Mobile wall-climbing robot driven by single power

Abstract

The invention discloses a mobile wall-climbing robot driven by single power, and relates to the field of wall-climbing robots. The robot comprises a rack, a power system, an inner-layer crawling mechanism, an outer-layer crawling mechanism and viscoelastic foot pads. The power system only takes a single driving steering engine as a power source, the inner-layer crawling mechanism is a connecting rod mechanism with the tail end doing approximately linear motion within a certain range, and the outer-layer crawling mechanism is a composite mechanism composed of a gear, a rack and a spring; the inner-layer crawling mechanism and the outer-layer crawling mechanism are each provided with four contact soles, viscoelastic foot pads are arranged at the bottoms of the soles and used for being stably attached to the wall face, and the robot completes wall-climbing movement through reciprocating swing of a steering engine and alternate actions of the inner-layer crawling mechanism and the outer-layer crawling mechanism. The stable wall climbing function of the robot under single-power driving is achieved, the energy consumption cost and the control complexity are extremely low, and the robot is suitable for the movable climbing task of the flat wall face.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robots, and in particular to a single-power-driven mobile wall-climbing robot. Background Technology

[0002] Wall-climbing robots, as a type of specialized robot capable of stable movement and operation on vertical, inclined, and even inverted surfaces, are increasingly becoming indispensable key tools in modern industry and technology. In building structure inspection and maintenance, wall-climbing robots can be equipped with various sensors to perform non-destructive testing on the exterior walls, glass curtain walls, and steel structures of high-rise buildings. For special industrial facilities such as nuclear power plants, wall-climbing robots can perform equipment inspection, cleaning, and fault diagnosis tasks in radiation or high-temperature environments, greatly reducing personnel exposure risks and improving operational safety. In summary, wall-climbing robots not only significantly improve operational efficiency and safety and reduce operating costs, but also broaden the boundaries of human operations in extreme environments.

[0003] Current wall-climbing robots mainly use negative pressure adsorption and magnetic adsorption to connect with the wall surface. Patent document CN115056878B discloses a multifunctional bionic spider that climbs by negative pressure. It generates negative pressure through a micro negative pressure generator to adsorb onto the contact surface and can flexibly climb on slopes and walls. Patent document CN120364018A discloses a wall-climbing robot with electromagnetic adsorption that can climb and inspect metal surfaces.

[0004] However, the above invention has the following drawbacks: to maintain its wall-climbing adhesion ability, a continuous additional energy supply is required to generate and maintain the necessary negative pressure or magnetic force. Furthermore, the multi-actuator design of the wall-climbing robot not only significantly increases overall energy consumption but also substantially increases the weight of the robot and the complexity of the control system.

[0005] To address these issues, we provide a single-power-driven mobile wall-climbing robot. Summary of the Invention

[0006] The purpose of this invention is to provide a single-power-driven mobile wall-climbing robot to solve the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides a single-power-driven mobile wall-climbing robot, including a frame, a power system, an inner climbing mechanism, an outer climbing mechanism, and viscoelastic foot pads. The power system is arranged inside the frame, and the inner crawling mechanism is symmetrically arranged along the length of the frame. The power system uses a single drive servo motor as a power source, and transmits power through a gear set. The servo motor performs reciprocating motion, thereby enabling the inner crawling mechanism and the outer crawling mechanism to perform alternating crawling actions. The outer crawling mechanism is symmetrically arranged in the width direction of the frame and shares the same power source with the inner crawling mechanism; Both the inner and outer crawling mechanisms have viscoelastic foot pads fixed at their contact points with the wall surface, providing the robot with the adhesion required for climbing.

[0008] Preferably, the power system includes: A drive servo motor is fixed to the frame, and the drive servo motor only performs rotary reciprocating motion; The inner transmission gear, which cooperates with the inner power shaft and the outer power shaft, transmits power to the inner power shaft at both ends of the frame and the outer power shaft in the middle of the frame through the rotational motion of the drive servo and gear meshing. The outer transmission gear is fixed at both ends of the outer power shaft and transmits power to the outer crawling mechanism.

[0009] Preferably, the inner crawling mechanism includes a linkage mechanism symmetrically arranged along the length of the frame. The linkage mechanism consists of a frame rod, a crank, a rocker arm, a connecting rod, and a leg rod. The crank is fixed at both ends of the inner power shaft to maintain synchronous rotation.

[0010] Preferably, the length ratio of the frame rod, crank, rocker arm, and connecting rod of the linkage mechanism is 2:1:2.5:5. One end of the rocker arm is hinged to the connecting rod at halfway point. Under this length ratio, the crank can rotate within a certain range (0°-180°), and the end of the linkage mechanism, i.e., the hinged end of the connecting rod, can achieve approximately linear motion.

[0011] Preferably, the end of the connecting rod is hinged to the leg rod, the main body of the leg rod is cylindrical and moves under the restriction and guidance of the circular holes at both ends of the frame, and the diameter of the circular holes is slightly larger than the diameter of the leg rod cylinder (in this invention, the hole diameter is 1.07 times the shaft diameter) to ensure the overall straightness of the leg rod when it moves.

[0012] Preferably, the outer crawling mechanism includes: An outer fixing plate, which is connected to the frame and has a round hole that mates with the outer power shaft; The slide rail has a fixed end connected to the outer fixed plate, and its sliding end is fixed to the outer crawling foot one and the outer crawling foot two. Compression spring one and compression spring two are provided. Compression spring one is connected to outer crawling foot one and is used to limit the position of outer crawling mechanism. Compression spring two is sleeved on the optical axis connecting outer crawling foot one and outer crawling foot two, and together with the limiting shaft, it limits the position of movable teeth and outer crawling mechanism.

[0013] Preferably, the outer fixing plate is designed with a vertical protrusion structure, which serves as a limiting baffle for the compression spring.

[0014] Preferably, both the first outer crawling foot and the second outer crawling foot are fixed to the sliding end of the slide rail, and the optical axis is fixed between the first outer crawling foot and the second outer crawling foot. The movable tooth is a single tooth with a round hole and is fitted onto the optical axis.

[0015] Preferably, one end of the compression spring is fixed to the outer crawling foot, and the other end is spaced a certain distance from the protrusion of the outer fixing plate. The compression spring is sleeved on the optical axis, and its two ends are in contact with the outer crawling foot and the movable tooth, respectively, at the original length. The limiting shaft moves under the restriction of the groove of the outer crawling foot. The compression spring, the compression spring, the movable tooth, and the limiting shaft work together to realize the movement of the outer crawling mechanism.

[0016] Preferably, the viscoelastic foot pad is a circular cylinder with a certain thickness, fixed to the circular contact end face of the leg rod, the first outer crawling foot, and the second outer crawling foot. Its main component is polyurethane, which has a certain degree of viscosity and elasticity, and can provide the adhesion force required for the robot proposed in this invention to climb walls, and play a certain cushioning role.

[0017] Compared with the prior art, the present invention has the following advantages and technical effects: The single-power-driven mobile wall-climbing robot provided by this invention uses only a single drive servo motor as its power source. The reciprocating rotation of the servo motor enables the alternating movement of the inner and outer climbing mechanisms, thereby achieving the robot's climbing action. Polyurethane material with viscoelastic properties is used as the footpads for the crawling feet. During movement, the adhesive force required for the inner crawling footpad is converted from the de-adhesion force of the outer crawling footpad, and vice versa. Through single-power drive and passive adhesion, the robot's weight, energy consumption, and control system complexity are significantly reduced. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the structure of the single-power-driven mobile wall-climbing robot provided by the present invention; Figure 2 A schematic diagram of the power system provided by the present invention; Figure 3 A schematic diagram of the inner crawling mechanism provided by the present invention; Figure 4 A schematic diagram of the motion of the linkage mechanism provided by the present invention; Figure 5 A schematic diagram of the outer crawling mechanism provided by the present invention; Figure 6 This is a schematic diagram illustrating the motion process of the outer crawling mechanism provided by the present invention. Figure 7 This is a schematic diagram illustrating the movement process of the wall-climbing robot provided by the present invention; In the diagram: 1. Frame; 2. Power system; 3. Inner crawling mechanism; 4. Outer crawling mechanism; 5. Viscoelastic foot pad; 21. Drive servo; 22. Inner transmission gear; 23. Outer power shaft; 24. Inner power shaft; 25. Outer transmission gear; 31. Crank; 32. Rocker arm; 33. Connecting rod; 34. Leg; 41. Outer fixing plate; 42. Slide rail; 43. Outer crawling foot one; 44. Compression spring one; 45. Compression spring two; 46. Movable gear; 47. Outer crawling foot two; 48. Optical shaft; 49. Limiting shaft; 5. Viscoelastic foot pad. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other. The described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] like Figures 1 to 6 As shown, the present invention provides a single-power-driven mobile wall-climbing robot, including a frame 1, which is composed of two parallel plates connected together, and a power system 2 is installed inside.

[0022] The frame 1 has an inner crawling mechanism 3 and an outer crawling mechanism 4 symmetrically arranged in the length and width directions, respectively, and they share a common power system.

[0023] The inner crawling mechanism 3 is used to provide the linear displacement required for the robot to undulate along the wall normal direction; The outer crawling mechanism 4 is used to provide the linear displacement required for the robot to crawl parallel to the wall; The viscoelastic foot pads 5 are fixed to the crawling ends of the inner crawling mechanism 3 and the outer crawling mechanism 4 to provide the adhesion required for climbing the wall.

[0024] Further optimization of the scheme, power system 2 includes: The drive servo motor 21 is fixed to one side inside the frame 1, and its output end is connected to an inner transmission gear 22. There are two inner power shafts 24, which are respectively arranged at both ends of the frame length direction. Each inner power shaft 24 is fixed with an inner transmission gear 22. An outer power shaft 23 is mounted close to the drive servo motor 21, with outer transmission gears 25 fixed at both ends and an inner transmission gear 22 fixed in the middle. Through gear transmission, the two inner power shafts 24 can rotate synchronously in opposite directions, while power is transmitted to the outer transmission gear 25 to drive the outer crawling mechanism 4.

[0025] Further optimization of the scheme: the inner crawling mechanism 3 is composed of four linkage mechanisms. Each linkage mechanism includes a crank 31, a rocker arm 32, a connecting rod 33, and a foot rod 34. One end of the crank 31 is fixed to the output end of the inner power shaft 23, and the other end is hinged to the outer end of the connecting rod 33. One end of the rocker arm 32 is hinged to a preset hole on the frame 1, and the other end is hinged to a preset hole at the midpoint of the connecting rod 33. The other outer end of the connecting rod 33 is hinged to a preset hole on the foot rod 34. The length ratio of the frame rod, crank 31, rocker arm 32, and connecting rod 33 in the linkage mechanism is 2:1:2.5:5. Under this ratio, defining the vertical upward angle of crank 31 as zero, when crank 31 reciprocates within the range of 0° to 90°, the end of the connecting rod 33 in this linkage mechanism undergoes an approximately linear motion. Figure 4 As shown; The main body of the leg rod 34 is a round shaft, which is located in the round holes at both ends of the frame 1. The leg rod 34 can reciprocate under the drive of the connecting rod 33 and the constraint of the round holes on both sides of the frame 1. Since the leg rod 34 can only perform approximately linear motion, its shaft diameter needs to be slightly smaller than the diameter of the round holes on both sides of the frame 1 to ensure smooth movement without jamming. In this invention, the hole diameter is 1.07 times the shaft diameter.

[0026] The outer crawling mechanism has been further optimized and includes: The outer fixing plate 41 is symmetrically arranged in the width direction of the frame 1 and is fastened to the frame 1. The outer fixing plate 41 is designed with a vertical protrusion structure. The slide rail 42 has a fixed end connected to the outer fixed plate 41, and the moving end is fixed with an outer crawling foot 1 43 and an outer crawling foot 2 47. An optical axis 48 is fixed between the outer crawling foot 1 43 and the outer crawling foot 2 47. A movable tooth 46 is sleeved on the optical axis 48, and the movable tooth 46 can move axially along the optical axis 48. Compression spring 1 44 and compression spring 2 45 are fixedly connected to outer crawling foot 1 43. Compression spring 1 44 maintains a certain distance from the vertical protrusion of outer fixing plate 41 at its original length. Compression spring 2 45 is sleeved on optical axis 48. Compression spring 2 45 is in contact with outer crawling foot 1 43 and movable tooth 46 at both ends of its original length.

[0027] The scheme is further optimized by providing a sliding groove on the outer crawling foot 43, and the limiting shaft 49 passes through the sliding groove and is fixed on the frame 1. Through the combined action and constraint of the compression spring 44, the compression spring 45, the movable tooth 46 and the limiting shaft 49, the crawling action of the outer crawling mechanism 4 is realized.

[0028] Further optimizing the scheme, one motion cycle of the robot is as follows: When the crank 31 is at the zero-angle position, the two outer crawling legs 1 43 and two outer crawling legs 2 47 are in contact with the wall. At this time, the outer crawling mechanism 4 provides adhesion. When the drive servo motor 21 starts to rotate, the two inner power shafts 24 start to rotate in opposite directions, causing the linkage mechanism to move as a whole, driving the leg 34 to move towards the wall. At the same time, the outer power shaft 23 transmits power to the movable gear 46 through the outer transmission gear 25. Through meshing, the frame 1 and the inner crawling mechanism 3 are displaced as a whole. When the crank 31 rotates 45°, the inner crawling mechanism 3 and the outer crawling mechanism 4 switch adhesion. At this time, the compression spring 1 44 is fixed to the outer layer. The vertical protrusions of plate 41 are in contact with each other, so that the movable tooth 46 is always in contact with the outer transmission gear 25 during the crank rotation from 45° to 90°. When the crank rotates to 90°, the drive servo 21 starts to reverse, and the outer transmission gear 25 meshes with the movable tooth 46 again. Under the action of the compression spring 25 and the slide rail 42, the movable tooth 25 drives the outer crawling foot 1 43 and the outer crawling foot 2 47 to move in the displacement direction. When the crank 31 rotates 45°, the inner crawling mechanism 3 and the outer crawling mechanism 4 switch adhesion again. During the process of the crank 31 rotating to the zero angle position, the compression spring 25 and the limit shaft 49 together ensure that the movable tooth 25 is always in contact with the outer transmission gear 25. By repeating the above process, i.e. driving the servo motor 21 to rotate and reciprocate, the robot can achieve wall-climbing motion.

[0029] The design was further optimized by bonding the viscoelastic foot pad 5 to the leg bar 34, crawling foot one 43, and outer crawling foot two 47.

[0030] The foregoing description enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A single-power-driven mobile wall-climbing robot, characterized in that: The robot includes a frame (1), a power system (2), an inner crawling mechanism (3), an outer crawling mechanism (4), and viscoelastic foot pads (5); The power system (2) is arranged inside the frame (1), and the inner crawling mechanism (3) is arranged symmetrically in the length direction of the frame (1); The power system (2) uses a single drive servo motor (21) as a power source and transmits power through a gear set. The drive servo motor (21) performs reciprocating motion, thereby enabling the inner crawling mechanism (3) and the outer crawling mechanism (4) to perform alternating crawling actions. The outer crawling mechanism (4) is symmetrically arranged in the width direction of the frame (1) and shares the same power source with the inner crawling mechanism (3); Both the inner crawling mechanism (3) and the outer crawling mechanism (4) have viscoelastic foot pads (5) fixed at their contact ends with the wall surface, providing the robot with the adhesion force required for climbing the wall.

2. The single-power-driven mobile wall-climbing robot according to claim 1, characterized in that, The power system (2) includes: A drive servo motor (21) is fixed to the frame (1), and the drive servo motor (21) only performs rotary reciprocating motion; The inner transmission gear (22) is engaged with the inner power shaft (24) and the outer power shaft (23). Through the rotational motion of the drive servo (21) and the gear meshing, the power is transmitted to the inner power shaft (24) at both ends of the frame (1) and the outer power shaft (23) in the middle of the frame. The outer transmission gear (25) is fixed at both ends of the outer power shaft (23) and transmits power to the outer crawling mechanism (4).

3. The single-power-driven mobile wall-climbing robot according to claim 1, characterized in that, The inner crawling mechanism (3) includes a linkage mechanism symmetrically arranged along the length of the frame (1). The linkage mechanism consists of a frame rod, a crank (31), a rocker arm (32), a connecting rod (33), and a leg rod (34). The crank (31) is fixed at both ends of the inner power shaft (24) to maintain synchronous rotation.

4. The single-power-driven mobile wall-climbing robot according to claim 3, characterized in that, The length ratio of the frame rod, crank (31), rocker (32) and connecting rod (33) of the linkage mechanism is 2:1:2.5:

5. One end of the rocker (32) is hinged to the connecting rod (33) at halfway point. Under this length ratio, the crank rotates within a certain range (0°-180°), and the end of the linkage mechanism, i.e. the end hinge of the connecting rod (33), can achieve approximately linear motion.

5. The single-power-driven mobile wall-climbing robot according to claim 4, characterized in that, The end of the connecting rod (33) is hinged to the leg rod (34). The main body of the leg rod (34) is cylindrical and moves under the restriction and guidance of the circular holes at both ends of the frame (1). The diameter of the circular hole is slightly larger than the diameter of the cylindrical leg rod (34) (in this invention, the hole diameter is 1.07 times the shaft diameter) to ensure the overall straightness of the leg rod (34) when it moves.

6. The single-power-driven mobile wall-climbing robot according to claim 1, characterized in that, The outer crawling mechanism (4) includes: The outer fixing plate (41) is connected to the frame (1) and has a round hole that cooperates with the outer power shaft (23); The slide rail (42) has a fixed end connected to the outer fixing plate (41), and its sliding end is fixed to the outer crawling foot one (43) and the outer crawling foot two (47); Compression spring one (44) and compression spring two (45), the compression spring one (44) is connected to the outer crawling foot one (43) and is used to limit the position of the outer crawling mechanism (4), the compression spring two (45) is sleeved on the optical axis (48) connecting the outer crawling foot one (43) and the outer crawling foot two (47), and together with the limiting shaft (49) limits the position of the movable tooth (46) and the outer crawling mechanism (4).

7. The single-power-driven mobile wall-climbing robot according to claim 6, characterized in that, The outer fixing plate (41) is designed with a vertical protrusion structure, which serves as a limiting baffle for the compression spring (44).

8. The single-power-driven mobile wall-climbing robot according to claim 6, characterized in that, The outer crawling foot one (43) and the outer crawling foot two (47) are both fixed to the sliding end of the slide rail (42), and the optical axis (48) is fixed between the outer crawling foot one (43) and the outer crawling foot two (47). The movable tooth (46) is a single tooth, with a round hole and is fitted onto the optical axis.

9. The single-power-driven mobile wall-climbing robot according to claim 6, characterized in that, One end of the compression spring (44) is fixed to the outer crawling foot (43), and the other end of the compression spring is spaced at a certain distance from the protrusion of the outer fixing plate (41). The compression spring (45) is sleeved on the optical axis (48), and its two ends are in contact with the outer crawling foot (43) and the movable tooth (46) respectively. The limiting shaft (49) moves under the restriction of the groove of the outer crawling foot (43). The compression spring (44), the compression spring (45), the movable tooth (46) and the limiting shaft (49) work together to realize the movement of the outer crawling mechanism (4).

10. The single-power-driven mobile wall-climbing robot according to claim 1, characterized in that, The viscoelastic foot pad (5) is a circular cylinder with a certain thickness, fixed to the circular contact end face of the leg rod (34), the outer crawling foot one (43) and the outer crawling foot two (47). Its main component is polyurethane, which has a certain degree of viscosity and elasticity. It can provide the adhesion force required for the robot proposed in this invention to climb the wall and play a certain buffering role.

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