Climbing structure and wall-climbing robot

Abstract

The present application relates to wall-climbing robot technical field, and disclose a kind of climbing structure and wall-climbing robot, including four mobile motors installed in the inside of robot torso receiving cavity, four mobile motors are located at the four corners of receiving cavity respectively, the output shaft of four mobile motors is all fixedly connected with moving rod, another end of four moving rods is all through the inner wall of robot torso to robot torso outside and is connected with moving wheel, four corners of receiving cavity inner wall are all connected with power mechanism, the output end of four power mechanisms is all connected with reversing assembly, first transmission assembly and second transmission assembly.This kind of climbing structure and wall-climbing robot, when one of the air suction components is blocked by leaves or other debris, still can ensure robot torso itself balance through the other three air suction components, reduce the probability of falling from wall surface;It can continuously power through air suction component, so that robot torso is pressed tightly on wall surface, so that it does not fall.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall-climbing robots, in particular to a climbing structure and a wall-climbing robot. BACKGROUND

[0002] A wall-climbing robot is an automated device that can move and operate on a vertical or near-vertical surface, designed to perform specific tasks such as cleaning the exterior walls of buildings, detecting and maintaining pipes inside factories, exploring dangerous environments, etc. It is mainly composed of a climbing structure, a sensor system, a control system, and a power supply system, etc. The climbing structure is the key part responsible for the robot's movement on the wall, usually composed of climbing wheels and an attachment device, mainly responsible for the robot's movement on the wall.

[0003] The wall-climbing robot can be adsorbed on the wall, mainly relying on the rotation of the fan located in the torso part, generating negative pressure between the robot and the wall, and then adsorbing the robot on the wall. Then, with the help of the climbing structure, the robot can move up and down and left and right on the wall.

[0004] However, some walls have moss or other impurities, which can easily stick some leaves or other larger pieces of impurities. When the robot moves to this area, due to the negative pressure, it is likely to block the fan grid at the robot's torso, affecting the negative pressure effect, and even causing the robot to fall off the wall. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a climbing structure and a wall-climbing robot, which makes the robot more stable when climbing.

[0006] In order to achieve the above object, the present application provides the following technical scheme: a climbing structure, comprising four moving motors installed inside a robot torso receiving cavity, the four moving motors are respectively located at four corners of the receiving cavity, the output shafts of the four moving motors are all fixedly connected with moving rods, the other ends of the four moving rods all penetrate the inner wall of the robot torso to the outside of the robot torso and are connected with moving wheels, power mechanisms are all connected at the four corners of the inner wall of the receiving cavity, the output ends of the four power mechanisms are all connected with a reversing assembly, a first transmission assembly and a second transmission assembly, the reversing assembly is located between the first transmission assembly and the second transmission assembly and is matched with the first transmission assembly and the second transmission assembly, the first transmission assembly is located above the reversing assembly, the second transmission assembly is located below the reversing assembly, the end of the first transmission assembly away from the reversing assembly is connected with a connecting assembly, the upper end of the connecting assembly penetrates the inner wall of the robot torso to the outside of the robot torso and is connected with an air extraction assembly, the air extraction assembly is located between the moving wheel and the robot torso, the end of the second transmission assembly away from the reversing assembly is connected with a replacement assembly, the lower end of the replacement assembly penetrates the inner wall of the robot torso to the outside of the robot torso and is matched with the air extraction assembly.

[0007] Further, the power mechanism comprises a power motor and a power rod, the outer wall of the power motor is fixedly connected with the top surface of the inner wall of the receiving cavity, the output shaft of the power motor is fixedly connected with the upper end of the power rod, and the lower end of the power rod is connected with the reversing assembly, the first transmission assembly and the second transmission assembly.

[0008] Further, the reversing assembly comprises a supporting column, an anti-dropping mechanism, an electromagnet, a supporting block, a sliding block, two metal blocks and a plurality of insertion rods, the lower end of the supporting column is fixedly connected with the bottom surface of the receiving cavity, two sliding grooves are formed in the inner wall of the upper end of the supporting column, one end of the anti-dropping mechanism is located in the two sliding grooves, the other end of the anti-dropping mechanism is respectively connected with the two metal blocks, one end of the supporting block is fixedly connected with the side wall of the supporting column, the other end of the supporting block is fixedly connected with the side wall of the electromagnet, the two metal blocks are respectively located on the upper side and the lower side of the electromagnet, the electromagnet and the two metal blocks are sleeved on the outer wall of the power rod, the inner wall of the electromagnet is rotationally connected with the outer wall of the power rod, the inner walls of the two metal blocks are fixedly connected with the outer wall of the power rod, the plurality of insertion rods are evenly divided into two groups, the two groups of insertion rods are respectively fixedly connected with the sides of the two metal blocks away from the electromagnet, the two groups of insertion rods are respectively connected with the first transmission assembly and the second transmission assembly, the inner walls of the two metal blocks are all fixedly connected with the sliding block, and the surface of the power rod is provided with a moving groove, and the outer wall of the sliding block is slidingly connected with the inner wall of the moving groove.

[0009] Furthermore, the anti-detachment mechanism includes a slide rod, two anti-detachment plates, and two anti-detachment rings. Both ends of the slide rod are fixedly connected to the inner wall of the support column. One end of each of the two anti-detachment plates is sleeved and slidably connected to the outer wall of the slide rod. The outer walls of the two anti-detachment plates are slidably connected to the inner walls of the two slide grooves, respectively. Each of the two anti-detachment plates has an anti-detachment opening on the side away from the slide groove and away from each other. The two anti-detachment rings are fixedly connected to the adjacent side of the two metal blocks, respectively. The outer walls of the two anti-detachment rings are slidably connected to the inner walls of the two anti-detachment openings, respectively.

[0010] Furthermore, the first transmission component includes a first gear and a second gear. The first gear is sleeved and rotatably connected to the outer wall of the power rod through a first bearing. The inner wall of the second gear is connected to one end of the connecting component located in the receiving cavity. The first gear and the second gear mesh, and the lower end of the first gear is connected to one of the sets of insert rods.

[0011] Furthermore, the connecting assembly includes a protective shell, an upper connecting column, a first rotating rod, a second rotating rod, a chain, and two sprockets. The lower end of the upper connecting column is fixedly connected to the inner wall of the second gear. The upper end of the upper connecting column penetrates the inner wall of the robot's torso to the outside of the robot's torso and is fixedly connected to the lower end of the first rotating rod. The outer wall of the upper connecting column is rotatably connected to the penetration point of the robot's torso. The lower end of the second rotating rod is connected to the ventilation assembly. The two sprockets are respectively sleeved and fixedly connected to the outer walls of the upper ends of the first and second rotating rods. The chain is sleeved on the outside of the two sprockets and meshes with both sprockets. A transmission cavity is opened inside the protective shell. The first rotating rod, the second rotating rod, the chain, and the two sprockets are all located in the transmission cavity. The bottom surface of the outer wall of the protective shell is fixedly connected to the upper surface of the outer wall of the robot's torso.

[0012] Furthermore, the exhaust assembly includes an exhaust pipe, a fixing block, a cross bracket, fan blades, and two monitoring sensors. The exhaust pipe has an inverted Y-shaped cross section. The outer wall of the upper end of the exhaust pipe is fixedly connected to the fixing block, and the other side of the fixing block is fixedly connected to the outer wall of the robot's torso. The lower end of the exhaust pipe is located on both sides of the moving rod. An air extraction chamber is formed on the inner wall of the exhaust pipe. The four ends of the cross bracket are fixedly connected to the inner wall of the upper end of the air extraction chamber. The middle part of the cross bracket is fitted and rotatably connected to the outer wall of the fan blade's central shaft. The upper end of the fan blade's central shaft is fixedly connected to the lower end of the second rotating rod. The two monitoring sensors are fixedly connected to both sides of the lower end of the air extraction chamber. The bottom surface of the exhaust pipe is matched and aligned with the replacement assembly.

[0013] Furthermore, the second transmission assembly includes a third gear and a fourth gear. The third gear is sleeved and rotatably connected to the outer wall of the power rod through the second bearing. The inner wall of the fourth gear is connected to one end of the replacement assembly located in the storage cavity. The third gear and the fourth gear mesh. Several insertion holes are opened on the adjacent side of the third gear and the first gear. The outer wall of the two sets of insertion rods away from the metal block is slidably connected to the inner wall of several insertion holes on the third gear and the first gear, respectively.

[0014] Further, the replacement assembly comprises a transposition base plate, a lower connecting column and a plurality of dustproof nets, the outer wall of the upper end of the lower connecting column is fixedly connected with the inner wall of the fourth gear, the lower end of the lower connecting column penetrates through the inner wall of the robot trunk to the outside of the robot trunk and is fixedly connected with the middle part of the transposition base plate, a plurality of air suction openings are arranged on the surface of the transposition base plate, the outer walls of the plurality of dustproof nets are fixedly connected with the inner walls of the plurality of air suction openings respectively, the plurality of dustproof nets are distributed at equal intervals, and the plurality of dustproof nets and the air suction openings are in pairs, each group of dustproof nets is matched and aligned with the two ends of the lower part of the air suction pipe respectively, and each group of air suction openings is in communication with the inside of the air suction cavity.

[0015] The application also provides a wall-climbing robot comprising the robot trunk and the climbing structure.

[0016] Compared with the prior art, the application has the following beneficial effects:

[0017] 1. The climbing structure and the wall-climbing robot, by arranging four air suction assemblies on the outside of the robot trunk, can ensure the balance of the robot trunk itself and reduce the probability of falling from the wall when one of the air suction assemblies is blocked by leaves or other sundries.

[0018] 2. The climbing structure and the wall-climbing robot, by arranging the power mechanism and the reversing assembly in the receiving cavity of the robot trunk and connecting the first transmission assembly and the connecting assembly through the reversing assembly, can continuously supply power to the air suction assembly, thereby pressing the robot trunk against the wall and preventing it from falling.

[0019] 3. The climbing structure and the wall-climbing robot, by arranging the power mechanism and the reversing assembly in the receiving cavity of the robot trunk and connecting the second transmission assembly and the replacement assembly through the reversing assembly, can directly replace the blocked part with the unblocked part when the air inlet of the air suction assembly is blocked by sundries on the wall during the travel of the robot trunk, thereby solving the blocking problem and achieving quick and convenient operation.

[0020] 4. The climbing structure and the wall-climbing robot, by arranging the first transmission assembly and the second transmission assembly on the two sides of the reversing assembly, can be controlled through the reversing assembly, so that the replacement assembly connected with the second transmission assembly will not rotate during the normal air suction of the air suction assembly cooperating with the connecting assembly and the air suction assembly, thereby not hindering the air flow in the air suction assembly; conversely, when the replacement assembly is controlled to rotate by the second transmission assembly, the air suction assembly will also stop rotating and stop air suction. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall appearance of the application;

[0022] Figure 2 The overall appearance schematic diagram of another perspective of the present application;

[0023] Figure 3 The internal structure schematic diagram of the robot trunk of the present application;

[0024] Figure 4 The cross-sectional schematic diagram of the robot trunk of the present application;

[0025] Figure 5 The detailed appearance schematic diagram of the climbing structure of the present application;

[0026] Figure 6 The explosion schematic diagram of each component in the present application Figure 5 ;

[0027] Figure 7 The enlarged schematic diagram of A in the present application Figure 6 ;

[0028] Figure 8 The enlarged schematic diagram of B in the present application Figure 6 ;

[0029] Figure 9 The enlarged schematic diagram of C in the present application Figure 6 ;

[0030] Figure 10 The structure explosion schematic diagram of the reversing assembly of the present application;

[0031] Figure 11 The detailed connection schematic diagram of the air extraction assembly of the present application;

[0032] Figure 12 The enlarged schematic diagram of D in the present application Figure 11 .

[0033] In the figure: 1, robot trunk; 2, moving wheel; 3, air suction pipe; 4, protective shell; 5, transposition bottom plate; 6, dustproof net; 7, upper connecting column; 8, lower connecting column; 9, power motor; 10, power rod; 11, No. 1 gear; 12, No. 2 gear; 13, fixed block; 14, moving rod; 15, moving motor; 16, storage cavity; 17, monitoring sensor; 18, plug rod; 19, metal block; 20, electromagnet; 21, anti-dropping ring; 22, No. 3 gear; 23, support column; 24, anti-dropping plate; 25, sliding chute; 26, No. 4 gear; 27, No. 1 rotating rod; 28, No. 2 rotating rod; 29, cross support; 30, support block; 31, chain; 32, chain wheel; 33, transmission cavity; 34, sliding rod; 35, anti-dropping opening; 36, air extraction cavity; 37, fan blade; 38, jack; 39, sliding block. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application.

[0035] Please refer to Figures 1-12 A climbing structure and wall-climbing robot, comprising four moving motors 15 installed inside the receiving cavity 16 of the robot trunk 1, the four moving motors 15 are respectively located at the four corners of the receiving cavity 16, the output shafts of the four moving motors 15 are all fixedly connected with moving rods 14, the other ends of the four moving rods 14 all penetrate through the inner wall of the robot trunk 1 to the outside of the robot trunk 1 and are connected with moving wheels 2, the four corners of the inner wall of the receiving cavity 16 are all connected with power mechanisms, the output ends of the four power mechanisms are all connected with a reversing assembly, a first transmission assembly and a second transmission assembly, the reversing assembly is located between the first transmission assembly and the second transmission assembly and matches the first transmission assembly and the second transmission assembly, the first transmission assembly is located above the reversing assembly, the second transmission assembly is located below the reversing assembly, the end of the first transmission assembly away from the reversing assembly is connected with a connecting assembly, the upper end of the connecting assembly penetrates through the inner wall of the robot trunk 1 to the outside of the robot trunk 1 and is connected with an air extraction assembly, the air extraction assembly is located between the moving wheel 2 and the robot trunk 1, the end of the second transmission assembly away from the reversing assembly is connected with a replacement assembly, the lower end of the replacement assembly penetrates through the inner wall of the robot trunk 1 to the outside of the robot trunk 1 and matches the air extraction assembly.

[0036] As Figures 1 to 12 shown, the climbing structure and wall-climbing robot in the present application can be used according to the following steps:

[0037] 1. First, the robot trunk 1 is connected with an external controller through a cable or remote control, then the four moving wheels 2 of the robot trunk 1 are placed on the wall surface to be moved, and then the robot trunk 1 is started through the external controller;

[0038] 2. After the robot trunk 1 is started, the power supply inside the robot trunk 1 can supply power to the four moving motors 15, and then the four moving wheels 2 can rotate under the driving of the four moving rods 14;

[0039] 3. At the same time, the external controller also starts the four reversing assemblies inside the robot trunk 1;

[0040] 4. After the reversing assemblies are started, the operator can selectively connect the reversing assemblies with the first transmission assembly or the second transmission assembly according to the control requirements;

[0041] 5. Then, the power mechanism located inside the robot body 1 is started by the external controller. Once the power mechanism is started, the output end can drive the first transmission component or the second transmission component to rotate through the reversing component.

[0042] 6. When the reversing component is connected to the first transmission component, the rotation of the first transmission component will cause the connecting component to rotate together. After the connecting component rotates, it can drive the exhaust component to rotate through one end located outside the robot body 1.

[0043] 7. After the exhaust component rotates, it will generate a strong suction force. This suction force will draw away the air between the robot torso 1 and the wall, reducing the pressure between the robot torso 1 and the wall. Then, atmospheric pressure can press the robot torso 1 against the wall, so that the robot torso 1 will not fall off even if it moves vertically against the wall or close to the ceiling.

[0044] 8. When the reversing assembly is connected to the second transmission assembly, the drive mechanism starts and will rotate the second transmission assembly through the reversing assembly, which in turn will rotate the replacement assembly.

[0045] 9. As the replacement component rotates, the part that was originally aligned and connected with the exhaust component can be reversed, thereby rotating the part that was originally somewhat blocked to the bottom of the robot body 1. At the same time, the clean and unblocked part that was originally located below the robot body 1 can be rotated to match and connect with the exhaust component, so as to assist the robot body 1 in performing subsequent tasks.

[0046] It is important to note here that:

[0047] 1. The robot torso 1, moving motor 15, moving rod 14 and external controller mentioned above are all mature technologies found in existing wall-climbing robots. Therefore, their connection relationship and working principle will not be explained in detail here.

[0048] 2. The robot torso 1 also contains circuit boards, battery packs, control systems, various sensing systems and other components found in existing wall-climbing robots. These components are all located inside the storage cavity 16 and are reasonably distributed with the four wall-climbing mechanisms. Since these components are not related to this solution, they are not shown in the figure and will not be described in detail here.

[0049] 3、Because the first transmission assembly and the second transmission assembly can only be connected with the reversing assembly singly, therefore, during normal air extraction, the replacement assembly will not rotate, and will not hinder the air circulation inside the air extraction assembly; on the contrary, when the second transmission assembly controls the replacement assembly to rotate, the air extraction assembly will also stop rotating (and at this time, because there are another three groups of air extraction assemblies in normal operation, therefore, it will not cause the robot trunk 1 to fall off).

[0050] As a preferred scheme of the present application, the power mechanism comprises a power motor 9 and a power rod 10, the outer wall of the power motor 9 is fixedly connected with the top surface of the inner wall of the receiving cavity 16, the output shaft of the power motor 9 is fixedly connected with the upper end of the power rod 10, and the lower end of the power rod 10 is connected with the reversing assembly, the first transmission assembly and the second transmission assembly.

[0051] More specifically, when it is necessary to control air extraction or replacement, the power motor 9 can be started only by an external controller, the output shaft of the power motor 9 can drive the power rod 10 to rotate after the power motor 9 is started, and the reversing assembly connected with the surface of the power rod 10 can be driven to rotate when the power rod 10 rotates, and then the first transmission assembly and the second transmission assembly can be controlled to rotate through the reversing assembly.

[0052] As a preferred scheme of the present application, the reversing assembly comprises a support column 23, an anti-dropping mechanism, an electromagnet 20, a support block 30, a sliding block 39, two metal blocks 19 and a plurality of insertion rods 18, the lower end of the support column 23 is fixedly connected with the bottom surface of the receiving cavity 16, the inner wall of the upper end of the support column 23 is provided with two sliding grooves 25, one end of the anti-dropping mechanism is located in the two sliding grooves 25, the other end of the anti-dropping mechanism is connected with the two metal blocks 19 respectively, one end of the support block 30 is fixedly connected with the side wall of the support column 23, the other end of the support block 30 is fixedly connected with the side wall of the electromagnet 20, the two metal blocks 19 are located on the upper and lower sides of the electromagnet 20 respectively, the electromagnet 20 and the two metal blocks 19 are sleeved on the outer wall of the power rod 10, the inner wall of the electromagnet 20 is rotatably connected with the outer wall of the power rod 10, the inner walls of the two metal blocks 19 are fixedly connected with the outer wall of the power rod 10, the plurality of insertion rods 18 are evenly divided into two groups, the two groups of insertion rods 18 are fixedly connected with the sides of the two metal blocks 19 away from the electromagnet 20 respectively, the two groups of insertion rods 18 are connected with the first transmission assembly and the second transmission assembly respectively, the inner walls of the two metal blocks 19 are fixedly connected with the sliding block 39, the surface of the power rod 10 is provided with a moving groove, and the outer wall of the sliding block 39 is slidably connected with the inner wall of the moving groove.

[0053] More specifically, when the power rod 10 is started, the two metal blocks 19 and the two sets of insertion rods 18 connected to the surface thereof rotate together, so when effective connection with the first transmission assembly is required, the external operator starts the electromagnet 20 through the external controller, at this time the electromagnet 20 and the two metal blocks 19 form a repulsion and attraction situation respectively, for example, at this time the electromagnet 20 repels the metal block 19 located above, at this time the metal block 19 above slides upward in the limiting position of the sliding groove 25 of the support column 23 through the anti-falling mechanism, and cooperates with the sliding block 39 and the moving groove, so that the metal block 19 can make the set of insertion rods 18 form effective connection with the first transmission assembly in the process of upward sliding, at this time when the power rod 10 rotates, the metal block 19 rotates and drives the first transmission assembly to rotate through the set of insertion rods 18, thereby realizing the effect of the subsequent connecting assembly and the air extraction assembly.

[0054] Conversely, when the set of insertion rods 18 of the metal block 19 below is connected with the second transmission assembly, the second transmission assembly can drive the replacement assembly to rotate.

[0055] It should be particularly pointed out here that:

[0056] 1. The support column 23 provides support for the entire reversing assembly, and the anti-falling assembly, the support block 30 and the electromagnet 20 are all based on it.

[0057] 2. By arranging the anti-falling assembly, the metal block 19 can be limited, so that the two metal blocks 19 can also be lifted on the power rod 10 while following the rotation of the power rod 10.

[0058] 3. The metal block 19 is wrapped with stainless steel or other metal materials that are not easy to break or crack on the outside, and is a common magnet on the inside, which can not only avoid the common magnet from being cracked or broken by colliding with the first transmission assembly and the second transmission assembly, but also can normally realize the magnetic attraction steps between the electromagnet 20 and the magnet.

[0059] 4. The magnetic pole directions of the magnets in the upper and lower metal blocks 19 of the electromagnet 20 are opposite.

[0060] As a preferred scheme of the present application, the anti-falling mechanism comprises a sliding rod 34, two anti-falling plates 24 and two anti-falling rings 21, both ends of the sliding rod 34 are fixedly connected with the inner wall of the support column 23, one end of each of the two anti-falling plates 24 is sleeved and slidably connected with the outer wall of the sliding rod 34, the outer walls of the two anti-falling plates 24 are slidably connected with the inner walls of the two sliding grooves 25 respectively, the ends of the two anti-falling plates 24 away from the sliding grooves 25 and away from each other are both provided with an anti-falling opening 35, and the two anti-falling rings 21 are fixedly connected with the sides adjacent to the two metal blocks 19 respectively, and the outer walls of the two anti-falling rings 21 are slidably connected with the inner walls of the two anti-falling openings 35 respectively.

[0061] More specifically, the anti-disengagement plate 24 can only slide up and down due to the restriction of the slide rod 34 and the slide groove 25, and the two metal blocks 19 can also slide up and down in the moving groove through the slide block 39 and follow the rotation of the power rod 10 without colliding with the anti-disengagement plate 24 due to the restriction of the anti-disengagement plate 24 and the anti-disengagement opening 35.

[0062] As a preferred scheme of the present application, the first transmission assembly comprises the first gear 11 and the second gear 12, the first gear 11 is sleeved and rotationally connected to the outer wall of the power rod 10 through the first bearing, the inner wall of the second gear 12 is connected to one end of the connecting assembly located in the receiving cavity 16, the first gear 11 and the second gear 12 are engaged, and the lower end of the first gear 11 is connected to one of the groups of insertion rods 18.

[0063] More specifically, when the insertion rod 18 rotates with the first gear 11, the first gear 11 engages and rotates with the second gear 12, and then the second gear 12 can rotate with the connecting assembly connected thereto.

[0064] As a preferred scheme of the present application, the connecting assembly comprises the protective shell 4, the upper connecting column 7, the first rotating rod 27, the second rotating rod 28, the chain 31, and the two sprockets 32, the lower end of the upper connecting column 7 is fixedly connected to the inner wall of the second gear 12, the upper end of the upper connecting column 7 penetrates through the inner wall of the robot trunk 1 to the outside of the robot trunk 1 and is fixedly connected to the lower end of the first rotating rod 27, the outer wall of the upper connecting column 7 is rotationally connected to the penetration of the robot trunk 1, the lower end of the second rotating rod 28 is connected to the air extraction assembly, the two sprockets 32 are respectively sleeved and fixedly connected to the outer walls of the upper ends of the first rotating rod 27 and the second rotating rod 28, the chain 31 is sleeved outside the two sprockets 32 and engaged with the two sprockets 32, the transmission cavity 33 is formed in the interior of the protective shell 4, the first rotating rod 27, the second rotating rod 28, the chain 31, and the two sprockets 32 are located in the transmission cavity 33, and the bottom surface of the outer wall of the protective shell 4 is fixedly connected to the upper surface of the outer wall of the robot trunk 1.

[0065] More specifically, when the second gear 12 rotates, the second gear 12 normally engages and rotates with the upper connecting column 7, and after the upper connecting column 7 rotates, it can rotate with the first rotating rod 27, then the first rotating rod 27 rotates with the first sprocket 32, then the sprocket 32 rotates with the other sprocket 32 through the chain 31 to rotate the second rotating rod 28, and then the second rotating rod 28 rotates with the air extraction assembly to realize air extraction and achieve the effect of negative pressure.

[0066] As a preferred scheme of the present application, the air suction assembly comprises the air suction pipe 3, the fixed block 13, the cross bracket 29, the fan blade 37 and the two monitoring sensors 17, the cross section of the air suction pipe 3 is inverted Y-shaped, the outer wall of the upper end of the air suction pipe 3 is fixedly connected with the fixed block 13, the other side of the fixed block 13 is fixedly connected with the outer wall of the robot trunk 1, the lower end of the air suction pipe 3 is located at both sides of the moving rod 14, the inner wall of the air suction pipe 3 is provided with the air suction cavity 36, the four ends of the cross bracket 29 are respectively fixedly connected with the inner wall of the upper end of the air suction cavity 36, the middle part of the cross bracket 29 is sleeved and rotationally connected with the outer wall of the central shaft of the fan blade 37, the upper end of the central shaft of the fan blade 37 is fixedly connected with the lower end of the second rotating rod 28, the two monitoring sensors 17 are respectively fixedly connected at both sides of the lower end of the air suction cavity 36, and the bottom surface of the air suction pipe 3 is matched and aligned with the replacement assembly.

[0067] More specifically, when the second rotating rod 28 rotates, the fan blade 37 rotates at the upper end of the air suction cavity 36, and then the air in the air suction cavity 36 is sucked outwards, so that a negative pressure area is formed between the wall surface and the bottom of the air suction pipe 3 through the air suction cavity 36, so that the robot trunk 1 is pressed on the wall surface and does not fall off.

[0068] During the driving of the robot trunk 1, if the air inlet is accidentally blocked by leaves or other small sundries on the wall surface, at this time, the monitoring sensor 17 in the air suction cavity 36 detects that the air flow is less than the set value, and then transmits an electrical signal to the internal or external processor of the robot trunk 1, and controls the robot trunk 1 to stop advancing through the controller, while the other three air suction pipes 3 normally operate to keep the robot trunk 1 balanced, the motor of the blocked air suction pipe 3 stops to generate suction, and the replacement assembly is rotated by a certain angle through the reversing assembly and the second transmission assembly to realize replacement, the clean part is replaced with the blocked part, and then the task can be continued to be performed, or the robot can return to the front below smoothly for maintenance personnel to repair.

[0069] It should be particularly pointed out here that:

[0070] 1. The monitoring sensor 17 can be a wind speed sensor, a flow rate sensor or any one or more sensors capable of achieving the above functions, and the specific number and type are not limited;

[0071] 2. After the replacement assembly replaces the clean part with the blocked part, the leaves and other sundries blocked on the surface may naturally fall off due to gravity, so in the actual application process, the operator can choose whether to return for repair according to the actual situation.

[0072] As a preferred scheme of the present application, the second transmission assembly comprises a third gear 22 and a fourth gear 26, the third gear 22 is sleeved and rotationally connected to the outer wall of the power rod 10 through the second bearing, the inner wall of the fourth gear 26 is connected to one end of the replacement assembly located in the receiving cavity 16, the third gear 22 and the fourth gear 26 are engaged, and a plurality of insertion holes 38 are formed in the side of the third gear 22 and the side of the first gear 11 adjacent to the third gear 22, the outer walls of the two groups of insertion rods 18 away from the metal block 19 are respectively slidably connected to the inner walls of the plurality of insertion holes 38 of the third gear 22 and the first gear 11.

[0073] More specifically, after the insertion rod 18 is inserted into the insertion hole 38, the power rod 10 will rotate with the metal block 19 and the insertion rod 18 due to the limitation of the sliding block 39 and the moving groove, then the insertion rod 18 will rotate with the third gear 22, and the fourth gear 26 can be driven to rotate through engagement, until the position of the replacement assembly is changed.

[0074] It should be particularly pointed out that the opening of the insertion hole 38 can be larger and have an inclined surface, so that when the metal block 19 is lifted by the electromagnet 20, the insertion rod 18 can be more accurately, effectively and quickly inserted into the insertion hole 38 through the inclined surface.

[0075] As a preferred scheme of the present application, the replacement assembly comprises a transposition bottom plate 5, a lower connecting column 8 and a plurality of dust screens 6, the outer wall of the upper end of the lower connecting column 8 is fixedly connected to the inner wall of the fourth gear 26, the lower end of the lower connecting column 8 penetrates through the inner wall of the robot trunk 1 to the outside of the robot trunk 1 and is fixedly connected to the middle part of the transposition bottom plate 5, a plurality of air suction openings are formed through the surface of the transposition bottom plate 5, the outer walls of the plurality of dust screens 6 are respectively fixedly connected to the inner walls of the plurality of air suction openings, the plurality of dust screens 6 are equidistantly distributed, and the plurality of dust screens 6 and the air suction openings are in pairs, each group of dust screens 6 is matched and aligned with the two ends of the lower part of the air suction pipe 3, and each group of air suction openings is in communication with the inside of the air suction cavity 36.

[0076] More specifically, if leaves or other sundries block the working air suction openings and the dust screens 6, the transposition assembly will rotate with the fourth gear 26 through the third gear 22, and when the fourth gear 26 rotates, the lower connecting column 8 will rotate together, then the lower connecting column 8 will rotate with the transposition bottom plate 5, so that the two air suction openings and the dust screens 6 originally located below the air suction pipe 3 can be moved away, thereby solving the blocking problem.

[0077] The present application also provides a wall-climbing robot, which comprises a robot trunk 1 and the above-mentioned climbing structure.

[0078] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A climbing structure comprising four mobile motors (15) mounted inside a receiving cavity (16) of a robot trunk (1), the four mobile motors (15) being respectively located at four corners of the receiving cavity (16), characterized in that: The output shaft of the four moving motors (15) is fixedly connected with a moving rod (14), the other end of the four moving rods (14) penetrates through the inner wall of the robot trunk (1) to the outside of the robot trunk (1) and is connected with a moving wheel (2), the four corners of the inner wall of the accommodation cavity (16) are connected with power mechanisms, the output ends of the four power mechanisms are connected with a reversing assembly, a first transmission assembly and a second transmission assembly, the reversing assembly is located between the first transmission assembly and the second transmission assembly and matches the first transmission assembly and the second transmission assembly, the first transmission assembly is located above the reversing assembly, the second transmission assembly is located below the reversing assembly, the end of the first transmission assembly away from the reversing assembly is connected with a connecting assembly, the upper end of the connecting assembly penetrates through the inner wall of the robot trunk (1) to the outside of the robot trunk (1) and is connected with an air extraction assembly, the air extraction assembly is located between the moving wheel (2) and the robot trunk (1), the end of the second transmission assembly away from the reversing assembly is connected with a replacement assembly, the lower end of the replacement assembly penetrates through the inner wall of the robot trunk (1) to the outside of the robot trunk (1) and matches the air extraction assembly.

2. A climbing structure according to claim 1, characterised in that: The power mechanism comprises a power motor (9) and a power rod (10), the outer wall of the power motor (9) is fixedly connected with the top surface of the inner wall of the accommodation cavity (16), the output shaft of the power motor (9) is fixedly connected with the upper end of the power rod (10), and the lower end of the power rod (10) is connected with the reversing assembly, the first transmission assembly and the second transmission assembly.

3. A climbing structure according to claim 2, characterised in that: The reversing assembly comprises a supporting column (23), an anti-dropping mechanism, an electromagnet (20), a supporting block (30), a sliding block (39), two metal blocks (19) and a plurality of insertion rods (18), the lower end of the supporting column (23) is fixedly connected with the bottom surface of the accommodation cavity (16), two sliding grooves (25) are formed in the inner wall of the upper end of the supporting column (23), one end of the anti-dropping mechanism is located in the two sliding grooves (25), the other end of the anti-dropping mechanism is connected with the two metal blocks (19) respectively, one end of the supporting block (30) is fixedly connected with the side wall of the supporting column (23), the other end of the supporting block (30) is fixedly connected with the side wall of the electromagnet (20), the two metal blocks (19) are located on the upper and lower sides of the electromagnet (20) respectively, the electromagnet (20) and the two metal blocks (19) are sleeved on the outer wall of the power rod (10), the inner wall of the electromagnet (20) is rotatably connected with the outer wall of the power rod (10), the inner walls of the two metal blocks (19) are fixedly connected with the outer wall of the power rod (10), the plurality of insertion rods (18) are evenly divided into two groups, the two groups of insertion rods (18) are fixedly connected with the sides of the two metal blocks (19) away from the electromagnet (20) respectively, the two groups of insertion rods (18) are connected with the first transmission assembly and the second transmission assembly respectively, the inner walls of the two metal blocks (19) are fixedly connected with the sliding block (39), the surface of the power rod (10) is provided with a moving groove, and the outer wall of the sliding block (39) is slidably connected with the inner wall of the moving groove.

4. A climbing structure according to claim 3, characterised in that: The anti-falling mechanism comprises a sliding rod (34), two anti-falling plates (24) and two anti-falling rings (21), both ends of the sliding rod (34) are fixedly connected with the inner wall of the supporting column (23), one end of each of the two anti-falling plates (24) is sleeved and slidably connected with the outer wall of the sliding rod (34), the outer wall of each of the two anti-falling plates (24) is slidably connected with the inner wall of the two sliding grooves (25), respectively, the end of each of the two anti-falling plates (24) away from the sliding groove (25) and the side thereof away from each other are provided with an anti-falling opening (35), respectively, the side adjacent to the two metal blocks (19) of each of the two anti-falling rings (21) is fixedly connected with, the outer wall of each of the two anti-falling rings (21) is slidably connected with the inner wall of each of the two anti-falling openings (35), respectively.

5. A climbing structure according to claim 3 or 4, characterised in that: The first transmission assembly comprises a first gear (11) and a second gear (12), the first gear (11) is sleeved and rotatably connected with the outer wall of the power rod (10) through a first bearing, one end of the second gear (12) is connected with the connecting assembly in the receiving cavity (16), the first gear (11) and the second gear (12) are engaged, and the lower end of the first gear (11) is connected with one of the groups of insertion rods (18).

6. A climbing structure according to claim 5, characterised in that: The connecting assembly comprises a protective shell (4), an upper connecting column (7), a first rotating rod (27), a second rotating rod (28), a chain (31) and two sprockets (32), the lower end of the upper connecting column (7) is fixedly connected with the inner wall of the second gear (12), the upper end of the upper connecting column (7) penetrates through the inner wall of the robot trunk (1) to the outside of the robot trunk (1) and is fixedly connected with the lower end of the first rotating rod (27), the outer wall of the upper connecting column (7) is rotatably connected with the penetration portion of the robot trunk (1), the lower end of the second rotating rod (28) is connected with the air extraction assembly, the two sprockets (32) are sleeved and fixedly connected with the outer walls of the upper ends of the first rotating rod (27) and the second rotating rod (28), respectively, the chain (31) is sleeved outside the two sprockets (32) and engaged with the two sprockets (32), respectively, the inner portion of the protective shell (4) is provided with a transmission cavity (33), the first rotating rod (27), the second rotating rod (28), the chain (31) and the two sprockets (32) are located in the transmission cavity (33), and the bottom surface of the outer wall of the protective shell (4) is fixedly connected with the upper surface of the outer wall of the robot trunk (1).

7. A climbing structure according to claim 6, characterised in that: The air suction assembly comprises an air suction pipe (3), a fixed block (13), a cross bracket (29), a fan blade (37) and two monitoring sensors (17), the cross section of the air suction pipe (3) is inverted Y-shaped, the outer wall of the upper end of the air suction pipe (3) is fixedly connected with the fixed block (13), the other side of the fixed block (13) is fixedly connected with the outer wall of the robot trunk (1), the lower end of the air suction pipe (3) is located on both sides of the moving rod (14), the inner wall of the air suction pipe (3) is provided with an air suction cavity (36), the four ends of the cross bracket (29) are fixedly connected with the inner wall of the upper end of the air suction cavity (36), the middle part of the cross bracket (29) is sleeved and rotationally connected with the outer wall of the central shaft of the fan blade (37), the upper end of the central shaft of the fan blade (37) is fixedly connected with the lower end of the second rotating rod (28), the two monitoring sensors (17) are fixedly connected with the lower end of the air suction cavity (36) on both sides, and the bottom surface of the air suction pipe (3) is matched and aligned with the replacement assembly.

8. A climbing structure according to claim 7, characterised in that: The second transmission assembly comprises a third gear (22) and a fourth gear (26), the third gear (22) is sleeved and rotationally connected with the outer wall of the power rod (10) through the second bearing, the inner wall of the fourth gear (26) is connected with one end of the replacement assembly in the storage cavity (16), the third gear (22) and the fourth gear (26) are meshed, a plurality of insertion holes (38) are formed in the side adjacent to the first gear (11) of the third gear (22), and the outer walls of the two groups of insertion rods (18) away from the metal block (19) are respectively and slidably connected with the inner walls of the plurality of insertion holes (38) of the third gear (22) and the first gear (11).

9. A climbing structure according to claim 8, characterised in that: The replacement assembly comprises a transposition bottom plate (5), a lower connecting column (8) and a plurality of dustproof nets (6), the outer wall of the upper end of the lower connecting column (8) is fixedly connected with the inner wall of the fourth gear (26), the lower end of the lower connecting column (8) penetrates through the inner wall of the robot trunk (1) to the outside of the robot trunk (1) and is fixedly connected with the middle part of the transposition bottom plate (5), a plurality of air suction openings are formed in the surface of the transposition bottom plate (5), the outer walls of the plurality of dustproof nets (6) are respectively and fixedly connected with the inner walls of the plurality of air suction openings, the plurality of dustproof nets (6) are equidistantly distributed, and the plurality of dustproof nets (6) and the air suction openings are in pairs, each group of dustproof nets (6) is matched and aligned with both ends of the lower part of the air suction pipe (3), and each group of air suction openings is in communication with the inside of the air suction cavity (36).

10. A wall-climbing robot comprising a robot trunk (1), characterized in that: The climbing structure of any one of claims 1-9 is also included.

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