Integrated static pressure transmission multi-legged wall-climbing robot

Abstract

The application relates to the technical field of multi-legged wall-climbing robots, and particularly relates to an integrated static pressure transmission multi-legged wall-climbing robot. The upper side surface of a support table is connected with a support, and the upper side surface of the support is connected with a first connecting block. The integrated static pressure transmission multi-legged wall-climbing robot is provided with a suction mechanism. In the use process, a ferromagnetic wall surface is fixed by magnetic attraction of an electromagnetic seat without additional energy consumption. Non-ferromagnetic curved surfaces and weld concave-convex surfaces can be switched to be adsorbed by a suction disc under negative pressure. First spring seats and second spring seats respectively provide vertical elastic buffers for the suction disc and the electromagnetic seat. The wall surface concave-convex and welds can be self-adaptively attached, the air leakage and desorption risks are greatly reduced, the problem that a single adsorption mode is limited in application scenarios and the adsorption is invalid when obstacles are crossed is solved, and the wall surface adaptation range is wider and the operation stability is stronger.

Description

Technical Field

[0001] This invention relates to the technical field of multi-legged wall-climbing robots, and in particular to an integrated hydrostatic transmission multi-legged wall-climbing robot. Background Technology

[0002] The integrated hydrostatic transmission multi-legged wall-climbing robot is a special-purpose robot that integrates a hydrostatic hydraulic drive system, adopts a biomimetic multi-legged walking structure, and is equipped with magnetic or negative pressure adsorption feet. Relying on hydrostatic transmission to output high torque, strong load capacity, explosion-proof and interference-resistant features, its multi-legged configuration allows it to flexibly overcome obstacles such as welds, protrusions, and steps. It can stably operate continuously on various complex walls such as vertical surfaces, domes, curved pipe surfaces, and ceilings. Its core function is to replace manual labor in high-risk confined spaces such as high-altitude, high-temperature, toxic, flammable, explosive, and high-radiation environments. Equipped with tools for flaw detection, cleaning, rust removal, spraying, photography, and gas detection, it completes automated inspection and maintenance operations, significantly reducing personal safety risks such as falls from heights, poisoning burns, and radiation damage, while simultaneously improving work efficiency and reducing human error. The cost of construction and scaffolding is reduced. It is widely used in petrochemical storage tanks, oil and gas pipelines, ship hulls and cabins, wind turbine towers, bridge steel structures, water-cooled walls of thermal power plant boilers, nuclear power facilities, large industrial blast furnaces, high-rise building curtain walls, large steel structure workshops, municipal large tanks and other scenarios. It can perform a full range of industrial operation and maintenance work, such as equipment non-destructive testing, external wall rust removal and corrosion prevention, spray painting and renovation, scale cleaning, crack and defect inspection, leakage monitoring, and structural appearance inspection. Common integrated hydrostatic transmission multi-legged wall climbing robots often use vacuum suction cups in conjunction with air pumps. When facing curved surfaces or crossing weld seams, the suction cups are prone to air leakage and pressure loss. In addition, traditional multi-legged robots often use series motor drives, and the thighs and calves need to be equipped with motors separately, resulting in a bulky structure and limited ability to resist wind loads and loads.

[0003] To address the aforementioned issues, a search revealed a patent with publication number CN115593532A disclosing a multi-degree-of-freedom leg structure for a magnetically adsorbed multi-legged wall-climbing robot. The patent proposes that, "In one embodiment of the invention, an extension shaft is formed on the bottom surface of the foot body, a bearing pressure plate is connected to the extension shaft, an extension ring is formed on the inner wall of the rotating sleeve, a rolling bearing is disposed between the inner wall of the extension ring and the outer wall of the extension shaft, a planar bearing is disposed between the upper surface of the extension ring and the bottom surface of the foot body, and a planar bearing is also disposed between the lower surface of the extension ring and the bearing pressure plate. In one embodiment of the invention, a first guide sprocket meshing with the chain is connected to the thigh body, and the first guide sprocket is located inside the chain. In another embodiment of the invention, a second guide sprocket meshing with the chain is connected to the thigh body, and the second guide sprocket is located outside the chain." In one embodiment of the present invention, the second driving member includes a third rod and a fourth rod. One end of the third rod forms the first driving end, and the other end of the third rod is hinged to one end of the fourth rod, with the other end of the fourth rod forming the second driving end. Compared with the prior art, the above technical solution of the present invention has the following advantages: the multi-degree-of-freedom leg structure of the magnetic adsorption multi-legged wall-climbing robot of the present invention has high mobility, enabling the robot to adapt well to different wall conditions and ensuring flexible movement on different walls. Although the leg degrees of freedom are significantly improved by setting multiple EHA drives, dual-guide sprocket chain transmission, and composite bearing rotating magnetic feet, resulting in stable transmission and strong load-bearing capacity, relying solely on magnetic adsorption cannot operate on non-metallic walls. The lack of an elastic buffer structure leads to significant impact when overcoming obstacles. The hinges, sprocket bearings, and other components are complex, making overall machine control difficult and subsequent maintenance inconvenient.

[0004] In light of this, in-depth research into the aforementioned issues led to the creation of this case. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated hydrostatic transmission multi-legged wall-climbing robot to solve the problems of poor obstacle crossing and high rigidity impact of existing integrated hydrostatic transmission multi-legged wall-climbing robots mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an integrated hydrostatic transmission multi-legged wall-climbing robot, comprising a support platform, an adsorption mechanism, and a linkage mechanism.

[0007] The upper surface of the support platform is connected to a bracket, the upper surface of the bracket is connected to a first connecting block, and the inner ring of the support platform is provided with an adsorption mechanism.

[0008] The adsorption mechanism includes a connecting tube, a suction cup connected to the lower surface of the connecting tube, and an electromagnetic base connected to the inner ring surface of the support platform.

[0009] A linkage mechanism is provided above the support platform;

[0010] The linkage mechanism includes a second connecting rod, one end of which is connected to a second shaft, and the outer ring surface of the second shaft is fitted with a base.

[0011] Preferably, the inner surface of the vertical through hole of the support platform is connected to the outer surface of the connecting tube, the outer surface of the connecting tube is fitted with a first spring seat, the lower surface of the first spring seat is connected to the upper surface of the suction cup, and the upper surface of the first spring seat is connected to the lower surface of the support platform.

[0012] Preferably, a limiting block is fitted on the outer ring surface of the upper end of the connecting pipe, an air pipe is connected to the upper end of the connecting pipe, and an air pump is connected to the other end of the air pipe.

[0013] Preferably, a sliding rod is connected to the side of the electromagnetic base, and a sliding groove is provided on the side of the vertical through-slot of the support platform, wherein the inner ring surface of the sliding groove is slidably connected to the outer ring surface of the sliding rod.

[0014] Preferably, a second spring seat is connected to the upper surface of the electromagnetic base, the upper surface of the second spring seat is connected to the lower surface of the support platform, a sleeve post is connected to the upper surface of the electromagnetic base, a guide post is connected to the inner ring surface of the sleeve post, the upper surface of the guide post is connected to the lower surface of the support platform, and the sleeve post and the guide post are arranged in the inner ring of the second spring seat.

[0015] Preferably, the outer ring surface of the rotating shaft of the first connecting block is fitted with a first connecting rod, the other end of the first connecting rod is connected to a first shaft, and the outer ring surface of the first shaft is connected to the inner ring surface of one end of the second connecting rod.

[0016] Preferably, a second connecting block is connected to one side surface of the first connecting rod, a first hydraulic rod is sleeved on the outer ring surface of the rotating shaft of the second connecting block, a third spring seat is sleeved on the outer ring of the first hydraulic rod, and a third connecting block is connected to the other end of the first hydraulic rod. One side surface of the third connecting block is connected to one side surface of the second connecting rod.

[0017] Preferably, a fourth connecting block is connected to the upper surface of the bracket, a second hydraulic rod is sleeved on the outer ring surface of the rotating shaft of the fourth connecting block, a fourth spring seat is sleeved on the outer ring of the second hydraulic rod, and a fifth connecting block is connected to the other end of the second hydraulic rod. One side surface of the fifth connecting block is connected to one side surface of the first connecting frame rod.

[0018] Preferably, a support block is connected to one side surface of the second connecting frame rod, a cylinder is sleeved on the outer ring surface of the rotating shaft of the support block, a shaft block is connected to one side surface of the cylinder, a support rod is sleeved on the outer ring surface of the rotating shaft of the shaft block, and one side surface of the support rod is connected to the side of the machine base.

[0019] Preferably, the upper surface of the base is connected to the lower surface of the air pump, a support frame is connected to the upper surface of the base, a motor is connected to the upper surface of the support frame, a first gear is connected to the output end of the motor, a second gear is meshed with the outer ring surface of the first gear, and the inner ring surface of the transverse through hole of the second gear is connected to the outer ring surface of the second shaft.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. This integrated hydrostatic transmission multi-legged wall-climbing robot, through the adsorption mechanism, can be fixed to ferromagnetic walls by magnetic attraction from electromagnetic seats during use, without additional energy consumption. Non-ferromagnetic curved surfaces and uneven weld surfaces can be adsorbed by switching to negative pressure suction cups. The first spring seat and the second spring seat provide vertical elastic buffers for the suction cups and electromagnetic seats, respectively. The robot can adaptively fit uneven walls and welds, greatly reducing the risk of air leakage and desorption. It solves the problem of limited application scenarios and adsorption failure when crossing obstacles by a single adsorption method, and has a wider range of wall adaptability and stronger operational stability.

[0022] 2. This integrated hydrostatic transmission multi-legged wall-climbing robot, through the setting of the linkage mechanism, uses a micro hydraulic cylinder as the force-bearing component of the linkage to replace the traditional multi-motor series drive during use, reducing the size of the legs and increasing the load capacity. The incompressible nature of the hydraulic medium provides passive flexible cushioning upon landing, and with the elastic force relief of the third and fourth spring seats, it can absorb the instantaneous rigid impact when walking over weld seams and protruding obstacles, avoiding deformation and damage to the mechanism. At the same time, the multi-link multi-degree-of-freedom structure can flexibly adjust the foot posture, significantly improving the robot's obstacle-crossing ability and solving the pain points of traditional multi-legged robots with large rigid impact and poor obstacle-crossing performance.

[0023] 3. This integrated hydrostatic transmission multi-legged wall-climbing robot, through the arrangement of motors, gears, and cylinders, enables the motor to drive the second shaft via the gear pair to complete the main rotation of the legs during use. The cylinders, in conjunction with the support rods, finely adjust the support angle of the feet in real time. The suction mechanism's air pump and power motor are uniformly integrated on the top of the base. The entire machine's pipelines and power components are highly integrated into one unit, resulting in a compact structure that facilitates the installation of tools for flaw detection, rust removal, and spraying, thereby reducing on-site construction costs and personnel safety risks. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure in which the support frame and the motor cooperate with each other in this invention;

[0026] Figure 3 This is a schematic diagram of the interaction between the suction cup and the first spring seat of the present invention;

[0027] Figure 4 This is a schematic diagram of the cooperation structure between the bracket and the first connecting block of the present invention;

[0028] Figure 5 This is a schematic diagram of the interaction between the electromagnetic base and the slide bar of the present invention;

[0029] Figure 6 This is a schematic diagram of the cooperation structure between the support platform and the connecting pipe of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure in which the sleeve column and guide column of the present invention cooperate with each other.

[0031] In the diagram: 1. Support platform; 2. Bracket; 3. First connecting block; 4. Adsorption mechanism; 401. Connecting pipe; 402. Suction cup; 403. First spring seat; 404. Limiting block; 405. Air pipe; 406. Air pump; 407. Electromagnetic seat; 408. Slide rod; 409. Second spring seat; 410. Sleeve column; 411. Guide column; 5. Linkage mechanism; 501. First connecting frame rod; 502. First shaft rod; 503. Second connecting rod... 504. Second shaft; 505. Second connecting block; 506. First hydraulic rod; 507. Third spring seat; 508. Third connecting block; 509. Fourth connecting block; 510. Second hydraulic rod; 511. Fourth spring seat; 512. Fifth connecting block; 6. Support block; 7. Cylinder; 8. Shaft block; 9. Support rod; 10. Machine base; 11. Support frame; 12. Motor; 13. First gear; 14. Second gear. Detailed Implementation

[0032] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figure 1-7 This invention provides a technical solution: an integrated hydrostatic transmission multi-legged wall-climbing robot, comprising a support platform 1, an adsorption mechanism 4, and a linkage mechanism 5.

[0034] A bracket 2 is connected to the upper surface of the support platform 1, a first connecting block 3 is connected to the upper surface of the bracket 2, and an adsorption mechanism 4 is provided in the inner ring of the support platform 1.

[0035] The adsorption mechanism 4 includes a connecting tube 401, a suction cup 402 connected to the lower surface of the connecting tube 401, and an electromagnetic base 407 connected to the inner ring surface of the support platform 1.

[0036] A linkage mechanism 5 is installed above the support platform 1;

[0037] The linkage mechanism 5 includes a second connecting rod 503, one end of which is connected to a second shaft 504, and the outer ring surface of the second shaft 504 is fitted with a base 10.

[0038] Furthermore, the inner surface of the vertical through-hole of the support platform 1 is connected to the outer surface of the connecting pipe 401. The outer surface of the connecting pipe 401 is fitted with a first spring seat 403. The lower surface of the first spring seat 403 is connected to the upper surface of the suction cup 402, and the upper surface of the first spring seat 403 is connected to the lower surface of the support platform 1. Through the arrangement of the support platform 1, the connecting pipe 401, the first spring seat 403, and the suction cup 402, a negative pressure adsorption structure for the suction cup 402 to vertically elastically buffer and adaptively adhere to the wall surface can be realized during use. The support platform 1 has a vertical through-hole for the connecting pipe 401 to pass through. The upper and lower ends of the first spring seat 403 abut against the lower surface of the support platform 1 and the upper surface of the suction cup 402, respectively. When walking over obstacles, the elastic expansion and contraction of the first spring seat 403 compensates for the unevenness of the wall surface, avoiding hard contact, air leakage, and detachment of the suction cup 402.

[0039] Furthermore, a limiting block 404 is fitted on the outer ring surface of the upper end of the connecting pipe 401. An air pipe 405 is connected to the upper end of the connecting pipe 401, and an air pump 406 is connected to the other end of the air pipe 405. Through the arrangement of the connecting pipe 401, the limiting block 404, the air pipe 405, and the air pump 406, an integrated air supply structure for negative pressure adsorption can be realized during use. The limiting block 404 is fitted onto the upper end of the connecting pipe 401, restricting the connecting pipe 401 from falling out of the support platform 1. The air pipe 405 connects the connecting pipe 401 and the air pump 406. When the air pump 406 is working, it draws air from inside the suction cup 402 through the air pipe 405 and the connecting pipe 401 to form negative pressure, thereby completing the adsorption and fixation of the non-metallic wall surface.

[0040] Furthermore, a slide rod 408 is connected to the side of the electromagnetic base 407, and a sliding groove is provided on the side of the vertical through-slot of the support platform 1. The inner ring surface of the sliding groove is slidably connected to the outer ring surface of the slide rod 408. Through the setting of the electromagnetic base 407, the slide rod 408 and the sliding groove of the support platform 1, a magnetic suction buffer structure for vertical guiding sliding of the electromagnetic base 407 can be realized during use. The slide rod 408 is fixed on both sides of the electromagnetic base 407 and embedded in the vertical sliding groove of the support platform 1, limiting the electromagnetic base 407 to only be able to rise and fall in the vertical direction. When switching to ferromagnetic wall operation, the electromagnetic base 407 can slide up and down to fit the metal wall. The sliding groove constrains the slide rod 408 to prevent the electromagnetic base 407 from horizontally shifting or misaligning.

[0041] Furthermore, a second spring seat 409 is connected to the upper surface of the electromagnetic base 407. The upper surface of the second spring seat 409 is connected to the lower surface of the support platform 1. A sleeve post 410 is connected to the upper surface of the electromagnetic base 407. A guide post 411 is connected to the inner ring surface of the sleeve post 410. The upper surface of the guide post 411 is connected to the lower surface of the support platform 1. The sleeve post 410 and the guide post 411 are located in the inner ring of the second spring seat 409. The electromagnetic base 407, the second spring seat 409, the sleeve post 410, and the guide post 411 are connected to the lower surface of the support platform 1. The configuration of 11 enables the electromagnetic seat 407 to achieve vertical elastic buffering and precise guidance during use. The upper and lower ends of the second spring seat 409 are respectively connected to the lower surface of the support platform 1 and the upper surface of the electromagnetic seat 407, providing obstacle-crossing buffering and shock absorption for the electromagnetic seat 407. The guide column 411 is fixed to the bottom of the support platform 1 and passes through the sleeve column 410. The sleeve column 410 is fixed to the electromagnetic seat 407. The two work together to limit the horizontal swaying of the electromagnetic seat 407. The second spring seat 409 is sleeved on the outside of the sleeve column 410 and the guide column 411 to achieve elastic limiting.

[0042] Furthermore, a first connecting rod 501 is fitted onto the outer ring surface of the pivot of the first connecting block 3. The other end of the first connecting rod 501 is connected to a first shaft 502. The outer ring surface of the first shaft 502 is connected to the inner ring surface of one end of the second connecting rod 503. Through the arrangement of the first connecting block 3, the first connecting rod 501, the first shaft 502, and the second connecting rod 503, a multi-degree-of-freedom hinged linkage main structure for the leg base can be realized during use. The first connecting block 3 is installed on the top of the bracket 2 as a hinged base for the leg. The first connecting rod 501 swings around the pivot of the first connecting block 3. The first shaft 502 connects the first connecting rod 501 and the second connecting rod 503 in series. The two can rotate relative to each other around the first shaft 502, forming a two-section movable linkage for the leg, which adjusts the spatial posture of the foot support platform 1.

[0043] Furthermore, a second connecting block 505 is connected to one side surface of the first connecting rod 501. A first hydraulic rod 506 is sleeved on the outer ring surface of the rotating shaft of the second connecting block 505. A third spring seat 507 is sleeved on the outer ring of the first hydraulic rod 506. The other end of the first hydraulic rod 506 is connected to a third connecting block 508. One side surface of the third connecting block 508 is connected to one side surface of the second connecting rod 503. Through the first connecting rod 501, the second connecting block 505, the first hydraulic rod 506, the third spring seat 507, and the third connecting block 503, the connection is complete. The 08 setting allows for hydrostatic drive and elastic buffer adjustment between the two connecting rods during use. The second connecting block 505 is fixed to the first connecting frame rod 501 and hinged to the first hydraulic rod 506. The third connecting block 508 is fixed to the second connecting frame rod 503 and hinged to the other end of the first hydraulic rod 506. The first hydraulic rod 506 drives the angle between the two connecting rods to change by hydrostatic extension and retraction. The third spring seat 507 is sleeved on the outside of the first hydraulic rod 506. It absorbs the rigid impact between the connecting rods when the rods land and protects the hydraulic rod from damage by instantaneous load.

[0044] Furthermore, a fourth connecting block 509 is connected to the upper surface of the bracket 2. A second hydraulic rod 510 is fitted onto the outer ring surface of the rotating shaft of the fourth connecting block 509. A fourth spring seat 511 is fitted onto the outer ring of the second hydraulic rod 510. A fifth connecting block 512 is connected to the other end of the second hydraulic rod 510. One side surface of the fifth connecting block 512 is connected to one side surface of the first connecting rod 501. The bracket 2, the fourth connecting block 509, the second hydraulic rod 510, the fourth spring seat 511, and the fifth connecting block 512 are all connected together. The configuration allows for the static pressure drive buffer structure to achieve the overall pitch angle of the leg during use. The fourth connecting block 509 is fixed to the top of the bracket 2 as the hinge base of the second hydraulic rod 510. The fifth connecting block 512 is connected to the first connecting frame rod 501. The second hydraulic rod 510 extends and retracts to pull the first connecting frame rod 501 to rotate around the first connecting block 3, adjusting the pitch height of the entire leg. The fourth spring seat 511 is fitted on the outside of the second hydraulic rod 510 to buffer the reverse impact force on the wall surface when crossing protrusions and welds.

[0045] Furthermore, a support block 6 is connected to one side surface of the second connecting rod 503. A cylinder 7 is fitted onto the outer ring surface of the rotating shaft of the support block 6. A shaft block 8 is connected to one side surface of the cylinder 7. A support rod 9 is fitted onto the outer ring surface of the rotating shaft of the shaft block 8. One side surface of the support rod 9 is connected to the side of the base 10. Through the arrangement of the second connecting rod 503, support block 6, cylinder 7, shaft block 8, support rod 9 and base 10, a support structure for fine-tuning the posture of the foot end can be realized during use. The support block 6 is fixed on the second connecting rod 503 and hinged to the cylinder 7. The cylinder 7 is hinged to the support rod 9 via the shaft block 8. The other end of the support rod 9 is connected to the base 10. The extension and retraction of the cylinder 7 can finely adjust the rotation limit angle of the second connecting rod 503 in real time, and adjust the fitting angle of the support platform 1 to adapt to curved surfaces and inclined walls.

[0046] Furthermore, the upper surface of the base 10 is connected to the lower surface of the air pump 406. A support frame 11 is connected to the upper surface of the base 10, and a motor 12 is connected to the upper surface of the support frame 11. A first gear 13 is connected to the output end of the motor 12. A second gear 14 is meshed with the outer ring surface of the first gear 13. The inner ring surface of the transverse through hole of the second gear 14 is connected to the outer ring surface of the second shaft 504. The base 10, air pump 406, support frame 11, motor 12, first gear 13, second gear 14, and second shaft are connected. The 504 configuration allows for the integration of the entire machine's power and the main rotation drive structure of the legs during use. The base 10 integrates and mounts the air pump 406 and the support frame 11. The support frame 11 carries the motor 12. The motor 12 outputs torque to drive the first gear 13 to mesh with the second gear 14. The second gear 14 is coaxially fixed to the second shaft 504. Through the gear pair, the second shaft 504 is driven to rotate by speed reduction and torque amplification, which drives the entire linkage mechanism 5 to complete the robot's main walking motion of moving forward and backward. All power components are centrally arranged on the base 10 to achieve integration.

[0047] Working principle: First, place the machine base 10 in front of the wall to be worked on. Start the motor 12 to drive the first gear 13 to mesh with the second gear 14 to drive the second shaft 504 to rotate, which in turn drives the linkage mechanism 5 to swing and lift the support platform 1. If the wall is made of ferromagnetic material, the electromagnetic seat 407 moves vertically downward along the slide groove of the support platform 1 through the slide rods 408 on both sides. The second spring seat 409, the sleeve column 410 and the guide column 411 cooperate to provide vertical buffering and guidance so that the electromagnetic seat 407 fits against the wall to complete the magnetic attraction and fixation. If the wall is non-metallic, start the air pump 406 on the machine base 10. The air is drawn from the suction cup 402 through the air pipe 405 and the connecting pipe 401 to form a negative pressure. The limit block 404 constrains the connecting pipe 401 to prevent it from falling off. The first spring seat 403 provides elastic buffer for the suction cup 402 to adapt to the uneven wall surface. When moving, the second hydraulic rod 510 hinged to the fourth connecting block 509 at the top of the bracket 2 extends and retracts, and the fourth spring seat 511 on the outside buffers the impact. Pulling the first connecting rod 501 causes it to tilt and swing around the first connecting block 3. The first hydraulic rod 506, hinged to the second connecting block 505 on the first connecting rod 501, extends and retracts to change the angle between the first connecting rod 501 and the second connecting rod 503 at the first shaft 502. The third spring seat 507 absorbs the rigid load between the connecting rods. The cylinder 7, hinged to the side support block 6 of the second connecting rod 503, extends and retracts. The foot support platform 1 is finely adjusted for contact angle via the shaft block 8 and the support rod 9. When crossing obstacles with one foot, the suction cup 402 and the electromagnetic seat 407 adaptively extend and retract to buffer the movement, relying on the first spring seat 403 and the second spring seat 409 respectively. The motor 12 continuously drives the leg to cyclically lift, suction, and lower the foot through the gear pair, completing the continuous inspection, rust removal, and spraying operation on the wall. The air pump 406 and the motor 12 are integrated on the support frame 11 above the base 10 to achieve integrated power output. The model of the motor 12 is D110B-L0402. The components include a DC servo geared motor, a VAY-6024 miniature oil-free vacuum pump (air pump 406), an EHS-24-08 miniature hydrostatic servo controller (first hydraulic cylinder 506 and second hydraulic cylinder 510), a 4V110-06 DC24V two-position five-way solenoid valve (electromagnetic reversing valve for cylinder 7), an SNS-02 miniature air pressure sensor, and an XCT-12024 DC lifting electromagnetic chuck (electromagnetic base 407).

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An integrated hydrostatic transmission multi-legged wall-climbing robot, comprising a support platform (1), an adsorption mechanism (4), and a linkage mechanism (5), characterized in that: The upper surface of the support platform (1) is connected to a bracket (2), the upper surface of the bracket (2) is connected to a first connecting block (3), and the inner ring of the support platform (1) is provided with an adsorption mechanism (4). The adsorption mechanism (4) includes a connecting tube (401), a suction cup (402) is connected to the lower surface of the connecting tube (401), and an electromagnetic base (407) is connected to the inner ring surface of the support platform (1). A linkage mechanism (5) is provided above the support platform (1). The linkage mechanism (5) includes a second connecting rod (503), one end of which is connected to a second shaft (504), and the outer ring surface of the second shaft (504) is fitted with a base (10).

2. The integrated hydrostatic transmission multi-legged wall-climbing robot according to claim 1, characterized in that: The inner surface of the vertical through hole of the support platform (1) is connected to the outer surface of the connecting tube (401). The outer surface of the connecting tube (401) is fitted with a first spring seat (403). The lower surface of the first spring seat (403) is connected to the upper surface of the suction cup (402). The upper surface of the first spring seat (403) is connected to the lower surface of the support platform (1).

3. The integrated hydrostatic transmission multi-legged wall-climbing robot according to claim 1, characterized in that: A limiting block (404) is fitted on the outer ring surface of the upper end of the connecting pipe (401), and an air pipe (405) is connected to the upper end of the connecting pipe (401). An air pump (406) is connected to the other end of the air pipe (405).

4. The integrated hydrostatic transmission multi-legged wall-climbing robot according to claim 1, characterized in that: The electromagnetic base (407) is connected to a slide rod (408) on its side. The support platform (1) has a sliding groove on its side through the vertical through square groove. The inner ring surface of the sliding groove is slidably connected to the outer ring surface of the slide rod (408).

5. The integrated hydrostatic transmission multi-legged wall-climbing robot according to claim 1, characterized in that: The upper surface of the electromagnetic base (407) is connected to a second spring base (409), the upper surface of the second spring base (409) is connected to the lower surface of the support platform (1), the upper surface of the electromagnetic base (407) is connected to a sleeve post (410), the inner ring surface of the sleeve post (410) is connected to a guide post (411), the upper surface of the guide post (411) is connected to the lower surface of the support platform (1), and the sleeve post (410) and the guide post (411) are arranged in the inner ring of the second spring base (409).

6. The integrated hydrostatic transmission multi-legged wall-climbing robot according to claim 1, characterized in that: The outer ring surface of the rotating shaft of the first connecting block (3) is fitted with a first connecting rod (501), and the other end of the first connecting rod (501) is connected to a first shaft (502). The outer ring surface of the first shaft (502) is connected to the inner ring surface of one end of the second connecting rod (503).

7. An integrated hydrostatic transmission multi-legged wall-climbing robot according to claim 6, characterized in that: A second connecting block (505) is connected to one side surface of the first connecting rod (501). A first hydraulic rod (506) is sleeved on the outer ring surface of the rotating shaft of the second connecting block (505). A third spring seat (507) is sleeved on the outer ring of the first hydraulic rod (506). A third connecting block (508) is connected to the other end of the first hydraulic rod (506). One side surface of the third connecting block (508) is connected to one side surface of the second connecting rod (503).

8. An integrated hydrostatic transmission multi-legged wall-climbing robot according to claim 7, characterized in that: The upper surface of the bracket (2) is connected to a fourth connecting block (509). The outer ring surface of the shaft of the fourth connecting block (509) is fitted with a second hydraulic rod (510). The outer ring of the second hydraulic rod (510) is fitted with a fourth spring seat (511). The other end of the second hydraulic rod (510) is connected to a fifth connecting block (512). One side surface of the fifth connecting block (512) is connected to one side surface of the first connecting rod (501).

9. An integrated hydrostatic transmission multi-legged wall-climbing robot according to claim 1, characterized in that: A support block (6) is connected to one side surface of the second connecting rod (503). A cylinder (7) is fitted on the outer ring surface of the rotating shaft of the support block (6). A shaft block (8) is connected to one side surface of the cylinder (7). A support rod (9) is fitted on the outer ring surface of the rotating shaft of the shaft block (8). One side surface of the support rod (9) is connected to the side of the machine base (10).

10. An integrated hydrostatic transmission multi-legged wall-climbing robot according to claim 1, characterized in that: The upper surface of the base (10) is connected to the lower surface of the air pump (406). A support frame (11) is connected to the upper surface of the base (10). A motor (12) is connected to the upper surface of the support frame (11). A first gear (13) is connected to the output end of the motor (12). A second gear (14) is meshed with the outer ring surface of the first gear (13). The inner ring surface of the transverse through hole of the second gear (14) is connected to the outer ring surface of the second shaft (504).

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