Wall-climbing robot

Abstract

The utility model provides a wall-climbing robot. The wall-climbing robot comprises a robot body; the at least four magnetic adsorption assemblies are mounted on the machine body at intervals; wherein each magnetic adsorption assembly comprises a magnetic adsorption unit and a floating unit, and the magnetic adsorption unit is connected to the machine body through the floating unit, so that the magnetic adsorption unit can float relative to the machine body. The obstacle crossing ability of the wall-climbing robot can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a wall-climbing robot. Background Art

[0002] In recent years, industries such as petrochemical storage tanks, wind power generation, and ships have flourished, but this growth has also brought many maintenance issues. From surface inspection to rust removal and cleaning, huge labor costs are often required, and manual operations are subject to problems such as low efficiency, long construction periods, uncertain work quality, worker safety hazards, and environmental pollution. Therefore, many industries have begun to focus on the use of wall-climbing robots. By combining the characteristics of wall-climbing robots that can walk on the surfaces of ships, wind towers, and petrochemical storage tanks with ultra-high-pressure water cleaning devices and recovery systems, the efficiency of maintenance work can be improved, the quality of work can be guaranteed, labor can be liberated, and environmental pollution can be reduced, thus achieving cost control and maximizing benefits. However, existing wall-climbing robots lack the ability to overcome obstacles, and when faced with uneven obstacles or other challenging wall environments, they are prone to dangerous situations such as slipping and falling off. Utility Model Content

[0003] An embodiment of the present application provides a wall-climbing robot, which can improve the obstacle-crossing capability of the wall-climbing robot.

[0004] In a first aspect, an embodiment of the present application provides a wall-climbing robot, comprising:

[0005] body;

[0006] At least four magnetic adsorption components are installed on the fuselage at intervals;

[0007] Each of the magnetic adsorption components includes a magnetic unit and a floating unit, and the magnetic unit is connected to the fuselage through the floating unit so that the magnetic unit can float relative to the fuselage.

[0008] In one embodiment, the floating unit includes a sliding rod and a first elastic member, one of the magnetic unit and the fuselage is fixedly connected to the sliding rod, the other of the magnetic unit and the fuselage is slidingly connected to the sliding rod, and the first elastic member is arranged between the fuselage and the magnetic unit.

[0009] In one embodiment, each of the magnetic adsorption components includes a plurality of the floating units, and the plurality of the floating units are arranged at intervals along the width direction of the fuselage, and each of the floating units connects the magnetic unit and the fuselage; and / or along the length direction of the fuselage, both ends of the magnetic unit are movably connected to the fuselage through at least one of the floating units.

[0010] In one embodiment, a side of the magnetic unit facing away from the body is arc-shaped, and the arc is bent along the length direction of the body.

[0011] In one embodiment, the wall-climbing robot further includes at least four motion wheels, and each motion wheel is provided corresponding to one of the magnetic adsorption components.

[0012] In one embodiment, at least one of the action wheels includes two wheel bodies spaced apart from each other, and the magnetic adsorption component is disposed between the two wheel bodies.

[0013] In one embodiment, the fuselage includes a main bracket and two auxiliary brackets, and the two auxiliary brackets are arranged on two opposite sides of the main bracket;

[0014] At least four of the moving wheels include two driving wheels and two driven wheels. Each of the auxiliary brackets is provided with the driving wheel, the driven wheel and at least two of the magnetic adsorption components. At least two of the magnetic adsorption components on the same auxiliary bracket are arranged along the length direction of the fuselage.

[0015] In one embodiment, at least one of the auxiliary supports is capable of rotating relative to the main support along the width direction of the fuselage.

[0016] In one embodiment, the auxiliary bracket includes a frame body and a rotating body, the frame body is rotatably connected to the main bracket, the driven wheel is mounted on the rotating body, and the rotating body rotates around the frame body along the width direction of the fuselage.

[0017] In one embodiment, the wall-climbing robot further includes a brush and an elastic component, and the brush is elastically connected to the main support through the elastic component.

[0018] In an embodiment of the present application, a wall-climbing robot includes a body and at least four magnetic adsorption components installed at intervals on the body. These magnetic adsorption components are not only sufficient in number to ensure that the wall-climbing robot is firmly adsorbed on the wall, but also, by being installed at intervals, the body can obtain a relatively balanced adsorption force in all areas. Each magnetic adsorption component of the wall-climbing robot includes a magnetic unit and a floating unit. The magnetic unit is connected to the body through the floating unit so that the magnetic unit can float relative to the body. This floating connection design enables each magnetic adsorption component to automatically and independently adjust the distance from the wall according to the actual wall surface conditions to adapt to the unevenness of the wall surface. For example, when the magnetic unit of one of the magnetic adsorption components contacts a protruding obstacle on the wall, the floating unit allows the magnetic unit to float upward to adapt to the height of the protrusion and easily cross the protruding obstacle without forcibly pressing the protruding obstacle, thereby ensuring that the wall-climbing robot can continuously walk on the wall and helping to protect the wall surface and the magnetic unit. Moreover, the upward floating of one magnetic adsorption component on the fuselage will not affect the adsorption stability of at least three other magnetic adsorption components, nor will it affect the close contact between other components on the fuselage and the wall, ensuring the overall stability of the wall-climbing robot. Even when facing uneven walls, the wall-climbing robot will not lose balance as a whole due to the floating of a small number of magnetic adsorption units, thereby improving the obstacle crossing ability of the wall-climbing robot, being able to better maintain balance, and ensuring that the wall-climbing robot can walk stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic diagram of the structure of the wall-climbing robot provided in an embodiment of the present application;

[0021] Figure 2 for Figure 1 A schematic diagram of the structure of part of the body and magnetic adsorption components of the wall-climbing robot shown;

[0022] Figure 3 for Figure 2 A cross-sectional view of the portion of the fuselage and the magnetic adsorption assembly along the AA direction is shown;

[0023] Figure 4 for Figure 3 A partial enlarged view of the fuselage and part A of the magnetic adsorption assembly shown;

[0024] Figure 5 for Figure 1A schematic structural diagram of the wall-climbing robot from another angle;

[0025] Figure 6 for Figure 1 The schematic diagram of the structure of the auxiliary support in the wall-climbing robot shown;

[0026] Figure 7 for Figure 6 A partial enlarged view of part B of the auxiliary bracket shown. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In the present application, unless otherwise specified, the directional words used, such as "upper" and "lower", generally refer to the upper and lower parts of the device in actual use or working state, specifically the drawing direction in the accompanying drawings; and "inside" and "outside" refer to the outline of the device.

[0028] Please refer to Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of the wall-climbing robot provided in an embodiment of the present application. Figure 2 for Figure 1 The schematic diagram of the structure of part of the body and magnetic adsorption components of the wall-climbing robot is shown. Figure 3 for Figure 2 The cross-sectional view of a portion of the body and the magnetic adsorption assembly along the AA direction is shown. This embodiment provides a wall-climbing robot, comprising a body and at least four magnetic adsorption assemblies.

[0029] The body 100 is the main structure of the wall-climbing robot 10, used to support and connect its various functional components. To enhance stability and adhesion to the wall, at least four magnetic adsorption assemblies 200 are installed at intervals on the body 100. These magnetic adsorption assemblies 200 are not only sufficient in number to ensure the wall-climbing robot 10's secure adhesion to the wall and improve its load capacity, but also, their spaced-apart installation ensures a relatively balanced adhesion across all areas of the body 100.

[0030] Each magnetic attraction assembly 200 includes a magnetic unit 210 and a floating unit 220. The magnetic unit 210 is connected to the body 100 via the floating unit 220, allowing the magnetic unit 210 to float relative to the body 100. The magnetic unit 210 uses magnetic force to firmly attach the wall-climbing robot 10 to the wall, while the floating unit 220 allows the magnetic unit 210 to float up and down relative to the body 100 to a certain extent. This floating connection design allows each magnetic attraction assembly 200 to independently and automatically adjust its distance from the wall according to actual conditions, adapting to unevenness of the wall and maintaining stable attraction.

[0031] For example, when the wall-climbing robot 10 is walking on a wall, there may be some raised obstacles on the wall. When the magnetic unit 210 contacts the raised obstacle on the wall, the floating unit 220 allows the magnetic unit 210 to float upward to adapt to the height of the raised obstacle, easily crossing the raised obstacle without forcibly pressing the raised obstacle. This ensures that the wall-climbing robot 10 can continuously walk on the wall and helps protect the wall and the magnetic unit 210. Because each magnetic adsorption component 200 includes a magnetic adsorption unit 210 and a floating unit 220, the floating of one magnetic adsorption component 200 does not affect the adsorption stability of at least three other magnetic adsorption components 200, nor does it affect the close contact between other components on the body 100 and the wall. This ensures the overall stability of the wall-climbing robot 10. Therefore, even when facing an uneven wall, the wall-climbing robot 10 will not lose balance as a whole due to the floating of a small number of magnetic adsorption units 210, thereby improving the obstacle-crossing ability of the wall-climbing robot 10. In contrast, if the magnetic adsorption component 200 lacks the floating unit 220 and cannot float and adjust, the magnetic adsorption component 200 may not be able to cross the raised obstacle, thereby hindering the travel route of the wall-climbing robot 10. The magnetic adsorption component 200 may also use forced pressure to cross the raised obstacle, which will generate a large upward stress at the pressure point, which may cause the wall-climbing robot 10 to lose balance due to its inability to adapt to the height of the protrusion, and forced pressure will also damage the magnetic adsorption component 200 and the wall surface.

[0032] Therefore, the wall-climbing robot 10 in this embodiment is installed with at least four magnetic adsorption components 200 at intervals to provide a sufficiently balanced adsorption force for the fuselage 100, and each magnetic adsorption component 200 includes a floating unit 220, allowing the magnetic adsorption unit 210 to float up and down relative to the fuselage 100, so that the wall-climbing robot 10 can adapt to the unevenness of the wall surface more flexibly, improve the obstacle crossing ability of the wall-climbing robot 10, and better maintain balance, ensuring that the wall-climbing robot 10 can walk stably.

[0033] In some embodiments, please refer to Figure 4 , Figure 4 for Figure 3A partial enlarged view of section A of the body and magnetic assembly is shown. The floating unit 220 includes a sliding rod 221 and a first elastic member 222. One of the magnetic unit 210 and the body 100 is fixedly connected to the sliding rod 221, while the other of the magnetic unit 210 and the body 100 is slidably connected to the sliding rod 221. The first elastic member 222 is disposed between the body 100 and the magnetic unit 210.

[0034] In this embodiment, the floating unit 220 includes a sliding rod 221 and a first elastic member 222. One end of the sliding rod 221 can be fixedly connected to one of the magnetic unit 210 and the body 100, while the other end can be slidably connected to the other of the magnetic unit 210 and the body 100. This allows the magnetic unit 210 to move up and down without deviating from the predetermined floating path when the wall surface is uneven. The first elastic member 222 can be, for example, a spring. When the magnetic unit 210 encounters a raised obstacle on the wall, the elastic action of the spring causes the magnetic unit 210 to float upward, reducing direct collision with the raised obstacle. After passing the raised obstacle, the restoring force of the spring pushes the magnetic unit 210 back to a position in contact with or close to the wall, ensuring continuous adsorption force. By dynamically adjusting the position, the obstacle-crossing capability of the wall-climbing robot 10 is improved.

[0035] In some embodiments, each magnetic adsorption component 200 includes multiple floating units 220, and the multiple floating units 220 are arranged at intervals along the width direction of the fuselage 100, and each floating unit 220 connects the magnetic adsorption unit 210 and the fuselage 100; and / or along the length direction of the fuselage 100, the two ends of the magnetic adsorption unit 210 are movably connected to the fuselage 100 through at least one floating unit 220.

[0036] In this embodiment, each magnetic attraction assembly 200 includes multiple floating units 220. That is, one magnetic attraction unit 210 can be connected to multiple floating units 220. When the magnetic attraction unit 210 encounters a protrusion or uneven surface, the multiple floating units 220 can disperse the stress caused by the uneven surface, reducing the burden on a single floating unit 220, thereby improving the reliability and durability of the magnetic attraction assembly 200. Furthermore, each floating unit 220 is connected to the magnetic attraction unit 210 and the body 100. Each floating unit 220 can independently drive the magnetic attraction unit 210 to float relative to the body 100 within a certain range. Therefore, through the mutual cooperation of the multiple floating units 220, the magnetic attraction unit 210 can be flexibly adjusted to the optimal adsorption state.

[0037] Among them, multiple floating units 220 can be arranged at intervals along the width direction of the fuselage 100, or can be arranged at intervals along the length direction of the fuselage 100, or multiple floating units 220 can be arranged at intervals along both the width direction of the fuselage 100 and the length direction of the fuselage 100, so that the magnetic attraction unit 210 can better adapt to the unevenness of the wall not only in the width direction, but also in the length direction, thereby improving the overall flexibility and adsorption effect of the magnetic attraction component 200.

[0038] In some embodiments, the side of the magnetic unit 210 facing away from the body 100 is arc-shaped, and the arc is curved along the length direction of the body 100 .

[0039] The side of the magnetic unit 210 facing away from the body 100 is curved, that is, the side of the magnetic unit 210 that is close to or in contact with the wall is curved. The curved surface can reduce the scratches or damage that may be caused by the magnetic unit 210 when contacting the wall, which is beneficial to protecting both the wall-climbing robot 10 and the wall. The curved design also helps the wall-climbing robot 10 to more easily pass through irregular shapes on the wall, allowing the magnetic unit 210 to relatively smoothly pass over protrusions or depressions without being easily stuck.

[0040] In some embodiments, the wall-climbing robot 10 further includes at least four motion wheels 300 , and each motion wheel 300 is provided corresponding to a magnetic adsorption component 200 .

[0041] The wall-climbing robot 10 also includes at least four moving wheels 300, each moving wheel 300 corresponds to a magnetic adsorption component 200. The adsorption force generated by the magnetic adsorption component 200 ensures that each moving wheel 300 can be in close contact with the wall. The four moving wheels 300 and the corresponding magnetic adsorption components 200 together constitute the robot's four-point stable support system. Even on uneven or inclined surfaces, the four moving wheels 300 and the magnetic adsorption components 200 can work together to keep the wall-climbing robot 10 able to fit closely to the wall and walk stably.

[0042] For example, when the wall-climbing robot 10 is walking on a wall, if a certain magnetic adsorption component 200 encounters a weld nodule, raised rust, or other point-like obstacle, this magnetic adsorption component 200 may float upward through the floating unit 220 to easily cross the obstacle. Although this magnetic adsorption component 200 may temporarily lose direct contact with the wall, the other three magnetic adsorption components 200 can still maintain close contact with the wall and can also generate sufficient adsorption force to support the weight of the entire wall-climbing robot 10. The four moving wheels 300 can still cling to the wall, ensuring that the wall-climbing robot 10 can continue to crawl stably and is not prone to slipping or tilting. Therefore, even if a small number of magnetic adsorption components 200 of the wall-climbing robot 10 of this embodiment encounter raised obstacles, the wall-climbing robot 10 can still walk normally, and the wall-climbing robot 10 will not lose balance as a whole due to the failure of a single-point magnetic adsorption component 200, thereby improving the obstacle-crossing ability of the wall-climbing robot 10.

[0043] In some embodiments, at least one action wheel 300 includes two wheel bodies spaced apart from each other, and a magnetic adsorption component 200 is disposed between the two wheel bodies.

[0044] The motion wheel 300 comprises two spaced-apart wheels. Compared to a single wheel, this dual-wheel structure is more capable of maintaining balance on uneven surfaces. When encountering bumps, depressions, or other irregularities, if one wheel encounters an obstacle, the other wheel can continue to provide support, helping the wall-climbing robot 10 to overcome the obstacle. Furthermore, the magnetic attraction assembly 200 positioned between the two wheels helps to more evenly distribute the attraction force, ensuring close contact between the motion wheel 300 and the wall, and maintaining the robot's balance and stability on the wall.

[0045] In some embodiments, please refer to Figure 5 , Figure 5 for Figure 1 A schematic structural diagram of the wall-climbing robot from another angle is shown. The body 100 includes a main support 110 and two auxiliary supports 120, which are disposed on opposite sides of the main support 110. The at least four moving wheels 300 include two driving wheels 310 and two driven wheels 320. Each auxiliary support 120 is equipped with a driving wheel 310, a driven wheel 320, and at least two magnetic adsorption assemblies 200. The at least two magnetic adsorption assemblies 200 on the same auxiliary support 120 are arranged along the length of the body 100.

[0046] The two auxiliary brackets 120 of the wall-climbing robot 10 body 100 are respectively arranged on the two sides of the main bracket 110. Each auxiliary bracket 120 is provided with a driving wheel 310, a driven wheel 320 and at least two magnetic adsorption components 200. The driving wheel 310 is responsible for driving the wall-climbing robot 10 forward, and the driven wheel 320 follows the driving wheel 310 to ensure smooth and coordinated movement.

[0047] At least two magnetic adsorption components 200 on the same auxiliary support 120 are arranged along the length direction of the body 100. The length direction is the arrangement direction of the driving wheel 310 and the driven wheel 320. For example, at least one magnetic adsorption component 200 is provided for the driving wheel 310, and at least one magnetic adsorption component 200 can be provided for the driven wheel 320. This ensures that each auxiliary support 120 can independently provide walking and adsorption functions. When a magnetic adsorption component 200 on the auxiliary support 120 encounters an obstacle, the other magnetic adsorption components 200 can continue to provide adsorption force, helping the wall-climbing robot 10 to overcome the obstacle.

[0048] The specifications of the magnetic unit 210 in this embodiment are not limited. The specifications of the magnetic unit 210 corresponding to the driving pulley 310 and the magnetic unit 210 corresponding to the driven pulley 320 can be the same or different. For example, the magnetic unit 210 of the magnetic attraction assembly 200 may include a magnet housing, a magnet cover, a yoke, and multiple neodymium iron boron permanent magnets.

[0049] In some embodiments, at least one auxiliary bracket 120 is capable of rotating relative to the main bracket 110 along the width direction of the body 100 .

[0050] Among them, the width direction can be the arrangement direction of the main bracket 110 and the auxiliary bracket 120. Therefore, along the walking direction of the wall-climbing robot 10, the auxiliary bracket 120 can rotate left or right relative to the main bracket 110, and then the active wheel 310 and the driven wheel 320 connected to the auxiliary bracket 120 can also follow the auxiliary bracket 120 to rotate left or right, thereby improving the surface adaptability of the wall-climbing robot 10.

[0051] For example, when the wall-climbing robot 10 is walking on a curved wall, it may encounter raised obstacles or recessed areas. For example, if there is a small protrusion on the wall, the auxiliary support 120 can drive the driving wheel 310 and the driven wheel 320 to rotate left or right, allowing the driving wheel 310 and the driven wheel 320 to pass on both sides of the protrusion instead of directly hitting it, thereby improving the obstacle-crossing ability of the wall-climbing robot 10. For another example, if there is a recessed area on the wall, the rotation of the auxiliary support 120 can also help the driving wheel 310 and the driven wheel 320 adapt to this terrain change. By adjusting the angle of the auxiliary support 120, the driving wheel 310 and the driven wheel 320 can better fit the shape of the recessed area, thereby maintaining stable walking. In another example, there may be a change in curvature on the wall, such as a certain curvature or wave shape on the wall along the width direction of the fuselage 100. When the wall-climbing robot 10 walks on the wall with changing curvature, the angle of the auxiliary bracket 120 can be flexibly rotated to adjust the angle. The driving wheel 310 and the driven wheel 320 can better fit the wall and maintain good contact with the wall, thereby ensuring that the wall-climbing robot 10 moves stably on the complex curved surface.

[0052] In some embodiments, please refer to Figure 6 and Figure 7 , Figure 6 for Figure 1 The schematic diagram of the structure of the auxiliary support in the wall-climbing robot is shown in FIG. Figure 7 for Figure 6 The auxiliary support 120 includes a frame body 121 and a rotating body 122. The frame body 121 is rotatably connected to the main support 110. The driven wheel 320 is mounted on the rotating body 122. The rotating body 122 rotates around the frame body 121 along the width direction of the fuselage 100.

[0053] The frame 121 is the main structure of the auxiliary frame 120 and is connected to the main frame 110 via a rotational connection, allowing the frame 121 to rotate relative to the main frame 110. The rotating body 122 of the frame 121 is rotatably mounted on the frame 121, so that the rotating body 122 can further rotate within a certain range relative to the frame 121. The driven wheel 320 is mounted on the rotating body 122, so that the driven wheel 320 can rotate relative to the frame 121 following the rotating body 122. For example, the driven wheel 320 can be an omnidirectional wheel.

[0054] In this embodiment, both the driving wheel 310 and the driven wheel 320 are capable of rotating relative to the main frame 121 following the auxiliary support 120. Furthermore, the driven wheel 320 can also rotate relative to the frame 121 via the rotating body 122, thereby enhancing the driven wheel 320's ability to adapt to changes in curved surfaces. It is understood that during the walking process of the wall-climbing robot 10, the driving wheel 310 and the driven wheel 320 may encounter different curved surface environments, such as changes in curvature, unevenness, and different distributions of obstacles. Because the driven wheel 320 can rotate independently relative to the frame 121, the rotation angle of the driven wheel 320 can be different from that of the driving wheel 310. Therefore, both the driving wheel 310 and the driven wheel 320 can flexibly adjust their most suitable rotation angles based on the current curved surface environment, making the wall-climbing robot 10 more flexible and better able to cope with complex and changing curved surface environments.

[0055] In some embodiments, the wall-climbing robot 10 further includes a brush 410 and an elastic component 420 , and the brush 410 is elastically connected to the main support 110 via the elastic component 420 .

[0056] For example, the wall-climbing robot further includes a functional unit 400, which is a key area for implementing specific functions, such as cleaning. The functional unit 400 may include a brush 410, an elastic component 420, a cleaning tool holder 430, a sealing rubber, a recovery interface, a rotary joint, and the like.

[0057] The main bracket 110 includes a support plate 111, on which a recovery interface of the functional part 400 can be installed, and the elastic component 420 includes a second elastic member and a guide rod. The guide rod is connected between the support plate 111 and the brush 410. The guide rod is fixedly connected to the brush 410 and movably connected to the support plate 111. The second elastic member can be, for example, a spring. The spring is sleeved on the guide rod and arranged between the support plate 111 and the brush 410 so that the brush 410 can float up and down relative to the support plate 111 to adapt to the unevenness of the wall. A cleaning tool holder 430 is also installed on the side of the support plate 111 facing the brush 410. The cleaning tool holder 430 is connected to the rotary joint on the support plate 111, and a plurality of high-pressure nozzles are installed at the bottom of the cleaning tool holder 430. When cleaning, the high-pressure nozzles of the cleaning tool holder 430 will eject high-pressure water at a certain angle to the wall. At the same time, the reaction force generated by the ejection of high-pressure water causes the cleaning tool holder 430 to rotate at high speed around the rotary joint, thereby forming a circumferential cleaning area. The outer circumferential surface of the brush 410 can be wrapped with a layer of sealing rubber, such as thin rubber. When the support plate 111 encounters an obstacle such as a weld, the brush 410 is pushed upward by the outward force of the vertical wall. The thin rubber wrapped around the outside of the brush 410 has good deformation properties, which can ensure that the wall-climbing robot 10 has good sealing with the wall when crossing the obstacle. The recovery interface installed on the support plate 111 can be connected to a vacuum tube. The vacuum tube serves as a channel for sewage recovery and connects the recovery interface with a sewage treatment device. The sewage treatment device is used to receive and treat sewage recovered from the cleaning area.

[0058] Therefore, in this embodiment, the wall-climbing robot 10 adopts multiple articulated structures through the structure of the fuselage 100, and is provided with an independently floating magnetic adsorption component 200 corresponding to each driving wheel 310 and the driven wheel 320, as well as a floating brush 410, which greatly increases the freedom of movement of the wall-climbing robot 10, greatly improves the obstacle crossing ability of the wall-climbing robot 10, and can better adapt to various complex and changeable curved surface environments, so that the wall-climbing robot 10 can walk stably, greatly reduces the risk of falling off, can better complete the task, and improves the stability and safety of the wall-climbing robot 10.

[0059] The above is a detailed introduction to the wall-climbing robot 10 of the embodiment of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A wall-climbing robot, characterized in that: include: body; At least four magnetic adsorption components are installed on the fuselage at intervals; Each of the magnetic adsorption components includes a magnetic unit and a floating unit, and the magnetic unit is connected to the fuselage through the floating unit so that the magnetic unit can float relative to the fuselage.

2. The wall-climbing robot according to claim 1, characterized in that: The floating unit includes a sliding rod and a first elastic member, one of the magnetic unit and the fuselage is fixedly connected to the sliding rod, the other of the magnetic unit and the fuselage is slidingly connected to the sliding rod, and the first elastic member is arranged between the fuselage and the magnetic unit.

3. The wall-climbing robot according to claim 2, characterized in that: Each of the magnetic adsorption components includes a plurality of floating units, and the plurality of floating units are arranged at intervals along the width direction of the fuselage, and each floating unit connects the magnetic unit and the fuselage; and / or along the length direction of the fuselage, the two ends of the magnetic unit are respectively movably connected to the fuselage through at least one floating unit.

4. The wall-climbing robot according to claim 1, characterized in that: The side of the magnetic unit facing away from the fuselage is arc-shaped, and the arc is bent along the length direction of the fuselage.

5. The wall-climbing robot according to claim 1, characterized in that: The wall-climbing robot further includes at least four action wheels, each of which is arranged corresponding to one of the magnetic adsorption components.

6. The wall-climbing robot according to claim 5, characterized in that: At least one of the action wheels includes two wheel bodies arranged at an interval, and the magnetic adsorption component is arranged between the two wheel bodies.

7. The wall-climbing robot according to claim 5, characterized in that: The fuselage includes a main bracket and two auxiliary brackets, wherein the two auxiliary brackets are arranged on two opposite sides of the main bracket; At least four of the moving wheels include two driving wheels and two driven wheels. Each of the auxiliary brackets is provided with the driving wheel, the driven wheel and at least two of the magnetic adsorption components. At least two of the magnetic adsorption components on the same auxiliary bracket are arranged along the length direction of the fuselage.

8. The wall-climbing robot according to claim 7, characterized in that: At least one of the auxiliary brackets is capable of rotating relative to the main bracket along the width direction of the fuselage.

9. The wall-climbing robot according to claim 8, characterized in that: The auxiliary bracket includes a frame body and a rotating body. The frame body is rotatably connected to the main bracket. The driven wheel is installed on the rotating body. The rotating body rotates around the frame body along the width direction of the fuselage.

10. The wall-climbing robot according to any one of claims 7 to 9, characterized in that: The wall-climbing robot further includes a brush and an elastic component, and the brush is elastically connected to the main support via the elastic component.

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