A multi-modal flip-type collaborative continuous wall-climbing robot

Abstract

The present invention discloses a multi-modal flip-type collaborative continuous wall-climbing robot, which aims to solve the problems of the wall-climbing robot's ability to adapt to curved surfaces and plane adsorption on steel structure surfaces, as well as the robot's ability to move between planes at large angle transitions and to fix the flipping walking step distance, thereby further expanding the multifunctionality of the wall-climbing robot body. The wall-climbing robot includes an adsorption unit, a connection component, a bending unit, and a control system; the adsorption unit includes a first base plate, a first adsorption component, a first adsorption drive motor, a first flexible cable pulley, and a first drive flexible cable, and there are two of each of the first adsorption drive motor, the first flexible cable pulley, and the first drive flexible cable; the first base plate is provided with a first adsorption wire through hole, a joint boss, and a second connection through hole, and there are four of the first adsorption wire through holes. The flip-type continuous 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, and narrow spaces.

Description

Technical Field

[0001] The present application relates to the field of robotics, particularly wall-climbing robots, and specifically to a multi-modal, flippable, collaborative, continuous wall-climbing robot. More specifically, the present application provides a collaborative wall-climbing robot capable of simultaneously adsorbing on both curved and flat steel surfaces, possessing multiple motion modes, and flexible movement capabilities. Background Art

[0002] Currently, the main locomotion modes of wall-climbing robots include wheeled, tracked, propeller-driven, and multi-legged walking. These locomotion modes offer advantages such as reliability and high efficiency, but they have limitations in terms of navigating obstacles, flexibly turning, and transitioning between surfaces, making them difficult to adapt to the needs of locomotion in complex, unstructured, confined spaces.

[0003] During movement, a wall-climbing robot using a flipping motion (similar to an acrobat or gymnast performing somersaults with their body extended) can use its trunk to traverse obstacles and transition to a transition plane, effectively improving the robot's ability to traverse obstacles and transition between surfaces. However, when existing flipping wall-climbing robots are cantilevered on a vertical wall, the torque generated by the robot's own gravity hinders the robot's upward movement, increasing the load on the drive motor. Furthermore, the large bending angle of the trunk during movement generates a significant overturning torque, which in turn affects the robot's stability. Furthermore, because existing flipping wall-climbing robots utilize a flipping motion, they have a fixed step length. When the travel distance is fixed, the robot struggles to reach a specific coordinate point or area, indirectly impacting its efficiency. Furthermore, the existing flip robot's 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 object of this 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 flip walking step, and further expanding the versatility of the wall-climbing robot body.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] A wall-climbing robot comprises an adsorption unit, a connection component, a bending unit, and a control system;

[0008] 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 drive. There are two of each of the first adsorption drive motor, the first flexible cable wheel, and the first flexible cable drive.

[0009] 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 and they are arranged parallel to each other; there are four second connection through holes on the first bottom plate;

[0010] The first adsorption assembly includes a first magnet base, a first magnet mounting bracket, a first connecting shaft pin, a first connecting spring, and a first energized electromagnet;

[0011] The first magnet base is arranged on one 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 end surface of the first base plate;

[0012] The first magnet mounting frame is hingedly connected to the first magnet base via a first connecting 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 energized electromagnet is disposed on the first magnet mounting frame;

[0013] There are four first adsorption components, each of which is divided into two groups, and the two groups of first adsorption components are arranged in a cross shape;

[0014] The first flexible cable wheel is arranged 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;

[0015] For a single set of first adsorption wire through holes, one end of the first driving cable is connected to the first magnet mounting bracket, passes through the first adsorption wire through hole on the first base plate, and is wound around the first cable pulley. Then, the first driving cable passes through another first adsorption wire through hole on the first base plate and is connected to another first magnet mounting bracket. The first driving cable is arranged in a U shape, and the first adsorption driving motor can drive both ends of the first driving cable to contract or extend synchronously through the first cable pulley.

[0016] In a single adsorption unit, the two first driving cables are arranged in a cross shape;

[0017] The connecting component includes a second base plate, a second connecting piece, and a joint boss, wherein 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 piece, and a second space is formed between the two second base plates; four second connecting through holes are provided 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 the other 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 correspondingly arranged on the second connecting surface of the second base plate in the connecting component;

[0018] The bending unit includes a third joint body, a third connecting spring, a third bending motor, a third cable wheel, a third driving cable, a fourth bending motor, a fourth cable wheel, and a fourth driving cable;

[0019] In a single bending unit, the number of the third joint bodies is M, the number of the third connecting springs is (4M+4), where M is a natural number and M≥1;

[0020] 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 a circumferential direction 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;

[0021] The four joint bosses on a single third joint body are divided into two groups. The two joint bosses on the third joint body located in the same plane are recorded as a group of third boss assemblies. 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 shape.

[0022] There are two adsorption units, (N-1) connection components, and N bending units, where N is a natural number and N≥2;

[0023] 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 where the first adsorption drive motor is provided is connected to the bending unit;

[0024] The adsorption unit on one side is recorded as the starting side adsorption unit, and the adsorption unit on the other side is recorded as the ending side adsorption unit;

[0025] 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;

[0026] 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;

[0027] 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 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)th climbing plate and the joint boss on the adjacent third joint body are connected by 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 the 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;

[0028] 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;

[0029] For the Lth bending unit, one end of the third driving 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 cable pulley, 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 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 cable pulley is arranged on the rotating shaft of the third bending motor, and the third bending motor can drive the third driving cable to move through the third cable pulley so that the bending unit bends to one side; the One end of the fourth driving cable is connected to the second connecting through hole on the (2L-1) 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 pulley. Then, the fourth driving cable 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. The fourth driving cable is arranged in a U shape. The fourth bending motor is provided 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 cable pulley is provided 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 pulley so that the bending unit bends to one side. The third driving cable and the fourth driving cable are arranged in a cross shape.

[0030] The first energized electromagnet, the first adsorption drive motor, the third bending motor, and the fourth bending motor are respectively connected to a control system.

[0031] The adsorption unit further includes a first motor fixing bracket arranged on the end surface of the first bottom plate, the first adsorption drive motor is connected to the first motor fixing bracket, and the first motor fixing bracket can provide support for the first adsorption drive motor.

[0032] The first adsorption wire through hole is arranged along the axial direction of the first bottom plate.

[0033] The first adsorption drive motor is a reduction motor.

[0034] The two groups of second boss components on a single connecting component are arranged in a cross shape.

[0035] The bending units are located at two outer ends of the first bending intermediate body.

[0036] M≥2.

[0037] A third spring limiting seat cooperating 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 limiting seat cooperating with a third connecting spring is provided on the side of the 2N climbing plate close to the (2N-1) climbing plate;

[0038] The two side surfaces of the third joint body are respectively provided with third spring limiting seats matched with the third connecting spring.

[0039] 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;

[0040] 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.

[0041] Application of the aforementioned wall-climbing robot.

[0042] The steps include:

[0043] Several wall-climbing robots are connected in series to perform collaborative serial operations;

[0044] Or several wall-climbing robots are connected in parallel to achieve parallel collaborative operation.

[0045] This includes one or more of the following steps:

[0046] (1) Plane adsorption

[0047] 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 made parallel to the plane to be adsorbed, and then the first energized electromagnets are energized to allow the adsorption unit to be adsorbed on the plane;

[0048] (2) Surface adsorption

[0049] Under the action of the spring support force, the first drive cable is retracted and extended by the first adsorption drive motor, so that the adsorption surface of the first energized electromagnet matches the adsorbed surface. Then, the first energized electromagnet is energized, and the adsorption unit is adsorbed on the curved surface. At this point, the robot completes the adsorption action on the curved surface.

[0050] (3) Cylindrical surface adsorption

[0051] The adsorption surfaces of the two first energized electromagnets in the vertical direction of the curved surface remain parallel to the adsorbed plane; the two first energized electromagnets in the horizontal direction, according to the curvature of the curved surface, control the retraction and extension of the first driving flexible rope through the first adsorption driving motor, so that the adsorption surfaces of the first energized electromagnets fit with the adsorbed surface; and then the first energized electromagnets are energized to make the adsorption unit adsorbed on the cylindrical surface.

[0052] 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 elephant's trunk, the inventor 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 movement modes.

[0053] The present invention's flip-type continuous wall-climbing robot boasts strong wall-climbing, obstacle-crossing, and surface-to-surface transition capabilities, particularly in complex, unstructured, and confined spaces. Testing has demonstrated that the robot is capable of flip-climbing, traversing obstacles, and moving between 0-360° transition planes. It can also achieve variable-radius flipping, omnidirectional steering, twisting wall-climbing within narrow gaps, and deftly traversing narrow apertures, demonstrating multiple motion modes including flipping, creeping, twisting, and traversing. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The present invention will now be described by way of example with reference to the accompanying drawings, in which:

[0055] Figure 1 Schematic diagram of the three-dimensional structure of the wall-climbing robot.

[0056] Figure 2 Schematic diagram of the structure of the adsorption unit in Example 1 Figure 1 .

[0057] Figure 3 Schematic diagram of the structure of the adsorption unit in Example 1 Figure 2 .

[0058] Figure 4 Schematic diagram of the overall structure of the wall-climbing robot.

[0059] Figure 5 This is a schematic structural diagram of the third joint in Example 1.

[0060] Figure 6 Schematic diagram of the structure of the connection component in Example 1.

[0061] Figure 7 Schematic diagram of the wall-climbing robot working on a curved surface in Example 1.

[0062] Markings in the figure: 1. adsorption unit, 2. connecting assembly, 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 bracket, 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

[0063] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, a brief introduction to the drawings required for use in the description of the embodiments will be given 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. It is obvious to those skilled in the art that various changes can be made to the disclosed embodiments, and the general principles defined in the present disclosure can be applied to other embodiments and application scenarios without departing from the principles and scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments shown, but is in the broadest scope consistent with the scope of the claims.

[0064] 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. As used in this disclosure, the singular forms "a", "an" and "the" may also include plural forms, unless the context clearly indicates an exception. It should also be understood that, as used 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.

[0065] It should be understood that the terms "system", "unit", "module" and / or "block" used in this 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.

[0066] These and other features and characteristics of the present application, as well as the functions and methods of operation of the related structural elements, as well as the assembly of components and manufacturing economies, will become more apparent from the following description of the accompanying drawings, which form a part of this specification. 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.

[0067] Example 1

[0068] In order for existing flip-type continuous wall-climbing robots to achieve large-angle surface-to-surface conversion and multi-robot collaborative operations, the trunk of the existing wall-climbing robots needs to have a large bending angle and a bending shape with 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).

[0069] However, in existing flip-type continuous wall-climbing robots, friction between the drive cables and the continuous joint modules causes the cables closer to the drive motor to retract faster than those farther from the motor, causing the continuous trunk's bending trajectory to deviate from the theoretically designed uniform contraction pattern. Consequently, as the number of continuous joint modules connected in series increases, the accumulated friction between the cables and joint modules increases, and the overall bending deformation trajectory of the trunk deviates further from the theoretical trajectory. Ultimately, the adsorption area of the adsorption module fails to reach its effective value, preventing it from adhering to the work surface.

[0070] To this end, this 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 of which is recorded as the starting side suction unit and the other side suction unit is recorded as the ending side suction unit.

[0071] In this embodiment, the adsorption unit includes a first base plate, a first adsorption assembly, a first adsorption drive motor, a first flexible cable pulley, and a first flexible cable. The first adsorption drive motor, the first flexible cable pulley, and the first flexible cable are each two. In a specific embodiment, the first adsorption drive motor is a reduction motor.

[0072] The first base plate is provided with a first suction cable through-hole, a joint boss, and a second connecting through-hole for mating with the first drive cable. There are four first suction cable through-holes, divided into two groups, and the two groups of first suction cable through-holes are arranged in a cross. There are two joint bosses on the first base plate, and the joint bosses on the two first base plates are arranged parallel to each other. Furthermore, there are four second connecting through-holes on the first base plate. In one embodiment, the first suction cable through-holes are arranged along the axial direction of the first base plate.

[0073] The first adsorption assembly includes a first magnet base, a first magnet mounting bracket, a first connecting shaft pin, a first connecting spring, and a first energized electromagnet. The first magnet base is arranged on one end face 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 end face of the first base plate. The first magnet mounting bracket is hinged to the first magnet base through the first connecting shaft pin, and the first magnet mounting bracket can rotate relative to the first magnet base. The two ends of the first connecting spring are respectively connected to the first magnet mounting bracket and the first base plate, and the first connecting spring can provide a restoring force for the first magnet mounting bracket. The first energized electromagnet is arranged on the first magnet mounting bracket.

[0074] As shown in the figure, a single adsorption unit has four first adsorption components, each divided into two groups, and the two groups of first adsorption components are arranged in a cross shape. The first flexible cable pulley is set on the rotating shaft of the first adsorption drive motor, and the first adsorption drive motor can drive the first flexible cable pulley to rotate.

[0075] For a single set of first adsorption wire holes, one end of the first drive cable, after being connected to the first magnet mounting bracket, passes through a first adsorption wire hole on the first base plate, is wrapped around the first cable pulley, and then passes through another first adsorption wire hole on the first base plate and is connected to another first magnet mounting bracket. The first drive cable is arranged in a U-shape, and the first adsorption drive motor, via the first cable pulley, can drive the two ends of the first drive cable to contract or extend synchronously. In a single adsorption unit, the two first drive cables are arranged in a cross. In this structure, for a single adsorption unit, the two sets of first adsorption wire holes are arranged in a cross. When the first adsorption drive motor is in operation, it rotates forward or reverse, driving the two ends of the first drive cable to contract or extend synchronously via the first cable pulley. Furthermore, the adsorption unit also includes a first motor mounting bracket disposed on the end surface of the first base plate, the first adsorption drive motor being connected to the first motor mounting bracket, and the first motor mounting bracket can provide support for the first adsorption drive motor.

[0076] 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 mounting frame is fixed to the first base plate by bolts; the first flexible cable pulley is manufactured by 3D printing to integrate the flange and the flexible cable retracting and releasing pulley, 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 once, 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 to the first magnet mounting frame.

[0077] The connecting assembly 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 provided on the second base plate. There are four joint bosses on the connecting assembly, and the four joint bosses on a single connecting assembly are divided into two groups, and the two joint bosses on the connecting assembly are recorded as a group of second boss assemblies, and the two joint bosses in each group of second boss assemblies are arranged parallel to each other. In a single connecting assembly, the side of a second base plate away from the other second base plate in the connecting assembly is recorded as the second connecting surface; the two groups of second boss assemblies on a single connecting assembly are respectively correspondingly provided on the second connecting surface of the second base plate in the connecting assembly.

[0078] The bending unit includes a third joint, a third connecting spring, a third bending motor, a third cable pulley, a third drive cable, a fourth bending motor, a fourth cable pulley, and a fourth drive cable. In a single bending unit, there are M third joints and (4M+4) third connecting springs, where M is a natural number and M≥1.

[0079] 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 circumferentially on 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 located on the same plane on the third joint body 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.

[0080] There are (N-1) connecting assemblies and N bending units, where N is a natural number and N ≥ 2. As shown in the figure, the bending units and connecting assemblies are alternately connected to form a first bending intermediate body. Two suction units are connected to the ends of the first bending intermediate body, respectively. The two suction units are arranged as mirror images of the first bending intermediate body, and the side of the first base plate where the first suction drive motor is located is connected to the bending units. In this embodiment, the bending units are located at the outer ends of the first bending intermediate body.

[0081] 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.

[0082] Along the direction from the starting adsorption unit to the terminating adsorption unit, the first bottom plate of the starting adsorption unit is designated as the 1st climbing plate, and the first bottom plate of the terminating adsorption unit is designated as the 2Nth climbing plate. The second bottom plate of the (K-1)th connecting component close to the starting adsorption unit is designated as the (2K-2)th climbing plate, and the second bottom plate of the (K-1)th connecting component close to the terminating adsorption unit is designated 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.

[0083] 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 via a cross-axis universal joint, the joint bosses on the two adjacent third joint bodies are connected via 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 via a cross-axis universal joint. Four third connecting springs are evenly distributed between the (2L-1) 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 the 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) climbing plate and its adjacent third joint body, and the four third connecting springs are arranged in a cross.

[0084] 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.

[0085] For the Lth bending unit, one end of the third driving 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 around the third cable pulley. The third driving cable 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 cable is arranged in a U-shape. The third bending motor is disposed 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 cable pulley is disposed on the rotating shaft of the third bending motor, and the third bending motor can drive the third driving cable via the third cable pulley to cause the bending unit to bend to one side.

[0086] For the Lth bending unit, one end of the fourth driving cable is connected to the second connecting hole on the (2L-1)th climbing plate, then passes through the connecting spring, the third connecting hole, and the second connecting hole on the 2Lth climbing plate before being wrapped around the fourth cable sheave. The fourth driving cable then passes through the second connecting hole, the connecting spring, and the third connecting hole on the 2Lth climbing plate, and connects to the second connecting hole on the (2L-1)th climbing plate. The fourth driving cable is arranged in a U-shape. The fourth bending motor is disposed on the 2Lth climbing plate, and the fourth bending motor is located on the side of the 2Lth climbing plate away from the (2L-1)th climbing plate. The fourth cable sheave is disposed on the rotating shaft of the fourth bending motor, and the fourth bending motor drives the fourth driving cable via the fourth cable sheave to cause the bending unit to bend to one side. In this structure, the third and fourth driving cables are arranged in a cross shape.

[0087] With the above-mentioned structure, when the third cable pulley drives the third driving cable to move, one end of the third driving cable contracts and the other end of the third driving cable extends; or when the fourth cable pulley drives the fourth driving cable to move, one end of the fourth driving cable contracts and the other end of the fourth driving cable extends; thereby causing the bending unit to bend to one side.

[0088] The first energized electromagnet, the first adsorption drive motor, the third bending motor, and the fourth bending motor are each connected to a control system. Preferably, the two sets of second boss assemblies on the single connecting assembly are arranged in a cross. Preferably, the third bending motor and the fourth bending motor are each a reduction motor.

[0089] Furthermore, a third spring stopper is provided on the side of the (2L-1)th climbing plate near the 2Lth climbing plate, and cooperates with the third connecting spring. A third spring stopper is provided on the side of the 2Nth climbing plate near the (2N-1)th climbing plate, and cooperates with the third connecting spring. Third spring stoppers are provided on both side surfaces of the third joint body, respectively, and cooperate with the third connecting spring. The third spring stoppers facilitate the limiting of the connecting springs.

[0090] 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 2N climbing plate are respectively located in the first space; the fourth bending motor on the 2Q 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.

[0091] The wall-climbing robot of this 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.

[0092] When the adsorption unit of the wall-climbing robot is adsorbed on a plane, the first driving flexible rope controlled by the first adsorption driving motor is retracted and extended, so that the adsorption surfaces of the four first energized electromagnets are parallel to the adsorbed plane, and then the first energized electromagnets are energized to make the adsorption unit adsorbed on the plane.

[0093] 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 driving cable controlled by the first adsorption driving motor is retracted and extended, so that the adsorption surface of the first energized electromagnet is matched with the adsorbed surface, and then the first energized 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.

[0094] When the adsorption unit of the wall-climbing robot needs to be adsorbed on a 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 horizontal direction are controlled by the first adsorption drive motor to retract and extend 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; 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.

[0095] 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, as well as 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 and walking of the robot; when the wall-climbing robot needs to walk with a larger step distance, the bending unit in the middle can be bent in a straight line or at a small angle to meet the corresponding needs.

[0096] 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.

[0097] 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; multiple wall-climbing robots can work together in series to further improve their work efficiency and the innovation of their motion modes; in addition, multiple wall-climbing robots can also simultaneously attach to a magnetic object to achieve parallel collaborative operation, further improving the robots' load capacity and motion capabilities.

[0098] In the present application, a coordinated design of a bending unit and a 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 a constant curvature change. 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, effectively reducing the obstruction caused by the gravitational torque when the wall-climbing robot is in a cantilever state on the vertical wall. Furthermore, 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 space. The wall-climbing robot of the present application can realize flip-type variable radius walking and multiple 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.

[0099] 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, and narrow spaces (such as performing inspection and maintenance tasks on large equipment and tanks in the fields of nuclear power, aviation, petroleum, and hydropower). The wall-climbing robot can achieve flip climbing, crossing obstacles, and 0-360° transition plane movement. It can also achieve variable radius flip walking, omnidirectional turning walking, twisting climbing walking in narrow gaps, and dexterous walking through narrow holes, etc. 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 innovativeness of the robot's multimodal movement; the robot can simultaneously achieve plane-curved surface adsorption, further expanding the robot's working range and scenarios.

[0100] The present invention is not limited to the aforementioned 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: Including adsorption unit, connection components, bending unit, control system; 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 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 and they 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 bracket, a first connecting shaft pin, a first connecting spring, and a first energized electromagnet; The first magnet base is arranged on one 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 end surface of the first base plate; The first magnet mounting frame is hingedly connected to the first magnet base via a first connecting 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 energized electromagnet is disposed on the first magnet mounting frame; There are four first adsorption components, each of which is 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 drive motor and the first adsorption drive motor can drive the first flexible cable wheel to rotate; For a single set of first adsorption wire through holes, one end of the first driving cable is connected to the first magnet mounting bracket, passes through the first adsorption wire through hole on the first base plate, and is wound around the first cable pulley. Then, the first driving cable passes through another first adsorption wire through hole on the first base plate and is connected to another first magnet mounting bracket. The first driving cable is arranged in a U shape, and the first adsorption driving motor can drive both ends of the first driving cable to contract or extend synchronously through the first cable pulley. In a single adsorption unit, the two first driving cables are arranged in a cross shape; The connecting component includes a second base plate, a second connecting piece, and a joint boss, wherein 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 piece, and a second space is formed between the two second base plates; four second connecting through holes are provided 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 the other 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 correspondingly 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 cable wheel, a third driving cable, a fourth bending motor, a fourth cable wheel, and a fourth driving 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), where M is a natural number and M≥1; 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 a circumferential direction 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. The two joint bosses on the third joint body located in the same plane are recorded as a group of third boss assemblies. 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 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 where the first adsorption drive motor is provided is connected to the bending unit; The adsorption unit on one side is recorded as the starting side adsorption unit, and the adsorption unit on the other side 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 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; 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 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)th climbing plate and the joint boss on the adjacent third joint body are connected by 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 the 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 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 cable pulley, 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 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 cable pulley is arranged on the rotating shaft of the third bending motor, and the third bending motor can drive the third driving cable to move through the third cable pulley so that the bending unit bends to one side; the One end of the fourth driving cable is connected to the second connecting through hole on the (2L-1) 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 pulley. Then, the fourth driving cable 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. The fourth driving cable is arranged in a U shape. The fourth bending motor is provided 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 cable pulley is provided 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 pulley so that the bending unit bends to one side. The third driving cable and the fourth driving 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 a control system.

2. The wall-climbing robot according to claim 1, characterized in that: The adsorption unit further includes a first motor fixing bracket arranged on the end surface of the first bottom plate, the first adsorption drive motor is connected to the first motor fixing bracket, and the first motor fixing bracket 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 limiting seat cooperating 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 limiting seat cooperating with a third connecting spring is provided on the side of the 2N climbing plate close to the (2N-1) climbing plate; The two side surfaces of the third joint body are respectively provided with third spring limiting seats matched with the third connecting spring.

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, where Q is a natural number, Q≥1 and (N-1)≥Q.

8. Use 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 collaborative serial 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 made parallel to the plane to be adsorbed, and then the first energized electromagnets are energized to allow the adsorption unit to be adsorbed on the plane; (2) Surface adsorption Under the action of the spring support force, the first drive cable is retracted and extended by the first adsorption drive motor, so that the adsorption surface of the first energized electromagnet matches the adsorbed surface. Then, the first energized electromagnet is energized, and the adsorption unit is adsorbed on the curved surface. At this point, the robot completes the adsorption action on the curved surface. (3) Cylindrical surface adsorption The adsorption surfaces of the two first energized electromagnets in the vertical direction of the curved surface remain parallel to the adsorbed plane; the two first energized electromagnets in the horizontal direction, according to the curvature of the curved surface, control the retraction and extension of the first driving flexible rope through the first adsorption driving motor, so that the adsorption surfaces of the first energized electromagnets fit with the adsorbed surface; and then the first energized electromagnets are energized to make the adsorption unit adsorbed on the cylindrical surface.

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