Curvature wall climbing equipment and moving device

Abstract

The invention provides curvature wall-climbing equipment and a moving device, and the equipment comprises a vehicle body which comprises two frame bodies which are rotationally connected with each other; any wheel body is connected with an adsorption part, and the adsorption part is arranged towards a to-be-moved wall surface; each adjusting mechanism comprises a linkage assembly, each linkage assembly comprises a guide column, a sliding block and a rotating piece, the sliding blocks are connected to the guide columns in a sliding mode, one ends of the two rotating pieces are rotationally connected with the sliding blocks respectively, the other ends of the two rotating pieces are rotationally connected to the two wheel bodies on the same frame body respectively, and therefore the deflection angles of the two wheel bodies are adjusted. According to the invention, the stability of the moving process can be ensured on the wall surfaces with irregular shapes, unevenness or larger inclination angles, and the risks of slippage, collision and even falling of a vehicle body caused by insufficient contact surfaces of the wheel bodies are greatly reduced. Based on the design, compared with conventional wall climbing equipment at the present stage, the wall climbing equipment has the remarkable advantages of being convenient to operate, high in attaching degree, stable in moving process and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile equipment, and in particular to a curvature wall climbing device and a mobile apparatus. Background Art

[0002] In modern industry and construction, wall-climbing equipment, such as gecko robots and wall cleaning robots, have become indispensable tools for improving work efficiency and safety. However, existing wall-climbing equipment still faces major challenges in adapting to irregular surfaces. Irregular surfaces, especially those with irregular shapes, uneven surfaces, or walls with large inclination angles, pose great challenges to the stability and reliability of wall-climbing equipment.

[0003] First, the irregularity of the profiled surface makes it difficult to effectively fix and adjust the clamps and adsorption mechanisms of existing wall climbing equipment, which makes it easy for the equipment to slip or collide during the climbing process, seriously threatening the safety of operators and equipment. Second, due to the complexity of the profiled surface, conventional wheels often cannot provide sufficient grip, which makes it easy for the equipment to fall off on the profiled surface, affecting the stability and service life of the equipment.

[0004] Based on the above problems, the existing wall climbing equipment has a very small scope of use in the reagent use process, which seriously limits its scope of use and efficiency. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problem in the prior art that wall climbing equipment is difficult to operate stably on irregular surfaces, and to provide a curvature wall climbing equipment and a moving device.

[0006] In order to solve the above technical problems, the present invention provides a curvature wall climbing device, which includes: a vehicle body, the vehicle body includes two frames connected to each other in rotation; four wheel bodies, the four wheel bodies are symmetrically connected to the two frames, and any of the wheel bodies are connected to an adsorption member, and the adsorption member is arranged toward the wall to be moved; two adjustment mechanisms, the two adjustment mechanisms are respectively arranged in the two frames, and any of the adjustment mechanisms include a linkage assembly, and the linkage assembly includes a guide column, a slider and two rotating parts, wherein the guide column extends along the height direction of the vehicle body, the slider is slidably connected to the guide column, one end of the two rotating parts is respectively rotationally connected to the slider, and the other end is respectively rotationally connected to the two wheel bodies on the same frame to adjust the deflection angle of the two wheel bodies.

[0007] In one embodiment of the present invention, the vehicle body also includes a first rotating shaft and at least one reset member, the two ends of the first rotating shaft are respectively connected to the two frames, the two frames rotate around the central axis of the first rotating shaft, and the two ends of at least one reset member are respectively connected to the two frames.

[0008] In one embodiment of the present invention, the wheel body includes two coaxially arranged moving wheels and an extension wheel, wherein the extension wheel is connected between the two moving wheels, and the diameter of the extension wheel is smaller than that of the moving wheel, wherein the moving wheel moves along the wall surface, and the adsorption component is connected to the extension wheel and is spaced apart from the wall surface.

[0009] In one embodiment of the present invention, the adjustment mechanism further includes two connecting frames which are connected to rotate relative to each other, the two connecting frames are arranged around the linkage assembly and are respectively connected to the corresponding wheel bodies.

[0010] In one embodiment of the present invention, the connecting frame includes a fixing plate and a rotating arm, the fixing plate is fixedly connected to the corresponding wheel body, the rotating arm extends from the fixing plate toward the linkage assembly, and the rotating arms of the two connecting frames are rotationally connected via a second rotating shaft.

[0011] In one embodiment of the present invention, the adjustment mechanism further includes a main control component, the main control component includes a power supply and an electric control module, the electric control module is connected to the power supply, and the electric control module adjusts the movement of the slider.

[0012] In one embodiment of the present invention, the main control component also includes an opening and closing driver and at least one displacement sensor, and the opening and closing driver and at least one displacement sensor are respectively connected to the electronic control module by signal, wherein the displacement sensor is arranged toward the wall, and the electronic control module drives the slider to move through the opening and closing driver.

[0013] In one embodiment of the present invention, the adjustment mechanism further includes an adaptive component, which includes a butt plate and an elastic member, wherein the butt plate and the top plate of the frame are respectively arranged at two ends of the elastic member, wherein the butt plate abuts against the slider.

[0014] In one embodiment of the present invention, the vehicle body further comprises a bearing plate, and the bearing plate is supported on the frame.

[0015] The present invention also provides a moving device, which comprises the above-mentioned curvature wall climbing equipment.

[0016] The above technical solution of the present invention has the following advantages compared with the prior art: The curvature wall climbing equipment and moving device described in the present invention continuously and adaptively adjust the actual moving angles of the four wheels through two adjustment mechanisms, so that it can always move in close contact with the wall in cooperation with the adsorption member, and can ensure the stability of its moving process even when facing walls with irregular shapes, uneven surfaces or large inclination angles, greatly reducing the risk of the vehicle body slipping, colliding or even falling due to insufficient contact surface of the wheel body. Based on the above design, compared with conventional wall climbing equipment at this stage, this application has significant advantages such as easy operation, high degree of fit and stable moving process, and has broad application prospects in this industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the curvature wall climbing device in the preferred embodiment of the present invention; Figure 2 is part Figure 1 A schematic diagram of the three-dimensional structure of the curvature wall climbing device shown; Figure 3 is part Figure 1 A schematic diagram of the three-dimensional structure of the curvature wall climbing device from another perspective is shown; Figure 4 yes Figure 1 A schematic diagram of the three-dimensional structure of the linkage assembly and the wheel body in the curvature wall climbing device shown; Figure 5 is a schematic diagram of the three-dimensional structure of a curvature wall climbing device in another embodiment of the present invention; Figure 6 yes Figure 1 Schematic diagram of the three-dimensional structure of the linkage component, adaptive component and wheel body in the curvature wall climbing device shown.

[0019] Explanation of the reference numerals in the specification: 100, vehicle body; 110, frame body; 120, first rotating shaft; 130, reset member; 140, bearing plate; 200, wheel body; 210, moving wheel; 220, extension wheel; 230, adsorption member; 300, adjustment mechanism; 310, linkage assembly; 311, guide column; 312, slider; 313, rotating member; 314, connecting frame; 3141, rotating arm; 3142, fixing plate; 320, main control assembly; 321, power supply; 322, electronic control module; 323, displacement sensor; 324, opening and closing drive; 330, adaptive assembly; 331, abutment plate; 332, elastic member. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Embodiment 1

[0021] See also Figure 1 and Figure 2 As shown, this embodiment provides a curvature wall climbing device, which is used to move on the surface of a special-shaped magnetic material. The specific structure includes: a vehicle body 100, the vehicle body 100 includes two frames 110 that are rotatably connected to each other; four wheel bodies 200, the four wheel bodies 200 are symmetrically connected to the two frames 110, and any of the wheel bodies 200 are connected to an adsorption member 230, and the adsorption member 230 is arranged toward the wall to be moved; two adjustment mechanisms 300, the two adjustment mechanisms 300 are respectively arranged in the two frames 110, Any of the adjustment mechanisms 300 includes a linkage assembly 310, and the linkage assembly 310 includes a guide column 311, a slider 312 and two rotating parts 313, wherein the guide column 311 extends along the height direction of the vehicle body 100, and the slider 312 is slidably connected to the guide column 311, and one end of the two rotating parts 313 is rotationally connected to the slider 312, and the other end is rotationally connected to the two wheel bodies 200 on the same frame body 110 to adjust the deflection angle of the two wheel bodies 200.

[0022] The curvature wall climbing device described in this embodiment continuously and adaptively adjusts the actual moving angles of the four wheels 200 through two adjustment mechanisms 300, so that it can always move in close contact with the wall in cooperation with the adsorption member 230, and can ensure the stability of its movement process even when facing walls with irregular shapes, uneven surfaces or large inclination angles, greatly reducing the risk of the vehicle body 100 slipping, colliding or even falling due to insufficient contact surface of the wheel body 200. Based on the above design, compared with conventional wall climbing devices at this stage, this application has significant advantages such as easy operation, high degree of fit and stable movement process, and has broad application prospects in this industry.

[0023] See also Figure 1 As shown, the vehicle body 100 in this embodiment also includes a load-bearing plate 140, which is supported on the frame 110 and is preferably a rectangular plate. In actual use, the load-bearing plate 140 is mainly used to carry items to be transported. In addition, it can also serve as a supporting installation platform to facilitate the connection and fixation of other structures.

[0024] In this embodiment, two frames 110 are arranged at intervals in the length direction of the vehicle body 100, and the two frames 110 in this embodiment have the same structure. Here, one of the frames 110 is taken as an example to introduce the structure: Figure 2 As shown, the frame 110 in this embodiment is hollow inside, and the inside is used to install the adjustment mechanism 300. The two sides in the width direction are connected to the outside to facilitate the connection between the adjustment mechanism 300 and the corresponding wheel body 200. Further, the bearing plate 140 is supported on one of the frames 110, so that during the movement, the bearing plate 140 can be adjusted synchronously with the frame 110 connected to it to improve its stability. Specifically, in this embodiment, the wheel body 200 installed on the frame 110 connected with the bearing plate 140 is the front wheel, and the wheel body 200 installed on the other frame 110 is the rear wheel. During the movement of this device, the front wheel is mainly used for guidance, and the rear wheel is mainly used for adjustment. Therefore, the stability of the front wheel frame 110 is higher, and correspondingly, the stability of the bearing plate 140 is also higher.

[0025] Furthermore, in order to realize the connection structure of relative rotation between the two frames 110, the vehicle body 100 further includes a first rotating shaft 120 and at least one reset member 130, the two ends of the first rotating shaft 120 are respectively connected to the two frames 110, the two frames 110 rotate around the central axis of the first rotating shaft 120, and the two ends of at least one reset member 130 are respectively connected to the two frames 110. In this embodiment, two reset members 130 are included, the two ends of the first rotating shaft 120 are respectively connected to the center of the opposite sides of the two frames 110, the two reset members 130 extend along the height direction of the frames 110, and are respectively arranged on both sides of the first rotating shaft 120 along the width direction of the frames 110. Furthermore, the reset member 130 in this embodiment is preferably a compression spring, which is used to provide elastic restoring force for the frames 110, so that the vehicle body 100 can better fit the wall during the actual movement process. In other embodiments, the reset element 130 may also be configured as other elements with elastic recovery effect, and the present invention does not limit its specific setting position and setting quantity.

[0026] See also Figure 3 and Figure 4As shown, the adjustment mechanism 300 in this embodiment is used to adjust the opening and closing angles between the corresponding wheel bodies 200 to improve the degree of adhesion of the wheel bodies 200 to the wall, and includes a main control component 320, and the main control component 320 includes a power supply 321 and an electric control module 322, and the electric control module 322 is connected to the power supply 321, and the electric control module 322 adjusts the movement of the slider 312. Based on the setting of the main control component 320, the wall climbing device in this embodiment can perform active adaptive adjustment. Specifically, the main control component 320 also includes an opening and closing driver 324 and at least one displacement sensor 323, and the opening and closing driver 324 and at least one displacement sensor 323 are respectively connected to the electric control module 322 by signal, wherein the displacement sensor 323 is set toward the wall, and the electric control module 322 drives the slider 312 to move through the opening and closing driver 324. Based on the above structure, when the displacement sensor 323 detects that the wall surface is uneven, it can convert the distance information into an electrical signal and feed it back to the electric control module 322, and then the electric control module 322 drives and adjusts the opening and closing driver 324 so that the wheel body 200 can perform an active adjustment process. This setting can improve the accuracy of the movement of the wheel body 200 and the controllability of the operator, thereby enabling the wall climbing device to achieve the best operating effect. In this embodiment, two displacement detectors are provided, both of which are preferably infrared distance detectors, and both are connected near the front wheel to improve their detection sensitivity. The present invention does not limit the specific setting position of the displacement sensor 323.

[0027] In this embodiment, in order to improve the stability between the wheel body 200 and the frame body 110, the adjustment mechanism 300 further includes two connecting frames 314 that are relatively rotatably connected, and the two connecting frames 314 are arranged around the linkage assembly 310 and are respectively connected to the corresponding wheel body 200. Specifically, the connecting frame 314 includes a fixed connection plate 3142 and a rotating arm 3141, the fixed connection plate 3142 is fixedly connected to the corresponding wheel body 200, the rotating arm 3141 extends from the fixed connection plate 3142 toward the linkage assembly 310, and the rotating arms 3141 of the two connecting frames 314 are rotatably connected through a second rotating shaft.

[0028] See also Figure 3 and Figure 4As shown, the wheel body 200 includes two coaxially arranged moving wheels 210 and an extension wheel 220, wherein the extension wheel 220 is connected between the two moving wheels 210, and the diameter of the extension wheel 220 is smaller than that of the moving wheel 210, wherein the moving wheel 210 moves along the wall surface, and the adsorbent 230 is connected to the extension wheel 220 and is spaced apart from the wall surface. Among them, the extension wheel 220 can provide a mounting platform for the adsorbent 230, and the diameter difference between the extension wheel 220 and the moving wheel 210 also provides an escape space for the adsorbent 230. During the movement of the vehicle body 100, the extension wheel 220 is in a fixed state, and the moving wheel 210 is in a rotating state, thereby ensuring that the adsorbent 230 is always arranged toward the wall surface. Further, the wall surface in this embodiment is a magnetic wall surface, and the adsorbent 230 is preferably a magnet, which relies on magnetic force to increase the connection strength between the wheel body 200 and the wall surface, and does not increase the friction between the two. Embodiment 2

[0029] This embodiment provides another curvature wall climbing device, and the structural arrangement of its vehicle body 100, wheel body 200 and linkage assembly 310 is the same as that of the first embodiment, and no further elaboration is made here. In order to further reduce the production cost of the device and simplify the structural arrangement, an adaptive assembly 330 is used in this embodiment to replace the main control assembly 320, so that the device can spontaneously and passively adapt to the wall surface changes. Specifically, the adjustment mechanism 300 also includes an adaptive assembly 330, and the adaptive assembly 330 includes a butt plate 331 and an elastic member 332, and the butt plate 331 and the top plate of the frame 110 are respectively arranged at the two ends of the elastic member 332, wherein the butt plate 331 is in contact with the slider 312. Specifically, the elastic member 332 is preferably a spring, so that the adaptive adjustment process can be achieved by squeezing the elastic member 332 during the movement of the wheel body 200. Embodiment 3

[0030] This embodiment provides a mobile device, which includes the curvature wall climbing device described in the first embodiment.

[0031] In summary, the curvature wall climbing equipment and moving device described in the present invention continuously and adaptively adjust the actual moving angles of the four wheels 200 through two adjustment mechanisms 300, so that it can always move in close contact with the wall in cooperation with the adsorption member 230, and can ensure the stability of its moving process even when facing irregular shapes, uneven surfaces or walls with large inclination angles, greatly reducing the risk of the vehicle body 100 slipping, colliding or even falling due to insufficient contact surface of the wheel body 200. Based on the above design, compared with conventional wall climbing equipment at this stage, this application has significant advantages such as easy operation, high degree of fit and stable moving process, and has broad prospects for use in this industry.

[0032] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A curvature wall climbing device, characterized in that: include: A vehicle body, the vehicle body comprising two frames rotatably connected to each other; Four wheel bodies, the four wheel bodies are symmetrically connected to the two frames, and any of the wheel bodies is connected to an adsorption member, and the adsorption member is arranged toward the wall to be moved; Two adjustment mechanisms, the two adjustment mechanisms are respectively arranged in the two frames, and any of the adjustment mechanisms includes a linkage assembly, which includes a guide column, a slider and two rotating parts, wherein the guide column extends along the height direction of the vehicle body, the slider is slidably connected to the guide column, one end of the two rotating parts is respectively rotationally connected to the slider, and the other end is respectively rotationally connected to the two wheel bodies on the same frame to adjust the deflection angle of the two wheel bodies.

2. The curvature wall climbing device according to claim 1, characterized in that: The vehicle body also includes a first rotating shaft and at least one reset member, the two ends of the first rotating shaft are respectively connected to the two frames, the two frames rotate around the central axis of the first rotating shaft, and the two ends of at least one reset member are respectively connected to the two frames.

3. The curvature wall climbing device according to claim 1, characterized in that: The wheel body includes two coaxially arranged moving wheels and an extension wheel, wherein the extension wheel is connected between the two moving wheels and has a smaller diameter than the moving wheel, wherein the moving wheel moves along the wall surface, and the adsorption component is connected to the extension wheel and is spaced apart from the wall surface.

4. The curvature wall climbing device according to claim 1, characterized in that: The adjustment mechanism further comprises two connecting frames which are connected to rotate relative to each other. The two connecting frames are arranged around the linkage assembly and are respectively connected to the corresponding wheel bodies.

5. The curvature wall climbing device according to claim 4, characterized in that: The connecting frame includes a fixing plate and a rotating arm. The fixing plate is fixedly connected to the corresponding wheel body. The rotating arm extends from the fixing plate toward the linkage assembly. The rotating arms of the two connecting frames are rotatably connected via a second rotating shaft.

6. The curvature wall climbing device according to claim 1, characterized in that: The adjustment mechanism further includes a main control component, which includes a power supply and an electric control module. The electric control module is connected to the power supply, and the electric control module adjusts the movement of the slider.

7. The curvature wall climbing device according to claim 6, characterized in that: The main control component also includes an opening and closing driver and at least one displacement sensor, and the opening and closing driver and at least one displacement sensor are respectively connected to the electric control module by signal, wherein the displacement sensor is arranged toward the wall, and the electric control module drives the slider to move through the opening and closing driver.

8. The curvature wall climbing device according to claim 1, characterized in that: The adjustment mechanism further includes an adaptive component, which includes a butt plate and an elastic member. The butt plate and the top plate of the frame are respectively arranged at two ends of the elastic member, wherein the butt plate is in abutment with the slider.

9. The curvature wall climbing device according to claim 1, characterized in that: The vehicle body further comprises a bearing plate, and the bearing plate is supported on the frame.

10. A mobile device, characterized in that: Including the curvature wall climbing equipment as described in any one of claims 1 to 9.

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