performing tasks in complex environments.

[0050] Among them, such as Figure 2 , Figure 5 As shown, the second transmission assembly includes an elevator servo 2208, a first small pulley 2209, and a first synchronous belt 2210. The elevator servo 2208 is mounted on the base 23, and its output end is connected to the first small pulley 2209. The first small pulley 2209 is connected to the rotating ring 2203 via the first synchronous belt 2210. The elevator servo 2208 is connected to the first small pulley 2209 via a flange, and the first small pulley 2209 is connected to the rotating ring 2203 via the first synchronous belt 2210. When the elevator servo 2208 is activated, it drives the first small pulley 2209 to rotate, thereby causing the rotating ring 2203 to rotate.

[0051] The second transmission component drives the rotating ring 2203 to rotate in the forward or reverse direction, thereby causing the rotating connecting plates 2207 on both sides to move, which in turn causes the linear bearing rotating frame 2204 to move back and forth along the longitudinal optical axis 2202, and further causes the longitudinal optical axis 2202 to move back and forth along the transverse optical axis 2201. When the two sets of longitudinal optical axes 2202 move towards each other, the drive wheel set 24 is lifted, that is, moves towards the base 23, and the distance between it and the base 23 decreases. When the two sets of longitudinal optical axes 2202 move in opposite directions, the drive wheel set 24 is lowered, that is, the distance between the drive wheel set 24 and the base 23 increases.

[0052] Among them, such as Figure 7 As shown, the upper part of the rotating ring 2203 is a gear that meshes with the timing belt, and the lower part of the rotating ring 2203 is connected to the linear bearing rotating frame 2204 through the rotating connecting plate 2207; the two ends of the wheel connecting plate 243 are rotatably connected to the shafts of the driving wheel 241 and the driven wheel 242, respectively; the two sets of wheel fixing outer plates 2206 are rotatably connected to the shafts of the driving wheel 241 and the driven wheel 242, respectively.

[0053] like Figure 8 As shown in the diagram, the lifting assembly 22 is shown in a top view. c and d represent the first and second rotating connecting plates, respectively; e and f represent the first and second longitudinal optical axes, respectively; g and h represent the first and second transverse optical axes, respectively; i, j, k, and l represent the first, second, third, and fourth linear bearing moving frames, respectively. Figure 9 The diagram shows a simplified side view of the lifting assembly 22, where m and n represent the first and second wheel fixed outer plates, respectively. The lifting servo 2208 drives the first small pulley 2209, which, through the first synchronous belt 2210, the first rotating connecting plate c, and the second rotating connecting plate d, outputs torque as speeds v3 and v4 of the first longitudinal optical axis e and the second longitudinal optical axis f. These speeds are equal in magnitude but opposite in direction. The first longitudinal optical axis e drives the first linear bearing moving frame i and the second linear bearing moving frame j to move in the v3 direction, and the second longitudinal optical axis f moves similarly. Figure 9 The circular portions at points K and M represent the dimensions and positions of the robot's drive wheel 241. Because the overall mechanism is a spatial linkage, and the planes containing the important linkage transmission components are vertically distributed, it is analyzed by splitting the representation into top and side views. The first linear bearing moving frame i, the second linear bearing moving frame j, the third linear bearing moving frame k, and the fourth linear bearing moving frame l are considered as the slider components in the spatial linkage mechanism. Figure 8 The first linear bearing moving frame i, the third linear bearing moving frame k, the second linear bearing moving frame j, and the fourth linear bearing moving frame l are connecting parts of the connecting rod planar transmission section, respectively. Figure 9Corresponding to the linkage transmission plane where the first linear bearing moving frame i and the third linear bearing moving frame k are located, the second linear bearing moving frame j and the fourth linear bearing moving frame l are similarly linked. The first linear bearing moving frame i with a speed of v3 and the third linear bearing moving frame k with a speed of v4 push the fulcrum K and M. This linkage mechanism can be considered as two combined double-slider mechanisms. The motion of the first linear bearing moving frame i and the third linear bearing moving frame k is finally converted into the vertical reciprocating motion of the wheel connecting plate 243, where the fulcrum K and M are respectively connected to the robot's drive wheel 241. Figure 9 The double-dotted line in the middle represents the movement trajectory of the drive wheel 241, which enables the drive wheel 241 to support, adhere to, and move away from the wall.

[0054] Example 4

[0055] In this embodiment, as Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, the first permanent magnet group includes a lower cover plate 2106 and multiple first magnetic blocks 2108; the lower cover plate 2106 is fixedly connected to the base 23, and the multiple first magnetic blocks 2108 are installed on the lower cover plate 2106 at an annular interval; the second permanent magnet group includes a rotating shelf 2105 and multiple second magnetic blocks 2109, the multiple second magnetic blocks 2109 are installed on the rotating shelf 2105 at an annular interval, and the multiple first magnetic blocks 2108 and multiple second magnetic blocks 2109 are coaxially arranged; the driving end of the first transmission component is connected to the rotating shelf 2105, driving the rotating shelf 2105 to rotate. The variable magnetic force component 21 provides a stable adsorption force for the robot's movement. The first magnetic blocks 2108 and the second magnetic blocks 2109 are both radial permanent magnets, and the magnetic poles of adjacent radial permanent magnets are opposite; the second magnetic blocks 2109 are located directly above the first magnetic blocks 2108, and the number and position of the first magnetic blocks 2108 and the second magnetic blocks 2109 are arranged in a one-to-one correspondence. Figure 10 and Figure 11 As shown, when the N pole of the first magnetic block 2108 is aligned with the N pole of the second magnetic block 2109, and the S pole of the first magnetic block 2108 is aligned with the S pole of the second magnetic block 2109, the magnetic lines of force are superimposed, and the magnetic attraction force is at its maximum. When the N pole of the first magnetic block 2108 is aligned with the S pole of the second magnetic block 2109, the magnetic lines of force cancel each other out, and the magnetic attraction force is at its minimum. The first transmission assembly includes a rotary servo motor 2101, a second small pulley 2102, a second synchronous belt 2103, and a large pulley 2104. The rotary servo motor 2101 is mounted on the base 23, the large pulley 2104 is coaxially and fixedly connected to the rotating plate 2105, the output end of the rotary servo motor 2101 is connected to the second small pulley 2102, and the second synchronous belt 2103 meshes with both the second small pulley 2102 and the large pulley 2104.

[0056] When the robot's foot needs to be demagnetized or remagnetized, the rotating servo motor 2101 drives the second synchronous belt 2103 to rotate the large pulley 2104. The large pulley 2104 rotates coaxially with the rotating shelf 2105, and the second magnetic block 2109 in the rotating shelf 2105 will rotate. The magnetic field of the second magnetic block 2109 interacts with the magnetic field of the first magnetic block 2108 in the lower cover plate 2106, thereby changing the magnitude of the robot's magnetic adsorption force.

[0057] The robot can move on a wheeled surface, such as Figure 12 The robot achieves wheel-like movement through the cooperation of the wheel-leg composite component 2 and the joint swing component 1. First, the lifting component 22 adjusts the distance between the first magnet 2108 and the wall, so that there is a small gap between the first magnet 2108 and the wall; the joint swing component 1 adjusts the two wheel-leg composite components 2 to face the same direction; finally, the drive wheel 241 is controlled to rotate, so that the robot can achieve wheel-like movement on the wall.

[0058] The robot uses the wheel-leg composite component 2 and the joint component to work together to overcome flange-shaped obstacles, such as... Figure 13 In the II-wheel-leg composite assembly 2, the lifting component 22 raises the drive wheel 241 and the driven wheel 242, causing the lower cover plate 2106 of the bottom surface of the variable magnetic force component 21 to adhere tightly to the wall. At this time, there is no gap between the lower cover plate 2106 and the wall, and the magnetic force is greatly increased, ensuring that the robot does not slip during the overtaking process. The lower I-wheel-leg composite assembly 2 of the robot first removes the magnetic force by the variable magnetic force component 21 and lifts away from the wall. The joint swing component 1 then rotates the lower I-wheel-leg composite assembly 2 around the first swing motor 11 in the middle to the upper position. When it contacts the upper wall, the magnetic force is restored by the variable magnetic force component 21, so that the I-wheel-leg composite assembly 2 that has been overtaken is firmly attached to the wall. By repeating this cycle, the robot can continuously overtake obstacles.

[0059] like Figure 14 As shown, during the transition at the inner corner, the wheel-leg composite assembly 2 of foot II, which is closer to the inner corner, lifts the drive wheel 241 and driven wheel 242 through the variable magnetic force assembly 21 and the lifting assembly 22, so that the lower cover plate 2106 is tightly attached to the wall, obtaining the maximum magnetic force to ensure the stability of the transition process; foot I, which is farther from the inner corner, is lifted off the wall by the variable magnetic force assembly 21 to remove the magnetic force, and the joint swing assembly 1, together with the right foot I wheel-leg composite assembly 2, flips over to the upper end around the first swing motor 11 in the middle; when the foot plane contacts the wall, the magnetic force is restored again through the variable magnetic force assembly 21, and after adjusting the posture, the foot is tightly attached to the wall, requiring the lower cover plate 2106 to be tightly attached to the wall; the other foot II wheel-leg composite assembly 2 is also lifted off the wall by the variable magnetic force assembly 21, and with the cooperation of the joint swing assembly 1, the foot II wheel-leg composite assembly 2 moves to the lower plane, adjusts the posture, and then tightly attaches to the wall again through the variable magnetic force assembly 21, completing the transition at the inner corner obstacle.

[0060] Example 5

[0061] In this embodiment, an upper cover plate and a fixed layer plate 2107 are also included. The upper cover plate is installed on the top of the base 23, and the lower cover plate 2106 is installed on the bottom of the base 23. Both the lower cover plate 2106 and the fixed layer plate 2107 are fixedly connected to the base 23 via connecting columns. The rotating layer plate 2105 and the large pulley 2104 are located between the lower cover plate 2106 and the fixed layer plate 2107. The base 23, the rotating ring 2203, the fixed layer plate 2107, the rotating layer plate 2105, and the large pulley 2104 are located between the upper cover plate and the lower cover plate 2106. The upper cover plate, the fixed layer plate 2107, and the lower cover plate 2106 make the structure of the entire wheel-leg composite assembly 2 more compact.

[0062] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0063] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A wheel-leg composite module for a wall-climbing robot, characterized in that, The system includes a joint swing assembly (1) and a wheel-leg composite assembly (2). The wheel-leg composite assembly (2) includes a variable magnetic force assembly (21), at least two sets of wheel drive assemblies, and a lifting assembly (22). The wheel drive assembly includes a base (23) and a drive wheel set (24). The lifting assembly (22) is mounted on the base (23), and the output end of the lifting assembly (22) is connected to the drive wheel set (24). The lifting assembly (22) can drive the drive wheel set (24) to move up and down relative to the base (23). The two sets of bases (23) One end of the variable magnetic force assembly (21) is installed at both ends of the joint swing assembly (1), and the other end of the variable magnetic force assembly (21) is installed at the base (23). The variable magnetic force assembly (21) includes a first transmission assembly, a first permanent magnet group and a second permanent magnet group. The first permanent magnet group is fixedly installed on the base (23), and the second permanent magnet group is rotatably installed on the base (23). The output end of the first transmission assembly is connected to the second permanent magnet group, driving the second permanent magnet group to rotate relative to the first permanent magnet group to adjust the magnitude of the magnetic force of the variable magnetic force assembly (21). The lifting assembly (22) includes a second transmission assembly, two sets of transverse optical axes (2201), two sets of longitudinal optical axes (2202), a rotating ring (2203), a linear bearing rotating frame (2204), a linear bearing moving frame (2205), and two sets of wheel fixing outer plates (2206); the wheel drive assembly includes a drive wheel (241), a driven wheel (242), and a wheel connecting plate (243), one end of which is rotatably connected to the drive wheel (241), and the other end of which is rotatably connected to the driven wheel (242); the second transmission assembly and the rotating ring (2203) are mounted on the base (23), and the output end of the second transmission assembly is connected to the rotating ring (2203) to drive the rotating ring (2203) to rotate; the two sets of transverse optical axes (2201) and the two sets of longitudinal optical axes (2202) are mounted on the base (23), and the output end of the second transmission assembly is connected to the rotating ring (2203) to drive the rotating ring (2203) to rotate; the two sets of transverse optical axes (2201) and the two sets of longitudinal optical axes (2202) are mounted on the base (23), and the two sets of longitudinal optical axes (2202) are mounted on the base (23). The base (23) is fixedly connected and located on the left and right sides of the rotating ring (2203); the two sets of longitudinal optical axes (2202) are located on the other two sides of the rotating ring (2203), and the two ends of the two sets of longitudinal optical axes (2202) are slidably connected to the two sets of transverse optical axes (2201) through linear bearing moving frames (2205); each set of longitudinal optical axes (2202) is fitted with a linear bearing rotating frame (2204), and the two sets of linear bearing rotating frames (2204) are respectively connected to the rotating ring (2203) through rotating connecting plates (2207); one end of the two sets of wheel fixing outer plates (2206) is respectively connected to one end of the two sets of longitudinal optical axes (2202), and the other end of the two sets of wheel fixing outer plates (2206) is respectively rotatably connected to the wheel connecting plate (243).

2. The wheel-leg composite module of the wall-climbing robot according to claim 1, characterized in that, The joint swing assembly (1) includes a first swing motor (11), a second swing motor (12), a first connecting plate (13), and a fixed base (14); the second swing motor (12), the first connecting plate (13), and the fixed base (14) are each provided in two sets; one end of the two sets of first connecting plates (13) is fixedly connected to the two sets of second swing motors (12), the output ends of the two sets of second swing motors (12) are respectively connected to the two sets of fixed bases (14), and the two sets of fixed bases (14) are respectively installed on the two sets of bases (23); the other end of one set of first connecting plates (13) is fixedly connected to the first swing motor (11), and the other end of the other set of first connecting plates (13) is connected to the output end of the first swing motor (11).

3. The wheel-leg composite module of the wall-climbing robot according to claim 2, characterized in that, The fixed seat (14) includes a radial fixed seat (14) and an axial fixed seat (14); one end of the axial fixed seat (14) is connected to the output end of the second swing motor (12), and the other end of the axial fixed seat (14) is fixedly connected to the radial fixed seat (14). The radial fixed seat (14) is fixedly installed on the base (23).

4. The wheel-leg composite module of the wall-climbing robot according to claim 1, characterized in that, The second transmission assembly includes an elevator (2208), a first small pulley (2209), and a first synchronous belt (2210); the elevator (2208) is mounted on the base (23), the output end of the elevator (2208) is connected to the first small pulley (2209), and the first small pulley (2209) is connected to the rotating ring (2203) through the first synchronous belt (2210).

5. The wheel-leg composite module of the wall-climbing robot according to claim 4, wherein, The upper part of the rotating ring (2203) is a gear that meshes with the first synchronous belt (2210). The lower part of the rotating ring (2203) is connected to the linear bearing rotating frame (2204) through the rotating connecting plate (2207). The two ends of the wheel connecting plate (243) are rotatably connected to the shafts of the driving wheel (241) and the driven wheel (242), respectively. The two sets of wheel fixing outer plates (2206) are rotatably connected to the shafts of the driving wheel (241) and the driven wheel (242), respectively.

6. The wheel-leg composite module of the wall-climbing robot according to any one of claims 1 to 5, characterized in that, The first permanent magnet assembly includes a lower cover plate (2106) and multiple first magnet blocks (2108); the lower cover plate (2106) is fixedly connected to the base (23), and the multiple first magnet blocks (2108) are installed on the lower cover plate (2106) at an annular interval; the second permanent magnet assembly includes a rotating layer plate (2105) and multiple second magnet blocks (2109), the multiple second magnet blocks (2109) are installed on the rotating layer plate (2105) at an annular interval, and the multiple first magnet blocks (2108) and the multiple second magnet blocks (2109) are coaxially arranged; the driving end of the first transmission assembly is connected to the rotating layer plate (2105) and drives the rotating layer plate (2105) to rotate.

7. The wheel-leg composite module of the wall-climbing robot according to claim 6, wherein, The first magnetic block (2108) and the second magnetic block (2109) are both radial permanent magnets, and the magnetic poles of adjacent radial permanent magnets are opposite. The second magnetic block (2109) is located directly above the first magnetic block (2108), and the number and position of the first magnetic block (2108) and the second magnetic block (2109) are set in a one-to-one correspondence.

8. The wheel-leg composite module of the wall-climbing robot according to claim 6, characterized in that, The first transmission assembly includes a rotary servo motor (2101), a second small pulley (2102), a second synchronous belt (2103), and a large pulley (2104); the rotary servo motor (2101) is mounted on the base (23), the large pulley (2104) is coaxially fixedly connected to the rotating plate (2105), the output end of the rotary servo motor (2101) is connected to the second small pulley (2102), and the second synchronous belt (2103) meshes with the second small pulley (2102) and the large pulley (2104) respectively.

9. The wheel-leg composite module of the wall-climbing robot according to claim 7, characterized in that, It also includes an upper cover plate and a fixed layer plate (2107); the upper cover plate is installed on the top of the base (23), the lower cover plate (2106) is installed on the bottom of the base (23), the lower cover plate (2106) and the fixed layer plate (2107) are both fixedly connected to the base (23) through connecting columns, and the rotating layer plate (2105) and the large pulley (2104) are located between the lower cover plate (2106) and the fixed layer plate (2107); the base (23), the rotating ring (2203), the fixed layer plate (2107), the rotating layer plate (2105), and the large pulley (2104) are located between the upper cover plate and the lower cover plate (2106).

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