Wall crawling robot imitating caterpillar

Abstract

The invention relates to a caterpillar-imitating wall crawling robot which comprises a control assembly, a plurality of sets of supporting plates and a suction cup moving mechanism. The opposite ends of the two sets of supporting plates are connected through a large suction cup, a large suction cup vacuum pump is arranged on one set of supporting plates, and the large suction cup is connected with the large suction cup vacuum pump through an air pipe. The sucker moving mechanism comprises a first vacuum pump, a second vacuum pump and pulleys, a pressing plate is fixed to the supporting plate through first suckers, sucker supporting pieces are fixed to the left side and the right side of the pressing plate, and the lower ends of the sucker supporting pieces penetrate through the supporting plate and are fixedly provided with second suckers; the pulleys are fixed at the bottom of the supporting plate; the first vacuum pump and the second vacuum pump are respectively connected with the first sucker and the second sucker through air pipes. The vacuum pump on the supporting plate can independently control air inlet and air outlet, and the robot can be adsorbed and crawl on an unsmooth wall surface. The suction cup moving mechanism can provide walking power, the control assembly controls sequential suction of the suction cups, and the robot can move forwards like caterpillar wriggling.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic robots, in particular to a caterpillar-like wall climbing robot. BACKGROUND

[0002] In the field of vertical wall moving robots, traditional adsorption technologies such as vacuum negative pressure, magnetic force and bionic bristles have the bottlenecks of high energy consumption, poor surface adaptability or limited scene. Most existing bionic robots use rigid suction cups or foot structures, which are difficult to achieve efficient adsorption and flexible motion coordination on complex walls (such as curved surfaces and rough surfaces). Although research inspired by the segmented peristalsis of caterpillars has made progress, the integration of adsorption modules and driving mechanisms still faces challenges: existing bionic robots still have some deficiencies in structural design, motion performance, etc., such as unstable motion posture, limited ability to adapt to complex terrain, high control complexity, etc., which are difficult to meet the needs of some specific application scenarios.

[0003] The present application proposes a bionic caterpillar robot based on a flexible suction cup array to solve the above problems. By designing a multi-segment mechanism inspired by the principle of muscle contraction, combined with the time sequence adsorption control of the suction cup group, low-energy peristaltic crawling similar to biological organisms is achieved. This scheme not only ensures the reliability of the rigid body structure, but also expands the adaptability of the robot to unstructured walls, providing a lightweight solution for industrial detection and other scenarios. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a caterpillar-like wall climbing robot that can adsorb and walk on a flat surface or along a vertical smooth wall. Each module can be driven independently to achieve the robot's climbing from the ground to the wall. The walking method uses a vacuum pump to drive the suction cup, which is more reliable and stable, ensuring that the robot's running trajectory is controllable.

[0005] The technical solution of the present application to solve the above technical problems is as follows: A caterpillar-like wall climbing robot, comprising a control assembly, a plurality of support plates, and a suction cup moving mechanism; The ends of two adjacent groups of support plates facing each other are connected by a large suction cup. One of the support plates is provided with a large suction cup vacuum pump. The large suction cup and the large suction cup vacuum pump are connected by an air pipe. Each group of support plates is installed with at least one group of suction cup moving mechanisms. The suction cup moving mechanism includes a first vacuum pump, a second vacuum pump, and a pulley. The support plate is fixed with a pressing plate through a first suction cup. The left and right sides of the pressing plate are fixed with suction cup supports. The lower end of the suction cup support is fixed with a second suction cup through the support plate. The pulley is installed at the bottom of the support plate. The first vacuum pump and the second vacuum pump are connected with the first suction cup and the second suction cup through air pipes respectively; the control assembly is electrically connected with the large suction cup vacuum pump, the first vacuum pump and the second vacuum pump; The suction cup moving mechanisms on each group of support plates are alternately adsorbed.

[0006] The beneficial effects of the present application are that the vacuum pumps on the support plates can be independently controlled for air intake and air exhaust, the suction cups are vacuum suction cups and can be adsorbed and crawled on a non-smooth wall surface, the suction cup moving mechanisms can provide walking power, and the suction cup moving mechanisms can control the timing adsorption of the suction cups as a whole, so that the robot can move like a caterpillar.

[0007] On the basis of the above technical solutions, the present application can be further improved as follows.

[0008] Further, the suction cup moving mechanism further comprises a U-shaped pulley positioning member, both ends of which are fixedly connected with the support plate; a pulley support member is fixed on the pulley, the upper end of the pulley support member penetrates through the support plate and is fixed with a limiting plate, opposite first protrusions are fixed on the limiting plate and the pulley positioning member, and a damping spring is sleeved on the first protrusions.

[0009] The beneficial effects of the above further scheme are to provide sufficient installation space for the sliding support member and the pulley, the damping spring effectively reduces the vibration between the pulley support member and the pulley positioning member, which is beneficial to the rolling of the pulley on any irregular plane, and the limiting plate makes the acting force of the damping spring always act on the sliding support member.

[0010] Further, opposite second protrusions are further arranged on the pulley positioning member and the pressing plate, and a spring is sleeved on the second protrusions.

[0011] The beneficial effects of the above further scheme are that when the first suction cup is adsorbed, the pressing plate can be driven to move downward, and the spring is compressed; when the first suction cup stops adsorbing, the spring can make the pressing plate quickly rise.

[0012] Further, a pressing plate fixing member is further fixed on the pressing plate, a sliding cavity is arranged in the pressing plate fixing member, a positioning rod is fixed on the support plate, and the top of the positioning rod is slidably embedded in the sliding cavity.

[0013] The beneficial effects of the above further scheme are to limit the movement of the pressing plate, so that it can only move up and down.

[0014] Further, the pressing plate fixing member is in a U-shaped structure, the pressing plate is located in the U-shaped mouth of the pressing plate fixing member, and the sliding cavities are arranged on the two side walls of the pressing plate fixing member; a plurality of positioning rods are fixed on the support plate and are slidably connected with the sliding cavities respectively.

[0015] The beneficial effect of the above further scheme is that the pressing plate is clamped by the U-shaped pressing plate fixing member, and the displacement of the pressing plate is effectively limited by the stroke between the positioning rod and the sliding cavity.

[0016] Further, when the first and second suction cups are in the unabsorbed state, the position of the second suction cup is higher than that of the pulley.

[0017] The beneficial effect of the above further scheme is that the second suction cup does not affect the normal rolling of the pulley, and when the first and second suction cups are contracted, the downward movement of the pressing plate can make the second suction cup effectively contact the ground.

[0018] Further, two groups of reset springs are further fixed between the two groups of support plates, and the reset springs are respectively located on the two sides of the large suction cup.

[0019] The beneficial effect of the above further scheme is that when the large suction cup stops air intake after the large suction cup vacuum pump is powered off, the reset spring can make the large suction cup quickly rebound, so that the two groups of support plates quickly move away.

[0020] Further, it further comprises a nylon rope, and the same side of the two groups of support plates is further provided with a head-lifting mechanism. The head-lifting mechanism comprises a motor, the motor is fixed on the support plate through a motor fixing member, and a winding groove is arranged on the output shaft of the motor, and the two ends of the nylon rope are respectively fixed on the winding grooves of the two groups of head-lifting mechanisms. The control assembly is connected with the two motors respectively, and when the motor in one group of head-lifting mechanisms drives the winding groove to rotate, the motor in the other group of head-lifting mechanisms does not rotate.

[0021] The beneficial effect of the above further scheme is that the head-lifting mechanism can make the robot climb from the horizontal ground to the wall surface, the power output by the motor is transmitted through the winding groove to achieve the effect of winding and unwinding the nylon rope, so that the robot makes a head-lifting action on the horizontal ground. The suction cup can be quickly absorbed to the wall surface after the head-lifting action through the control assembly, which can overcome the large friction of the wall surface and the arc surface and other factors to keep the moving process stable and reliable.

[0022] Further, the head-lifting mechanism further comprises an electromagnet and a magnet. The electromagnet is connected to the support plate through an electromagnet fixing member and is located beside the motor, and a motor shaft fixing member is further fixed on the output shaft of the motor, a magnet fixing member is clamped in the motor shaft fixing member, the magnet is fixed in the magnet fixing member and corresponds to the electromagnet. The control assembly is electrically connected with the electromagnet, and when the electromagnet generates magnetism after being powered on, it can be adsorbed with the magnet to make the motor stop suddenly.

[0023] The beneficial effect of the above further scheme is that the magnet can provide sufficient friction force when energized, so that the robot can maintain the current action, and the suction cup moving mechanism on the lifting support plate has sufficient time to be adsorbed on the high wall.

[0024] Further, a side of the motor shaft fixing member facing the electromagnet is provided with a groove, a pair of openings are formed in the circumferential side of the groove; the magnet fixing member is embedded in the groove, and a pair of bosses are arranged on the circumferential side of the magnet fixing member, and the bosses are located in the openings.

[0025] The beneficial effect of the above further scheme is that the boss of the electromagnet fixing member and the opening in the groove of the motor shaft fixing member are connected through the stroke, so that when the electromagnet is energized, the electromagnet fixing member can drive the motor shaft fixing member and the wire winding groove to stop rotating. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 A front view of a caterpillar-like mural climbing robot provided by the present application; Figure 2 A top view of a caterpillar-like mural climbing robot provided by the present application; Figure 3 A schematic view of a suction cup moving mechanism provided by the present application; Figure 4 An exploded schematic view of a head lifting mechanism provided by the present application; Figure 5 An axonometric view of a suction cup moving mechanism provided by the present application.

[0027] In the drawings, the components represented by each reference numeral are listed as follows: 1, fixed plate; 2, first vacuum pump; 3, pressing plate fixing member; 4, pressing plate; 5, suction cup support member; 6, second suction cup; 7, positioning rod; 8, shock absorbing spring; 9, pulley support member; 10, pulley; 11, pulley positioning member; 12, support plate; 13, motor fixing member; 14, motor; 15, electromagnet fixing member; 16, electromagnet; 17, large suction cup; 18, return spring; 19, motor shaft fixing member; 20, magnet fixing member; 21, magnet; 22, first suction cup; 23, wire winding groove; 24, second vacuum pump; 25, large suction cup vacuum pump. DETAILED DESCRIPTION

[0028] The principles and features of the present application are described below, and the examples are only used to explain the present application, and are not used to limit the scope of the present application.

[0029] According to Figures 1 to 4As shown, the present invention provides a caterpillar-like wall-crawling robot, including a control component, two sets of support plates 12 and a suction cup moving mechanism. The two sets of support plates 12 are connected at opposite ends by a large suction cup 17. One set of support plates 12 is equipped with a large suction cup vacuum pump 25. The large suction cup 17 and the large suction cup vacuum pump 25 are connected by an air pipe. Each set of support plates 12 is equipped with at least one set of suction cup moving mechanisms. The suction cup moving mechanism includes a first vacuum pump 2, a second vacuum pump 24, and a pulley 10. A pressure plate 4 is fixed on the support plate 12 by the first suction cup 22. Suction cup support members 5 are fixed on the left and right sides of the pressure plate 4. The lower end of the suction cup support member 5 passes through the support plate 12 and is fixed with a second suction cup 6. The pulley 10 is installed at the bottom of the support plate 12. The installation here includes, but is not limited to, fixed installation, detachable installation, and telescopic installation.

[0030] The first vacuum pump 2 and the second vacuum pump 24 are respectively connected to the first suction cup 22 and the second suction cup 6 through air pipes; the control component is electrically connected to the large suction cup vacuum pump 25, the first vacuum pump 2 and the second vacuum pump 24; The suction cup moving mechanism on each set of support plates 12 alternately adsorbs.

[0031] In this embodiment, a first vacuum pump 2 and a second vacuum pump 24 are fixed on each of the two sets of support plates 12, and are independently controlled by a control component to control the suction cup moving mechanism on the corresponding support plate 12. The suction cup moving mechanism corresponding to the support plate 12 and the large suction cup 17 can be dynamically adjusted according to the working sequence. Specifically, the two sets of support plates 12 are respectively set as the head and tail of a biomimetic caterpillar. Please refer to [reference needed]. Figure 1 and Figure 2 As shown, the present invention will Figure 1 The right support plate 12 is designated as the head, and the left support plate 12 as the tail. The control component drives the first vacuum pump 2 and the second vacuum pump 24 of the head to start, causing the first suction cup 22 and the second suction cup 6 in the head to begin compression and adsorption. Since the support plate 12 is fixed, the first suction cup 22 of the head moves the pressure plate 4 downward, thereby moving the suction cup support 5 and the second suction cup 6 connected to the pressure plate 4 downward until the second suction cup 6 of the head adsorbs onto the ground. At this point, the head of the bionic caterpillar is temporarily fixed to the ground. During this process, the first suction cup 22 affects whether the second suction cup 6 can properly adsorb onto the ground. Therefore, the first suction cup 22 and the second suction cup 6 can be started simultaneously, or the first suction cup 22 can be started first, followed by the second suction cup 6. The first suction cup 22 and the second suction cup 6 on each set of support plates 12 use the same control logic.

[0032] Then, the control component continues to control the large suction cup 17, causing the large suction cup 17 to begin to compress, and the tail of the bionic caterpillar slides towards the head under the action of the large suction cup 17. Then, the control component drives the first vacuum pump 2 and the second vacuum pump 24 at the tail to start, so that the first suction cup 22 and the second suction cup 6 in the tail begin to compress and adhere. Since the support plate 12 is fixed, the first suction cup 22 at the tail moves the pressure plate 4 down, thereby moving the suction cup support 5 and the second suction cup 6 connected to the pressure plate 4 down until the second suction cup 6 at the tail adheres to the ground. At this time, the tail of the bionic caterpillar is temporarily fixed on the ground. Finally, the control component de-energizes the first vacuum pump 2 and the second vacuum pump 24 of the head, and the first suction cup 22 and the second suction cup 6 of the head stop adhering to the ground. The large suction cup 17 also de-energizes and rebounds under the drive of the control component. Since the tail of the bionic caterpillar is fixed to the ground, the head of the bionic caterpillar moves forward under the rebound of the large suction cup 17.

[0033] This embodiment uses this cycle to achieve continuous peristaltic movement of the biomimetic caterpillar. Due to the adsorption force of the second suction cup 6, the biomimetic caterpillar in this invention can adhere to and crawl on uneven wall surfaces. The suction cup moving mechanism provides the walking power, and the overall suction cup moving mechanism controls the sequential adsorption of the suction cups, enabling the robot to move forward like a caterpillar.

[0034] Preferably, in the embodiment, the pulley 10 can be fixedly or detachably mounted on the bottom of the support plate 12, but its function is limited. During shock absorption and adsorption by the first suction cup 22 and the second suction cup 6, the pulley 10 is easily squeezed between the support plate 12 and the ground. As a preferred embodiment, according to Figure 3 As shown, the pulley 10 in this invention adopts a floating connection. Specifically, the suction cup moving mechanism also includes a U-shaped pulley positioning member 11, whose two ends are fixedly connected to the support plate 12; a pulley support member 9 is fixed on the pulley 10, the upper end of the pulley support member 9 passes through the support plate 12 and is fixed with a limiting plate, and the limiting plate and the pulley positioning member 11 are fixed with opposing first protrusions, and a shock-absorbing spring 8 is sleeved on the first protrusion. Specifically, the shock-absorbing spring 8 is sleeved on the outside of the first protrusion, one end of which abuts against the limiting plate of the pulley support member 9, and the other end abuts against the pulley positioning member 11. This reduces the vibration between the pulley support member 9 and the pulley positioning member 11, which is beneficial for the pulley 10 to roll on any irregular surface. In addition, when the first suction cup 22 drives the pressure plate 4 to move down and the second suction cup 6 adsorbs with the ground, the shock-absorbing spring 8 can be compressed, avoiding the problem that the rigid connection between the pulley 10 and the pulley positioning member 11 can easily lead to damage to the pulley support member 9.

[0035] The pulley support 9 and pulley positioning 11 are spaced apart to allow space for the pulley 10 to move up and down relative to the support plate 12 to compress the shock-absorbing spring 8. The pulley support 9 is limited by a limiting plate, and the first protrusion restricts the position of the shock-absorbing spring 8, so that the elastic force of the shock-absorbing spring 8 always acts between the pulley positioning 11 and the pulley support 9, ensuring that the pulley 10 is always in contact with the ground, thereby facilitating the movement of the suction cup moving mechanism on the ground.

[0036] Preferably, in this embodiment, the pulley positioning member 11 and the pressure plate 4 are further provided with opposing second protrusions, and a spring is sleeved on the second protrusion. When the first suction cup 22 adsorbs, it can drive the pressure plate 4 to move downward, and the spring is compressed. When the first suction cup 22 stops adsorbing, the spring can cause the pressure plate 4 to rise rapidly. The second protrusion restricts the position of the spring, so that the spring force always acts between the pulley positioning member 11 and the pressure plate 4.

[0037] Preferably, in this embodiment, when the first suction cup 22 and the second suction cup 6 are in an unattached state, the position of the second suction cup 6 is higher than the position of the pulley 10. This ensures that the second suction cup 6 does not affect the normal rolling of the pulley 10. When the first suction cup 22 and the second suction cup 6 retract, the downward movement of the pressure plate 4 allows the second suction cup 6 to effectively contact the ground.

[0038] Preferably, in the embodiment, a pressure plate fixing member 3 is also fixed on the pressure plate 4. The pressure plate fixing member 3 has a sliding cavity. A positioning rod 7 is fixed on the support plate 12. The top of the positioning rod 7 is slidably embedded in the sliding cavity to restrict the movement of the pressure plate 4 so that it can only move up and down.

[0039] Preferably, in the embodiments, according to Figure 3 and Figure 5 As shown, the pressure plate fixing component 3 has two sets, both with a U-shaped frame structure. The pressure plate 4 has a cross-shaped structure and is placed inside the U-shaped opening of the pressure plate fixing component 3. The two are fixedly connected by snap-fit, adhesive, welding, or other means, or they can be an integral structure. The pressure plate 4 is clamped by the U-shaped pressure plate fixing component 3, and the displacement of the pressure plate 4 is effectively limited by the stroke between the positioning rod 7 and the sliding cavity, so as to avoid excessive displacement of the pressure plate 4 due to the spring after the first suction cup 22 is de-energized.

[0040] Preferably, in this embodiment, two sets of return springs 18 are fixed between two adjacent sets of support plates 12, and the return springs 18 are located on both sides of the large suction cup 17. Specifically, the return springs 18 and the support plates 12 are fixedly connected to ensure the stability of the connection between the return springs 18 and the two sets of support plates 12, as well as the operability of the subsequent head-raising mechanism. When the large suction cup 17 stops air intake after the large suction cup vacuum pump 25 is de-energized, the return springs 18 can make the large suction cup 17 quickly rebound, thereby causing the two sets of support plates 12 to move away quickly. That is, the restoring force provided by the return springs 18 pushes the head of the bionic caterpillar forward, and the body returns to its original shape, thereby realizing the forward movement of the robot.

[0041] Preferably, in the embodiment, a nylon rope (not shown) is also included, and a head-up mechanism is provided on the same side of the support plate 12; the head-up mechanism includes a motor 14; the motor 14 is connected to the support plate 12 through a motor fixing member 13, and a winding groove 23 is provided on the output shaft of the motor 14, and the two ends of the nylon rope are respectively fixed on the winding grooves 23 of the two sets of head-up mechanisms.

[0042] The control component is connected to the motor 14. When the motor 14 in one set of lifting mechanisms drives the winding groove 23 to rotate, the motor 14 in the other set of lifting mechanisms does not rotate. Since the length of the nylon rope is fixed, the other set of lifting mechanisms can drive the corresponding support plate 12 to lift upward.

[0043] The head-raising mechanism allows the robot to climb from a horizontal surface to a wall. The power output from the motor 14 is transmitted through the cable reel 23 to reel in and release the nylon rope, enabling the robot to perform head-raising movements on the horizontal surface. The second suction cup 6 in the raised support plate 12 can quickly adhere to the wall after head-raising via the control component, overcoming the high friction and curvature of the wall surface, and maintaining a smooth and reliable movement process.

[0044] Preferably, in the embodiment, the head-up mechanism further includes an electromagnet 16 and a magnet 21.

[0045] Electromagnet 16 is fixed to support plate 12 by electromagnet fixing part 15 and is located next to motor 14. Motor shaft fixing part 19 is also fixed on output shaft of motor 14. Magnet fixing part 20 is snapped into motor shaft fixing part 19. Magnet 21 is fixed in magnet fixing part 20 and corresponds to electromagnet 16. Control component is electrically connected to electromagnet 16. When electromagnet 16 is energized and generates magnetism, it can attract magnet 21 to stop motor 14.

[0046] When magnet 21 is energized, it can provide sufficient friction to allow the robot to maintain its current motion, so that the suction cup moving mechanism on the raised support plate 12 can have enough time to adhere to the wall at a high position.

[0047] Preferably, in the embodiment, the motor shaft fixing member 19 has a groove on the side facing the electromagnet 16, and a pair of openings are provided on the periphery of the groove; the magnet fixing member 20 is embedded in the groove, and a pair of bosses are provided on the periphery of the magnet fixing member 20, with the bosses located in the openings.

[0048] according to Figure 4 As shown, the boss of the electromagnet fixing member 15 and the opening in the groove of the motor shaft fixing member 19 form a snap-fit ​​structure, ensuring that after the electromagnet 16 is energized, the electromagnet fixing member 15 can drive the motor shaft fixing member 19 and the winding groove 23 to stop rotating.

[0049] The control components in this invention include, but are not limited to, electrical components such as controllers and relays, which are electrically connected to the first vacuum pump 2, the second vacuum pump 24, the large suction cup vacuum pump 25, the electric motor 14, and the electromagnet 16, in order to achieve the technical purpose of driving the corresponding components to start.

[0050] Preferably, in this embodiment, to protect the various components on the support plate 12, vertical fixing plates 1 are fixed at both ends of the support plate 12. The large suction cup 17 and the return spring 18 are fixed on two adjacent fixing plates 1 of the two sets of support plates 12, and the large suction cup vacuum pump 25 is fixed on one of the fixing plates 1. In addition, the lifting mechanism on the same side of the support plate 12 can also be fixed on the fixing plate 1 on the same side. The height of the fixing plate 1 itself can raise the position of the lifting mechanism to a certain height, so as to avoid the mutual interference between the installation position of the lifting mechanism and the large suction cup 17.

[0051] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0056] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A caterpillar-like wall-crawling robot, characterized in that, Includes control components, multiple sets of support plates (12), and a suction cup moving mechanism; The two adjacent sets of support plates (12) are connected at opposite ends by a large suction cup (17). One set of support plates (12) is equipped with a large suction cup vacuum pump (25). The large suction cup (17) and the large suction cup vacuum pump (25) are connected by an air pipe. At least one set of suction cup moving mechanisms is installed on each set of support plates (12). The suction cup moving mechanism includes a first vacuum pump (2), a second vacuum pump (24), and a pulley (10). A pressure plate (4) is fixed on the support plate (12) by the first suction cup (22). Suction cup support members (5) are fixed on the left and right sides of the pressure plate (4). The lower end of the suction cup support member (5) passes through the support plate (12) and is fixed with a second suction cup (6). The pulley (10) is installed at the bottom of the support plate (12). The first vacuum pump (2) and the second vacuum pump (24) are respectively connected to the first suction cup (22) and the second suction cup (6) through air pipes; the control component is electrically connected to the large suction cup vacuum pump (25), the first vacuum pump (2) and the second vacuum pump (24); The suction cup moving mechanism on each set of support plates (12) alternately adsorbs.

2. The caterpillar-like wall-crawling robot according to claim 1, characterized in that, The suction cup moving mechanism also includes a U-shaped pulley positioning component (11), whose two ends are fixedly connected to the support plate (12); a pulley support component (9) is fixed on the pulley (10), the upper end of the pulley support component (9) passes through the support plate (12) and is fixed with a limit plate, and the limit plate and the pulley positioning component (11) are fixed with opposing first protrusions, and a shock-absorbing spring (8) is sleeved on the first protrusion.

3. The caterpillar-like wall-crawling robot according to claim 2, characterized in that, The pulley positioning component (11) and the pressure plate (4) are also provided with opposing second protrusions, and a spring is sleeved on the second protrusion.

4. The caterpillar-like wall-crawling robot according to claim 3, characterized in that, The pressure plate (4) is also fixed with a pressure plate fixing member (3), and the pressure plate fixing member (3) is provided with a sliding cavity. The support plate (12) is fixed with a positioning rod (7), and the top of the positioning rod (7) is slidably embedded in the sliding cavity.

5. The caterpillar-like wall-crawling robot according to claim 4, characterized in that, The pressure plate fixing member (3) has a U-shaped structure. The pressure plate (4) is located in the U-shaped opening of the pressure plate fixing member (3), and the sliding cavity is provided on both sides of the pressure plate fixing member (3). Multiple positioning rods (7) are fixed on the support plate (12) and are slidably connected to the sliding cavity respectively.

6. The caterpillar-like wall-crawling robot according to claim 1, characterized in that, When the first suction cup (22) and the second suction cup (6) are in an unattached state, the position of the second suction cup (6) is higher than the position of the pulley (10).

7. The caterpillar-like wall-crawling robot according to claim 1, characterized in that, Two sets of reset springs (18) are also provided between the two adjacent sets of support plates (12), and the reset springs (18) are located on both sides of the large suction cup (17).

8. A caterpillar-like wall-crawling robot according to any one of claims 1 to 7, characterized in that, It also includes nylon rope, and a head-up mechanism is provided on the same side of the support plate (12); The head-up mechanism includes a motor (14), which is fixed to the support plate (12) by a motor fixing part (13), and the output shaft of the motor (14) is provided with a winding groove (23). The two ends of the nylon rope are respectively fixed to the winding grooves (23) of the two head-up mechanisms. The control components are connected to the two motors (14) respectively. When the motor (14) in one set of the head-up mechanism drives the winding groove (23) to rotate, the motor (14) in the other set of the head-up mechanism does not rotate.

9. The caterpillar-like wall-crawling robot according to claim 8, characterized in that, The head-up mechanism also includes an electromagnet (21) and a magnet (21). The electromagnet (21) is connected to the support plate (12) by the electromagnet fixing part (15) and is located next to the motor (14). The output shaft of the motor (14) is also fixed with a motor shaft fixing part (19). A magnet fixing part (20) is snapped into the motor shaft fixing part (19). The magnet (21) is fixed in the magnet fixing part (20) and corresponds to the electromagnet (21). The control component is electrically connected to the electromagnet (21). When the electromagnet (21) is energized and generates magnetism, it can attract the magnet (21) to stop the motor (14) abruptly.

10. The caterpillar-like wall-crawling robot according to claim 9, characterized in that, The motor shaft fixing member (19) has a groove on the side facing the electromagnet (21), and a pair of openings are provided on the periphery of the groove; the magnet fixing member (20) is embedded in the groove, and a pair of bosses are provided on the periphery of the electromagnet fixing member (20), and the bosses are located in the openings.

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