A wall-climbing robot capable of realizing multi-screw array and right-angle transition inside and outside facade

Abstract

The application discloses a wall-climbing robot capable of realizing a multi-screw array and a right-angle transition inside and outside a facade, comprising a vehicle body frame, which is provided with mounting plates extending along a second direction at the bottoms of both ends in a first direction; the bottoms of the mounting plates are provided with magnetic moving structures, which can enable the vehicle body frame to be adsorbed on a wall surface and to move along the wall surface; the vehicle body frame is hingedly connected with an auxiliary moving structure, which comprises a first telescopic member and an auxiliary magnetic adsorption device; the first telescopic member can drive the auxiliary magnetic adsorption device to approach the wall surface, so as to increase the adsorption force on the wall surface; when the wall-climbing robot passes through a wall surface transition place with an outer right angle or an inner right angle, a user controls the first telescopic member to be elongated, so as to drive the auxiliary magnetic adsorption device to approach the wall surface, so as to increase the adsorption force of the wall-climbing robot on the wall surface, and the wall-climbing robot is facilitated to pass through the wall surface transition place with the outer right angle or the inner right angle, and the wall-climbing robot is prevented from falling and being damaged due to insufficient adsorption force.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, specifically to a wall-climbing robot capable of realizing multi-screw arrays and right-angle transitions between the interior and exterior of a facade. Background Technology

[0002] With industrial development, the demand for inspection, cleaning, and maintenance of high-altitude or inaccessible walls is increasing. Wall-climbing robots can effectively perform tasks on surfaces such as large storage tanks, ships, and building facades without relying on human intervention, significantly improving efficiency and reducing risks. The continuous advancement of robotics technology, particularly in automation, intelligence, sensor technology, and control algorithms, provides the technological foundation for the research of wall-climbing robots. In certain hazardous environments, such as the cleaning of the exterior walls of nuclear industrial facilities or high-rise buildings, using robots to replace manual labor can significantly improve safety. Simultaneously, robots can operate for extended periods without fatigue, improving work efficiency. Wall-climbing robots need to adapt to various wall materials and environmental conditions, such as temperature, humidity, and surface roughness. This requires robots to possess excellent environmental adaptability and stability.

[0003] Hydropower stations mainly consist of large metal structures such as bridge cranes and gantry cranes. These structures are subject to varying degrees of corrosion during operation. Therefore, it is necessary to regularly perform anti-corrosion work on the surface of the metal structures. The operation involves a lot of work at heights. The traditional solution is to erect scaffolding and manually pre-treat the surfaces to be protected against corrosion. The entire construction process is high-risk and some parts are difficult to work on.

[0004] The surface environment of large metal structures such as bridge (gantry) cranes in hydropower stations is very complex, with obstacles and transition positions such as high-strength bolts, inner right angles, and outer right angles. In order to meet the anti-corrosion requirements of the surface of bridge (gantry) crane structures in hydropower stations, overcome the problems of high risk factor and high risk of working at height by manually erecting scaffolding, and improve the safety of anti-corrosion operations of large metal facade structures in hydropower stations, this application proposes a wall-climbing robot that can realize multi-screw arrays and right-angle transitions between the inner and outer facades. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a wall-climbing robot that can realize multi-screw arrays and right-angle transitions between the interior and exterior of the facade.

[0006] In the first aspect, this application provides a wall-climbing robot capable of realizing multi-screw arrays and right-angle transitions between interior and exterior facades, including:

[0007] The vehicle body frame has a first end and a second end at two ends in a first direction, and the bottom of both the first end and the second end is provided with a mounting plate extending along a second direction; the second direction is perpendicular to the first direction.

[0008] A magnetic attraction moving structure is provided at the bottom of the mounting plate, which can be attracted to the wall surface to drive the vehicle frame to move.

[0009] An auxiliary moving structure is hinged to the vehicle frame. The auxiliary moving structure includes a first telescopic member and an auxiliary magnetic attraction device. The first telescopic member is used to move the auxiliary magnetic attraction device closer to the wall to increase the attraction force between the vehicle frame and the wall, and to prevent the vehicle frame from falling off when the vehicle frame passes through a transition point that avoids inner right angles or outer right angles.

[0010] The magnetic attraction moving structure includes a first magnetic attraction device, which is located at the center of the bottom of the mounting plate. The first magnetic attraction device includes a first bracket, which is located at the center of the bottom of the mounting plate. The bottom of the first bracket has an arc-shaped section, and a first magnetic attraction element is connected to the arc-shaped section by an armature. The first magnetic attraction element is located below the first bracket, and it has an arc-shaped structure with an angle of 225° and an opening facing the mounting plate. The first magnetic attraction element has protective shells on both sides in the second direction.

[0011] The magnetic moving structure further includes two second magnetic devices, which are symmetrically arranged on both sides of the first magnetic device in the second direction, and are both mounted on the bottom of the mounting plate by mounting components. The second magnetic device includes a second bracket, the bottom of which has an arc-shaped section. The bottom of the arc-shaped section is connected to a first magnetic component by an armature. The first magnetic component is located below the second bracket, and it has an arc-shaped structure with an angle of 225° and an opening facing the mounting plate. The first magnetic component has protective shells on both sides in the second direction.

[0012] According to the technical solution provided in the embodiments of this application, the magnetic moving structure further includes two moving devices. The two moving devices are symmetrically arranged at the bottom of the mounting plate and are respectively close to both ends of the mounting plate in the second direction. The moving device includes a third bracket, which is arranged at the bottom of the mounting plate and located on the side of the second bracket away from the first bracket. A first passage is provided through the third bracket along the second direction.

[0013] The mobile device further includes a first driving member having a second mounting part and a first driving part. The second mounting part is fixedly connected to the side wall of the third bracket near the first bracket. The first driving part extends through the first passage to the side of the third bracket away from the first bracket and is coaxially fixedly connected to a first rotating shaft.

[0014] According to the technical solution provided in the embodiments of this application, the moving device further includes a sleeve, the length of which extends along the second direction. The sleeve is sleeved on the first rotating shaft, one end of which is fixedly connected to the side wall of the third bracket away from the first bracket, and a third through-hole is provided through the side wall away from the third bracket. 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. A moving wheel is coaxially connected to the end of the first rotating shaft away from the first driving member.

[0015] According to the technical solution provided in the embodiments of this application, the auxiliary magnetic attraction device includes a connecting frame that extends along the second direction. The connecting frame has a first connecting rod near the second end, and two second magnetic attraction elements 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 has a second connecting portion at both ends near the side wall of the vehicle frame.

[0016] The auxiliary moving structure also includes an auxiliary push-pull device, which includes two first mounting brackets symmetrically arranged on the top of the mounting plate near the first end. The top of the first mounting bracket has a first connecting portion. The first telescopic member has a first connecting end and a first telescopic end. The first connecting end and the first connecting portion are hinged together. The first telescopic end is provided with a tension / compression sensor and is hinged to the second connecting portion through the tension / compression sensor.

[0017] According to the technical solution provided in the embodiments of this application, the first bracket is fixedly provided with mounting blocks on both sides of the second direction, the first bracket is provided with a second through-hole along the second direction, and the mounting block is provided with a third through-hole along the second direction;

[0018] The auxiliary moving structure further includes a rotating connection device, which includes a second rotating shaft. The second rotating shaft is rotatably disposed in the second passage, and its two ends extend through the two third passages to the outside of the two mounting blocks. A second bearing is fixedly disposed in the third passage, and the inner ring of the second bearing is fixedly sleeved on the outer wall of the second rotating shaft.

[0019] According to the technical solution provided in the embodiments of this application, the rotating connection device further includes a clamping block, which is a semi-circular structure. Two clamping blocks are provided at both ends of the second rotating shaft, and the two clamping blocks are connected by a mounting component to clamp the second rotating shaft.

[0020] The rotating connection device further includes two third connecting rods. One end of each third connecting rod is fixedly connected to the side wall of the second connecting rod near the first end, and the other end extends toward the first end and has a third connecting part. The two third connecting parts are symmetrically arranged on both sides of the first bracket in the second direction. A fourth through-hole is provided on the third connecting part along the second direction for the second rotating shaft to pass through. A receiving groove is provided on the side wall of the third connecting part away from the first bracket for accommodating two mating semi-annular clamping blocks and connecting with the clamping blocks.

[0021] According to the technical solution provided in the embodiments of this 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 disposed on the top of the mounting plate near the first end. The top of the second driving member has a second driving part, the top of the second driving part is fixedly connected to a fixing block, and a fixing plate is fixedly sleeved on the second driving part. The end of the fixing plate away from the second driving member has a fourth connecting part.

[0022] The swing arm structure also includes a working swing arm, one end of which is hinged to the fixed block, and the other end is connected to the working structure through a quick-change device;

[0023] The swing arm structure further includes a second rotating device, which includes a second telescopic member. The second telescopic member has a second connecting end and a second telescopic end. The second connecting end and the fourth connecting part are hinged together, and the second telescopic end is hinged together with the working swing arm.

[0024] According to the technical solution provided in the embodiments of this application, a waterproof shell is provided on the vehicle frame, and two vision cameras are provided at the first end and the second end of the vehicle 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 frame in the second direction for connecting safety ropes.

[0025] In summary, this technical solution specifically discloses a wall-climbing robot that can realize a multi-screw array and right-angle transition between the inside and outside of the facade, including a vehicle frame, which has a first end and a second end at two ends in a first direction, and the bottom of the first end and the second end are provided with mounting plates extending along the second direction. The bottom of the mounting plates is provided with a magnetic moving structure, which enables the vehicle frame to be adsorbed onto the wall surface and move along the wall surface.

[0026] An auxiliary moving structure is hinged to the vehicle frame. The auxiliary moving structure includes a first telescopic member and an auxiliary magnetic attraction device. The first telescopic member can extend and retract to move the auxiliary magnetic attraction device closer to or away from the wall, thereby assisting in adhering to the wall.

[0027] When this wall-climbing robot, which can realize multi-screw array and right-angle transition between the inside and outside of the facade, passes through the transition point of the wall with an outer right angle or an inner right angle, the first telescopic component is extended by human control, which drives the auxiliary magnetic suction device to approach the wall to increase the wall-climbing robot's suction force on the wall. This makes it easier for the wall-climbing robot to pass through the transition point of the wall with an outer right angle or an inner right angle, and avoids the wall-climbing robot falling and being damaged due to insufficient suction force. Attached Figure Description

[0028] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0029] Figure 1 This is a schematic diagram of a wall-climbing robot structure that can achieve multiple screw arrays and right-angle transitions between the interior and exterior of the facade.

[0030] Figure 2 This is a schematic diagram of another angle of the wall-climbing robot that can achieve multi-screw arrays and right-angle transitions between the inside and outside of the facade.

[0031] Figure 3 This is a bottom view of a wall-climbing robot that can achieve multi-screw arrays and right-angle transitions between the interior and exterior facades.

[0032] Figure 4 This is a cross-sectional view of the magnetically movable structure located at the first end.

[0033] Figure 5 This is a schematic diagram of the structure located at the first end.

[0034] Figure 6 This is a schematic diagram of the rotating connection device.

[0035] Figure 7 This is a schematic diagram of the waterproof outer casing structure.

[0036] Figure 8 A schematic diagram of a wall-climbing robot that can achieve multiple screw arrays and right-angle transitions between the interior and exterior of a facade using high-strength bolts.

[0037] Figure 9 This is a schematic diagram of a wall-climbing robot capable of navigating external right angles and transitioning between internal and external right angles on a facade using a multi-screw array.

[0038] Figure 10 This is a schematic diagram of a wall-climbing robot capable of navigating an inner right angle, which can achieve multiple screw arrays and right-angle transitions between the inner and outer sides of a facade.

[0039] Labels in the diagram: 1. Vehicle frame; 2. Mounting plate; 3. First bracket; 4. Armature; 5. First magnetic clasp; 6. Protective shell; 7. Second bracket; 8. Third bracket; 9. First drive component; 10. Sleeve; 11. Transfer wheel; 12. High-strength bolt; 13. First connecting rod; 14. Second magnetic clasp; 15. First mounting bracket; 16. Second connecting rod; 17. Second connecting part; 18. First telescopic component; 19. Mounting block; 20. Second pivot; 1. Second bearing; 22. Clamping block; 23. Third connecting rod; 24. Third connecting part; 25. Third rotating shaft; 26. Auxiliary wheel; 27. Second driving component; 28. Second mounting bracket; 29. ​​Fixing block; 30. Connecting plate; 31. Connecting support rod; 32. Quick-change kit; 33. Third mounting part; 34. Fixing plate; 35. Support rod; 36. Second telescopic component; 37. Vision camera; 38. Safety anti-fall ring; 39. Waterproof shell; 40. Wall surface. Detailed Implementation

[0040] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0042] Example 1

[0043] The surface environment of large metal structures in hydropower stations, such as bridge cranes and gantry cranes, is very complex. There are obstacles and transition positions such as high-strength bolts, inner right angles, and outer right angles. High-strength bolts 12 are arranged in an array on the surface of the bridge cranes and gantry cranes. The bridge cranes and gantry cranes have walls 40, and adjacent walls 40 will form inner right angles or outer right angles.

[0044] Please refer to Figures 1 to 3 As shown, a wall-climbing robot capable of multi-screw arrays and right-angle transitions between interior and exterior facades includes a vehicle frame 1. Optionally, the vehicle frame 1 is a cuboid structure, welded from aluminum square tubing or other metal square tubing. The two ends of the vehicle frame 1 in a first direction are respectively a first end and a second end; the first direction is... Figure 3 Mid-horizontal direction.

[0045] Mounting plates 2 are provided at the bottom of both the first and second ends, and magnetic moving structures are provided at the bottom of the mounting plates 2 to allow the vehicle frame 1 to adhere to the wall 40 and move along the wall 40.

[0046] Specifically, the mounting plate 2 is disposed at the bottom of the vehicle body frame 1, and optionally, is connected by welding; the mounting plate 2 extends along a second direction in its length direction, and a plurality of mounting holes are provided on the mounting plate 2 along its length direction; the second direction is... Figure 3 The first direction is vertical, and the second direction is perpendicular to the first direction;

[0047] Furthermore, such as Figure 4 and Figure 5 As shown, the magnetic moving structure includes a first magnetic device, which is located at the middle of the bottom of the mounting plate 2. The first magnetic 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 of the mounting plate 2, and is installed by a mounting component. Optionally, the mounting component is a screw.

[0048] Furthermore, the bottom of the first bracket 3 has an arc-shaped section, and the first magnetic component 5 is connected to the arc-shaped section by an armature 4. The first magnetic component 5 is provided with protective shells 6 on both sides in the second direction to prevent damage to the first magnetic component 5. Optionally, the first magnetic component 5 has an arc-shaped structure with an angle of 225° and its opening faces the mounting plate 2.

[0049] Specifically, mounting holes are provided on the side wall of the arc segment, the armature 4 has an arc structure, a first mounting part is provided on its top, and a mounting hole is provided on the first mounting part. The mounting component extends through the mounting hole of the first mounting part into the mounting hole of the arc segment, thereby mounting the armature 4 on the first bracket 3. The first magnetic component 5 is provided at the bottom of the armature 4 and is located below the first bracket 3; the mounting component can be a screw.

[0050] Furthermore, mounting holes are provided on both sides of the armature 4 in the second direction, and mounting holes are provided on the protective shell 6 accordingly. The mounting component extends through the mounting holes of the protective shell 6 into the mounting holes on both sides of the armature 4 in the second direction, and the protective shell 6 can cover the side wall of the first magnetic component 5, thereby protecting the first magnetic component 5. The mounting component can be a screw.

[0051] The magnetic moving structure also includes two second magnetic devices, which are symmetrically arranged on both sides of the first magnetic device in the second direction and close to the two ends of the mounting plate 2 in the second direction. The second magnetic device includes a second bracket 7, the top of which is mounted on the bottom of the mounting plate by a mounting component.

[0052] Specifically, the second bracket 7 has a mounting hole at the top, and the mounting hole of the second bracket 7 is connected to the mounting hole of the mounting plate 2 through a mounting component. The bottom of the second bracket 7 has an arc-shaped section, and the bottom of the arc-shaped section is connected to the first magnetic component 5 through an armature 4. The first magnetic component 5 is provided with protective shells 6 on both sides in the second direction to prevent damage to the first magnetic component 5. Optionally, the first magnetic component 5 has an arc-shaped structure with an angle of 225° and its opening faces the mounting plate 2.

[0053] Furthermore, the arc-shaped sidewall of the second bracket 7 is provided with mounting holes, the armature 4 is an arc-shaped structure, and a first mounting part is provided on its top. The first mounting part is provided with mounting holes, and the mounting component extends through the mounting holes of the first mounting part into the mounting holes of the arc-shaped section, thereby mounting the armature 4 on the second bracket 7. The first magnetic component 5 is provided at the bottom of the armature 4 and is located below the second bracket 7; the mounting component can be a screw.

[0054] Furthermore, mounting holes are provided on both sides of the armature 4 in the second direction, and mounting holes are provided on the protective shell 6 accordingly. The mounting component extends through the mounting holes of the protective shell 6 into the mounting holes on both sides of the armature 4 in the second direction, and the protective shell 6 can cover the side wall of the first magnetic component 5, thereby protecting the first magnetic component 5; the mounting component can be a screw.

[0055] It should be noted that, since the mounting plate 2 is provided with several mounting holes, the second bracket 7 is installed at the bottom of the mounting plate 2 through the mounting component. This allows the position of the second bracket 7 at the bottom of the mounting plate 2 to be changed, thereby changing the distance between the second bracket 7 and the first bracket 3. This adjusts the spacing between the first magnetic suction component 5 of the first magnetic suction device and the first magnetic suction component 5 of the second magnetic suction device. When the wall-climbing robot passes through the array of high-strength bolts 12, by changing the spacing between the first magnetic suction component 5 of the first magnetic suction device and the first magnetic suction component 5 of the second magnetic suction device, it is ensured that both the first magnetic suction component 5 of the first magnetic suction device and the first magnetic suction component 5 of the second magnetic suction device can pass through the gap between adjacent high-strength bolts 12, thereby ensuring that the first magnetic suction component 5 can adhere to the wall surface 40.

[0056] The magnetic moving structure also includes two moving devices, which are symmetrically arranged at the bottom of the mounting plate 2 and close to both ends of the mounting plate 2 in the second direction.

[0057] Specifically, the mobile device includes a third bracket 8, the top of the third bracket 8 is provided with a mounting hole and is connected to the bottom of the mounting plate 2 through a mounting component. The third bracket 8 is located on the side of the second bracket 7 away from the first bracket 3. A first through-hole is provided on the third bracket 8 along the second direction, and mounting holes are provided on both sides of the third bracket 8 in the second direction and outside the first through-hole.

[0058] The mobile device also includes a first drive member 9, which has a second mounting part and a first drive part. The second mounting part is provided with a mounting hole and is connected to the third bracket 8 near the mounting hole on the side wall of the first magnetic attraction device through the mounting member and the mounting hole. The first drive part extends through the first passage to the side of the third bracket 8 away from the first magnetic attraction device and is coaxially connected to the first rotating shaft. The first drive member 9 may be a joint servo motor.

[0059] Furthermore, the moving device also includes a sleeve 10, which extends along the second direction in its length 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. The end of the sleeve 10 near 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 component. A third passage is provided on the side wall of the sleeve 10 away from the third bracket 8. A first bearing is fixedly sleeved on the inner wall of the third passage, and the inner ring of the first bearing is fixedly sleeved on the first rotating shaft. The end of the first rotating shaft away from the first driving component 9 extends through the inner ring of the first bearing to the side of the first bearing away from the third bracket 8 and is coaxially fixedly connected to a moving wheel 11. Optionally, the connection method is a key connection.

[0060] By setting the rotation speed and rotation direction of the first drive units of the four first drive components 9, the wall-climbing robot can achieve forward, backward and turning operations.

[0061] The force on the first rotating shaft can be transmitted to the vehicle frame 1 through the third bracket 8 and the sleeve 10, thus sharing the force on the first rotating shaft and extending the service life of the first rotating shaft.

[0062] It should be noted that the second bracket 7 has a clearance opening along the second direction to avoid the first driving component 9.

[0063] An auxiliary moving structure, which is hinged to the vehicle frame 1, can increase the adhesion between the wall-climbing robot and the wall surface 40 when the wall-climbing robot passes through the transition point of the wall surface 40 in the form of an inner right angle or an outer right angle, so as to prevent the wall-climbing robot from falling.

[0064] Specifically, the auxiliary moving structure includes an auxiliary magnetic attraction device, such as... Figure 3 As shown, the auxiliary magnetic attraction device includes a connecting frame, which is optionally rectangular in structure and welded from aluminum square tubes or other metal square tubes. The length direction of the connecting frame extends along the second direction and is located below the vehicle frame 1. The connecting frame has a first connecting rod 13 near the second end, and two second magnetic attraction elements 14 are arranged at the bottom of the first connecting rod 13 along the second direction.

[0065] Furthermore, such as Figures 1 to 5 As shown, the auxiliary moving structure also includes an auxiliary push-pull device, which can drive the auxiliary magnetic suction device to move closer to or away from the wall surface 40;

[0066] Specifically, the auxiliary push-pull device includes two first mounting brackets 15, which are symmetrically arranged on the top of the mounting plate 2 near the first end and respectively near the two ends of the mounting plate 2 in the second direction. Optionally, the first mounting bracket 15 has a C-shaped structure, with its bottom installed on the top of the mounting plate 2 and its top having a first connecting part.

[0067] Furthermore, the connecting frame has a second connecting rod 16 near the first end, and the second connecting rod 16 has a second connecting part 17 at both ends near the side wall of the vehicle frame 1. The auxiliary push-pull device also includes two first telescopic members 18. The first telescopic member 18 has a first connecting end and a first telescopic end. The first connecting end and the first connecting part are hinged together, and the first telescopic end and the second connecting part 17 are hinged together. Optionally, the first telescopic member 18 is an electric servo push rod.

[0068] It should be noted that the first telescopic end is equipped with a tension / compression sensor and is hinged to the second connecting part 17 through the tension / compression sensor. The tension / compression sensor is electrically connected to the external control device.

[0069] Furthermore, such as Figures 4 to 6 As shown, the auxiliary moving structure also includes a rotating connection device;

[0070] Specifically, the first bracket 3 has mounting holes on both sides of the second direction and mounting blocks 19 are provided through the mounting parts. The first bracket 3 has a second through opening along the second direction, and the two mounting blocks 19 have a third through opening along the second direction. The rotating connection device includes a second rotating shaft 20, which is rotatably disposed in the second through opening. The length of the second rotating shaft 20 extends along the second direction, and both ends of the second rotating shaft 20 extend through the two third through openings to the outside of the two mounting blocks 19.

[0071] Furthermore, a second bearing 21 is provided inside the third passage, the outer ring of the second bearing 21 is fixedly sleeved on the inner wall of the third passage, and the inner ring of the second bearing 21 is fixedly sleeved on the outer wall of the second rotating shaft 20.

[0072] Furthermore, the rotating connection device also includes clamping blocks 22. Two clamping blocks 22 are provided at both ends of the second rotating shaft 20. The clamping blocks 22 are semi-circular structures. The two mating semi-circular clamping blocks 22 are connected by mounting parts, so as to clamp the second rotating shaft 20 and ensure that the clamping blocks 22 and the second rotating shaft 20 are in contact and fastened.

[0073] 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 near the first end, and the other end extends towards the first end and has a third connecting part 24. The two third connecting parts 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 part 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 part 24 away from the first bracket 3, which can accommodate two mating semi-annular clamping blocks 22. The clamping blocks 22 are provided with mounting holes along the second direction, and the receiving groove is provided with corresponding mounting holes. The clamping blocks 22 and the receiving groove are connected by mounting parts. The fourth through-hole is connected to the receiving groove.

[0074] Thus, by activating the first telescopic member 18, the first telescopic end extends and retracts, thereby pushing the connecting frame and the second magnetic member 14 to move. Since the connecting frame rotates around the second rotating shaft 20 via the third connecting rod 23, the first telescopic end can drive the second magnetic member 14 to move closer to or away from the wall 40. When the second magnetic member 14 moves closer to the wall 40, it can increase the adsorption force between it and the wall 40.

[0075] Furthermore, a third rotating shaft 25 is provided inside the first connecting rod 13. The length direction of the third rotating shaft 25 extends along the second direction, and its two ends in the second direction pass through both ends of the first connecting rod 13 and extend to the outside of the first connecting rod 13, and are coaxially fixedly connected to auxiliary wheels 26; optionally, the connection method is a key connection.

[0076] Therefore, when the connecting frame and the second magnetic suction member 14 are rotated around the second rotating shaft 20 and approach the wall surface 40 by the first telescopic member 18, the auxiliary wheel 26 can contact the wall surface 40 and move along the wall surface 40 under the drive of the moving device.

[0077] It should be noted that the movable wheel 11 and the auxiliary wheel 26 can be made of rubber wheels with a relatively high coefficient of friction, or they can be replaced with wheels that are more suitable for the environment, such as those with external anti-slip properties, high temperature resistance, and salt and alkali resistance.

[0078] It should be noted that when the first telescopic member 18 moves the second magnetic member 14 close to the wall surface 40, the wall surface 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 sensor. Thus, the external control device can obtain the real-time feedback of the pulling force value, so that the user can control the first telescopic member 18 through the external control device to ensure that the pulling force is within the required range, so that the wall-climbing robot can be adsorbed on the wall surface 40.

[0079] The swing arm structure is located on the top of the mounting plate 2 near the first end. It is used to connect the working structure and drive the working structure to move, so as to complete the rust removal, anti-corrosion painting and coating measurement on the wall surface 40.

[0080] Specifically, such as Figure 1 and Figure 2 As shown, the swing arm structure includes a first rotating device, which includes a second driving member 27. Optionally, the second driving member 27 is an integrated worm gear reducer and motor. The second driving member 27 is provided with second mounting brackets 28 on both sides of its second direction, and the bottom of the second mounting brackets 28 is located on the top of the mounting plate 2. Optionally, they are connected by mounting parts, which can be screws.

[0081] The second driving member 27 has a second driving part at its top, and a fixing block 29 is fixedly connected to the top of the second driving part.

[0082] The swing arm structure also includes a working swing arm, which includes two parallel connecting plates 30. Multiple connecting rods 31 are symmetrically arranged between the two connecting plates 30. The two 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 fixing block 29, and the other end is provided with a quick-change device.

[0083] Furthermore, the quick-change device includes a quick-change kit 32, which is sleeved on the end of the working swing arm away from the fixed block 29 and connected by a mounting piece and a connecting plate 30. The quick-change kit 32 has a third mounting part 33 for installing the working structure.

[0084] Furthermore, the swing arm structure also includes a second rotating device. A fixed plate 34 is fixedly sleeved on the second drive unit. The fixed plate 34 has a fourth connecting part at one end away from the second drive member 27. The two connecting plates 30 are also provided with support rods 35. The two ends of the support rods 35 are fixedly connected to the two connecting plates 30 respectively. 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 hinged to the fourth connecting part, and the second telescopic end is hinged to the support rod 35.

[0085] Therefore, by activating the second drive component 27, the second drive unit rotates, which can drive the working swing arm, the working structure, and the second rotating device to rotate around the second drive unit. Activating the second telescopic component 36 can drive the working swing arm and the working structure to rotate around the fixed block 29, thereby enabling the working structure to cope with the complex environment of the surface of large metal structures such as bridge (gantry) cranes in hydropower stations and realize the attitude adjustment of the working structure.

[0086] like Figure 7As shown, two vision cameras 37 are provided at the first and second ends of the vehicle frame 1. The vision cameras 37 are electrically connected to an external control device and can display video footage of the wall-climbing robot's location in real time.

[0087] Safety anti-fall rings 38 are provided at both ends of the vehicle frame 1 in the second direction to connect the safety rope and prevent the wall-climbing robot from falling and being damaged.

[0088] A waterproof outer shell 39 is also installed on the vehicle frame 1.

[0089] Working principle: The wall-climbing robot is operated by an external control device operated by a person. The first drive component 9, the first telescopic component 18, the second drive component 27 and the second telescopic component 36 are all electrically connected to the external control device. With the real-time video feedback from the vision camera 37, the wall-climbing robot can move forward, backward and turn on the wall surface 40, and can also move the auxiliary magnetic suction device and the swing arm structure.

[0090] Before use, adjust the spacing between the first and second magnetic suction devices according to the array arrangement of the high-strength bolts 12 of the hydropower station bridge (gantry) crane required for the operation. Figure 8 As shown, the mounting plate 2 can be replaced with a suitable one or the position of the second magnetic device on the mounting plate 2 can be adjusted so that the first magnetic component 5 and the second magnetic component 14 can avoid the array of high-strength bolts 12. The first magnetic component 5 and the second magnetic component 14 can pass through the gap between adjacent high-strength bolts 12 to avoid collision and achieve the purpose of stable adsorption. At the same time, it reduces damage to the high-strength bolts 12 and surrounding materials, and improves the safety and efficiency of the operation. Since the height of the high-strength bolts 12 is higher than the wall surface 40, if the first magnetic component 5 and the second magnetic component 14 pass over the top of the high-strength bolts 12, the adsorption force will be small and they will easily fall off. Therefore, by passing through the gap between adjacent high-strength bolts 12, the first magnetic component 5 and the second magnetic component 14 can ensure that they do not fall off due to insufficient adsorption force.

[0091] When the wall-climbing robot moves along the wall surface 40, the first end is the front end and the second end is the rear end, as shown below. Figure 9 As shown, when the wall-climbing robot needs to transition to the outer right-angle wall 40, to ensure safety when the wall-climbing robot reaches the transition position, the user needs to control the second drive component 27 through the external control device to move the working arm and working structure to the second end. 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 suction component 14 approach the wall 40 to provide a greater suction force for the wall-climbing robot.

[0092] The wall-climbing robot continues its journey. The first moving wheel 11 leaves the first wall surface 40, causing its suction force to decrease abruptly. Based on the real-time feedback of the tension value from the tension sensor, the user controls the first telescopic component 18 via an external control device to ensure the tension is within the required range, allowing the wall-climbing robot to adhere to the wall surface 40. Simultaneously, the 225° first magnetic suction component 5 ensures that the moving wheel 11 maintains suction force on the wall surface 40 during the transition. The robot continues its journey, and the first moving wheel 11 contacts the second wall surface 40, completing the transition to the outer right-angle wall surface 40. The robot then continues its journey, with the first and second moving wheels... All of them have an adsorption force on the wall surface 40 through the first magnetic suction component 5. Continuing to move, the auxiliary wheel 26 can pass through the transition point of the wall surface 40. Then the wall-climbing robot continues to move. The moving wheel 11 at the second end reaches the limit position of the first wall surface 40. At this time, the first magnetic suction component 5 and the second magnetic suction component 14 at the first end are both adsorbed on the wall surface 40. Control the wall-climbing robot to continue to move. The moving wheel 11 at the second end leaves the first wall surface 40. Its adsorption force suddenly decreases. Through the tension and compression sensor, the tension value is fed back in real time. The user controls the first telescopic component 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 surface 40 until the wall-climbing robot completes the transition of the outer right-angle wall surface 40.

[0093] When a wall-climbing robot needs to transition across a right-angled wall at a 40° angle, such as Figure 10 As shown, to avoid collision between the working structure and the wall 40, before the wall-climbing robot reaches the inner right angle, the operator needs to use an external control device to move the swing arm structure to the side of the wall-climbing robot and raise the working structure to a certain height. First, control the first end of the moving wheel 11 to reach the transition point of the wall 40 and contact the vertical wall 40. The attraction force of the first magnetic suction 5 can make the first end of the moving wheel 11 climb stably on the vertical wall 40. After the first end passes through the transition point of the wall 40, the rear end of the front vehicle body will have a certain upward tendency, and the front end of the rear vehicle body will also have a certain upward tendency. The entire vehicle body is rigidly connected, and the rear vehicle body generates a certain thrust on the front vehicle body. The 225° magnetic attraction angle of the first magnetic suction 5 can ensure that the first end of the moving wheel 11 and the second end of the moving wheel 11 are both attracted to the wall 40. Then, control the wall-climbing robot to continue moving. The second end of the moving wheel 11 reaches the transition point of the wall 40 and passes through the transition point of the wall 40 under the attraction force of the first magnetic suction 5.

[0094] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A wall-climbing robot capable of realizing multi-screw array, right-angle transition inside and outside of facade, characterized in that, The utility model relates to a vehicle body frame (1), the first end and the second end of the vehicle body frame (1) are respectively first end and second end in the first direction, and the bottom of the first end and the second end is provided with the mounting plate (2) extending along the second direction, and the second direction is perpendicular to the first direction, the magnetic attraction movement structure is provided in the bottom of the mounting plate (2), can be attached on the wall (40) and drive the vehicle body frame (1) moves, the auxiliary movement structure is hinged with the vehicle body frame (1), the auxiliary movement structure includes first telescopic part (18) and auxiliary magnetic attraction device, and the first telescopic part (18) is used to drive the auxiliary magnetic attraction device to be close to the wall (40), to increase the adsorption force between the vehicle body frame (1) and the wall (40), avoids the vehicle body frame (1) to fall when the vehicle body frame (1) passes through the right angle or the outside right angle transition in the wall (40), the magnetic attraction movement structure includes the 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 the first support (3), the first support (3) is arranged at the middle position of the bottom of the mounting plate (2), the bottom of the first support (3) has the arc segment, the first magnetic attraction piece (5) is connected to the arc segment through the armature (4), the first magnetic attraction piece (5) is below the first support (3), and the first magnetic attraction piece (5) is arc structure, and the angle is 225 DEG, and the opening is towards the mounting plate (2), the first magnetic attraction piece (5) has the protective shell (6) on the two sides of the second direction, the magnetic attraction movement structure further includes two second magnetic attraction devices, two the second magnetic attraction device is symmetrically arranged on the two sides of the first magnetic attraction device in the second direction, and is installed on the bottom of the mounting plate (2) through the mounting piece, the second magnetic attraction device includes the second support (7), the bottom of the second support (7) has the arc segment, the first magnetic attraction piece (5) is connected to the arc segment bottom through the armature (4), the first magnetic attraction piece (5) is below the second support (7), and the first magnetic attraction piece (5) is arc structure, and the angle is 225 DEG, and the opening is towards the mounting plate (2), the first magnetic attraction piece (5) has the protective shell (6) on the two sides of the second direction, the magnetic attraction movement structure further includes two movement devices, two the movement device is symmetrically arranged on the bottom of the mounting plate (2), and is respectively close to the two ends of the mounting plate (2) in the second direction, the movement device includes the third support (8), which is arranged on the bottom of the mounting plate (2) and is located on the side of the second support (7) away from the first support (3), the first through -hole is set up along the second direction on the third support (8). ​ ​ ​ ​ ​ 2. The wall-climbing robot capable of realizing multi-screw array, facade inside-outside right angle transition according to claim 1, characterized in that, ​ The mobile device further comprises a first driving member (9) having a second mounting portion and a first driving portion, the second mounting portion is fixedly connected on the side wall of the third support (8) close to the first support (3), the first driving portion extends through the first passing opening to the side of the third support (8) away from the first support (3), and a first rotating shaft is coaxially fixedly connected.

3. The wall-climbing robot capable of realizing multi-screw array, facade inside-outside right-angle transition according to claim 2, characterized in that, The mobile device further comprises a sleeve (10) extending along the second direction, the sleeve (10) is sleeved on the first rotating shaft, one end thereof is fixedly connected with the side wall of the third support (8) away from the first support (3), a third passing opening is formed through the side wall of the third support (8) away from the third support (8), a first bearing is fixedly sleeved on the inner wall of the third passing opening, 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) is coaxially connected with a mobile wheel (11).

4. The wall-climbing robot capable of realizing multi-screw array, facade inside-outside right-angle transition according to claim 3, characterized in that, The auxiliary magnetic attraction device comprises a connecting frame extending along the second direction, the connecting frame has a first connecting rod (13) close to the second end, and two second magnetic attraction members (14) are arranged on the bottom of the first connecting rod (13) along the second direction; the connecting frame further has a second connecting rod (16) close to the first end, and a second connecting portion (17) is arranged at both ends of the side wall of the connecting frame (1) close to the second connecting rod (16); The auxiliary moving structure further comprises an auxiliary push-pull device, the auxiliary push-pull device comprises two first mounting supports (15) symmetrically arranged on the top of the mounting plate (2) close to the first end, the first mounting support (15) has a first connecting portion on the top thereof, the first telescopic member (18) has a first connecting end and a first telescopic end, the first connecting end is hingedly connected with the first connecting portion, the first telescopic end is provided with a tension sensor, and the first telescopic end is hingedly connected with the second connecting portion (17) through the tension sensor.

5. The wall-climbing robot capable of realizing multi-screw array, facade inside-outside right angle transition according to claim 4, characterized in that, The first support (3) is fixedly provided with a mounting block (19) on each side wall in the second direction, a second passing opening is formed through the first support (3) along the second direction, and a third passing opening is formed through the mounting block (19) along the second direction. The auxiliary moving structure further comprises a rotating connecting device, the rotating connecting device comprises a second rotating shaft (20), the second rotating shaft (20) is rotatably arranged in the second passing opening, and both ends of the second rotating shaft (20) extend to the outside of the two mounting blocks (19) through the two third passing openings, respectively, a second bearing (21) is fixedly arranged in the third passing opening, and the inner ring of the second bearing (21) is fixedly sleeved on the outer wall of the second rotating shaft (20).

6. The wall-climbing robot capable of realizing multi-screw array, facade inside-outside right angle transition according to claim 5, characterized in that, The rotating connecting device further comprises a clamping block (22) having a semi-annular structure, both ends of the second rotating shaft (20) are provided with two abutting clamping blocks (22), and the two abutting clamping blocks (22) are connected by a mounting member to clamp the second rotating shaft (20). The rotating connecting device further comprises two third connecting rods (23), one end of the third connecting rod (23) is fixedly connected with the side wall near the first end of the second connecting rod (16), the other end extends to the first end and has a third connecting part (24), two third connecting parts (24) are symmetrically arranged on both sides of the first support (3) in the second direction, a fourth through hole is formed in the third connecting part (24) and penetrates the third connecting part (24) in the second direction, and the second rotating shaft (20) penetrates the fourth through hole, and a containing groove is formed in the side wall of the third connecting part (24) away from the first support (3), and the containing groove contains two abutting half-ring structure clamping blocks (22) and is connected with the clamping blocks (22).

7. The wall-climbing robot capable of realizing multi-screw array, facade inside-outside right angle transition according to claim 1, characterized in that, Further comprising a swing arm structure for connecting a work structure and driving the work structure to move, the swing arm structure comprises a first rotating device, the first rotating device comprises a second driving member (27) arranged on the top of the mounting plate (2) near the first end, the second driving member (27) has a second driving part on the top, the second driving part is fixedly connected with a fixed block (29) on the top, a fixed plate (34) is fixedly sleeved on the second driving part, and one end of the fixed plate (34) away from the second driving member (27) has a fourth connecting part; The swing arm structure further comprises a work swing arm, one end of the work swing arm is hingedly connected with the fixed block (29), and the other end of the work swing arm is connected with the work structure through a quick change device; The swing arm structure further comprises a second rotating device, the second rotating device comprises 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 with the fourth connecting part, and the second telescopic end is hingedly connected with the work swing arm.

8. The wall-climbing robot capable of realizing multi-screw array, facade inside-outside right angle transition 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 provided with two visual cameras (37) for feeding back video pictures to an external control device in real time; and the vehicle body frame (1) is provided with a safety anti-falling ring (38) at both ends in the second direction for connecting a safety rope.

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