Wall-climbing robot capable of achieving multi-screw array and vertical face inside and outside right-angle transition

Abstract

The invention discloses a wall-climbing robot capable of realizing multi-screw array and vertical face inside and outside right-angle transition, which comprises a vehicle body frame, mounting plates extending along a second direction are arranged at the bottoms of two ends of the vehicle body frame in a first direction, and magnetic attraction moving structures are arranged at the bottoms of the mounting plates, so that the vehicle body frame can be attracted on a wall surface and can move along the wall surface; an auxiliary moving structure is hinged to the vehicle body frame and comprises a first telescopic piece and an auxiliary magnetic attraction device, and the first telescopic piece can drive the auxiliary magnetic attraction device to get close to the wall face so as to increase the adsorption force to the wall face; when the wall-climbing robot capable of achieving multi-screw array and vertical face internal and external right-angle transition passes through an external right-angle or internal right-angle wall face transition position, a user controls a first telescopic piece to stretch, an auxiliary magnetic attraction device is driven to be close to the wall face, so that the adsorption force of the wall-climbing robot to the wall face is increased, and the wall-climbing robot is more convenient to use. The wall-climbing robot can conveniently pass through the wall surface transition position of the outer right angle or the inner right angle, and the wall-climbing robot is prevented from falling off and being damaged due to insufficient adsorption force.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to a wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inside and outside of a facade. Background Art

[0002] With the development of industrialization, the demand for inspection, cleaning, maintenance and other work at high altitude or difficult-to-reach walls is increasing. Wall-climbing robots can effectively operate on large storage tanks, ships, building exterior walls, etc. without relying on human high-altitude operations, significantly improving efficiency and reducing risks. The continuous advancement of robotics technology, especially the development of automation, intelligence, sensor technology, control algorithms and other fields, provides a technical basis for the research of wall-climbing robots. In some dangerous environments, such as cleaning the exterior walls of nuclear industrial facilities or high-rise buildings, using robots instead of manual work can significantly improve safety. At the same time, robots can work for a long time without fatigue, which improves work efficiency. Wall-climbing robots need to adapt to various wall materials and environmental conditions, such as temperature, humidity, surface roughness, etc. This requires robots to have good environmental adaptability and stability.

[0003] The large metal structures of hydropower stations mainly include equipment and facilities such as bridge cranes and gantry cranes. Different degrees of corrosion will occur during the operation of the equipment. Therefore, the surface of the metal structure needs to be regularly anti-corrosive. There are many operations at heights involved in the operation process. Traditional solutions are mostly to set up scaffolding and pre-treat the surface to be anti-corroded manually. The entire construction process is high-risk and some parts are difficult to operate.

[0004] The surface environment of large metal structures such as bridge (gantry) machines in hydropower stations is very complex, with obstacles and transition positions such as high-strength bolts, internal right angles, and external right angles. In order to meet the surface anti-corrosion needs of bridge (gantry) machines in hydropower stations, overcome the high risk factor of manual scaffolding operations and the high risk of working at heights, and improve the safety of anti-corrosion operations on large metal facade structures in hydropower stations, this application proposes a wall-climbing robot that can realize a multi-screw array and a right-angle transition between the inside and outside of the facade. Summary of the invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a wall-climbing robot that can realize a multi-screw array and a right-angle transition between the inside and outside of the facade.

[0006] In a first aspect, the present application provides a wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inside and outside of a facade, comprising: A vehicle body frame, wherein the two ends of the vehicle body frame in the first direction are respectively a first end and a second end, and the bottoms of the first end and the second end are both provided with mounting plates extending along a second direction; the second direction is perpendicular to the first direction; A magnetic attraction movable structure, which is arranged at the bottom of the mounting plate and can be adsorbed on the wall surface to drive the vehicle body frame to move; An auxiliary movable structure, wherein the auxiliary movable structure is hinged to the vehicle body frame, and the auxiliary movable structure comprises a first telescopic member and an auxiliary magnetic device, wherein the first telescopic member is used to drive the auxiliary magnetic device to approach the wall surface to increase the adsorption force between the vehicle body frame and the wall surface, and to prevent the vehicle body frame from falling when the vehicle body frame passes through an inner right angle or an outer right angle transition.

[0007] According to the technical solution provided in the embodiment of the present application, the magnetic attraction moving structure includes a first magnetic attraction device, which is arranged in the middle position of the bottom of the mounting plate, the first magnetic attraction device includes a first bracket, the first bracket is arranged in the middle position of the bottom of the mounting plate, the bottom of the first bracket has an arc segment, and the arc segment is connected to a first magnetic attraction component through an armature. The first magnetic attraction component is located below the first bracket, which is an arc-shaped structure with an angle of 225° and an opening facing the mounting plate. The first magnetic attraction component has a protective shell on both sides of the second direction.

[0008] According to the technical solution provided in the embodiment of the present application, the magnetic attraction moving structure also includes two second magnetic attraction devices, the two second magnetic attraction devices are symmetrically arranged on both sides of the first magnetic attraction device in the second direction, and are both installed on the bottom of the mounting plate through mounting parts, the second magnetic attraction device includes a second bracket, the bottom of the second bracket has an arc segment, the bottom of the arc segment is connected to the first magnetic attraction component through an armature, the first magnetic attraction component is located below the second bracket, it is an arc structure, its angle is 225°, and its opening faces the mounting plate, and the first magnetic attraction component has a protective shell on both sides of the second direction.

[0009] According to the technical solution provided in the embodiment of the present application, the magnetic attraction moving structure further includes two moving devices, which are symmetrically arranged at the bottom of the mounting plate and respectively close to the two ends of the mounting plate in the second direction, and the moving device includes a third bracket, which is arranged at the bottom of the mounting plate and is located on the side of the second bracket away from the first bracket, and the third bracket is provided with a first through opening along the second direction; The mobile device also includes a first driving member, which has a second mounting portion and a first driving portion, the second mounting portion is fixedly connected to the side wall of the third bracket close to the first bracket, the first driving portion extends through the first through opening to the side of the third bracket away from the first bracket, and is coaxially fixedly connected with the first rotating shaft.

[0010] According to the technical solution provided in the embodiment of the present application, the moving device also includes a sleeve, whose length direction extends along the second direction, the sleeve is sleeved on the first rotating shaft, one end of the sleeve is fixedly connected to the side wall of the third bracket away from the first bracket, and a third through opening is opened through the side wall away from the third bracket, the inner wall of the third through opening is fixedly sleeved with a first bearing, the inner ring of the first bearing is fixedly sleeved on the first rotating shaft, and the end of the first rotating shaft away from the first driving member is coaxially connected to a moving wheel.

[0011] According to the technical solution provided in the embodiment of the present application, the auxiliary magnetic attraction device includes a connecting frame, which extends along the second direction, and the connecting frame has a first connecting rod near the second end, and two second magnetic attraction members are arranged at the bottom of the first connecting rod along the second direction; the connecting frame also has a second connecting rod near the first end, and the second connecting rod is provided with second connecting parts at both ends of the side wall near the body frame; The auxiliary mobile structure also includes an auxiliary push-pull device, which includes two first mounting brackets, which are symmetrically arranged on the top of the mounting plate near the first end, and the top of the first mounting bracket has a first connecting part, and the first telescopic member has a first connecting end and a first telescopic end, the first connecting end and the first connecting part are hinged, and the first telescopic end is provided with a tension and compression sensor, and is hinged to the second connecting part through the tension and compression sensor.

[0012] According to the technical solution provided in the embodiment of the present application, mounting blocks are fixedly provided on both side walls of the first bracket in the second direction, a second through opening is formed through the first bracket along the second direction, and a third through opening is formed through the mounting block along the second direction; The auxiliary movable structure also includes a rotating connection device, which includes a second rotating shaft. The second rotating shaft is rotatably set in the second through-port, and its two ends respectively pass through the two third through-ports and extend to the outside of the two mounting blocks. A second bearing is fixedly set in the third through-port, and the inner ring of the second bearing is fixedly sleeved on the outer wall of the second rotating shaft.

[0013] According to the technical solution provided in the embodiment of the present application, the rotating connection device further includes a clamping block, which is a semi-annular structure, and two butted clamping blocks are provided at both ends of the second rotating shaft, and the two butted clamping blocks are connected by a mounting member to clamp the second rotating shaft; The rotating connection device also includes two third connecting rods, one end of the third connecting rod is fixedly connected to the side wall of the second connecting rod close to the first end, and the other end extends toward the first end and has a third connecting portion, the two third connecting portions are symmetrically arranged on both sides of the first bracket in the second direction, a fourth through-hole is opened on the third connecting portion along the second direction for the second rotating shaft to pass through, and a receiving groove is opened on the side wall of the third connecting portion away from the first bracket for accommodating two butting semi-annular structure clamping blocks and connecting to the clamping blocks.

[0014] According to the technical solution provided in the embodiment of the present application, it also includes a swing arm structure, which is used to connect the working structure and drive the working structure to move, the swing arm structure includes a first rotating device, the first rotating device includes a second driving member, which is arranged on the top of the mounting plate close to the first end, the second driving member has a second driving part on the top, a fixing block is fixedly connected to the top of the second driving part, a fixing plate is fixedly sleeved on the second driving part, and the fixing plate has a fourth connecting part at one end away from the second driving member; The swing arm structure also includes an operating swing arm, one end of which is hinged to the fixed block, and the other end of which is connected to the operating structure through a quick-change device; The swing arm structure also includes a second rotating device, the second rotating device includes a second telescopic member, the second telescopic member has a second connecting end and a second telescopic end, the second connecting end is hingedly connected to the fourth connecting part, and the second telescopic end is hingedly connected to the working swing arm.

[0015] According to the technical solution provided in the embodiment of the present application, a waterproof shell is provided on the vehicle body frame, and two visual cameras are provided at the first end and the second end of the vehicle body frame for real-time feedback of video images to an external control device; safety anti-fall rings are provided at both ends of the vehicle body frame in the second direction for connecting a safety rope.

[0016] In summary, the technical solution specifically discloses a wall-climbing robot that can realize a multi-screw array and a right-angle transition between the inner and outer sides of a facade, comprising a body frame, wherein the two ends of the body frame in a first direction are respectively a first end and a second end, and the bottoms of the first end and the second end are both provided with a mounting plate extending in a second direction, and a magnetic attraction moving structure is provided at the bottom of the mounting plate, so that the body frame can be adsorbed on the wall surface and can move along the wall surface; The auxiliary moving structure is hinged to the vehicle body frame, and includes a first telescopic member and an auxiliary magnetic attraction device. The first telescopic member can be extended to drive the auxiliary magnetic attraction device to approach or move away from the wall surface, so as to assist in adsorbing the wall surface; When the wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inside and outside of the facade passes through an outer right angle or an inner right angle wall transition, a person controls the extension of the first telescopic member to drive the auxiliary magnetic device close to the wall, thereby increasing the wall-climbing robot's adsorption force on the wall, making it easier for the wall-climbing robot to pass through an outer right angle or an inner right angle wall transition, and preventing the wall-climbing robot from falling and being damaged due to insufficient adsorption force. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 This is a schematic diagram of the structure of a wall-climbing robot that can achieve a multi-screw array and a right-angle transition between the inside and outside of the facade.

[0018] Figure 2 This is a schematic diagram of the structure of a wall-climbing robot from another angle that can achieve a multi-screw array and a right-angle transition between the inside and outside of the facade.

[0019] Figure 3 This is a bottom view of the wall-climbing robot that can achieve a multi-screw array and a right-angle transition between the inside and outside of the facade.

[0020] Figure 4 It is a cross-sectional view of the magnetically movable structure located at the first end.

[0021] Figure 5 It is a schematic diagram of the partial structure located at the first end.

[0022] Figure 6 It is a schematic diagram of the structure of the rotating connection device.

[0023] Figure 7 Schematic diagram of waterproof shell structure Figure 8 Schematic diagram of a wall-climbing robot that can achieve a multi-screw array and right-angle transition between the inside and outside of the facade through high-strength bolts.

[0024] Fig. 9 This is a schematic diagram of a wall-climbing robot passing through an external right angle that can achieve a multi-screw array and a right-angle transition between the inside and outside of the facade.

[0025] Fig.10 This is a schematic diagram of a wall-climbing robot passing through an internal right angle that can achieve a multi-screw array and a right-angle transition between the inside and outside of the facade.

[0026] Numbers in the figure: 1, body frame; 2, mounting plate; 3, first bracket; 4, armature; 5, first magnetic member; 6, protective shell; 7, second bracket; 8, third bracket; 9, first driving member; 10, sleeve; 11, moving wheel; 12, high-strength bolt; 13, first connecting rod; 14, second magnetic member; 15, first mounting bracket; 16, second connecting rod; 17, second connecting part; 18, first telescopic member; 19, mounting block; 20, second rotating shaft; 2 1. Second bearing; 22. Clamping block; 23. Third connecting rod; 24. Third connecting part; 25. Third rotating shaft; 26. Auxiliary wheel; 27. Second driving member; 28. Second mounting bracket; 29. ​​Fixed block; 30. Connecting plate; 31. Connecting support rod; 32. Quick change kit; 33. Third mounting part; 34. Fixed plate; 35. Support rod; 36. Second telescopic member; 37. Visual camera; 38. Safety anti-fall ring; 39. Waterproof shell; 40. Wall. DETAILED DESCRIPTION

[0027] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0028] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] Embodiment 1 The large metal structures of the hydropower station mainly include equipment and facilities such as bridge cranes and gantry cranes, and the surface environment is very complex. There are obstacles and transition positions such as high-strength bolts, internal right angles, and external right angles. The high-strength bolts 12 are arranged in an array on the surface of the bridge crane and the gantry crane; the bridge crane and the gantry crane have a wall surface 40, and an internal right angle or an external right angle is formed between adjacent wall surfaces 40.

[0030] Please refer to Figures 1 to 3 As shown, a wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inner and outer surfaces of the facade comprises a body frame 1. Optionally, the body frame 1 is a rectangular parallelepiped structure, which is welded from aluminum square tubes or other metal square tubes. The two ends of the body frame 1 in the first direction are respectively a first end and a second end; the first direction is Figure 3 Medium horizontal direction.

[0031] The bottom of the first end and the second end are both provided with a mounting plate 2, and a magnetic attraction moving structure is provided at the bottom of the mounting plate 2, so as to make the vehicle body frame 1 adsorb on the wall surface 40 and move along the wall surface 40; Specifically, the mounting plate 2 is arranged at the bottom of the vehicle body frame 1, and is optionally connected by welding; the mounting plate 2 extends in the second direction in length, and a plurality of mounting holes are arranged on the mounting plate 2 in the length direction thereof; the second direction is Figure 3 a middle vertical direction, the second direction being perpendicular to the first direction; Furthermore, if Figure 4 and Figure 5 As shown, the magnetic attraction moving structure includes a first magnetic attraction device, which is arranged at the middle position of the bottom of the mounting plate 2. The first magnetic attraction device includes a first bracket 3. The top of the first bracket 3 is provided with a mounting hole corresponding to the mounting hole at the middle position of the mounting plate 2, and is installed by a mounting member. Optionally, the mounting member is a screw; Further, the first bracket 3 has an arc section at the bottom, and the arc section is connected to the first magnetic member 5 through the armature 4, and the first magnetic member 5 is provided with a protective shell 6 on both sides of the second direction to prevent the first magnetic member 5 from being damaged. Optionally, the first magnetic member 5 is an arc structure with an angle of 225°, and its opening faces the mounting plate 2; Specifically, a mounting hole is provided on the side wall of the arc segment, the armature 4 is an arc structure, a first mounting portion is provided on the top thereof, a mounting hole is correspondingly provided on the first mounting portion, the mounting member passes through the mounting hole of the first mounting portion and extends into the mounting hole of the arc segment, so that the armature 4 is mounted on the first bracket 3, and the first magnetic attraction member 5 is provided at the bottom of the armature 4 and below the first bracket 3; the mounting member can be a screw; Furthermore, mounting holes are provided on both side walls of the armature 4 in the second direction, and corresponding mounting holes are provided on the protective shell 6. The mounting parts pass through the mounting holes of the protective shell 6 and extend into the mounting holes on the both side walls of the armature 4 in the second direction, and the protective shell 6 can cover the side walls of the first magnetic component 5, so that the protective shell 6 can protect the first magnetic component 5; the mounting parts can be selected as screws.

[0032] The magnetic attraction moving structure also includes two second magnetic attraction devices, which are symmetrically arranged on both sides of the first magnetic attraction device in the second direction and are respectively close to the two ends of the mounting plate 2 in the second direction. The second magnetic attraction device includes a second bracket 7, the top of which is mounted on the bottom of the mounting plate through a mounting member; Specifically, a mounting hole is provided at the top of the second bracket 7, and the mounting hole of the second bracket 7 and the mounting hole of the mounting plate 2 are connected by a mounting member. The bottom of the second bracket 7 has an arc segment, and the bottom of the arc segment is connected to the first magnetic member 5 through the armature 4, and the first magnetic member 5 is provided with a protective shell 6 on both sides of the second direction to prevent the first magnetic member 5 from being damaged. Optionally, the first magnetic member 5 is an arc structure with an angle of 225°, and its opening faces the mounting plate 2; Further, a mounting hole is provided on the side wall of the arc segment of the second bracket 7, the armature 4 is an arc-shaped structure, a first mounting portion is provided on the top thereof, a mounting hole is correspondingly provided on the first mounting portion, the mounting member passes through the mounting hole of the first mounting portion and extends into the mounting hole of the arc segment, so that the armature 4 is mounted on the second bracket 7, and the first magnetic attraction member 5 is provided at the bottom of the armature 4 and below the second bracket 7; the mounting member can be a screw; Further, mounting holes are provided on both side walls of the armature 4 in the second direction, and mounting holes are correspondingly provided on the protective shell 6, and the mounting member passes through the mounting holes of the protective shell 6 and extends into the mounting holes on both side walls of the armature 4 in the second direction, and the protective shell 6 can cover the side walls of the first magnetic member 5, so that the protective shell 6 can protect the first magnetic member 5; the mounting member can be a screw; It should be noted that, since a number of mounting holes are provided on the mounting plate 2, the second bracket 7 is installed at the bottom of the mounting plate 2 through a mounting part, thereby being able to change the position of the second bracket 7 at the bottom of the mounting plate 2 to change the distance between the second bracket 7 and the first bracket 3, thereby adjusting the spacing between the first magnetic component 5 of the first magnetic device and the first magnetic component 5 of the second magnetic device. When the wall-climbing robot passes through the high-strength bolts 12 arranged in an array, by changing the spacing between the first magnetic component 5 of the first magnetic device and the first magnetic component 5 of the second magnetic device, it is ensured that the first magnetic component 5 of the first magnetic device and the first magnetic component 5 of the second magnetic device can pass through the gap between adjacent high-strength bolts 12, thereby ensuring that the first magnetic component 5 can adsorb the wall 40.

[0033] The magnetic attraction moving structure further includes two moving devices, which are symmetrically arranged at the bottom of the mounting plate 2 and are respectively close to two ends of the mounting plate 2 in the second direction; Specifically, the mobile device includes a third bracket 8, a mounting hole is set on the top of the third bracket 8, and the third bracket 8 is connected to the bottom of the mounting plate 2 through a mounting member, the third bracket 8 is located on the side of the second bracket 7 away from the first bracket 3, and a first through hole is opened through the third bracket 8 along the second direction, and mounting holes are set on both side walls of the third bracket 8 in the second direction and outside the first through hole; The mobile device further includes a first driving member 9, which has a second mounting portion and a first driving member. The second mounting portion is provided with a mounting hole, and is connected through the mounting member and the mounting hole on the side wall of the third bracket 8 close to the first magnetic device. The first driving member extends through the first through hole to the side of the third bracket 8 away from the first magnetic device, and is coaxially connected with the first rotating shaft. The first driving member 9 can be a joint servo motor. Further, the mobile device also includes a sleeve 10, the length direction of which extends along the second direction and is located on the side of the third bracket 8 away from the first magnetic attraction device. The sleeve 10 is sleeved on the first rotating shaft, and an end of the sleeve 10 close to the third bracket 8 is provided with a mounting hole, and is connected to the mounting hole on the side wall of the third bracket 8 away from the first magnetic attraction device through a mounting member, and a third through hole is opened on the side wall of the sleeve 10 away from the third bracket 8, and a first bearing is fixedly sleeved on the inner wall of the third through hole, and the inner ring of the first bearing is fixedly sleeved on the first rotating shaft, and one end of the first rotating shaft away from the first driving member 9 passes through the inner ring of the first bearing and extends to the side of the first bearing away from the third bracket 8, and is coaxially fixedly connected with a moving wheel 11, and optionally, the connection method is a key connection; By setting the rotation speed and rotation direction of the first driving parts of the four first driving members 9, the forward, backward and turning operations of the wall-climbing robot can be realized; The force exerted on the first rotating shaft can be transmitted to the vehicle body frame 1 through the third bracket 8 and the sleeve 10, thereby sharing the force exerted on the first rotating shaft and extending the service life of the first rotating shaft; It should be noted that a clearance opening is formed on the second bracket 7 along the second direction to avoid the first driving member 9 .

[0034] The auxiliary moving structure is hinged to the vehicle frame 1, and when the wall-climbing robot passes through the transition of the wall surface 40 in the form of an inner right angle or an outer right angle, it can increase the adsorption force between the wall-climbing robot and the wall surface 40 to prevent the wall-climbing robot from falling; Specifically, the auxiliary moving structure includes an auxiliary magnetic attraction device, such as Figure 3 As shown, the auxiliary magnetic device includes a connecting frame, which is optionally a rectangular structure, welded from an aluminum square tube or other metal square tubes, the length direction of the connecting frame extends along the second direction, and is located below the vehicle body frame 1, the connecting frame has a first connecting rod 13 near the second end, and two second magnetic members 14 are arranged at the bottom of the first connecting rod 13 along the second direction; Furthermore, if Figures 1 to 5 As shown, the auxiliary moving structure also includes an auxiliary push-pull device, which can drive the auxiliary magnetic attraction device to approach or move away from the wall 40; Specifically, the auxiliary push-pull device includes two first mounting brackets 15, which are symmetrically arranged on the top of the mounting plate 2 close to the first end, and are respectively close to the two ends of the mounting plate 2 in the second direction. Optionally, the first mounting bracket 15 is a C-shaped structure, the bottom of which is mounted on the top of the mounting plate 2, and the top of which has a first connecting portion; Further, the connecting frame has a second connecting rod 16 near the first end, and the second connecting rod 16 is provided with a second connecting portion 17 at both ends of the side wall near the vehicle body frame 1. The auxiliary push-pull device also includes two first telescopic members 18, and the first telescopic member 18 has a first connecting end and a first telescopic end, the first connecting end and the first connecting portion are hinged, and the first telescopic end and the second connecting portion 17 are hinged; optionally, the first telescopic member 18 is an electric servo push rod; It should be noted that the first telescopic end is provided with a tension and compression sensor, and the tension and compression sensor is hinged with the second connecting portion 17, and the tension and compression sensor is electrically connected to the external control device; Furthermore, if Figures 4 to 6 As shown, the auxiliary moving structure also includes a rotating connecting device; Specifically, mounting holes are provided on both side walls of the first bracket 3 in the second direction, and mounting blocks 19 are provided through mounting members, a second through opening is provided through the first bracket 3 along the second direction, and third through openings are provided through the two mounting blocks 19 along the second direction, and the rotation connection device includes a second rotating shaft 20, the second rotating shaft 20 is rotatably provided in the second through opening, the length direction of the second rotating shaft 20 extends along the second direction, and both ends of the second rotating shaft 20 respectively pass through the two third through openings and extend to the outside of the two mounting blocks 19; Furthermore, a second bearing 21 is disposed in the third through opening, an outer ring of the second bearing 21 is fixedly sleeved on an inner wall of the third through opening, and an inner ring of the second bearing 21 is fixedly sleeved on an outer wall of the second rotating shaft 20; Furthermore, the rotating connection device also includes a clamping block 22. Two clamping blocks 22 are provided at both ends of the second rotating shaft 20. The clamping blocks 22 are semi-annular structures. The two butted semi-annular clamping blocks 22 are connected by a mounting member, so that the second rotating shaft 20 can be clamped to ensure that the clamping blocks 22 and the second rotating shaft 20 are in contact and fastened. Furthermore, the rotating connection device also includes two third connecting rods 23, one end of the third connecting rod 23 is fixedly connected to the side wall of the second connecting rod 16 close to the first end, and the other end extends toward the first end and has a third connecting portion 24, the two third connecting portions 24 are symmetrically arranged on both sides of the first bracket 3 in the second direction, a fourth through-hole is provided on the third connecting portion 24 along the second direction for the second rotating shaft 20 to pass through, a receiving groove is provided on the side wall of the third connecting portion 24 away from the first bracket 3, which can accommodate two butted clamping blocks 22 of a semi-annular structure, and a mounting hole is provided on the clamping block 22 along the second direction, and a mounting hole is correspondingly provided in the receiving groove, and the clamping block 22 and the receiving groove are connected by a mounting piece; the fourth through-hole is communicated with the receiving groove; Thus, by starting the first telescopic member 18, the first telescopic end telescopes, thereby pushing the connecting frame and the second magnetic member 14 to move. Since the connecting frame rotates around the second rotating shaft 20 through the third connecting rod 23, the first telescopic end can drive the second magnetic member 14 to approach or move away from the wall 40. When the second magnetic member 14 approaches the wall 40, the adsorption force between the second magnetic member 14 and the wall 40 can be increased. Further, a third rotating shaft 25 is provided inside the first connecting rod 13, and the length direction of the third rotating shaft 25 extends along the second direction, and its two ends in the second direction respectively penetrate through the two ends of the first connecting rod 13 and extend to the outside of the first connecting rod 13, and are coaxially fixedly connected with auxiliary wheels 26; optionally, the connection method is a key connection; Therefore, when the connecting frame and the second magnetic member 14 are rotated around the second rotating shaft 20 to approach the wall 40 by the first telescopic member 18, the auxiliary wheel 26 can contact the wall 40 and move along the wall 40 driven by the moving device.

[0035] It should be noted that the moving wheels 11 and the auxiliary wheels 26 can be made of rubber wheels with a relatively high friction coefficient, or can be replaced with wheels that are more suitable for the environment, such as those that are non-slip, high temperature resistant, and salt-alkali resistant, according to the use environment; It should be noted that when the first telescopic member 18 drives the second magnetic member 14 to approach the wall 40, the wall 40 and the second magnetic member 14 have an adsorption force, so that the first telescopic member 18 has a pulling force on the tension and compression sensor, so that the external control device can obtain real-time feedback of the tension value, so that the user can control the first telescopic member 18 through the external control device to ensure that the tension is within the required range, so that the wall-climbing robot can be adsorbed on the wall 40.

[0036] A swing arm structure, which is arranged on the top of the mounting plate 2 near the first end, is used to connect the working structure and drive the working structure to move, so as to complete rust removal, anti-corrosion painting and coating measurement on the wall surface 40; Specifically, Figure 1 and Figure 2 As shown, the swing arm structure includes a first rotating device, and the first rotating device includes a second driving member 27. Optionally, the second driving member 27 is an integrated worm gear reducer motor; the second driving member 27 is provided with a second mounting bracket 28 on both side walls in the second direction, and the bottom of the second mounting bracket 28 is arranged on the top of the mounting plate 2, and optionally, the second mounting bracket 28 is connected by a mounting member, and the mounting member can be a screw; The second driving member 27 has a second driving portion on its top, and a fixing block 29 is fixedly connected to the top of the second driving portion; The swing arm structure also includes an operating swing arm, which includes two parallel connecting plates 30, a plurality of connecting rods 31 are symmetrically arranged between the two connecting plates 30, and both ends of the connecting rods 31 are fixedly connected to the two connecting plates 30 respectively, one end of the connecting plate 30 is hinged to the fixed block 29, and the other end is provided with a quick change device; Further, the quick-change device includes a quick-change kit 32, which is sleeved on one end of the working swing arm away from the fixed block 29 and connected to the connecting plate 30 through a mounting member, and the quick-change kit 32 has a third mounting portion 33 for mounting the working structure; Furthermore, the swing arm structure also includes a second rotating device, a fixed plate 34 is fixedly sleeved on the second driving part, and the end of the fixed plate 34 away from the second driving member 27 has a fourth connecting part, and the two connecting plates 30 are also provided with a support rod 35, and the two ends of the support rod 35 are respectively fixedly connected to the two connecting plates 30, and the second rotating device includes a second telescopic member 36, and the second telescopic member 36 has a second connecting end and a second telescopic end, and the second connecting end is hingedly connected to the fourth connecting part, and the second telescopic end is hingedly connected to the support rod 35; Therefore, by starting the second driving member 27, the second driving part rotates, which can drive the working swing arm, the working structure and the second rotating device to rotate around the second driving member. Starting the second telescopic member 36 can drive the working swing arm and the working structure to rotate around the fixed block 29, so that the working structure can cope with the complex environment of the surface of large metal structures such as the bridge (gantry) machine of the hydropower station, and realize the posture adjustment of the working structure.

[0037] like Figure 7 As shown, two visual cameras 37 are provided at the first end and the second end of the vehicle body frame 1. The visual cameras 37 are electrically connected to the external control device and can display the video image of the position of the wall-climbing robot in real time; Both ends of the vehicle frame 1 in the second direction are provided with safety anti-fall rings 38 for connecting safety ropes to prevent the wall-climbing robot from falling and being damaged; A waterproof casing 39 is also provided on the vehicle body frame 1 .

[0038] Working principle: The wall-climbing robot is operated by a person operating an external control device. The first driving member 9, the first telescopic member 18, the second driving member 27 and the second telescopic member 36 are all electrically connected to the external control device. The wall-climbing robot can move forward, backward and turn on the wall 40 in coordination with the video image fed back in real time by the visual camera 37, and can move the auxiliary magnetic device and the swing arm structure. Before use, the spacing between the first magnetic device and the second magnetic device is adjusted according to the array arrangement of the high-strength bolts 12 of the hydropower station bridge (gate) machine to be operated, such as Figure 8As shown, it is optional to replace a suitable mounting plate 2 or adjust the position of the second magnetic device on the mounting plate 2 so that the first magnetic member 5 and the second magnetic member 14 can avoid the high-strength bolts 12 arranged in an array, and the first magnetic member 5 and the second magnetic member 14 can pass through the gaps between adjacent high-strength bolts 12 to avoid collision, thereby achieving the purpose of stable adsorption, while reducing damage to the high-strength bolts 12 and surrounding materials, thereby improving the safety and efficiency of the operation; since the height of the high-strength bolts 12 is higher than the wall 40, if the first magnetic member 5 and the second magnetic member 14 pass through the top of the high-strength bolts 12, the adsorption force is small and it is easy to fall off, so the first magnetic member 5 and the second magnetic member 14 pass through the gaps between adjacent high-strength bolts 12, which can ensure that they do not fall off due to insufficient adsorption force; When the wall-climbing robot moves on the wall 40, the first end is the front end and the second end is the rear end. Fig. 9 As shown, when the wall-climbing robot needs to make a transition on the outer right-angle wall 40, when the wall-climbing robot moves to the transition position, in order to ensure safety, the user needs to control the second driving member 27 through an external control device to move the working swing arm and the working structure to the second end, and the moving wheel 11 located at the first end first reaches the limit position of the first wall 40. At this time, the user uses the external control device to make the auxiliary wheel 26 and the second magnetic attraction member 14 close to the wall 40 to provide a greater adsorption force for the wall-climbing robot; The wall-climbing robot continues to move forward, and the moving wheel 11 at the first end leaves the first wall 40, and its adsorption force suddenly decreases. Through the real-time feedback of the tension value by the tension and compression sensor, the user controls the first telescopic member 18 through the external control device to ensure that the tension is within the required range, so that the wall-climbing robot can be adsorbed on the wall 40. At the same time, the 225° first magnetic member 5 can ensure that the moving wheel 11 can always have adsorption force on the wall 40 when passing through the transition position of the wall 40. The wall-climbing robot is controlled to continue to move forward, and the moving wheel 11 at the first end contacts the second wall 40, thereby completing the transition of the outer right-angle wall 40. After that, the wall-climbing robot is controlled to continue to move forward, and the moving wheel 11 at the first end and the moving wheel 11 at the second end The first magnetic member 5 has an adsorption force on the wall 40, and continued movement enables the auxiliary wheel 26 to pass through the transition point of the wall 40. Then the wall-climbing robot continues to move, and the moving wheel 11 at the second end reaches the limit position of the first wall 40. At this time, the first magnetic member 5 and the second magnetic member 14 at the first end both adsorb the wall 40, and the wall-climbing robot is controlled to continue to move. The moving wheel 11 at the second end leaves the first wall 40, and its adsorption force suddenly decreases. Through the tension value fed back in real time by the tension and compression sensor, the user controls the first telescopic member 18 through the external control device to ensure that the tension is within the required range, so that the wall-climbing robot can be adsorbed on the wall 40 until the wall-climbing robot as a whole completes the transition to the outer right-angle wall 40; When the wall-climbing robot needs to make a transition on the inner right-angle wall 40, such as Fig.10 As shown, in order to avoid collision between the working structure and the wall 40, before the wall-climbing robot moves to the inner right angle, the user needs to use an external control device to drive the swing arm structure to move the working structure to the side of the wall-climbing robot and lift the working structure to a certain height. First, the moving wheel 11 at the first end is controlled to reach the transition point of the wall 40 and contact the vertical wall 40. The adsorption force of the first magnetic component 5 can enable the moving wheel 11 at the first end to stably crawl on the vertical wall 40. After the first end passes through the transition point of the wall 40, the rear end of the front body will have a certain upward tendency, and the front end of the rear body will also have a certain upward tendency. The entire body is rigidly connected, and the rear body exerts a certain thrust on the front body. The 225° magnetic angle of the first magnetic component 5 can ensure that the moving wheel 11 at the first end and the moving wheel 11 at the second end are both adsorbed on the wall 40. Then, the wall-climbing robot is controlled to continue moving, and the moving wheel 11 at the second end reaches the transition point of the wall 40 and passes through the transition point of the wall 40 under the adsorption force of the first magnetic component 5.

[0039] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inside and outside of the facade, characterized in that: include: A vehicle body frame (1), wherein the two ends of the vehicle body frame (1) in a first direction are respectively a first end and a second end, and the bottoms of the first end and the second end are both provided with mounting plates (2) extending along a second direction; the second direction is perpendicular to the first direction; A magnetic attraction movable structure, the magnetic attraction movable structure being arranged at the bottom of the mounting plate (2) and being capable of being adsorbed on the wall surface (40) to drive the vehicle body frame (1) to move; An auxiliary moving structure, the auxiliary moving structure and the vehicle body frame (1) are hingedly connected, the auxiliary moving structure comprising a first telescopic member (18) and an auxiliary magnetic attraction device, the first telescopic member (18) being used to drive the auxiliary magnetic attraction device to approach the wall surface (40) so as to increase the adsorption force between the vehicle body frame (1) and the wall surface (40) and to prevent the vehicle body frame (1) from falling when the vehicle body frame (1) passes through an inner right angle or an outer right angle transition of the wall surface (40).

2. The wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inner and outer surfaces of the facade according to claim 1, characterized in that: The magnetic attraction movable structure comprises a first magnetic attraction device, which is arranged at a middle position of the bottom of the mounting plate (2); the first magnetic attraction device comprises a first bracket (3); the first bracket (3) is arranged at a middle position of the bottom of the mounting plate (2); the bottom of the first bracket (3) has an arc segment, and the arc segment is connected to a first magnetic attraction member (5) via an armature (4); the first magnetic attraction member (5) is located below the first bracket (3), is an arc structure, has an angle of 225°, and opens toward the mounting plate (2); the first magnetic attraction member (5) has a protective shell (6) on both sides of the second direction.

3. The wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inner and outer surfaces of the facade according to claim 2, characterized in that: The magnetic attraction movable structure further comprises two second magnetic attraction devices, the two second magnetic attraction devices are symmetrically arranged on both sides of the first magnetic attraction device in the second direction, and are both mounted on the bottom of the mounting plate (2) via mounting parts, the second magnetic attraction device comprises a second bracket (7), the bottom of the second bracket (7) has an arc segment, the bottom of the arc segment is connected to a first magnetic attraction member (5) via an armature (4), the first magnetic attraction member (5) is located below the second bracket (7), is an arc structure, has an angle of 225°, and opens toward the mounting plate (2), and the first magnetic attraction member (5) has a protective shell (6) on both sides in the second direction.

4. The wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inner and outer surfaces of the facade according to claim 3, characterized in that: The magnetic attraction movable structure further comprises two movable devices, the two movable devices being symmetrically arranged at the bottom of the mounting plate (2) and respectively close to two ends of the mounting plate (2) in the second direction, the movable device comprising a third bracket (8), which is arranged at the bottom of the mounting plate (2) and located on a side of the second bracket (7) away from the first bracket (3), and a first through opening is formed on the third bracket (8) along the second direction; The moving device further comprises a first driving member (9), which comprises a second mounting portion and a first driving portion, the second mounting portion being fixedly connected to a side wall of the third bracket (8) close to the first bracket (3), the first driving portion extending through the first through opening to a side of the third bracket (8) away from the first bracket (3), and being coaxially fixedly connected to the first rotating shaft.

5. The wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inner and outer surfaces of the facade according to claim 4, characterized in that: The moving device further comprises a sleeve (10), the length direction of which extends along the second direction. The sleeve (10) is sleeved on the first rotating shaft, one end of which is fixedly connected to a side wall of the third bracket (8) away from the first bracket (3), and a third through hole is penetrated through the side wall away from the third bracket (8). A first bearing is fixedly sleeved on the inner wall of the third through hole, and the inner ring of the first bearing is fixedly sleeved on the first rotating shaft. One end of the first rotating shaft away from the first driving member (9) is coaxially connected to a moving wheel (11).

6. The wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inner and outer surfaces of the facade according to claim 1, characterized in that: The auxiliary magnetic attraction device comprises a connecting frame extending along the second direction, the connecting frame having a first connecting rod (13) close to the second end, two second magnetic attraction members (14) arranged at the bottom of the first connecting rod (13) along the second direction; the connecting frame further comprises a second connecting rod (16) close to the first end, and the second connecting rod (16) is provided with second connecting parts (17) at both ends of the side wall close to the vehicle body frame (1); The auxiliary mobile structure also includes an auxiliary push-pull device, which includes two first mounting brackets (15), the two first mounting brackets (15) are symmetrically arranged on the top of the mounting plate (2) close to the first end, the top of the first mounting bracket (15) has a first connecting portion, the first telescopic member (18) has a first connecting end and a first telescopic end, the first connecting end and the first connecting portion are hinged, and the first telescopic end is provided with a tension and compression sensor, and is hinged to the second connecting portion (17) through the tension and compression sensor.

7. The wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inner and outer surfaces of the facade according to claim 2, characterized in that: The first bracket (3) is fixedly provided with mounting blocks (19) on both side walls in the second direction, the first bracket (3) is provided with a second through opening extending through the second direction, and the mounting block (19) is provided with a third through opening extending through the second direction; The auxiliary movable structure also includes a rotation connection device, which includes a second rotating shaft (20). The second rotating shaft (20) is rotatably arranged in the second through-hole, and its two ends respectively pass through the two third through-holes and extend to the outside of the two mounting blocks (19). A second bearing (21) is fixedly arranged in the third through-holes, and the inner ring of the second bearing (21) is fixedly sleeved on the outer wall of the second rotating shaft (20).

8. The wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inner and outer surfaces of the facade according to claim 7, characterized in that: The rotating connection device further comprises a clamping block (22) which is a semi-annular structure, two butted clamping blocks (22) are provided at both ends of the second rotating shaft (20), and the two butted clamping blocks (22) are connected via a mounting member to clamp the second rotating shaft (20); The rotating connection device also includes two third connecting rods (23), one end of the third connecting rod (23) is fixedly connected to the side wall of the second connecting rod (16) close to the first end, and the other end extends toward the first end and has a third connecting portion (24), the two third connecting portions (24) are symmetrically arranged on both sides of the first bracket (3) in the second direction, a fourth through opening is opened on the third connecting portion (24) along the second direction for the second rotating shaft (20) to pass through, and a receiving groove is opened on the side wall of the third connecting portion (24) away from the first bracket (3) for receiving two butted semi-annular clamping blocks (22) and connected to the clamping blocks (22).

9. The wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inner and outer surfaces of the facade according to claim 1, characterized in that: It also includes a swing arm structure, which is used to connect the working structure and drive the working structure to move, the swing arm structure includes a first rotating device, the first rotating device includes a second driving member (27), which is arranged on the top of the mounting plate (2) close to the first end, the second driving member (27) has a second driving part on the top, the second driving member is fixedly connected to a fixing block (29) on the top, the second driving member is fixedly sleeved with a fixing plate (34), and the fixing plate (34) has a fourth connecting part at one end away from the second driving member (27); The swing arm structure also includes an operating swing arm, one end of which is hinged to the fixed block (29), and the other end of which is connected to the operating structure via a quick-change device; The swing arm structure also includes a second rotating device, the second rotating device includes a second telescopic member (36), the second telescopic member (36) has a second connecting end and a second telescopic end, the second connecting end is hingedly connected to the fourth connecting part, and the second telescopic end is hingedly connected to the working swing arm.

10. The wall-climbing robot capable of realizing a multi-screw array and a right-angle transition between the inside and outside of the facade according to claim 1, characterized in that: The vehicle body frame (1) is provided with a waterproof shell, and the first end and the second end of the vehicle body frame (1) are both provided with two visual cameras (37) for feeding back video images to an external control device in real time; and the vehicle body frame (1) is provided with safety anti-fall rings (38) at both ends in the second direction for connecting a safety rope.

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