A wall-climbing robot

Abstract

The present invention relates to the field of wall-climbing robots, and discloses a wall-climbing robot comprising a frame, a connecting frame, and a main drive module. The main drive module comprises a wheel frame, a main wheel hub rotatably connected to the wheel frame on both sides away from the frame, and a first drive motor adapted to be mounted on the wheel frame on both sides close to the frame. The device achieves right-angle transitions through relative rotation between a secondary drive module and the frame, while an auxiliary walking module increases adsorption force to ensure stable adsorption of the device. The relative torsion between the main drive module and the frame can adapt to complex terrain and constantly adhere to the wall surface. The overall structure is simple, with the characteristics of flexible and fast movement and strong obstacle-crossing capability. It effectively solves the technical bottleneck of existing wall-climbing robots in coping with internal and external right-angle transitions in complex scenarios, significantly improves the applicability and work efficiency in complex operating scenarios, and has significant practicality and innovation.

Description

Technical Field

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

[0002] With the continuous advancement of robotics technology, robots are increasingly being used in high-risk, physically demanding tasks. Wall-climbing robots are becoming increasingly important in high-altitude operations. Today, wall-climbing robot technology has made the leap from the laboratory to practical application, serving a wide range of industries.

[0003] From the perspective of mechanical structure design, wall-climbing robots primarily utilize two methods for transitioning to right-angled walls: one is a multi-legged adsorption mechanism or flexible hinge structure that achieves posture switching through step-by-step adsorption and release, such as mimicking the alternating adsorption movements of insect legs; the other is a wheeled / tracked composite structure, combined with a flip joint, that relies on center-of-gravity offset to complete the transition. In terms of adsorption, a vacuum suction cup array paired with a negative pressure control system can dynamically adjust the distribution of adsorption force; while magnetic adsorption robots adapt to the transition requirements of ferromagnetic walls through the on-off strategy of electromagnets. In terms of motion control algorithms, feedback control based on force / torque sensors can adjust the drive torque in real time, while combining pre-programmed path planning with visual positioning technology to further enhance transition stability.

[0004] However, despite the diverse range of objects that wall-climbing robots can handle, most mature wall-climbing robot solutions currently on the market are still primarily focused on single-wall operations. These robots often struggle with complex operating scenarios and specialized structures that require right-angle transitions between internal and external surfaces. This change in operating dimensions poses a significant challenge to the wall-climbing robot's ability to achieve right-angle transitions. A common solution to this problem is a split design combined with flexible connections to ensure that the remaining suction modules provide sufficient grip for the robot during right-angle transitions. However, this design approach also complicates the robot's overall structure. Summary of the Invention

[0005] Therefore, the technical problem addressed by this invention is that currently available wall-climbing robot solutions are only suitable for single-wall operations and struggle to adapt to complex scenarios requiring right-angle transitions between internal and external surfaces. Changing operational dimensions pose challenges to the robot's ability to achieve these transitions. While the common split-body design and flexible connection combination provide sufficient climbing force, it complicates the robot's structure, creating a technical bottleneck that hinders widespread application of wall-climbing robots in complex operational scenarios.

[0006] The above technical problems are solved by the following technical solutions: The present invention proposes a wall-climbing robot, which comprises:

[0007] frame;

[0008] Connecting frame;

[0009] A main drive module, comprising a wheel frame, main wheel hubs rotatably connected to the wheel frame on both sides away from the frame, and first drive motors adapted to be mounted on both sides of the wheel frame close to the frame; output ends of two sets of the first drive motors pass through the wheel frame and are fixedly connected to the two sets of the main wheel hubs; a first electromagnet is provided on the side close to the two sets of the main wheel hubs, and a rubber tire is provided on the outer side of the main wheel hubs;

[0010] A secondary drive module, the secondary drive module comprising a side frame mounted on the outside of the frame, a second drive motor adapted to be mounted on the inside of the frame, and two sets of secondary wheel hubs rotatably connected to the side of the side frame away from the frame; two sets of third drive motors adapted to be mounted on the side of the side frame close to the frame, second electromagnets provided on the sides of the two sets of secondary wheel hubs close to the frame, output ends of the two sets of third drive motors passing through the side frame and fixedly connected to the two sets of secondary wheel hubs, and rubber tires provided on the outsides of the secondary wheel hubs;

[0011] An auxiliary walking module, the auxiliary walking module comprising a mounting plate fixedly connected to the top of the frame, a connecting rod adapted to be mounted on the top of the mounting plate, and a third electromagnet provided at an end of the connecting rod not connected to the mounting plate;

[0012] 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 to the frame.

[0013] In a preferred embodiment of the wall-climbing robot of the present invention: a first yoke is fixedly connected to the side where the two groups of main hubs are close to each other, and the first electromagnet is installed on the outside of the first yoke. The first electromagnet is configured as a semicircular arc as a whole to adapt to the main hubs.

[0014] In a preferred embodiment of the wall-climbing robot described in the present invention: the secondary hub is fixedly connected to a second yoke on one side close to the frame, the second electromagnet is installed on the outside of the second yoke, the side frame is U-shaped as a whole, the secondary hub and the third drive motor are installed at both ends of the side frame, the output end of the second drive motor passes through the frame and is fixedly connected to the midpoint of the side frame, the secondary drive modules are provided in two groups, and the two groups of secondary drive modules are respectively located on both sides of the frame, and the second electromagnet is provided as a whole in a semicircular arc shape for adapting to the secondary hub.

[0015] In a preferred embodiment of the wall-climbing robot described in the present invention: the frame includes two groups of beams, a top plate fixedly connected to the top ends of the two groups of beams, and side plates fixedly connected to the two ends of the two groups of beams; the secondary drive module is installed on the outside of the side plates, and the side plates are designed to be arc-shaped as a whole, so as to facilitate smoother operation of the overall equipment.

[0016] In a preferred embodiment of the wall-climbing robot according to the present invention: a fixing plate is fixedly connected to the outer side of the beam near the connecting frame, a control box is provided on the top of the fixing plate, and a camera is adapted to be installed on the outer side of the beam near the secondary drive module, and each drive motor can be independently controlled to work independently through the control box, and the magnetic force of the first electromagnet, the second electromagnet and the third electromagnet can be adjusted through the control box, and the control box can also control the camera, and real-time images can be transmitted through the camera, and a buffer pad is provided at the bottom end of the fixing plate.

[0017] In a preferred embodiment of the wall-climbing robot of the present invention: an elastic member is provided on the side of the two sets of side panels that are away from each other, and the elastic member includes two sets of mounting seats and a spring;

[0018] Among them, the two groups of mounting seats are fixedly connected to the outer side of the side panel and the inner side of the side frame respectively, and the two ends of the spring are respectively clamped on the outer side of the two groups of mounting seats. With the assistance of the elastic parts, the equipment can be made smoother when achieving the positive corner flip.

[0019] 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.

[0020] Among them, the first connecting rod is fixedly connected to the top of the mounting plate, the second connecting rod is rotatably connected to the end of the first connecting rod away from the mounting plate through the fourth driving motor, the third connecting rod is rotatably connected to the end of the second connecting rod away from the first connecting rod through the fifth driving motor, and the fourth connecting rod is rotatably connected to the end of the third connecting rod away from the second connecting rod through the sixth driving motor. By designing multiple groups of driving motors and multiple groups of connecting rods, the specific position of the third electromagnet can be adjusted.

[0021] In a preferred embodiment of the wall-climbing robot described in the present invention: a sliding groove is opened on the inner side of the fourth connecting rod, a telescopic part is adapted to be installed inside the sliding groove, the output end of the telescopic part is fixedly connected to the third electromagnet, the third electromagnet is slidably connected to the inside of the sliding groove opened on the fourth connecting rod, the end of the fourth connecting rod away from the third connecting rod is fixedly connected to a containing shell, and the outer wall of the containing shell is provided with a buffer pad.

[0022] In a preferred embodiment of the wall-climbing robot of the present invention, the connecting frame includes the bearing seats, bearing bodies fixedly connected to the insides of the two sets of bearing seats, and a rotating rod fixedly connected to the inner sides of the bearing bodies; limit members are provided at both ends of the rotating rod;

[0023] Among them, one end of one group of the bearing seats is fixedly connected to the bottom end of the beam, and the other group of the bearing seats is fixedly connected to the wheel frame. Grooves are provided 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 the main drive module can be deflected at a certain angle, so that it can pass through bumpy roads smoothly.

[0024] In a preferred embodiment of the wall-climbing robot of the present invention: the limiting member includes an end cover, a limiting rod fixedly connected to the outside of the end cover, and a bolt arranged on the inside of the end cover;

[0025] Among them, the end cover is clamped at both ends of the rotating rod, and the limit rod is horizontal. The end cover is fixedly connected to the two ends of the rotating rod by the bolts. The limit member can limit the deflection angle of the main drive module to avoid excessive deflection of the angle causing the equipment to fail to operate normally.

[0026] The beneficial effects of this invention include: the device achieves right-angle transitions through relative rotation of the secondary drive module and the frame, while the auxiliary walking module increases suction force, ensuring stable suction. The relative torsion of the main drive module and the frame allows the device to adapt to complex terrain and maintain constant suction to the wall. The overall structure is simple, offering flexible and rapid movement and strong obstacle-crossing capabilities. This effectively addresses the technical bottleneck of existing wall-climbing robots, which struggle to handle internal and external right-angle transitions in complex scenarios. This significantly improves the device's applicability and efficiency in complex operating scenarios, demonstrating its remarkable practicality and innovation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention. Obviously, the drawings described below only relate to some embodiments of the present invention, and are not intended to limit the present invention.

[0028] Figure 1 Shown is a schematic diagram of the overall structure of the present invention.

[0029] Figure 2 A schematic diagram of the overall structure of the present invention from another perspective is shown.

[0030] Figure 3 Shown is an overall side schematic diagram of the present invention.

[0031] Figure 4The figure shows the overall schematic diagram of the connecting frame and the main driving module of the present invention.

[0032] Figure 5 Shown is an overall schematic diagram of the frame and secondary drive module of the present invention.

[0033] Figure 6 A schematic diagram of the bottom of the frame of the present invention is shown.

[0034] Figure 7 Shown is an overall schematic diagram of the auxiliary walking module of the present invention.

[0035] Figure 8 A schematic diagram of a partial explosion structure of the present invention is shown.

[0036] Figure 9 The figure shows a schematic diagram of the state of the present invention being in transition to a right angle.

[0037] Figure 10 The figure shows the state of the present invention after passing through a right angle.

[0038] In the figure: 1. Frame; 2. Connecting frame; 3. Main drive module; 31. Wheel frame; 32. Main wheel hub; 33. First drive motor; 34. First electromagnet; 4. Secondary drive module; 41. Side frame; 42. Second drive motor; 43. Secondary wheel hub; 44. Third drive motor; 45. Second electromagnet; 5. Auxiliary travel module; 51. Mounting plate; 52. Connecting rod; 53. Third electromagnet; 321. First yoke; 431. Second yoke; 11. Crossbeam; 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 driving motor; 523. Second connecting rod; 524. Fifth driving motor; 525. Third connecting rod; 526. Sixth driving 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. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to specific embodiments and the accompanying drawings.

[0040] The terms used in the present invention are those commonly used in the art in view of the functions of the present invention, but these terms may vary according to the intentions of those skilled 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 rather as the meanings of the terms and the overall description of the present invention.

[0041] Reference Figures 1 to 6 This embodiment provides a wall-climbing robot proposed by the present invention, which includes:

[0042] Frame 1;

[0043] Connecting frame 2;

[0044] The main drive module 3 includes a wheel frame 31, main wheel hubs 32 rotatably connected to the wheel frame 31 on both sides away from the frame 1, and first drive motors 33 adapted to be mounted on both sides of the wheel frame 31 near the frame 1. The output ends of the two sets of first drive motors 33 pass through the wheel frame 31 and are fixedly connected to the two sets of main wheel hubs 32. A first electromagnet 34 is provided on the side where the two sets of main wheel hubs 32 are close to each other, and a rubber tire is provided on the outer side of the main wheel hubs 32.

[0045] The operation of the first drive motor 33 can drive the main hub 32 to rotate, thereby enabling the device to move on the wall.

[0046] The secondary drive module 4 includes a side frame 41 mounted on the outside of the frame 1, a second drive motor 42 adapted to be mounted on the inside of the frame 1, and two sets of secondary wheel hubs 43 rotatably connected to the side of the side frame 41 away from the frame 1; two sets of third drive motors 44 are adapted to be mounted on the side of the side frame 41 close to the frame 1, and second electromagnets 45 are provided on the side of the two sets of secondary wheel hubs 43 close to the frame 1. The output ends of the two sets of third drive motors 44 pass through the side frame 41 and are fixedly connected to the two sets of secondary wheel hubs 43. The outer sides of the secondary wheel hubs 43 are provided with rubber tires;

[0047] By controlling the operation of the third drive motor 44, the secondary hub 43 can be driven to rotate, enabling the device to move on the wall. At the same time, when a right-angle transition is required, the second drive motor 42 is controlled to achieve the overall angular deflection of the secondary drive module 4, thereby ensuring the completion of the right-angle transition.

[0048] The auxiliary walking module 5 includes a mounting plate 51 fixedly connected to the top of the frame 1, a connecting rod 52 adapted to be mounted on the top of the mounting plate 51, and a third electromagnet 53 provided at the end of the connecting rod 52 not connected to the mounting plate 51;

[0049] The frame 1 is used to install the connecting frame 2 , the secondary driving module 4 and the auxiliary walking module 5 , and the connecting frame 2 is used to connect the main driving module 3 to the frame 1 .

[0050] The first electromagnet 34 on the inside of the main hub 32 and the second electromagnet 45 on the inside of the secondary hub 43 can cause the entire device to be adsorbed on the working equipment and move. The connecting frame 2 can ensure that the main drive module 3 can be connected to the frame 1. At the same time, the angle deflection of the frame 1 and the main drive module 3 can be achieved, making the device suitable for bumpy and complex roads. Through the secondary drive module 4, the entire device can be extended to rotate relative to the output end of the second drive motor 42 and the frame 1, which can achieve a right-angle transition on the wall. At the same time, when making a right-angle transition on the wall, the angle of the third electromagnet 53 can be adjusted through the connecting rod 52, so that the third electromagnet 53 maintains its adsorption force on the wall and ensures that the device does not fall.

[0051] As an example provided, Figure 4 The first yoke 321 is fixedly connected to the side where the two sets of main hubs 32 are close to each other, and the first electromagnet 34 is installed on the outside of the first yoke 321. The first electromagnet 34 is set as a semicircular arc shape as a whole to adapt to the main hub 32.

[0052] By configuring the first electromagnet 34 as a semicircular arc, the first electromagnet 34 can be adapted to the shape of the main hub 32, thereby reducing the occupied space and improving the overall adsorption strength on the wall.

[0053] As an example provided, Figure 5 The secondary hub 43 is fixedly connected to the side of the frame 1 with a second yoke 431, and the second electromagnet 45 is installed on the outside of the second yoke 431. The side frame 41 is U-shaped as a whole. 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 passes through the frame 1 and is fixedly connected to the midpoint of the side frame 41. The secondary drive module 4 is set in two groups, and the two groups of secondary drive modules 4 are respectively located on both sides of the frame 1. The second electromagnet 45 is set in a semicircular arc shape as a whole to adapt to the secondary hub 43.

[0054] By configuring the second electromagnet 45 as a semicircular arc, the second electromagnet 45 can be adapted to the shape of the secondary hub 43, thereby reducing the occupied space and improving the overall adsorption strength on the wall.

[0055] As an example provided, Figure 3 、 Figure 5The frame 1 includes two groups of beams 11, a top plate 12 fixedly connected to the top of the two groups of beams 11, and a side plate 13 fixedly connected to the two ends of the two groups of beams 11; the secondary drive module 4 is installed on the outside of the side plate 13, and the side plate 13 is designed to be curved as a whole, so that the overall operation of the equipment is smoother.

[0056] By setting the side panels 13 to an arc shape, the device as a whole can be made more beautiful while ensuring smoother operation during overall operation.

[0057] As an example provided, Figure 5 A fixing plate 14 is fixedly connected to the outside of the beam 11 near the connecting frame 2, and a control box 15 is provided on the top of the fixing plate 14. A camera 16 is adapted to be installed on the outside of the beam 11 near the secondary drive module 4; each drive motor can be independently controlled to work independently through the control box 15, and 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, and real-time images can be transmitted through the camera 16. A buffer pad is provided at the bottom of the fixing plate 14.

[0058] The control box 15 can independently control the operation of each drive motor, allowing for appropriate control according to different situations. The camera 16 can transmit real-time images to facilitate the user to understand the specific road conditions in front of the device, thereby facilitating operation. The cushion can reduce the force applied to the fixing plate 14, thereby protecting the control box 15 located at the top of the fixing plate 14.

[0059] When passing through the right-angle transition, the magnetic forces of the second electromagnet 45 on the front secondary hub 43, the second electromagnet 45 on the rear secondary hub 43 and the first electromagnet 34 on the main hub 32 are adjusted through the control box 15 to gradually reduce the adsorption strength on the current wall and simultaneously enhance the preparatory adsorption force on the wall in the transition direction, thereby ensuring the smooth progress of the right-angle transition.

[0060] As an example provided, Figure 4 、 Figure 5 、 Figure 8 , an elastic member 6 is provided on the side away from each other of the two sets of side plates 13, and the elastic member 6 includes two sets of mounting seats 61 and a spring 62;

[0061] Among them, the two groups of mounting seats 61 are fixedly connected to the outer side of the side panel 13 and the inner side of the side frame 41 respectively, and the two ends of the spring 62 are respectively clamped on the outer side of the two groups of mounting seats 61. With the assistance of the elastic member 6, the equipment can be made smoother when achieving the positive corner flip.

[0062] When the main drive module 3 and the secondary drive module 4 are in the same horizontal plane, the spring 62 is always in a stretched state. The spring 62 has elastic force. When performing a right-angle transition, the secondary drive module 4 will deflect toward the main drive module 3, changing the angle between the main drive module 3 and the secondary drive module 4. As a result, the elastic force of the spring 62 will be released, assisting the rotation of the secondary drive module 4, further ensuring that the secondary drive module 4 is always in contact with the wall, thereby successfully completing the right-angle transition.

[0063] As an example provided, 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.

[0064] Among them, the first connecting rod 521 is fixedly connected to the top of the mounting plate 51, the second connecting rod 523 is rotatably connected to the 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 the end of the second connecting rod 523 away from the first connecting rod 521 through the fifth driving motor 524, and the fourth connecting rod 527 is rotatably connected to the end of the third connecting rod 525 away from the second connecting rod 523 through the sixth driving motor 526. By designing multiple sets of driving motors and multiple sets of connecting rods, the specific position of the third electromagnet 53 can be adjusted.

[0065] By starting the fourth drive motor 522 , the fifth drive motor 524 and the sixth drive 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, thereby adjusting the position of the accommodating shell 532 at the end of the fourth connecting rod 527 .

[0066] As an example provided, Figure 7 A sliding groove is provided on the inner side of the fourth connecting rod 527, and a telescopic member 531 is installed inside the sliding groove. The output end of the telescopic member 531 is fixedly connected to the third electromagnet 53, and the third electromagnet 53 is slidably connected to the inside of the sliding groove provided in the fourth connecting rod 527. The end of the fourth connecting rod 527 away from the third connecting rod 525 is fixedly connected to the accommodating shell 532, and the outer wall of the accommodating shell 532 is provided with a buffer pad.

[0067] The operation of the telescopic member 531 can drive the third electromagnet 53 to slide, so that the third electromagnet 53 is located inside the housing 532 and contacts the inner wall of the housing 532 on the side provided with the cushion, thereby achieving the adsorption of the third electromagnet 53. If the third electromagnet 53 is not located inside the housing 532, the third electromagnet 53 cannot be adsorbed. The cushion provided on the outer wall of the housing 532 can effectively reduce the force acting on the housing 532, thereby protecting the housing 532.

[0068] As an example provided, Figure 8 The connecting frame 2 includes a bearing seat 21, a bearing body 22 fixedly connected to the inside of the two sets of bearing seats 21, and a rotating rod 23 fixedly connected to the inner side of the bearing body 22; limit members 24 are provided at both ends of the rotating rod 23;

[0069] Among them, one end of a group of bearing seats 21 is fixedly connected to the bottom end of the 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 drive module 3 can be realized, but also the main drive module 3 can be deflected at a certain angle, so that it can pass through bumpy sections smoothly.

[0070] Therefore, by setting the bearing seat 21 and the rotating rod 23, the main drive module 3 can rotate relative to the frame 1 to ensure that when the equipment is walking on the wall, it can twist itself when encountering uneven places or transitions between different walls, adapt to various wall structures, and be firmly adsorbed on the wall, thereby improving the ability to walk on the wall.

[0071] As an example provided, Figure 8 The limiting member 24 includes an end cover 241, a limiting rod 242 fixedly connected to the outside of the end cover 241, and a bolt 243 provided on the inside of the end cover 241;

[0072] Among them, the end cover 241 is clamped at both ends of the rotating rod 23, and the limiting rod 242 is horizontal. The end cover 241 is fixedly connected to the two ends of the rotating rod 23 by bolts 243. The limiting member 24 can limit the deflection angle of the main drive module 3 to avoid excessive deflection of the angle causing the equipment to fail to operate normally.

[0073] Therefore, when the main drive module 3 and the frame 1 rotate relative to each other, the maximum angle of torsion can be limited by the limit rod 242, thereby preventing the main drive module 3 from detaching from the wall due to excessive relative rotation angle between the main drive module 3 and the frame 1, further ensuring construction safety.

[0074] refer to Figures 1 to 10 When the device moves on the wall, when the main drive module 3 and the secondary drive module 4 are on the same wall, the auxiliary walking module 5 can be inoperative, that is, the third electromagnet 53 does not contact the wall. At the same time, the second drive motor 42 is in a passive working state, and the second drive motor 42 does not output torque; the first drive motor 33 and the third drive motor 44 respectively drive the main wheel hub 32 and the secondary wheel hub 43 to rotate, so that the device moves on the wall. At this time, the spring 62 is in a stretched state and has elastic force.

[0075] When the device walks to the right-angle transition position of the wall, the secondary hub 43 on the secondary drive module 4 away from the main drive module 3 first reaches the right-angle transition position, and the control box 15 can adjust the walking speed of the device. While continuing to walk, the second drive motor 42 outputs torque to rotate the secondary drive module 4. At the same time, under the elastic force of the spring 62, the secondary hub 43 on the secondary drive module 4 away from the main drive module 3 slightly passes the right-angle transition position, and touches the adjacent wall in a progressive contact manner, and the second electromagnet 45 is staged. The magnetic force is adjusted, and the adsorption strength of the current wall is gradually reduced, while the adsorption strength of the other wall is increased, and then the second electromagnet 45 is started in sequence. The fourth drive motor 522, the fifth drive motor 524 and the sixth drive motor 526 make the fourth connecting rod 527 approach another wall, and drive the third electromagnet 53 to move close to the wall through the telescopic member 531 until it is firmly adsorbed on the wall. Afterwards, as the frame 1 continues to move, the direction of the fourth drive motor 522, the fifth drive motor 524 and the sixth drive motor 526 is adjusted to cooperate with the completion of the right-angle transition of the secondary hub 43 on the secondary drive module 4 away from the main drive module 3 on the wall. Continue moving until the other secondary hub 43 completes the right-angle transition. At this time, the secondary drive module 4 reaches another wall, and the transition of the front half of the equipment is completed.

[0076] Under the premise of ensuring the adsorption force, in order to avoid interference with the auxiliary walking module 5, when the secondary driving module 4 approaches the auxiliary walking module 5, the third electromagnet 53 is moved farther away by adjusting the fourth driving motor 522, the fifth driving motor 524 and the sixth driving motor 526;

[0077] The main drive module 3 and the secondary drive module 4 are enabled to walk normally on two adjacent vertical walls through the first drive motor 33 and the third drive motor 44, and the main wheel hub 32 gradually reaches the right-angle transition position. Since the third electromagnet 53 and the second electromagnet 45 provide adsorption force, the second drive motor 42 outputs torque, and the magnetic attraction force is distributed to the first electromagnet 34 through the control box 15, thereby reducing the adsorption force on the first wall. The frame 1 rotates and continues to move, and finally the wall-climbing robot that can achieve right-angle wall transition completes the right-angle transition.

[0078] Finally, it should be pointed out that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the present invention.

Claims

1. A wall-climbing robot, characterized in that: include, Frame (1); Connecting frame (2); A main drive module (3), the main drive module (3) comprising a wheel frame (31), main wheel hubs (32) rotatably connected to the wheel frame (31) on both sides away from the frame (1), and first drive motors (33) adapted to be mounted on both sides of the wheel frame (31) close to the frame (1); output ends of two groups of the first drive motors (33) pass through the wheel frame (31) and are fixedly connected to the two groups of the main wheel hubs (32); a first electromagnet (34) is provided on the side close to the two groups of the main wheel hubs (32); A secondary drive module (4), the secondary drive module (4) comprising a side frame (41) mounted on the outside of the frame (1), a second drive motor (42) adapted to be mounted on the inside of the frame (1), and two sets of secondary wheel hubs (43) rotatably connected to the side of the side frame (41) away from the frame (1); two sets of third drive motors (44) adapted to be mounted on the side of the side frame (41) close to the frame (1), a second electromagnet (45) provided on the side of the two sets of secondary wheel hubs (43) close to the frame (1), and output ends of the two sets of third drive motors (44) passing through the side frame (41) and fixedly connected to the two sets of secondary wheel hubs (43); An auxiliary walking module (5), the auxiliary walking module (5) comprising a mounting plate (51) fixedly connected to the top of the frame (1), a connecting rod (52) adapted to be mounted on the top of the mounting plate (51), and a third electromagnet (53) provided at an end of the connecting rod (52) not connected to the mounting plate (51); 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); The frame (1) comprises two groups of cross beams (11), a top plate (12) fixedly connected to the top ends of the two groups of cross beams (11), and side plates (13) fixedly connected to both ends of the two groups of cross beams (11); the secondary drive module (4) is mounted on the outside of the side plates (13); An elastic member (6) is provided on the side of the two groups of side plates (13) that are away from each other, and the elastic member (6) includes two groups of mounting seats (61) and a spring (62); The two groups of 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), and the two ends of the spring (62) are respectively clamped on the outer sides of the two groups of mounting seats (61); When the main driving module (3) and the secondary driving module (4) are in the same horizontal plane, the spring (62) is always in a stretched state.

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

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

4. A wall-climbing robot according to claim 3, characterized in that: A fixing plate (14) is fixedly connected to the outside of the crossbeam (11) near the connecting frame (2), a control box (15) is provided on the top of the fixing plate (14), and a camera (16) is adapted and installed on the outside of the crossbeam (11) near the secondary drive module (4).

5. The wall-climbing robot according to claim 4, characterized in that: 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); The first connecting rod (521) is fixedly connected to the top of the mounting plate (51), the second connecting rod (523) is rotatably connected to the end of the first connecting rod (521) away from the mounting plate (51) via the fourth driving motor (522), the third connecting rod (525) is rotatably connected to the end of the second connecting rod (523) away from the first connecting rod (521) via the fifth driving motor (524), and the fourth connecting rod (527) is rotatably connected to the end of the third connecting rod (525) away from the second connecting rod (523) via the sixth driving motor (526).

6. The wall-climbing robot according to claim 5, characterized in that: A sliding groove is provided on the inner side of the fourth connecting rod (527), and a telescopic member (531) is adapted to be installed inside the sliding groove. The output end of the telescopic member (531) is fixedly connected to the third electromagnet (53), and the third electromagnet (53) is slidably connected to the inside of the sliding groove provided on the fourth connecting rod (527). An end of the fourth connecting rod (527) away from the third connecting rod (525) is fixedly connected to a accommodating shell (532).

7. The wall-climbing robot according to claim 6, characterized in that: The connecting frame (2) includes a bearing seat (21), a bearing body (22) fixedly connected to the inside of the two sets of bearing seats (21), and a rotating rod (23) fixedly connected to the inner side of the bearing body (22); both ends of the rotating rod (23) are provided with a limiting member (24); One end of one group of the bearing seats (21) is fixedly connected to the bottom end of the beam (11), and another group of the bearing seats (21) is fixedly connected to the wheel frame (31). Grooves (231) are provided at both ends of the rotating rod (23).

8. The wall-climbing robot according to claim 7, characterized in that: The limiting member (24) includes an end cover (241), a limiting rod (242) fixedly connected to the outside of the end cover (241), and a bolt (243) arranged on the inside of the end cover (241); The end covers (241) are clamped at both ends of the rotating rod (23), and the limiting rod (242) is horizontal, and the end covers (241) are fixedly connected to both ends of the rotating rod (23) by the bolts (243).

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