Wall-climbing robot for climbing inner and outer break angles

Abstract

The wall-climbing robot comprises a vehicle body, two first adsorption walking mechanisms and a second adsorption walking mechanism, the vehicle body is provided with a vehicle bottom used for facing the wall face, and the two first adsorption walking mechanisms are connected with the vehicle body and are close to the front end and the rear end of the wall-climbing robot in the walking direction correspondingly; the first adsorption walking mechanisms are provided with first free ends used for making contact with the wall face, the second adsorption walking mechanism is slidably connected with the vehicle body and located between the two first adsorption walking mechanisms, and the second adsorption walking mechanism is provided with a second free end used for facing the wall face. And the second adsorption walking mechanism is connected with a floating spring piece which enables the second free end to adaptively float. According to the wall-climbing robot, the contact area between the wall-climbing robot and the wall surface is always kept large, so that the suction force between the wall-climbing robot and the wall surface is improved, and the load capacity and stability of the wall-climbing robot in the using process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot used for climbing inner and outer corners. Background Art

[0002] A wall-climbing robot is an automated robot capable of climbing and performing tasks on vertical walls. It is also known as a wall-moving robot. Wall-climbing robots must possess two basic functions: suction and movement. Common suction methods include negative pressure and magnetic. Negative pressure methods generate negative pressure within the suction cup, allowing the robot to adhere to the wall regardless of the wall's material. Magnetic methods, including permanent magnet and electromagnetic, are only suitable for magnetic surfaces.

[0003] The wall-climbing robot in the prior art generally includes a body and an adsorption walking assembly. The adsorption walking assembly includes two adsorption walking mechanisms, which are arranged in sequence along the walking direction of the wall-climbing robot. When the wall-climbing robot walks on a relatively flat wall, the wall-climbing robot in the prior art can stably adhere to the wall. However, when the wall-climbing robot needs to turn over an outer corner, such as Figure 1 As shown, when the wall-climbing robot turns over the outer corner, when one of the adsorption walking mechanisms reaches the outer corner position, the suction force between the wall-climbing robot and the wall surface will decrease, resulting in the wall-climbing robot having low load capacity and stability during use. How to improve the load capacity and stability of the wall-climbing robot during use is a technical problem that needs to be urgently solved in this field. Summary of the Invention

[0004] To this end, the present invention provides a wall-climbing robot for climbing inner and outer corners, thereby improving the load capacity and stability of the wall-climbing robot during use.

[0005] In order to solve the above technical problems, the present invention provides a wall-climbing robot for climbing inner and outer corners, comprising: A vehicle body having a vehicle bottom for facing the wall; Two first adsorption walking mechanisms, connected to the vehicle body and respectively close to the front and rear ends of the wall-climbing robot in the walking direction, the first adsorption walking mechanisms being capable of adsorbing on and walking along the wall, the first adsorption walking mechanisms having a first free end for contacting the wall, and a distance L1 between the first free end and the bottom of the vehicle; a second adsorption walking mechanism, slidably connected to the vehicle body and located between the two first adsorption walking mechanisms, the second adsorption walking mechanism being capable of adsorbing on a wall and traveling along the wall, the second adsorption walking mechanism having a second free end for contacting the wall, and being connected to a floating spring member for enabling the second free end to adaptively float; When the floating spring member is in a natural state, the distance between the second free end and the vehicle bottom is L2, L2>L1; When the floating spring member is in the first deformation state, the deformation amount thereof is ΔL1, the distance between the second free end and the vehicle bottom is L3, and L2>L3>L1; When the floating spring member is in the second deformation state, the deformation amount thereof is ΔL2, ΔL2>ΔL1, and the distance between the second free end and the vehicle bottom is L4, L3>L4=L1; When the floating spring member is in the third deformation state, the deformation amount thereof is ΔL3, ΔL3>ΔL2, and the distance between the second free end and the vehicle bottom is L5, L4>L5.

[0006] Preferably, the second adsorption walking mechanism includes a guide shaft and a second adsorption walking component, the guide shaft extends along the height direction of the wall-climbing robot and is slidably connected to the vehicle body, and the second adsorption walking component is connected to the guide shaft.

[0007] Preferably, the floating spring member is a compression spring, which is sleeved on the guide shaft and located between the vehicle bottom and the second adsorption travel assembly.

[0008] Preferably, the second adsorption walking component includes a second axle and two second magnetic wheels, the second axle extends along the width direction of the wall-climbing robot, and the two second magnetic wheels are connected to the second axle and are respectively close to both sides of the wall-climbing robot along the width direction.

[0009] Preferably, the first adsorption traveling mechanism is swingably connected to the vehicle body, and the first adsorption traveling mechanism is connected to a preloaded spring member that enables the first free end to swing adaptively; When the preload spring is in a natural state, the distance between the two first adsorption walking mechanisms is L6. When the preload spring is in a deformed state, the distance between the two first adsorption walking mechanisms is L7, where L7>L6.

[0010] Preferably, the first adsorption walking mechanism includes a swing shaft, a swing bracket and a first adsorption walking component, the swing shaft extends along the width direction of the wall-climbing robot, the swing bracket is connected to the swing shaft, and the first adsorption walking component is connected to the swing bracket.

[0011] Preferably, the preload spring member is a tension spring, and the tension spring connects the two swing brackets.

[0012] Preferably, the first adsorption walking component includes a first axle and two first magnetic wheels, the first axle extends along the width direction of the wall-climbing robot, and the two first magnetic wheels are connected to the first axle and are respectively close to both sides of the wall-climbing robot along the width direction.

[0013] Preferably, the first adsorption walking component further includes a magnet, and the magnet is located between the two first magnetic wheels.

[0014] Preferably, the magnet includes a straight portion and two curved portions, the straight portion is used to face the wall surface, and the convex sides of the two curved portions are used to face the front and rear of the walking direction of the wall-climbing robot respectively.

[0015] The above-mentioned technical solution of the present invention has the following advantages over the prior art: The wall-climbing robot for climbing inside and outside corners of the present invention, by providing a first suction walking mechanism and a second suction walking mechanism, ensures that when the wall-climbing robot travels on a cornered wall, at least two of the first suction walking mechanisms and the second suction walking mechanism always contact the flat area of the wall. This maintains a large contact area between the wall-climbing robot and the wall, thereby increasing the suction force between the wall-climbing robot and the wall, and thus improving the load capacity and stability of the wall-climbing robot during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0017] Figure 1 A schematic diagram of a process in which a wall-climbing robot turns over an outer corner in the prior art; Figure 2 A schematic diagram of the wall-climbing robot disclosed in the present invention from one angle; Figure 3 This is a schematic diagram of the wall-climbing robot disclosed in the present invention from another angle; Figure 4 This is a schematic diagram of the process of the wall-climbing robot disclosed in the present invention turning over an outer corner.

[0018] Explanation of the reference numerals in the accompanying drawings in the specification: 1. Vehicle body; 11. Vehicle bottom; 2. First adsorption traveling mechanism; 21. First free end; 22. Preloaded spring member; 23. Swinging bracket; 24. First magnetic wheel; 25. Magnet; 251. Straight portion; 252. Arc-shaped portion; 3. Second adsorption traveling mechanism; 31. Second free end; 32. Floating spring member; 33. Guide shaft; 34. Second wheel axle; 35. Second magnetic wheel. DETAILED DESCRIPTION

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0020] See also Figures 2 to 4 As shown, an embodiment of the wall-climbing robot for climbing inner and outer corners provided by the present invention is shown.

[0021] Wall-climbing robots include: The vehicle body 1 has a vehicle bottom 11 for facing the wall; Two first adsorption walking mechanisms 2 are connected to the vehicle body 1 and are respectively close to the front and rear ends of the wall-climbing robot in the walking direction. The first adsorption walking mechanisms 2 can be adsorbed on the wall surface and move along the wall surface. The first adsorption walking mechanisms 2 have a first free end 21 for contacting the wall surface. The distance between the first free end 21 and the vehicle bottom 11 is L1; A second adsorption traveling mechanism 3 is slidably connected to the vehicle body 1 and is located between the two first adsorption traveling mechanisms 2. The second adsorption traveling mechanism 3 can be adsorbed on a wall and travel along the wall. The second adsorption traveling mechanism 3 has a second free end 31 for contacting the wall, and is connected to a floating spring member 32 for enabling the second free end 31 to adaptively float. When the floating spring member 32 is in a natural state, the distance between the second free end 31 and the vehicle bottom 11 is L2, where L2>L1; When the floating spring member 32 is in the first deformation state, the deformation amount thereof is ΔL1, and the distance between the second free end 31 and the vehicle bottom 11 is L3, where L2>L3>L1; When the floating spring member 32 is in the second deformation state, the deformation amount thereof is ΔL2, ΔL2>ΔL1, and the distance between the second free end 31 and the vehicle bottom 11 is L4, L3>L4=L1; When the floating spring member 32 is in the third deformation state, the deformation amount thereof is ΔL3, ΔL3>ΔL2, and the distance between the second free end 31 and the vehicle bottom is L5, L4>L5.

[0022] In the above, the vehicle body 1 is the supporting structure of the wall-climbing robot, which is used to install the first adsorption walking mechanism 2, the second adsorption walking mechanism 3 and the load. The vehicle body 1 can withstand various forces and torques of the wall-climbing robot during the wall-climbing process. The two first adsorption walking mechanisms 2 are the main movement and adsorption mechanisms of the wall-climbing robot, which are used to adsorb on the wall surface and drive the wall-climbing robot to move along the wall surface. The second adsorption walking mechanism 3 is used to increase the contact area between the wall-climbing robot and the wall surface, thereby increasing the suction force between the wall-climbing robot and the wall surface. The floating spring member 32 can automatically adjust its own length, shape or size according to changes in the external environment, work task requirements or internal status. The floating spring member 32 can automatically adapt to changes in external forces to a certain extent. As the wall-climbing robot moves to different positions, the floating spring member 32 automatically expands and contracts based on the distance between the vehicle body 1 and the wall. When the distance between the vehicle body 1 and the wall is greater, the floating spring member 32 deforms less, and the elastic force of the floating spring member 32 forces the second adsorption walking mechanism 3 to contact the wall. When the distance between the vehicle body 1 and the wall is smaller, the floating spring member 32 deforms more, and the elastic force of the floating spring member 32 also forces the second adsorption walking mechanism 3 to contact the wall. The floating spring member 32 provides a certain floating range for the second adsorption walking mechanism 3, ensuring that the second adsorption walking mechanism 3 tends to move closer to the wall.

[0023] like Figure 4 As shown in the figure, the process diagram of the wall-climbing robot turning over the outer corner is as follows: When the wall-climbing robot travels on the flat area of the wall, the floating spring member 32 is in the second deformation state, and both the first adsorption walking mechanism 2 and the second adsorption walking mechanism 3 are in contact with the flat area of the wall.

[0024] When the first adsorption walking mechanism 2 at the front passes the outer corner of the wall, the floating spring member 32 changes from the second deformation state to the third deformation state, and the first adsorption walking mechanism 2 and the second adsorption walking mechanism 3 at the rear keep in contact with the flat area of the wall.

[0025] When the two first adsorption walking mechanisms 2 are in contact with the two flat areas on both sides of the outer corner of the wall respectively, the floating spring member 32 is in the third deformation state, and the second adsorption walking mechanism 3 is in contact with the outer corner of the wall.

[0026] When the first adsorption walking mechanism 2 at the rear end passes the outer corner of the wall, the floating spring member 32 changes from the third deformation state to the second deformation state, and the first adsorption walking mechanism 2 and the second adsorption walking mechanism 3 at the front end maintain contact with the flat area of the wall.

[0027] When the wall-climbing robot climbs over the outer corner of the wall, the floating spring member 32 is in the second deformation state, and the first adsorption walking mechanism 2 and the second adsorption walking mechanism 3 both contact the flat area of the wall.

[0028] The above describes the process of the wall-climbing robot passing through an outer corner. When the wall-climbing robot passes through an inner corner, the second adsorption walking mechanism 3 will adaptively expand and contract according to the distance from the wall, switching between the second deformation state and the first deformation state to maintain contact with the wall. This will not be repeated here.

[0029] As can be seen from this, when the wall-climbing robot travels on an angled wall, at least two of the first suction walking mechanism 2 and the second suction walking mechanism 3 are always in contact with the flat area of the wall. This maintains a large contact area between the wall-climbing robot and the wall, thereby increasing the suction force between the wall-climbing robot and the wall, and thus improving the load capacity and stability of the wall-climbing robot during use.

[0030] In this embodiment, the second adsorption walking mechanism 3 includes a guide shaft 33 and a first adsorption walking component. The guide shaft 33 extends along the height direction of the wall-climbing robot and is slidably connected to the vehicle body 1 in an inseparable manner. The second adsorption walking component is connected to the guide shaft 33.

[0031] As described above, the guide shaft 33 provides a precise motion path for the second adsorption traveler 3. When the second adsorption traveler 3 is operating, the guide shaft 33 acts like a track, constraining it to move only along a predetermined height direction, preventing unnecessary swinging of the second adsorption traveler 3 and thus ensuring the stability of the wall-climbing robot's adsorption and movement. Specifically, the second adsorption traveler 3 includes two guide shafts 33, one located near each side of the wall-climbing robot along its width.

[0032] In this embodiment, the floating spring member 32 is a compression spring, which is sleeved on the guide shaft 33 and located between the vehicle bottom 11 and the second adsorption travel assembly.

[0033] A compression spring is a coil spring that withstands axial pressure. It is a common elastic element in mechanical structures. When subjected to external axial pressure, the compression spring will produce elastic deformation. The pressure shortens the length of the spring, and an elastic force is generated inside the spring to resist deformation. When the external force disappears, the spring will return to its original shape and length. When the distance between the vehicle body 1 and the wall is large, the floating spring part 32 is longer and applies an elastic force to the second adsorption walking mechanism 3, so that the second adsorption walking mechanism 3 remains in a position in contact with the wall. When the distance between the vehicle body 1 and the wall is small, the floating spring part 32 becomes shorter and applies an elastic force to the second adsorption walking mechanism 3, so that the second adsorption walking mechanism 3 also remains in a position in contact with the wall. Specifically, the above-mentioned floating spring part 32 is provided in two, which are respectively mounted on the two guide shafts 33.

[0034] In this embodiment, the first adsorption traveling mechanism 2 is swingably connected to the vehicle body 1 , and the first adsorption traveling mechanism 2 is connected to a preloaded spring member 22 that enables the first free end 21 to swing adaptively; When the preload spring 22 is in a natural state, the distance between the two first adsorption walking mechanisms 2 is L6. When the preload spring member 22 is in a deformed state, the distance between the two first adsorption walking mechanisms 2 is L7, where L7>L6.

[0035] When subjected to external forces, the preload spring 22 elastically deforms, allowing the first suction travel mechanism 2 to oscillate. This oscillation allows the wall-climbing robot to better adapt to varying road conditions. When the wall-climbing robot encounters an outward bend, the preload spring 22 is stretched or compressed, increasing the distance between the two first suction travel mechanisms 2 and allowing them to clamp the outward bend. When the wall-climbing robot encounters an inward bend, the preload spring 22 is stretched or compressed, reducing the distance between the two first suction travel mechanisms 2, making it easier to cross the inward bend.

[0036] In this embodiment, the above-mentioned first adsorption walking mechanism 2 includes a swing shaft (not shown in the figure), a swing bracket 23 and a first adsorption walking component. The above-mentioned swing shaft extends along the width direction of the wall-climbing robot, the above-mentioned swing bracket 23 is connected to the above-mentioned swing shaft, and the above-mentioned first adsorption walking component is connected to the above-mentioned swing bracket 23.

[0037] The swing bracket 23 can swing at a certain angle relative to the vehicle body 1 when subjected to external force. The pre-tensioned spring component 22 applies elastic force to the swing bracket 23. In the initial state, the pre-tensioned spring component 22 is in a certain pre-tensioned state, which will give the swing bracket 23 an initial force to keep the swing bracket 23 in a relatively stable position. When the first adsorption running mechanism 2 is subjected to external force, such as encountering an external or internal angle, causing the distance between them to need to change, the pre-tensioned spring component 22 will undergo elastic deformation. If the external force causes the distance between the two first adsorption running mechanisms 2 to tend to increase, the pre-tensioned spring component 22 will generate an elastic force that attempts to bring the two adsorption running mechanisms closer together; conversely, if the external force causes the distance between the two first adsorption running mechanisms 2 to tend to decrease, the pre-tensioned spring component 22 will generate an elastic force that attempts to move the two first adsorption running mechanisms 2 away from each other.

[0038] In this embodiment, the preload spring member 22 is a tension spring, and the tension spring connects the two swing brackets 23 .

[0039] A tension spring is a coil spring that withstands axial tension. It is generally made of metal wire (such as carbon steel wire, stainless steel wire, etc.) and is spiral-shaped. There are usually hooks or other connecting devices at both ends of the spring for connecting components that need to apply tension. When the tension spring is subjected to axial tension, the spring wire will produce elastic deformation. According to Hooke's law, within the elastic limit, the elongation of the spring is proportional to the external force acting on the spring. The pre-tensioning spring member 22 connects the two swing brackets 23, so that the two swing brackets 23 have a tendency to move closer to each other. Specifically, the pre-tensioning spring member 22 is set to two, respectively close to the two sides of the wall-climbing robot along the width direction.

[0040] In this embodiment, the above-mentioned first adsorption walking component includes a first wheel axle (not shown in the figure) and two first magnetic wheels 24. The above-mentioned first wheel axle extends along the width direction of the wall-climbing robot. The above-mentioned two first magnetic wheels 24 are connected to the above-mentioned first wheel axle and are respectively close to the two sides of the above-mentioned wall-climbing robot along the width direction.

[0041] In this embodiment, the first adsorption moving assembly further includes a magnet 25 , and the magnet 25 is located between the two first magnetic wheels 24 .

[0042] In this embodiment, the magnet 25 includes a straight portion 251 and two curved portions 252. The straight portion 251 is used to face the wall, and the convex sides of the two curved portions 252 are used to face the front and rear of the walking direction of the wall-climbing robot respectively.

[0043] In this embodiment, the second adsorption walking component includes a second axle 34 and two second magnetic wheels 35. The second axle 34 extends along the width direction of the wall-climbing robot. The two second magnetic wheels 35 are connected to the second axle 34 and are respectively close to the two sides of the wall-climbing robot along the width direction.

[0044] The diameter of the first magnetic wheel 24 is larger than the diameter of the second magnetic wheel 35 . Therefore, when the wall-climbing robot passes through the outer corner position, the distance between the second free end 31 and the vehicle bottom 11 can be smaller than the distance between the first free end 21 and the vehicle bottom 11 .

[0045] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A wall-climbing robot for climbing inside and outside corners, characterized in that: include: A vehicle body having a vehicle bottom for facing the wall; Two first adsorption walking mechanisms, connected to the vehicle body and respectively close to the front and rear ends of the wall-climbing robot in the walking direction, the first adsorption walking mechanisms being capable of adsorbing on and walking along the wall, the first adsorption walking mechanisms having a first free end for contacting the wall, and a distance L1 between the first free end and the bottom of the vehicle; a second adsorption walking mechanism, slidably connected to the vehicle body and located between the two first adsorption walking mechanisms, the second adsorption walking mechanism being capable of adsorbing on a wall and traveling along the wall, the second adsorption walking mechanism having a second free end for contacting the wall, and being connected to a floating spring member for enabling the second free end to adaptively float; When the floating spring member is in a natural state, the distance between the second free end and the vehicle bottom is L2, L2>L1; When the floating spring member is in the first deformation state, the deformation amount thereof is ΔL1, the distance between the second free end and the vehicle bottom is L3, and L2>L3>L1; When the floating spring member is in the second deformation state, the deformation amount thereof is ΔL2, ΔL2>ΔL1, and the distance between the second free end and the vehicle bottom is L4, L3>L4=L1; When the floating spring member is in the third deformation state, the deformation amount thereof is ΔL3, ΔL3>ΔL2, and the distance between the second free end and the vehicle bottom is L5, L4>L5.

2. The wall-climbing robot according to claim 1, characterized in that: The second adsorption walking mechanism includes a guide shaft and a second adsorption walking component. The guide shaft extends along the height direction of the wall-climbing robot and is slidably connected to the vehicle body in an inseparable manner. The second adsorption walking component is connected to the guide shaft.

3. The wall-climbing robot according to claim 2, characterized in that: The floating spring component is a compression spring, which is sleeved on the guide shaft and located between the vehicle bottom and the second adsorption walking component.

4. The wall-climbing robot according to claim 2, characterized in that: The second adsorption walking component includes a second wheel axle and two second magnetic wheels. The second wheel axle extends along the width direction of the wall-climbing robot. The two second magnetic wheels are connected to the second wheel axle and are respectively close to both sides of the wall-climbing robot along the width direction.

5. The wall-climbing robot according to claim 1, characterized in that: The first adsorption traveling mechanism is swingably connected to the vehicle body, and is connected to a preloaded spring member that enables the first free end to swing adaptively; When the preload spring is in a natural state, the distance between the two first adsorption walking mechanisms is L6. When the preload spring is in a deformed state, the distance between the two first adsorption walking mechanisms is L7, where L7>L6.

6. The wall-climbing robot according to claim 5, characterized in that: The first adsorption walking mechanism includes a swing shaft, a swing bracket and a first adsorption walking component. The swing shaft extends along the width direction of the wall-climbing robot. The swing bracket is connected to the swing shaft. The first adsorption walking component is connected to the swing bracket.

7. The wall-climbing robot according to claim 6, characterized in that: The preload spring member is a tension spring, and the tension spring connects the two swing brackets.

8. The wall-climbing robot according to claim 1, characterized in that: The first adsorption walking component includes a first wheel axle and two first magnetic wheels. The first wheel axle extends along the width direction of the wall-climbing robot. The two first magnetic wheels are connected to the first wheel axle and are respectively close to both sides of the wall-climbing robot along the width direction.

9. The wall-climbing robot according to claim 8, characterized in that: The first adsorption walking component further includes a magnet, and the magnet is located between the two first magnetic wheels.

10. The wall-climbing robot according to claim 9, characterized in that: The magnet includes a straight portion and two curved portions, the straight portion is used to face the wall surface, and the convex sides of the two curved portions are used to face the front and rear of the walking direction of the wall-climbing robot respectively.

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