Articulated modular wall-climbing robot

Abstract

The invention belongs to the field of mechanical automation engineering, and particularly relates to a joint type modular wall-climbing robot which is characterized in that four moving wheels are mounted on each of two driving box bodies, and the two driving box bodies drive the moving wheels to rotate; the moving wheels can realize on-off of a magnetic circuit through the electromagnetic switch, so that adsorption and disconnection of the moving wheels on the magnetic wall surface are controlled; the two driving box bodies are connected through the joint modules, joint bases of the joint modules are connected with the corresponding driving box bodies respectively, and through rotation between the joint modules, the driving box bodies and the moving wheels are driven to achieve the climbing action. Good adaptability under application scenes such as a magnetic wall surface and the like can be realized, and adsorption movement can be carried out aiming at a large-angle abrupt slope and 90-degree inner and outer corners; meanwhile, the modular wall-climbing robot can be further expanded to form a multi-modular wall-climbing robot; the robot has the characteristics of simple structure, high environmental adaptability, flexible movement and the like.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical automation engineering, and particularly relates to an articulated modular wall-climbing robot. Background Art

[0002] With the acceleration of the industrial modernization process, the constraints on resources and the environment are tightening, the energy supply is in a tense situation, the ecological environment pressure is continuously increasing, and it is imperative to accelerate the development of new energy. The western region of China is rich in water resources. Increasing the development of water resources is of great significance for solving the energy shortage problem in the development of the national economy, improving the ecological environment, and promoting the coordinated and sustainable development of the regional economy. Therefore, vigorously promoting the development and construction of hydropower stations can promote local agricultural production, transform local resource advantages into economic advantages and industrial advantages, drive the development of other industries, form an industrial cluster with strong support, and effectively promote the all-round development of the local economy, playing an irreplaceable role. At present, the large metal structures of hydropower stations mainly include equipment and facilities such as bridge cranes, portal cranes, trolleys, and large metal flow channels of units. Different degrees of corrosion will occur during the operation of the equipment; therefore, it is necessary to regularly anti-corrode the surface of the metal structure. During operations such as pretreatment, anti-corrosion, and anti-corrosion inspection, there are many high-altitude operations. The traditional solutions mostly involve building scaffolding to establish a working platform, and manually pretreating the surface to be anti-corroded. After anti-corrosion is completed, the scaffolding is removed; the entire construction operation process has high risks, and it is difficult to operate some parts due to the restrictions of the scaffolding. To meet the anti-corrosion requirements of the surface of large metal structures, the development of anti-corrosion wall-climbing robots for hydropower stations is imminent. Summary of the Invention

[0003] In order to meet the anti-corrosion inspection during the operation of hydropower stations, solve the problems of low work efficiency and high danger under the current means, and replace manual inspection with a highly adaptable anti-corrosion wall-climbing robot with remote control, the purpose of the present invention is to provide an articulated modular wall-climbing robot.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] The present invention includes a joint module, a driving box body, and moving wheels. There are two driving box bodies, which are connected by the joint module. A plurality of moving wheels are installed on each driving box body. An active wheel rotating mechanism, a rotation driving mechanism, and a plurality of driven wheel rotating mechanisms are respectively installed in the driving box bodies. The sum of the number of the active wheel rotating mechanism and the driven wheel rotating mechanisms is equal to the number of the moving wheels and they are in one-to-one correspondence. Each moving wheel has a power source for driving rotation and an electromagnetic switch for controlling magnetism. Each moving wheel is connected to the output end of the active wheel rotating mechanism or the driven wheel rotating mechanism. The rotation driving mechanism drives the active wheel rotating mechanism and each driven wheel rotating mechanism to work synchronously, respectively driving each moving wheel to achieve a rotary motion.

[0006] Wherein: the joint module includes a first joint arm, a second joint arm, a joint base A, and a joint base B. The joint base A and the joint base B are respectively fixed on the two driving box bodies. One end of the first joint arm is rotatably connected to the joint base A, the other end of the first joint arm is rotatably connected to one end of the second joint arm, and the other end of the second joint arm is rotatably connected to the joint base B. Through the relative rotation between the first joint arm and the joint base A, between the first joint arm and the second joint arm, and between the second joint arm and the joint base B, the two driving box bodies and each moving wheel installed on each driving box body are driven to achieve a climbing action.

[0007] The driving box body is a cuboid, including a box body upper cover and a box body that are connected to each other. The active wheel rotating mechanism, the rotation driving mechanism, and the driven wheel rotating mechanisms are all installed in the space surrounded by the box body upper cover and the box body. There are three driven wheel rotating mechanisms, which are respectively installed at the four corners of the cuboid together with the active wheel rotating mechanism. The output ends of the active wheel rotating mechanism and the driven wheel rotating mechanisms pass through the box body and are respectively connected to the moving wheels. A belt sequentially bypasses the active wheel rotating mechanism and the three driven wheel rotating mechanisms to achieve synchronous driving of the moving wheels connected to the active wheel rotating mechanism and the three driven wheel rotating mechanisms to perform a rotary motion.

[0008] The rotation driving mechanism includes a rotation driving motor, a worm, a rear support frame, a front support frame, and a motor fixing frame. The rotation driving motor is fixed in the driving box body through the motor fixing frame. The two ends of the worm are respectively rotatably connected to the front support frame and the rear support frame fixed in the driving box body. The output end of the rotation driving motor is connected to the worm to drive the worm to rotate. The worm meshes with a worm gear in the active wheel rotating mechanism for transmission.

[0009] A front support bearing is nested inside the front support frame, and a rear support bearing is nested inside the rear support frame. The worm passes through the rear support frame, the rear support bearing, the front support bearing, and the front support frame in sequence. The front and rear ends of the worm are respectively abutted against the front support bearing and the rear support bearing through shoulders to achieve axial limit. The output end of the rotary drive motor is clamped and connected to one end of the coupling, and the other end of the coupling is clamped and connected to the worm.

[0010] The driving wheel rotating mechanism includes a rotating shaft, a belt pulley, and a worm gear. The rotating shaft is rotatably installed inside the driving box body. The lower end of the rotating shaft passes through the driving box body and is connected to the moving wheel. A belt pulley for connecting with the driven wheel rotating mechanism and a worm gear for connecting with the rotary driving mechanism are respectively installed on the rotating shaft.

[0011] The driving wheel rotating mechanism further includes a small shaft sleeve, a large shaft sleeve, a worm gear shaft sleeve, an upper bearing, an upper bearing end cover, a lower bearing end cover, and a lower bearing. The upper bearing end cover and the lower bearing end cover are respectively fixed to the driving box body. The rotating shaft is respectively rotatably connected to the upper bearing end cover and the lower shaft end cover through the upper bearing and the lower bearing. The small shaft sleeve, the large shaft sleeve, and the worm gear shaft sleeve are all sleeved on the rotating shaft. The small shaft sleeve is located between the lower bearing and the belt pulley and is respectively abutted against one side of the lower bearing and the belt pulley. The large shaft sleeve is located between the belt pulley and the worm gear and is respectively abutted against the other side of the belt pulley and one side of the worm gear. The worm gear shaft sleeve is located between the worm gear and the upper bearing and is respectively abutted against the other side of the worm gear and the upper bearing. The upper and lower ends of the rotating shaft respectively achieve axial limit on the upper bearing and the lower bearing through shoulders and shaft retaining rings. The rotating shaft is in D-shaped hole fit with the belt pulley and the worm gear to achieve power transmission.

[0012] The driven wheel rotating mechanism includes a rotating shaft and a belt pulley. The rotating shaft is rotatably installed inside the driving box body. The lower end of the rotating shaft passes through the driving box body and is connected to the moving wheel. A belt pulley for connecting with the driving wheel rotating mechanism and an adjacent driven wheel rotating mechanism is installed on the rotating shaft.

[0013] The driven wheel rotating mechanism further includes a small shaft sleeve, an upper bearing, an upper bearing end cover, a lower bearing end cover, a lower bearing, and a support shaft sleeve. The upper bearing end cover and the lower bearing end cover are respectively fixed to the driving box body. The rotating shaft is respectively rotatably connected to the upper bearing end cover and the lower shaft end cover through the upper bearing and the lower bearing. The small shaft sleeve and the support shaft sleeve are all sleeved on the rotating shaft. The small shaft sleeve is located between the lower bearing and the belt pulley and is respectively abutted against one side of the lower bearing and the belt pulley. The support shaft sleeve is located between the belt pulley and the upper bearing and is respectively abutted against the other side of the belt pulley and the upper bearing. The upper and lower ends of the rotating shaft respectively achieve axial limit on the upper bearing and the lower bearing through shoulders and shaft retaining rings. The rotating shaft is in D-shaped hole fit with the belt pulley to achieve power transmission.

[0014] The mobile wheel includes a connecting frame, a driving wheel motor, a wall-climbing wheel, and an electromagnetic switch. The upper end of the connecting frame is connected to the output end of the driving wheel rotating mechanism or the driven wheel rotating mechanism. Inside the lower end of the connecting frame, the wall-climbing wheel is rotatably installed. One side of the lower end of the connecting frame is fixedly connected to the driving wheel motor, and the other side is connected to the electromagnetic switch. The output end of the driving wheel motor is connected to the wall-climbing wheel to drive the wall-climbing wheel to rotate. The electromagnetic switch controls the magnetism of the wall-climbing wheel by turning the control signal on and off.

[0015] The advantages and positive effects of the present invention are as follows:

[0016] 1. The present invention provides a joint-type modular wall-climbing robot with strong environmental adaptability, which can achieve good adaptability in application scenarios such as magnetic walls, and can perform adsorption movement on steep slopes with large angles and internal and external corners of 90°.

[0017] 2. The joint-type modular wall-climbing robot of the present invention is further modularly expanded to form a multi-modular wall-climbing robot, which replaces traditional manual work for anti-corrosion inspection of hydropower stations.

[0018] 3. The joint-type modular wall-climbing robot of the present invention is flexible in movement, can carry different operation modules, and realizes multi-functional operations. Description of the Drawings

[0019] Figure 1 is a schematic three-dimensional structure diagram of the present invention;

[0020] Figure 2 is a schematic structural diagram of the joint module of the present invention;

[0021] Figure 3 is a schematic structural diagram of the driving box and the mobile wheel of the present invention;

[0022] Figure 4 is a schematic internal structure diagram of the driving box of the present invention;

[0023] Figure 5 is a schematic structural diagram of the mobile wheel of the present invention;

[0024] Figure 6 is a schematic internal transmission structure diagram of the driving box of the present invention;

[0025] Figure 7 is a schematic structural diagram of the driving wheel rotating mechanism and the rotating driving mechanism of the present invention;

[0026] Figure 8 is a schematic cross-sectional structure diagram of the rotating driving mechanism of the present invention;

[0027] Figure 9 is a schematic cross-sectional structure diagram of the driving wheel rotating mechanism of the present invention;

[0028] Figure 10 Schematic cross-sectional structure diagram of the driven wheel rotating mechanism of the present invention;

[0029] Wherein: 1 is a joint module, 2 is a driving box body, 3 is a moving wheel, 4 is a first joint arm, 5 is a second joint arm, 6 is a joint base A, 7 is a joint base B, 8 is a box body upper cover, 9 is a box body, 10 is a connecting frame, 11 is a driving wheel motor, 12 is a wall-climbing wheel, 13 is an electromagnetic switch, 14 is a driven wheel rotating mechanism, 15 is a belt, 16 is a driving wheel rotating mechanism, 17 is a rotation driving mechanism, 18 is a rotation driving motor, 19 is a coupling, 20 is a worm, 21 is a rear support frame, 22 is a front support frame, 23 is a motor fixing frame, 24 is a rear support bearing, 25 is a front support bearing, 26 is a rotating shaft, 27 is a small bushing, 28 is a pulley, 29 is a large bushing, 30 is a worm gear, 31 is a worm gear bushing, 32 is an upper bearing, 33 is an upper bearing end cover, 34 is a lower bearing end cover, 35 is a lower bearing, 36 is a support bushing, 37 is a shaft retaining ring. Detailed implementation mode

[0030] The present invention will be further described in detail below with reference to the accompanying drawings.

[0031] As shown in Figure 1 , Figure 3 and Figure 4 , the present invention includes a joint module 1, a driving box body 2 and a moving wheel 3. Among them, there are two driving box bodies 2, which are connected by the joint module 1, and a plurality of moving wheels 3 are installed on each driving box body 2; a driving wheel rotating mechanism 16, a rotation driving mechanism 17 and a plurality of driven wheel rotating mechanisms 14 are respectively installed in the driving box body 2. The sum of the number of the driving wheel rotating mechanism 16 and the driven wheel rotating mechanism 14 is equal to the number of the moving wheels 3 and they are in one-to-one correspondence; each moving wheel 3 has a power source for driving rotation and an electromagnetic switch 13 for controlling magnetism, and each moving wheel 3 is connected to the output end of the driving wheel rotating mechanism 16 or the driven wheel rotating mechanism 14. The rotation driving mechanism 17 drives the driving wheel rotating mechanism 16 and each driven wheel rotating mechanism 14 to work synchronously, respectively driving each moving wheel 3 to realize a rotary motion.

[0032] As shown in Figure 1 and Figure 2As shown in the figure, the joint module 1 of the present invention includes a first joint arm 4, a second joint arm 5, a joint base A 6 and a joint base B 7. The joint base A 6 and the joint base B 7 are respectively fixed on two driving boxes 2. One end of the first joint arm 4 is rotatably connected to the joint base A 6, the other end of the first joint arm 4 is rotatably connected to one end of the second joint arm 5, and the other end of the second joint arm 5 is rotatably connected to the joint base B 7, with a rotation angle of 0 to 180°. Through the relative rotation between the first joint arm 4 and the joint base A 6, between the first joint arm 4 and the second joint arm 5, and between the second joint arm 5 and the joint base B 7, the two driving boxes 2 and each moving wheel 3 installed on each driving box 2 are driven to perform a climbing action.

[0033] As Figure 1 , Figure 3 , Figure 4 and Figure 6 shown, the driving box 2 of this embodiment is a cuboid, including a box upper cover 8 and a box body 9 that are connected to each other. The driving wheel rotation mechanism 16, the rotation driving mechanism 17 and the driven wheel rotation mechanism 14 are all installed in the space enclosed by the box upper cover 8 and the box body 9. There are three driven wheel rotation mechanisms 14 in this embodiment, which are respectively installed at the four corners of the cuboid together with the driving wheel rotation mechanism 16. The output ends of the driving wheel rotation mechanism 16 and the driven wheel rotation mechanism 14 pass through the box body 9 and are respectively connected to the moving wheels 3. The belt 15 sequentially bypasses the driving wheel rotation mechanism 16 and the three driven wheel rotation mechanisms 14 to realize synchronous driving of the moving wheels 3 connected to the driving wheel rotation mechanism 16 and the three driven wheel rotation mechanisms 14 to perform a rotary motion.

[0034] As Figure 1 and Figures 3 - 5 shown, the moving wheel 3 of this embodiment includes a connecting frame 10, a driving wheel motor 11, a wall-climbing wheel 12 and an electromagnetic switch 13. The upper end of the connecting frame 10 is connected to the output end of the driving wheel rotation mechanism 16 or the driven wheel rotation mechanism 14. The wall-climbing wheel 12 is rotatably installed inside the lower end of the connecting frame 10. One side of the lower end of the connecting frame 10 is fixedly connected to the driving wheel motor 11, and the other side is connected to the electromagnetic switch 13. The output end of the driving wheel motor 11 is connected to the wall-climbing wheel 12 to drive the wall-climbing wheel 12 to rotate. The wall-climbing wheel 12 of this embodiment is an electromagnetic wheel. The electromagnetic switch 13 can control the magnetism of the wall-climbing wheel 12 by controlling the on-off of the control signal. The electromagnetic switch 13 is in a normally closed state, and the wall-climbing wheel 12 has magnetism. When performing a work task, the electromagnetic switch 13 is powered on and the state is disconnected, and the magnetism of the wall-climbing wheel 12 disappears.

[0035] As Figure 1 , Figure 4 and Figures 6 - 8As shown in the figure, the rotation drive mechanism 17 of this embodiment includes a rotation drive motor 18, a coupling 19, a worm 20, a rear support frame 21, a front support frame 22, a motor fixing frame 23, a rear support bearing 24 and a front support bearing 25. The rotation drive motor 18 is fixed in the drive housing 2 through the motor fixing frame 23, and the motor fixing frame 23 is fixedly connected to the bottom surface of the housing 9. The two ends of the worm 20 are respectively rotatably connected to the front support frame 22 and the rear support frame 21 fixed in the drive housing 2. In this embodiment, both the front support frame 22 and the rear support frame 21 are fixed to the bottom surface of the housing 9. The front support bearing 25 is nested in the front support frame 22, and the rear support bearing 24 is nested in the rear support frame 21. The two ends of the worm 20 are respectively rotatably connected to the front support frame 22 and the rear support frame 21 through the front support bearing 25 and the rear support bearing 24. The worm 20 passes through the rear support frame 21, the rear support bearing 24, the front support bearing 25 and the front support frame 22 in sequence. The front and rear ends of the worm 20 are respectively abutted against the front support bearing 25 and the rear support bearing 24 through shoulders to achieve axial limit. The output end of the rotation drive motor 18 is clamped and connected to one end of the coupling 19, and the other end of the coupling 19 is clamped and connected to the worm 20. The rotation drive motor 18 drives the worm 20 to rotate, and the worm 20 meshes with the worm wheel 30 in the driving wheel rotation mechanism 16 for transmission.

[0036] As Figure 1 , Figure 6 and Figure 9 shown in the figure, the driving wheel rotation mechanism 16 of this embodiment includes a rotating shaft 26, a small bushing 27, a belt pulley 28, a large bushing 29, a worm wheel 30, a worm wheel bushing 31, an upper bearing 32, an upper bearing end cover 33, a lower bearing end cover 34 and a lower bearing 35. The upper bearing end cover 33 is fixedly connected to the bottom surface of the upper housing cover 8 of the housing, and the lower bearing end cover 34 is fixedly connected to the bottom surface of the housing 9. The rotating shaft 26 is respectively rotatably connected to the upper bearing end cover 33 and the lower shaft end cover 34 through the upper bearing 32 and the lower bearing 35. The lower end of the rotating shaft 26 passes out of the drive housing 2 and is connected to the connecting frame 10 in the moving wheel 3. A belt pulley 28 for connecting with the driven wheel rotation mechanism 14 and a worm wheel 30 for connecting with the rotation drive mechanism 17 are respectively installed on the rotating shaft 26. The small bushing 27, the large bushing 29 and the worm wheel bushing 31 are all sleeved on the rotating shaft 26. The small bushing 27 is located between the lower bearing 35 and the belt pulley 28 and abuts against one side of the lower bearing 35 and the belt pulley 28 respectively. The large bushing 29 is located between the belt pulley 28 and the worm wheel 30 and abuts against the other side of the belt pulley 28 and one side of the worm wheel 30 respectively. The worm wheel bushing 31 is located between the worm wheel 30 and the upper bearing 32 and abuts against the other side of the worm wheel 30 and the upper bearing 32 respectively. The upper and lower ends of the rotating shaft 26 respectively achieve axial limit on the upper bearing 32 and the lower bearing 35 through shoulders and shaft retaining rings 37. The rotating shaft 26 is in D-hole fit with the belt pulley 28 and the worm wheel 30 to achieve power transmission.

[0037] AsFigure 1 , Figure 6 and Figure 10 As shown in Figure 1 , Figure 6 and Figure 10 , the driven wheel rotating mechanism 14 of this embodiment includes a rotating shaft 26, a small bushing 27, a belt pulley 28, an upper bearing 32, an upper bearing end cover 33, a lower bearing end cover 34, a lower bearing 35 and a support bushing 36. The upper bearing end cover 33 is fixedly connected to the bottom surface of the upper cover 8 of the box body, and the lower bearing end cover 34 is fixedly connected to the bottom surface of the box body 9. The rotating shaft 26 is rotatably connected to the upper bearing end cover 33 and the lower shaft end cover 34 through the upper bearing 32 and the lower bearing 35 respectively. The lower end of the rotating shaft 26 passes through the driving box body 2 and is connected to the connecting frame 10 in the moving wheel 3. A belt pulley 28 for connecting with the driving wheel rotating mechanism 14 and the adjacent driven wheel rotating mechanism 14 is installed on the rotating shaft 26. The belt pulley 28 in the driving wheel rotating mechanism 14 is connected to the belt pulley 28 in the driven wheel rotating mechanism 14 through a belt 15. Both the small bushing 27 and the support bushing 36 are sleeved on the rotating shaft 26. The small bushing 27 is located between the lower bearing 35 and the belt pulley 28 and abuts against one side of the lower bearing 35 and the belt pulley 28 respectively. The support bushing 36 is located between the belt pulley 28 and the upper bearing 32 and abuts against the other side of the belt pulley 28 and the upper bearing 32 respectively. Axial limits of the upper bearing 32 and the lower bearing 35 are realized at the upper and lower ends of the rotating shaft 26 through shaft shoulders and shaft retaining rings 37 respectively. The rotating shaft 26 and the belt pulley 28 are in D-shaped hole fit to realize power transmission.

[0038] The working principle of the present invention is as follows:

[0039] The present invention can realize the adsorption movement on magnetic walls such as the gate bridge in a hydropower station, and can also carry functional modules to perform tasks. The present invention connects two identical moving modules through the joint module 1. The joint module 1 has three rotational degrees of freedom and can be lifted and lowered according to actual situations.

[0040] The moving module includes a driving box body 2 and four moving wheels 3 with the same structure. An active wheel rotating mechanism 16 and three driven wheel rotating mechanisms 14 are respectively placed at the four corners of the inner cavity of the driving box body 2. The rotating driving mechanism 17 and the active wheel rotating mechanism 16 realize power transmission through the cooperation of a worm and a worm gear. When the wall-climbing robot makes a turning movement on the wall surface, the rotating driving motor 18 in the rotating driving mechanism 17 provides power, drives the coupling 19 and the worm 20 to perform rotational movement, and then drives the worm wheel 30 to perform rotational movement through spiral cooperation. Through the synchronous rotation of the rotating shaft 26, the power is transmitted to the belt pulley 28 of the active wheel rotating mechanism 16, and then the power is transmitted to the other three driven wheel rotating mechanisms 14 through the movement of the belt 15, thereby driving the deflection movement of the moving wheels 3 at the four corners.

[0041] The wall-climbing wheel 12 is magnetically adsorbed. The driving wheel motor 11 of the moving wheel 3 provides a power source to drive the rotation of the wall-climbing wheel 12, and the on / off of the electromagnetic switch 13 controls the adsorption and disconnection of the wall-climbing wheel 12.

[0042] When the wall-climbing robot is performing wall movement during the anti-corrosion operation of the hydroelectric power station gate bridge, it realizes adsorption on the magnetic wall through the wall-climbing wheel 12, and controls the forward and backward movement of the wall-climbing wheel 12 through the driving wheel motor 11. When making a turning movement, the rotary drive mechanism 17 provides power, and drives the rotation of the driving wheel rotation mechanism 16 and the driven wheel rotation mechanism 14 through the worm and worm gear mechanism, thereby driving the overall rotation of the moving wheel 3.

[0043] When the wall-climbing robot encounters a 90° corner for wall transition, it needs to cross through the joint module 1. In the initial state, all the moving wheels 3 of the wall-climbing robot are in the adsorbed state. Before moving to the 90° wall surface, the electromagnetic switch 13 is used to control the four wall-climbing wheels 12 of the front moving module to be in the disconnected state. At this time, the wall-climbing wheels 12 of the front moving module have no adsorption effect. Through the rotational movement of the first joint arm 4 and the second joint arm 5 of the joint module 1, the front moving module is lifted until it is parallel to the 90° transition wall surface. At this time, the four wall-climbing wheels 12 of the rear moving module move forward, driving the overall movement of the wall-climbing robot body forward until the wall-climbing wheels 12 of the front moving module contact the 90° wall surface; at this time, the electromagnetic switch 13 is used to control the four wall-climbing wheels 12 of the front moving module to be in the closed state, and the electromagnetic switch 13 is used to control the four wall-climbing wheels 12 of the rear moving module to be in the disconnected state. The wall-climbing wheels 12 of the front moving module achieve adsorption, and the wall-climbing wheels 12 of the rear moving module have no adsorption effect. At this time, the four wall-climbing wheels 12 of the front moving module move forward, driving the overall upward movement of the wall-climbing robot body. Through the rotational movement of the first joint arm 4 and the second joint arm 5 of the joint module 1, the rear moving module is lowered until the wall-climbing wheels 12 of the rear moving module contact the 90° transition wall surface. The electromagnetic switch 13 is used to control the four wall-climbing wheels 12 of the rear moving module to be in the closed state. At this time, the wall-climbing wheels 12 of the rear moving module also achieve adsorption, completing the overall transition movement of the wall-climbing robot on the 90° corner wall surface.

Claims

1. An articulated modular wall-climbing robot, characterized in that: It includes a joint module (1), a driving box body (2) and moving wheels (3). There are two driving box bodies (2), which are connected by the joint module (1). A plurality of moving wheels (3) are installed on each driving box body (2); an active wheel rotating mechanism (16), a rotation driving mechanism (17) and a plurality of driven wheel rotating mechanisms (14) are respectively installed in the driving box body (2). The sum of the number of the active wheel rotating mechanism (16) and the driven wheel rotating mechanisms (14) is equal to the number of the moving wheels (3) and they are in one-to-one correspondence; each moving wheel (3) has a power source for driving rotation and an electromagnetic switch (13) for controlling magnetism. Each moving wheel (3) is connected to the output end of the active wheel rotating mechanism (16) or the driven wheel rotating mechanism (14). The rotation driving mechanism (17) drives the active wheel rotating mechanism (16) and each driven wheel rotating mechanism (14) to work synchronously, respectively driving each moving wheel (3) to realize a rotary motion.

2. The articulated modular wall-climbing robot according to claim 1, wherein: The joint module (1) includes a first joint arm (4), a second joint arm (5), a joint base A (6) and a joint base B (7). The joint base A (6) and the joint base B (7) are respectively fixed on the two driving box bodies (2). One end of the first joint arm (4) is rotatably connected to the joint base A (6). The other end of the first joint arm (4) is rotatably connected to one end of the second joint arm (5). The other end of the second joint arm (5) is rotatably connected to the joint base B (7); through the relative rotation between the first joint arm (4) and the joint base A (6), between the first joint arm (4) and the second joint arm (5), and between the second joint arm (5) and the joint base B (7), the two driving box bodies (2) and each moving wheel (3) installed on each driving box body (2) are driven to realize a climbing action.

3. The articulated modular wall-climbing robot according to claim 1, wherein: The driving box body (2) is a cuboid, including a box body upper cover (8) and a box body (9) which are connected to each other. The active wheel rotating mechanism (16), the rotation driving mechanism (17) and the driven wheel rotating mechanisms (14) are all installed in the space surrounded by the box body upper cover (8) and the box body (9); there are three driven wheel rotating mechanisms (14), which are respectively installed at the four corners of the cuboid together with the active wheel rotating mechanism (16). The output ends of the active wheel rotating mechanism (16) and the driven wheel rotating mechanisms (14) respectively pass through the box body (9) and are respectively connected to the moving wheels (3). A belt (15) sequentially bypasses the active wheel rotating mechanism (16) and the three driven wheel rotating mechanisms (14), realizing that the active wheel rotating mechanism (16) and the three driven wheel rotating mechanisms (14) synchronously drive the moving wheels (3) connected to them to perform a rotary motion.

4. The articulated modular wall-climbing robot according to claim 1, wherein: The rotation driving mechanism (17) includes a rotation driving motor (18), a worm (20), a rear support frame (21), a front support frame (22) and a motor fixing frame (23). The rotation driving motor (18) is fixed in the driving box body (2) through the motor fixing frame (23). Both ends of the worm (20) are respectively rotatably connected to the front support frame (22) and the rear support frame (21) fixed in the driving box body (2). The output end of the rotation driving motor (18) is connected to the worm (20) to drive the worm (20) to rotate. The worm (20) is in meshing transmission with a worm gear (30) in the driving wheel rotation mechanism (16).

5. The articulated modular wall-climbing robot according to claim 4, characterized in that: A front support bearing (25) is nested in the front support frame (22), and a rear support bearing (24) is nested in the rear support frame (21). The worm (20) sequentially passes through the rear support frame (21), the rear support bearing (24), the front support bearing (25) and the front support frame (22). The front and rear ends of the worm (20) are respectively abutted against the front support bearing (25) and the rear support bearing (24) through shoulders to achieve axial limit. The output end of the rotation driving motor (18) is clamped and connected to one end of a coupling (19), and the other end of the coupling (19) is clamped and connected to the worm (20).

6. The articulated modular wall-climbing robot according to claim 1, characterized in that: The driving wheel rotation mechanism (16) includes a rotating shaft (26), a belt pulley (28) and a worm gear (30). The rotating shaft (26) is rotatably installed in the driving box body (2). The lower end of the rotating shaft (26) passes out of the driving box body (2) and is connected to the moving wheel (3). A belt pulley (28) for connecting with the driven wheel rotation mechanism (14) and a worm gear (30) for connecting with the rotation driving mechanism (17) are respectively installed on the rotating shaft (26).

7. The articulated modular wall-climbing robot according to claim 6, characterized in that: The driving wheel rotation mechanism (16) further includes a small shaft sleeve (27), a large shaft sleeve (29), a worm shaft sleeve (31), an upper bearing (32), an upper bearing end cover (33), a lower bearing end cover (34), and a lower bearing (35). The upper bearing end cover (33) and the lower bearing end cover (34) are respectively fixedly connected to the driving box body (2). The rotating shaft (26) is respectively rotatably connected to the upper bearing end cover (33) and the lower shaft end cover (34) through the upper bearing (32) and the lower bearing (35). The small shaft sleeve (27), the large shaft sleeve (29), and the worm shaft sleeve (31) are all sleeved on the rotating shaft (26). The small shaft sleeve (27) is located between the lower bearing (35) and the belt pulley (28) and abuts against one side of the lower bearing (35) and the belt pulley (28) respectively. The large shaft sleeve (29) is located between the belt pulley (28) and the worm gear (30) and abuts against the other side of the belt pulley (28) and one side of the worm gear (30) respectively. The worm shaft sleeve (31) is located between the worm gear (30) and the upper bearing (32) and abuts against the other side of the worm gear (30) and the upper bearing (32) respectively. Axial limits of the upper bearing (32) and the lower bearing (35) are achieved at the upper and lower ends of the rotating shaft (26) respectively through shoulders and shaft retaining rings (37). The rotating shaft (26) is in D-shaped hole fit with the belt pulley (28) and the worm gear (30) to achieve power transmission.

8. The articulated modular wall-climbing robot according to claim 1, wherein: The driven wheel rotation mechanism (14) includes a rotating shaft (26) and a belt pulley (28). The rotating shaft (26) is rotatably installed in the driving box body (2). The lower end of the rotating shaft (26) passes through the driving box body (2) and is connected to the moving wheel (3). A belt pulley (28) for connecting with the driving wheel rotation mechanism (14) and an adjacent driven wheel rotation mechanism (14) is installed on the rotating shaft (26).

9. The articulated modular wall-climbing robot according to claim 8, characterized in that: The driven wheel rotation mechanism (14) further includes a small shaft sleeve (27), an upper bearing (32), an upper bearing end cover (33), a lower bearing end cover (34), a lower bearing (35), and a support shaft sleeve (36). The upper bearing end cover (33) and the lower bearing end cover (34) are respectively fixedly connected to the driving box body (2). The rotating shaft (26) is respectively rotatably connected to the upper bearing end cover (33) and the lower shaft end cover (34) through the upper bearing (32) and the lower bearing (35). The small shaft sleeve (27) and the support shaft sleeve (36) are all sleeved on the rotating shaft (26). The small shaft sleeve (27) is located between the lower bearing (35) and the belt pulley (28) and abuts against one side of the lower bearing (35) and the belt pulley (28) respectively. The support shaft sleeve (36) is located between the belt pulley (28) and the upper bearing (32) and abuts against the other side of the belt pulley (28) and the upper bearing (32) respectively. Axial limits of the upper bearing (32) and the lower bearing (35) are achieved at the upper and lower ends of the rotating shaft (26) respectively through shoulders and shaft retaining rings (37). The rotating shaft (26) is in D-shaped hole fit with the belt pulley (28) to achieve power transmission.

10. The articulated modular wall-climbing robot according to claim 1, wherein: The moving wheel (3) includes a connecting frame (10), a driving wheel motor (11), a wall-climbing wheel (12) and an electromagnetic switch (13). The upper end of the connecting frame (10) is connected to the output end of the driving wheel rotating mechanism (16) or the driven wheel rotating mechanism (14). The wall-climbing wheel (12) is rotatably installed inside the lower end of the connecting frame (10). One side of the lower end of the connecting frame (10) is fixedly connected to the driving wheel motor (11), and the other side is connected to the electromagnetic switch (13). The output end of the driving wheel motor (11) is connected to the wall-climbing wheel (12) to drive the wall-climbing wheel (12) to rotate. The electromagnetic switch (13) controls the magnetism of the wall-climbing wheel (12) by controlling the on-off of the control signal.

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