Climbing robot

Abstract

The invention discloses a climbing robot, belongs to the field of machinery, and aims at solving the problem that an existing climbing robot is low in adaptability to complex surfaces. The climbing robot comprises a driving unit, a balance adsorption unit, a connecting unit, a flexible adsorption unit and a magnetic adjusting assembly; the magnetic adjusting assembly comprises a fifth bearing, a fifth magnet frame and a plurality of fifth adsorption magnets; and the fifth magnet frame is connected with the fifth bearing, and the fifth adsorption magnet is arranged on the fifth magnet frame and can provide adsorption force for the magnetic adjusting assembly. The bionic design concept is adopted, the structural inspiration comes from flexibility and flexibility of organs of organisms (such as trunk, snake spine and the like), and excellent movement ability and adaptability are embodied. According to the climbing robot, stable attachment and movement to the wall face are achieved in a non-contact adsorption mode, and efficient climbing operation can be conducted on pipelines, stand columns and wall faces with different curvatures and radiuses.

Description

Technical Field

[0001] The present invention relates to the field of machinery, and more specifically, to a climbing robot. More specifically, the present application provides a non-contact and self-adaptive pipeline continuous climbing robot, which can adapt to pipelines with different curvatures and achieve continuous climbing. Background Art

[0002] As a mobile robot with wall adsorption and movement capabilities, a climbing robot can efficiently adhere to vertical or inclined walls, building structures or other facades, and carry a variety of sensors and operating devices to perform high-precision operation tasks such as reconnaissance, detection, and maintenance. Based on the characteristics of wall-climbing robots, they are widely used in the fields of industrial and special robots, especially in high-altitude facade operations such as the nuclear industry, ships, petrochemical industry, and wind power towers.

[0003] Existing climbing robots usually consist of three parts: an adsorption device, a moving device, and a driving device. According to different adsorption methods, climbing robots can be divided into types such as electrostatic adsorption, bionic adsorption, negative pressure adsorption, and electromagnetic adsorption. Due to their structural characteristics, electrostatic adsorption and bionic adsorption result in insufficient motion performance and cannot meet the flexible motion requirements of robots on curved surfaces such as pipelines. Although negative pressure adsorption can achieve a certain adsorption function, it requires a high wall surface roughness and has a short working life, and cannot operate on rough walls for a long time. Due to the existence of the above problems, existing climbing robots often cannot effectively adapt to complex surfaces, especially scenarios with large curvature changes such as pipelines and columns.

[0004] Therefore, there is an urgent need for a new method and / or device to solve the above problems. Summary of the Invention

[0005] The object of the present invention is to provide a climbing robot for the problem that existing climbing robots have low adaptability to complex surfaces.

[0006] The present application provides a non-contact and self-adaptive pipeline continuous climbing robot, which can meet the adsorption requirements of complex walls, has good motion performance and adaptability, and can effectively expand the application range of wall-climbing robots.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions: A climbing robot, comprising a driving unit, a balanced adsorption unit, a connecting unit, a flexible adsorption unit, and a magnetic adjustment component; The magnetic adjustment component includes a fifth bearing, a fifth magnet holder, and a plurality of fifth adsorption magnets; the fifth magnet holder is connected to the fifth bearing, and the fifth adsorption magnets are arranged on the fifth magnet holder and the fifth adsorption magnets can provide an adsorption force for the magnetic adjustment component; The balance adsorption unit includes a balance housing assembly and a second connecting rod. The balance housing assembly is cylindrical, and a cylindrical balance space is formed inside the balance housing assembly. The second connecting rod passes through the balance housing assembly and is fixedly connected to the balance housing assembly, and the second connecting rod can drive the balance housing to rotate synchronously. A magnetic adjustment component is arranged in the balance space. In the balance space, the fifth bearing is sleeved on the second connecting rod, the fifth magnet holder can rotate freely relative to the balance space through the second bearing, and the fifth adsorption magnet can provide an adsorption force for the balance housing. The flexible adsorption unit includes a flexible housing assembly and a fourth connecting rod. The flexible housing assembly is cylindrical, and a cylindrical flexible space is formed inside the flexible housing assembly. The fourth connecting rod passes through the flexible housing assembly. A magnetic adjustment component is arranged in the flexible space. In the flexible space, the fifth bearing is sleeved on the fourth connecting rod, the fifth magnet holder can rotate freely relative to the flexible space through the fourth bearing, and the fifth adsorption magnet can provide an adsorption force for the flexible housing assembly. There are two drive units, balance adsorption units, and connecting units respectively. The drive units, balance adsorption units, connecting units, flexible adsorption units, connecting units, balance adsorption units, and drive units are connected in sequence. The drive unit is connected to the second connecting rod, and the drive unit can drive the balance adsorption unit to move through the second connecting rod. The connecting unit includes a cross universal joint coupling and a third connecting spring. The cross universal joint coupling is located between the balance adsorption unit and the flexible adsorption unit. One end of the cross universal joint coupling is connected to the second connecting rod, and the other end is connected to the fourth connecting rod. Fourth spring limiters are respectively arranged on two side surfaces of the flexible housing assembly facing the balance housing assembly. Second spring limiters are arranged on the side surface of the balance housing assembly adjacent to the fourth spring limiters. Both ends of the third connecting spring are respectively connected to the second spring limiter and the fourth spring limiter. At least three third connecting springs are evenly distributed between the balance adsorption unit and the flexible adsorption unit.

[0008] The balance housing assembly, balance space, flexible housing assembly, and flexible adsorption unit are respectively cylindrical.

[0009] A number of through holes are respectively arranged on the balance housing assembly and the flexible housing assembly.

[0010] The balance housing includes a first circular end cover and a second circular end cover. The first circular end cover is connected to the second circular end cover to form the balance housing assembly. The balance housing assembly is a hollow cylinder structure, and a cylindrical balance space is formed inside the balance housing assembly. The first circular end cap is fixedly connected to the second connecting rod; The first circular end cap is located on the side close to the driving unit, and the second spring limiting member is arranged on the side of the second circular end cap close to the flexible adsorption unit.

[0011] The flexible housing assembly includes two fourth circular end caps. The openings of the two fourth circular end caps face each other. The fourth connecting rod passes through the fourth circular end cap, and one end of the fourth connecting rod is located inside the opening of the fourth circular end cap; The two fourth circular end caps are connected to form a flexible housing assembly. The flexible housing assembly is a hollow cylindrical structure, and a cylindrical flexible space is formed inside the flexible housing assembly; Inside the flexible housing assembly, the two fourth connecting rods face each other and form a fourth rod-shaped support intermediate member. In the flexible space, the fifth bearing is sleeved on the fourth rod-shaped support intermediate member; The fourth spring limiting member is arranged on the side of the fourth circular end cap facing the balance adsorption unit.

[0012] The fifth bearing is sleeved on the fourth rod-shaped support intermediate member. The fifth magnet holder is connected to the fifth bearing, and the fifth adsorption magnet is arranged on the fifth magnet holder, and the fifth adsorption magnet can provide an adsorption force for the magnetic adjustment assembly.

[0013] A plurality of through holes are respectively arranged on the first circular end cap, the second circular end cap, and the fourth circular end cap.

[0014] The first circular end cap, the second circular end cap, and the fourth circular end cap are respectively in the shape of a round cap.

[0015] The first circular end cap includes a first circular plate and a first circular tube. The first circular plate is arranged at one end of the first circular tube. The first circular end cap is in the shape of a round cap with one end open.

[0016] The two balance adsorption units are respectively located on both sides of the flexible adsorption unit. Preferably, the two balance adsorption units are symmetrically arranged on both sides of the flexible adsorption unit.

[0017] The fifth magnet holder is provided with a fifth holder mounting hole that cooperates with the fifth bearing. The fifth magnet holder is connected to the fifth bearing through the fifth holder mounting hole on it.

[0018] The fifth magnet holder is in a fan shape, and the fifth adsorption magnet is located on the outer arc surface of the fan-shaped fifth magnet holder.

[0019] The fifth adsorption magnets are distributed in a Halbach array on the fifth magnet holder.

[0020] The fifth adsorption magnet is a tile-shaped magnet. Preferably, the fifth adsorption magnet is a tile-shaped neodymium iron boron magnet.

[0021] The second spring limiting member and the fourth spring limiting member are respectively limiting grooves.

[0022] In a single connection unit, there are four third connection springs, and the four third connection springs are evenly distributed between the balance adsorption unit and the flexible adsorption unit; In the whole climbing robot, a total of eight third connection springs are provided.

[0023] The cross universal joint coupling is located inside the third connection spring.

[0024] It further includes a control system electrically connected to the drive unit.

[0025] The drive unit includes a first support base, a first magnet, a first drive motor, a first motor support for fixing the first drive motor, and a first rotating assembly; The first support base is U-shaped or U-shaped, and first chutes are respectively provided on the inner sides of the two side walls of the first support base, and a first bottom groove is provided on the bottom wall of the first support base. The first adsorption magnet is arranged in the first bottom groove, and the first adsorption magnet can provide magnetic force for the first support base; The first drive motor is fixedly connected to the first motor support, and the first motor support can provide support for the first drive motor. A group of first sliding rods are provided on the side wall of the first motor support. The first sliding rods are arranged in the first chutes and the first sliding rods can move relative to the first chutes; The first rotating assembly has at least three, and the first rotating assembly can provide support for the first support base and make there be a gap with a set distance between the first magnet and the climbing surface; The output shaft of the first drive motor is connected to the second connecting rod, and the first drive motor can drive the balance adsorption unit to rotate through its output shaft and the second connecting rod.

[0026] The first drive motor is a DC reduction motor, and the first drive motor is connected to the control system.

[0027] The first rotating assembly has 2N, where N is a natural number and N≥2; The first rotating assembly includes a first connecting shaft fixedly connected to the first support base and a first base pulley. The first base pulley is arranged on the first connecting shaft. The first base pulley can freely rotate relative to the first connecting shaft, and the first support base can move relative to the climbing surface through the cooperation of the first connecting shaft and the first base pulley.

[0028] Due to the existence of the first base pulley, the first adsorption magnet does not directly contact the climbing surface.

[0029] The first base pulley adopts the structural layout of an automobile wheel.

[0030] The first connecting shafts are evenly distributed on the first support base.

[0031] There are four first connecting shafts, and the four first connecting shafts are arranged in a rectangle.

[0032] The first motor support is barrel-shaped, and there are two first sliding rods which are symmetrically arranged on the outer wall of the first motor support.

[0033] The first base pulley is a bearing.

[0034] The first rotating assembly further includes a first rubber sleeve arranged on the first base pulley.

[0035] On the inner sides of the two side walls of the first support base, first sliding grooves along the axial direction of the side walls are respectively arranged.

[0036] The first support base includes first base side walls and a first base bottom wall. There are two first base side walls which are arranged parallel to each other, and the two first base side walls are connected into a whole through the first base bottom wall; Denote the opening of the first support base as the first base installation opening. The first bottom groove is located on one side of the first base bottom wall far from the first base installation opening, and the first sliding groove is located on one side of the first base side wall close to the first base installation opening.

[0037] The first connecting shafts are arranged on the first base bottom wall, and the first sliding grooves are located on the first base side walls.

[0038] The application of the aforementioned wall-climbing robot.

[0039] The application of the climbing robot on a curved climbing surface.

[0040] This application adopts the bionic design concept. The structural inspiration comes from the flexibility and flexibility of the organs of organisms (such as elephant trunks, snake spines, etc.), showing excellent motion ability and adaptability. The climbing robot of this application is a continuous climbing robot based on the permanent magnet adsorption principle. It realizes stable attachment and movement to the wall surface through non-contact adsorption, and can perform efficient climbing operations on pipes, columns and wall surfaces with different curvatures and radii. The climbing robot of this application has strong flexibility and adaptability, and can perform efficient adsorption climbing operations on pipes, columns with different curvatures and radii, and various complex wall surfaces. Further, the climbing robot of this application can be used as a working platform and can carry a variety of sensor modules to realize multi-functional operations such as high-precision detection, repair, and cleaning of pipes, columns and other wall surfaces.

[0041] The wall-climbing robot of the present application has good adsorption performance and movement ability, and can meet the requirements of working stably for a long time in complex environments, greatly expanding the application scope, and can be effectively applied to fields such as operations, construction, and environmental protection. At the same time, the wall-climbing robot of the present application combines flexible adsorption with a highly adaptable moving structure, can efficiently execute complex tasks, significantly improve the operation efficiency and safety, and meet the operation requirements of high precision and high reliability in the industrial field. Brief Description of the Drawings

[0042] The present invention will be described by way of examples and with reference to the accompanying drawings, where: Figure 1 Schematic diagram of the overall structure of the climbing robot in Embodiment 1 Figure 1 .

[0043] Figure 2 Schematic diagram of the structure of the drive unit in Embodiment 1 Figure 1 .

[0044] Figure 3 Schematic diagram of the overall structure of the climbing robot in Embodiment 1 Figure 2 .

[0045] Figure 4 Schematic diagram of the structure of the drive unit in Embodiment 1 Figure 2 .

[0046] Figure 5 Schematic diagram of the overall structure of the balance housing assembly in Embodiment 1.

[0047] Figure 6 For Figure 5 Expanded structure schematic diagram of the balance housing assembly in

[0048] Figure 7 Schematic diagram of the overall structure of the flexible housing assembly in Embodiment 1

[0049] Figure 8 For Figure 7 Expanded structure schematic diagram of the flexible housing assembly in

[0050] Reference numerals in the figures: 1, drive unit; 2, balance adsorption unit; 3, flexible adsorption unit; 4, balance housing assembly; 5, flexible housing assembly; 11, first support base; 12, first magnet; 13, first drive motor; 14, first motor support; 15, first rotating assembly; 16, first sliding groove; 21, cross universal joint coupling; 22, third connecting spring; 31, second connecting rod; 32, first circular end cap; 33, second circular end cap; 34, second spring limiting member; 41, fourth connecting rod; 42, fourth circular end cap; 43, fourth spring limiting member; 51, fifth bearing; 52, fifth magnet holder; 53, fifth adsorption magnet; 61, through hole. Detailed implementation manners

[0051] All features disclosed in this specification, or steps in all methods or processes disclosed, except for mutually exclusive features and / or steps, can be combined in any manner.

[0052] Any feature disclosed in this specification, unless specifically described, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically described, each feature is only an example in a series of equivalent or similar features.

[0053] To more clearly illustrate the technical solutions of the embodiments of this specification, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some examples or embodiments of this specification. For those of ordinary skill in the art, without creative efforts, this specification can also be applied to other similar scenarios based on these drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the figures represent the same structure or operation.

[0054] It should be understood that the "system", "device", "unit" and / or "module" used in this specification are a way to distinguish different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the said words can be replaced by other expressions.

[0055] As shown in this specification and the claims, unless the context clearly indicates an exception, words such as "a", "an", "one" and / or "the" are not specifically singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0056] Embodiment 1 As shown in the figure, this embodiment provides a climbing robot, which includes a driving unit, a balance adsorption unit, a connecting unit, a flexible adsorption unit, and a magnetic adjustment component. Among them, there are two driving units, balance adsorption units, and connecting units respectively; as shown in the figure, the driving unit, balance adsorption unit, connecting unit, flexible adsorption unit, connecting unit, balance adsorption unit, and driving unit are connected in sequence.

[0057] The magnetic adjustment component includes a fifth bearing, a fifth magnet holder, and a plurality of fifth adsorption magnets; the fifth adsorption magnets are provided on the fifth magnet holder which is connected to the fifth bearing, and the fifth adsorption magnets can provide an adsorption force for the magnetic adjustment component. In a specific example, the fifth magnet holder is fan-shaped, and the fifth adsorption magnets are located on the outer arc surface of the fan-shaped fifth magnet holder; there are five fifth adsorption magnets on a single fifth magnet holder, and the five fifth adsorption magnets are distributed in a Halbach array on the fifth magnet holder. The fifth adsorption magnets are tile-shaped magnets; preferably, the fifth adsorption magnets are tile-shaped neodymium iron boron magnets. Further, a fifth holder mounting hole for cooperating with the fifth bearing is provided on the fifth magnet holder, and the fifth magnet holder is connected to the fifth bearing through the fifth holder mounting hole on it.

[0058] The balance adsorption unit includes a balance housing assembly and a second connecting rod. The balance housing assembly is cylindrical, and a cylindrical balance space is formed inside the balance housing assembly. The second connecting rod passes through the balance housing assembly and is fixedly connected to the balance housing assembly; with this structure, the second connecting rod can drive the balance housing to rotate synchronously. In a specific example, the balance housing includes a first circular end cover and a second circular end cover, and the first circular end cover and the second circular end cover are connected to form the balance housing assembly; the balance housing assembly is a hollow cylindrical structure, and a cylindrical balance space is formed inside the balance housing assembly. Further, the first circular end cover is located on the side close to the drive unit, and a second spring limiting member is provided on the side of the second circular end cover close to the flexible adsorption unit. Preferably, the first circular end cover is fixedly connected to the second connecting rod. At the same time, a magnetic adjustment component is provided in the balance space. In the balance space, the fifth bearing is sleeved on the second connecting rod, the fifth magnet holder can rotate freely relative to the balance space through the second bearing, and the fifth adsorption magnets can provide an adsorption force for the balance housing.

[0059] The flexible adsorption unit includes a flexible housing assembly and a fourth connecting rod. The flexible housing assembly is cylindrical, and a cylindrical flexible space is formed inside the flexible housing assembly. The fourth connecting rod passes through the flexible housing assembly. At the same time, a magnetic adjustment component is provided in the flexible space. In the flexible space, the fifth bearing is sleeved on the fourth connecting rod, the fifth magnet holder can rotate freely relative to the flexible space through the fourth bearing, and the fifth adsorption magnets can provide an adsorption force for the flexible housing assembly. The flexible housing assembly is a hollow cylindrical structure, and a cylindrical flexible space is formed inside the flexible housing assembly.

[0060] In order to improve the mobility of the climbing robot and reduce the turning radius, the present application provides a new flexible housing assembly. The flexible housing assembly includes two fourth circular end caps, and two fourth connecting rods. The openings of the two fourth circular end caps face each other. The fourth connecting rod passes through the fourth circular end cap. One end of the fourth connecting rod is located inside the opening of the fourth circular end cap. The two fourth circular end caps are connected to form the flexible housing assembly; the flexible housing assembly is a hollow cylinder structure, and a cylindrical flexible space is formed inside the flexible housing assembly. Inside the flexible housing assembly, the two fourth connecting rods face each other (the two fourth connecting rods inside the flexible housing assembly are not connected to each other and can rotate relative to each other), and form a fourth rod-shaped support intermediate member; in the flexible space, a fifth bearing is sleeved on the fourth rod-shaped support intermediate member (in this structure, the fifth bearing is fixed on the fourth connecting rod by interference fit, and the fifth magnet holder is assembled outside the fifth bearing by interference fit). At the same time, a fourth spring limiting member is arranged on the side of the fourth circular end cap facing the balanced adsorption unit. In this structure, the ends of the two fourth connecting rods located inside the opening of the fourth circular end cap cooperate with each other to form a fourth rod-shaped support intermediate member; adopting this solution can avoid the rigid acting force of the cross universal joint couplings on both sides of the flexible adsorption unit and extend the service life of the climbing robot. This design enables the flexible adsorption unit to be divided into left and right parts when the robot is moving, and is driven by the first drive motors on the left and right sides. When the left first drive motor rotates clockwise, it drives the left balanced adsorption unit to rotate clockwise, while the right balanced adsorption unit remains stationary. When the robot turns left and right, by rotating the left and right first drive motors in the same direction, the left and right balanced adsorption units are driven to rotate in the opposite direction, and the rotational speed difference of the left and right first drive motors is adjusted, so that the climbing robot can perform a movement with the minimum turning radius, thereby greatly improving the mobility of the climbing robot in narrow spaces or complex pipelines. The climbing robot of the present application can automatically adjust its own posture and adsorption state according to the curvature change of the pipeline or other surfaces to ensure stable movement and climbing ability. In the case of different pipeline diameters and shape changes, the climbing robot can perform adaptive adjustment by adjusting the rotational speed of the first drive motor, changing the position of the drive unit, etc., complete smooth climbing on pipelines, columns and other walls, and can also achieve the transition between surfaces.

[0061] Based on the improved structure, the climbing robot of the present application has a powerful multi-directional movement ability, can freely adjust its posture in space, and complete movements in all directions. At the same time, the climbing robot can stably adsorb on pipelines, columns and walls with different curvatures and can perform multi-directional movement adaptively.

[0062] Further, as shown in the figure, a plurality of through holes are respectively provided on the first circular end cover, the second circular end cover, and the fourth circular end cover. The first circular end cover, the second circular end cover, and the fourth circular end cover are respectively in the shape of a circular cover. Further, the first circular end cover includes a first circular plate and a first circular tube, and the first circular plate is arranged at one end of the first circular tube; the first circular end cover is in the shape of a circular cover with one end open.

[0063] In this structure, the driving unit is connected to the second connecting rod, and the driving unit can drive the balance adsorption unit to move through the second connecting rod. The connecting unit includes a cross universal joint coupling and a third connecting spring. As shown in the figure, the cross universal joint coupling is located between the balance adsorption unit and the flexible adsorption unit; one end of the cross universal joint coupling is connected to the second connecting rod, and the other end of the cross universal joint coupling is connected to the fourth connecting rod. At the same time, fourth spring limiters are respectively arranged on two side surfaces of the flexible housing assembly facing the balance housing assembly; a second spring limiter is arranged on the balance housing assembly, and the second spring limiter is located on the side surface of the balance housing assembly adjacent to the fourth spring limiter; both ends of the third connecting spring are respectively connected to the second spring limiter and the fourth spring limiter. At the same time, at least three third connecting springs are evenly distributed between the balance adsorption unit and the flexible adsorption unit.

[0064] In a specific example, the second spring limiter and the fourth spring limiter are respectively limiting grooves. Further, in a single connecting unit, there are four third connecting springs, and the four third connecting springs are evenly distributed between the balance adsorption unit and the flexible adsorption unit; with this structure, as shown in the figure, a total of eight third connecting springs are provided in the entire climbing robot. Further, the fourth spring limiter is arranged on the side surface of the fourth circular end cover facing the balance adsorption unit. As shown in the figure, the cross universal joint coupling is located inside the third connecting spring, that is, the four third connecting springs are located outside the cross universal joint coupling. The specific structure of the cross universal joint coupling can refer to CN114986533B and CN113305827B.

[0065] It further includes a control system electrically connected to the driving unit. Further, the driving unit includes a first support base, a first magnet, a first driving motor, a first motor support for fixing the first driving motor, and a first rotating assembly.

[0066] As shown in the figure, the first support base is U-shaped. First chutes are respectively arranged on the inner sides of the two side walls of the first support base, and a first bottom groove is arranged on the bottom wall of the first support base; the first adsorption magnet is arranged in the first bottom groove, and the first adsorption magnet can provide magnetic force for the first support base. In a specific example, the first support base includes first base side walls and a first base bottom wall. There are two first base side walls, and the two first base side walls are arranged parallel to each other. The two first base side walls are connected into a whole through the first base bottom wall. Denote the opening of the first support base as the first base installation opening. The first bottom groove is located on the side of the first base bottom wall away from the first base installation opening, and the first chute is located on the side of the first base side wall close to the first base installation opening.

[0067] As shown in the figure, the first driving motor is fixedly connected to the first motor support, and the first motor support can provide support for the first driving motor. A group of first sliding rods are arranged on the side wall of the first motor support. The first sliding rods are arranged in the first chutes, and the first sliding rods can move relative to the first chutes. In a specific example, the first motor support is barrel-shaped, there are two first sliding rods, and the two first sliding rods are symmetrically arranged on the outer wall of the first motor support. The output shaft of the first driving motor is connected to the second connecting rod, and the first driving motor can drive the balance adsorption unit to rotate through its output shaft and the second connecting rod. Preferably, the first driving motor is a DC reduction motor, and the first driving motor is connected to the control system.

[0068] There are at least three first rotating components, and the first rotating components can provide support for the first support base. At the same time, the first rotating components have two functions: (1) to make a gap with a set distance exist between the first magnet and the climbing surface to prevent the first magnet from directly adsorbing on the climbing surface; (2) to enable the driving unit to move relative to the climbing surface. In a specific example, there are four first rotating components, and the four first rotating components are arranged in a rectangle.

[0069] The first rotating component includes a first connecting shaft fixedly connected to the first support base and a first base pulley. The first base pulley is arranged on the first connecting shaft. The first base pulley can freely rotate relative to the first connecting shaft, and the first support base can move relative to the climbing surface through the cooperation of the first connecting shaft and the first base pulley. Due to the existence of the first base pulley, the first adsorption magnet does not directly contact the climbing surface. In a specific example, the first base pulley adopts a bearing, and the first rotating component further includes a first rubber sleeve arranged on the first base pulley. Further, the first connecting shaft is arranged on the first base bottom wall, and the first chute is located on the first base side wall.

[0070] In a specific example, the fifth adsorption magnet is a small square magnet and is built on the fifth magnet holder inside the balance housing assembly and the flexible housing assembly; with this structure, non-contact adsorption is achieved on the wall surface, thus avoiding direct contact between the climbing robot and the wall surface, reducing friction and resistance during the movement of the climbing robot, and improving the movement efficiency of the climbing robot. This application uses a method of cooperating the balance adsorption unit, the flexible adsorption unit and the magnetic adjustment component, which not only optimizes the load capacity of the robot, but also enhances its movement flexibility and can adapt to various different working environments and complex surfaces.

[0071] In this application, the output shaft of the first drive motor is connected to the second connecting rod, and the first drive motor can drive the balance adsorption unit to rotate through its output shaft and the second connecting rod; the balance adsorption unit and the flexible adsorption unit are connected by a cross universal joint coupling; at the same time, the second spring limiter, the third connecting spring and the fourth spring limiter are connected; with this body structure, a structure formed by a series connection of a space continuous joint group is formed. This torso structure has a certain flexibility and adaptability, can effectively adsorb on pipes, columns and wall surfaces with different curvatures, thus providing high stability and flexibility to meet the climbing requirements of different surfaces and environments. This structure realizes flexible connection between each module and ensures the efficient movement and stability of the robot on complex surfaces.

[0072] In this application, the drive unit adopts a sliding structure design, which is beneficial for the climbing robot to keep the position of the first drive motor relatively fixed during the movement process, thereby ensuring the stability of the climbing robot in different postures. In the drive unit, through the mutual cooperation of the first sliding groove and the first sliding rod, the relative position change and relative angle adjustment between the first motor support and the first support base are realized to further improve the adaptability of the robot to complex environments. With this structure, it can effectively adapt to pipes, columns and other wall surface structures with different curvatures, ensuring the balance and stability of the robot.

[0073] In this application, the climbing robot is formed by connecting the drive unit, the balance adsorption unit, the connecting unit, the flexible adsorption unit, the connecting unit, the balance adsorption unit, and the drive unit in sequence. With this structure, the balance adsorption unit, the flexible adsorption unit, and the balance adsorption unit are connected in series, and the two balance adsorption units are respectively driven by independent drive units, so that each balance adsorption unit can move independently, thereby endowing the robot with stronger compliance and flexibility, enabling it to adapt to various complex curved surfaces, especially suitable for adsorption and climbing operations on pipes, columns and other wall surfaces with different curvatures and radii.

[0074] The climbing robot has the ability to move in four directions: up, down, left, and right. When the robot moves upward, the first driving motor on the left rotates counterclockwise, and the first driving motor on the right rotates clockwise, and the rotational speeds of the two first driving motors are the same; when the climbing robot moves downward, the rotational directions of the two first driving motors are opposite, and the rotational speeds are still the same. This design ensures the vertical movement ability of the climbing robot and realizes stable upward and downward climbing.

[0075] Furthermore, the climbing robot of the present application can serve as a working platform and carry a variety of sensor devices according to different task requirements to perform operations such as inspection, repair, and cleaning of pipelines, columns, and other wall surfaces. The climbing robot of the present application not only has high mobility and adaptability but also can meet the requirements of efficient and precise operations in multiple fields such as industry, construction, and environmental protection, and has broad application prospects.

[0076] Through the above technical features, the pipeline continuous climbing robot of the present application can move flexibly in a complex three-dimensional environment and has broad application prospects.

[0077] In summary, based on the improved structure, the present invention provides a non-contact adaptive pipeline continuous climbing robot with excellent motion performance, flexibility, and adaptability, which can efficiently execute tasks in a complex environment and significantly improve the operation efficiency and safety on pipelines, columns, and other wall surfaces.

[0078] The present invention is not limited to the foregoing specific embodiments. The present invention extends to any new feature or any new combination disclosed in this specification, as well as any new method or process step or any new combination disclosed.

Claims

1. A climbing robot, characterized in that, It includes a driving unit, a balanced adsorption unit, a connecting unit, a flexible adsorption unit, and a magnetic adjustment component; The magnetic adjustment component includes a fifth bearing, a fifth magnet holder, and a plurality of fifth adsorption magnets; the fifth magnet holder is connected to the fifth bearing, and the fifth adsorption magnets are arranged on the fifth magnet holder and the fifth adsorption magnets can provide an adsorption force for the magnetic adjustment component; The balanced adsorption unit includes a balanced housing assembly and a second connecting rod. The balanced housing assembly is cylindrical, and a cylindrical balanced space is formed inside the balanced housing assembly; the second connecting rod passes through the balanced housing assembly and is fixedly connected to the balanced housing assembly, and the second connecting rod can drive the balanced housing to rotate synchronously; The magnetic adjustment component is arranged in the balanced space; in the balanced space, the fifth bearing is sleeved on the second connecting rod, the fifth magnet holder can rotate freely relative to the balanced space through the second bearing, and the fifth adsorption magnets can provide an adsorption force for the balanced housing; The flexible adsorption unit includes a flexible housing assembly and a fourth connecting rod. The flexible housing assembly is cylindrical, and a cylindrical flexible space is formed inside the flexible housing assembly; the fourth connecting rod passes through the flexible housing assembly; The magnetic adjustment component is arranged in the flexible space; in the flexible space, the fifth bearing is sleeved on the fourth connecting rod, the fifth magnet holder can rotate freely relative to the flexible space through the fourth bearing, and the fifth adsorption magnets can provide an adsorption force for the flexible housing assembly; There are two driving units, balanced adsorption units, and connecting units respectively. The driving units, balanced adsorption units, connecting units, flexible adsorption units, connecting units, balanced adsorption units, and driving units are connected in sequence; The driving unit is connected to the second connecting rod, and the driving unit can drive the balanced adsorption unit to move through the second connecting rod; The connecting unit includes a cross universal joint coupling and a third connecting spring; the cross universal joint coupling is located between the balanced adsorption unit and the flexible adsorption unit. One end of the cross universal joint coupling is connected to the second connecting rod, and the other end of the cross universal joint coupling is connected to the fourth connecting rod; fourth spring limiters are respectively arranged on two side surfaces of the flexible housing assembly facing the balanced housing assembly, and a second spring limiter is arranged on the side surface of the balanced housing assembly adjacent to the fourth spring limiter. Two ends of the third connecting spring are respectively connected to the second spring limiter and the fourth spring limiter; at least three third connecting springs are evenly distributed between the balanced adsorption unit and the flexible adsorption unit.

2. The climbing robot according to claim 1, wherein A plurality of through holes are respectively arranged on the balanced housing assembly and the flexible housing assembly.

3. The climbing robot according to claim 1, wherein The balanced housing includes a first circular end cover and a second circular end cover. The first circular end cover is connected to the second circular end cover to form the balanced housing assembly; the balanced housing assembly is a hollow cylindrical structure, and a cylindrical balanced space is formed inside the balanced housing assembly; The first circular end cover is fixedly connected to the second connecting rod; The first circular end cover is located on the side close to the driving unit, and the second spring limiter is arranged on the side surface of the second circular end cover close to the flexible adsorption unit.

4. The climbing robot according to any one of claims 1 to 3, characterized in that, The flexible housing assembly includes a fourth circular end cap. There are two fourth circular end caps and two fourth connecting rods respectively. The openings of the two fourth circular end caps face each other. The fourth connecting rod passes through the fourth circular end cap, and one end of the fourth connecting rod is located inside the opening of the fourth circular end cap. The two fourth circular end caps are connected to form the flexible housing assembly. The flexible housing assembly is of a hollow cylindrical structure, and a cylindrical flexible space is formed inside the flexible housing assembly. Inside the flexible housing assembly, the two fourth connecting rods face each other and form a fourth rod-shaped support intermediate member. In the flexible space, the fifth bearing is sleeved on the fourth rod-shaped support intermediate member. The fourth spring limiting member is arranged on the side of the fourth circular end cap facing the balanced adsorption unit.

5. The climbing robot according to claim 1, wherein, The fifth magnet holder is fan-shaped, and the fifth adsorption magnet is located on the outer arc surface of the fan-shaped fifth magnet holder.

6. The climbing robot according to claim 1, wherein, The fifth adsorption magnets are distributed in a Halbach array on the fifth magnet holder.

7. The climbing robot according to claim 1, characterized in that, The fifth adsorption magnet is a tile-shaped magnet.

8. The climbing robot according to claim 1, wherein, It further includes a control system electrically connected to the drive unit.

9. The climbing robot according to any one of claims 1 to 8, characterized in that, The drive unit includes a first support base, a first magnet, a first drive motor, a first motor support for fixing the first drive motor, and a first rotating assembly. The first support base is U-shaped or U-shaped with an open top. First chutes are respectively arranged on the inner sides of the two side walls of the first support base, and a first bottom groove is arranged on the bottom wall of the first support base. The first adsorption magnet is arranged in the first bottom groove, and the first adsorption magnet can provide magnetic force for the first support base. The first drive motor is fixedly connected to the first motor support, and the first motor support can provide support for the first drive motor. A set of first sliding rods is arranged on the side wall of the first motor support. The first sliding rods are arranged in the first chutes and can move relative to the first chutes. The first rotating assembly has at least three members, and the first rotating assembly can provide support for the first support base and make a gap with a set distance exist between the first magnet and the climbing surface. The output shaft of the first drive motor is connected to the second connecting rod, and the first drive motor can drive the balanced adsorption unit to rotate through its output shaft and the second connecting rod.

10. Application of the wall-climbing robot according to any one of the preceding claims 1 to 9.

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