Wall-climbing robot

Abstract

The invention provides a wall-climbing robot. The wall-climbing robot comprises a main support; the two auxiliary supports are connected to the two opposite sides of the main support, and at least one auxiliary support is rotationally connected with the main support and rotates around the main support in the arrangement direction of the auxiliary supports and the main support; the two wheel sets are installed on the different auxiliary supports respectively, each wheel set comprises a driving wheel and a driven wheel, and the driving wheels and the driven wheels are rotationally installed on the auxiliary supports. The curved surface adaptability of the wall-climbing robot can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a wall-climbing robot. Background Art

[0002] In recent years, industries such as petrochemical storage tanks, wind power generation, and ships have flourished, and at the same time, many maintenance problems have also been brought about. From surface detection to rust removal and cleaning, huge manpower costs are often required, and manual operations have problems such as low efficiency, long construction period, unguaranteed operation quality, hidden dangers to worker safety, and environmental pollution. Therefore, many industries have begun to focus on the use of wall-climbing robots. Through the characteristics of wall-climbing robots that can walk on the surface of ships, wind towers, and petrochemical storage tanks, combined with ultra-high pressure water cleaning devices and recycling systems, the efficiency of maintenance work can be improved, the quality of operations can be guaranteed, labor can be liberated, and environmental pollution can be reduced, achieving cost control and maximizing benefits. However, the existing wall-climbing robots have weak surface adaptive capabilities, and most of the fuselages are rigid connection structures. They perform well on large planes or surfaces with a certain curvature, but are prone to falling on surfaces with variable curvature or uneven surfaces. Summary of the invention

[0003] An embodiment of the present application provides a wall-climbing robot, which can improve the curved surface adaptability of the wall-climbing robot.

[0004] An embodiment of the present application provides a wall-climbing robot, comprising:

[0005] Main support;

[0006] Two auxiliary brackets are connected to opposite sides of the main bracket, at least one of the auxiliary brackets is rotatably connected to the main bracket, and rotates around the main bracket along the arrangement direction of the auxiliary bracket and the main bracket;

[0007] Two wheel sets are respectively installed on different auxiliary brackets, and each wheel set includes a driving wheel and a driven wheel, and the driving wheel and the driven wheel are rotatably installed on the auxiliary bracket.

[0008] In one embodiment, the auxiliary bracket includes a bracket body and a rotating body, the bracket body is rotatably connected to the main bracket, the driven wheel is mounted on the rotating body, and the rotating body is rotatably mounted on the bracket body.

[0009] In one embodiment, the rotating body rotates around the frame body along the arrangement direction of the auxiliary support and the main support.

[0010] In one embodiment, the rotating body includes a first mounting portion and a first protruding portion, wherein the first protruding portion is protrudingly disposed on a side of the first mounting portion facing the frame body, and along the arrangement direction of the driving wheel and the driven wheel, the first protruding portion is disposed opposite to the frame;

[0011] The auxiliary bracket further includes a rotating shaft, and the rotating shaft is penetrated through the first protruding portion and the bracket body so that the rotating body can rotate relative to the bracket body.

[0012] In one embodiment, the frame includes two second protrusions that are arranged opposite to each other, the first protrusion is arranged between the two second protrusions, and the rotation axis passes through the first protrusion and the two second protrusions.

[0013] In one embodiment, along the arrangement direction of the driving wheel and the driven wheel, two opposite ends of the first mounting portion are respectively provided with the first protrusions, and the first protrusions and the frame are rotatably connected via the rotating shaft.

[0014] In one embodiment, the main bracket includes an intermediate rotating shaft and a frame hinge shaft, and the auxiliary bracket includes a frame body and a lug, the frame body is arranged on one side of the axial direction of the intermediate rotating shaft, and the lug is arranged on one side of the radial direction of the intermediate rotating shaft, and the frame hinge shaft passes through the lug and the intermediate rotating shaft so that the auxiliary bracket can rotate around the frame hinge shaft.

[0015] In one embodiment, the intermediate rotating shaft includes a supporting rod and a connecting piece, the supporting rod is connected to the auxiliary bracket via the connecting piece, and the connecting piece is rotationally connected to the lug via the frame hinge shaft.

[0016] In one embodiment, the intermediate rotating shaft further includes a fixed pin, the connecting member is at least partially sleeved on the support rod, and the fixed pin passes through the connecting member and the support rod to connect the connecting member and the support rod.

[0017] In one embodiment, at least one of the two opposite ends of the support rod is provided with a strip hole, the strip hole extends along the arrangement direction of the driving wheel and the driven wheel, and the fixing pin shaft is passed through the strip hole so that the auxiliary bracket can swing relative to the main bracket.

[0018] In an embodiment of the present application, the wall-climbing robot includes a main support, two auxiliary supports and two wheel groups, the two auxiliary supports are respectively connected to the opposite sides of the main support, the two wheel groups are respectively installed on different auxiliary supports, and each wheel group includes a driving wheel and a driven wheel, and the driving wheel and the driven wheel are rotatably installed on the auxiliary support. It can be understood that along the walking direction of the two sets of wheel groups of the wall-climbing robot, the two auxiliary supports are respectively arranged on the left and right sides of the main support, then the rotation of the auxiliary support around the main support along the arrangement direction of the auxiliary support and the main support is equivalent to the auxiliary support being able to rotate left or right around the main support, so during the walking process of the wall-climbing robot, the driving wheel and the driven wheel rotatably connected to the auxiliary support can also follow the auxiliary support to rotate left or right. In the process of walking on the wall surface, the wall-climbing robot may encounter raised obstacles, concave areas or some curvature changes. The auxiliary support can drive the wheel group to rotate left or right, adjust the angle of the wheel group, maintain good contact between the wheel group and the wall surface, improve the surface adaptive ability of the wall-climbing robot, and ensure that the wall-climbing robot can walk stably. It is understandable that when the wall-climbing robot walks on a complex curved surface, if only the front driving wheel can rotate and the rear driven wheel cannot adjust the walking angle in time, the wall-climbing robot is likely to lose balance. However, in this embodiment, the driving wheel and the driven wheel of the wall-climbing robot can both rotate with the auxiliary bracket and adjust the angle. Therefore, it can more flexibly adapt to the ups and downs of the curved surface, effectively maintain balance and prevent overturning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic diagram of the structure of a wall-climbing robot provided in an embodiment of the present application;

[0021] Figure 2 for Figure 1 A schematic diagram of the hidden structure of the wall-climbing robot shown;

[0022] Figure 3 for Figure 1 The schematic diagram of the structure of the auxiliary support in the wall-climbing robot shown;

[0023] Figure 4 for Figure 3 A partial enlarged view of part B of the auxiliary bracket shown;

[0024] Figure 5 for Figure 1 A schematic diagram of the structure of the auxiliary support of the wall-climbing robot from another angle;

[0025] Figure 6 for Figure 5 A cross-sectional view along the DD direction in the auxiliary bracket shown;

[0026] Figure 7 for Figure 2 A partial enlarged view of part A in the hidden part structure shown;

[0027] Figure 8 for Figure 1 Schematic diagram of the structure of the support rod in the wall-climbing robot shown. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not 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. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In the present application, unless otherwise stated, the directional words such as "upper" and "lower" used generally refer to the upper and lower parts of the device in actual use or working state, specifically the drawing direction in the accompanying drawings; while "inside" and "outside" refer to the outline of the device.

[0029] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a wall-climbing robot provided in an embodiment of the present application. This embodiment provides a wall-climbing robot 10 , including a main support 100 , two auxiliary supports 200 and two wheel sets 300 .

[0030] The wall-climbing robot 10 is equipped with a main support 100 and two auxiliary supports 200. The two auxiliary supports 200 are respectively connected to opposite sides of the main support 100. This layout enables the wall-climbing robot 10 to maintain balance when walking on the wall.

[0031] In this embodiment, at least one auxiliary bracket 200 is rotatably connected to the main bracket 100 and rotates around the main bracket 100 along the arrangement direction of the auxiliary bracket 200 and the main bracket 100, so at least one auxiliary bracket 200 can rotate around the main bracket 100.

[0032] The two wheel groups 300 of the wall-climbing robot 10 are respectively installed on the auxiliary brackets 200 on both sides, and each wheel group 300 includes a driving wheel 310 and a driven wheel 320, and the driving wheel 310 and the driven wheel 320 are rotatably installed on the auxiliary bracket 200, and the two wheel groups 300 are responsible for the walking function of the wall-climbing robot 10. It can be understood that along the direction of the two wheel groups 300 of the wall-climbing robot 10 walking forward, the driving wheel 310 can be installed in front of the auxiliary bracket 200, and the driven wheel 320 can be installed behind the auxiliary bracket 200. The two auxiliary brackets 200 are respectively arranged on the left and right sides of the main bracket 100, so the auxiliary bracket 200 can rotate left or right relative to the main bracket 100. Then, during the walking process of the wall-climbing robot 10, the driving wheel 310 and the driven wheel 320 rotatably connected to the auxiliary bracket 200 can also follow the auxiliary bracket 200 to rotate left or right, thereby improving the curved surface adaptive ability of the wall-climbing robot 10.

[0033] For example, when the wall-climbing robot 10 walks on a curved wall, it may encounter raised obstacles or recessed areas. For example, if there is a small protrusion on the wall, the auxiliary bracket 200 can drive the wheel set 300 to rotate left or right, so that the wheel set 300 passes through both sides of the protrusion instead of directly hitting it, thereby improving the obstacle-crossing ability of the wall-climbing robot 10; for another example, when there is a recessed area on the wall, the rotation of the auxiliary bracket 200 can also help the wheel set 300 adapt to such terrain changes. By adjusting the angle of the wheel set 300, the wheel set 300 can better fit the shape of the recessed area, thereby maintaining stable walking. In another example, there may be a change in curvature on the wall, such as a certain curvature or wave shape along the arrangement direction of the auxiliary bracket 200 and the main bracket 100 on the wall. When the wheel group 300 walks on the wall with changing curvature, the corresponding auxiliary bracket 200 can also adjust the angle of the wheel group 300 by rotating to make the wheel group 300 better fit the wall and maintain good contact between the wheel group 300 and the wall, thereby ensuring that the wall-climbing robot 10 moves stably on the complex curved surface.

[0034] Moreover, in the present embodiment, the driving wheel 310 and the driven wheel 320 are both rotatably connected with the auxiliary support 200, so they can flexibly rotate with the auxiliary support 200. Compared with the design in which only the front driving wheel 310 can rotate, the wall-climbing robot 10 of the present embodiment has better flexibility, stability and balance. It is understandable that when the wall-climbing robot 10 walks on a complex curved surface, if only the front driving wheel 310 can rotate, and the rear driven wheel 320 cannot adjust the walking angle in time, the wall-climbing robot 10 is likely to lose balance. However, in the present embodiment, since both the driving wheel 310 and the driven wheel 320 can rotate with the auxiliary support 200 and can adjust the angle, the wall-climbing robot 10 can adapt to the ups and downs of the curved surface more flexibly, maintain balance more effectively, prevent overturning, and thus maintain a stable walking state.

[0035] In some embodiments, the wall-climbing robot 10 further includes components such as a motor, a reducer, and a drive shaft, wherein the motor is the power source of the wall-climbing robot 10, and the reducer is a key component connecting the motor and the drive shaft. The motor is connected to the reducer, and when driving, the reducer converts the high-speed, low-torque output of the motor into a low-speed, high-torque output to the drive shaft, and then the drive shaft transmits the output torque to the driving wheel 310 to drive the entire machine to walk. Two pairs of driving wheels 310 can be installed on both sides of the reducer, so as to provide a balanced driving force for the driving wheels 310 on both sides, so that the wall-climbing robot 10 can stably walk on the wall.

[0036] In some embodiments, please refer to Figure 2 , Figure 3 and Figure 4 , Figure 2 for Figure 1 Schematic diagram of the hidden part structure of the wall-climbing robot shown. Figure 3 for Figure 1 The schematic diagram of the structure of the auxiliary support in the wall-climbing robot is shown in FIG. Figure 4 for Figure 3 The auxiliary support 200 includes a frame body 210 and a rotating body 220 , wherein the frame body 210 is rotatably connected to the main support 100 , the driven wheel 320 is mounted on the rotating body 220 , and the rotating body 220 is rotatably mounted on the frame body 210 .

[0037] In this embodiment, the frame body 210 is the main structure of the auxiliary frame 200, and is connected to the main frame 100 by a rotational connection, so that the frame body 210 can rotate relative to the main frame 100. The rotating body 220 of the frame body 210 is rotatably mounted on the frame body 210, so the rotating body 220 can further rotate within a certain range relative to the frame body 210, and the driven wheel 320 is mounted on the rotating body 220, so the driven wheel 320 can follow the rotating body 220 to rotate relative to the frame body 210. Exemplarily, the driven wheel 320 can be an omnidirectional wheel.

[0038] In this embodiment, both the driving wheel 310 and the driven wheel 320 have the function of following the auxiliary support 200 to rotate relative to the main frame 210. Furthermore, the driven wheel 320 can also rotate relative to the frame 210 through the rotating body 220, thereby enhancing the adaptability of the driven wheel 320 to the changes in the curved surface. It can be understood that during the walking process of the wall-climbing robot 10, the driving wheel 310 and the driven wheel 320 may face different curved surface environments, such as changes in the curvature of the curved surface, ups and downs, and different distributions of obstacles. Thanks to the fact that the driven wheel 320 can rotate independently relative to the frame 210, the rotation angle of the driven wheel 320 can be different from the rotation angle of the driving wheel 310. Therefore, the driving wheel 310 and the driven wheel 320 can each flexibly adjust the most suitable rotation angle according to the current curved surface environment, so that the wall-climbing robot 10 has higher flexibility and can better cope with complex and changeable curved surface environments.

[0039] In some embodiments, the rotating body 220 rotates around the frame body 210 along the arrangement direction of the auxiliary support 200 and the main support 100 .

[0040] In this embodiment, the rotating body 220 rotates around the frame body 210 along the arrangement direction of the auxiliary support 200 and the main support 100. Since the driven wheel 320 is connected to the rotating body 220, the driven wheel 320 can also rotate accordingly along the same arrangement direction together with the rotating body 220. When the auxiliary support 200 rotates to the left or right relative to the main support 100, it will not only drive the driving wheel 310 to rotate in this direction, but also drive the driven wheel 320 to rotate synchronously in the same direction through the connection of the rotating body 220. At the same time, since the rotating body 220 itself has the ability to rotate independently, on the basis of the auxiliary support 200 driving the driven wheel 320 to rotate, the rotating body 220 can also additionally and independently drive the driven wheel to rotate to the left or right, and perform more precise angle adjustment, so that the driven wheel 320 can more flexibly adapt to complex and changeable curved surface environments.

[0041] For example, when the wall-climbing robot 10 is walking, when the wheel set 300 encounters a curved surface that bends to the left, the auxiliary support 200 can rotate relative to the left side of the main support 100, and the driving wheel 310 and the driven wheel 320 will rotate to the left following the rotation of the auxiliary support 200. However, this curved surface that bends to the left may not be completely flat. For example, when the driving wheel 310 encounters an obstacle, the rotation angle is adjusted to avoid the obstacle. At this time, the rotating body 220 can be flexibly fine-tuned to the left or right to ensure that the driven wheel 320 can always fit the curved surface closely and is not affected by the change in the angle of the driving wheel. When the driven wheel 320 encounters an obstacle during the movement, the rotating body 220 will respond immediately. Through its independent rotation ability, the driven wheel 320 can cleverly avoid the obstacle without affecting the rotation angle of the driving wheel 310, thereby ensuring the freedom and stability of the overall movement of the wall-climbing robot 10.

[0042] In some embodiments, please refer to Figure 5 and Figure 6 , Figure 5 for Figure 1 The schematic diagram of the structure of the auxiliary support in the wall-climbing robot from another angle is shown. Figure 6 for Figure 5 The sectional view of the auxiliary bracket along the DD direction is shown. The rotating body 220 includes a first mounting portion 221 and a first protruding portion 222. The first protruding portion 222 is protrudingly arranged on the side of the first mounting portion 221 facing the frame body 210. Along the arrangement direction of the driving wheel 310 and the driven wheel 320, the first protruding portion 222 is arranged opposite to the frame body 210. The auxiliary bracket 200 also includes a rotating shaft 230. The rotating shaft 230 penetrates the first protruding portion 222 and the frame body 210 so that the rotating body 220 can rotate relative to the frame body 210.

[0043] The first protrusion 222 is a structure protruding from the first mounting portion 221, and is arranged opposite to the frame 210 along the arrangement direction of the driving wheel 310 and the driven wheel 320. Therefore, the first protrusion 222 and the frame 210 are arranged front and back along the arrangement direction of the driving wheel 310 and the driven wheel 320. The rotating shaft 230 passes through the first protrusion 222 and the frame 210, so the rotating shaft 230 is also arranged along the arrangement direction of the driving wheel 310 and the driven wheel 320. Therefore, the rotating body 220 can rotate around the frame 210 along the arrangement direction of the auxiliary support 200 and the main support 100 through the rotating shaft 230. That is, the rotating shaft 230 is arranged front and back along the walking direction of the wall-climbing robot 10, and the rotating body 220 can rotate leftward or rightward around the frame 210 through the rotating shaft 230.

[0044] Therefore, on the basis of the auxiliary support 200 driving the driven wheel 320 to rotate left and right, the rotating body 220 can also drive the driven wheel 320 to rotate left and right additionally. It can be understood that during the walking process of the wall-climbing robot 10, the driving wheel 310 and the driven wheel 320 may face different curved surface environments, and the driven wheel 320 can further rotate left or right independently, so that the driving wheel 310 and the driven wheel 320 can each adjust to the most appropriate rotation angle according to the current curved surface environment, and can better cope with complex and changeable curved surface environments.

[0045] In some embodiments, the frame 210 includes two second protrusions 211 that are oppositely disposed, the first protrusion 222 is disposed between the two second protrusions 211 , and the rotation shaft 230 passes through the first protrusion 222 and the two second protrusions 211 .

[0046] The first protrusion 222 is disposed between the two second protrusions 211 of the frame 210 , and the rotation shaft 230 passes through the first protrusion 222 and the two second protrusions 211 , so that the rotating body 220 can stably rotate relative to the frame 210 .

[0047] In some embodiments, the side of the second protrusion 211 facing the first mounting portion 221 is arc-shaped, and the first mounting portion 221 is provided with an arc-shaped groove corresponding to the second protrusion 211 to avoid the second protrusion 211, so that the two can fit closely and do not interfere with each other. Therefore, the first protrusion 222 and the two second protrusions 211 can be arranged along the arrangement direction of the driving wheel 310 and the driven wheel 320, and the rotating shaft 230 is precisely penetrated through the first protrusion 222 and the two second protrusions 211, thereby realizing the rotational connection between the rotating body 220 and the frame body 210.

[0048] In some embodiments, along the arrangement direction of the driving wheel 310 and the driven wheel 320 , two opposite ends of the first mounting portion 221 are respectively provided with first protrusions 222 , and the first protrusions 222 and the frame 210 are both rotatably connected via a rotating shaft 230 .

[0049] In the arrangement direction of the driving wheel 310 and the driven wheel 320, the first protrusions 222 are respectively provided at the opposite ends of the first mounting portion 221, and the first protrusions 222 at both ends and the frame 210 are rotatably connected through the rotating shaft 230, that is, both ends of the rotating body 220 form a rotational connection with the frame 210, thereby enhancing the stability of the rotational connection between the rotating body 220 and the frame 210.

[0050] In some embodiments, please refer to Figure 7 , Figure 7 for Figure 2The main support 100 includes an intermediate rotating shaft 110 and a frame hinge shaft 120, and the auxiliary support 200 includes a frame body 210 and a lug 240, wherein the frame body 210 is arranged on one side of the intermediate rotating shaft 110 in the axial direction, and the lug 240 is arranged on one side of the intermediate rotating shaft 110 in the radial direction, and the frame hinge shaft 120 penetrates the lug 240 and the intermediate rotating shaft 110, so that the auxiliary support 200 can rotate around the frame hinge shaft 120.

[0051] The intermediate shaft 110 of the main support 100 can be cylindrical or rod-shaped or similar. The frame body 210 of the auxiliary support 200 is arranged on one side of the axial direction of the intermediate shaft 110, and the lug 240 of the auxiliary support 200 is located in the radial direction of the intermediate shaft 110. The frame hinge shaft 120 passes through the lug 240 and the intermediate shaft 110, and the frame hinge shaft 120 is also located in the radial direction of the intermediate shaft 110, so that the auxiliary support 200 will rotate around the intermediate shaft 110 along the axial direction of the intermediate shaft 110, that is, the auxiliary support 200 will rotate around the main support 100 along the arrangement direction of the auxiliary support 200 and the main support 100.

[0052] In this embodiment, the auxiliary bracket 200 and the main bracket 100 are hinged by using the frame hinge shaft 120 to pass through the intermediate rotating shaft 110 and the lug 240, so that the auxiliary bracket 200 can flexibly rotate around the main bracket 100, that is, the driving wheel 310 and the driven wheel 320 connected to the auxiliary bracket 200 can also rotate relative to the main bracket 100; further, the rotating body 220 and the frame body 210 are hinged by using the rotating shaft 230 to pass through the first protrusion 222 and the frame body 210, so that the rotating body 220 can rotate relative to the frame body 210, that is, the driven wheel 320 connected to the rotating body 220 can further rotate relative to the frame body 210 independently of the driving wheel 310. Through the above two hinge designs, the wall-climbing robot 10 can adapt to different surfaces and angles more flexibly during movement, greatly increasing the freedom of movement of the wall-climbing robot 10 and better adapting to various complex environments.

[0053] In some embodiments, the intermediate rotating shaft 110 includes a supporting rod 111 and a connecting member 112 , the supporting rod 111 is connected to the auxiliary bracket 200 via the connecting member 112 , and the connecting member 112 is rotatably connected to the lug 240 via the frame hinge shaft 120 .

[0054] The connecting piece 112 is used to connect the support rod 111 with the lug 240 of the auxiliary bracket 200. The lug 240 can be provided with a hole matching the frame hinge shaft 120, so that the frame hinge shaft 120 passes through the lug 240 and the connecting piece 112, connecting the auxiliary bracket 200 with the intermediate shaft 110, thereby realizing the rotation function of the auxiliary bracket 200.

[0055] In some embodiments, the intermediate rotating shaft 110 further includes a fixing pin 113 , the connecting member 112 is at least partially sleeved on the supporting rod 111 , and the fixing pin 113 penetrates the connecting member 112 and the supporting rod 111 to connect the connecting member 112 and the supporting rod 111 .

[0056] The intermediate rotating shaft 110 includes a support rod 111, a connecting member 112, and a fixing pin 113, which work together to achieve a stable connection and rotation function between the auxiliary bracket 200 and the intermediate rotating shaft 110. The support rod 111 is the main part of the intermediate rotating shaft 110, the connecting member 112 is at least partially sleeved on the support rod 111, and the fixing pin 113 is passed between the connecting member 112 and the support rod 111 to stably and reliably connect the two components.

[0057] In some embodiments, please refer to Figure 8 , Figure 8 for Figure 1 The structural diagram of the support rod in the wall-climbing robot is shown. At least one of the two opposite ends of the support rod 111 is provided with a strip hole 114, the strip hole 114 extends along the arrangement direction of the driving wheel 310 and the driven wheel 320, and the fixing pin 113 is passed through the strip hole 114, so that the auxiliary support 200 can swing relative to the main support 100.

[0058] In this embodiment, at least one of the two opposite ends of the support rod 111 is provided with a strip hole 114, and the strip hole 114 extends along the arrangement direction of the driving wheel 310 and the driven wheel 320. The support rod 111 is a cylindrical or rod-shaped structure, so that the strip hole 114 has a certain length and curvature along the arrangement direction of the driving wheel 310 and the driven wheel 320, thereby allowing the fixed pin shaft 113 passing through the strip hole 114 to move in a curve within a certain range in the strip hole 114 along the arrangement direction of the driving wheel 310 and the driven wheel 320. When the fixed pin 113 moves in a curve, it will drive the connecting member 112 to move in a synchronous curve. This curve movement is actually manifested as the connecting member 112 swinging to a certain extent along the arrangement direction of the driving wheel 310 and the driven wheel 320, and the connecting member 112 is connected to the auxiliary bracket 200, so that the auxiliary bracket 200 can also swing to a certain extent along the arrangement direction of the driving wheel 310 and the driven wheel 320 following the connecting member 112. Therefore, the auxiliary bracket 200 can not only rotate around the main bracket 100 along the arrangement direction of the auxiliary bracket 200 and the main bracket 100, but also swing relative to the main bracket 100 along the arrangement direction of the driving wheel 310 and the driven wheel 320, that is, the auxiliary bracket 200 can not only flexibly rotate left and right relative to the main bracket 100, but also flexibly swing back and forth relative to the main bracket 100, which increases the flexibility and adaptability of the wall-climbing robot 10.

[0059] It is understandable that when performing wall operations, the wall-climbing robot 10 may encounter various complex terrains, such as raised obstacles, sunken holes or irregular wall structures. The auxiliary bracket 200 of this embodiment can rotate left and right and swing back and forth relative to the main bracket 100, thereby driving the wheel set 300 to rotate left and right and swing back and forth relative to the main bracket 100, further improving the freedom of movement of the wheel set 300, which enables the wall-climbing robot 10 to better adapt to these complex terrains. For example, when the wall-climbing robot 10 encounters a raised obstacle when operating on the wall, the auxiliary bracket 200 can drive the wheel set 300 to rotate left or right, so that the wall-climbing robot 10 can bypass the obstacle, or when the raised height of the obstacle is moderate, the auxiliary bracket 200 can also drive the wheel set 300 to swing forward to cross the obstacle. For another example, the wall surface may have a certain curvature or wave shape. When there is a certain curvature or wave shape along the arrangement direction of the driving wheel 310 and the driven wheel 320, the auxiliary bracket 200 adjusts the angle of the wheel group 300 forward or backward. When there is a certain curvature or wave shape along the arrangement direction of the auxiliary bracket 200 and the main bracket 100, the auxiliary bracket 200 adjusts the angle of the wheel group 300 to the left or right. In this way, when the wall-climbing robot 10 operates on a complex curved surface, the wheel group 300 can always fit the curved surface, maintain good contact between the wheel group 300 and the curved surface, and achieve stable walking.

[0060] It should be noted that one end of the two ends of the support rod 111 may be provided with a strip hole 114, and the other end may be provided with a conventional circular hole 115, so that the auxiliary brackets 200 located on both sides of the support rod can have different adjustment capabilities, for example, the auxiliary bracket 200 on one side can flexibly rotate left and right relative to the main bracket 100, and the auxiliary bracket 200 on one side can not only flexibly rotate left and right relative to the main bracket 100, but also swing back and forth relative to the main bracket 100. Both ends of the support rod 111 may also be provided with strip holes 114, so that the auxiliary brackets 200 located on both sides of the support rod 111 can rotate left and right and swing back and forth relative to the main bracket 100. This embodiment is not limited to this.

[0061] In some embodiments, please refer to Figure 1 The main bracket 100 also includes a base, a functional part 140, a connecting seat and an anti-collision rod 160. The anti-collision rod 160 is spaced apart from the base, the connecting seat is connected between the anti-collision rod 160 and the base, the anti-collision rod 160 includes a first side facing the base, and the functional part 140 is located on the side of the plane where the first side is located facing the base.

[0062] In some embodiments, the anti-collision rod 160 extends along the arrangement direction of the main bracket 100 and the auxiliary bracket 200, and is at least partially disposed above the auxiliary bracket 200, and at least one of the auxiliary bracket 200, the driving wheel 310 and the driven wheel 320 is located on the side of the plane where the first side surface is located facing the base.

[0063] The anti-collision rod 160 is an important safety component on the main support 100. The anti-collision rod 160 can be made of high-strength, wear-resistant materials to withstand possible impact and friction. The base can be connected to the functional part 140 of the wall-climbing robot 10. The functional part 140 is a key area on the main support 100 to achieve specific functions, such as a cleaning module to achieve the wall cleaning function of the wall-climbing robot 10. The connecting seat plays a bridge role in the main support 100, connecting the anti-collision rod 160 and the base.

[0064] Based on the spatial layout relationship of the anti-collision bar 160 relative to other main structures of the wall-climbing robot 10, the functional part 140 is located on the side of the plane where the first side surface is located facing the base, and / or at least one of the auxiliary bracket 200, the driving wheel 310 and the driven wheel 320 is located on the side of the plane where the first side surface is located facing the base, so that during the operation of the wall-climbing robot 10, if a fall occurs, the anti-collision bar 160 can be contacted first to absorb and disperse the impact force generated by the collision, thereby protecting the main structures of the wall-climbing robot 10, such as the functional part 140, the base, the auxiliary bracket 200, the driving wheel 310 and the driven wheel 320, reducing the damage to the wall-climbing robot 10 caused by the collision and increasing the safety of the wall-climbing robot 10.

[0065] In some embodiments, the functional part 140 can be a cleaning module, which can include a cleaning disc, a cleaning tool holder, a rotating joint, a brush, a sealing bladder, a recovery interface and a spring, etc. The cleaning tool holder is installed on the inner side of the cleaning disc, and as a supporting structure for the high-pressure nozzle, it is connected to the rotating joint on the upper part of the cleaning disc, and a plurality of high-pressure nozzles are installed at the bottom of the cleaning tool holder. When cleaning, the high-pressure nozzle at the bottom of the cleaning tool holder will eject a high-pressure water flow at a certain angle to the wall. At the same time, the reaction force generated when the high-pressure water flow is ejected causes the cleaning tool holder to rotate at a high speed around the rotating joint, thereby forming a circumferential cleaning area. The brush is connected to the brush mounting ring bolt, and its outer circumferential surface is wrapped with a thin layer of rubber, which can enhance the sealing with the wall. When the cleaning disc encounters obstacles such as welds, the brush on the cleaning disc is pushed upward by the vertical wall force. The thin rubber wrapped on the outside of the brush has good deformation properties, which can ensure that the robot has good sealing with the wall when crossing obstacles. The brush mounting ring is connected to the cleaning disc through a spring, so that the brush has a certain range of up and down floating to adapt to the unevenness of the wall surface. The recovery interface is installed on the upper part of the cleaning disc and is connected to the vacuum tube. The vacuum tube serves as a channel for sewage recovery and connects the recovery interface with the sewage treatment device. The sewage treatment device is used to receive and treat sewage recovered from the cleaning area. The cleaning module can be set in the middle position of the wall-climbing robot 10, which helps to maintain the balance and stability of the wall-climbing robot 10 during the cleaning process.

[0066] The wall-climbing robot 10 also includes a control module. The control module serves as the "brain" of the wall-climbing robot 10 and is responsible for receiving operating instructions, controlling the movement and cleaning operations of the wall-climbing robot 10, etc. The control module can be installed in the middle position above the cleaning module by rationally utilizing the space to avoid direct contact with the wall.

[0067] The wall-climbing robot 10 requires a strong adsorption capability to ensure its stability and safety on the wall. Therefore, in some embodiments, the wall-climbing robot 10 can be equipped with a plurality of magnetic adsorption units, such as four magnetic adsorption units evenly distributed around the four driving wheels 310 and the driven wheels 320 of the wall-climbing robot 10, and the magnetic adsorption force of the wall-climbing robot is increased through the joint action of the multi-point magnetic adsorption units of the front and rear wheels, thereby improving the adaptability to the wall environment, increasing the load capacity of the robot, and improving the balance and stability of walking. When the wall-climbing robot 10 is operating in an environment with uneven outer walls such as ships, it is likely to encounter obstacles or pits, which may cause the suction force of the single-point magnetic adsorption unit to fail or weaken. However, since the wall-climbing robot 10 of this embodiment uses four magnetic adsorption units, even if one of the adsorption units is affected, the remaining units can still provide sufficient adsorption force to ensure that the wall-climbing robot 10 can continue to crawl stably and is not easy to slip or tilt. Exemplarily, the magnetic adsorption unit arranged around the driving wheel 310 and the magnetic adsorption unit arranged around the driven wheel 320 can be composed of magnet sleeves, magnet covers, yokes and multiple NdFeB permanent magnets of different specifications or the same specifications, which is not limited in this embodiment.

[0068] In this embodiment, the wall-climbing robot 10 further improves the obstacle crossing function and stability of the wall-climbing robot 10 through the design of evenly distributed magnetic adsorption units at four points and floating connection of the cleaning disc brush. When the outer wall of a ship is uneven, this robot can complete the task better, greatly reducing the risk of falling off and improving the safety of the equipment.

[0069] The wall-climbing robot of the embodiment of the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A wall-climbing robot, characterized in that: include: Main support; Two auxiliary brackets are connected to opposite sides of the main bracket, at least one of the auxiliary brackets is rotatably connected to the main bracket, and rotates around the main bracket along the arrangement direction of the auxiliary bracket and the main bracket; Two wheel sets are respectively installed on different auxiliary brackets, and each wheel set includes a driving wheel and a driven wheel, and the driving wheel and the driven wheel are rotatably installed on the auxiliary bracket.

2. The wall-climbing robot according to claim 1, characterized in that: The auxiliary bracket comprises a bracket body and a rotating body, the bracket body is rotatably connected to the main bracket, the driven wheel is mounted on the rotating body, and the rotating body is rotatably mounted on the bracket body.

3. The wall-climbing robot according to claim 2, characterized in that: The rotating body rotates around the frame body along the arrangement direction of the auxiliary support and the main support.

4. The wall-climbing robot according to claim 3, characterized in that: The rotating body comprises a first mounting portion and a first protruding portion, wherein the first protruding portion is protrudingly arranged on a side of the first mounting portion facing the frame body, and along the arrangement direction of the driving wheel and the driven wheel, the first protruding portion is arranged opposite to the frame; The auxiliary bracket further includes a rotating shaft, and the rotating shaft is penetrated through the first protruding portion and the bracket body so that the rotating body can rotate relative to the bracket body.

5. The wall-climbing robot according to claim 4, characterized in that: The frame body includes two second protrusions arranged opposite to each other, the first protrusion is arranged between the two second protrusions, and the rotation axis passes through the first protrusion and the two second protrusions.

6. The wall-climbing robot according to claim 4, characterized in that: Along the arrangement direction of the driving wheel and the driven wheel, two opposite ends of the first mounting portion are respectively provided with the first protruding portions, and the first protruding portions and the frame body are both rotatably connected via the rotating shaft.

7. The wall-climbing robot according to claim 1, characterized in that: The main bracket includes an intermediate rotating shaft and a frame hinge shaft, and the auxiliary bracket includes a frame body and a lug, wherein the frame body is arranged on one side of the intermediate rotating shaft in an axial direction, and the lug is arranged on one side of the intermediate rotating shaft in a radial direction, and the frame hinge shaft penetrates the lug and the intermediate rotating shaft so that the auxiliary bracket can rotate around the frame hinge shaft.

8. The wall-climbing robot according to claim 7, characterized in that: The intermediate rotating shaft comprises a supporting rod and a connecting piece, the supporting rod is connected to the auxiliary bracket via the connecting piece, and the connecting piece is rotationally connected to the lug via the frame hinge shaft.

9. The wall-climbing robot according to claim 8, characterized in that: The intermediate rotating shaft also includes a fixed pin shaft, the connecting member is at least partially sleeved on the supporting rod, and the fixed pin shaft passes through the connecting member and the supporting rod to connect the connecting member and the supporting rod.

10. The wall-climbing robot according to claim 9, characterized in that: At least one of the two opposite ends of the support rod is provided with a strip hole, the strip hole extends along the arrangement direction of the driving wheel and the driven wheel, and the fixing pin is passed through the strip hole so that the auxiliary bracket can swing relative to the main bracket.

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