Wall-climbing robot with smooth and rough wall surface climbing capability

Abstract

The invention discloses a wall-climbing robot with smooth and rough wall surface climbing ability, and relates to the technical field of wall-climbing robotics.The wall-climbing robot comprises a mounting plate, negative pressure equipment, four steering devices, a manipulator, an adsorption device and an adhesion device, the mounting plate is fixedly connected with the negative pressure equipment, and the four steering devices are arranged on the mounting plate; a manipulator, an adsorption device and an adhesion device are arranged on the steering device, the mounting plate is connected with the steering device, the steering device is connected with the manipulator, the manipulator is connected with the adsorption device, the adsorption device is connected with the adhesion device, the mounting plate is used for mounting other devices, and the trend of the wall-climbing robot is controlled through the manipulator and the steering device. When the wall-climbing robot climbs on a smooth wall surface, the smooth wall surface is adsorbed through the adsorption device, and when the robot climbs on a rough wall surface, the wall-climbing robot can climb on the rough wall surface through the negative pressure equipment, the adsorption device and the adhesion device.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and specifically to a wall-climbing robot with the ability to climb on smooth and rough walls. Background Art

[0002] A wall-climbing robot is a robot that can stably adsorb, walk and work on walls at a certain angle. In recent years, it has been applied in many industrial fields. The difference between a wall-climbing robot and an ordinary mobile robot is that an ordinary robot generally moves on flat ground while a wall-climbing robot moves on walls at an angle to the horizontal plane or even on overhanging walls. Therefore, one of the most important features of a wall-climbing robot is a wall adsorption mechanism that enables it to adsorb on the wall.

[0003] Existing wall-climbing robots can only move on a single wall surface. However, there are a large number of rough and smooth wall surfaces in the places where wall-climbing robots can be used currently. Existing crawling robots are unable to handle such working environments and it is difficult to meet the requirements of crawling on both smooth and rough walls, making it difficult for wall-climbing robots to be applied in the market. Summary of the Invention

[0004] The purpose of the present invention is to provide a wall-climbing robot with the ability to climb on smooth and rough walls to solve the problems raised in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: The wall-climbing robot includes a mounting plate, a negative pressure device, a steering device, a manipulator, an adsorption device and an adhesion device. The mounting plate and the negative pressure device are firmly connected. There are four steering devices on the mounting plate. The steering device is provided with a manipulator, an adsorption device and an adhesion device. The mounting plate is connected to the steering device, the steering device is connected to the manipulator, the manipulator is connected to the adsorption device, and the adsorption device is connected to the adhesion device.

[0006] The mounting plate serves as the main mounting base for the installation and positioning of other devices. The direction of the wall-climbing robot is controlled through the manipulator and the steering device. When the wall-climbing robot climbs on a smooth wall, the smooth wall is adsorbed through the adsorption device to provide the adsorption force for the wall-climbing robot on the smooth wall. When the robot climbs on a rough wall, the negative pressure device provides a downward pressure for the wall-climbing robot. At the same time, the adsorption device and the adhesion device provide the adsorption force for the wall-climbing robot. Through the negative pressure device, the adsorption device and the adhesion device, the wall-climbing robot can climb on the rough wall.

[0007] Furthermore, the mounting plate is provided with a negative pressure hole and a steering mounting groove. The negative pressure device is located above the negative pressure hole. Gear mounting grooves are provided on both side surfaces of the steering mounting groove. A rack is provided in the gear mounting groove on the outer side surface of the steering mounting groove. The steering mounting groove is connected to the steering device, and the rack is connected to the steering device.

[0008] The negative pressure device provides a downward pressure for the wall-climbing robot through the negative pressure holes. The steering mounting groove provides a mounting position for the steering device, enabling the steering device to be connected to the manipulator. At the same time, the gear mounting groove provides a mounting position for the rack, enabling the rack to be connected to the steering device.

[0009] Furthermore, the negative pressure device includes a support frame, a negative pressure motor, and negative pressure blades. The support frame is fixedly connected to the mounting plate. The negative pressure motor is located directly above the center of the negative pressure hole. The negative pressure motor is fixedly connected to the support frame, and the output end of the negative pressure motor is fixedly connected to the negative pressure blades.

[0010] The support frame serves as the main mounting foundation for the support and installation of other components. When the wall-climbing robot crawls on a rough wall surface or the adsorption force is insufficient, the negative pressure motor outputs a rotational torque to drive the negative pressure blades to rotate. By rotating the negative pressure blades, the air below the negative pressure hole is pumped out to form a low-pressure area, and a downward adsorption force is provided to the wall-climbing robot through the low-pressure area, enabling the wall-climbing robot to crawl on the rough wall surface.

[0011] Furthermore, the steering device includes a fixed motor, a fixed slider, a fixed gear, and a connecting column. The fixed motor is slidably connected to the mounting plate. The output end of the fixed motor passes through the fixed slider and is fixedly connected to the fixed gear. The fixed motor is rotatably connected to the fixed slider. The fixed slider is slidably connected to the steering mounting groove. The fixed gear is placed in the gear mounting groove. The fixed gear meshes with the rack. The fixed gear is rotatably connected to the connecting column, and the connecting column is fixedly connected to the manipulator.

[0012] When the wall-climbing robot needs to turn, the fixed motor outputs a rotational torque to drive the fixed gear to rotate. After the fixed gear rotates, it receives a reaction force in the opposite direction from the rack, causing the fixed gear to move along the direction of the rack arrangement. At the same time, it also drives the fixed slider to slide along the steering mounting groove. The movement of the fixed gear drives the connecting column to move, and the movement of the connecting column drives the manipulator to move, enabling the manipulator to rotate to the target direction. Then, the manipulator and the adsorption device continue to move along the target direction.

[0013] Furthermore, the adsorption device includes a fixing plate, an adsorption pump, and a suction cup. The fixing plate is fixedly connected to the manipulator. The fixing plate is fixedly connected to the adsorption pump. The input end of the adsorption pump is connected to the suction cup.

[0014] The fixing plate serves as the main mounting foundation for the installation and positioning of other components. When the wall-climbing robot is currently crawling, the adsorption pump sucks out the air in the suction cup, enabling the suction cup to adsorb on the wall surface it contacts, providing an adsorption force for the wall-climbing robot when crawling.

[0015] Furthermore, the fixing plate is provided with fixed mounting holes, and the output end of the adsorption pump passes through the fixed mounting holes and is communicated with the suction cup pipeline.

[0016] The fixed mounting holes provide connection conditions for the adsorption pump and the suction cup, enabling the adsorption pump to communicate with the suction cup pipeline.

[0017] Furthermore, several adhesion mounting holes are provided on the suction cup, and the adhesion device is placed in the adhesion mounting holes, and the adhesion device is firmly connected to the adhesion mounting holes.

[0018] The adhesion mounting holes serve as the main mounting basis, providing an installation environment for the adhesion device and facilitating the installation of the adhesion device.

[0019] Furthermore, the adhesion device includes an electric field generator, an adhesion cylinder, and gecko bionic bristles. The adhesion cylinder is placed in the adhesion mounting holes, and the adhesion cylinder is firmly connected to the adhesion mounting holes. The output end of the adhesion cylinder is firmly connected to the electric field generator. Several gecko bionic bristles are provided on the electric field generator, and several gecko bionic bristles are firmly connected to the electric field generator.

[0020] When the wall-climbing robot crawls on a rough wall surface, the output displacement of the adhesion cylinder drives the electric field generator to move, and the movement of the electric field generator drives the gecko bionic bristles to move. Until the electric field generator moves to the designated position and then stops moving, and at the same time, the electric field generator is turned on, and through the electric field effect, the gecko bionic bristles are stretched out, so that the gecko bionic bristles can fully contact the rough wall surface, thereby providing an adsorption force for the wall-climbing robot and enabling the wall-climbing robot to crawl on the rough wall surface.

[0021] Compared with the prior art, the beneficial effects of the present invention are: 1. A negative pressure device is provided, and through the negative pressure device, an additional downward pressure can be provided for the wall-climbing robot, and an additional pressure can be provided for the wall-climbing robot when the adsorption force is insufficient, so that the wall-climbing robot can be adsorbed on the wall surface.

[0022] 2. An adhesion device is provided. When the wall-climbing robot crawls on a rough wall surface, it can adhere to the rough wall surface through the gecko bionic bristles through the adhesion device, providing an adhesion effect for the wall-climbing robot, so that the wall-climbing robot can crawl on the rough wall surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is the structural schematic diagram of the negative pressure device of the present invention; Figure 3 is the structural schematic diagram of the steering device of the present invention; Figure 4 is Figure 3 the partial enlarged view of A; Figure 5 is the structural schematic diagram of the adsorption device of the present invention; Figure 6 is Figure 5 a partial enlarged view of B.

[0024] In the figure: 1, mounting plate; 11, negative pressure hole; 111, rack; 12, steering mounting groove; 13, gear mounting groove; 2, negative pressure device; 21, support frame; 22, negative pressure motor; 23, negative pressure blade; 3, steering device; 31, fixed motor; 32, fixed slider; 33, fixed gear; 34, connecting column; 4, manipulator; 5, adsorption device; 51, fixing plate; 511, fixed mounting hole; 52, adsorption pump; 53, suction cup; 531, adhesion mounting hole; 6, adhesion device; 61, electric field generator; 62, adhesion cylinder; 63, gecko bionic bristles. Specific embodiments

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Embodiment: As Figures 1-6 shown, the present invention provides a technical solution for a wall-climbing robot with the ability to climb on smooth and rough walls. The wall-climbing robot includes a mounting plate 1, a negative pressure device 2, a steering device 3, a manipulator 4, an adsorption device 5 and an adhesion device 6. The mounting plate 1 and the negative pressure device 2 are firmly connected. Four steering devices 3 are provided on the mounting plate 1. The steering device 3 is provided with a manipulator 4, an adsorption device 5 and an adhesion device 6. The mounting plate 1 is connected to the steering device 3, the steering device 3 is connected to the manipulator 4, the manipulator 4 is connected to the adsorption device 5, and the adsorption device 5 is connected to the adhesion device 6.

[0027] The mounting plate 1 serves as the main mounting base for the installation and positioning of other devices. The walking direction of the wall-climbing robot is controlled by the manipulator 4 and the steering device 3. When the wall-climbing robot climbs on a smooth wall, the smooth wall is adsorbed by the adsorption device 5 to provide the adsorption force for the wall-climbing robot on the smooth wall. When the robot climbs on a rough wall, the negative pressure device 2 provides a downward pressure for the wall-climbing robot. At the same time, the adsorption device 5 and the adhesion device 6 provide the adsorption force for the wall-climbing robot. Through the negative pressure device 2, the adsorption device 5 and the adhesion device 6, the wall-climbing robot can climb on the rough wall.

[0028] As Figure 1 and Figure 2As shown in the figure, the mounting plate 1 is provided with a negative pressure hole 11 and a steering mounting groove 12. The negative pressure device 2 is located above the negative pressure hole 11. The two side surfaces of the steering mounting groove 12 are provided with gear mounting grooves 13. A rack 111 is arranged in the gear mounting groove 13 on the outer side surface of the steering mounting groove 12. The steering mounting groove 12 is connected to the steering device 3, and the rack 111 is connected to the steering device 3.

[0029] The negative pressure device 2 provides a downward pressure for the wall-climbing robot through the negative pressure hole 11. The steering mounting groove 12 provides an installation position for the steering device 3, enabling the steering device 3 to be connected to the manipulator 4. At the same time, the gear mounting groove 13 provides an installation position for the rack 111, enabling the rack 111 to be connected to the steering device 3.

[0030] As Figure 1 and Figure 2 shown in the figure, the negative pressure device 2 includes a support frame 21, a negative pressure motor 22, and a negative pressure blade 23. The support frame 21 is fixedly connected to the mounting plate 1. The negative pressure motor 22 is located directly above the center of the negative pressure hole 11. The negative pressure motor 22 is fixedly connected to the support frame 21. The output end of the negative pressure motor 22 is fixedly connected to the negative pressure blade 23.

[0031] The support frame 21 serves as the main installation foundation for the support and installation of other components. When the wall-climbing robot crawls on a rough wall surface or the adsorption force is insufficient, the negative pressure motor 22 outputs a rotational torque to drive the negative pressure blade 23 to rotate. By rotating the negative pressure blade 23, the air below the negative pressure hole 11 is pumped out to form a low-pressure area, and a downward adsorption force is provided to the wall-climbing robot through the low-pressure area, enabling the wall-climbing robot to crawl on the rough wall surface.

[0032] As Figure 1 , Figure 3 and Figure 5 shown in the figure, the steering device 3 includes a fixed motor 31, a fixed slider 32, a fixed gear 33, and a connecting column 34. The fixed motor 31 is slidably connected to the mounting plate 1. The output end of the fixed motor 31 passes through the fixed slider 32 and is fixedly connected to the fixed gear 33. The fixed motor 31 is rotatably connected to the fixed slider 32. The fixed slider 32 is slidably connected to the steering mounting groove 12. The fixed gear 33 is placed in the gear mounting groove 13. The fixed gear 33 meshes with the rack 111. The fixed gear 33 is rotatably connected to the connecting column 34. The connecting column 34 is fixedly connected to the manipulator 4.

[0033] When the wall-climbing robot needs to turn, the fixed motor 31 outputs a rotational torque to drive the fixed gear 33 to rotate. After the fixed gear 33 rotates, it receives a reaction force in the opposite direction from the rack 111, causing the fixed gear 33 to move along the direction of the rack 111. At the same time, it also drives the fixed slider 32 to slide along the steering installation groove 12. The rotation of the fixed gear 33 drives the connecting column 34 to move, and the movement of the connecting column 34 drives the manipulator 4 to move, so that the manipulator 4 can rotate to the target direction. Then, the manipulator 4 and the adsorption device 5 continue to move along the target direction.

[0034] As Figure 1 , Figure 3 and Figure 5 shown, the adsorption device 5 includes a fixing plate 51, an adsorption pump 52 and a suction cup 53. The fixing plate 51 is firmly connected to the manipulator 4, the fixing plate 51 is firmly connected to the adsorption pump 52, and the input end of the adsorption pump 52 is connected to the suction cup 53.

[0035] The fixing plate 51 serves as the main installation base for the installation and positioning of other components. When the wall-climbing robot is crawling, the adsorption pump 52 sucks out the air in the suction cup 53, so that the suction cup 53 can adsorb on the wall surface it contacts, providing an adsorption force for the wall-climbing robot when crawling.

[0036] As Figure 1 , Figure 3 and Figure 5 shown, the fixing plate 51 is provided with a fixed mounting hole 511, and the output end of the adsorption pump 52 passes through the fixed mounting hole 511 and is connected to the suction cup 53 through a pipeline.

[0037] The fixed mounting hole 511 provides the connection condition for the adsorption pump 52 and the suction cup 53, enabling the adsorption pump 52 to be connected to the suction cup 53 through a pipeline.

[0038] As Figures 3-6 shown, the suction cup 53 is provided with a number of adhesion mounting holes 531, and the adhesion device 6 is placed in the adhesion mounting holes 531, and the adhesion device 6 is firmly connected to the adhesion mounting holes 531.

[0039] The adhesion mounting holes 531 serve as the main installation base for providing an installation environment for the adhesion device 6, facilitating the installation of the adhesion device 6.

[0040] As Figures 3-6 shown, the adhesion device 6 includes an electric field generator 61, an adhesion cylinder 62 and gecko bionic bristles 63. The adhesion cylinder 62 is placed in the adhesion mounting hole 531, the adhesion cylinder 62 is firmly connected to the adhesion mounting hole 531, the output end of the adhesion cylinder 62 is firmly connected to the electric field generator 61, and the electric field generator 61 is provided with a number of gecko bionic bristles 63, and the number of gecko bionic bristles 63 is firmly connected to the electric field generator 61.

[0041] When the wall-climbing robot crawls on a rough wall surface, the adhesion cylinder 62 outputs displacement to drive the electric field generator 61 to move. The movement of the electric field generator 61 drives the gecko bionic bristles 63 to move until the electric field generator 61 stops moving after moving to the specified position. At the same time, the electric field generator 61 is turned on, and the gecko bionic bristles 63 are extended through the electric field action, so that the gecko bionic bristles 63 can be in full contact with the rough wall surface, thereby providing an adsorption force for the wall-climbing robot and enabling the wall-climbing robot to crawl on the rough wall surface.

[0042] The working principle of the present invention: When the wall-climbing robot is crawling, the fixed motor 31 outputs a rotational torque to drive the fixed gear 33 to rotate. After the fixed gear 33 rotates, it is subjected to a reaction force in the opposite direction of the rack 111, so that the fixed gear 33 moves along the arrangement direction of the rack 111. At the same time, the fixed slider 32 is also driven to slide along the steering installation groove 12. The movement of the fixed gear 33 drives the connecting column 34 to move, and the movement of the connecting column 34 drives the manipulator 4 to move, so that the manipulator 4 can rotate to the target direction. Then, the manipulator 4 and the adsorption device 5 continue to move along the target direction, thereby controlling the movement direction of the wall-climbing robot. When the wall-climbing robot crawls on a smooth wall surface, the air between the sucker 53 and the smooth wall surface is sucked out by the adsorption pump 52, so that the sucker 53 can be adsorbed on the smooth wall surface it contacts, providing an adsorption force for the wall-climbing robot when it crawls on the smooth wall surface. When the robot crawls on a rough wall surface, the negative pressure motor 22 outputs a rotational torque to drive the negative pressure blade 23 to rotate. The rotation of the negative pressure blade 23 extracts the air inside the negative pressure hole 11 to form a low-pressure area, and the low-pressure area provides a downward adsorption force for the wall-climbing robot. At the same time, the adhesion cylinder 62 outputs displacement to drive the electric field generator 61 to move. The movement of the electric field generator 61 drives the gecko bionic bristles 63 to move until the electric field generator 61 stops moving after moving to the specified position. At the same time, the electric field generator 61 is turned on, and the gecko bionic bristles 63 are extended through the electric field action, so that the gecko bionic bristles 63 can be in full contact with the rough wall surface, thereby providing an adsorption force for the wall-climbing robot and enabling the wall-climbing robot to crawl on the rough wall surface.

[0043] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

Claims

1. A wall-climbing robot with the ability to climb on smooth and rough walls, characterized in that: The wall-climbing robot includes a mounting plate (1), a negative pressure device (2), a steering device (3), a manipulator (4), an adsorption device (5) and an adhesion device (6). The mounting plate (1) and the negative pressure device (2) are fixedly connected. There are four steering devices (3) provided on the mounting plate (1). The steering device (3) is provided with a manipulator (4), an adsorption device (5) and an adhesion device (6). The mounting plate (1) is connected to the steering device (3), the steering device (3) is connected to the manipulator (4), the manipulator (4) is connected to the adsorption device (5), and the adsorption device (5) is connected to the adhesion device (6).

2. The wall-climbing robot with the ability to climb on smooth and rough walls according to claim 1, characterized in that: The mounting plate (1) is provided with a negative pressure hole (11) and a steering mounting groove (12). The negative pressure device (2) is located above the negative pressure hole (11). Gear mounting grooves (13) are provided on both side surfaces of the steering mounting groove (12). A rack (111) is provided in the gear mounting groove (13) on the outer side surface of the steering mounting groove (12). The steering mounting groove (12) is connected to the steering device (3), and the rack (111) is connected to the steering device (3).

3. The wall-climbing robot with the ability to climb on smooth and rough walls according to claim 2, wherein: The negative pressure device (2) includes a support frame (21), a negative pressure motor (22) and a negative pressure blade (23). The support frame (21) and the mounting plate (1) are fixedly connected. The negative pressure motor (22) is located directly above the center of the negative pressure hole (11). The negative pressure motor (22) and the support frame (21) are fixedly connected. The output end of the negative pressure motor (22) and the negative pressure blade (23) are fixedly connected.

4. The wall-climbing robot with the ability to climb walls with smooth and rough surfaces according to claim 1, characterized in that: The steering device (3) includes a fixed motor (31), a fixed slider (32), a fixed gear (33) and a connecting column (34). The fixed motor (31) is slidably connected to the mounting plate (1). The output end of the fixed motor (31) passes through the fixed slider (32) and is fixedly connected to the fixed gear (33). The fixed motor (31) is rotatably connected to the fixed slider (32). The fixed slider (32) is slidably connected to the steering mounting groove (12). The fixed gear (33) is placed in the gear mounting groove (13). The fixed gear (33) meshes with the rack (111). The fixed gear (33) is fixedly connected to the manipulator (4).

5. The wall-climbing robot with the ability to climb on smooth and rough walls according to claim 1, characterized in that: The adsorption device (5) includes a fixing plate (51), an adsorption pump (52) and a suction cup (53). The fixing plate (51) and the manipulator (4) are fixedly connected. The fixing plate (51) and the adsorption pump (52) are fixedly connected. The input end of the adsorption pump (52) is connected to the suction cup (53).

6. The wall-climbing robot with the ability to climb on smooth and rough walls according to claim 5, wherein: The fixing plate (51) is provided with a fixed mounting hole (511). The output end of the adsorption pump (52) passes through the fixed mounting hole (511) and is connected to the suction cup (53) through a pipeline.

7. The wall-climbing robot with the ability to climb on smooth and rough walls according to claim 6, characterized in that: The suction cup (53) is provided with a number of adhesion mounting holes (531). The adhesion device (6) is placed in the adhesion mounting holes (531). The adhesion device (6) and the adhesion mounting holes (531) are fixedly connected.

8. The wall-climbing robot with the ability to climb on smooth and rough walls according to claim 7, characterized in that: The adhesion device (6) includes an electric field generator (61), an adhesion cylinder (62), and gecko bionic bristles (63). The adhesion cylinder (62) is placed in the adhesion mounting hole (531), and the adhesion cylinder (62) is fixedly connected to the adhesion mounting hole (531). The output end of the adhesion cylinder (62) is fixedly connected to the electric field generator (61). A number of gecko bionic bristles (63) are provided on the electric field generator (61), and the number of gecko bionic bristles (63) is fixedly connected to the electric field generator (61).

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