Wall-climbing robot

Abstract

The invention relates to the field of wall-climbing robots, and discloses a wall-climbing robot which comprises a frame, a connecting frame and a main driving module, the main driving module comprises a wheel carrier, main hubs rotationally connected to the two sides, away from the frame, of the wheel carrier, and first driving motors adaptively installed on the two sides, close to the frame, of the wheel carrier; the equipment realizes right-angle transition through relative rotation of the secondary driving module and the frame, and meanwhile, the auxiliary walking module increases adsorption force to ensure stable adsorption of the device; relative torsion of the main driving module and the frame can adapt to complex terrains and be adsorbed to the wall surface all the time. The wall-climbing robot is simple in overall structure, has the advantages of being flexible and rapid in movement and high in obstacle crossing capacity, effectively solves the technical bottleneck that an existing wall-climbing robot is difficult to deal with internal and external right-angle transition in a complex scene, remarkably improves applicability and working efficiency in the complex operation scene, and has remarkable practicability and innovativeness.

Description

Technical Field

[0001] The present invention relates to the field of wall - climbing robots, and more particularly to a wall - climbing robot. Background Art

[0002] With the continuous progress of robot technology, robots are increasingly widely used in high - risk and heavy - physical - labor operation fields. In high - altitude operation scenarios, the importance of wall - climbing robots is becoming increasingly prominent. Nowadays, wall - climbing robot technology has also moved from the laboratory to practical applications and serves a wide range of industries.

[0003] From the perspective of the design of mechanical structures, there are mainly two ways for the right - angle wall - surface transition technology of wall - climbing robots: one is the multi - foot adsorption mechanism or flexible hinge structure, which realizes attitude switching through step - by - step adsorption and release, such as imitating the alternating adsorption actions of insect feet; the other is the wheel - type / crawler composite structure, combined with a flipping joint, and relies on the center - of - gravity offset to complete the transition. In terms of the adsorption method, the vacuum suction cup array is paired with a negative - pressure control system, which can dynamically adjust the distribution of the adsorption force; while the magnetic adsorption robot adapts to the transition requirements of ferromagnetic wall surfaces through the on - off strategy of electromagnets. In terms of motion control algorithms, the feedback control based on force / torque sensors can adjust the driving torque in real time, and at the same time, combined with pre - programmed path planning and visual positioning technology, further improve the stability of the transition.

[0004] However, although the operation objects of wall - climbing robots are diverse, most of the currently mature wall - climbing robot solutions on the market still mainly focus on single - wall - surface operations. For special structures with complex operation scenarios that require internal and external right - angle transitions, these robots are often unable to handle them. The change in the operation dimension poses a severe challenge to the right - angle transition ability of wall - climbing robots. To address this problem, a common solution is to adopt a combination of split - type design and flexible connection to ensure that when making a right - angle transition, the remaining adsorption modules can provide sufficient climbing force for the robot. However, this design method also makes the overall structure of the robot more complex. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is that: currently, the mature wall - climbing robot solutions are only applicable to single - wall - surface operations and are difficult to handle structures that require internal and external right - angle transitions in complex scenarios. The change in the operation dimension poses a challenge to the right - angle transition ability of wall - climbing robots. The common combination of split - type design and flexible connection can provide climbing force, but it makes the robot structure more complex, which becomes a technical bottleneck restricting the wide application of wall - climbing robots in complex operation scenarios.

[0006] The above - mentioned technical problem is solved by the following technical solutions: The present invention proposes a wall - climbing robot, which includes, A frame; A connecting frame; The main driving module, the main driving module includes a wheel frame, main hubs rotatably connected to both sides of the wheel frame away from the frame, and first driving motors adaptively installed on both sides of the wheel frame close to the frame; the output ends of the two groups of first driving motors penetrate the wheel frame and are fixedly connected to the two groups of main hubs, and first electromagnets are arranged on one side of the two groups of main hubs close to each other, and rubber tires are arranged on the outer sides of the main hubs; The secondary driving module, the secondary driving module includes a side frame installed on the outer side of the frame, second driving motors adaptively installed on the inner side of the frame, and two groups of secondary hubs rotatably connected to one side of the side frame away from the frame; two groups of third driving motors are adaptively installed on one side of the side frame close to the frame, second electromagnets are arranged on one side of the two groups of secondary hubs close to the frame, the output ends of the two groups of third driving motors penetrate the side frame and are fixedly connected to the two groups of secondary hubs, and rubber tires are arranged on the outer sides of the secondary hubs; The auxiliary walking module, the auxiliary walking module includes a mounting plate fixedly connected to the top end of the frame, a connecting rod adaptively installed on the top end of the mounting plate, and a third electromagnet arranged at one end of the connecting rod not connected to the mounting plate; Among them, the frame is used to install the connecting frame, the secondary driving module and the auxiliary walking module, and the connecting frame is used to connect the main driving module and the frame.

[0007] In a preferred embodiment of the wall-climbing robot of the present invention: a first yoke is fixedly connected to one side of the two groups of main hubs close to each other, the first electromagnet is installed on the outer side of the first yoke, and the first electromagnet is integrally arranged in a semicircular arc shape for adapting to the main hub.

[0008] In a preferred embodiment of the wall-climbing robot of the present invention: a second yoke is fixedly connected to one side of the secondary hub close to the frame, the second electromagnet is installed on the outer side of the second yoke, the side frame is integrally designed in a U shape, the secondary hub and the third driving motor are installed at both ends of the side frame, the output end of the second driving motor penetrates the frame and is fixedly connected to the midpoint position of the side frame, the secondary driving module is provided with two groups in total, and the two groups of secondary driving modules are respectively located on both sides of the frame, and the second electromagnet is integrally arranged in a semicircular arc shape for adapting to the secondary hub.

[0009] In a preferred embodiment of the wall-climbing robot of the present invention: the frame includes two cross beams, a top plate fixedly connected to the top ends of the two cross beams, and side plates fixedly connected to both ends of the two cross beams; the secondary driving module is installed on the outer side of the side plate, and the side plate is integrally designed in an arc shape to facilitate the smoother operation of the overall equipment.

[0010] In a preferred embodiment of the wall - climbing robot of the present invention: a fixing plate is fixedly connected to the outer side of the cross - beam near the connecting frame, a control box is arranged at the top end of the fixing plate, a camera is adaptively installed on the outer side of the cross - beam near the secondary drive module. Each drive motor can be independently controlled to work independently through the control box. The control box can perform magnetic force allocation on the first electromagnet, the second electromagnet, and the third electromagnet. At the same time, the control box can also control the camera, and the real - time picture can be transmitted through the camera. A buffer pad is arranged at the bottom end of the fixing plate.

[0011] In a preferred embodiment of the wall - climbing robot of the present invention: elastic members are arranged on the mutually - remote sides of the two side plates. The elastic members include two mounting seats and springs. Among them, the two mounting seats are respectively fixedly connected to the outer side of the side plate and the inner side of the side frame, and the two ends of the spring are respectively clamped on the outer sides of the two mounting seats. With the assistance of the elastic members, the device can be made to climb over the external corner more smoothly.

[0012] In a preferred embodiment of the wall - climbing robot of the present invention: the connecting rod is composed of a first connecting rod, a fourth drive motor, a second connecting rod, a fifth drive motor, a third connecting rod, a sixth drive motor, and a fourth connecting rod. Among them, the first connecting rod is fixedly connected to the top end of the mounting plate, the second connecting rod is rotationally connected to the end of the first connecting rod away from the mounting plate through the fourth drive motor, the third connecting rod is rotationally connected to the end of the second connecting rod away from the first connecting rod through the fifth drive motor, and the fourth connecting rod is rotationally connected to the end of the third connecting rod away from the second connecting rod through the sixth drive motor. Through the design of multiple drive motors and multiple connecting rods, the specific position of the third electromagnet can be adjusted.

[0013] In a preferred embodiment of the wall - climbing robot of the present invention: a sliding groove is opened inside the fourth connecting rod, a telescopic member is adaptively installed inside the sliding groove, the output end of the telescopic member is fixedly connected to the third electromagnet, the third electromagnet is slidably connected inside the sliding groove opened in the fourth connecting rod, and one end of the fourth connecting rod away from the third connecting rod is fixedly connected to a receiving shell, and a buffer pad is arranged on the outer wall of the receiving shell.

[0014] In a preferred embodiment of the wall - climbing robot of the present invention: the connecting frame includes the bearing seat, the bearing bodies fixedly connected inside the two bearing seats, and the rotating rod fixedly connected to the inner side of the bearing bodies; limit members are arranged at both ends of the rotating rod. One end of a group of the bearing seats is fixedly connected to the bottom end of the cross beam, and the other group of the bearing seats is fixedly connected to the wheel frame. Grooves are formed at both ends of the rotating rod. Through the connecting frame, not only the installation of the frame and the main drive module can be realized, but also a certain angle deflection of the main drive module can be realized, so that it can smoothly pass through bumpy roads.

[0015] In a preferred embodiment of the wall-climbing robot of the present invention: the limiting member includes an end cap, a limiting rod fixedly connected to the outside of the end cap, and a bolt arranged inside the end cap; Wherein, the end cap is clamped at both ends of the rotating rod, and the limiting rod is horizontal. The end cap is fixedly connected to both ends of the rotating rod through the bolt. Through the limiting member, the angle of deflection of the main drive module can be limited, and the equipment can be prevented from malfunctioning due to excessive angle deflection.

[0016] The beneficial effects of the present invention are as follows: The equipment realizes a right-angle transition through the relative rotation of the secondary drive module and the frame. At the same time, the auxiliary walking module increases the adsorption force to ensure the stable adsorption of the device; the relative torsion of the main drive module and the frame can adapt to complex terrains and always adsorb to the wall surface. The overall structure is simple, and it has the characteristics of flexible and fast movement and strong obstacle-crossing ability. It effectively solves the technical bottleneck that the existing wall-climbing robots are difficult to handle the internal and external right-angle transitions in complex scenarios, significantly improves the applicability and working efficiency in complex operation scenarios, and has remarkable practicality and innovation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below only relate to some embodiments of the present invention and do not limit the present invention.

[0018] Figure 1 Shows the overall structural schematic diagram of the present invention.

[0019] Figure 2 Shows the overall structural schematic diagram of another perspective of the present invention.

[0020] Figure 3 Shows the overall side schematic diagram of the present invention.

[0021] Figure 4 Shows the overall schematic diagram of the connecting frame and the main drive module of the present invention.

[0022] Figure 5 Shows the overall schematic diagram of the frame and the secondary drive module of the present invention.

[0023] Figure 6 Shows the schematic diagram of the bottom of the frame of the present invention.

[0024] Figure 7 Shows the overall schematic diagram of the auxiliary walking module of the present invention.

[0025] Figure 8 Shows the partial exploded structure schematic diagram of the present invention.

[0026] Figure 9 Shows the schematic diagram of the state where the present invention is transitioning through a right angle.

[0027] Figure 10 Shows the schematic diagram of the state of the present invention after passing through a right angle.

[0028] In the figure: 1, frame; 2, connecting frame; 3, main drive module; 31, wheel frame; 32, main hub; 33, first drive motor; 34, first electromagnet; 4, secondary drive module; 41, side frame; 42, second drive motor; 43, secondary hub; 44, third drive motor; 45, second electromagnet; 5, auxiliary walking module; 51, mounting plate; 52, connecting rod; 53, third electromagnet; 321, first yoke; 431, second yoke; 11, cross beam; 12, top plate; 13, side plate; 14, fixing plate; 15, control box; 16, camera; 6, elastic member; 61, mounting seat; 62, spring; 521, first connecting rod; 522, fourth drive motor; 523, second connecting rod; 524, fifth drive motor; 525, third connecting rod; 526, sixth drive motor; 527, fourth connecting rod; 531, telescopic member; 532, accommodating shell; 21, bearing seat; 22, bearing body; 23, rotating rod; 24, limiting member; 231, groove; 241, end cover; 242, limiting rod; 243, bolt. Specific embodiments

[0029] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with specific embodiments and the accompanying drawings.

[0030] The terms used in the present invention are those general terms that are currently widely used in the art in consideration of the functions of the present invention, but these terms may vary according to the intentions of those of ordinary skill in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the present invention. Therefore, the terms used in the specification should not be understood as simple names, but based on the meanings of the terms and the overall description of the present invention.

[0031] Referring to Figures 1 to 6 , this embodiment provides a wall-climbing robot proposed by the present invention, which includes, Frame 1; Connecting frame 2; The main drive module 3 includes a wheel frame 31, main hubs 32 rotatably connected to both sides of the wheel frame 31 away from the frame 1, and first drive motors 33 adaptively installed on both sides of the wheel frame 31 close to the frame 1; the output ends of the two groups of first drive motors 33 penetrate the wheel frame 31 and are fixedly connected to the two groups of main hubs 32, a first electromagnet 34 is arranged on one side of the two groups of main hubs 32 close to each other, and rubber tires are arranged on the outer sides of the main hubs 32; By operating the first drive motors 33, the main hubs 32 can be driven to rotate, realizing the movement of the device on the wall surface.

[0032] The secondary drive module 4 includes a side frame 41 installed on the outer side of the frame 1, second drive motors 42 adaptively installed on the inner side of the frame 1, and two groups of secondary hubs 43 rotatably connected to one side of the side frame 41 away from the frame 1; two groups of third drive motors 44 are adaptively installed on one side of the side frame 41 close to the frame 1, a second electromagnet 45 is arranged on one side of the two groups of secondary hubs 43 close to the frame 1, the output ends of the two groups of third drive motors 44 penetrate the side frame 41 and are fixedly connected to the two groups of secondary hubs 43, and rubber tires are arranged on the outer sides of the secondary hubs 43; By controlling the operation of the third drive motors 44, the secondary hubs 43 can be driven to rotate, realizing the movement of the device on the wall surface. At the same time, when a right-angle transition is required, by controlling the second drive motors 42, the overall angle deflection of the secondary drive module 4 can be realized, so as to ensure that the right-angle transition can be completed.

[0033] The auxiliary walking module 5 includes a mounting plate 51 fixedly connected to the top end of the frame 1, a connecting rod 52 adaptively installed on the top end of the mounting plate 51, and a third electromagnet 53 arranged at one end of the connecting rod 52 not connected to the mounting plate 51; Among them, the frame 1 is used to install the connecting frame 2, the secondary drive module 4 and the auxiliary walking module 5, and the connecting frame 2 is used to connect the main drive module 3 to the frame 1.

[0034] Through the first electromagnet 34 inside the main hub 32 and the second electromagnet 45 arranged inside the secondary hub 43, the whole device can be adsorbed on the working device to walk. Through the connecting frame 2, it can be ensured that the main drive module 3 can be connected to the frame 1. At the same time, the angle deflection between the frame 1 and the main drive module 3 can be realized, so that the device can be suitable for bumpy and complex road surfaces. Through the secondary drive module 4, the whole can rotate relative to the frame 1 along the output end of the second drive motor 42, and a right-angle transition on the wall surface can be realized. At the same time, when making a right-angle transition on the wall surface, the angle of the third electromagnet 53 can be adjusted through the connecting rod 52, so as to keep the adsorption force of the third electromagnet 53 on the wall surface and ensure that the device will not fall.

[0035] In an embodiment provided, such as Figure 4, on one side of the two main hubs 32 close to each other, a first yoke 321 is fixedly connected, and the first electromagnet 34 is installed on the outside of the first yoke 321. The first electromagnet 34 is integrally arranged in a semi-circular arc shape for adapting to the main hub 32.

[0036] By integrally arranging the first electromagnet 34 in a semi-circular arc shape, the first electromagnet 34 can be adapted to the shape of the main hub 32, reducing the occupied space and at the same time enhancing the overall adsorption strength on the wall surface.

[0037] In an embodiment provided, such as Figure 5 , on one side of the secondary hub 43 close to the frame 1, a second yoke 431 is fixedly connected, and the second electromagnet 45 is installed on the outside of the second yoke 431. The side frame 41 is integrally designed in a U shape. The secondary hub 43 and the third driving motor 44 are installed at both ends of the side frame 41. The output end of the second driving motor 42 penetrates through the frame 1 and is fixedly connected to the midpoint position of the side frame 41. The secondary driving module 4 is provided in two groups, and the two groups of secondary driving modules 4 are respectively located on both sides of the frame 1. The second electromagnet 45 is integrally arranged in a semi-circular arc shape for adapting to the secondary hub 43.

[0038] By integrally arranging the second electromagnet 45 in a semi-circular arc shape, the second electromagnet 45 can be adapted to the shape of the secondary hub 43, reducing the occupied space and at the same time enhancing the overall adsorption strength on the wall surface.

[0039] In an embodiment provided, such as Figure 3 、 Figure 5 , the frame 1 includes two cross beams 11, a top plate 12 fixedly connected to the tops of the two cross beams 11, and side plates 13 fixedly connected to both ends of the two cross beams 11; the secondary driving module 4 is installed on the outside of the side plates 13. The side plates 13 are integrally designed in an arc shape to facilitate smoother overall operation of the device.

[0040] By setting the side plates 13 in an arc shape, the overall device can be made more beautiful while ensuring smoother overall operation.

[0041] In an embodiment provided, such as Figure 5 , on the outside of the cross beam 11 close to the connecting frame 2, a fixing plate 14 is fixedly connected. A control box 15 is arranged at the top of the fixing plate 14. A camera 16 is adaptively installed on the outside of the cross beam 11 close to the secondary driving module 4; each driving motor can be independently controlled to work independently through the control box 15. The magnetic force of the first electromagnet 34, the second electromagnet 45, and the third electromagnet 53 can be adjusted through the control box 15. At the same time, the control box 15 can also control the camera 16. Through the camera 16, real-time images can be transmitted. A buffer pad is arranged at the bottom of the fixing plate 14.

[0042] By means of the control box 15, each driving motor can be independently controlled to work, so that appropriate control can be carried out according to different situations. The camera 16 can transmit real-time images to facilitate the user to clarify the specific road conditions in front of the device, thereby facilitating the operation of the user. The buffer pad can reduce the acting force on the fixed plate 14, thus protecting the control box 15 located at the top of the fixed plate 14.

[0043] When passing through the right-angle transition, the magnetic forces of the second electromagnets 45 on the frontmost secondary hub 43, the second electromagnets 45 on the rear secondary hub 43, and the first electromagnet 34 on the main hub 32 are magnetically adjusted through the control box 15 to gradually reduce the adsorption strength on the current wall surface and synchronously enhance the preparatory adsorption force on the wall surface in the transition direction, thereby ensuring the smooth progress of the right-angle transition.

[0044] In an embodiment provided, such as Figure 4 , Figure 5 , Figure 8 , elastic members 6 are provided on the mutually remote sides of the two side plates 13. The elastic members 6 include two sets of mounting seats 61 and springs 62; Among them, the two sets of mounting seats 61 are respectively fixedly connected to the outer sides of the side plates 13 and the inner sides of the side frames 41. The two ends of the spring 62 are respectively clamped on the outer sides of the two sets of mounting seats 61. With the assistance of the elastic members 6, the device can be made to be more smooth when climbing over the external corner.

[0045] When the main drive module 3 and the secondary drive module 4 are on the same horizontal plane, the spring 62 is always in a stretched state at this time, and the spring 62 has elastic force. When making a right-angle transition, since the secondary drive module 4 will deflect at an angle towards the main drive module 3, changing the angle between the main drive module 3 and the secondary drive module 4 at this time, the elastic force of the stretched spring 62 will be released to assist the rotation of the secondary drive module 4, further ensuring that the secondary drive module 4 always contacts the wall surface, thereby smoothly completing the right-angle transition.

[0046] In an embodiment provided, such as Figure 7 , the connecting rod 52 is composed of a first connecting rod 521, a fourth driving motor 522, a second connecting rod 523, a fifth driving motor 524, a third connecting rod 525, a sixth driving motor 526, and a fourth connecting rod 527. Among them, the first connecting rod 521 is fixedly connected to the top end of the mounting plate 51. The second connecting rod 523 is rotatably connected to one end of the first connecting rod 521 away from the mounting plate 51 through the fourth driving motor 522. The third connecting rod 525 is rotatably connected to one end of the second connecting rod 523 away from the first connecting rod 521 through the fifth driving motor 524. The fourth connecting rod 527 is rotatably connected to one end of the third connecting rod 525 away from the second connecting rod 523 through the sixth driving motor 526. Through the design of multiple groups of driving motors and multiple groups of connecting rods, the specific position of the third electromagnet 53 can be adjusted.

[0047] By starting the fourth driving motor 522, the fifth driving motor 524, and the sixth driving motor 526, the angles of the second connecting rod 523, the third connecting rod 525, and the fourth connecting rod 527 can be adaptively adjusted respectively, so as to adjust the position of the receiving shell 532 at the end of the fourth connecting rod 527.

[0048] In an embodiment provided, such as Figure 7 , a chute is provided inside the fourth connecting rod 527. A telescopic member 531 is adaptively installed inside the chute. The output end of the telescopic member 531 is fixedly connected to the third electromagnet 53. The third electromagnet 53 is slidably connected inside the chute provided in the fourth connecting rod 527. One end of the fourth connecting rod 527 away from the third connecting rod 525 is fixedly connected to a receiving shell 532, and a buffer pad is provided on the outer wall of the receiving shell 532.

[0049] By the operation of the telescopic member 531, the third electromagnet 53 can be driven to slide, so that the third electromagnet 53 can be located inside the receiving shell 532 and contact the inner wall of the receiving shell 532 on the side provided with the buffer pad, realizing the adsorption of the third electromagnet 53. If the third electromagnet 53 is not located inside the receiving shell 532, the third electromagnet 53 cannot be adsorbed. The buffer pad provided on the outer wall of the receiving shell 532 can effectively reduce the acting force on the receiving shell 532, thereby protecting the receiving shell 532.

[0050] In an embodiment provided, such as Figure 8 , the connecting frame 2 includes a bearing seat 21, a bearing body 22 fixedly connected inside two groups of bearing seats 21, and a rotating rod 23 fixedly connected to the inner side of the bearing body 22; limiting members 24 are provided at both ends of the rotating rod 23; Among them, one end of a group of bearing seats 21 is fixedly connected to the bottom end of the cross beam 11, and the other group of bearing seats 21 is fixedly connected to the wheel frame 31. Grooves 231 are provided at both ends of the rotating rod 23. Through the connecting frame 2, not only the installation of the frame 1 and the main driving module 3 can be realized, but also a certain angle deflection of the main driving module 3 can be realized, so that it can smoothly pass through bumpy roads.

[0051] Thus, by providing the bearing seat 21 and the rotating rod 23, the main drive module 3 can rotate relative to the frame 1, ensuring that when the device walks on the wall surface, it can twist itself when encountering uneven surfaces or transition areas between different wall surfaces, adapt to various wall surface structures, and can firmly adsorb on the wall surface, improving the walking ability on the wall surface.

[0052] In an embodiment provided, as Figure 8 , the limiting member 24 includes an end cap 241, a limiting rod 242 fixedly connected to the outside of the end cap 241, and a bolt 243 disposed inside the end cap 241; Among them, the end cap 241 is clamped at both ends of the rotating rod 23, and the limiting rod 242 is horizontal. The end cap 241 is fixedly connected to both ends of the rotating rod 23 through the bolt 243. Through the limiting member 24, the deflection angle of the main drive module 3 can be limited, preventing excessive angle deflection from causing the device to malfunction.

[0053] Thus, when the main drive module 3 rotates relative to the frame 1, the limiting rod 242 can limit the maximum angle of torsion, preventing the main drive module 3 from detaching from the wall surface due to excessive relative rotation angle between the main drive module 3 and the frame 1, further ensuring construction safety.

[0054] Refer to Figures 1 to 10 , when the device walks on the wall surface and the main drive module 3 and the secondary drive module 4 are on the same wall surface, the auxiliary walking module 5 can be inoperative, that is, the third electromagnet 53 does not contact the wall surface. At the same time, the second drive motor 42 is in a passive working state and does not output torque; the main hub 32 and the secondary hub 43 are respectively driven by the first drive motor 33 and the third drive motor 44 to make the device walk on the wall surface. At this time, the spring 62 is in a stretched state and has elastic force.

[0055] When the device moves to the right-angle transition position of the wall surface, the secondary hub 43 on the secondary drive module 4 that is far from the primary drive module 3 reaches the right-angle transition position first. The walking speed of the device can be adjusted through the control box 15. While continuing to move, the secondary drive module 4 is rotated by outputting torque from the second drive motor 42. At the same time, under the elastic force of the spring 62, the secondary hub 43 on the secondary drive module 4 that is far from the primary drive module 3 slightly passes through the right-angle transition, touches the adjacent wall surface in a progressive contact manner, and performs staged magnetic force adjustment on the second electromagnet 45, gradually reducing the adsorption strength on the current wall surface and increasing the adsorption strength on the other wall surface. Then, by starting the fourth drive motor 522, the fifth drive motor 524, and the sixth drive motor 526 in sequence, the fourth connecting rod 527 is brought closer to the other wall surface, and the third electromagnet 53 is driven by the telescopic member 531 to move closer to the wall surface until it is firmly adsorbed on the wall surface. After that, as the frame 1 continues to move, the rotation directions of the fourth drive motor 522, the fifth drive motor 524, and the sixth drive motor 526 are adjusted to cooperate with the right-angle transition of the secondary hub 43 on the secondary drive module 4 that is far from the primary drive module 3 on the wall surface, and continue to move until the other secondary hub 43 completes the right-angle transition. At this time, the secondary drive module 4 reaches the other wall surface, and thus the transition of the front half of the device is realized.

[0056] On the premise of ensuring the adsorption force, to avoid interference caused by the auxiliary walking module 5, when the secondary drive module 4 approaches the auxiliary walking module 5, the third electromagnet 53 is moved to a farther position by adjusting the fourth drive motor 522, the fifth drive motor 524, and the sixth drive motor 526. The primary drive module 3 and the secondary drive module 4 walk normally on two adjacent vertical wall surfaces through the first drive motor 33 and the third drive motor 44. The primary hub 32 gradually reaches the right-angle transition position. Due to the adsorption force provided by the third electromagnet 53 and the second electromagnet 45, the second drive motor 42 outputs torque, and the magnetic suction force is distributed to the first electromagnet 34 through the control box 15, reducing the adsorption force on the first wall surface. The frame 1 rotates and continues to move, and finally, the wall-climbing robot that can complete the right-angle transition on the right-angle wall surface achieves the right-angle transition.

[0057] Finally, it should be pointed out that the methods and devices described in detail above are only examples, and those skilled in the art can modify these examples in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A wall-climbing robot, characterized in that: including, a frame (1); a connecting frame (2); a main drive module (3), the main drive module (3) includes a wheel frame (31), main hubs (32) rotatably connected to both sides of the wheel frame (31) away from the frame (1), and first drive motors (33) adaptively installed on both sides of the wheel frame (31) close to the frame (1); the output ends of the two groups of first drive motors (33) penetrate through the wheel frame (31) and are fixedly connected to the two groups of main hubs (32), and a first electromagnet (34) is arranged on one side of the two groups of main hubs (32) close to each other; a secondary drive module (4), the secondary drive module (4) includes a side frame (41) installed on the outside of the frame (1), a second drive motor (42) adaptively installed on the inside of the frame (1), and two groups of secondary hubs (43) rotatably connected to one side of the side frame (41) away from the frame (1); two groups of third drive motors (44) are adaptively installed on one side of the side frame (41) close to the frame (1), a second electromagnet (45) is arranged on one side of the two groups of secondary hubs (43) close to the frame (1), and the output ends of the two groups of third drive motors (44) penetrate through the side frame (41) and are fixedly connected to the two groups of secondary hubs (43); an auxiliary walking module (5), the auxiliary walking module (5) includes a mounting plate (51) fixedly connected to the top end of the frame (1), a connecting rod (52) adaptively installed on the top end of the mounting plate (51), and a third electromagnet (53) arranged at one end of the connecting rod (52) not connected to the mounting plate (51); wherein, the frame (1) is used to install the connecting frame (2), the secondary drive module (4) and the auxiliary walking module (5), and the connecting frame (2) is used to connect the main drive module (3) with the frame (1).

2. The wall-climbing robot according to claim 1, wherein: A first yoke (321) is fixedly connected to one side of the two groups of main hubs (32) close to each other, and the first electromagnet (34) is installed on the outside of the first yoke (321).

3. The climbing wall robot according to claim 2, characterized in that: A second yoke (431) is fixedly connected to one side of the secondary hub (43) close to the frame (1), the second electromagnet (45) is installed on the outside of the second yoke (431), the side frame (41) is integrally designed in a U shape, the secondary hub (43) and the third drive motor (44) are installed at both ends of the side frame (41), the output end of the second drive motor (42) penetrates through the frame (1) and is fixedly connected to the midpoint position of the side frame (41), the secondary drive module (4) is provided in two groups, and the two groups of secondary drive modules (4) are respectively located on both sides of the frame (1).

4. The wall-climbing robot according to claim 3, wherein: The frame (1) includes two cross beams (11), a top plate (12) fixedly connected to the top ends of the two cross beams (11), and side plates (13) fixedly connected to both ends of the two cross beams (11); the secondary drive module (4) is installed on the outside of the side plate (13).

5. The wall-climbing robot according to claim 4, wherein: A fixing plate (14) is fixedly connected to the outer side of the cross beam (11) close to the connecting frame (2). A control box (15) is arranged at the top end of the fixing plate (14). A camera (16) is adaptively installed on the outer side of the cross beam (11) close to the secondary drive module (4).

6. The wall-climbing robot according to claim 5, wherein: Elastic members (6) are arranged on the sides of the two side plates (13) away from each other. The elastic members (6) include two mounting seats (61) and springs (62). Among them, the two mounting seats (61) are respectively fixedly connected to the outer side of the side plate (13) and the inner side of the side frame (41). The two ends of the spring (62) are respectively clamped on the outer sides of the two mounting seats (61).

7. The wall-climbing robot according to claim 6, wherein: The connecting rod (52) is composed of a first connecting rod (521), a fourth drive motor (522), a second connecting rod (523), a fifth drive motor (524), a third connecting rod (525), a sixth drive motor (526), and a fourth connecting rod (527). Among them, the first connecting rod (521) is fixedly connected to the top end of the mounting plate (51). The second connecting rod (523) is rotationally connected to one end of the first connecting rod (521) away from the mounting plate (51) through the fourth drive motor (522). The third connecting rod (525) is rotationally connected to one end of the second connecting rod (523) away from the first connecting rod (521) through the fifth drive motor (524). The fourth connecting rod (527) is rotationally connected to one end of the third connecting rod (525) away from the second connecting rod (523) through the sixth drive motor (526).

8. The wall-climbing robot according to claim 7, wherein: A chute is formed inside the fourth connecting rod (527). A telescopic member (531) is adaptively installed inside the chute. The output end of the telescopic member (531) is fixedly connected to the third electromagnet (53). The third electromagnet (53) is slidably connected inside the chute formed in the fourth connecting rod (527). One end of the fourth connecting rod (527) away from the third connecting rod (525) is fixedly connected to a receiving shell (532).

9. The wall-climbing robot according to claim 8, wherein: The connecting frame (2) includes a bearing seat (21), a bearing body (22) fixedly connected inside the two bearing seats (21), and a rotating rod (23) fixedly connected to the inner side of the bearing body (22). Limit members (24) are arranged at both ends of the rotating rod (23). Among them, one end of one bearing seat (21) is fixedly connected to the bottom end of the cross beam (11). The other bearing seat (21) is fixedly connected to the wheel frame (31). Grooves (231) are formed at both ends of the rotating rod (23).

10. The wall-climbing robot according to claim 9, characterized in that: The limit member (24) includes an end cap (241), a limit rod (242) fixedly connected to the outer side of the end cap (241), and a bolt (243) arranged inside the end cap (241). Among them, the end cap (241) is clamped at both ends of the rotating rod (23), and the limit rod (242) is horizontal. The end cap (241) is fixedly connected to both ends of the rotating rod (23) through the bolt (243).

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