Rear walking mechanism and wall-climbing robot

Abstract

The embodiment of the invention provides a rear walking mechanism and a wall-climbing robot, the rear walking mechanism is used for enabling the wall-climbing robot to walk on a wall surface, and the rear walking mechanism comprises a rotating shaft, a universal wheel assembly and a magnetic adsorption assembly. The rotating shaft is used for being connected with a machine body of the wall-climbing robot. The mounting assembly is rotationally connected with the rotating shaft and can swing relative to the rotating shaft; the universal wheel assembly is connected to one end of the mounting assembly, and the universal wheel assembly and the mounting assembly can swing together relative to the rotating shaft; the magnetic adsorption assembly is connected with the mounting assembly and used for providing magnetic force so that the universal wheel assembly can be adsorbed to the wall face. Thus, when the wall-climbing robot encounters an obstacle during working and the rear walking mechanism is ready to cross a welding seam, under the running fit of the mounting assembly and the rotating shaft, the universal wheel assembly can swing relative to the rotating shaft to achieve upward lifting so as to easily cross the welding seam, and the phenomenon that the rear walking mechanism is clamped in the welding seam is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of wall-climbing robots, and in particular to a rear walking mechanism and a wall-climbing robot. Background Art

[0002] Existing wall-climbing robots usually have a front magnetic walking mechanism and a rear magnetic walking mechanism connected to the robot body. When encountering a large weld or other obstacles, the front magnetic walking mechanism will pass over the weld, but the rear magnetic walking mechanism will get stuck in the weld and the front wheels will slip, causing the robot to fail to work properly. To solve this problem, a high-power motor is usually chosen to drive the rear magnetic walking mechanism. However, the replacement cycle of the changed structure is long and the cost is increased. Summary of the invention

[0003] The embodiment of the present application provides a rear walking mechanism and a wall-climbing robot. With the rotation coordination of the mounting assembly and the rotating shaft, the universal wheel assembly can swing relative to the rotating shaft to be lifted upward to easily cross the weld, thereby avoiding the phenomenon that the front walking mechanism crosses the weld and the rear walking mechanism is stuck in the weld.

[0004] The embodiment of the present application provides a rear walking mechanism, which is characterized in that it is used to enable a wall-climbing robot to walk on a wall surface, and the rear walking mechanism includes:

[0005] A rotating shaft, used to be connected to the body of the wall-climbing robot;

[0006] A mounting assembly, rotatably connected to the rotating shaft, wherein the mounting assembly can swing relative to the rotating shaft;

[0007] A universal wheel assembly connected to one end of the mounting assembly, the universal wheel assembly being capable of swinging relative to the rotating shaft together with the mounting assembly;

[0008] A magnetic adsorption component is connected to the mounting component, and is used to provide magnetic force so that the universal wheel component can be adsorbed to the wall surface.

[0009] In some embodiments, the mounting assembly includes a first mounting plate, and a first through hole is provided on the first mounting plate, and the first through hole is used for the rotating shaft to pass through.

[0010] In some embodiments, the mounting assembly includes a sleeve, the sleeve is mounted in the first through hole, and the rotating shaft passes through the sleeve.

[0011] In some embodiments, the mounting assembly includes a second mounting plate connected to the first mounting plate, and the second mounting plate is connected to the magnetic adsorption assembly;

[0012] The magnetic adsorption component is provided with a second through hole, the rotating shaft is passed through the second through hole and the first through hole, and the magnetic adsorption component can swing relative to the rotating shaft together with the universal wheel component.

[0013] In some embodiments, the magnetic adsorption component includes:

[0014] A fixing seat, fixedly connected to the second mounting plate, wherein the second through hole is provided on the fixing seat;

[0015] The magnetic adsorption unit is arranged on the fixing seat and is away from the first mounting plate.

[0016] In some embodiments, there is a gap between the magnetic adsorption unit and the wall surface.

[0017] In some embodiments, the rear walking mechanism further includes an adjusting device, and the adjusting device is used to adjust the distance of the gap between the magnetic adsorption unit and the wall surface.

[0018] In some embodiments, the mounting assembly includes a third mounting plate connected to the first mounting plate, and a mounting hole is formed on the third mounting plate;

[0019] The regulating device comprises:

[0020] A support member, which is passed through the mounting hole and connected to the magnetic adsorption unit;

[0021] The elastic member is sleeved on the supporting member and is located on a side of the second mounting plate close to the adsorption unit.

[0022] In some embodiments, the universal wheel assembly comprises:

[0023] A universal wheel frame, rotatably disposed on the mounting assembly;

[0024] The universal wheel is arranged on the universal wheel frame and is away from the mounting assembly.

[0025] The present application also provides a wall-climbing robot, comprising:

[0026] body;

[0027] The rear walking mechanism described in any one of the above items, wherein the rotation axis of the rear walking mechanism is connected to the fuselage;

[0028] A front walking mechanism, arranged on the fuselage and spaced apart from the rear walking mechanism;

[0029] A driving mechanism is arranged on the machine body, and is used to drive the front walking mechanism and the rear walking mechanism to walk.

[0030] In the rear walking mechanism of the present application, when the wall-climbing robot encounters an obstacle such as a weld during work, and the rear walking mechanism is ready to cross the weld, the universal wheel assembly can swing relative to the rotating shaft under the rotation coordination of the mounting assembly and the rotating shaft to be lifted upward to easily cross the weld, thereby avoiding the phenomenon that the front walking mechanism crosses the weld and the rear walking mechanism is stuck in the weld. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of the structure of the rear walking mechanism provided in an embodiment of the present application.

[0033] Figure 2 for Figure 1 An exploded schematic diagram of the rear walking mechanism is shown.

[0034] Figure 3 for Figure 1 A front schematic diagram of the rear walking mechanism is shown.

[0035] Figure 4 A schematic diagram of the structure of a wall-climbing robot provided in an embodiment of the present application.

[0036] Description of reference numerals:

[0037] Wall-climbing robot 1000, rear walking mechanism 100, fuselage 200, front walking mechanism 300, driving mechanism 400;

[0038] Rotating shaft 10;

[0039] Mounting assembly 20, first mounting plate 21, first through hole 21a, weight-reducing hole 21b, sleeve 22, second mounting plate 23, third mounting plate 24, first mounting portion 241, second mounting portion 242, reinforcing rib 243, fourth mounting plate 25;

[0040] Universal wheel assembly 30, universal wheel frame 31, universal wheel 32;

[0041] Magnetic adsorption component 40, second through hole 401, mounting seat 41, magnetic adsorption unit 42;

[0042] Adjusting device 50 , supporting member 51 , elastic member 52 . DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0044] The rear walking mechanism and wall-climbing robot provided in the embodiments of the present application are characterized in that the rear walking mechanism rotates through the cooperation of the side panels and the external rotating shaft, so that the universal wheel assembly is partially lifted upward, reducing the required driving force to easily cross the weld, thereby avoiding the phenomenon that the front walking mechanism crosses the weld and the rear walking mechanism is stuck in the weld.

[0045] Please also read Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of the rear walking mechanism 100 provided in an embodiment of the present application. Figure 2 for Figure 1 An exploded schematic diagram of the rear walking mechanism 100 is shown.

[0046] The rear walking mechanism 100 provided in the embodiment of the present application is used to enable the wall-climbing robot 1000 to walk on the wall of the working surface. The rear walking mechanism 100 includes a rotating shaft 10, a mounting assembly 20, a universal wheel assembly 30 and a magnetic adsorption assembly 40.

[0047] The rotating shaft 10 is used to be connected to the body 200 of the wall-climbing robot 1000. The mounting assembly 20 is rotatably connected to the rotating shaft 10, and the mounting assembly 20 can swing relative to the rotating shaft 10. The universal wheel assembly 30 is connected to one end of the mounting assembly 20, and the universal wheel assembly 30 can swing relative to the rotating shaft 10 together with the mounting assembly 20. The magnetic adsorption assembly 40 is connected to the mounting assembly 20, and the magnetic adsorption assembly 40 is used to provide magnetic force to enable the universal wheel assembly 30 to adsorb to the wall of the working surface.

[0048] The rotating shaft 10 can be connected to a part of the fuselage 200 by a flat key connection. In other embodiments, the rotating shaft 10 is also connected to the mounting hole of the fuselage 200 by an interference fit. The rotating shaft 10 can also be connected to the fuselage 200 by a pin connection, which is not limited here.

[0049] The rotating shaft 10 is rotatably connected to the mounting assembly 20, which not only enables the universal wheel assembly 30 and the mounting assembly 20 to swing relative to each other, but also the rotating shaft 10 bears radial force and axial force from various components. By reasonably designing the diameter or material of the rotating shaft 10, it can be ensured that during the force transmission process of the entire rear walking mechanism 100, the rotating shaft 10 itself can work stably and reliably, and will not deform due to excessive force or get stuck due to poor fit, thereby ensuring the normal operation of the entire rear walking mechanism 100 and the entire wall-climbing robot 1000. In addition, the rotating shaft 10 can be made of high-strength composite materials to ensure that the rotating shaft 100 can withstand various stresses without deformation or damage during the complex movement of the wall-climbing robot 1000.

[0050] The mounting assembly 20 is the supporting frame of the entire rear walking mechanism 100, and it plays the role of the rotating shaft 10, the universal wheel assembly 30 and the magnetic adsorption assembly 40. The mounting assembly 20 can swing to a certain extent relative to the rotating shaft 10. When the wall-climbing robot 1000 climbs walls of different slopes and crosses small obstacles, the appropriate swing angle can enable the mounting assembly 20 to flexibly adjust the posture of the universal wheel assembly 30, ensuring that the universal wheel assembly 30 can always maintain good contact with the wall surface and provide stable support. Among them, the swing angle of the mounting assembly 20 relative to the rotating shaft 10 can be determined based on experiments and actual working condition simulations. The swing of the mounting assembly 20 relative to the rotating shaft 10 can be achieved through a hinge structure.

[0051] The universal wheel assembly 30 can be connected to the mounting assembly 20 by bolt connection. For example, a threaded hole is provided on the mounting assembly 20, and a through hole is processed at a corresponding position on the hub of the universal wheel assembly 30. The connection between the two is achieved by passing a bolt through the through hole and screwing it into the threaded hole. This ensures that the universal wheel assembly 30 can swing relative to the rotating shaft 10 together with the mounting assembly 20.

[0052] In some embodiments, a buffer (such as a rubber gasket) may be provided at the connection between the universal wheel assembly 30 and the mounting assembly 20. When the wall-climbing robot 1000 is walking, the impact force of the universal wheel assembly 30 on the ground will be transmitted to the mounting assembly 20 through the bolts, and the buffer can effectively absorb and buffer the impact force, reducing the vibration transmitted to the main structure body 200 of the wall-climbing robot 1000.

[0053] There can be two universal wheel assemblies 30, and the two universal wheel assemblies 30 are symmetrically arranged on the mounting assembly 20. For example, identical universal wheel assemblies 30 are respectively installed at the front and rear ends of the mounting assembly 20, and the magnetic adsorption assembly 40 is located between the two universal wheel assemblies 30 to ensure the stability of the wall-climbing robot 1000 when walking horizontally.

[0054] When the universal wheel assembly 30 encounters an obstacle, the wheels of the universal wheel assembly 30 first contact the obstacle. Since the universal wheel assembly 30 can swing relative to the rotating shaft 10, the force of the obstacle on the wheel can lift the wheel upward to swing, so that the wheel can climb the obstacle. With the action of its own gravity and the forward driving force of the wall-climbing robot 1000, the wheel will gradually cross the obstacle. During the entire obstacle-crossing process, the swing of the universal wheel assembly 30 relative to the rotating shaft 10 effectively adapts to the shape and height of the obstacle, so that the wall-climbing robot 1000 can smoothly walk on a complex wall surface, avoiding stagnation or damage of the rear walking mechanism 100 due to the obstacle.

[0055] It should be noted that, whether the wall-climbing robot 1000 is in the forward or backward state, when encountering an obstacle, the universal wheel assembly 30 can swing relative to the rotating shaft 10, so that the wheels of the universal wheel assembly 30 can be lifted upward and rotated in the direction of travel, so that the wheels can gradually climb up to overcome the obstacle.

[0056] The supporting force and driving force transmitted from the universal wheel assembly 30 are transmitted to the magnetic adsorption assembly 40 through the mounting assembly 20, and the adsorption force generated by the magnetic adsorption assembly 40 is also transmitted back to the universal wheel assembly 30 through this connection, forming an interactive and mutually balanced relationship between the two. For example, when the universal wheel assembly 30 provides a forward driving force, the adsorption force of the magnetic adsorption assembly 40 will be adjusted accordingly to ensure that the wall-climbing robot 1000 can move forward smoothly on the wall surface and maintain a stable adsorption state, so as to prevent the wall-climbing robot 1000 from detaching from the wall surface due to excessive driving force or affecting the walking flexibility due to excessive adsorption force.

[0057] The universal wheel assembly 30 of the rear walking mechanism 100 of the present application can swing relative to the rotating shaft 10 together with the mounting assembly 20, so that when the wall-climbing robot 1000 encounters an obstacle during operation and the rear walking mechanism 100 is ready to cross the weld, the universal wheel assembly 30 can swing relative to the rotating shaft 10 to be lifted upward to easily cross the weld, thereby avoiding the phenomenon that the rear walking mechanism 100 is stuck in the weld.

[0058] Among them, in addition to welds, the rear walking mechanism 100 of the present application can also effectively deal with various obstacles such as screw heads, pebbles, and temporarily pasted labels on the wall. When encountering these obstacles, the universal wheel assembly 30 can quickly adjust its posture according to the shape and height of the obstacle, lift it up and cross it smoothly. This greatly expands the working scene range of the wall-climbing robot 1000, allowing the wall-climbing robot 1000 to perform tasks on walls with various small obstacles. For example, when performing inspection or maintenance work on the exterior walls of some old buildings, there may be many irregular small obstacles on the exterior wall surface. The rear walking mechanism 100 of the present application can ensure that the wall-climbing robot 1000 works normally without being hindered.

[0059] In the rear walking mechanism 100 of the embodiment of the present application, the design that the mounting assembly 20 is rotatably connected to the rotating shaft 10 and the universal wheel assembly 30 can swing relative to the rotating shaft 10 together with the mounting assembly 20 makes the rear walking mechanism 100 have adaptive capabilities. When the wall-climbing robot 1000 works on a wall with undulations or inclinations, such as the outer surface of some arched buildings or the wall of a tank with a slope change, the universal wheel assembly 30 can automatically adjust its posture according to the actual inclination angle of the wall. The mounting assembly 20 will rotate and swing accordingly to ensure that the universal wheel assembly 30 always maintains good contact with the wall, so that the wall-climbing robot 1000 can walk smoothly on walls with different slopes and curvatures without losing balance or having difficulty walking due to changes in the wall morphology. This adaptive capability effectively expands the operating range of the wall-climbing robot 1000, enabling it to efficiently perform tasks on walls of various complex shapes.

[0060] Compared with the solution of replacing a high-power motor to solve the problem of rear wheel jamming in the prior art, the mounting assembly 20 of the rear walking mechanism 100 of the embodiment of the present application is connected to the rotating shaft 10 by rotation, and the universal wheel assembly 30 can swing relative to the rotating shaft 10, etc., and the rear walking mechanism 100 can adaptively cross obstacles by cleverly coordinating the mechanical structure. This method does not need to rely on a high-power motor to provide additional powerful power, thereby avoiding the high cost caused by replacing a high-power motor and its related supporting equipment, and significantly reducing the manufacturing cost while ensuring the normal operation of the wall-climbing robot 1000.

[0061] Moreover, the rear walking mechanism 100 of the embodiment of the present application can be designed in a modular manner as a whole, and different components do not interfere with each other but cooperate with each other. During installation and maintenance, the rear walking mechanism 100 can be disassembled, replaced and assembled in blocks, making maintenance more convenient.

[0062] In some embodiments, the mounting assembly 20 includes a first mounting plate 21 , and a first through hole 21 a is provided on the first mounting plate 21 . The first through hole 21 a is used for the rotating shaft 10 to pass through.

[0063] There may be two first mounting plates 21, and the two first mounting plates 21 are respectively located on the left and right sides of the magnetic adsorption component 40 and are symmetrically arranged. In addition, two universal wheel assemblies 30 are connected between the two first mounting plates 21, and the two universal wheel assemblies 30 are respectively located on the front and rear sides of the magnetic adsorption component 40.

[0064] The first through holes 21a on the two first mounting plates 21 are aligned, and the rotating shaft 10 is simultaneously passed through the two first through holes 21a, so that the two first mounting plates 21 can swing relative to the rotating shaft 10, and the universal wheel assembly 30 connected between the two first mounting plates 21 can also swing relative to the rotating shaft 10.

[0065] In some embodiments, a through-weight reduction hole 21b is formed on the first mounting plate 21, and the weight reduction hole 21b is spaced apart from the first through hole 21a. The setting of the weight reduction hole 21b can reduce the weight of the first mounting plate 21, thereby achieving lightweight of the rear walking mechanism 100 and reducing the overall energy consumption of the wall-climbing robot 1000.

[0066] In some embodiments, the mounting assembly 20 includes a sleeve 22 , the sleeve 22 is mounted in the first through hole 21 a , and the rotating shaft 10 passes through the sleeve 22 .

[0067] When the mounting assembly 20 and the rotating shaft 10 rotate, the sleeve 22 can provide wear protection between the rotating shaft 10 and the first through hole 21a to extend the service life of the entire rear traveling mechanism 100. The sleeve 22 can serve as a sacrificial layer to withstand the friction and wear of the rotating shaft 10. The sleeve 22 can be made of a material with good wear resistance, such as copper.

[0068] At the same time, the sleeve 22 can also bear certain radial and axial loads to provide support for the rotating shaft 10. When the rotating shaft 10 is subjected to external force, the sleeve 22 can evenly distribute the force to the surrounding components to ensure the stability of the rotating shaft 10. During the walking process of the wall-climbing robot 1000, the sleeve 22 ensures that the rotating shaft 10 will not be displaced due to interference such as external vibrations or obstacles, thereby maintaining the normal operation of the entire rear walking mechanism 100.

[0069] In some embodiments, the mounting assembly 20 includes a second mounting plate 23 . The second mounting plate 23 is connected to the first mounting plate 21 , and the second mounting plate 23 is connected to the magnetic adsorption assembly 40 .

[0070] The magnetic adsorption component 40 is provided with a penetrating second through hole 401 , and the rotating shaft 10 is penetrated through the second through hole 401 and the first through hole 21 a . The magnetic adsorption component 40 can swing relative to the rotating shaft 10 together with the universal wheel component 30 .

[0071] The second mounting plate 23 and the first mounting plate 21 can be connected by bolts, and the second mounting plate 23 is used to install the magnetic adsorption assembly 40. When there are two first mounting plates 21, the second mounting plate 23 can be arranged between the two first mounting plates 21.

[0072] The diameter of the second through hole 401 on the magnetic adsorption component 40 is slightly larger than the diameter of the rotating shaft 10 to ensure that the rotating shaft 10 can be smoothly inserted therein. In some embodiments, the second through hole 401 can be located at the center of the magnetic adsorption component 40 or at a position corresponding to the center of gravity, so that the magnetic adsorption component 40 can swing more smoothly relative to the rotating shaft 10 and receive more uniform force.

[0073] When the rotating shaft 10 is passed through the second through hole 401 and the first through hole 21a, the magnetic adsorption component 40 can swing relative to the rotating shaft 10 together with the universal wheel component 30. During the swinging process, the swinging angle ranges of the magnetic adsorption component 40 and the universal wheel component 30 are matched with each other, and they can adjust their postures in a coordinated manner. When the wall-climbing robot 1000 encounters obstacles such as protrusions or welds while walking on the wall, the universal wheel component 30 will change its posture due to contact with the obstacle, such as lifting upward. At this time, the magnetic adsorption component 40 will also swing accordingly, so that the wall-climbing robot 1000 can not only maintain the effective adsorption of the magnetic adsorption component 40 on the wall, but also ensure good contact between the universal wheel component 30 and the wall, so as to smoothly cross the obstacle and continue to walk stably on the wall.

[0074] In some embodiments, the magnetic adsorption assembly 40 includes a fixing seat 41 and a magnetic adsorption unit 42. The fixing seat 41 is fixedly connected to the second mounting plate 23, and the second through hole 401 is disposed on the fixing seat 41. The magnetic adsorption unit 42 is disposed on the fixing seat 41 and away from the first mounting plate 21.

[0075] Among them, the magnetic adsorption unit 42 may include a plurality of small permanent magnets. The number and size of the permanent magnets can be adjusted according to factors such as the specific working requirements of the wall-climbing robot 1000 and the characteristics of the wall surface to be adsorbed. Among them. The multiple permanent magnets of the magnetic adsorption unit 42 can be arranged in a matrix, a ring or other arrangements. For example, when it is necessary to achieve a more uniform distribution of magnetic adsorption force over a larger area, a matrix arrangement can be used.

[0076] The magnetic adsorption component 40 as a whole can be roughly in a trapezoidal structure, and the surface area of ​​the magnetic adsorption component 40 near the top of the first mounting plate 21 is larger than the surface area of ​​the bottom. The magnetic adsorption unit 42 is designed to be a trapezoidal structure with a larger top and a smaller bottom, so that the magnetic force is more concentrated at the bottom. When close to the wall, this structure can make the magnetic flux more effectively gathered in a smaller area in contact with the wall. In addition, the trapezoidal structure of the magnetic adsorption component 40 helps to adapt to walls with different inclination angles.

[0077] The trapezoidal structure of the magnetic adsorption unit 42 can work better with the universal wheel assembly 30. When the universal wheel assembly 30 encounters an obstacle and causes the posture of the wall-climbing robot 1000 to change, the trapezoidal magnetic adsorption unit 42 can flexibly adjust the adsorption force distribution according to the movement of the universal wheel 32. For example, on the side where the universal wheel assembly 30 is lifted upward, the upper larger part of the trapezoidal magnetic adsorption unit 42 can use its own structural characteristics to maintain the overall adsorption force balance without increasing the additional space occupation, ensuring that the wall-climbing robot 1000 will not lose adsorption stability due to local force changes.

[0078] See also Figure 3 , Figure 3 for Figure 1 The front view of the rear walking mechanism is shown in FIG. In some embodiments, there is a gap between the magnetic adsorption unit 42 and the wall of the working surface. The gap allows the magnetic adsorption unit 42 to provide a suitable adsorption force for the wall-climbing robot 1000, while also reducing the wear or collision of the magnetic adsorption unit 42 by obstacles on the wall.

[0079] It is understandable that when the gap distance is within a certain range, the magnetic adsorption unit 42 can generate sufficient adsorption force to stably adsorb the wall-climbing robot 1000 on the wall surface. When the gap is too large, the magnetic adsorption force of the magnetic adsorption unit 42 is reduced, which requires the magnetic adsorption unit 42 to use a magnet with stronger magnetic force or increase the number of magnets to compensate for the loss of adsorption force. When the gap is too small, the magnetic adsorption force will increase, making it difficult for the wall-climbing robot 1000 to move, or if the gap is too small, the wall surface may wear or collide with the magnetic adsorption unit 42 during the movement of the wall-climbing robot 1000.

[0080] In some embodiments, the rear walking mechanism 100 further includes an adjusting device 50, and the adjusting device 50 is used to adjust the distance of the gap between the magnetic adsorption unit 42 and the wall of the working surface.

[0081] When the wall-climbing robot 1000 encounters obstacles such as protrusions and depressions on the wall, the adjustment device 50 can timely adjust the gap between the magnetic adsorption unit 42 and the wall, so that the rear walking mechanism 100 of the wall-climbing robot 1000 can smoothly cross the obstacle and maintain the continuity of adsorption and walking, thereby improving the adaptability of the wall-climbing robot 1000 to complex wall environments.

[0082] When the wall-climbing robot 1000 encounters a larger raised obstacle, the universal wheel assembly 30 will lift up, driving the mounting assembly 20 and the magnetic adsorption assembly 40 to swing relative to the rotating shaft 10. At this time, the gap between the magnetic adsorption unit 42 and the working surface can be adjusted by the adjustment device 50. By adjusting the posture of the magnetic adsorption unit 42, a relatively stable adsorption state can be maintained and the wear of the raised obstacle on itself can be reduced.

[0083] Among them, the adjustment device 50 can be an electric adjustment mechanism, for example, a linear motor is used to directly push the magnetic adsorption unit 42 up and down, or a servo motor drives the lead screw to rotate, thereby pushing the magnetic adsorption unit 42 to move up and down along the guide rail. The adjustment device 50 can also be a pneumatic or hydraulic adjustment mechanism, for example, using air pressure to drive the piston rod of the cylinder to move, thereby driving the magnetic adsorption unit 42 to move; or driving the hydraulic cylinder through a hydraulic system to achieve the lifting of the magnetic adsorption unit 42. The adjustment device 50 can also be a mechanical adjustment mechanism, for example, the height of the magnetic adsorption unit 42 can be adjusted by rotating a handle, a wrench or other mechanical devices, using gears or threaded pairs. The appropriate adjustment means can be selected according to the specific application scenario and performance requirements of the wall-climbing robot 1000.

[0084] In some embodiments, the mounting assembly 20 includes a third mounting plate 24. The third mounting plate 24 is connected to the first mounting plate 21, and a mounting hole 24a is formed on the third mounting plate 24. The adjustment device 50 includes a support member 51 and an elastic member 52. The support member 51 is inserted into the mounting hole 24a and connected to the magnetic adsorption unit 42. The elastic member 52 is sleeved on the support member 51, and the elastic member 52 is located on a side of the second mounting plate 23 close to the magnetic adsorption unit 40.

[0085] When the wall-climbing robot 1000 encounters a larger raised obstacle, the universal wheel assembly 30 will lift up, driving the magnetic adsorption assembly 40 to swing relative to the rotating shaft 10. If the raised obstacle presses against the magnetic adsorption unit 42, the magnetic adsorption unit 42 will have a small displacement along the axial direction of the mounting hole 24a to reduce the wear of the raised obstacle on the magnetic adsorption unit 42.

[0086] Among them, the support member 51 can be a floating screw, and the elastic member 52 can be a spring. The number of the support members 51 can be one, two, or more. In some embodiments, the number of the support member 51 is one, which can avoid the adjustment device 50 from being too large and interfering with other components such as the mounting assembly 20. In some embodiments, the number of the support members 51 is four, and the four support members 51 are respectively arranged at four corners of the third mounting plate 24 at intervals. The four support members 51 can make the height adjustment process of the magnetic adsorption unit 42 smoother and smoother.

[0087] In some embodiments, the third mounting plate 24 may include a first mounting portion 241 and a second mounting portion 242, wherein the first mounting portion 241 is used to connect to the fixing seat 41, and the second mounting portion 242 is connected to the magnetic adsorption unit 42 through the adjustment device 50, and the first mounting portion 241 and the second mounting portion 242 are vertically arranged. The first mounting portion 241 and the second mounting portion 242 are integrally formed.

[0088] Since the magnetic adsorption assembly 40 includes a fixing seat 41 and a magnetic adsorption unit 42, they are respectively connected to different mounting parts of the third mounting plate 24, and the vertical arrangement avoids the spatial interference problem that may occur when the components are on the same plane. For example, the fixing seat 41 can be firmly connected to the first mounting part 241 in the horizontal direction, and the magnetic adsorption unit 42 is connected to the second mounting part 242 in the vertical direction through the adjustment device 50, so that in the entire installation space, the components can be arranged compactly and orderly, making full use of space resources, which is conducive to reducing the overall volume of the wall-climbing robot 1000, making it more suitable for operating on the wall surface of some narrow spaces.

[0089] In some embodiments, the third mounting plate 24 may further include a reinforcing rib 243, which is connected to the first mounting portion 241 and the second mounting portion 242. The reinforcing rib 243 can enhance the structural strength of the connection area between the first mounting portion 241 and the second mounting portion 242, so that the wall-climbing robot 1000 can better withstand the complex forces generated when walking, turning, or encountering obstacles on the wall.

[0090] In some embodiments, the universal wheel assembly 30 includes a universal wheel frame 31 and a universal wheel 32. The universal wheel frame 31 is rotatably arranged on the mounting assembly 20. The universal wheel 32 is arranged on the universal wheel frame 31 and away from the side of the mounting assembly 20.

[0091] The universal wheel frame 31 is the support frame of the entire universal wheel assembly 30. It serves to connect the mounting assembly 20 with the universal wheel 32 and provides basic structural support for the rotation and universal motion of the universal wheel 32. It is usually made of high-strength material (such as aluminum alloy) to ensure strength while achieving lightweight and meet the overall performance requirements of the wall-climbing robot 1000. The universal wheel frame 31 also includes a mounting seat 311, which is used to mount components of the universal wheel 32. Its main function is to provide an accurate mounting position for the universal wheel 32 and ensure that the connection between the universal wheel 32 and the universal wheel frame 31 is firm and reliable.

[0092] The universal wheel 32 is a component that directly contacts the wall surface and realizes the walking function of the wall-climbing robot 1000. The universal wheel 32 is mounted on the mounting seat 311 of the universal wheel frame 31, and can be flexibly rotated in different directions, so that the wall-climbing robot 1000 has the ability to walk in various complex terrains and working conditions.

[0093] In some embodiments, the mounting assembly 20 includes a fourth mounting plate 25 , which can be connected to the first mounting portion 241 by bolting. The fourth mounting plate 25 is used to mount the universal wheel frame 31 , which can rotate relative to the fourth mounting plate 25 .

[0094] See also Figure 4 , Figure 4 A schematic diagram of the structure of the wall-climbing robot 1000 provided in an embodiment of the present application.

[0095] The embodiment of the present application also provides a wall-climbing robot 1000, comprising a body 200, a rear walking mechanism 100, a front walking mechanism 300 and a driving mechanism 400. The rotating shaft 10 of the rear walking mechanism 100 is connected to the body 200. The front walking mechanism 300 is arranged on the body 200 and is spaced apart from the rear walking mechanism 100. The driving mechanism 400 is arranged on the body 200, and the driving mechanism 400 is used to drive the front walking mechanism 300 and the rear walking mechanism 100 to walk.

[0096] Since the wall-climbing robot 1000 includes the rear walking mechanism 100 in the above embodiment, when the wall-climbing robot 1000 encounters an obstacle during operation and the rear walking mechanism 100 is ready to cross the weld, the universal wheel assembly 30 can swing relative to the rotating shaft 10 under the rotation coordination of the mounting assembly 20 and the rotating shaft 10 to be lifted upward to easily cross the weld, thereby avoiding the phenomenon that the rear walking mechanism 100 is stuck in the weld.

[0097] The fuselage 200 serves as a bearing platform, providing an installation and support foundation for the rear walking mechanism 100, the front walking mechanism 300 and the driving mechanism 400. The rear walking mechanism 100 is connected to the fuselage 200 through a rotating shaft 10, and the components contained therein cooperate to realize the walking and wall adsorption functions. The front walking mechanism 300 is also arranged on the fuselage 200 and is spaced apart from the rear walking mechanism 100. It is connected to the fuselage 200 in a similar connection manner, and mainly plays the role of guiding and assisting walking and assisting wall adsorption.

[0098] The driving mechanism 400 is located inside the fuselage 200. The driving mechanism 400 may be composed of a motor, a reducer, a transmission component, etc. The driving mechanism 400 sends a signal to the motor of the front and rear walking mechanism 100 through the control circuit to drive the front walking mechanism 300 and the rear walking mechanism 100 to move. At the same time, it makes real-time adjustments based on the feedback information from each mechanism to ensure that the wall-climbing robot 1000 can operate stably under different working conditions, realize overall coordinated work, and enable the wall-climbing robot 1000 to complete forward, backward, turning and other actions.

[0099] The wall-climbing robot 1000 can be used for rust removal and cleaning of metal surfaces. By being equipped with corresponding operating equipment, it can also be used for spraying and testing of metal walls. It can also be used for rust removal and cleaning of other steel walls such as the walls of petrochemical storage tanks.

[0100] In the description of this application, it should be understood that terms such as "first" and "second" are only used to distinguish similar objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0101] The above is a detailed introduction to the rear walking mechanism and the wall-climbing robot provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A rear walking mechanism, characterized in that: Used to enable the wall-climbing robot to walk on the wall, the rear walking mechanism includes: A rotating shaft, used to be connected to the body of the wall-climbing robot; A mounting assembly, rotatably connected to the rotating shaft, wherein the mounting assembly can swing relative to the rotating shaft; A universal wheel assembly connected to one end of the mounting assembly, the universal wheel assembly being capable of swinging relative to the rotating shaft together with the mounting assembly; A magnetic adsorption component is connected to the mounting component, and is used to provide magnetic force so that the universal wheel component can be adsorbed to the wall surface.

2. The rear traveling mechanism according to claim 1, characterized in that: The mounting assembly includes a first mounting plate, and a first through hole is provided on the first mounting plate. The first through hole is used for the rotating shaft to pass through.

3. The rear traveling mechanism according to claim 2, characterized in that: The mounting assembly comprises a shaft sleeve, the shaft sleeve is mounted in the first through hole, and the rotating shaft passes through the shaft sleeve.

4. The rear traveling mechanism according to claim 2, characterized in that: The mounting assembly includes a second mounting plate connected to the first mounting plate, and the second mounting plate is connected to the magnetic adsorption assembly; The magnetic adsorption component is provided with a second through hole, the rotating shaft is passed through the second through hole and the first through hole, and the magnetic adsorption component can swing relative to the rotating shaft together with the universal wheel component.

5. The rear traveling mechanism according to claim 4, characterized in that: The magnetic adsorption component comprises: A fixing seat, fixedly connected to the second mounting plate, wherein the second through hole is provided on the fixing seat; The magnetic adsorption unit is arranged on the fixing seat and is away from the first mounting plate.

6. The rear traveling mechanism according to claim 5, characterized in that: There is a gap between the magnetic adsorption unit and the wall surface.

7. The rear traveling mechanism according to claim 6, characterized in that: The rear walking mechanism also includes an adjusting device, and the adjusting device is used to adjust the distance of the gap between the magnetic adsorption unit and the wall surface.

8. The rear traveling mechanism according to claim 7, characterized in that: The mounting assembly comprises a third mounting plate connected to the first mounting plate, and a mounting hole is formed on the third mounting plate; The regulating device comprises: A support member, which is passed through the mounting hole and connected to the magnetic adsorption unit; The elastic member is sleeved on the supporting member and is located on a side of the second mounting plate close to the adsorption unit.

9. The rear walking mechanism according to any one of claims 1 to 8, characterized in that: The universal wheel assembly comprises: A universal wheel frame, rotatably disposed on the mounting assembly; The universal wheel is arranged on the universal wheel frame and is away from the mounting assembly.

10. A wall-climbing robot, characterized in that: include: body; The rear walking mechanism according to any one of claims 1 to 9, wherein the rotating shaft of the rear walking mechanism is connected to the fuselage; A front walking mechanism, arranged on the fuselage and spaced apart from the rear walking mechanism; A driving mechanism is arranged on the machine body, and is used to drive the front walking mechanism and the rear walking mechanism to walk.

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