Wall-climbing robot capable of adapting to irregular curved surface
By designing a dodge mechanism on the wall-climbing robot and using the camera and cylinder to control the sliding of the walking wheel, the problem of tilting and falling of the wall-climbing robot when climbing irregular curved surfaces is solved, improving stability and safety.
Patent Information
- Application Number
- CN202421440594.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-24
- Publication Date
- 2025-04-15
- Estimated Expiration
- 2034-06-24
AI Technical Summary
Existing wall-climbing robots are prone to tilt when climbing irregular surfaces, resulting in insufficient adsorption force and may fall.
A evacuation mechanism including a camera, a cylinder, a fixed rod, a U-shaped plate and a walking wheel is designed. The road surface is captured by the camera. The cylinder controls the movement of the fixed rod and the U-shaped plate. The walking wheel slides on the square rod to avoid irregular curved surfaces and maintain the stability of the wall-climbing robot.
It effectively avoids the inclination and fall of the wall-climbing robot when climbing irregular surfaces, and improves the stability and safety of the climbing process.
Smart Images
Figure CN222756686U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot which can adapt to irregular curved surfaces. Background Art
[0002] A wall-climbing robot is a robot that can climb and move on both horizontal and vertical planes. The most common ones are wheeled wall-climbing robots and tracked wall-climbing robots. These two types of wall-climbing robots are widely used in various fields and can be used for functions such as detection, rust removal and cleaning.
[0003] At present, when a wall-climbing robot passes over an irregular curved surface during the climbing process, the body of the wall-climbing robot will tilt and some wheels will lift up. This process may result in insufficient adsorption force and the wall-climbing robot will fall down. Therefore, a wall-climbing robot that can adapt to irregular curved surfaces is needed to solve the above technical problems. Utility Model Content
[0004] The purpose of the utility model is to make up for the deficiencies of the prior art and to provide a wall-climbing robot that can adapt to irregular curved surfaces.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a wall-climbing robot that can adapt to irregular curved surfaces, comprising a body, adsorption parts are provided on both the front and rear sides of the bottom of the body, driving parts are fixedly connected on both the front and rear sides of the bottom of the body, rotating shafts are provided at both ends of the driving part, square rods are fixedly connected at the ends of the rotating shafts, and walking wheels are slidably connected to the outer sides of the square rods, and a dodging mechanism is provided on the top of the body;
[0006] The avoidance mechanism includes a connecting rod fixedly connected to the front side of the vehicle body, a camera is fixedly connected to the front end of the connecting rod, cylinders are fixedly connected to both ends of the front and rear sides of the top of the vehicle body, the ends of the telescopic ends of the cylinders are fixedly connected to fixing rods, the ends of the fixing rods are fixedly connected to U-shaped plates, and the tops of the running wheels are located inside the U-shaped plates.
[0007] Preferably, both sides of the walking wheel are provided with through holes, and four sides of the through holes are provided with ball grooves 1, and a rotating ball 1 is rotatably connected in the ball groove 1, and the rotating ball 1 is in contact with the walking wheel.
[0008] Preferably, two ball grooves are provided at the bottom ends of both sides inside the U-shaped plate, and two rotating balls are rotatably connected in the two ball grooves.
[0009] Preferably, a controller is fixedly connected to the top of the vehicle body, and the controller is electrically connected to the camera 1 and the cylinder respectively.
[0010] Preferably, a second connecting rod is fixedly connected to the rear side of the vehicle body, and a second camera is fixedly connected to the rear end of the second connecting rod.
[0011] Preferably, a first lighting lamp is fixedly connected to the outer side of the first camera, and a second lighting lamp is fixedly connected to the outer side of the second camera.
[0012] Preferably, lightweight openings are provided on both sides of the vehicle body, and a side plate is fixedly connected to one end of the square rod away from the vehicle body.
[0013] Beneficial effects:
[0014] Compared with the prior art, the wall-climbing robot that can adapt to irregular surfaces has the following beneficial effects:
[0015] 1. The utility model uses a pair of cameras to take pictures of the road surface in front. When passing through an irregular curved surface, the cylinder controls the telescopic end to extend or shorten, the telescopic end of the cylinder drives the fixed rod to move, the fixed rod drives the U-shaped plate to move, and the U-shaped plate drives the walking wheels to slide on the square rod, so that it avoids the pits or raised walls that it is about to pass, avoiding the wall-climbing robot from tilting, resulting in insufficient adsorption force and falling down, thereby improving the stability and safety of the wall-climbing robot during climbing. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the first three-dimensional structure of the utility model;
[0017] Figure 2 It is a second three-dimensional structural schematic diagram of the utility model;
[0018] Figure 3 It is a structural schematic diagram of the avoidance mechanism in the utility model;
[0019] Figure 4 It is a structural schematic diagram of the traveling wheel in the utility model.
[0020] In the figure: 1. vehicle body; 100. adsorption part; 2. driving part; 3. rotating shaft; 4. square rod; 5. walking wheel; 6. avoiding mechanism; 61. connecting rod 1; 62. camera 1; 63. cylinder; 64. fixing rod; 65. U-shaped plate; 7. through hole; 8. ball groove 1; 9. rotating ball 1; 10. ball groove 2; 11. rotating ball 2; 12. controller; 13. connecting rod 2; 14. camera 2; 15. lighting lamp 1; 16. lighting lamp 2; 17. lightweight opening; 18. side panel. DETAILED DESCRIPTION
[0021] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.
[0022] like Figure 1 to Figure 4 As shown, a wall-climbing robot that can adapt to irregular curved surfaces includes a body 1, and adsorption members 100 are provided on both the front and rear sides of the bottom of the body 1. A driving member 2 is fixedly connected to both the front and rear sides of the bottom of the body 1. A rotating shaft 3 is provided at both ends of the driving member 2, and a square rod 4 is fixedly connected to the ends of the rotating shaft 3. Lightweight openings 17 are provided on both sides of the body 1, and a side plate 18 is fixedly connected to the end of the square rod 4 away from the body 1. The design of the lightweight opening 17 reduces the body weight of the wall-climbing robot and achieves lightweight. The outer side of the square rod 4 is slidably connected to a walking wheel 5, and a dodging mechanism 6 is provided on the top of the body 1;
[0023] The avoidance mechanism 6 includes a connecting rod 1 61 fixedly connected to the front side of the vehicle body 1, and a camera 1 62 is fixedly connected to the front end of the connecting rod 1 61. A connecting rod 2 13 is fixedly connected to the rear side of the vehicle body 1, and a camera 2 14 is fixedly connected to the rear end of the connecting rod 2 13. The design of the camera 2 14 allows both sides of the wall-climbing robot to be used as the head for climbing and driving. A lighting lamp 15 is fixedly connected to the outer side of the camera 1 62, and a lighting lamp 2 16 is fixedly connected to the outer side of the camera 2 14. The design of the lighting lamp 15 and the lighting lamp 2 16 allows the wall-climbing robot to climb normally and avoid pits and protruding walls at night. A controller 12 is fixedly connected to the top of the vehicle body 1, and the controller 12 is electrically connected to the camera 1 62 and the cylinder 63 respectively, and automatically controls the extension and retraction of the cylinder 63. Cylinders 63 are fixedly connected to both ends of the front and rear sides of the top of the vehicle body 1, and the ends of the telescopic ends of the cylinders 63 are fixedly connected to fixing rods 64, and the ends of the fixing rods 64 are fixedly connected to U-shaped plates 65, and the tops of the running wheels 5 are located inside the U-shaped plates 65.
[0024] When working, during the climbing process of the wall-climbing robot, the camera 62 will take pictures of the road ahead. When passing through an irregular curved surface, the cylinder 63 controls the telescopic end to extend or shorten. The telescopic end of the cylinder 63 drives the fixed rod 64 to move, and the fixed rod 64 drives the U-shaped plate 65 to move. The U-shaped plate 65 drives the walking wheel 5 to slide on the square rod 4, so that it avoids the irregular curved surface that it is about to pass, thereby preventing the wall-climbing robot from tilting, resulting in insufficient adsorption force and falling down, thereby improving the stability and safety of the wall-climbing robot during the climbing process.
[0025] Both sides of the running wheel 5 are provided with through holes 7, and the four sides of the through holes 7 are provided with ball grooves 8, and the ball grooves 8 are rotatably connected with rotating balls 9, and the rotating balls 9 are all fitted with the running wheel 5. The design of the rotating balls 9 greatly reduces the friction between the square rod 4 and the running wheel 5. The bottom ends of both sides of the U-shaped plate 65 are provided with ball grooves 10, and the ball grooves 10 are rotatably connected with rotating balls 11. The design of the rotating balls 11 greatly reduces the friction between the U-shaped plate 65 and the running wheel 5.
[0026] Working principle: When working, the design of the lightweight mouth 17 reduces the body weight of the wall-climbing robot and achieves lightweight. During the climbing process of the wall-climbing robot, the camera 1 62 will take pictures of the road ahead. When passing through an irregular curved surface, the cylinder 63 controls the extension or shortening of the telescopic end. The telescopic end of the cylinder 63 drives the fixed rod 64 to move, and the fixed rod 64 drives the U-shaped plate 65 to move. The U-shaped plate 65 drives the walking wheel 5 to slide on the square rod 4. The design of the rotating ball 11 greatly reduces the friction between the U-shaped plate 65 and the walking wheel 5. The design of the rotating ball 19 greatly reduces the friction between the square rod 4 and the walking wheel 5, so that it avoids the irregular curved surface that it is about to pass, thereby preventing the wall-climbing robot from tilting, resulting in insufficient adsorption force and falling down, thereby improving the stability and safety of the wall-climbing robot during climbing.
[0027] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A wall-climbing robot capable of adapting to irregular curved surfaces, comprising a body (1), characterized in that: Adsorption members (100) are provided on both the front and rear sides of the bottom end of the vehicle body (1), driving members (2) are fixedly connected to both the front and rear sides of the bottom end of the vehicle body (1), rotating shafts (3) are provided at both ends of the driving member (2), square rods (4) are fixedly connected to the ends of the rotating shafts (3), and running wheels (5) are slidably connected to the outer sides of the square rods (4), and a dodging mechanism (6) is provided on the top of the vehicle body (1); The avoidance mechanism (6) comprises a connecting rod (61) fixedly connected to the front side of the vehicle body (1), a camera (62) being fixedly connected to the front end of the connecting rod (61), cylinders (63) being fixedly connected to both ends of the front and rear sides of the top of the vehicle body (1), the ends of the telescopic ends of the cylinders (63) being fixedly connected to fixing rods (64), the ends of the fixing rods (64) being fixedly connected to U-shaped plates (65), and the tops of the running wheels (5) being located inside the U-shaped plates (65).
2. A wall-climbing robot capable of adapting to irregular curved surfaces according to claim 1, characterized in that: Both sides of the walking wheel (5) are provided with through holes (7), and four sides of the through holes (7) are provided with ball grooves (8). Rotating balls (9) are rotatably connected in the ball grooves (8), and the rotating balls (9) are fitted with the walking wheel (5).
3. A wall-climbing robot capable of adapting to irregular curved surfaces according to claim 1, characterized in that: The bottom ends of both sides of the U-shaped plate (65) are provided with two ball grooves (10), and two rotating balls (11) are rotatably connected in the two ball grooves (10).
4. The wall-climbing robot capable of adapting to irregular curved surfaces according to claim 2, characterized in that: A controller (12) is fixedly connected to the top of the vehicle body (1), and the controller (12) is electrically connected to the camera 1 (62) and the cylinder (63) respectively.
5. The wall-climbing robot capable of adapting to irregular curved surfaces according to claim 1, characterized in that: A second connecting rod (13) is fixedly connected to the rear side of the vehicle body (1), and a second camera (14) is fixedly connected to the rear end of the second connecting rod (13).
6. A wall-climbing robot capable of adapting to irregular curved surfaces according to claim 5, characterized in that: The outer side of the camera head 1 (62) is fixedly connected to a lighting lamp 1 (15), and the outer side of the camera head 2 (14) is fixedly connected to a lighting lamp 2 (16).
7. The wall-climbing robot capable of adapting to irregular curved surfaces according to claim 1, characterized in that: Lightweight openings (17) are provided on both sides of the vehicle body (1), and a side plate (18) is fixedly connected to one end of the square rod (4) away from the vehicle body (1).