Wall-climbing robot device

Abstract

This invention provides a wall-climbing robot device, relating to the technical field of wind power equipment maintenance. It includes a drive wheel assembly structure, an omnidirectional wheel assembly structure, permanent magnet adsorption components, a grinding structure, a moving mechanism, and a frame. Drive wheel assemblies are connected to both sides of the frame. Each drive wheel assembly structure includes a rubber wheel and a nylon wheel, with the rubber wheel connected to the nylon wheel via a first frame assembly. The omnidirectional wheel assembly structure is connected to the end of the frame furthest from the drive wheel assembly structure, and the two omnidirectional wheel bodies are connected via a second frame assembly. Both the first and second frame assemblies are connected to corresponding permanent magnet adsorption components, which are used to fix the drive wheel assembly structure and the omnidirectional wheel assembly structure to the wall surface through magnetic attraction. The grinding structure is connected to the frame via the moving mechanism. This invention alleviates the problems of poor operational safety and stability, uneven grinding pressure distribution, incomplete coating removal, and low efficiency in existing technologies.

Description

Technical Field

[0001] This invention relates to the technical field of wind power equipment maintenance, and in particular to a wall-climbing robot device. Background Technology

[0002] Wall-climbing robots are special robots that can climb walls and complete tasks. Specific application scenarios include the energy industry (wind turbine towers and blades), petrochemical industry (oil and gas pipelines, large storage tanks, etc.), construction industry (houses, bridges, tunnels, etc.), aviation industry, and shipbuilding and marine industry.

[0003] Currently, with technological advancements, wall-climbing robots are being explored for use in replacing manual labor to improve automation levels. However, in practical applications, existing wall-climbing robot systems face two major technological bottlenecks: First, insufficient chassis posture stability. When the robot moves vertically or laterally or adjusts its posture on a conical or small-radius curved wall (e.g., 1.0 meter), it is prone to tipping over or slipping due to changes in the center of gravity and uneven distribution of adsorption force. In other words, the existing chassis structure cannot ensure continuous and stable contact between the drive / driven wheels and the wall surface, causing fluctuations in the adsorption force provided by the permanent magnet adsorption unit, thus leading to safety hazards. Second, the adaptability of the work tools is a significant issue. Traditional grinding devices mounted on robots often use rigid installation methods, which cannot effectively adapt to changes in wall curvature or robot tilt. This results in uneven grinding pressure distribution, incomplete coating removal, low efficiency, and may cause problems such as premature wear of the grinding head and substandard surface quality. Summary of the Invention

[0004] The purpose of this invention is to provide a wall-climbing robot device to alleviate the technical problems of poor operational safety and stability, uneven grinding pressure distribution, incomplete coating removal, and low efficiency in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a wall-climbing robot device, comprising a drive wheel assembly structure, an omnidirectional wheel assembly structure, a permanent magnet adsorption component, a grinding structure, a moving mechanism, and a frame, wherein the drive wheel assembly structure is connected to both sides of the frame. Each set of the drive wheel assembly includes a rubber wheel and a nylon wheel. The rubber wheel is connected to the nylon wheel via a first frame assembly, so that both the rubber wheel and the nylon wheel are used to move along a flat wall and / or a curved wall. The omnidirectional wheel assembly structure is connected to the end of the frame away from the drive wheel assembly structure, and the omnidirectional wheel assembly structure includes two sets of omnidirectional wheel bodies. The two sets of omnidirectional wheel bodies are connected by a second frame assembly so that the omnidirectional wheel bodies can be used to move along flat and / or curved walls. Both the first frame assembly and the second frame assembly are connected to the corresponding permanent magnet adsorption component, which is used to fix the drive wheel assembly structure and the omnidirectional wheel assembly structure to the wall surface by magnetic attraction. The polishing structure is connected to the frame via the moving mechanism, and the polishing structure is used to polish the wall surface.

[0006] Furthermore, the drive wheel assembly structure also includes a drive component, which is connected to the first frame assembly and to the rubber wheel, and is used to drive the rubber wheel to rotate.

[0007] Furthermore, the first frame assembly includes a hub bracket, a connecting shaft, a first elastic element, and a first wheel axle, wherein the hub bracket is connected to the drive element and the rubber wheel respectively; The hub bracket is connected to the permanent magnet adsorption component below it via multiple first elastic elements, and the hub bracket is connected to the nylon wheel via the first wheel axle; The hub bracket is rotatably connected to the frame via the connecting shaft.

[0008] Furthermore, the second frame assembly includes a first fixed seat, a pin, a second wheel axle, a bearing, and a second elastic element. The two ends of the first fixed seat are respectively connected to the omnidirectional wheel body through the corresponding second wheel axle, and the bearing is provided between the second wheel axle and the omnidirectional wheel body. The first fixing base is connected to the corresponding permanent magnet adsorption component via a second elastic element; The first fixed base is connected to the frame via the pin.

[0009] Furthermore, the moving mechanism includes a linear module and a lifting component. The linear module is distributed along a first direction and connected to the lifting component. The top and bottom of the linear module are slidably provided with moving blocks, and the linear module is connected to the grinding structure through the moving blocks. The lifting component is connected to the frame, and the lifting component is used to drive the linear module to move along the second direction.

[0010] Furthermore, the grinding structure includes a grinding wheel, a reducer, a grinding motor, and a connecting mechanism, wherein the connecting mechanism is connected to the moving block; The reducer is connected to the connecting mechanism, and one end of the reducer is connected to the grinding motor, while the other end is connected to the grinding wheel.

[0011] Furthermore, the connecting mechanism includes an adapter, a floating seat, and a second fixed seat. The adapter is connected to the reducer, and the adapter is rotatably connected to the second fixed seat through the floating seat. The second fixed base is connected to the corresponding movable block.

[0012] Furthermore, the connecting mechanism also includes a leaf spring, one end of which is connected to the movable block located at the bottom of the linear module via a corresponding second fixed seat; The other end of the leaf spring abuts against the floating seat.

[0013] Furthermore, the wall-climbing robot device also includes a guide member, which is connected to the frame along the second direction, and the guide member is slidably provided with a lifting block; The lifting block is connected to the linear module.

[0014] Furthermore, the wall-climbing robot device also includes a control unit, a battery, and a housing. Both the control unit and the battery are connected to the frame, and the battery is electrically connected to the control unit. The number control is electrically connected to the drive wheel assembly structure, the grinding structure, and the moving mechanism, respectively. The outer casing is connected to the frame, and the outer casing is used to house the control unit and the battery cover.

[0015] The present invention can achieve the following beneficial effects: In a first aspect, the present invention provides a wall-climbing robot device, comprising a drive wheel assembly structure, an omnidirectional wheel assembly structure, a permanent magnet adsorption component, a grinding structure, a moving mechanism, and a frame. Both sides of the frame are connected to drive wheel assemblies. Each drive wheel assembly structure includes a rubber wheel and a nylon wheel. The rubber wheel is connected to the nylon wheel via a first frame assembly, allowing both the rubber wheel and the nylon wheel to move along a flat wall surface and / or a curved wall surface. The omnidirectional wheel assembly structure is connected to the end of the frame away from the drive wheel assembly structure, and includes two sets of omnidirectional wheel bodies connected via a second frame assembly, allowing the omnidirectional wheel bodies to move along a flat wall surface and / or a curved wall surface. Both the first and second frame assemblies are connected to corresponding permanent magnet adsorption components, which are used to fix the drive wheel assembly structure and the omnidirectional wheel assembly structure to the wall surface by magnetic attraction. The grinding structure is connected to the frame via the moving mechanism and is used to grind the wall surface.

[0016] In this invention, a drive wheel assembly and an omnidirectional wheel assembly are connected to the frame, with the frame connected to both via corresponding axles. This allows the drive wheel assembly to adjust its tilt angle when connected to the frame, ensuring a closer fit to the curved wall surface during movement. Both the drive wheel assembly and the omnidirectional wheel assembly are equipped with permanent magnets, which firmly attach them to the outer wall, enabling the wall-climbing robot to move stably on the wall. The front end of the frame is connected to a grinding structure via a moving mechanism, allowing the grinding structure to grind the wall surface during the frame's movement, thus meeting the requirement for uniform grinding.

[0017] Compared with the prior art, the wall-climbing robot device provided by the present invention connects the drive wheel assembly structure and the omnidirectional wheel assembly structure to the frame, and connects the drive wheel assembly structure and the omnidirectional wheel assembly structure to the corresponding permanent magnet adsorption components, so that the wall-climbing robot can walk smoothly on the wall surface. The grinding structure located in front of the frame can be adjusted in position and height through the moving mechanism to meet the situation of uneven grinding pressure distribution, thereby effectively improving the construction efficiency.

[0018] In summary, the present invention at least alleviates the technical problems of poor operational safety and stability, uneven grinding pressure distribution, incomplete coating removal, and low efficiency in the prior art. Attached Figure Description

[0019] 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.

[0020] Figure 1 A three-dimensional structural diagram of the internal structure of the wall-climbing robot device provided in an embodiment of the present invention, viewed from a first perspective. Figure 2 A three-dimensional structural diagram of the internal structure of the wall-climbing robot device provided in an embodiment of the present invention, viewed from a second perspective. Figure 3 This is a schematic diagram of the overall structure of the wall-climbing robot device provided in an embodiment of the present invention from a first-view perspective. Figure 4 A diagram showing the internal structure of the wall-climbing robot device provided in an embodiment of the present invention traveling on a curved surface; Figure 5 This is a diagram showing the state of the wall-climbing robot device traveling on a plane according to an embodiment of the present invention; Figure 6 This is a diagram showing the state of the wall-climbing robot device provided in an embodiment of the present invention traveling on a curved surface; Figure 7 A perspective view of the grinding structure of the wall-climbing robot device provided in an embodiment of the present invention; Figure 8 This is a partial schematic diagram of the grinding structure of the wall-climbing robot device provided in an embodiment of the present invention; Figure 9 A perspective view of the drive wheel assembly structure of the wall-climbing robot device provided in an embodiment of the present invention; Figure 10 An exploded view of the drive wheel assembly structure of the wall-climbing robot device provided in an embodiment of the present invention; Figure 11 This is a perspective view of the omnidirectional wheel assembly structure of the wall-climbing robot device provided in an embodiment of the present invention.

[0021] Icons: 1-Drive wheel assembly structure; 11-Drive component; 12-Hub bracket; 13-Connecting shaft; 14-Rubber wheel; 15-Nylon wheel; 16-First elastic component; 17-First wheel axle; 2-Omnidirectional wheel assembly structure; 21-Omnidirectional wheel body; 22-First fixed seat; 23-Pin shaft; 24-Second wheel axle; 25-Bearing; 26-Second elastic component; 3-Permanent magnet adsorption component; 4-Grinding structure; 41-Grinding wheel; 42-Reducer; 43-Adapter seat; 44-Grinding motor; 45-Leaf spring; 46-Floating seat; 47-Second fixed seat; 5-Linear module; 51-Moving block; 6-Lifting component; 7-Guide component; 71-Lifting block; 8-Frame; 9-Digital control unit; 10-Battery; 101-Outer shell. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this invention, it should be noted that the terms "upper," "lower," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] Example 1 This embodiment provides a wall-climbing robot device, referring to... Figure 1The wall-climbing robot device includes a drive wheel assembly structure 1, an omnidirectional wheel assembly structure 2, a permanent magnet adsorption component 3, a grinding structure 4, a moving mechanism, and a frame 8. Drive wheel assemblies 1 are connected to both sides of the frame 8. Each drive wheel assembly structure 1 includes a rubber wheel 14 and a nylon wheel 15. The rubber wheel 14 is connected to the nylon wheel 15 via a first frame assembly, allowing both the rubber wheel 14 and the nylon wheel 15 to move along flat and / or curved wall surfaces. The omnidirectional wheel assembly structure 2 is located away from the frame 8 from the drive wheel assembly structure 1. One end is connected, and the omnidirectional wheel assembly structure 2 includes two sets of omnidirectional wheel bodies 21. The two sets of omnidirectional wheel bodies 21 are connected through the second frame assembly so that the omnidirectional wheel bodies 21 can be used to move along the flat wall surface and / or curved wall surface; the first frame assembly and the second frame assembly are both connected to the corresponding permanent magnet adsorption component 3. The permanent magnet adsorption component 3 is used to fix the drive wheel assembly structure 1 and the omnidirectional wheel assembly structure 2 to the wall surface by magnetic attraction; the grinding structure 4 is connected to the frame 8 through the moving mechanism and is used to grind the wall surface.

[0030] The embodiments of the present invention at least alleviate the technical problems of poor operational safety and stability, uneven grinding pressure distribution, incomplete coating removal and low efficiency in the prior art.

[0031] In this embodiment of the invention, by connecting the frame 8 to the drive wheel assembly structure 1 and the omnidirectional wheel assembly structure 2, and by connecting the frame 8 to both via corresponding axles, the drive wheel assembly structure 1 can adjust its tilt angle when connected to the frame 8, thereby ensuring a closer fit between the drive wheel assembly structure 1 and the curved wall surface during movement. Both the drive wheel assembly structure 1 and the omnidirectional wheel assembly structure 2 are equipped with permanent magnet adsorption components 3, which allow them to firmly adhere to the outer wall, enabling the wall-climbing robot to move stably on the wall surface. The front end of the frame 8 is connected to a grinding structure 4 via a moving mechanism, allowing the grinding structure 4 to grind the wall surface during the movement of the frame 8, thus meeting the requirement for uniform grinding.

[0032] Compared with the prior art, the wall-climbing robot device provided in this embodiment of the invention connects the drive wheel assembly structure 1 and the omnidirectional wheel assembly structure 2 to the frame 8, and connects both the drive wheel assembly structure 1 and the omnidirectional wheel assembly structure 2 to the corresponding permanent magnet adsorption components 3, so that the wall-climbing robot can walk smoothly on the wall surface. The grinding structure 4 located in front of the frame 8 can be adjusted in position and height through the moving mechanism to meet the situation of uneven grinding pressure distribution, thereby effectively improving the construction efficiency.

[0033] In an optional implementation of this embodiment, refer to Figure 9The drive wheel assembly structure 1 also includes a drive component 11, which is connected to the first frame assembly and to the rubber wheel 14. The drive component 11 is used to drive the rubber wheel 14 to rotate.

[0034] Specifically: The output end of the drive component 11 is connected to the rubber wheel 14 to drive the rubber wheel to rotate, and the drive component 11 can be a drive component structure. The drive component 11 is then connected to the first frame assembly, which in turn connects to the frame 8 and allows rotation within a certain angle relative to the frame 8. In use, refer to... Figure 6 The first frame components of both sets of drive wheel structures 1 can be deflected relative to the frame 8 at a certain angle, which can be ±15°, so that the rubber wheel 14 of each set of drive wheel structures 1 fits against the curved wall surface.

[0035] Furthermore, referring to Figure 9 and Figure 10 The first frame assembly includes a hub bracket 12, a connecting shaft 13, a first elastic element 16, and a first wheel axle 17. The hub bracket 12 is connected to the drive element 11 and the rubber wheel 14 respectively. The hub bracket 12 is connected to the permanent magnet adsorption element 3 below it through multiple first elastic elements 16, and the hub bracket 12 is connected to the nylon wheel 15 through the first wheel axle 17. The hub bracket 12 is rotatably connected to the frame 8 through the connecting shaft 13.

[0036] Specifically: One end of the hub bracket 12 is provided with an annular connector for connecting to the drive component 11 via the annular connector. The connection method can be a bolt connection along the circumference of the annular connector. The top of the hub bracket 12 is connected to the frame 8 via a connecting shaft 13, allowing the hub bracket 12 to rotate at a certain angle, thus enabling the rubber wheel 14 connected to the drive component 11 to move along the curved wall. The bottom of the hub bracket 12 is connected to corresponding permanent magnet adsorption components 3 via multiple first elastic elements 16, i.e., the permanent magnet adsorption components 3 are located below the hub bracket 12, and there is a certain distance between the permanent magnet adsorption components 3 and the outer wall surface. The first wheel axle 17 located at the other end of the hub bracket 12 is connected to a nylon wheel 15, forming a structure where one end of the hub bracket 12 is a rubber wheel 14 and the other end is a nylon wheel 15, making the device more stable during operation. In the corresponding two sets of drive wheel structures 1, the rubber wheel 14 is located on the outer side, while the nylon wheel 15 is located on the inner side, and the diameter of the rubber wheel 14 is larger than that of the nylon wheel 15. The permanent magnet adsorption component 3 can be a common plate-shaped magnetic adsorption structure.

[0037] In an optional implementation of this embodiment, refer to Figure 1 , Figure 2 and Figure 11The second frame assembly includes a first fixed base 22, a pin 23, a second wheel axle 24, a bearing 25, and a second elastic element 26. The two ends of the first fixed base 22 are respectively connected to the omnidirectional wheel body 21 through the corresponding second wheel axle 24, and a bearing 25 is provided between the second wheel axle 24 and the omnidirectional wheel body 21. The first fixed base 22 is connected to the corresponding permanent magnet adsorption element 3 through the second elastic element 26. The first fixed base 22 is connected to the frame 8 through the pin 23.

[0038] Specifically: the omnidirectional wheel body 21 has a wheel-shaped structure, and multiple rotating wheels are spaced apart on the wheel-shaped body of the omnidirectional wheel body 21. The rotating wheels rotate around the wheel-shaped body as an axis to provide lateral movement for the omnidirectional wheel body 21; each omnidirectional wheel body has two sets of wheel-shaped bodies. The first fixed seat 22 is connected to the tail end of the frame 8 by a pin 23, so that the first fixed seat 22 can be deflected laterally by ±15° relative to the frame 8; and the first fixed seat 22 has a second wheel axle 24 on both sides, and the free end of the second wheel axle 24 is connected to the corresponding omnidirectional wheel body 21 by a bearing 25; the bottom of the first fixed seat 22 has multiple second elastic members 26, and the bottom of the second elastic members 26 has a corresponding permanent magnet adsorption member 3. The permanent magnet adsorption member 3 is located at the bottom of the first fixed seat 22, and a certain gap is ensured between the permanent magnet adsorption member 3 and the wall surface.

[0039] In an optional implementation of this embodiment, refer to Figure 3 , Figure 4 and Figure 7 The moving mechanism includes a linear module 5 and a lifting component 6. The linear module 5 is distributed along a first direction and connected to the lifting component 6. The top and bottom of the linear module 5 are slidably provided with moving blocks 51, and the linear module 5 is connected to the grinding structure 4 through the moving blocks 51. The lifting component 6 is connected to the frame 8, and the lifting component 6 is used to drive the linear module 5 to move along a second direction.

[0040] Specifically: Lifting components 6 are distributed along the second direction and connected to the front end of the frame 8. Lifting components 6 can be hydraulic lifting rods. The output end of the lifting components 6 connects to a linear module 5 distributed along the first direction, thereby allowing adjustment of the height of the linear module 5 via the lifting components 6. A moving block 51 is slidably provided on the linear module 5 along the first direction. The linear module can include a cylinder and a track. The cylinder pushes the moving block 51 to move on the track, thereby adjusting the position of the moving block 51 along the first direction, and thus adjusting the position of the grinding structure 4 connected to the moving block 51. The grinding structure 4 adjusts its position in the first and second directions via the linear module 5 and the lifting components 6, ensuring that the grinding structure 4 can stably grind the wall surface.

[0041] Furthermore, referring to Figure 7The grinding structure 4 includes a grinding wheel 41, a reducer 42, a grinding motor 44, and a connecting mechanism. The connecting mechanism is connected to the moving block 51. The reducer 42 is connected to the connecting mechanism, and one end of the reducer 42 is connected to the grinding motor 44, while the other end is connected to the grinding wheel 41.

[0042] Specifically: The output end of the grinding motor 44 is connected to the grinding wheel 41 through the reducer 42, and the reducer 42 is connected to the connecting mechanism. The connecting mechanism is used to connect to the moving block 51, thereby realizing the synchronous movement of the grinding motor 44, the reducer 42 and the grinding wheel 41 through the moving block 51.

[0043] Furthermore, referring to Figure 7 and Figure 8 The connecting mechanism includes an adapter 43, a floating seat 46, and a second fixed seat 47. The adapter 43 is connected to the reducer 42, and the adapter 43 is rotatably connected to the second fixed seat 47 through the floating seat 46. The second fixed seat 47 is connected to the corresponding moving block 51.

[0044] Specifically: the top of the adapter 43 is connected to the second fixed seat 47 via the floating seat 46, and the second fixed seat 47 is connected to the moving block 51; while the bottom of the adapter 43 is connected to the reducer 42; specifically, the floating seat 46 is connected to the second fixed seat 47 via a transverse hinge axis, thereby enabling the floating seat 46 to obtain pitch freedom around the hinge axis.

[0045] Furthermore, referring to Figure 7 and Figure 8 The connecting mechanism also includes a leaf spring 45, one end of which is connected to a movable block 51 located at the bottom of the linear module 5 via a corresponding second fixed seat 47; the other end of the leaf spring 45 abuts against a floating seat 46.

[0046] Specifically: Leaf spring 45 is connected between the second fixed seat 47 and the floating seat 46. The bottom of leaf spring 45 is connected to the moving block 51 located at the bottom of the linear module 5 via another second fixed seat 47. The moving block 51 can be a single block, with one end connected to the upper second fixed seat 47 and the other end connected to the lower second fixed seat 47. The preload of leaf spring 45 causes the floating seat 46 and the grinding wheel mounted on it to have a tendency to deflect towards the wall, i.e., a preload angle, to achieve an adaptive performance.

[0047] In use, when the robot's posture changes or the curvature of the wall surface in the grinding area changes, the reaction force generated by the grinding wheel 41 contacting the wall surface is transmitted to the floating seat 46. The floating seat 46 can pitch and rotate around the hinge axis, while the leaf spring 45 undergoes elastic deformation. This combined structure transforms rigid contact into a composite adaptive mechanism of "hinge + elastic buffer". This mechanism allows the grinding wheel 41 to have a certain "floating" stroke in the second direction and to adapt to the tangential angle of the wall surface in the tangential plane, thereby maintaining an optimized contact with the wall surface during dynamic operations, achieving constant pressure or near-constant pressure grinding, significantly improving grinding uniformity and quality, and protecting the grinding head.

[0048] In an optional implementation of this embodiment, refer to Figure 4 , Figure 5 and Figure 7 The wall-climbing robot device also includes a guide 7, which is connected to the frame 8 along the second direction, and the guide 7 is slidably provided with a lifting block 71; the lifting block 71 is connected to the linear module 5.

[0049] Specifically: There are two sets of guide members 7, which are arranged on both sides of the lifting member 6. The two sets of guide members 7 are connected to the front end of the frame 8 along the second direction, and both sets of guide members 7 are connected to the linear module 5 through the lifting block 71. The guide member 7 includes a guide rail, and the lifting block 71 slides on the guide rail to make the linear module 5 move more smoothly during the lifting process.

[0050] In an optional implementation of this embodiment, refer to Figure 2 , Figure 3 and Figure 5 The wall-climbing robot device also includes a control unit 9, a battery 10, and a housing 101. The control unit 9 and the battery 10 are both connected to the frame 8, and the battery 10 is electrically connected to the control unit 9. The control unit 9 is electrically connected to the drive wheel assembly structure 1, the grinding structure 4, and the moving mechanism, respectively. The housing 101 is connected to the frame 8, and the housing 101 is used to enclose the control unit 9 and the battery 10 inside.

[0051] Specifically: the outer shell 101 is detachably connected to the frame 8, and an accommodating space is formed between the outer shell 101 and the frame 8. Within this accommodating space, from top to bottom, are a data control unit 9 and a battery 10. The data control unit is electrically connected to the battery 10, and the battery 10 is used to electrically connect to other drive components to supply power to each component. The data control unit 9 is also electrically connected to multiple drive components, receiving control information and controlling the activation of each drive component, enabling the robot to move on the wall surface.

[0052] It should be noted that when the robot moves or adjusts its posture on a conical surface (radius of curvature ≥ 1.0 meter), the two drive wheel sets 1 at the front of the frame 8 can independently deflect laterally, and the omnidirectional wheel set 2 at the rear of the frame 8 can deflect longitudinally. These three wheel sets can adapt to changes in the curvature of the wall surface like "joints." Under the adsorption of the permanent magnet adsorption component 3, the two wheels of each wheel set can automatically adjust the contact angle and pressure according to the shape of the wall surface, ensuring that the entire wheel set forms surface contact or optimized line contact with the wall surface. This ensures a uniform and stable distribution of the adsorption force and effectively resists overturning torque caused by center of gravity shift or motion inertia.

[0053] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above embodiments in this specification are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wall-climbing robot device, characterized in that, It includes a drive wheel assembly structure (1), an omnidirectional wheel assembly structure (2), a permanent magnet adsorption component (3), a grinding structure (4), a moving mechanism, and a frame (8), with the drive wheel assembly structure (1) connected to both sides of the frame (8). Each set of the drive wheel assembly (1) includes a rubber wheel (14) and a nylon wheel (15), the rubber wheel (14) being connected to the nylon wheel (15) via a first frame assembly, so that both the rubber wheel (14) and the nylon wheel (15) are used to move along a flat wall and / or a curved wall. The omnidirectional wheel assembly structure (2) is connected to the frame (8) at one end away from the drive wheel assembly structure (1), and the omnidirectional wheel assembly structure (2) includes two sets of omnidirectional wheel bodies (21), which are connected by a second frame assembly so that the omnidirectional wheel bodies (21) can be used to move along a flat wall and / or a curved wall. Both the first frame assembly and the second frame assembly are connected to the corresponding permanent magnet adsorption component (3), which is used to fix the drive wheel assembly structure (1) and the omnidirectional wheel assembly structure (2) to the wall surface by magnetic attraction. The polishing structure (4) is connected to the frame (8) through the moving mechanism, and the polishing structure (4) is used to polish the wall surface.

2. The wall-climbing robot device according to claim 1, characterized in that, The drive wheel assembly structure (1) further includes a drive component (11), which is connected to the first frame assembly and to the rubber wheel (14). The drive component (11) is used to drive the rubber wheel (14) to rotate.

3. The wall-climbing robot device according to claim 2, characterized in that, The first frame assembly includes a hub bracket (12), a connecting shaft (13), a first elastic element (16), and a first wheel axle (17). The hub bracket (12) is connected to the drive element (11) and the rubber wheel (14) respectively. The hub bracket (12) is connected to the permanent magnet adsorption member (3) below it via a plurality of first elastic members (16), and the hub bracket (12) is connected to the nylon wheel (15) via the first wheel axle (17). The hub bracket (12) is rotatably connected to the frame (8) via the connecting shaft (13).

4. The wall-climbing robot device according to claim 1, characterized in that, The second frame assembly includes a first fixed seat (22), a pin (23), a second wheel axle (24), a bearing (25), and a second elastic element (26). The two ends of the first fixed seat (22) are respectively connected to the omnidirectional wheel body (21) through the corresponding second wheel axle (24), and the bearing (25) is provided between the second wheel axle (24) and the omnidirectional wheel body (21). The first fixed base (22) is connected to the corresponding permanent magnet adsorption component (3) via the second elastic element (26); The first fixed seat (22) is connected to the frame (8) via the pin (23).

5. The wall-climbing robot device according to claim 1, characterized in that, The moving mechanism includes a linear module (5) and a lifting component (6). The linear module (5) is distributed along a first direction and connected to the lifting component (6). The top and bottom of the linear module (5) are slidably provided with moving blocks (51), and the linear module (5) is connected to the grinding structure (4) through the moving blocks (51). The lifting component (6) is connected to the frame (8), and the lifting component (6) is used to drive the linear module (5) to move along the second direction.

6. The wall-climbing robot device according to claim 5, characterized in that, The grinding structure (4) includes a grinding wheel (41), a reducer (42), a grinding motor (44), and a connecting mechanism, which is connected to the moving block (51); The reducer (42) is connected to the connecting mechanism, and one end of the reducer (42) is connected to the grinding motor (44), and the other end is connected to the grinding wheel (41).

7. The wall-climbing robot device according to claim 6, characterized in that, The connecting mechanism includes an adapter (43), a floating seat (46), and a second fixed seat (47). The adapter (43) is connected to the reducer (42), and the adapter (43) is rotatably connected to the second fixed seat (47) through the floating seat (46). The second fixed seat (47) is connected to the corresponding movable block (51).

8. The wall-climbing robot device according to claim 7, characterized in that, The connecting mechanism also includes a leaf spring (45), one end of which is connected to the moving block (51) located at the bottom of the linear module (5) via a corresponding second fixed seat (47); The other end of the leaf spring (45) abuts against the floating seat (46).

9. The wall-climbing robot device according to claim 5, characterized in that, The wall-climbing robot device also includes a guide (7), which is connected to the frame (8) along the second direction, and the guide (7) is slidably provided with a lifting block (71). The lifting block (71) is connected to the linear module (5).

10. The wall-climbing robot device according to any one of claims 1-9, characterized in that, The wall-climbing robot device also includes a control unit (9), a battery (10) and an outer shell (101). The control unit (9) and the battery (10) are both connected to the frame (8), and the battery (10) is electrically connected to the control unit (9). The number control (9) is electrically connected to the drive wheel assembly structure (1), the grinding structure (4) and the moving mechanism respectively; The outer casing (101) is connected to the frame (8), and the outer casing (101) is used to enclose the data control (9) and the battery (10).

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