All-terrain magnetic adsorption obstacle crossing type high-altitude wall-climbing robot

Abstract

The invention relates to the technical field of wall-climbing robots, in particular to an all-terrain magnetic adsorption obstacle crossing type high-altitude wall-climbing robot which comprises a frame, moving wheels, cameras and a controller, the two cameras are installed at the front end and the rear end of the frame respectively, and the controller is installed at the upper end of the frame. The obstacle crossing vehicle comprises a vehicle frame and further comprises a mounting frame, a lifting assembly, obstacle crossing assemblies and an adsorption assembly, a mounting groove is formed in the center of the vehicle frame, the mounting frame is connected into the mounting groove, the lifting assembly is connected between the mounting frame and the mounting groove, and the two obstacle crossing assemblies are mounted at the front end and the rear end of the vehicle frame correspondingly. The two adsorption assemblies are installed on the inner sides of the obstacle crossing assemblies located at the same end of the vehicle frame. The front end of the robot is warped by using a wheel type moving mode, adsorbing the wall through the adsorption assembly and contracting the obstacle crossing assembly, and the rear end of the robot crosses the obstacle in the same mode after the robot crosses the obstacle, so that the purpose of improving the obstacle crossing ability of the robot is achieved while the moving speed is not reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to an all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot. Background Art

[0002] A high-altitude wall-climbing robot is an automated device capable of moving and operating on vertical or inclined surfaces, often used in aerial work scenarios. It uses suction technology to allow for stable movement on vertical or inclined surfaces, completing tasks such as cleaning, inspection, and maintenance.

[0003] Existing high-altitude wall-climbing robots mainly use adsorption technologies such as magnetic adsorption, vacuum negative pressure adsorption and bionic adhesion. Among them, magnetic adsorption wall-climbing robots are widely used in surface operations on large components made of magnetic metals such as iron, nickel and cobalt because of their advantages such as strong load capacity, high adsorption stability, low energy consumption, flexible configuration and low operating noise.

[0004] Most magnetic adsorption high-altitude wall-climbing robots use a wheeled / tracked structure to enable the robot to move on the surface of the component. However, when the magnetic adsorption robot operates in a scene with protrusions on the surface, when the protrusion height is greater than the wheel diameter height of the vehicle body or there are non-magnetic obstacles that cause the magnetic adsorption force of the wall-climbing robot to be greatly weakened, it is very easy to cause the wall climbing and obstacle-crossing failure. Moreover, when crossing the obstacle, the visual detection range will change due to the change in the body posture, which in turn affects the visual detection range.

[0005] In the existing technology, obstacles are crossed by using a multi-legged bionic structure through gait adjustment to adapt to complex working environments. However, this gait adjustment method requires releasing the current attachment point before locking the new target point, which will cause the movement speed of the wall-climbing robot to decrease. In addition, this method requires a complex control structure, which will reduce the load capacity of the wall-climbing robot.

[0006] When an emergency such as a chemical plant leak occurs and the leak point needs to be quickly sealed, a wall-climbing robot is needed to seal it. However, due to the dense distribution of welds, rivets and other raised obstacles on the surface of the metal chemical tank, the wheeled / tracked structure cannot move freely on the surface of the chemical tank. The multi-legged bionic structure needs to frequently change its body posture because it needs to cross welds, rivets and other raised obstacles, resulting in slow movement on the surface of the chemical tank and failure to reach the designated location in a short time. It may cause a large amount of pollutants to leak and harm the environment. In addition, when sealing the leak point, the wall-climbing robot needs to be equipped with heavier plugging tools. Due to the use of the multi-legged bionic structure, the load capacity of the wall-climbing robot is limited. Carrying the plugging tools for a long time can easily lead to insufficient energy supply and the risk of the wall-climbing robot falling.

[0007] To this end, an all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot is proposed. Summary of the Invention

[0008] The purpose of the present invention is to provide an all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot, which solves the problems of weak obstacle-crossing ability of the wheeled / tracked structure of the wall-climbing robot and slow movement speed and poor load capacity of the multi-legged bionic structure. It uses a wheeled movement method, and at the same time, the adsorption component adsorbs the wall and the obstacle-crossing component contracts, so that the front end of the robot is tilted to cross the obstacle, and after crossing the obstacle, the rear end of the robot is crossed over the obstacle in the same way, thereby achieving the purpose of improving the robot's obstacle-crossing ability without slowing down the movement speed.

[0009] In order to achieve the above technical objectives, the present invention provides the following technical solutions:

[0010] An all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot, comprising: a frame, moving wheels, a camera, and a controller, wherein a plurality of the moving wheels are mounted on the lower end of the frame, two cameras are mounted on the front and rear ends of the frame respectively, and the controller is mounted on the upper end of the frame. The robot also comprises a mounting frame, a lifting assembly, an obstacle-crossing assembly, and an adsorption assembly. A mounting slot is provided at the center of the frame, the mounting frame is connected within the mounting slot, the lifting assembly is connected between the mounting frame and the mounting slot, the two obstacle-crossing assemblies are mounted on the front and rear ends respectively, and the two adsorption assemblies are mounted on the inner side of the obstacle-crossing assembly located at the same end of the frame.

[0011] When the camera detects an obstacle at the front end, the adsorption component located at the rear end of the frame is energized to adsorb the wall, and the obstacle-crossing component drives the front end of the frame to tilt and move forward, and at the same time drives the lifting component to drive the mounting frame to rise; after the front end of the frame passes over the obstacle, the adsorption component located at the front end of the frame is energized to adsorb the wall, and at the same time the obstacle-crossing component drives the rear end of the frame to tilt and move forward until the frame passes over the obstacle, and at the same time drives the lifting component to drive the mounting frame to descend.

[0012] Preferably, the obstacle crossing assembly includes a mounting rod, a first control rod, a second control rod, a telescopic rod and an auxiliary wheel, the two mounting rods are fixedly mounted on the front and rear ends of the frame, the first control rod is rotatably mounted on the inner side of the mounting rod, the second control rod is rotatably mounted on the inner side of the first control rod, the two telescopic rods are respectively fixedly mounted on both ends of the first control rod, a matching groove is provided on the telescopic rod, the second control rod passes through the telescopic rod and engages with the matching groove, and the auxiliary wheel is mounted on the other end of the telescopic rod.

[0013] In the above scheme, the controller can drive the auxiliary wheel to rotate around the first control rod by controlling the rotation of the first control rod, and can drive the auxiliary wheel to extend and retract along the direction of the telescopic rod by controlling the rotation of the second control rod through the engagement of the second control rod and the matching groove. Through this scheme, the position of the auxiliary wheel relative to the frame can be freely controlled. When the front end of the robot encounters an obstacle, the rear end auxiliary wheel is adsorbed on the wall through the adsorption component. By controlling the position of the frame relative to the rear end auxiliary wheel, the body is tilted with the rear end moving wheel as the fulcrum, and the front half of the body is moved over the obstacle by controlling the rotation of the rear end auxiliary wheel and the moving wheel. When lowering, the obstacle is placed in the installation groove, and the rear half is moved over the obstacle in the same way, thereby improving the obstacle crossing ability of the wall-climbing robot while achieving rapid movement using the wheeled structure.

[0014] Preferably, the adsorption assembly includes a mounting sleeve, an iron core, and a coil. The mounting sleeve is installed between the telescopic rods. The iron core is rotatably installed in the mounting sleeve and passes through the telescopic rods. Magnetic rings are connected to both ends of the iron core. The magnetic rings are installed at the center of the auxiliary wheel. The coil is installed on the outer periphery of the iron core.

[0015] In the above scheme, when encountering an obstacle, the controller controls the coil to energize. At this time, the iron core generates a magnetic field and firmly adsorbs the wall through the magnetic ring fixed at the center of the auxiliary wheel, so that the auxiliary wheel is tightly fixed to the wall. When the robot is working, the magnetic ring can be used to adsorb the wall to enhance the robot's adsorption ability to the wall, preventing some reaction forces on the robot generated during operation from causing the robot to fall.

[0016] Preferably, the lifting assembly includes a driving wheel, a transmission belt, and a transmission wheel. The driving wheel is installed on the outside of the first control rod. Mounting rings are provided on the front and rear sides of the mounting groove. The transmission wheel is installed in the mounting rings. The transmission belt connects the driving wheel and the transmission wheel. Racks are installed on the outside of the front and rear ends of the mounting frame, and the racks are engaged with the transmission wheel.

[0017] In the above scheme, when the first control rod rotates, it drives the mounting frame to move up and down. When the robot is in normal driving, the mounting frame is at the lower end of the mounting slot, so that its center of gravity is close to the wall, which reduces the gravitational torque on the wall-climbing robot and makes it more stable during driving. When it is necessary to cross an obstacle, the first control rod at the rear end rotates to control the body to tilt up, driving the mounting frame upward. At this time, a certain amount of space is left at the lower end of the mounting slot, so that when the first control rod at the rear end extends and the body is re-adsorbed on the wall, the obstacle can be placed in the space at the lower end of the mounting slot. When the robot uses the same method to cross the obstacle at the rear end, the mounting frame is driven downward, so that the center of gravity remains close to the wall during subsequent driving. Through this scheme, the center of gravity of the robot can be close to the wall during normal driving, which reduces the adsorption force required for normal driving. At the same time, when crossing an obstacle, the obstacle can be suspended in the mounting slot, which is convenient for subsequent actions.

[0018] Preferably, the driving wheel includes a driving inner ring, a spring, a block and a driving outer ring. The driving inner ring is fixedly mounted on the outside of the first control rod. A plurality of slots are provided on the outer circumference of the driving inner ring. The slots are arranged in a circular array on the driving inner ring. A plurality of blocks are movably mounted in the slots. One end of the spring is connected to the bottom end of the block, and the other end is connected to the inside of the slot. The driving outer ring is rotatably mounted on the outside of the driving inner ring. A driving slot is provided on the inner circumference of the driving outer ring. One side of the block is arc-shaped.

[0019] In the above solution, this solution allows the first control lever to drive the outer ring to rotate by driving the inner ring only when it is rotated in one direction, while the clamping block will be stuck in the clamping slot when it is rotated in the other direction, and the outer ring cannot be driven to rotate by driving the inner ring at this time, so that the mounting frame can only be driven to move upward when the rear auxiliary wheel is retracted, and the mounting frame can be driven to move downward when the front auxiliary wheel is extended, avoiding the risk of the mounting frame easily colliding with obstacles when the rear auxiliary wheel is extended.

[0020] Preferably, the front and rear ends of the frame are provided with slide grooves, the camera is slidably installed in the slide grooves, and the camera is installed with a rotating shaft.

[0021] In the above scheme, this scheme can realize that the camera can observe the obstacles in front and behind in multiple directions, enhance the robot's visual detection capability, and at the same time avoid the rotation of the front auxiliary wheels to block the robot's visual detection range.

[0022] Preferably, a plurality of fixing grooves are provided on the inner side of the mounting frame, and a work plate is installed at the lower end of the mounting frame, and the work plate is a detachable structure.

[0023] In the above scheme, by opening multiple fixing slots on the inner side of the mounting frame, different working equipment can be installed in the fixing slots, and the wall can be directly operated through the gap in the working board. At the same time, the camera can slide to the bottom along the slide slot, providing multi-angle viewing angles when the equipment is operating, thereby improving the accuracy of the operation. At the same time, the working board can be designed for the working equipment, and due to the detachability of the working board, it can be adapted to a variety of different working equipment, thereby enhancing the applicability of the robot application. Through this operating method of this scheme, compared with the traditional method of extending the robotic arm from the outside to the required operation location to operate, the center of gravity of the machine is closer to the wall during operation. Under the same magnetic adsorption, this method makes the robot more stable during operation and is less likely to fall.

[0024] Preferably, the work plate is made of magnetic material and is parallel to the lower end plane of the frame.

[0025] In the above solution, the work plate can help the robot adhere to the wall while it is moving, thereby enhancing its stability during driving. At the same time, when the robot is tilted, the mounting frame moves upward, thereby weakening the adsorption ability of the work plate on the wall, making the robot encounter less resistance when it is tilted. At the same time, during the entire process of the robot being re-adsorbed on the wall, the moving frame returns to its original position, thereby enhancing the adsorption ability of the work plate on the wall, thereby facilitating the robot's re-adsorption process.

[0026] The beneficial effects of the present invention are as follows:

[0027] 1. The present invention cooperates with an obstacle-crossing component and an adsorption component. When encountering an obstacle, the adsorption component adsorbs the wall, and the obstacle is overcome by tilting the frame of the obstacle-crossing component. At the same time, when the robot is working, the magnetic ring adsorbs the wall to enhance the robot's adsorption ability to the wall, preventing the robot from being easily affected by the reaction force and causing the robot to fall during operation. Through this method, the robot can use a wheeled structure to ensure the speed of the robot while enhancing the robot's obstacle-crossing ability, and at the same time improve the robot's stability during operation and enhance its operating ability.

[0028] 2. The present invention cooperates with a lifting component and an obstacle crossing component, installs the working equipment on the mounting frame, and uses the lifting component to control its movement. During normal driving, the center of gravity of the mounting frame and the working equipment is close to the wall, so that the gravitational torque acting on the wall-climbing robot is smaller. In the process of the robot crossing the obstacle, the rotation of the obstacle crossing component is used to drive the mounting frame to rise and fall, thereby forming a space in the mounting groove that can temporarily accommodate the obstacle, thereby increasing the height of the obstacle that can be crossed. The present invention not only ensures the stability of the robot during driving, but also improves the robot's obstacle crossing ability.

[0029] 3. The present invention provides a mounting frame and a work plate at the lower end of the mounting frame, and cooperates with the camera to install different work equipment in the fixed groove, and directly operate on the wall through the gap in the work plate. At the same time, the camera can slide to the bottom along the slide groove, providing multi-angle viewing angles when the equipment is operating, thereby improving the accuracy of the operation. Compared with the traditional method of extending the robot arm from the outside to the required operation location to operate, the center of gravity of the machine in this method is closer to the wall during operation, making it more stable during operation. At the same time, since the work plate can be replaced, it can be adapted to a variety of different work equipment, thereby enhancing the applicability of robot applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] The above and other aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0032] Figure 1 It is an isometric structural diagram of the whole of the present invention;

[0033] Figure 2 is an isometric structural diagram of the obstacle crossing assembly of the present invention;

[0034] Figure 3 This is a schematic diagram of the internal cross-section of the adsorption component of the present invention;

[0035] Figure 4 This invention Figure 1 A magnified schematic diagram of part A;

[0036] Figure 5 This invention Figure 1 A magnified schematic diagram of part B;

[0037] Figure 6 It is an exploded view of the drive wheel of the present invention;

[0038] Figure 7 This is an isometric structural diagram of the mounting frame of the present invention;

[0039] Figure 8 This is a diagram showing the direction of movement of the mounting frame when the auxiliary wheels of the present invention are retracted;

[0040] Figure 9 This is a diagram showing the direction of movement of the mounting frame when the auxiliary wheel of the present invention is extended;

[0041] In the figure: 1. Frame; 11. Mounting slot; 12. Slide slot; 111. Mounting ring; 2. Moving wheel; 3. Camera; 31. Rotating shaft; 4. Controller; 5. Mounting frame; 51. Rack; 52. Fixing slot; 53. Working plate; 6. Lifting assembly; 61. Driving wheel; 611. Driving inner ring; 6111. Slot; 612. Spring; 613. Block; 614. Driving outer ring; 6141. Driving slot; 62. Transmission belt; 63. Transmission wheel; 7. Obstacle crossing assembly; 71. Mounting rod; 72. First control rod; 73. Second control rod; 74. Telescopic rod; 741. Matching slot; 75. Auxiliary wheel; 8. Adsorption assembly; 81. Mounting sleeve; 82. Iron core; 821. Magnetic ring; 83. Coil. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] See also Figures 1 to 9 The present invention provides an all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot, and the technical solution is as follows:

[0044] An all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot includes a frame 1, moving wheels 2, a camera 3 and a controller 4. A permanent magnet is fixedly installed at the lower end of the frame 1 to adsorb the wall to offset its own gravity so that it can move freely on the wall. Multiple moving wheels 2 are rotatably installed at the lower end of the frame 1, and the moving wheels 2 can turn freely. Drive motors are respectively installed inside the front and rear ends of the frame 1 and are controlled by the controller 4. The drive motors are connected to the moving wheels 2. Two cameras 3 are respectively installed at the front and rear ends of the frame 1, and the cameras 3 are installed in the slide 12 on the frame 1. The slide 12 extends to At the bottom of the frame 1, a controller 4 is installed at the upper end of the frame 1. The controller 4 can regulate the movement of each component and is equipped with a remote control system for remote control. It also includes a mounting frame 5, a lifting component 6, an obstacle crossing component 7, and an adsorption component 8. A mounting slot 11 is provided at the center of the frame 1. The mounting slot 11 passes through the frame 1. The mounting frame 5 is connected to the mounting slot 11. The lifting component 6 is connected between the mounting frame 5 and the mounting slot 11. Two obstacle crossing components 7 are respectively installed at the front and rear ends of the frame 1, and two adsorption components 8 are respectively installed on the inner side of the obstacle crossing component 7 located at the same end of the frame 1.

[0045] When the camera 3 detects an obstacle at the front end, the adsorption component 8 at the rear end of the frame 1 is energized to adsorb the wall, and at the same time, the obstacle-crossing component 7 drives the front end of the frame 1 to tilt and move forward, and at the same time drives the lifting component 6 to drive the mounting frame 5 to rise; after the front end of the frame 1 passes over the obstacle, the adsorption component 8 at the front end of the frame 1 is energized to adsorb the wall, and at the same time, the obstacle-crossing component 7 drives the rear end of the frame 1 to tilt and move forward until the frame 1 passes over the obstacle, and at the same time drives the lifting component 6 to drive the mounting frame 5 to descend.

[0046] As an embodiment of the present invention, reference Figure 2 The obstacle crossing assembly 7 includes a mounting rod 71, a first control rod 72, a second control rod 73, a telescopic rod 74 and an auxiliary wheel 75. The two mounting rods 71 are fixedly mounted on the front and rear ends of the frame 1, the first control rod 72 is rotatably mounted on the inner side of the mounting rod 71, and the second control rod 73 is rotatably mounted on the inner side of the first control rod 72. The two telescopic rods 74 are respectively fixedly mounted on both ends of the first control rod 72. A matching groove 741 is provided on the telescopic rod 74. The second control rod 73 passes through the telescopic rod 74 and engages with the matching groove 741. The auxiliary wheel 75 is mounted on the other end of the telescopic rod 74. The controller 4 controls the rear end coil 83 to be energized. At this time, the iron core 82 generates a magnetic field and firmly adsorbs the wall through the magnetic ring 821 fixed at the center position of the auxiliary wheel 75, so that the auxiliary wheel 75 is tightly fixed to the wall. At this time, the first control rod 72 rotates to drive the auxiliary wheel 75 away from the frame 1, and the auxiliary wheel 75 will drive the frame 1 to tilt slightly, and then control the second control rod 73 to rotate. Since the second control rod 73 is engaged with the matching groove 741 in the telescopic rod 74, the telescopic rod 74 contracts, further controlling the frame 1 to tilt. At this time, the front end of the robot is completely tilted. At this time, the auxiliary wheel 75 and the mobile wheel 2 rotate to control the robot to move forward until the obstacle is in the position of the installation groove 11. At this time, the second control rod 73 rotates in the opposite direction to control the telescopic rod 74 to extend, so that the auxiliary wheel 75 returns to its original position. At the same time, the first control rod 72 rotates in the opposite direction, driving the auxiliary wheel 75 close to the frame 1. At this time, the frame 1 is fully attached to the wall again, and the obstacle is in the position of the installation groove 11. The front end of the robot is controlled to perform the same operation until the robot completely crosses the obstacle, achieving the goal of improving the obstacle crossing ability of the wall-climbing robot while being able to move quickly using the wheeled structure.

[0047] As an embodiment of the present invention, reference Figure 3The adsorption component 8 includes a mounting sleeve 81, an iron core 82, and a coil 83. The mounting sleeve 81 is installed between the telescopic rods 74, and the iron core 82 is rotatably installed in the mounting sleeve 81 and passes through the telescopic rod 74. Magnetic rings 821 are connected to both ends of the iron core 82, and the magnetic ring 821 is installed at the center of the auxiliary wheel 75. The coil 83 is installed on the outer periphery of the iron core 82, and the coil 83 is electrically connected to the controller 4. A power supply is installed inside the controller 4. When encountering an obstacle, the controller 4 controls the coil 83 to be energized. At this time, the iron core 82 generates a magnetic field and firmly adsorbs the wall through the magnetic ring 821 fixed at the center of the auxiliary wheel 75. After the coil 83 is energized, the adsorption force of the magnetic field generated by the permanent magnet installed at the lower end of the frame 1 on the wall is greater than the adsorption force of the magnetic field generated by the permanent magnet installed at the lower end of the frame 1 on the wall, so that the auxiliary wheel 75 is tightly fixed on the wall and the front end of the robot is tilted up with the moving wheel 2 as the fulcrum. When the robot is working, the magnetic ring 821 can be used to adsorb the wall to enhance the robot's adsorption ability to the wall, thereby preventing the robot from being easily affected by the reaction force during operation and causing the robot to fall.

[0048] As an embodiment of the present invention, reference Figure 4 、 Figure 8 and Figure 9 The lifting assembly 6 includes a driving wheel 61, a transmission belt 62, and a transmission wheel 63. The driving wheel 61 is installed on the outside of the first control rod 72. The mounting groove 11 is provided with mounting rings 111 on both sides. The transmission wheel 63 is installed in the mounting ring 111. The transmission belt 62 connects the driving wheel 61 and the transmission wheel 63. Racks 51 are installed on the outside of the front and rear ends of the mounting frame 5. The racks 51 are engaged with the transmission wheel 63. When the first control rod 72 is rotated, the mounting frame 5 is driven to move up and down. When driving normally, the mounting frame 5 is at the lower end of the mounting groove 11, so that its weight The center of gravity of the wall-climbing robot is close to the wall, which reduces the gravitational torque on the wall-climbing robot and makes it more stable when traveling. When it needs to cross an obstacle, the first control rod 72 at the rear end rotates to control the body to tilt up, driving the mounting frame 5 to move upward. At this time, a certain space is left at the lower end of the mounting groove 11, so that when the first control rod 72 at the rear end extends and the body is re-adsorbed on the wall, the obstacle can be placed in the space at the lower end of the mounting groove 11. When the robot uses the same method to make the rear end cross the obstacle, it drives the mounting frame 5 downward, so that the center of gravity of the wall-climbing robot remains close to the wall during subsequent driving. Through this solution, the center of gravity of the robot can be close to the wall during normal driving, which reduces the adsorption force required for normal driving of the robot. At the same time, when crossing an obstacle, the obstacle can be suspended in the mounting groove 11, which is convenient for subsequent actions.

[0049] As an embodiment of the present invention, reference Figure 6The driving wheel 61 includes a driving inner ring 611, a spring 612, a block 613 and a driving outer ring 614. The driving inner ring 611 is fixedly mounted on the outside of the first control rod 72. A plurality of slots 6111 are provided on the outer circumference of the driving inner ring 611. The slots 6111 are arranged in a circumferential array on the driving inner ring 611. A plurality of blocks 613 are movably mounted in the slots 6111. One end of the spring 612 is connected to the bottom end of the block 613, and the other end is connected to the inside of the slot 6111. The driving outer ring 614 is rotatably mounted on the outside of the driving inner ring 611. A driving groove 6141 is provided on the inner circumference of the driving outer ring 614. One side of the block 613 is in an arc shape. Since the block 613 is provided in the driving wheel 61 and one end of the block 613 is in an arc shape, when the first control rod 72 rotates to control the vehicle body to tilt up, the driving inner ring 611 rotates through the block 613 to drive the driving outer ring 614 When the vehicle body is magnetically attracted to the wall again, the first control rod 72 rotates, thereby driving the transmission wheel 63 to rotate, and then driving the mounting frame 5 to move upward. However, when the first control rod 72 rotates in the opposite direction to control the vehicle body to be magnetically attracted to the wall again, since one end of the block 613 is in an arc shape and a spring 612 is provided at the lower end, when the inner ring 611 is driven to rotate, the block 613 will be squeezed into the card slot 6111 and will not drive the transmission wheel 63 to rotate in the opposite direction. As a result, when the vehicle body is magnetically attracted to the wall again, the mounting frame 5 will not return to its initial position, thereby forming a space to accommodate obstacles, and in the same way, the mounting frame 5 is restored to its original position when the rear end of the robot crosses the obstacle, so that the mounting frame 5 can only be driven to move upward when the rear auxiliary wheel 75 is retracted, and the mounting frame 5 can be driven to descend when the front auxiliary wheel 75 is extended, thereby avoiding the risk of the mounting frame 5 colliding with obstacles when the rear auxiliary wheel 75 is extended.

[0050] As an embodiment of the present invention, reference Figure 5 The frame 1 is provided with a slide groove 12 at both ends, and the camera 3 is slidably installed in the slide groove 12, and the camera 3 is installed with a rotating shaft 31. Through this solution, the camera 3 can observe the obstacles in front and behind in multiple directions, thereby enhancing the robot's visual detection capability. During the robot's obstacle crossing process, the angle of the camera 3 can be changed to ensure that the visual detection range is not affected by the change of the robot's posture, and at the same time, it can avoid the front auxiliary wheel 75 from blocking the robot's visual detection range when rotating.

[0051] As an embodiment of the present invention, reference Figure 7, a plurality of fixing slots 52 are provided on the inner side of the mounting frame 5, and a working plate 53 is installed at the lower end of the mounting frame 5. The working plate 53 is a detachable structure. By providing a plurality of fixing slots 52 on the inner side of the mounting frame 5, different working equipment can be installed in the fixing slots 52, and the wall can be directly operated through the gap in the working plate 53. At the same time, the camera 3 can slide to the bottom along the slide groove 12, providing a multi-angle perspective when the equipment is operating, thereby improving the accuracy of the operation. At the same time, the working plate 53 can be designed for the working equipment in a certain way, and due to the detachability of the working plate 53, it can be adapted to a variety of different working equipment, thereby enhancing the wide application of the robot. Through this working method of this scheme, compared with the traditional method in which the robot arm extends from the outside to the place where the operation is required to operate, the center of gravity of the machine is closer to the wall during operation in this method. Under the same magnetic adsorption, this method is more stable during operation and is not prone to the risk of falling.

[0052] As an embodiment of the present invention, reference Figure 7 The work plate 53 is made of magnetic material and is parallel to the lower end plane of the frame 1. In the above scheme, the work plate 53 can help the robot to adhere to the wall when it is driving, thereby enhancing the stability during driving. At the same time, when the robot is tilted, the mounting frame 5 moves upward, which weakens the adsorption ability of the work plate 53 on the wall, making the resistance encountered by the robot when tilting smaller. At the same time, during the entire process of the robot being re-adsorbed on the wall, the mobile frame returns to its original position, thereby enhancing the adsorption ability of the work plate 53 on the wall, thereby promoting the re-adsorption process of the robot.

[0053] Working Principle: The present invention provides obstacle climbing components 7 and adsorption components 8 at the front and rear ends of the robot, respectively. When the front end of the robot encounters an obstacle, the rear auxiliary wheel 75 is adsorbed on the wall by the adsorption component 8. By controlling the position of the frame 1 relative to the rear auxiliary wheel 75, the body of the robot is tilted with the rear moving wheel 2 as the fulcrum. The driving motor controls the moving wheel 2 to rotate and the front half of the body passes the obstacle. At this time, the robot is re-adsorbed on the wall and the obstacle is placed in the installation groove 11. The rear half of the robot is passed over the obstacle in the same way. This achieves the goal of improving the obstacle-crossing capability of the wall-climbing robot while enabling rapid movement using a wheeled structure.

[0054] Specifically, in order to enable the robot to cross an obstacle, when the robot encounters an obstacle in front during driving, the controller 4 controls the rear end coil 83 to be energized. At this time, the iron core 82 generates a magnetic field and firmly adsorbs the wall through the magnetic ring 821 fixed at the center position of the auxiliary wheel 75, so that the auxiliary wheel 75 is tightly fixed to the wall. At this time, the first control rod 72 rotates to drive the auxiliary wheel 75 away from the frame 1, and the auxiliary wheel 75 will drive the frame 1 to slightly tilt with the moving wheel 2 as the axis. Then the second control rod 73 is controlled to rotate. Since the second control rod 73 is engaged with the matching groove 741 in the telescopic rod 74, the telescopic rod 74 is retracted. The frame 1 is further tilted up, and the front end of the robot is completely tilted up, and the front end height is greater than the obstacle height. At this time, the driving motor controls the moving wheel 2 to drive the robot forward until the obstacle is at the lower end of the installation slot 11. At this time, the second control rod 73 rotates in the opposite direction to control the telescopic rod 74 to extend, so that the auxiliary wheel 75 returns to its original position. At the same time, the first control rod 72 rotates in the opposite direction to drive the auxiliary wheel 75 closer to the frame 1. At this time, the frame 1 is completely attached to the wall again, and the obstacle is in the installation slot 11. The front end of the robot is controlled to perform the same operation until the robot completely crosses the obstacle.

[0055] In order to form a certain space at the lower end of the installation groove 11 to accommodate the obstacle when the mounting frame 5 crosses the obstacle, the first control rod 72 at the rear end rotates to control the vehicle body to tilt up, which drives the driving wheel 61 to rotate, and makes the mounting frame 5 move upward through the transmission belt 62 and the transmission wheel 63, so that a certain space is formed at the lower end of the installation groove 11. Since a clamping block 613 is provided in the driving wheel 61, and one end of the clamping block 613 is arc-shaped, when the first control rod 72 rotates to control the vehicle body to tilt up, the driving inner ring 611 rotates through the clamping block 613 to drive the driving outer ring 614 to rotate, thereby driving the transmission belt 62 and the transmission wheel 63. The driving wheel 63 rotates, thereby driving the mounting frame 5 to move upward. However, when the first control rod 72 rotates in the opposite direction to control the body to be magnetically attracted to the wall again, since one end of the clamping block 613 is in an arc shape and a spring 612 is provided at the lower end, when the inner ring 611 is driven to rotate, the clamping block 613 is squeezed into the clamping groove 6111 and does not drive the driving wheel 63 to rotate in the opposite direction. As a result, when the body is magnetically attracted to the wall again, the mounting frame 5 does not return to its original position, thereby forming a space to accommodate the obstacle. In the same way, when the rear end of the robot passes over the obstacle, the mounting frame 5 is restored to its original position.

[0056] In order to improve the stability of the robot during operation, a plurality of fixing grooves 52 are opened on the inner side of the mounting frame 5, and a working plate 53 is installed at the lower end of the mounting frame 5. The working plate 53 is detachable. By opening a plurality of fixing grooves 52 on the inner side of the mounting frame 5, different working equipment can be installed in the fixing grooves 52, and the wall can be directly operated through the gap in the working plate 53. At the same time, the camera 3 can slide to the bottom along the slide groove 12, providing a multi-angle perspective when the equipment is operating, thereby improving the accuracy of the operation. At the same time, the working plate 53 can be designed for the working equipment, and due to the detachability of the working plate 53, it can be adapted to a variety of different working equipment.

[0057] The description herein is provided to enable one of ordinary skill in the art to implement or use the present disclosure. Various modifications to the present disclosure will be apparent to one of ordinary skill in the art, and the overall principles defined herein may be applied to other variations without departing from the scope of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but should be given the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. An all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot, comprising a frame (1), moving wheels (2), a camera (3), and a controller (4), characterized in that: The vehicle frame (1) further comprises a mounting frame (5), a lifting assembly (6), an obstacle crossing assembly (7) and an adsorption assembly (8); a mounting slot (11) is provided at the center of the vehicle frame (1); the mounting frame (5) is connected to the mounting slot (11); the lifting assembly (6) is connected between the mounting frame (5) and the mounting slot (11); two obstacle crossing assemblies (7) are respectively mounted at the front and rear ends of the vehicle frame (1); and two adsorption assemblies (8) are respectively mounted on the inner side of the obstacle crossing assembly (7) at the same end of the vehicle frame (1); when the camera (3) detects the front end When there is an obstacle, the adsorption component (8) located at the rear end of the vehicle frame (1) is energized to adsorb the wall, and at the same time, the obstacle-crossing component (7) drives the front end of the vehicle frame (1) to tilt up and move forward, and at the same time drives the lifting component (6) to drive the mounting frame (5) to rise; after the front end of the vehicle frame (1) passes over the obstacle, the adsorption component (8) located at the front end of the vehicle frame (1) is energized to adsorb the wall, and at the same time, the obstacle-crossing component (7) drives the rear end of the vehicle frame (1) to tilt up and move forward until the rear end of the vehicle frame (1) passes over the obstacle, and at the same time drives the lifting component (6) to drive the mounting frame (5) to descend.

2. The all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot according to claim 1, characterized in that: The obstacle crossing assembly (7) comprises a mounting rod (71), a first control rod (72), a second control rod (73), a telescopic rod (74) and an auxiliary wheel (75). The two mounting rods (71) are fixedly mounted at the front and rear ends of the vehicle frame (1). The first control rod (72) is rotatably mounted on the inner side of the mounting rod (71). The second control rod (73) is rotatably mounted on the inner side of the first control rod (72). The two telescopic rods (74) are respectively fixedly mounted at the two ends of the first control rod (72). A matching groove (741) is provided on the telescopic rod (74). The second control rod (73) passes through the telescopic rod (74) and engages with the matching groove (741). The auxiliary wheel (75) is mounted on the other end of the telescopic rod (74).

3. The all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot according to claim 2, characterized in that: The adsorption assembly (8) comprises a mounting sleeve (81), an iron core (82) and a coil (83); the mounting sleeve (81) is mounted between the telescopic rods (74); the iron core (82) is rotatably mounted in the mounting sleeve (81) and passes through the telescopic rods (74); magnetic rings (821) are connected to both ends of the iron core (82); the magnetic ring (821) is mounted at the center of the auxiliary wheel (75); and the coil (83) is mounted on the outer periphery of the iron core (82).

4. The all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot according to claim 2, characterized in that: The lifting assembly (6) comprises a driving wheel (61), a transmission belt (62), and a transmission wheel (63); the driving wheel (61) is mounted on the outside of the first control rod (72); mounting rings (111) are provided on the front and rear sides of the mounting groove (11); the transmission wheel (63) is mounted in the mounting rings (111); the transmission belt (62) connects the driving wheel (61) and the transmission wheel (63); racks (51) are mounted on the outsides of the front and rear ends of the mounting frame (5); the racks (51) are meshed with the transmission wheel (63).

5. The all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot according to claim 4, characterized in that: The driving wheel (61) comprises a driving inner ring (611), a spring (612), a clamping block (613) and a driving outer ring (614). The driving inner ring (611) is fixedly mounted on the outside of the first control rod (72). A plurality of clamping grooves (6111) are provided on the outer circumference of the driving inner ring (611). The clamping grooves (6111) are arranged in a circumferential array on the driving inner ring (611). The plurality of clamping blocks (613) are movably mounted in the clamping grooves (6111). One end of the spring (612) is connected to the bottom end of the clamping block (613), and the other end is connected to the inside of the clamping groove (6111). The driving outer ring (614) is rotatably mounted on the outside of the driving inner ring (611). A driving groove (6141) is provided on the inner circumference of the driving outer ring (614). One side of the clamping block (613) is in an arc shape.

6. The all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot according to claim 1, characterized in that: The frame (1) is provided with a slide groove (12) at both ends thereof, the camera (3) is slidably mounted in the slide groove (12), and the camera (3) is provided with a rotating shaft (31).

7. The all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot according to claim 1, characterized in that: A plurality of fixing grooves (52) are provided on the inner side of the mounting frame (5), and an operation plate (53) is installed on the lower end of the mounting frame (5), and the operation plate (53) is a detachable structure.

8. The all-terrain magnetic adsorption obstacle-crossing high-altitude wall-climbing robot according to claim 7, characterized in that: The working plate (53) is made of magnetic material and is parallel to the lower end plane of the vehicle frame (1).

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