Driving function integrated continuum wall-climbing robot

Abstract

The invention discloses a continuum wall-climbing robot with an integrated driving function, and aims to solve the problems of contradiction between adsorbability and maneuverability, complicated structure, weak wall surface transition capability and the like of the conventional wall-climbing robot. The continuum wall-climbing robot comprises a first adsorption unit, a second deformation body unit, a second connection set, a third walking unit, a control system and the like. The first adsorption unit comprises a first motor fixing assembly, a first connecting spring, a first electricity obtaining type electromagnet and a first electromagnet mounting frame, and the first electricity obtaining type electromagnet is arranged on the first electromagnet mounting frame. According to the wall-climbing robot, the continuum is adopted as the body of the wall-climbing robot, driving and control of the robot can be integrated, and therefore the motion performance of the wall-climbing robot is remarkably improved, and control over the robot is more efficient. Meanwhile, by adopting the structure of the invention, the device has more advantages in the aspects of operation, operation and the like, and has better flexibility.

Description

Technical Field

[0001] The present application relates to the field of robots, in particular to the field of wall-climbing robots, and specifically to a wall-climbing robot. More specifically, the present application provides a continuum wall-climbing robot with integrated driving function. Background Art

[0002] As a special robot, the wall-climbing robot can move on walls that are angled with the horizontal plane, or even on overhanging walls, thus replacing humans working in extreme environments. Based on the advantages of the wall-climbing robot, it has been widely used in many fields, such as cleaning and maintenance of steel structure buildings, inspection of large metal tanks, and rust removal of ship hulls. At the same time, these application scenarios also require the wall-climbing robot to have flexible movement capabilities, strong obstacle avoidance capabilities, and the ability to reach multiple wall environments.

[0003] At present, the wall-climbing robots on the market mainly adopt the traditional wheel-type and crawler-type drive structure. For example, Chinese patent CN109436120B discloses a wall-climbing robot, which includes: a first body and a second body, the first body and the second body are arranged spaced apart along a first direction; a mounting shaft; a transmission member, the transmission member is rotatably sleeved on the mounting shaft; a first elastic member, the first end of the first elastic member is connected to the first body, and the second end of the first elastic member is connected to the transmission member; a second elastic member, the first end of the second elastic member is connected to the second body, and the second end of the second elastic member is connected to the transmission member, wherein the mounting shaft is located between the second end of the first elastic member and the second end of the second elastic member in the first direction.

[0004] Chinese patent application CN201611220521.3 discloses a wall-climbing robot, which includes multiple unit sections, multiple articulated mechanisms, functional components and a control system; the multiple unit sections are distributed in an array and include multiple rows and columns, a part of the multiple unit sections are driving sections, and the other part are driven sections; each driving section includes a wheel frame and a driving wheel arranged at the bottom thereof, and the wheel frame is provided with a driving mechanism and a steering mechanism, which are respectively used to drive the driving wheel and control the steering of the driving wheel; each driven section includes a wheel frame and a driven wheel arranged at the bottom thereof; multiple articulated mechanisms are respectively connected between two adjacent unit sections in the horizontal or longitudinal direction; the functional component is arranged in at least one of the multiple unit sections; the control system is used to control the driving mechanism, the steering mechanism and the functional component; wherein, at least one of each driving wheel and the driven wheel is magnetic.

[0005] Chinese patent CN114056446B discloses a wall-climbing robot, which includes a first robot body, a second robot body, a connecting mechanism and two walking mechanisms; wherein the second robot body is spaced apart from the first robot body; the connecting mechanism includes a frame, a first rotating assembly and a second rotating assembly, the frame includes a first connecting rod, a second connecting rod and a connecting rod, the first connecting rod and the second connecting rod are parallel to each other, the first rotating assembly is sleeved on the first connecting rod to drive the frame to rotate around the axis of the first connecting rod, and the second rotating assembly is sleeved on the second connecting rod to drive the frame to rotate around the axis of the second connecting rod; the two walking mechanisms are respectively fixed on the first robot body and the second robot body; the above-mentioned wall-climbing robot lifts the first robot body or the second robot body through the connecting mechanism, and collaboratively completes the obstacle-crossing task of the wall-climbing robot between walls with obstacles, and the frame is not easy to break during the lifting process and has high reliability.

[0006] Chinese patent CN106393052B discloses a wall-climbing robot, which includes a frame, the frame includes a frame body and two connecting bodies relatively installed on the ends of the frame body; a climbing mechanism installed on the frame body, used to enable the robot to climb on a working surface; an adaptive mechanism installed on the two connecting bodies, the adaptive mechanism includes a supporting assembly installed in the middle of the connecting body and always in contact with the working surface and capable of reciprocatingly sliding between the frame body and the working surface, two driving wheels arranged on the connecting body and symmetrical about the supporting assembly, and a connecting rod slider mechanism connecting the supporting assembly and the driving wheels.

[0007] Chinese patent CN105216889B discloses a wall-climbing robot, including a crawler chassis and an operation module. The crawler chassis includes a frame, a crawler, and a variable magnetic adsorption unit. No less than two variable magnetic adsorption units are fixedly installed on the outer wall of the crawler. The front and rear ends of the frame are respectively fixedly installed with levers that cooperate with the variable magnetic groove wheels.

[0008] Chinese patent CN110341824B discloses a wall-climbing robot, which includes a base, a first crawling component and a second crawling component. The first crawling component can be rotatably arranged on the base, the rotation angle of the first crawling component is adjustable, the first crawling component is provided with a first adsorption component, the second crawling component can be rotatably arranged on the base, the rotation angle of the second crawling component is adjustable, the second crawling component is provided with a second adsorption component, and the rotation direction of the second crawling component is opposite to that of the first crawling component.

[0009] Chinese patent CN109229227B discloses a wall-climbing robot, which includes a fuselage, a driving mechanism, a monitoring mechanism, a control system, a first wall-climbing mechanism on the fuselage, a second wall-climbing mechanism at the front end of the fuselage, a third wall-climbing mechanism at the rear end of the fuselage, and an operating device connecting mechanism at the lower part of the fuselage; the driving mechanism is respectively fixed to the four ends of the fuselage, the first wall-climbing mechanism includes a supporting mechanism, an adaptive mechanism and an adsorption mechanism, the second wall-climbing mechanism and the third wall-climbing mechanism each include a steering mechanism, a supporting mechanism, an adaptive mechanism, an adsorption mechanism and a flexible connecting mechanism, the adsorption mechanism is connected to the supporting mechanism through the adaptive mechanism, the upper part of the supporting mechanism of the first wall-climbing mechanism is fixed to the fuselage, the supporting mechanisms of the second wall-climbing mechanism and the third wall-climbing mechanism are connected to the first end of the flexible connecting mechanism, the second end of the flexible connecting mechanism is connected to the steering mechanism, and the steering mechanism is connected to the driving mechanism.

[0010] Existing wheeled and tracked wall-climbing robots generally have a contradiction between adsorption performance and maneuverability; at the same time, these robots generally use complex drive and control modules, and also have certain limitations in wall transition capabilities, which greatly restricts the application areas and work efficiency of these wall-climbing robots.

[0011] In addition, the end effector of some wall-climbing robots is a rigid mechanical structure (rigid robotic arm); although this structure can ensure a certain degree of operational flexibility, it has the defects of large size, complex control system and high cost, which seriously restricts the development of wall-climbing robots.

[0012] Therefore, it is urgent to research new equipment or devices to improve or enhance the performance of wall-climbing robots. Summary of the invention

[0013] The invention of the present application aims to provide a wall-climbing robot to solve the common problems of the contradiction between adsorption and maneuverability, as well as the complex structure and weak wall transition ability of existing wheeled wall-climbing robots or tracked wall-climbing robots driven by wheels or tracks. More specifically, the present application provides a continuum wall-climbing robot with integrated driving function.

[0014] In order to achieve the above purpose, this application adopts the following technical solutions: A wall-climbing robot comprises a first adsorption unit, a second deformable body unit, a second connection group, a third walking unit, a control system, a first flexible connection piece, and a third flexible connection piece; The first adsorption unit includes a first motor fixing assembly, a first connecting spring, a first electrified electromagnet, and a first electromagnet mounting frame, wherein the first electrified electromagnet is arranged on the first electromagnet mounting frame and the first electromagnet mounting frame can provide support for the first electrified electromagnet; the first electromagnet mounting frame is connected to the first motor fixing assembly through a first connecting spring, the first connecting spring is located between the first electromagnet mounting frame and the first motor fixing assembly and the first connecting spring can play a role in flexibly connecting the first electromagnet mounting frame and the first motor fixing assembly; The first motor fixing assembly includes a first bottom plate, a first side plate, a first motor fixing frame, a first DC reduction motor, a first flange, a first wire harness retracting wheel, and a first joint body; The first electromagnet mounting frame is connected to one side of the first bottom plate through a first connecting spring, the first side plate is arranged on the other side of the first bottom plate and the first bottom plate can provide support for the first side plate; there are two first side plates and the first side plates are arranged parallel to each other, and the first bottom plate and the first side plate constitute a first intermediate body; The first motor fixing frame is connected to the first intermediate body and the first intermediate body can provide support for the first motor fixing frame; the first DC reduction motor is connected to the first motor fixing frame and the first motor fixing frame can provide support for the first DC reduction motor; the first flange is connected to the output shaft of the first DC reduction motor, and the first wire harness retractable wheel is connected to the first flange; The first joint body comprises a first joint body, a first joint body boss, and a first spring limiting column, the first joint body bosses are two, and the first joint body is in a cross shape; The first joint body comprises a first joint middle part and a first joint connection part, there are four first joint connection parts, the first joint connection parts are evenly arranged along the circumference of the first joint middle part, and the first joint connection parts are respectively provided with first wire through holes; The first side plate is connected to one side of the first joint body and the first side plate can provide support for the first joint body, the two first joint body bosses are arranged parallel to each other on the other side of the first joint body and the first joint body can provide support for the first joint body bosses; there are four first spring limiting columns and the first spring limiting columns are evenly distributed on the first joint body, and the first spring limiting columns are located on one side of the first joint body away from the first bottom plate; The third walking unit includes a third motor fixing assembly, a third connecting spring, a third electrified electromagnet, and a third electromagnet mounting frame. The third electrified electromagnet is arranged on the third electromagnet mounting frame and the third electromagnet mounting frame can provide support for the third electrified electromagnet; the third electromagnet mounting frame is connected to the third motor fixing assembly through a third connecting spring, the third connecting spring is located between the third electromagnet mounting frame and the third motor fixing assembly, and the third connecting spring can play a role in flexibly connecting the third electromagnet mounting frame and the third motor fixing assembly; The third motor fixing assembly includes a third bottom plate, a third side plate, a third motor fixing frame, a third DC reduction motor, a third flange, a third wire harness retracting and releasing wheel, a third joint body, a third joint body boss, and a third spring fixing base; The third electromagnet mounting frame is connected to one side of the third bottom plate through a third connecting spring, the third side plate is arranged on the other side of the third bottom plate and the third bottom plate can provide support for the third side plate; there are two third side plates and the third side plates are arranged parallel to each other, and the third bottom plate and the third side plate constitute a third intermediate body; The third motor fixing frame is connected to the third intermediate body and the third intermediate body can provide support for the third motor fixing frame; the third DC reduction motor is connected to the third motor fixing frame and the third motor fixing frame can provide support for the third DC reduction motor; the third flange is connected to the output shaft of the third DC reduction motor, and the third wire harness retractable wheel is connected to the third flange; The third joint body comprises a third joint body, a third joint body boss, and a third spring fixing base. The third joint body bosses are two and the third joint body is in a cross shape. The third joint body comprises a third joint middle part and a third joint connection part. There are four third joint connection parts. The third joint connection parts are evenly arranged along the circumference of the third joint middle part. The third joint connection parts are respectively provided with third wire through holes. The third side plate is connected to one side of the third joint body and can provide support for the third joint body, two third joint body bosses are arranged parallel to each other on the other side of the third joint body and the third joint body can provide support for the third joint body bosses; there are four third spring fixing bases and the third spring fixing bases are evenly distributed on the third joint body, and the third spring fixing bases are located on one side of the third joint body away from the third bottom plate; The second deformable body unit is composed of N second joint bodies, N is a natural number and N≥2; the second joint body includes a second joint body, a second joint body boss, a second spring limiting column, and a second spring fixing seat, and the second joint body boss, the second spring limiting column, and the second spring fixing seat are four respectively; The second joint body is in a cross shape, and the second joint body includes a second joint middle part and a second joint connection part. There are four second joint connection parts, and the second joint connection parts are evenly arranged along the circumference of the second joint middle part. The second joint connection parts are respectively provided with second wire through holes; The four second joint body bosses in the second joint body bosses are divided into two groups, and two second joint body bosses are recorded as a group of second boss assemblies. The two second joint body bosses in each group of second boss assemblies are arranged parallel to each other; the two groups of second boss assemblies on a single second joint body are respectively arranged on two side surfaces of the second joint body, and the two groups of second boss assemblies on a single second joint body are arranged in a cross shape; Four second spring limiting columns are arranged on one side of the second joint body, and four second spring fixing seats are arranged on the other side of the second joint body; Along the direction from the first adsorption unit to the third walking unit, the second spring limiting column is located on a side of the second joint body away from the first adsorption unit, and the second spring fixing seat is located on a side of the second joint body close to the first adsorption unit; The number of the second connection groups is (N+1), and each second connection group is composed of four second connection springs; The second joint body is sequentially arranged between the first adsorption unit and the third walking unit; the first joint body boss and its adjacent second joint body boss are connected via a cross-axis universal joint, two adjacent second joint body bosses are connected via a cross-axis universal joint, and the third joint body boss and its adjacent second joint body boss are connected via a cross-axis universal joint; After one end of the first flexible connector is connected to the first wire through hole, it passes through the second wire through hole of the second deformable body unit in sequence, is wound on the third wire harness retractable wheel, and then passes through the second wire through hole of the second deformable body unit in sequence, and is connected to the first wire through hole of the first joint body, and the first flexible connector is arranged in a U shape; After one end of the third flexible connector is connected to the third wire through hole, it passes through the second wire through hole of the second deformable body unit in sequence, is wound around the first wire harness retractable wheel, and then passes through the second wire through hole of the second deformable body unit in sequence, and is connected to the third wire through hole of the third joint body, and the third flexible connector is arranged in a U shape; The first flexible connector and the third flexible connector respectively form two mutually intersecting U-shaped structures; The first spring limiting column is connected to its adjacent second spring fixing seat through a second connecting spring; between two adjacent second joint bodies, the second spring limiting column is connected to its adjacent second spring fixing seat through a second connecting spring; the third spring fixing base is connected to its adjacent second spring limiting column through a second connecting spring; The first energized electromagnet, the first DC reduction motor, the third energized electromagnet, and the third DC reduction motor are respectively connected to the control system.

[0015] The first flexible connector is continuously wound around the third harness retractable wheel in L turns, where L is a natural number and L≥1; The third flexible connector is continuously wound around the third wire harness retracting and releasing wheel in M ​​turns, where M is a natural number and M≥1.

[0016] The first motor fixing frame is connected to the first side plate and the first side plate can provide support for the first motor fixing frame.

[0017] The first motor fixing frame is connected to the first side plate through bolts; the first DC reduction motor is fixed on the first motor fixing frame.

[0018] The first flange is connected to the output shaft of the first DC reduction motor through bolts or screws, and the first wire harness retractable wheel is connected to the first flange through bolts or screws.

[0019] The first motor fixing assembly also includes a first reinforcing rib matched with the first joint body boss, and the first reinforcing rib is respectively connected to the first joint body and the first joint body boss as a whole.

[0020] On a single second joint body, the center line of one group of second boss components is perpendicular to the center line of another group of second boss components.

[0021] The first flexible connector and the third flexible connector are flexible ropes respectively.

[0022] The first flexible connector and the third flexible connector are respectively one or more of metal ropes and fiber ropes.

[0023] Between the first joint body and the second joint body closest to the first joint body, the first spring limiting column is connected to the adjacent second spring fixing seat through the second connecting spring, that is, one end of the second connecting spring is sleeved on the first spring limiting column, and the other end of the second connecting spring is sleeved on the adjacent second spring fixing seat. Between two adjacent second joint bodies, the second spring limiting column is connected to the adjacent second spring fixing seat through the second connecting spring; that is, one end of the second connecting spring is sleeved on the second spring limiting column of one second joint body, and the other end of the second connecting spring is sleeved on the second spring fixing seat of another second joint body adjacent to it. At the same time, the third spring fixing base is connected to the adjacent second spring limiting column through the second connecting spring; that is, one end of the second connecting spring is sleeved on the third spring fixing base of the third joint body, and the other end of the second connecting spring is sleeved on the adjacent second spring limiting column. In this structure, the second connecting spring is respectively located between the first adsorption unit and the second deformable body unit, between the second deformable body unit and the third walking unit, and between two adjacent second joint bodies in the second deformable body unit, and it can play the role of line channel and support.

[0024] The continuum robot is a new type of bionic robot shaped like an elephant trunk, an octopus tentacles, and other soft creatures, with extremely strong structural compliance and flexibility. The present application adopts a continuum as the body of the wall-climbing robot, which can integrate the drive and control of the robot, thereby significantly improving the motion performance of the wall-climbing robot and making the control of the robot more efficient. At the same time, the structure of the present application is also more advantageous in operation, operation, etc., and has better flexibility.

[0025] Different from the prior art, the body of the continuum wall-climbing robot with integrated driving function can produce continuous deformation, and adopts the method of "alternating strides and adsorption walking", breaking through the limitations of the movement ability of traditional rigid wall-climbing robots. Specifically, when the wall-climbing robot of the present application moves arbitrarily in space, its movement can be decomposed into the translation of the center of mass and the rotation of a fixed axis around a straight line passing through the center of mass, so that it has both translational freedom and rotational freedom, thereby meeting the needs of three-dimensional movement in space.

[0026] The actual test results show that the wall-climbing robot of the present application has much higher movement and operation capabilities in confined spaces than traditional rigid robots, and has great advantages in crawling, climbing walls, crossing obstacles and gaps, adjusting its own trunk, and transitioning through multiple walls. At the same time, it has higher flexibility, better adjustment capabilities, and a simpler design, which significantly improves the robot's work efficiency.

[0027] Furthermore, the continuum wall-climbing robot with integrated driving function of the present application adopts a modular design concept. It can be used alone as a driving, grasping or flexible connection unit to achieve collaborative and combined operation of two or more robots, greatly improving operating efficiency and operating range, and has extremely high application value and application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will now be described by way of example with reference to the accompanying drawings, in which: Figure 1 Schematic diagram of the overall structure of the continuum wall-climbing robot Figure 1 .

[0029] Figure 2 Schematic diagram of the overall structure of the continuum wall-climbing robot Figure 2 .

[0030] Figure 3 Schematic diagram of the overall structure of the continuum wall-climbing robot Figure 3 .

[0031] Figure 4 Schematic diagram of the overall structure of the continuum wall-climbing robot Figure 4 .

[0032] Figure 5 It is a schematic structural diagram of the first motor fixing assembly.

[0033] Figure 6 It is a schematic diagram of the structure of the third walking unit.

[0034] Markings in the figure: 1. first adsorption unit, 2. second deformable body unit, 3. third walking unit, 4. first motor fixing assembly, 5. first electrification type electromagnet, 6. first electromagnet mounting frame, 7. first connecting spring, 8. first side plate, 9. first wiring harness retractable wheel, 10. first flange, 11. first DC reduction motor, 12. first motor fixing frame, 13. first joint body, 14. first joint body boss, 15. first spring limiting column, 17. cross-axis universal joint, 18. first flexible connector, 19. second connecting spring, 23. first reinforcing rib, 24. third wire through hole, 25. third spring fixing seat, 26. third flexible connector, 27. third wiring harness retractable wheel, 28. third motor fixing frame, 29. third DC reduction motor. DETAILED DESCRIPTION

[0035] All features disclosed in this specification, or steps in all methods or processes disclosed, except mutually exclusive features and / or steps, can be combined in any manner.

[0036] Any feature disclosed in this specification, unless specifically described, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically described, each feature is only an example in a series of equivalent or similar features.

[0037] Embodiment 1 As shown in the figure, this embodiment provides a continuum wall-climbing robot with integrated driving functions, which consists of a first adsorption unit, a second deformable body unit, a second connection group, a third walking unit, a control system, a first flexible connector, and a third flexible connector; among them, the first adsorption unit and the third walking unit will switch back and forth during movement.

[0038] In this embodiment, the first adsorption unit includes a first electromagnet mounting bracket, a first energized electromagnet, a first connecting spring, and a first motor fixing component. Among them, the first energized electromagnet is arranged on the first electromagnet mounting bracket, and the first electromagnet mounting bracket can provide support for the first energized electromagnet. The first connecting spring is located between the first electromagnet mounting bracket and the first motor fixing component. The first electromagnet mounting bracket is connected to the first motor fixing component through the first connecting spring, and the first electromagnet mounting bracket can achieve flexible connection with the first motor fixing component through the first connecting spring. As shown in the figure, in the first adsorption unit, the first energized electromagnet is connected to the first electromagnet mounting bracket by bolts, and the first connecting spring is fixed between the first electromagnet mounting bracket and the first motor fixing component by bonding.

[0039] In one example, the first motor fixing component includes a first bottom plate, a first side plate, a first motor fixing bracket, a first DC reduction motor, a first flange, a first wire harness retracting and releasing wheel disc, and a first joint body. The first electromagnet mounting bracket is connected to one side of the first bottom plate through the first connecting spring. The first side plate is arranged on the other side of the first bottom plate, and the first bottom plate can provide support for the first side plate. There are two first side plates, and the first side plates are arranged parallel to each other. The first bottom plate and the first side plate form a first intermediate body. In this structure, the first intermediate body forms a structure similar to a U shape.

[0040] The first motor fixing frame is connected to the first intermediate body, and the first intermediate body can provide support for the first motor fixing frame. The first DC reduction motor is connected to the first motor fixing frame, and the first motor fixing frame can provide support for the first DC reduction motor. The first flange is connected to the output shaft of the first DC reduction motor, and the first wire harness retracting wheel is connected to the first flange. Further, the first motor fixing frame is connected to the first side plate by bolts, and the first side plate can provide support for the first motor fixing frame, and the first DC reduction motor is fixed to the first motor fixing frame; the first flange is connected to the output shaft of the first DC reduction motor by bolts or screws, and the first wire harness retracting wheel is connected to the first flange by bolts or screws. Preferably, the first motor fixing assembly also includes a first reinforcing rib that cooperates with the first joint body boss, and the first reinforcing rib is respectively connected to the first joint body and the first joint body boss as a whole.

[0041] The first joint body includes a first joint body, a first joint body boss, and a first spring limiting column. There are two first joint body bosses, and the first joint body is cross-shaped. As shown in the figure, the first joint body includes a first joint middle part and a first joint connecting part. There are four first joint connecting parts, which are evenly arranged along the circumference of the first joint middle part, and the first joint connecting parts are respectively provided with first wire through holes.

[0042] The first side plate is connected to one side of the first joint body, and the first side plate can provide support for the first joint body; the two first joint body bosses are arranged parallel to each other on the other side of the first joint body, and the first joint body can provide support for the first joint body bosses. There are four first spring limiting columns, and the first spring limiting columns are evenly distributed on the first joint body, and the first spring limiting columns are located on the side of the first joint body away from the first bottom plate.

[0043] In this embodiment, the third walking unit includes a third electromagnet mounting frame, a third power-generating electromagnet, a third connecting spring, and a third motor fixing assembly. Among them, the third power-generating electromagnet is arranged on the third electromagnet mounting frame, and the third electromagnet mounting frame can provide support for the third power-generating electromagnet. The third connecting spring is located between the third electromagnet mounting frame and the third motor fixing assembly, and the third electromagnet mounting frame can be flexibly connected to the third motor fixing assembly through the third connecting spring. In this structure, the third connecting spring can play the role of flexibly connecting the third electromagnet mounting frame and the third motor fixing assembly.

[0044] The third motor fixing assembly includes a third base plate, a third side plate, a third motor fixing frame, a third DC reduction motor, a third flange, a third wire harness retractable wheel, a third joint body, a third joint body boss, and a third spring fixing base. The third electromagnet mounting frame is connected to one side of the third base plate through a third connecting spring; the third side plate is arranged on the other side of the third base plate, and the third base plate can provide support for the third side plate. There are two third side plates, and the third side plates are arranged parallel to each other, and the third base plate and the third side plate constitute a third intermediate body. The third motor fixing frame is connected to the third intermediate body, and the third intermediate body can provide support for the third motor fixing frame; the third DC reduction motor is connected to the third motor fixing frame, and the third motor fixing frame can provide support for the third DC reduction motor; the third flange is connected to the output shaft of the third DC reduction motor, and the third wire harness retractable wheel is connected to the third flange.

[0045] The third joint body includes a third joint body, a third joint body boss, and a third spring fixing base. The third joint body bosses are two, and the third joint body is cross-shaped. The third joint body includes a third joint middle part and a third joint connecting part. The third joint connecting parts are four, and the third joint connecting parts are evenly arranged along the circumference of the third joint middle part. The third joint connecting parts are respectively provided with third wire through holes.

[0046] The third side plate is connected to one side of the third joint body, and the third side plate can provide support for the third joint body; two third joint body bosses are arranged parallel to each other on the other side of the third joint body, and the third joint body can provide support for the third joint body bosses. There are four third spring fixing bases, and the third spring fixing bases are evenly distributed on the third joint body, and the third spring fixing bases are located on the side of the third joint body away from the third bottom plate. As shown in the figure, in the third walking unit, the third electrified electromagnet is connected to the third electromagnet mounting frame by bolts, and the third connecting spring is fixed between the third electromagnet mounting frame and the third motor fixing frame by gluing; the third flange is connected to the output shaft of the third DC reduction motor by bolts or screws, and the third wiring harness retracting wheel is connected to the third flange by bolts or screws.

[0047] The second deformable body unit is composed of N second joint bodies, N is a natural number, and N≥2. The second joint body includes a second joint body, a second joint body boss, a second spring limiting column, and a second spring fixing seat. There are four second joint body bosses, second spring limiting columns, and second spring fixing seats respectively. The second joint body is in a cross shape, and the second joint body includes a second joint middle part and a second joint connecting part. There are four second joint connecting parts, and the second joint connecting parts are evenly arranged along the circumference of the second joint middle part. The second joint connecting parts are respectively provided with second wire through holes. As shown in the figure, the four second joint body bosses in the second joint body boss are divided into two groups; two second joint body bosses are recorded as a group of second boss assemblies, and the two second joint body bosses in each group of second boss assemblies are arranged parallel to each other; the two groups of second boss assemblies on a single second joint body are respectively arranged on the two sides of the second joint body, and the two groups of second boss assemblies on a single second joint body are arranged in a cross (specifically, on a single second joint body, the center line of one group of second boss assemblies is perpendicular to the center line of another group of second boss assemblies). Four second spring limiting columns are arranged on one side of the second joint body, and four second spring fixing seats are arranged on the other side of the second joint body.

[0048] Along the direction from the first adsorption unit to the third walking unit, the second spring limiting column is located on the side of the second joint body away from the first adsorption unit, and the second spring fixing seat is located on the side of the second joint body close to the first adsorption unit. As shown in the figure, the second joint body is sequentially arranged between the first adsorption unit and the third walking unit; the first joint body boss is connected to its adjacent second joint body boss through a cross-axis universal joint, the two adjacent second joint body bosses are connected through a cross-axis universal joint, and the third joint body boss is connected to its adjacent second joint body boss through a cross-axis universal joint.

[0049] After one end of the first flexible connector is connected to the first wire through hole, it passes through the second wire through hole of the second deformed body unit in sequence, and is wound on the third wire harness retractable wheel, and then passes through the second wire through hole of the second deformed body unit in sequence, and is connected to the first wire through hole of the first joint body, and the first flexible connector is arranged in a U shape. At the same time, after one end of the third flexible connector is connected to the third wire through hole, it passes through the second wire through hole of the second deformed body unit in sequence, and is wound on the first wire harness retractable wheel, and then passes through the second wire through hole of the second deformed body unit in sequence, and is connected to the third wire through hole of the third joint body, and the third flexible connector is arranged in a U shape. As shown in the figure, the first flexible connector and the third flexible connector respectively form two mutually intersecting U-shaped structures. In this embodiment, the first flexible connector is continuously wound around the third wire harness retractable wheel, and the third flexible connector is continuously wound around the third wire harness retractable wheel.

[0050] The number of second connection groups is (N+1), and each second connection group is composed of four second connection springs; further, in this embodiment, the second deformable body unit is composed of 5 second joint bodies, and the number of second connection groups is 6. The first spring limiting column is connected to its adjacent second spring fixing seat through the second connection spring; between two adjacent second joint bodies, the second spring limiting column is connected to its adjacent second spring fixing seat through the second connection spring; and the third spring fixing base is connected to its adjacent second spring limiting column through the second connection spring. Specifically, between the first joint body and the second joint body closest to the first joint body, the first spring limiting column is connected to its adjacent second spring fixing seat through the second connection spring, that is, one end of the second connection spring is sleeved on the first spring limiting column, and the other end of the second connection spring is sleeved on the adjacent second spring fixing seat. Between two adjacent second joint bodies, the second spring limiting column is connected to its adjacent second spring fixing seat through the second connection spring; that is, one end of the second connection spring is sleeved on the second spring limiting column of one second joint body, and the other end of the second connection spring is sleeved on the second spring fixing seat of another second joint body adjacent to it. At the same time, the third spring fixing base is connected to the adjacent second spring limiting column through the second connecting spring; that is, one end of the second connecting spring is sleeved on the third spring fixing base of the third joint body, and the other end of the second connecting spring is sleeved on the adjacent second spring limiting column. In this structure, the second connecting spring is respectively located between the first adsorption unit and the second deformable body unit, between the second deformable body unit and the third walking unit, and between two adjacent second joint bodies in the second deformable body unit, and it can play the role of limiting, line channel and support.

[0051] In this embodiment, the first power-generating electromagnet, the first DC reduction motor, the third power-generating electromagnet, and the third DC reduction motor are connected to the control system respectively. In this embodiment, the first flexible connector and the third flexible connector are flexible ropes respectively; further, the first flexible connector and the third flexible connector are respectively one or more of metal ropes and fiber ropes, such as steel wire ropes, carbon fiber ropes, etc.

[0052] In the present application, the first adsorption unit, the second deformable body unit, and the third walking unit are connected through the second connecting spring, the cross-axis universal joint, the first flexible connector, and the third flexible connector. The first flexible connector and the third flexible connector are arranged in a U shape to form two mutually perpendicular "U-shaped" double loops; the entire structure realizes the adjustment of the overall action posture by pulling and controlling the first flexible connector and the third flexible connector.

[0053] The wall-climbing robot with integrated driving function of the present application mainly adopts a "U-shaped" double-circuit line drive, and realizes "alternating stride adsorption walking" by deforming the body. Specifically, when the first adsorption unit is located at the lower end of the robot as a whole, it mainly plays a role in fixing the robot on the vertical wall; when the third walking unit is located at the upper end of the robot as a whole, it mainly plays a role in fixing the robot after stepping. When the robot implements an alternating stride walking action, the first adsorption unit is located at the upper end of the robot as a whole, and the third walking unit is located at the lower end of the robot as a whole, and the function of the first adsorption unit is switched with the function of the third walking unit (that is, the third walking unit mainly plays a role in fixing the robot on the vertical wall, and the first adsorption unit mainly plays a role in fixing the robot after stepping).

[0054] When the robot moves forward on the ferromagnetic surface, the first electromagnet is energized and has an adsorption force, thereby fixing the first adsorption unit on the ferromagnetic surface. By controlling the first flexible connector and the third flexible connector, the wiring harness on one side of the robot as a whole is contracted and the wiring harness on the other side is stretched; at this time, the wiring harness will force the robot as a whole to deform. When the robot as a whole changes from a vertical state to a "semicircular convex arc" shape, the third electromagnet on the third walking unit contacts the vertical wall. At this time, the third electromagnet is energized and has an adsorption force, thereby fixing the third walking unit on the ferromagnetic surface. Then, the first electromagnet is de-energized to lose its adsorption force and become a walking end. Then, the first flexible connector and the third flexible connector are further controlled to deform the robot as a whole. When the robot as a whole changes from a "semicircular convex arc" shape to a vertical state, the robot completes the forward movement. Similarly, the principle of the robot's backward movement is the same as that of the forward movement.

[0055] In the present application, the second deformable body unit is composed of multiple second joints connected in series, and its movement mode is "alternating stride adsorption walking"; therefore, it can cross gaps with a width less than half of its body length, as well as obstacles with a height and width less than half of its body length.

[0056] At the same time, the drive-integrated wall-climbing robot of the present application adopts a modular design concept, which can be used as a driving, grasping, and connecting unit alone, or multiple robots can work in coordination and combination. Therefore, the present application realizes modular assembly operations according to different task requirements.

[0057] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. A wall-climbing robot, characterized in that: It includes a first adsorption unit, a second deformable body unit, a second connection group, a third walking unit, a control system, a first flexible connection piece, and a third flexible connection piece; The first adsorption unit includes a first motor fixing assembly, a first connecting spring, a first electrified electromagnet, and a first electromagnet mounting frame, wherein the first electrified electromagnet is arranged on the first electromagnet mounting frame and the first electromagnet mounting frame can provide support for the first electrified electromagnet; the first electromagnet mounting frame is connected to the first motor fixing assembly through a first connecting spring, the first connecting spring is located between the first electromagnet mounting frame and the first motor fixing assembly and the first connecting spring can play a role in flexibly connecting the first electromagnet mounting frame and the first motor fixing assembly; The first motor fixing assembly includes a first bottom plate, a first side plate, a first motor fixing frame, a first DC reduction motor, a first flange, a first wire harness retracting wheel, and a first joint body; The first electromagnet mounting frame is connected to one side of the first bottom plate through a first connecting spring, the first side plate is arranged on the other side of the first bottom plate and the first bottom plate can provide support for the first side plate; there are two first side plates and the first side plates are arranged parallel to each other, and the first bottom plate and the first side plate constitute a first intermediate body; The first motor fixing frame is connected to the first intermediate body and the first intermediate body can provide support for the first motor fixing frame; the first DC reduction motor is connected to the first motor fixing frame and the first motor fixing frame can provide support for the first DC reduction motor; the first flange is connected to the output shaft of the first DC reduction motor, and the first wire harness retractable wheel is connected to the first flange; The first joint body comprises a first joint body, a first joint body boss, and a first spring limiting column, the first joint body bosses are two, and the first joint body is in a cross shape; The first joint body comprises a first joint middle part and a first joint connection part, there are four first joint connection parts, the first joint connection parts are evenly arranged along the circumference of the first joint middle part, and the first joint connection parts are respectively provided with first wire through holes; The first side plate is connected to one side of the first joint body and the first side plate can provide support for the first joint body, the two first joint body bosses are arranged parallel to each other on the other side of the first joint body and the first joint body can provide support for the first joint body bosses; there are four first spring limiting columns and the first spring limiting columns are evenly distributed on the first joint body, and the first spring limiting columns are located on one side of the first joint body away from the first bottom plate; The third walking unit includes a third motor fixing assembly, a third connecting spring, a third electrified electromagnet, and a third electromagnet mounting frame. The third electrified electromagnet is arranged on the third electromagnet mounting frame and the third electromagnet mounting frame can provide support for the third electrified electromagnet; the third electromagnet mounting frame is connected to the third motor fixing assembly through a third connecting spring, the third connecting spring is located between the third electromagnet mounting frame and the third motor fixing assembly, and the third connecting spring can play a role in flexibly connecting the third electromagnet mounting frame and the third motor fixing assembly; The third motor fixing assembly includes a third bottom plate, a third side plate, a third motor fixing frame, a third DC reduction motor, a third flange, a third wire harness retracting and releasing wheel, a third joint body, a third joint body boss, and a third spring fixing base; The third electromagnet mounting frame is connected to one side of the third bottom plate through a third connecting spring, the third side plate is arranged on the other side of the third bottom plate and the third bottom plate can provide support for the third side plate; there are two third side plates and the third side plates are arranged parallel to each other, and the third bottom plate and the third side plate constitute a third intermediate body; The third motor fixing frame is connected to the third intermediate body and the third intermediate body can provide support for the third motor fixing frame; the third DC reduction motor is connected to the third motor fixing frame and the third motor fixing frame can provide support for the third DC reduction motor; the third flange is connected to the output shaft of the third DC reduction motor, and the third wire harness retractable wheel is connected to the third flange; The third joint body comprises a third joint body, a third joint body boss, and a third spring fixing base. The third joint body bosses are two and the third joint body is in a cross shape. The third joint body comprises a third joint middle part and a third joint connection part. There are four third joint connection parts. The third joint connection parts are evenly arranged along the circumference of the third joint middle part. The third joint connection parts are respectively provided with third wire through holes. The third side plate is connected to one side of the third joint body and can provide support for the third joint body, two third joint body bosses are arranged parallel to each other on the other side of the third joint body and the third joint body can provide support for the third joint body bosses; there are four third spring fixing bases and the third spring fixing bases are evenly distributed on the third joint body, and the third spring fixing bases are located on one side of the third joint body away from the third bottom plate; The second deformable body unit is composed of N second joint bodies, N is a natural number and N≥2; the second joint body includes a second joint body, a second joint body boss, a second spring limiting column, and a second spring fixing seat, and the second joint body boss, the second spring limiting column, and the second spring fixing seat are four respectively; The second joint body is in a cross shape, and the second joint body includes a second joint middle part and a second joint connection part. There are four second joint connection parts, and the second joint connection parts are evenly arranged along the circumference of the second joint middle part. The second joint connection parts are respectively provided with second wire through holes; The four second joint body bosses in the second joint body bosses are divided into two groups, and two second joint body bosses are recorded as a group of second boss assemblies. The two second joint body bosses in each group of second boss assemblies are arranged parallel to each other; the two groups of second boss assemblies on a single second joint body are respectively arranged on two side surfaces of the second joint body, and the two groups of second boss assemblies on a single second joint body are arranged in a cross shape; Four second spring limiting columns are arranged on one side of the second joint body, and four second spring fixing seats are arranged on the other side of the second joint body; Along the direction from the first adsorption unit to the third walking unit, the second spring limiting column is located on a side of the second joint body away from the first adsorption unit, and the second spring fixing seat is located on a side of the second joint body close to the first adsorption unit; The number of the second connection groups is (N+1), and each second connection group is composed of four second connection springs; The second joint body is sequentially arranged between the first adsorption unit and the third walking unit; the first joint body boss and its adjacent second joint body boss are connected via a cross-axis universal joint, two adjacent second joint body bosses are connected via a cross-axis universal joint, and the third joint body boss and its adjacent second joint body boss are connected via a cross-axis universal joint; After one end of the first flexible connector is connected to the first wire through hole, it passes through the second wire through hole of the second deformable body unit in sequence, is wound on the third wire harness retractable wheel, and then passes through the second wire through hole of the second deformable body unit in sequence, and is connected to the first wire through hole of the first joint body, and the first flexible connector is arranged in a U shape; After one end of the third flexible connector is connected to the third wire through hole, it passes through the second wire through hole of the second deformable body unit in sequence, is wound around the first wire harness retractable wheel, and then passes through the second wire through hole of the second deformable body unit in sequence, and is connected to the third wire through hole of the third joint body, and the third flexible connector is arranged in a U shape; The first flexible connector and the third flexible connector respectively form two mutually intersecting U-shaped structures; The first spring limiting column is connected to its adjacent second spring fixing seat through a second connecting spring; between two adjacent second joint bodies, the second spring limiting column is connected to its adjacent second spring fixing seat through a second connecting spring; the third spring fixing base is connected to its adjacent second spring limiting column through a second connecting spring; The first energized electromagnet, the first DC reduction motor, the third energized electromagnet, and the third DC reduction motor are respectively connected to the control system.

2. The wall-climbing robot according to claim 1, characterized in that: The first flexible connector is continuously wound around the third harness retractable wheel in L turns, where L is a natural number and L≥1; The third flexible connector is continuously wound around the third wire harness retracting and releasing wheel in M ​​turns, where M is a natural number and M≥1.

3. The wall-climbing robot according to claim 1, characterized in that: The first motor fixing frame is connected to the first side plate and the first side plate can provide support for the first motor fixing frame.

4. The wall-climbing robot according to claim 3, characterized in that: The first motor fixing frame is connected to the first side plate through bolts; the first DC reduction motor is fixed on the first motor fixing frame.

5. The wall-climbing robot according to any one of claims 1 to 4, characterized in that: The first motor fixing assembly also includes a first reinforcing rib matched with the first joint body boss, and the first reinforcing rib is respectively connected to the first joint body and the first joint body boss as a whole.

6. The wall-climbing robot according to any one of claims 1 to 5, characterized in that: On a single second joint body, the center line of one group of second boss components is perpendicular to the center line of another group of second boss components.

7. The wall-climbing robot according to any one of claims 1 to 5, characterized in that: The first flexible connector and the third flexible connector are flexible ropes respectively.

8. The wall-climbing robot according to claim 7, characterized in that: The first flexible connector and the third flexible connector are respectively one or more of metal ropes and fiber ropes.

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