Suspended wall-climbing robot

Abstract

The utility model discloses a suspension wall-climbing robot, which comprises a base and a wall-climbing assembly, the wall-climbing assembly comprises an adjusting part, a connecting part and an advancing part, one end of the connecting part is rotatably connected with the base, and the other end of the connecting part is rotatably connected with the advancing part; the adjusting part comprises a power part, an adjusting part and an elastic part, the power part is used for driving the adjusting part to move, and the adjusting part is connected with the connecting part; the elastic piece is elastically connected to the adjusting piece in the axial direction of the adjusting piece so as to push the adjusting piece to stretch out and draw back in the axial direction of the adjusting piece. Compared with the prior art, swing of the connecting component can be actively adjusted through the adjusting component, so that the height of the base is actively adjusted, and the active suspension adjusting function of the device is achieved; meanwhile, as the adjusting part comprises an adjusting part and an elastic part, the connecting part can automatically swing under the external force that the advancing part makes contact with the ground through the telescopic function of the adjusting part and the elastic recovery function of the elastic part, and the passive fine adjustment function of the suspended wall-climbing robot is achieved.

Description

Technical Field

[0001] The embodiment of the utility model relates to the technical field of crawling robots, and in particular to a suspended wall-climbing robot. Background Art

[0002] Wall climbing robots are special robots that can work on vertical or inclined walls, high altitudes, and other places that are difficult to reach directly. They are widely used in many fields, replacing humans to perform high-altitude operations, greatly reducing the safety risks of operators, and can work continuously for a long time, improving work efficiency.

[0003] However, when operating, wall-climbing robots need to be able to adapt to different types of work surfaces, such as the corners of building exterior walls, uneven work surfaces, and other scenarios. In order to adapt to uneven walls, they are often equipped with a suspension system to ensure that the traveling wheels can be well adsorbed on the wall. Existing wall-climbing robots usually adopt an active suspension method, which is to change the suspension position of the traveling wheels by driving the connecting rod position through the driving structure. This method has low work efficiency when encountering a work surface with many bumps during normal travel. The driving structure needs to frequently drive the connecting rod to move up and down, which makes the operation complicated and the adjustment speed slow. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a suspended wall-climbing robot which can combine active and passive suspension modes to improve the working efficiency of wall climbing.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0006] A suspended wall-climbing robot comprises a base and a wall-climbing component, wherein the wall-climbing component is connected to the outer peripheral side of the base, and the wall-climbing component comprises an adjusting component, a connecting component and a traveling component, wherein one end of the connecting component is rotatably connected to the base, and the other end is rotatably connected to the traveling component, and the traveling component is used to contact a working surface; the adjusting component is connected to the connecting component and is used to adjust the height of the connecting component; wherein the adjusting component comprises a power member, an adjusting member and an elastic member, wherein the power member is connected to the base, one end of the adjusting member is rotatably connected to the power member, and the other end is rotatably connected to the connecting member, and the power member is used to drive the adjusting member to move; along the axial direction of the adjusting member, the elastic member is elastically connected to the adjusting member to push the adjusting member to extend and retract along its axial direction.

[0007] As one embodiment, the adjusting member includes a fixed seat and a piston rod, the fixed seat is rotatably connected to the connecting member, one end of the piston rod is slidably connected to the fixed seat, and the other end is rotatably connected to the power member, and the elastic member elastically abuts between the piston rod and the fixed seat to push the piston rod to slide relative to the fixed seat.

[0008] As one embodiment, the adjusting member includes an abutting portion, the abutting portion is connected to the outer peripheral side of the piston rod, and the abutting portion is used to abut against the elastic member.

[0009] As one embodiment, the connecting member includes a first connecting member, a second connecting member and a third connecting member, one end of the first connecting member is rotatably connected to the base, and the other end is rotatably connected to the third connecting member, one end of the second connecting member is rotatably connected to the base, and the other end is rotatably connected to the third connecting member, and the third connecting member is connected to the moving member; wherein the first connecting member and the second connecting member are parallel to each other.

[0010] As one embodiment, the connecting component also includes a fixing rod, fixing holes are opened on opposite sides of the first connecting member, and / or fixing holes are opened on opposite sides of the second connecting member; wherein the fixing rod is inserted into the fixing hole, and the adjusting member is rotatably connected to the fixing rod.

[0011] As one embodiment, the first connecting member and the second connecting member have the same structure, both comprising a first part and a second part, the first part is connected to opposite sides of the second part, one end of the first part is rotatably connected to the base, and the other end is rotatably connected to the third connecting member.

[0012] As one embodiment, the traveling component includes a traveling wheel, a wheel seat, a first driving member and a second driving member, the first driving member is connected to the connecting component, the output end of the first driving member is connected to the wheel seat, the traveling wheel is rotatably connected to the wheel seat, the second driving member is connected to the wheel seat, and the driving end of the second driving member is connected to the traveling wheel.

[0013] As one embodiment, the traveling wheel includes a wheel body and a magnetic member, the wheel body is rotatably connected to the wheel seat, the magnetic member is arranged on the outer peripheral surface of the wheel body, and the magnetic member is used for magnetic connection with the working surface.

[0014] As one embodiment, the power member includes a third driving member and a slider, the third driving member is connected to the base, the slider is slidably connected to the base, the output end of the third driving member is connected to the slider and is used to drive the slider to slide, and the adjusting member is rotationally connected to the slider.

[0015] As one embodiment, the third driving member includes a driving motor, a driving seat and a screw, the driving seat is connected to the base, the driving motor is connected to the driving seat and its output end is connected to the screw, the screw is rotatably connected to the driving seat and is threadedly connected to the slider.

[0016] The beneficial effects of the utility model are as follows: the embodiment of the present application provides a suspended wall-climbing robot, including a base and a wall-climbing assembly, the wall-climbing assembly is connected to the outer peripheral side of the base, the wall-climbing assembly includes an adjusting component, a connecting component and a traveling component, one end of the connecting component is rotatably connected to the base, and the other end is rotatably connected to the traveling component, and the traveling component is used to contact the working surface; the adjusting component is connected to the connecting component and is used to adjust the height of the connecting component. The adjusting component includes a power member, an adjusting member and an elastic member, the power member is connected to the base, one end of the adjusting member is rotatably connected to the power member, and the other end is rotatably connected to the connecting member, and the power member is used to drive the adjusting member to move; along the axial direction of the adjusting member, the elastic member is elastically connected to the adjusting member to push the adjusting member to extend and retract along its axial direction. Compared with the prior art, the suspended wall-climbing robot of the present application is provided with an adjusting component, through which the swing of the connecting component can be actively adjusted, thereby adjusting the height of the base. During normal travel, the height of the base can be actively lowered to reduce the risk of overturning the device; when transitioning between different surfaces or traveling to a wall with a convex angle, the height of the base can be raised to facilitate the base to avoid obstacles, improve the walking obstacle avoidance and obstacle crossing capability of the device, and realize the active adjustment function of the device; at the same time, since the adjusting component includes an adjusting part and an elastic part, when traveling to an uneven working surface, there is no need for a power part to actively drive the connecting part to swing. Through the telescopic function of the adjusting part and the elastic recovery function of the elastic part, the connecting part can automatically swing under the external force of the traveling part in contact with the ground, thereby realizing the passive fine-tuning function of the suspended wall-climbing robot and accelerating the travel speed and reaction capability; and the adjusting part is respectively connected to the power part and the connecting part, and the adjusting part is located outside the base as a single part, which is convenient for the operator to repair and replace the adjusting part. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic structural diagram of a suspended wall-climbing robot according to an embodiment of the utility model is shown;

[0018] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0019] Figure 3 A schematic diagram showing the structure of an adjusting member according to an embodiment of the utility model is shown;

[0020] Figure 4 A partial schematic diagram of a suspended wall-climbing robot according to an embodiment of the utility model is shown;

[0021] Figure 5 A structural schematic diagram of a power component in an embodiment of the utility model is shown.

[0022] 1. Base; 2. Wall climbing assembly; 21. Adjusting member; 22. Connecting member; 23. Traveling member; 211. Power member; 212. Adjusting member; 213. Elastic member; 2121. Fixed seat; 2122. Piston rod; 2123. Abutting portion; 2111. Third driving member; 2112. Sliding block; 21111. Driving motor; 21112. Driving seat; 21113. Screw; 221. First connecting member; 222. Second connecting member; 223. Third connecting member; 224. Fixing rod; 225. Fixing hole; 2211. First part; 2212. Second part; 231. Traveling wheel; 232. Wheel seat; 233. First driving member; 234. Second driving member; 2311. Wheel body; 2312. Magnetic member. DETAILED DESCRIPTION

[0023] In the present invention, the terms "disposed", "provided with", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "radial", "circumferential", etc. are based on the orientation or position relationship shown in the drawings and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0026] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in this utility model can be understood according to specific circumstances.

[0027] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0028] See also Figure 1 The embodiment of the present application provides a suspended wall-climbing robot, comprising a base 1 and a wall-climbing assembly 2, wherein the wall-climbing assembly 2 is connected to the outer peripheral side of the base 1, and the wall-climbing assembly 2 comprises an adjusting component 21, a connecting component 22 and a traveling component 23, wherein one end of the connecting component 22 is rotatably connected to the base 1, and the other end is rotatably connected to the traveling component 23, and the traveling component 23 is used to contact with a working surface; the adjusting component 21 is connected to the connecting component 22, and is used to adjust the height of the connecting component 22. The adjusting component 21 comprises a power member 211 and an adjusting member 212, wherein the power member 211 is connected to the base 1, and one end of the adjusting member 212 is rotatably connected to the power member 211, and the other end is rotatably connected to the connecting component 22, and the power member 211 is used to drive the adjusting member 212 to move.

[0029] In practical applications, the base 1 can be used as the body part of the suspended wall-climbing robot. The control system or power supply system of the suspended wall-climbing robot is set inside the base 1 to facilitate the electrical connection of the wall-climbing component 2 and remote control of the wall-climbing component 2. The wall-climbing component 2 is connected to the outer peripheral side of the base 1 to facilitate the installation and maintenance of the wall-climbing component 2.

[0030] Specifically, one end of the connecting component 22 is rotatably connected to the base 1, and the other end is rotatably connected to the traveling component 23. The traveling component 23 contacts the working surface and is used to walk on the working surface. The adjusting component 21 is used to drive the connecting component 22 to swing, so as to adjust the height of the connecting component 22, and then adjust the height of the base 1. When the traveling component 23 walks on the working surface, when it encounters a corner or a high protrusion, the power member 211 drives the adjusting member 212 to move, and the adjusting member 212 drives the connecting component 22 to swing, and then drives the base 1 to move away from the working surface, that is, the base 1 is raised to avoid the base 1 from colliding with the corner or obstacle, so as to realize the non-plane transition function of the suspended wall-climbing robot. When the traveling component 23 moves normally on a smooth working surface, the power member 211 can drive the connecting component 22 to swing, reduce the height of the base 1, so that the center of gravity of the whole device is lowered, and the center of gravity is closer to the working surface, so that the torque generated by gravity is smaller, and the risk of the whole device overturning is reduced. The device can actively adjust the swing of the connecting component 22 to meet the active adjustment suspension function.

[0031] It should be noted that skew planes refer to two intersecting planes.

[0032] Meanwhile, the adjusting member 21 further comprises an elastic member 213, which is elastically connected to the adjusting member 212 along the axial direction of the adjusting member 212 to push the adjusting member 212 to expand and contract along the axial direction thereof. The elastic member 213 may be a spring or other structure.

[0033] In practical applications, the adjusting member 212 is a structure with telescopic function, and the elastic member 213 is elastically connected to the adjusting member 212. When the adjusting member 212 itself is compressed or stretched along its axial direction, the elastic member 213 accumulates elastic potential energy, and the elastic potential energy is released to push the adjusting member 212 to return to its original state. When the traveling member 23 travels on an uneven working surface, the traveling member 23 will rise and fall with the uneven parts. Since the adjusting member 212 can have a telescopic function along its axial direction, when the traveling member 23 is subjected to the external force generated by the ups and downs of the working surface, through the telescopic function of the adjusting member 212 and the elastic recovery function of the elastic member 213, under this external force, the connecting member 22 can automatically adjust the swing position following the uneven parts of the working surface, speeding up the reaction adjustment speed of the traveling member 23 to adapt to the working surface, so that the traveling member 23 can travel more quickly and smoothly on the working surface to meet the passive adjustment suspension function.

[0034] It is understandable that one or more wall climbing components 2 can be connected to the base 1, and the number of wall climbing components 2 is set according to actual needs, and this application does not limit this.

[0035] Compared with the prior art, the suspended wall-climbing robot of the present application is provided with an adjusting component 21, through which the swing of the connecting component 22 can be actively adjusted, thereby adjusting the height of the base 1. When traveling normally, the height of the base 1 can be actively lowered to reduce the risk of the device overturning; when transitioning to different surfaces or traveling to a convex corner wall, the height of the base 1 can be raised to facilitate the base 1 to avoid obstacles, improve the walking obstacle avoidance and obstacle crossing capability of the device, and realize the active adjustment function of the device; at the same time, since the adjusting component 21 includes an adjusting member 212 and an elastic member 213, When traveling to an uneven working surface, there is no need for the power part 211 to actively drive the connecting part 22 to swing. Through the telescopic function of the adjusting part 212 and the elastic recovery function of the elastic part 213, the connecting part 22 can automatically swing under the external force of the traveling part 23 in contact with the ground, thereby realizing the passive fine-tuning function of the suspended wall-climbing robot and accelerating the traveling speed and reaction ability. The adjusting part 212 is respectively connected to the power part 211 and the connecting part 22, and the adjusting part 212 is located outside the base 1 as a single component, which is convenient for the operator to repair and replace the adjusting part 212.

[0036] See also Figure 2 and Figure 3 In one embodiment, the adjusting member 212 includes a fixed seat 2121 and a piston rod 2122. The fixed seat 2121 is rotatably connected to the connecting member 22. One end of the piston rod 2122 is slidably connected to the fixed seat 2121, and the other end is rotatably connected to the power member 211. The elastic member 213 elastically abuts between the piston rod 2122 and the fixed seat 2121 to push the piston rod 2122 to slide relative to the fixed seat 2121.

[0037] Specifically, the piston rod 2122 is slidably connected to the fixing seat 2121 and will not be separated from the fixing seat 2121. The elastic member 213 is sleeved on the outer periphery of the piston rod 2122 and abuts against the fixing seat 2121 and the piston rod 2122 respectively. When the moving member 23 moves on the uneven working surface, as the working surface rises and falls, the working surface generates an external force of resistance to the device. Under this external force, the connecting member 22 will automatically swing. If the adjusting member 212 is not retractable, the connecting member 22 will not be able to swing, so the piston rod 2 122 can slide relative to the fixed seat 2121 to meet the telescopic effect of the adjusting member 212 and realize the automatic swing function of the connecting member 22. When the piston rod 2122 slides, it squeezes the elastic member 213. After the resisting external force disappears, the elastic force of the elastic member 213 pushes the piston rod 2122 to restore its original state. Under the action of the elastic force, the fixed seat 2121 can rotate relative to the connecting member 22, and the piston rod 2122 rotates relative to the base 1, so that the connecting member 22 can swing to a suitable position, so that the moving member 23 always fits the working surface.

[0038] See again Figure 3In one embodiment, the adjusting member 212 includes a butt joint 2123, which is connected to the outer peripheral side of the piston rod 2122, and is used to butt joint with the elastic member 213; wherein the butt joint 2123 is connected to one end of the piston rod 2122 close to the base 1, and the butt joint 2123 increases the butt joint area between the piston rod 2122 and the elastic member 213, so that the installation of the elastic member 213 is more stable, and at the same time, the elastic force generated by the elastic member 213 on the piston rod 2122 is more balanced along its circumference, which helps the piston rod 2122 to slide more smoothly relative to the fixed seat 2121.

[0039] See also Figure 4 The connecting component 22 includes a first connecting component 221, a second connecting component 222 and a third connecting component 223. One end of the first connecting component 221 is rotatably connected to the base 1, and the other end is rotatably connected to the third connecting component 223. One end of the second connecting component 222 is rotatably connected to the base 1, and the other end is rotatably connected to the third connecting component 223. The third connecting component 223 is connected to the traveling component 23; wherein the first connecting component 221 and the second connecting component 222 are parallel to each other.

[0040] In actual applications, the first connecting member 221 and the second connecting member 222 are parallel to each other, so that the first connecting member 221, the second connecting member 222, the third connecting member 223 and the base 1 form a parallel connecting rod mechanism. This arrangement can increase the structural stability of the connecting member 22, make the connecting member 22 swing more smoothly, and the swing position is more precise. The structure is simple and compact, which is easy to manufacture and maintain, and has low cost.

[0041] See again Figure 4 The connecting member 22 further includes a fixing rod 224. The first connecting member 221 is provided with fixing holes 225 on opposite sides. The fixing rod 224 is inserted into the fixing holes 225. The adjusting member 212 is rotatably connected to the fixing rod 224. Specifically, the fixing rod 224 is inserted into the fixing holes 225 to fix the fixing rod 224 and the first connecting member 221. Then, the adjusting member 212 is rotatably connected to the fixing rod 224, so that the adjusting member 212 drives the first connecting member 221 to swing, thereby driving the connecting member 22 to swing as a whole. Preferably, the adjusting member 212 is rotatably connected to the middle part of the fixing rod 224. Such a setting can make the power generated by the adjusting member 212 on the first connecting member 221 located in the middle part, so that the forces on both sides of the first connecting member 211 are more balanced, which is conducive to the stable movement of the first connecting member 221.

[0042] It is understandable that the second connecting member 222 may also have fixing holes 225 on opposite sides, the fixing rod 224 is inserted into the fixing hole 225 of the second connecting member 222, and the adjusting member 212 is rotatably connected to the fixing rod 224. Of course, the first connecting member 221 and the second connecting member 222 may also have fixing holes 225, which is not limited in the present application.

[0043] In one embodiment, the first connecting member 221 and the second connecting member 222 may have the same structure, both including a first part 2211 and a second part 2212, the first part 2211 being connected to opposite sides of the second part 2212, one end of the first part 2211 being rotatably connected to the base 1, and the other end being rotatably connected to the third connecting member 223.

[0044] In practical applications, the first connecting member 221 and the second connecting member 222 have the same structure, which is conducive to the convenience of production and processing; the second part 2212 can extend in a direction perpendicular to the first part 2211, so that the second part 2212 and the first parts 2211 on both sides thereof are connected to form an "H"-shaped connecting rod. This arrangement increases the structural rigidity of the first connecting member 221 and the second connecting member 222 themselves, prevents the first connecting member 221 and the second connecting member 222 from deforming under long-term stress, and extends the service life of the device.

[0045] See again Figure 4 The traveling component 23 includes a traveling wheel 231, a wheel seat 232, a first driving member 233 and a second driving member 234. The first driving member 233 is connected to the connecting component 22, and the output end of the first driving member 233 is connected to the wheel seat 232. The traveling wheel 231 is rotatably connected to the wheel seat 232. The second driving member 234 is connected to the wheel seat 232, and the driving end of the second driving member 234 is connected to the traveling wheel 231.

[0046] The first driving member 233 is mainly used to drive the traveling wheel 231 to turn, while the second driving member 234 is mainly used to drive the traveling wheel 231 to walk; specifically, the output end of the first driving member 233 is connected to the wheel seat 232, and the first driving member 233 is used to drive the wheel seat 232 to rotate, and then the traveling wheel 231 located on the wheel seat 232 rotates with the wheel seat 232 to change the walking direction of the traveling wheel 231; the second driving member 234 is connected to the wheel seat 232, and the output end is connected to the traveling wheel 231, and the second driving member 234 is used to drive the traveling wheel 231 to rotate, at this time, the traveling wheel 231 rotates relative to the wheel seat 232, because the traveling wheel 231 is in contact with the working surface, under the action of the contact friction force, the traveling wheel 231 rolls in a certain direction on the working surface, that is, the traveling wheel 231 walks normally on the working surface. The normal turning and walking functions of the traveling component 23 are realized by the first driving member 233 and the second driving member 234.

[0047] The first driving member 233 and the second driving member 234 may both be motors.

[0048] Specifically, the traveling wheel 231 includes a wheel body 2311 and a magnetic member 2312 . The wheel body 2311 is rotatably connected to the wheel seat 232 . The magnetic member 2312 is arranged on the outer peripheral surface of the wheel body 2311 . The magnetic member 2312 is used for magnetic connection with the working surface.

[0049] In practical applications, the wheel body 2311 contacts the working surface, mainly to increase the friction between the traveling wheel 231 and the working surface, and prevent the traveling wheel 231 from slipping; and the magnetic part 2312 can generate magnetic force, so that the traveling wheel 231 can be stably adsorbed on the metal working surface, enhance the stable adsorption ability of the suspended wall-climbing robot, and prevent the suspended wall-climbing robot from separating from the working surface. Among them, the magnetic part 2312 can adopt a structure such as a magnet.

[0050] See also Figure 5 The power member 211 includes a third driving member 2111 and a slider 2112. The third driving member 2111 is connected to the base 1. The slider 2112 is slidably connected to the base 1. The output end of the third driving member 2111 is connected to the slider 2112 and is used to drive the slider 2112 to slide. The adjusting member 212 is rotationally connected to the slider 2112.

[0051] In actual application, a slide rail is provided on the outer side of the base 1, and the slider 2112 is slidably connected to the slide rail. The third driving member 2111 is fixed to the outer side of the base 1, and the output end of the third driving member 2111 is connected to the slider 2112. The third driving member 2111 drives the slider 2112 to slide along the length direction of the slide rail. When sliding, the slider 2112 drives the adjusting member 212 to move up and down, and then the adjusting member 212 drives the connecting member 22 to swing. The swing of the connecting member 22 pushes the base 1 away from or close to the working surface, thereby realizing the active adjustment function of the device.

[0052] See again Figure 5 The third driving member 2111 includes a driving motor 21111, a driving seat 21112 and a screw 21113. The driving seat 21112 is connected to the base 1. The driving motor 21111 is connected to the driving seat 21112 and its output end is connected to the screw 21113. The screw 21113 is rotationally connected to the driving seat 21112 and is threadedly connected to the slider 2112.

[0053] In this embodiment, the third driving member 2111 is driven by the screw 21113. Specifically, the driving seat 21112 is connected to the base 1, and the driving seat 21112 provides a position for installing the screw 21113. The screw 21113 is rotatably connected to the driving seat 21112. The output end of the driving motor 21111 is connected to the screw 21113. The slider 2112 is slidably connected to the slide rail on the base 1 and is threadedly connected to the screw 21113. When the driving motor 21111 drives the screw 21113 to rotate, the screw 21113 drives the slider 2112 to move along the length direction of the screw 21113, and then the slider 2112 slides along the length direction of the slide rail to drive the adjusting member 212 to move, thereby realizing the function of the adjusting member 212 driving the connecting component 22 to swing.

[0054] It is understandable that in some other embodiments, the third driving member 2111 may also adopt a structure such as an electric telescopic rod or a cylinder, and the present application does not limit this.

[0055] Different from the prior art, the embodiment of the present application provides a suspended wall-climbing robot, comprising a base 1 and a wall-climbing assembly 2, wherein the wall-climbing assembly 2 is connected to the outer peripheral side of the base 1, and the wall-climbing assembly 2 comprises an adjusting component 21, a connecting component 22 and a traveling component 23, wherein one end of the connecting component 22 is rotatably connected to the base 1, and the other end is rotatably connected to the traveling component 23, and the traveling component 23 is used to contact the working surface; the adjusting component 21 is connected to the connecting component 22, and is used to adjust the height of the connecting component 22. The adjusting component 21 comprises a power member 211, an adjusting member 212 and an elastic member 213, wherein the power member 211 is connected to the base 1, one end of the adjusting member 212 is rotatably connected to the power member 211, and the other end is rotatably connected to the connecting component 22, and the power member 211 is used to drive the adjusting member 212 to move; along the axial direction of the adjusting member 212, the elastic member 213 is elastically connected to the adjusting member 212 to push the adjusting member 212 to extend and retract along its axial direction. Compared with the prior art, the suspended wall-climbing robot of the present application is provided with an adjusting component 21, through which the swing of the connecting component 22 can be actively adjusted, thereby realizing the active adjustment function of the device; at the same time, since the adjusting component 21 includes an adjusting member 212 and an elastic member 213, when moving to an uneven working surface, there is no need for the power member 211 to actively drive the connecting component 22 to swing. Through the telescopic function of the adjusting member 212 and the elastic recovery function of the elastic member 213, the connecting component 22 can automatically swing under the external force of the contact between the moving member 23 and the ground, thereby realizing the passive fine-tuning function of the suspended wall-climbing robot.

[0056] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A suspended wall-climbing robot, characterized in that: include: Base (1); A wall climbing component (2) is connected to the outer peripheral side of the base (1), and the wall climbing component (2) comprises an adjusting component (21), a connecting component (22) and a traveling component (23), one end of the connecting component (22) is rotatably connected to the base (1), and the other end is rotatably connected to the traveling component (23), and the traveling component (23) is used to contact with a working surface; the adjusting component (21) is connected to the connecting component (22) and is used to adjust the height of the connecting component (22); The adjusting component (21) comprises a power piece (211), an adjusting piece (212) and an elastic piece (213); the power piece (211) is connected to the base (1); one end of the adjusting piece (212) is rotatably connected to the power piece (211), and the other end is rotatably connected to the connecting component (22); the power piece (211) is used to drive the adjusting piece (212) to move; along the axial direction of the adjusting piece (212), the elastic piece (213) is elastically connected to the adjusting piece (212) to push the adjusting piece (212) to extend and retract along its axial direction.

2. The suspended wall-climbing robot according to claim 1, characterized in that: The adjusting member (212) comprises a fixing seat (2121) and a piston rod (2122); the fixing seat (2121) is rotatably connected to the connecting member (22); one end of the piston rod (2122) is slidably connected to the fixing seat (2121), and the other end is rotatably connected to the power member (211); the elastic member (213) elastically abuts between the piston rod (2122) and the fixing seat (2121) to push the piston rod (2122) to slide relative to the fixing seat (2121).

3. The suspended wall-climbing robot according to claim 2, characterized in that: The adjusting member (212) comprises an abutting portion (2123), wherein the abutting portion (2123) is connected to the outer peripheral side of the piston rod (2122), and the abutting portion (2123) is used to abut against the elastic member (213).

4. The suspended wall-climbing robot according to claim 1, characterized in that: The connecting component (22) comprises a first connecting component (221), a second connecting component (222) and a third connecting component (223); one end of the first connecting component (221) is rotatably connected to the base (1), and the other end is rotatably connected to the third connecting component (223); one end of the second connecting component (222) is rotatably connected to the base (1), and the other end is rotatably connected to the third connecting component (223); the third connecting component (223) is connected to the traveling component (23); wherein the first connecting component (221) and the second connecting component (222) are parallel to each other.

5. The suspended wall-climbing robot according to claim 4, characterized in that: The connecting component (22) further comprises a fixing rod (224), fixing holes (225) are provided on opposite sides of the first connecting component (221), and / or fixing holes (225) are provided on opposite sides of the second connecting component (222); The fixing rod (224) is inserted into the fixing hole (225), and the adjusting member (212) is rotatably connected to the fixing rod (224).

6. The suspended wall-climbing robot according to claim 4, characterized in that: The first connecting member (221) and the second connecting member (222) have the same structure, and both comprise a first portion (2211) and a second portion (2212); the first portion (2211) is connected to opposite sides of the second portion (2212); one end of the first portion (2211) is rotatably connected to the base (1), and the other end is rotatably connected to the third connecting member (223).

7. The suspended wall-climbing robot according to claim 1, characterized in that: The traveling component (23) comprises a traveling wheel (231), a wheel seat (232), a first driving member (233) and a second driving member (234), wherein the first driving member (233) is connected to the connecting component (22), an output end of the first driving member (233) is connected to the wheel seat (232), the traveling wheel (231) is rotatably connected to the wheel seat (232), the second driving member (234) is connected to the wheel seat (232), and a driving end of the second driving member (234) is connected to the traveling wheel (231).

8. The suspended wall-climbing robot according to claim 7, characterized in that: The traveling wheel (231) comprises a wheel body (2311) and a magnetic part (2312); the wheel body (2311) is rotatably connected to the wheel seat (232); the magnetic part (2312) is arranged on the outer peripheral surface of the wheel body (2311); and the magnetic part (2312) is used for magnetic connection with the working surface.

9. The suspended wall-climbing robot according to claim 1, characterized in that: The power member (211) comprises a third driving member (2111) and a slider (2112); the third driving member (2111) is connected to the base (1); the slider (2112) is slidably connected to the base (1); an output end of the third driving member (2111) is connected to the slider (2112) and is used to drive the slider (2112) to slide; and the adjusting member (212) is rotationally connected to the slider (2112).

10. The suspended wall-climbing robot according to claim 9, characterized in that: The third driving member (2111) comprises a driving motor (21111), a driving seat (21112) and a screw (21113); the driving seat (21112) is connected to the base (1); the driving motor (21111) is connected to the driving seat (21112) and an output end thereof is connected to the screw (21113); the screw (21113) is rotationally connected to the driving seat (21112) and is threadedly connected to the slider (2112).

Images