Multi-mode overturning type cooperative continuous wall-climbing robot

Abstract

The invention discloses a multi-mode overturning type cooperative continuous wall-climbing robot, and aims to solve the problems that the wall-climbing robot simultaneously adapts to the adsorption requirements of a curved surface and a plane on the surface of a steel structure, the movement capacity between large-angle transition planes of the robot and the overturning walking step pitch are fixed, and the multifunctionality of a wall-climbing robot body is further expanded. The wall-climbing robot comprises an adsorption unit, a connecting assembly, a bending unit and a control system, the adsorption unit comprises a first bottom plate, a first adsorption assembly, first adsorption driving motors, first flexible cable wheel discs and first driving flexible cables, and the number of the first adsorption driving motors, the number of the first flexible cable wheel discs and the number of the first driving flexible cables are respectively two; the first bottom plate is provided with four first adsorption wire passing through holes, a joint boss and a second connecting through hole. The turnover type continuous wall-climbing robot has high wall-climbing capacity, obstacle-crossing capacity and surface-surface conversion capacity, and particularly has complex unstructured narrow space movement capacity.

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 multi-modal flip-type collaborative continuous wall-climbing robot. More specifically, the present application provides a collaborative wall-climbing robot that can simultaneously adsorb and work on curved and flat surfaces of steel structures, and has multiple motion modes and flexible motion capabilities. Background Art

[0002] At present, the main movement modes of wall-climbing robots are wheeled, tracked, propeller-type, and multi-legged walking. These movement modes have the advantages of reliable movement and high operation efficiency, but they have certain limitations in crossing obstacles, flexible steering, and switching between surfaces, and are difficult to adapt to the movement needs in complex unstructured confined spaces.

[0003] During the movement of a flip-type wall-climbing robot (similar to an acrobat or gymnast who performs somersaults while stretching his body), the trunk of the robot can cross obstacles and switch to the transition plane, which effectively improves the robot's obstacle-crossing ability and the ability to switch between surfaces. However, when the existing flip-type wall-climbing robot is in a cantilever state on a vertical wall, the torque generated by the wall-climbing robot's own gravity will hinder the robot's upward climbing movement and increase the load on the drive motor. At the same time, during the movement of the existing flip-type wall-climbing robot, the large-angle bending of the trunk will generate a large overturning torque, which will in turn affect the robot's movement stability. In addition, since the existing flip-type wall-climbing robot adopts a flipping movement mode, it has a fixed step distance; when the travel distance is certain, it is difficult for the wall-climbing robot to move to a specified coordinate point or area, which indirectly affects the working efficiency of the wall-climbing robot. Furthermore, the existing flip robot motion space is similar to a semicircle (“⌒”) with a certain width, which requires that there must be no obstacles in the motion space during the movement of the wall-climbing robot; this further limits the robot's operation in complex unstructured working environments and is not conducive to the robot's movement in complex confined spaces.

[0004] For this reason, a new device is urgently needed to solve the above problems. Summary of the invention

[0005] The invention objective of the present application is to provide a multi-modal flip-type continuous wall-climbing robot and its application, with the aim of solving the problems of the wall-climbing robot adapting to the curved surface and plane adsorption requirements on the surface of the steel structure, the robot's ability to move between planes with large angle transitions, and the fixed flipping walking step, so as to further expand the versatility of the wall-climbing robot body.

[0006] In order to achieve the above purpose, this application adopts the following technical solutions: A wall-climbing robot comprises an adsorption unit, a connection component, a bending unit, and a control system; The adsorption unit comprises a first bottom plate, a first adsorption assembly, a first adsorption drive motor, a first flexible cable wheel, and a first flexible cable drive. There are two of each of the first adsorption drive motor, the first flexible cable wheel, and the first flexible cable drive. The first bottom plate is provided with a first adsorption wire through hole, a joint boss, and a second connection through hole. There are four first adsorption wire through holes, and the four first adsorption wire through holes are divided into two groups, and the two groups of first adsorption wire through holes are arranged in a cross shape; there are two joint bosses on the first bottom plate, which are arranged parallel to each other; there are four second connection through holes on the first bottom plate; The first adsorption assembly includes a first magnet base, a first magnet mounting frame, a first connecting shaft pin, a first connecting spring, and a first energizing electromagnet; The first magnet base is arranged on one side end surface of the first bottom plate, and the joint boss of the first bottom plate and the first adsorption drive motor are respectively arranged on the other side end surface of the first bottom plate; The first magnet mounting frame is hinged to the first magnet base through a first connecting shaft pin, and the first magnet mounting frame can rotate relative to the first magnet base; the two ends of the first connecting spring are respectively connected to the first magnet mounting frame and the first bottom plate, and the first connecting spring can provide a restoring force for the first magnet mounting frame; the first electrified electromagnet is arranged on the first magnet mounting frame; There are four first adsorption components, and the four first adsorption components are divided into two groups, and the two groups of first adsorption components are arranged in a cross shape; The first flexible cable wheel is arranged on the rotating shaft of the first adsorption driving motor and the first adsorption driving motor can drive the first flexible cable wheel to rotate; For a single group of first adsorption wire-passing through holes, after one end of the first driving flexible cable is connected to the first magnet mounting frame, it passes through the first adsorption wire-passing through hole on the first bottom plate, and is wound around the first flexible cable wheel, and then passes through another first adsorption wire-passing through hole on the first bottom plate, and is connected to another first magnet mounting frame, the first driving flexible cable is arranged in a U shape, and the first adsorption driving motor can drive the two ends of the first driving flexible cable to contract or extend synchronously through the first flexible cable wheel; In a single adsorption unit, two first driving cables are arranged in a cross shape; The connecting component includes a second base plate, a second connecting member, and a joint boss. There are two second base plates, and the two second base plates are arranged in parallel with each other. The two second base plates are connected as a whole by the second connecting member, and a second space is formed between the two second base plates. Four second connecting through holes are arranged on the second base plate. There are four joint bosses on the connecting component. The four joint bosses on a single connecting component are divided into two groups. The two joint bosses on the connecting component are recorded as a group of second boss components, and the two joint bosses in each group of second boss components are arranged in parallel with each other. In a single connecting component, the side of a second base plate away from another second base plate in the connecting component is recorded as a second connecting surface. The two groups of second boss components on a single connecting component are respectively arranged on the second connecting surface of the second base plate in the connecting component. The bending unit includes a third joint body, a third connecting spring, a third bending motor, a third flexible cable wheel, a third driving flexible cable, a fourth bending motor, a fourth flexible cable wheel, and a fourth driving flexible cable; In a single bending unit, the number of the third joint bodies is M, the number of the third connecting springs is (4M+4), M is a natural number and M≥1; The third joint body comprises a third joint body and a joint boss, and there are four joint bosses on the third joint body; four third connecting through holes are arranged in the circumference of the third joint body, and the four third connecting through holes are divided into two groups and the two groups of third connecting through holes are arranged in a cross; The four joint bosses on a single third joint body are equally divided into two groups, and the two joint bosses on the third joint body located in the same plane are recorded as a group of third boss components, and the two joint bosses in each group of third boss components are arranged parallel to each other; the two groups of third boss components on a single third joint body are respectively arranged on two side surfaces of the third joint body, and the two groups of third boss components on a single third joint body are arranged in a cross shape; There are two adsorption units, (N-1) connection components, and N bending units, where N is a natural number and N≥2; The bending units and the connecting components are alternately connected in sequence to form a first bending intermediate body, the two adsorption units are respectively connected to the two ends of the first bending intermediate body, the two adsorption units are arranged in a mirror image relative to the first bending intermediate body, and the side of the first bottom plate on which the first adsorption drive motor is arranged is connected to the bending unit; One side adsorption unit is recorded as the starting side adsorption unit, and the other side adsorption unit is recorded as the ending side adsorption unit; Along the direction from the starting side adsorption unit to the terminating side adsorption unit, the first bottom plate of the starting side adsorption unit is recorded as the 1st climbing wall plate, and the first bottom plate of the terminating side adsorption unit is recorded as the 2Nth climbing wall plate, the second bottom plate on the (K-1)th connection component close to the starting side adsorption unit is recorded as the (2K-2)th climbing wall plate, and the second bottom plate on the (K-1)th connection component close to the terminating side adsorption unit is recorded as the (2K-1)th climbing wall plate, K is a natural number, K≥2 and N≥K; L is a natural number, L≥1 and N≥L; When M is 1, along the direction from the (2L-1)th climbing plate to the 2Lth climbing plate, the joint boss on the (2L-1)th climbing plate and the joint boss on the adjacent third joint body are connected via a cross-axis universal joint, and the joint boss on the (2L)th climbing plate and the joint boss on the adjacent third joint body are connected via a cross-axis universal joint; four third connecting springs are evenly distributed between the (2L-1)th climbing plate and the adjacent third joint body, and the four third connecting springs are arranged in a cross, and four third connecting springs are evenly distributed between the (2L)th climbing plate and the adjacent third joint body, and the four third connecting springs are arranged in a cross; When M≥2, along the direction from the (2L-1)th climbing plate to the 2Lth climbing plate, the joint boss on the (2L-1)th climbing plate and the joint boss on the adjacent third joint body are connected via a cross-axis universal joint, the joint bosses on two adjacent third joint bodies are connected via a cross-axis universal joint, and the joint boss on the (2L)th climbing plate and the joint boss on the adjacent third joint body are connected via a cross-axis universal joint; four third connecting springs are evenly distributed between the (2L-1)th climbing plate and its adjacent third joint body, and the four third connecting springs are arranged in a cross, four third connecting springs are evenly distributed between two adjacent third joint bodies, and the four third connecting springs are arranged in a cross; four third connecting springs are evenly distributed between the (2L)th climbing plate and its adjacent third joint body, and the four third connecting springs are arranged in a cross; Along the direction from the starting side adsorption unit to the ending side adsorption unit, the bending units are sequentially recorded as the first bending unit, the second bending unit, ..., the Nth bending unit; For the Lth bending unit, one end of the third driving flexible cable is connected to the second connecting through hole on the 2Lth climbing plate, passes through the connecting spring, the third connecting through hole, and the second connecting through hole on the (2L-1)th climbing plate, and is wound on the third flexible cable wheel, and then passes through the second connecting through hole, the connecting spring, and the third connecting through hole on the (2L-1)th climbing plate, and is connected to the second connecting through hole on the 2Lth climbing plate, and the third driving flexible cable is arranged in a U shape; the third bending motor is arranged on the (2L-1)th climbing plate and the third bending motor is located on the side of the (2L-1)th climbing plate away from the 2L climbing plate, the third flexible cable wheel is arranged on the rotating shaft of the third bending motor and the third bending motor can drive the third driving flexible cable to move through the third flexible cable wheel so that the bending unit bends to one side; After one end of the fourth driving flexible cable is connected to the second connecting through hole on the (2L-1) climbing plate, it passes through the connecting spring, the third connecting through hole, and the second connecting through hole on the 2L climbing plate, and is wound on the fourth flexible cable wheel, and then passes through the second connecting through hole, the connecting spring, and the third connecting through hole on the 2L climbing plate, and is connected to the second connecting through hole on the (2L-1) climbing plate, and the fourth driving flexible cable is arranged in a U shape; the fourth bending motor is arranged on the 2L climbing plate and the fourth bending motor is located on the side of the 2L climbing plate away from the (2L-1) climbing plate, the fourth flexible cable wheel is arranged on the rotating shaft of the fourth bending motor and the fourth bending motor can drive the fourth driving flexible cable to move through the fourth flexible cable wheel so that the bending unit bends to one side; the third driving flexible cable and the fourth driving flexible cable are arranged in a cross shape; The first energized electromagnet, the first adsorption drive motor, the third bending motor, and the fourth bending motor are respectively connected to the control system.

[0007] The adsorption unit further comprises a first motor fixing frame arranged on the end surface of the first bottom plate, the first adsorption drive motor is connected to the first motor fixing frame and the first motor fixing frame can provide support for the first adsorption drive motor.

[0008] The first adsorption wire through hole is arranged along the axial direction of the first bottom plate.

[0009] The first adsorption drive motor is a reduction motor.

[0010] The two groups of second boss components on a single connecting component are arranged in a cross shape.

[0011] The bending units are located at two outer ends of the first bending intermediate body.

[0012] M≥2.

[0013] A third spring stopper matched with a third connecting spring is provided on the side of the (2L-1) climbing plate close to the 2L climbing plate, and a third spring stopper matched with a third connecting spring is provided on the side of the 2N climbing plate close to the (2N-1) climbing plate; The third spring limiting seats matched with the third connecting spring are respectively arranged on the two side surfaces of the third joint body.

[0014] A first space is formed between the first magnet bases of the four first adsorption components in the adsorption unit, and the third bending motor on the first climbing plate and the fourth bending motor on the 2N climbing plate are respectively located in the first space; The fourth bending motor on the 2Qth climbing plate and the third bending motor on the (2Q+1)th climbing plate are respectively located in the second space, Q is a natural number, Q≥1 and (N-1)≥Q.

[0015] Applications of the aforementioned wall-climbing robot.

[0016] The steps include: Several wall-climbing robots are connected in series to perform coordinated series operations; Or several wall-climbing robots are connected in parallel to achieve parallel collaborative operation.

[0017] This includes one or more of the following steps: (1) Plane adsorption By controlling the retraction and extension of the first driving flexible rope controlled by the first adsorption driving motor, the adsorption surfaces of the four first energized electromagnets are parallel to the adsorbed plane, and then the first energized electromagnets are energized to enable the adsorption unit to be adsorbed on the plane; (2) Surface adsorption Under the action of the spring support force, the first driving flexible rope controlled by the first adsorption driving motor is retracted and extended, so that the adsorption surface of the first energized electromagnet matches with the adsorbed surface, and then the first energized electromagnet is energized, so that the adsorption unit can be adsorbed on the curved surface; at this time, the robot completes the adsorption action on the curved surface; (3) Cylindrical surface adsorption The adsorption surfaces of the two first powered electromagnets in the vertical direction of the curved surface remain parallel to the adsorbed plane; the two first powered electromagnets in the lateral direction are controlled by the first adsorption drive motor to retract and release the first driving rope according to the curvature of the curved surface, so that the adsorption surfaces of the first powered electromagnets fit with the adsorbed surface; and then the first powered electromagnets are energized to make the adsorption unit adsorbed on the cylindrical surface.

[0018] In response to the above problems, inspired by the movement mode and structural characteristics of the inchworm, as well as the large load capacity and high movement flexibility of the trunk, the inventors designed a flexible-cable-driven magnetic adsorption continuous wall-climbing robot with the ability of flipping continuous movement. It is essentially a flipping collaborative continuous wall-climbing robot with multiple motion modes.

[0019] The flip-type continuous wall-climbing robot of the present application has strong wall-climbing ability, obstacle-crossing ability, surface-to-surface conversion ability, and especially the ability to move in complex unstructured narrow spaces. According to tests, the wall-climbing robot can realize flip-climbing, crossing obstacles, 0-360° transition plane movement, variable radius flip walking, omnidirectional steering walking, twisting wall-climbing walking in narrow gaps, and deftly walking through narrow holes, etc. It has multiple movement modes such as flipping, creeping, twisting, and crossing walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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 three-dimensional structure of the wall-climbing robot.

[0021] Figure 2 The structure of the adsorption unit in Example 1 is shown in FIG. Figure 1 .

[0022] Figure 3 The structure of the adsorption unit in Example 1 is shown in FIG. Figure 2 .

[0023] Figure 4 Schematic diagram of the overall structure of the wall-climbing robot.

[0024] Figure 5 This is a schematic diagram of the structure of the third joint in Example 1.

[0025] Figure 6 This is a schematic diagram of the structure of the connection component in Example 1.

[0026] Figure 7 Schematic diagram of the wall-climbing robot working on a curved surface in Example 1.

[0027] Markings in the figure: 1. adsorption unit, 2. connecting component, 3. bending unit, 4. first base plate, 5. first adsorption drive motor, 6. first flexible rope pulley, 7. first driving flexible rope, 8. first magnet base, 9. first magnet mounting frame, 10. first connecting shaft pin, 11. first connecting spring, 12. first energized electromagnet, 13. second base plate, 14. second connecting member, 15. joint boss, 16. third joint body, 17. third spring limit seat, 18. third bending motor. DETAILED DESCRIPTION

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. However, it should be understood by those skilled in the art that the present disclosure can be implemented without these details. In other cases, in order to avoid unnecessarily obscuring various aspects of the present disclosure, well-known methods, processes, systems, components and / or circuits have been described at a higher level. For those of ordinary skill in the art, it is obvious that various changes can be made to the disclosed embodiments, and without departing from the principles and scope of the present disclosure, the general principles defined in the present disclosure can be applied to other embodiments and application scenarios. Therefore, the present disclosure is not limited to the embodiments shown, but conforms to the broadest scope consistent with the scope of the claims.

[0029] The terms used in this disclosure are only used for the purpose of describing specific exemplary embodiments and do not limit the scope of this disclosure. The singular forms "one", "an" and "the" used in this disclosure may also include plural forms unless the context clearly indicates an exception. It should also be understood that, as in this disclosure, the terms "include" and / or "comprise" only indicate the presence of the features, wholes, steps, operations, components and / or parts, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, components, parts and / or combinations thereof.

[0030] It should be understood that the terms "system", "unit", "module" and / or "block" used in the present disclosure are methods for distinguishing different components, elements, parts, portions or assemblies at different levels in ascending order. However, if these terms achieve the same purpose, they may be replaced by another term.

[0031] These and other features, characteristics and functions and methods of operation of the related structural elements of the present application, as well as the combination of components and manufacturing economy, may become more apparent from the following description of the accompanying drawings, which form a part of the specification of this application. However, it should be understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of the present application. It should be understood that the drawings are not drawn to scale.

[0032] Example 1 In order for existing flip-type continuous wall-climbing robots to achieve large-angle face-to-face conversion and multi-robot collaborative operations, the trunk of the existing wall-climbing robot is required to have a large bending angle and a bending shape with an approximately constant curvature change (that is, the bending shape of the trunk is similar to a circle, so that the adsorption area of ​​the adsorption module at the end of the trunk reaches an effective value).

[0033] However, in the existing flip-type continuous wall-climbing robot, due to the influence of the friction between the driving cable and the continuous joint module, the driving cable closer to the driving motor contracts faster than the cable farther from the motor, so that the bending shape trajectory of the continuous trunk is different from the assumed equal spacing contraction. Therefore, when the number of continuous joint modules in series increases, the accumulated friction between the cable and the joint module increases, and the difference between the overall bending deformation trajectory of the trunk and the theoretical trajectory increases, which finally causes the adsorption area of ​​the adsorption module to fail to reach the effective value and cannot be adsorbed on the working surface.

[0034] To this end, the present embodiment provides a wall-climbing robot, which includes a suction unit, a connection component, a bending unit, and a control system. In a specific example, there are two suction units, one side suction unit is recorded as a starting side suction unit, and the other side suction unit is recorded as a terminating side suction unit.

[0035] In this embodiment, the adsorption unit includes a first bottom plate, a first adsorption assembly, a first adsorption drive motor, a first flexible cable wheel, and a first flexible cable. The first adsorption drive motor, the first flexible cable wheel, and the first flexible cable are two in number. In a specific example, the first adsorption drive motor is a reduction motor.

[0036] The first bottom plate is provided with a first adsorption through hole, a joint boss, and a second connection through hole for cooperating with the first driving flexible cable; there are four first adsorption through holes, and the four first adsorption through holes are divided into two groups, and the two groups of first adsorption through holes are arranged in a cross. There are two joint bosses on the first bottom plate, and the joint bosses on the two first bottom plates are arranged parallel to each other. At the same time, there are four second connection through holes on the first bottom plate. In a specific example, the first adsorption through hole is arranged along the axial direction of the first bottom plate.

[0037] The first adsorption assembly includes a first magnet base, a first magnet mounting frame, a first connecting shaft pin, a first connecting spring, and a first energizing electromagnet. The first magnet base is arranged on one side end surface of the first base plate, and the joint boss of the first base plate and the first adsorption drive motor are respectively arranged on the other side end surface of the first base plate. The first magnet mounting frame is hinged to the first magnet base through the first connecting shaft pin, and the first magnet mounting frame can rotate relative to the first magnet base. The two ends of the first connecting spring are respectively connected to the first magnet mounting frame and the first base plate, and the first connecting spring can provide a restoring force for the first magnet mounting frame. The first energizing electromagnet is arranged on the first magnet mounting frame.

[0038] As shown in the figure, a single adsorption unit has four first adsorption components, which are divided into two groups, and the two groups of first adsorption components are arranged in a cross. The first flexible cable wheel is set on the rotating shaft of the first adsorption drive motor, and the first adsorption drive motor can drive the first flexible cable wheel to rotate.

[0039] For a single group of first adsorption wire through holes, after one end of the first drive flexible cable is connected to the first magnet mounting frame, it passes through a first adsorption wire through hole on the first bottom plate, and is wound around the first flexible cable wheel, and then passes through another first adsorption wire through hole on the first bottom plate, and is connected to another first magnet mounting frame; the first drive flexible cable is arranged in a U-shape, and the first adsorption drive motor can drive the two ends of the first drive flexible cable to shrink or stretch synchronously through the first flexible cable wheel. In a single adsorption unit, the two first drive flexible cables are arranged in a cross. In this structure, for a single adsorption unit, the two groups of first adsorption wire through holes are arranged in a cross; when the first adsorption drive motor is working, the first adsorption drive motor rotates forward or reversely, and it drives the two ends of the first drive flexible cable to shrink or stretch synchronously through the first flexible cable wheel. Further, the adsorption unit also includes a first motor fixing frame arranged on the end surface of the first bottom plate, the first adsorption drive motor is connected to the first motor fixing frame, and the first motor fixing frame can provide support for the first adsorption drive motor.

[0040] In a specific example, the first electrified electromagnet is fixed to the first magnet mounting frame by bolts; in the first adsorption assembly, the first magnet mounting frame is hinged to the first magnet base by a first connecting shaft pin; the first connecting spring is fixed between the first magnet mounting frame and the first base plate by gluing; the first motor fixing frame is fixed to the first base plate by bolts; the first flexible cable pulley is manufactured by integrating the flange and the flexible cable retracting and releasing pulley by 3D printing, and the first flexible cable pulley is fixed to the rotating shaft of the first adsorption drive motor by a top screw; one end of the first driving flexible cable is fixed (tied) to the first magnet mounting frame, passes through a first adsorption wire through hole on the first base plate, and is wound around the first flexible cable pulley (that is, after the first driving flexible cable is wound around the first flexible cable pulley for one circle, it is pulled out from the opposite direction of the first flexible cable pulley), and then passes through another first adsorption wire through hole on the first base plate, and is finally re-fixed on the first magnet mounting frame.

[0041] The connecting component includes a second base plate, a second connecting member, and a joint boss; there are two second base plates, and the two second base plates are arranged parallel to each other; the two second base plates are connected as a whole by the second connecting member, and a second space is formed between the two second base plates; four second connecting through holes are arranged on the second base plate. There are four joint bosses on the connecting component, and the four joint bosses on a single connecting component are divided into two groups, and the two joint bosses on the connecting component are recorded as a group of second boss components, and the two joint bosses in each group of second boss components are arranged parallel to each other. In a single connecting component, the side of a second base plate away from another second base plate in the connecting component is recorded as the second connecting surface; the two groups of second boss components on a single connecting component are respectively arranged on the second connecting surface of the second base plate in the connecting component.

[0042] The bending unit includes a third joint body, a third connecting spring, a third bending motor, a third flexible cable wheel, a third driving flexible cable, a fourth bending motor, a fourth flexible cable wheel, and a fourth driving flexible cable. In a single bending unit, the number of third joint bodies is M, the number of third connecting springs is (4M+4), and M is a natural number and M≥1.

[0043] The third joint body includes a third joint body and a joint boss, and there are four joint bosses on the third joint body. Four third connecting through holes are arranged in the circumference of the third joint body, and the four third connecting through holes are divided into two groups, and the two groups of third connecting through holes are arranged in a cross. The four joint bosses on a single third joint body are divided into two groups, and the two joint bosses on the third joint body located in the same plane are recorded as a group of third boss assemblies, and the two joint bosses in each group of third boss assemblies are arranged parallel to each other. The two groups of third boss assemblies on a single third joint body are respectively arranged on the two sides of the third joint body, and the two groups of third boss assemblies on a single third joint body are arranged in a cross.

[0044] There are (N-1) connection components and N bending units, where N is a natural number and N≥2. As shown in the figure, the bending units and the connection components are alternately connected in sequence and constitute a first bending intermediate body, and the two adsorption units are respectively connected to the two ends of the first bending intermediate body, and the two adsorption units are arranged in a mirror image relative to the first bending intermediate body, and the side of the first bottom plate where the first adsorption drive motor is provided is connected to the bending unit. In this embodiment, the bending units are located at the two ends of the outer side of the first bending intermediate body.

[0045] For ease of description, a specific example is given, in which: in a single bending unit, there are 2 third joint bodies and 12 third connecting springs; there are 2 connecting components and 3 bending units.

[0046] Along the direction from the starting side adsorption unit to the terminating side adsorption unit, the first bottom plate of the starting side adsorption unit is recorded as the 1st climbing plate, and the first bottom plate of the terminating side adsorption unit is recorded as the 2Nth climbing plate, the second bottom plate on the (K-1)th connection component close to the starting side adsorption unit is recorded as the (2K-2)th climbing plate, and the second bottom plate on the (K-1)th connection component close to the terminating side adsorption unit is recorded as the (2K-1)th climbing plate, K is a natural number, K≥2 and N≥K. L is a natural number, L≥1 and N≥L. In the above specific example, the 2Nth climbing plate is the 6th climbing plate.

[0047] Along the direction from the (2L-1) climbing plate to the 2L climbing plate, the joint boss on the (2L-1) climbing plate is connected to the joint boss on the adjacent third joint body by a cross-axis universal joint, the joint bosses on the two adjacent third joint bodies are connected by a cross-axis universal joint, and the joint boss on the (2L) climbing plate is connected to the joint boss on the adjacent third joint body by a cross-axis universal joint. Four third connection springs are evenly distributed between the (2L-1) climbing plate and its adjacent third joint body, and the four third connection springs are arranged in a cross; four third connection springs are evenly distributed between the two adjacent third joint bodies, and the four third connection springs are arranged in a cross. Four third connection springs are evenly distributed between the (2L) climbing plate and its adjacent third joint body, and the four third connection springs are arranged in a cross.

[0048] Along the direction from the starting side adsorption unit to the ending side adsorption unit, the bending units are sequentially recorded as the first bending unit, the second bending unit, and the third bending unit.

[0049] For the Lth bending unit, one end of the third driving flexible cable is connected to the second connecting through hole on the 2Lth climbing plate, passes through the connecting spring, the third connecting through hole, and the second connecting through hole on the (2L-1)th climbing plate, and is wound on the third flexible cable wheel, and then passes through the second connecting through hole, the connecting spring, and the third connecting through hole on the (2L-1)th climbing plate, and is connected to the second connecting through hole on the 2Lth climbing plate. The third driving flexible cable is arranged in a U shape. The third bending motor is arranged on the (2L-1)th climbing plate, and the third bending motor is located on the side of the (2L-1)th climbing plate away from the 2Lth climbing plate; the third flexible cable wheel is arranged on the rotating shaft of the third bending motor, and the third bending motor can drive the third driving flexible cable to move through the third flexible cable wheel so that the bending unit bends to one side.

[0050] For the Lth bending unit, one end of the fourth driving cable is connected to the second connecting through hole on the (2L-1)th climbing plate, passes through the connecting spring, the third connecting through hole, and the second connecting through hole on the 2L climbing plate, and is wound on the fourth cable wheel, and then passes through the second connecting through hole, the connecting spring, and the third connecting through hole on the 2L climbing plate, and is connected to the second connecting through hole on the (2L-1)th climbing plate. The fourth driving cable is arranged in a U shape. The fourth bending motor is arranged on the 2L climbing plate, and the fourth bending motor is located on the side of the 2L climbing plate away from the (2L-1)th climbing plate; the fourth cable wheel is arranged on the rotating shaft of the fourth bending motor, and the fourth bending motor can drive the fourth driving cable to move through the fourth cable wheel, so that the bending unit bends to one side. In this structure, the third driving cable and the fourth driving cable are arranged in a cross shape.

[0051] With the above structure, when the third cable wheel drives the third driving cable to move, one end of the third driving cable contracts and the other end of the third driving cable stretches; or when the fourth cable wheel drives the fourth driving cable to move, one end of the fourth driving cable contracts and the other end of the fourth driving cable stretches; thereby, the bending unit bends to one side.

[0052] The first electromagnet, the first adsorption drive motor, the third bending motor and the fourth bending motor are respectively connected to the control system. Preferably, the two sets of second boss components on a single connection component are arranged in a cross. Preferably, the third bending motor and the fourth bending motor are respectively selected as reduction motors.

[0053] Furthermore, a third spring stopper matched with a third connecting spring is provided on the side of the (2L-1) climbing plate close to the (2L) climbing plate, and a third spring stopper matched with a third connecting spring is provided on the side of the (2N-1) climbing plate close to the (2N-1) climbing plate; and third spring stoppers matched with the third connecting spring are provided on both side surfaces of the third joint body. The third spring stopper is advantageous for limiting the connection spring.

[0054] Furthermore, a first space is formed between the first magnet bases of the four first adsorption components in the adsorption unit, and the third bending motor on the 1st climbing plate and the fourth bending motor on the 2Nth climbing plate are respectively located in the first space; the fourth bending motor on the 2Qth climbing plate and the third bending motor on the (2Q+1)th climbing plate are respectively located in the second space, where Q is a natural number, Q≥1 and (N-1)≥Q.

[0055] The wall-climbing robot of the present embodiment is a flexible cable-driven magnetic adsorption flip-type wall-climbing robot, which uses flexible cables to drive continuous joints to generate corresponding bending angles, thereby realizing movement modes such as flipping and walking of the robot.

[0056] When the adsorption unit of the wall-climbing robot is adsorbed on a plane, the first adsorption drive motor controls the retraction and extension of the first driving rope, so that the adsorption surfaces of the four first powered electromagnets are parallel to the adsorbed plane, and then the first powered electromagnets are energized to enable the adsorption unit to be adsorbed on the plane.

[0057] When the adsorption unit of the wall-climbing robot needs to be adsorbed on a curved surface, under the action of the spring support force, the first adsorption drive motor controls the retraction and extension of the first driving flexible rope, so that the adsorption surface of the first powered electromagnet cooperates with the adsorbed surface, and then the first powered electromagnet is energized to make the adsorption unit adsorbed on the curved surface; at this time, the robot completes the adsorption action on the curved surface.

[0058] When the adsorption unit of the wall-climbing robot needs to be adsorbed on the cylindrical surface; the adsorption surfaces of the two first powered electromagnets in the vertical direction of the curved surface remain parallel to the adsorbed plane; the two first powered electromagnets in the lateral direction are controlled by the first adsorption drive motor to retract and release the first driving flexible rope according to the curvature of the curved surface, so that the adsorption surface of the first powered electromagnet fits with the adsorbed surface; then the first powered electromagnets are energized to make the adsorption unit adsorbed on the cylindrical surface; at this time, the robot completes the adsorption action on the curved surface.

[0059] When the first energized electromagnet is powered off, the first energized electromagnet no longer generates magnetic adsorption force, and the adsorption unit will be separated from the adsorbed surface. In the present application, the two adsorption units are respectively connected to the two ends of the first curved intermediate body, and the two adsorption units alternately adsorb during the flipping and walking process of the wall-climbing robot, thereby realizing the flipping and walking gait of the wall-climbing robot. In the present application, the structural design of the bending unit enables the wall-climbing robot to rotate around the X and Y axes, and to rotate around the Z axis, thereby realizing multiple motion modes such as omnidirectional steering and torsional wall climbing of the wall-climbing robot. In the present application, the bending angle of the bending unit is controlled to realize the variable radius flipping walking of the robot; when the wall-climbing robot needs to walk with a larger step distance, the middle bending unit can be bent in a straight line or at a small angle to meet the corresponding needs.

[0060] When two wall-climbing robots perform collaborative operations in series, a single wall-climbing robot has 9 independent degrees of freedom and high working efficiency; in addition, the wall-climbing robot of the present application can realize multiple serial and parallel collaborative operations.

[0061] One of the wall-climbing robots can bend and transform into an S shape, providing a support point for the second robot in series by lowering its own height and center of gravity; the series collaborative operation of multiple wall-climbing robots can further improve the work efficiency and innovativeness of the motion modes of the wall-climbing robots; in addition, multiple wall-climbing robots can also be simultaneously attached to a magnetic object to achieve parallel collaborative operation, further improving the robot's load capacity and motion ability.

[0062] In the present application, the coordination design of the bending unit and the connecting assembly is adopted, so that the length of the flexible cable that needs to be pulled by a single bending unit is reduced, the friction between the flexible cable and other components is relatively reduced, and the overall bending deformation of the wall-climbing robot is close to the change of constant curvature. On the basis of ensuring that the bending deformation angle of the wall-climbing robot exceeds 360°, the distance between adjacent third joints is made as small as possible, and the length of the entire wall-climbing robot is shortened, which effectively reduces the obstruction caused by the gravity torque when the wall-climbing robot is in a cantilever state on the vertical wall. Further, based on the improvement of the structure, the motion space of the wall-climbing robot is a peach-shaped entity that can reach eight quadrants of the space. The wall-climbing robot of the present application can realize flip-type variable radius walking and multi-motion modes, and can better adapt to the movement in complex unstructured confined spaces. Furthermore, in view of the situation where there are curved surfaces on the surface of steel structures in industry, the present application adopts an adsorption unit with an adaptive curved surface to increase the adsorption stability and adaptability of the end of the wall-climbing robot.

[0063] In summary, the wall-climbing robot of the present application has strong wall-climbing ability, obstacle-crossing ability, and surface-to-surface conversion ability, especially the ability to move in complex unstructured narrow spaces (such as inspection and maintenance tasks for large equipment and tanks in the fields of nuclear power, aviation, petroleum, and hydropower). The wall-climbing robot can achieve flip climbing, crossing obstacles, 0-360° transition plane movement, and can also achieve variable radius flip walking, omnidirectional steering walking, twisting wall climbing in narrow gaps, and dexterous walking through narrow pores. It has multiple motion modes such as flipping, creeping, twisting, and crossing walking. In addition, the wall-climbing robot of the present application can also realize serial and parallel collaborative operations between multiple robots, further improving the innovation of the robot's multi-modal motion; the robot can simultaneously achieve plane-curved surface adsorption, further expanding the robot's working range and scenarios.

[0064] 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 adsorption unit, connection components, bending unit and control system; The adsorption unit comprises a first bottom plate, a first adsorption assembly, a first adsorption drive motor, a first flexible cable wheel, and a first flexible cable drive. There are two of each of the first adsorption drive motor, the first flexible cable wheel, and the first flexible cable drive. The first bottom plate is provided with a first adsorption wire through hole, a joint boss, and a second connection through hole. There are four first adsorption wire through holes, and the four first adsorption wire through holes are divided into two groups, and the two groups of first adsorption wire through holes are arranged in a cross shape; there are two joint bosses on the first bottom plate, which are arranged parallel to each other; there are four second connection through holes on the first bottom plate; The first adsorption assembly includes a first magnet base, a first magnet mounting frame, a first connecting shaft pin, a first connecting spring, and a first energizing electromagnet; The first magnet base is arranged on one side end surface of the first bottom plate, and the joint boss of the first bottom plate and the first adsorption drive motor are respectively arranged on the other side end surface of the first bottom plate; The first magnet mounting frame is hinged to the first magnet base through a first connecting shaft pin, and the first magnet mounting frame can rotate relative to the first magnet base; the two ends of the first connecting spring are respectively connected to the first magnet mounting frame and the first bottom plate, and the first connecting spring can provide a restoring force for the first magnet mounting frame; the first electrified electromagnet is arranged on the first magnet mounting frame; There are four first adsorption components, and the four first adsorption components are divided into two groups, and the two groups of first adsorption components are arranged in a cross shape; The first flexible cable wheel is arranged on the rotating shaft of the first adsorption driving motor and the first adsorption driving motor can drive the first flexible cable wheel to rotate; For a single group of first adsorption wire-passing through holes, after one end of the first driving flexible cable is connected to the first magnet mounting frame, it passes through the first adsorption wire-passing through hole on the first bottom plate, and is wound around the first flexible cable wheel, and then passes through another first adsorption wire-passing through hole on the first bottom plate, and is connected to another first magnet mounting frame, the first driving flexible cable is arranged in a U shape, and the first adsorption driving motor can drive the two ends of the first driving flexible cable to contract or extend synchronously through the first flexible cable wheel; In a single adsorption unit, two first driving cables are arranged in a cross shape; The connecting component includes a second base plate, a second connecting member, and a joint boss. There are two second base plates, and the two second base plates are arranged in parallel with each other. The two second base plates are connected as a whole by the second connecting member, and a second space is formed between the two second base plates. Four second connecting through holes are arranged on the second base plate. There are four joint bosses on the connecting component. The four joint bosses on a single connecting component are divided into two groups. The two joint bosses on the connecting component are recorded as a group of second boss components, and the two joint bosses in each group of second boss components are arranged in parallel with each other. In a single connecting component, the side of a second base plate away from another second base plate in the connecting component is recorded as a second connecting surface. The two groups of second boss components on a single connecting component are respectively arranged on the second connecting surface of the second base plate in the connecting component. The bending unit includes a third joint body, a third connecting spring, a third bending motor, a third flexible cable wheel, a third driving flexible cable, a fourth bending motor, a fourth flexible cable wheel, and a fourth driving flexible cable; In a single bending unit, the number of the third joint bodies is M, the number of the third connecting springs is (4M+4), M is a natural number and M≥1; The third joint body comprises a third joint body and a joint boss, and there are four joint bosses on the third joint body; four third connecting through holes are arranged in the circumference of the third joint body, and the four third connecting through holes are divided into two groups and the two groups of third connecting through holes are arranged in a cross; The four joint bosses on a single third joint body are equally divided into two groups, and the two joint bosses on the third joint body located in the same plane are recorded as a group of third boss components, and the two joint bosses in each group of third boss components are arranged parallel to each other; the two groups of third boss components on a single third joint body are respectively arranged on two side surfaces of the third joint body, and the two groups of third boss components on a single third joint body are arranged in a cross shape; There are two adsorption units, (N-1) connection components, and N bending units, where N is a natural number and N≥2; The bending units and the connecting components are alternately connected in sequence to form a first bending intermediate body, the two adsorption units are respectively connected to the two ends of the first bending intermediate body, the two adsorption units are arranged in a mirror image relative to the first bending intermediate body, and the side of the first bottom plate on which the first adsorption drive motor is arranged is connected to the bending unit; One side adsorption unit is recorded as the starting side adsorption unit, and the other side adsorption unit is recorded as the ending side adsorption unit; Along the direction from the starting side adsorption unit to the terminating side adsorption unit, the first bottom plate of the starting side adsorption unit is recorded as the 1st climbing wall plate, and the first bottom plate of the terminating side adsorption unit is recorded as the 2Nth climbing wall plate, the second bottom plate on the (K-1)th connection component close to the starting side adsorption unit is recorded as the (2K-2)th climbing wall plate, and the second bottom plate on the (K-1)th connection component close to the terminating side adsorption unit is recorded as the (2K-1)th climbing wall plate, K is a natural number, K≥2 and N≥K; L is a natural number, L≥1 and N≥L; When M is 1, along the direction from the (2L-1)th climbing plate to the 2Lth climbing plate, the joint boss on the (2L-1)th climbing plate and the joint boss on the adjacent third joint body are connected via a cross-axis universal joint, and the joint boss on the (2L)th climbing plate and the joint boss on the adjacent third joint body are connected via a cross-axis universal joint; four third connecting springs are evenly distributed between the (2L-1)th climbing plate and the adjacent third joint body, and the four third connecting springs are arranged in a cross, and four third connecting springs are evenly distributed between the (2L)th climbing plate and the adjacent third joint body, and the four third connecting springs are arranged in a cross; When M≥2, along the direction from the (2L-1)th climbing plate to the 2Lth climbing plate, the joint boss on the (2L-1)th climbing plate and the joint boss on the adjacent third joint body are connected via a cross-axis universal joint, the joint bosses on two adjacent third joint bodies are connected via a cross-axis universal joint, and the joint boss on the (2L)th climbing plate and the joint boss on the adjacent third joint body are connected via a cross-axis universal joint; four third connecting springs are evenly distributed between the (2L-1)th climbing plate and its adjacent third joint body, and the four third connecting springs are arranged in a cross, four third connecting springs are evenly distributed between two adjacent third joint bodies, and the four third connecting springs are arranged in a cross; four third connecting springs are evenly distributed between the (2L)th climbing plate and its adjacent third joint body, and the four third connecting springs are arranged in a cross; Along the direction from the starting side adsorption unit to the ending side adsorption unit, the bending units are sequentially recorded as the first bending unit, the second bending unit, ..., the Nth bending unit; For the Lth bending unit, one end of the third driving flexible cable is connected to the second connecting through hole on the 2Lth climbing plate, passes through the connecting spring, the third connecting through hole, and the second connecting through hole on the (2L-1)th climbing plate, and is wound on the third flexible cable wheel, and then passes through the second connecting through hole, the connecting spring, and the third connecting through hole on the (2L-1)th climbing plate, and is connected to the second connecting through hole on the 2Lth climbing plate, and the third driving flexible cable is arranged in a U shape; the third bending motor is arranged on the (2L-1)th climbing plate and the third bending motor is located on the side of the (2L-1)th climbing plate away from the 2L climbing plate, the third flexible cable wheel is arranged on the rotating shaft of the third bending motor and the third bending motor can drive the third driving flexible cable to move through the third flexible cable wheel so that the bending unit bends to one side; After one end of the fourth driving flexible cable is connected to the second connecting through hole on the (2L-1) climbing plate, it passes through the connecting spring, the third connecting through hole, and the second connecting through hole on the 2L climbing plate, and is wound on the fourth flexible cable wheel, and then passes through the second connecting through hole, the connecting spring, and the third connecting through hole on the 2L climbing plate, and is connected to the second connecting through hole on the (2L-1) climbing plate, and the fourth driving flexible cable is arranged in a U shape; the fourth bending motor is arranged on the 2L climbing plate and the fourth bending motor is located on the side of the 2L climbing plate away from the (2L-1) climbing plate, the fourth flexible cable wheel is arranged on the rotating shaft of the fourth bending motor and the fourth bending motor can drive the fourth driving flexible cable to move through the fourth flexible cable wheel so that the bending unit bends to one side; the third driving flexible cable and the fourth driving flexible cable are arranged in a cross shape; The first energized electromagnet, the first adsorption drive motor, the third bending motor, and the fourth bending motor are respectively connected to the control system.

2. The wall-climbing robot according to claim 1, characterized in that: The adsorption unit further comprises a first motor fixing frame arranged on the end surface of the first bottom plate, the first adsorption drive motor is connected to the first motor fixing frame and the first motor fixing frame can provide support for the first adsorption drive motor.

3. The wall-climbing robot according to claim 1 or 2, characterized in that: The first adsorption wire through hole is arranged along the axial direction of the first bottom plate.

4. The wall-climbing robot according to any one of claims 1 to 3, characterized in that: The two groups of second boss components on a single connecting component are arranged in a cross shape.

5. The wall-climbing robot according to claim 1, characterized in that: The bending units are located at two outer ends of the first bending intermediate body.

6. The wall-climbing robot according to claim 1, characterized in that: A third spring stopper matched with a third connecting spring is provided on the side of the (2L-1) climbing plate close to the 2L climbing plate, and a third spring stopper matched with a third connecting spring is provided on the side of the 2N climbing plate close to the (2N-1) climbing plate; The third spring limiting seats matched with the third connecting spring are respectively arranged on the two side surfaces of the third joint body.

7. The wall-climbing robot according to any one of claims 1 to 6, characterized in that: A first space is formed between the first magnet bases of the four first adsorption components in the adsorption unit, and the third bending motor on the first climbing plate and the fourth bending motor on the 2N climbing plate are respectively located in the first space; The fourth bending motor on the 2Qth climbing plate and the third bending motor on the (2Q+1)th climbing plate are respectively located in the second space, Q is a natural number, Q≥1 and (N-1)≥Q.

8. Application of the wall-climbing robot according to any one of claims 1 to 7.

9. The use according to claim 8, characterized in that: The steps include: Several wall-climbing robots are connected in series to perform coordinated series operations; Or several wall-climbing robots are connected in parallel to achieve parallel collaborative operation.

10. The use according to claim 8, characterized in that: This includes one or more of the following steps: (1) Plane adsorption By controlling the retraction and extension of the first driving flexible rope controlled by the first adsorption driving motor, the adsorption surfaces of the four first energized electromagnets are parallel to the adsorbed plane, and then the first energized electromagnets are energized to enable the adsorption unit to be adsorbed on the plane; (2) Surface adsorption Under the action of the spring support force, the first driving flexible rope controlled by the first adsorption driving motor is retracted and extended, so that the adsorption surface of the first energized electromagnet matches with the adsorbed surface, and then the first energized electromagnet is energized, so that the adsorption unit can be adsorbed on the curved surface; at this time, the robot completes the adsorption action on the curved surface; (3) Cylindrical surface adsorption The adsorption surfaces of the two first powered electromagnets in the vertical direction of the curved surface remain parallel to the adsorbed plane; the two first powered electromagnets in the lateral direction are controlled by the first adsorption drive motor to retract and release the first driving rope according to the curvature of the curved surface, so that the adsorption surfaces of the first powered electromagnets fit with the adsorbed surface; and then the first powered electromagnets are energized to make the adsorption unit adsorbed on the cylindrical surface.

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