Adaptive variable-curvature chassis of wall-climbing robot

Abstract

The utility model belongs to the technical field of wall-climbing robots, and particularly relates to an adaptive variable-curvature chassis of a wall-climbing robot, which comprises a shell, a connecting device and a walking adsorption device, the connecting device comprises a pitch shaft and two turnover shafts, the pitch shaft is provided with two mounting blocks with limiting grooves, the middle part of the pitch shaft is in transmission connection with a stepping motor, and the middle part of the pitch shaft is provided with a rotating shaft; the turnover shaft is provided with a connecting block and a connecting plate, the connecting block is hinged in the limiting groove, and two mounting shafts are arranged on the connecting plate; the walking adsorption device comprises a driving wheel, a driven wheel, a first crawler belt, a second crawler belt and a servo motor, the driving wheel and the driven wheel are rotationally connected with the two mounting shafts, the first crawler belt is wound outside the driving wheel and the driven wheel, the second crawler belt is arranged outside the first crawler belt in a sleeving mode, and a plurality of permanent magnets are arranged between the two crawler belts; an output shaft of the servo motor is in transmission connection with a wheel shaft of the driving wheel. According to the device, the robot can stably move on the surfaces with different curvatures, and the flexibility and the stability are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of wall-climbing robots, and in particular relates to an adaptive variable-curvature chassis of the wall-climbing robot. Background Art

[0002] Traditional wall-climbing robots typically utilize a single, rigid structure between their chassis and drive module. While this provides high stability and enables stable movement on relatively flat surfaces under uniform operating conditions, it faces limitations in complex environments. For example, when traversing curved metal surfaces like wind turbine towers or ships, the drive module in the robot chassis may not conform to the curved wall, reducing the effective contact area between the two and affecting the robot's stability. Consequently, the robot's operational safety and reliability cannot be guaranteed.

[0003] Therefore, there is an urgent need for an adaptive variable curvature chassis of a wall-climbing robot to solve the above problems. Utility Model Content

[0004] In response to the above-mentioned defects in the prior art, the utility model provides an adaptive variable curvature chassis of a wall-climbing robot, comprising a shell arranged on the outside of the wall-climbing robot, two connecting devices and four walking adsorption devices, the two connecting devices being arranged at the front and rear ends of the bottom of the shell, each connecting device comprising a pitch axis and two flip axes, the left and right ends of the pitch axis are respectively rotatably connected to an articulated seat, and the articulated seat is fixedly connected to the bottom of the shell, the left and right ends of the pitch axis are fixed with mounting blocks, a limiting slot is provided on the outside of the mounting block, the middle part of the pitch axis is transmission-connected to a stepper motor, that is, the pitch axis is transmission-connected to the output shaft of the stepper motor through a gear transmission structure, the two flip axes are respectively arranged at the left and right ends of the pitch axis, a connecting block is fixed on the side of the flip axis close to the pitch axis, and the connecting block is hinged in the limiting slot of the mounting block through a pin shaft, a connecting plate is fixed on the side of the flip axis away from the pitch axis, and two mounting axes are fixed on the outside of the connecting plate.

[0005] The four walking adsorption devices are arranged in groups of two on the left and right sides of the shell, and each walking adsorption device corresponds to each flip axis respectively. Each walking adsorption device includes a driving wheel, a driven wheel, a first track, a second track and a servo motor. The wheel axles of the driving wheel and the driven wheel are rotatably connected to the two mounting shafts through bearings respectively. The first track is wrapped around the outside of the driving wheel and the driven wheel, and the second track is sleeved on the outside of the first track. Several permanent magnets are fixedly connected between the second track and the first track. Protective side plates are provided on the inner sides of the first track and the second track, and the protective side plates are fixedly connected to the two mounting shafts. The servo motor is installed on the protective side plate, and the output shaft of the servo motor is connected to the wheel axle of the driving wheel through a reduction device. In addition, the walking adsorption device is also provided with a tilt sensor and a contact sensor. The tilt sensor can detect the inclination angle of the walking adsorption device relative to the horizontal plane by utilizing gravity, and the contact sensor realizes signal transmission through physical contact. Under the joint detection of the two, the contact state and posture change of the walking adsorption device and the curved surface can be monitored in real time.

[0006] Optionally, the permanent magnet adopts a rectangular plate structure, and fixing columns are respectively fixed on both sides of the permanent magnet, and the permanent magnet is fixedly connected to the first crawler and the second crawler through the fixing columns on both sides.

[0007] Specifically, rectangular permanent magnets can optimize the coverage and adhesion of the magnetic field, avoid magnetic force concentration in specific areas, and improve the overall adsorption effect; at the same time, the permanent magnets need to be made into long, narrow, and thin strips of plate-like structures to avoid getting stuck at the turn between the two layers of tracks, ensuring the normal operation of the two layers of tracks.

[0008] Optionally, the connecting device is made of aluminum alloy.

[0009] Specifically, aluminum alloy is lightweight and durable, ensuring structural strength.

[0010] Optionally, the first crawler track and the second crawler track are both made of high-strength nylon composite material.

[0011] Specifically, the high-strength nylon composite material has good grip and durability, making it easy for the tracks to travel.

[0012] Optionally, the reduction device is a planetary gear reducer.

[0013] Specifically, the planetary gear reducer adopts existing technology, and its main function is to convert the high speed of the servo motor into low-speed and high-torque output, ensuring that the drive wheel has sufficient traction to drive the first track, and then drive the second track, to achieve precise control of the speed of the two tracks.

[0014] Optionally, a robotic arm, a cleaning disc, a depth camera and a laser radar are provided on the shell.

[0015] Specifically, the robotic arm is used to perform various operational tasks of the wall-climbing robot; the cleaning disc is used to clean dust; the depth camera and lidar are used to identify the surrounding environment so that the wall-climbing robot can make corresponding adjustments in time.

[0016] Optionally, a balancing device is provided below the housing, and the balancing device includes two fixing plates fixed to the bottom of the housing, a connecting rod fixedly connected between the two fixing plates, and two balancing wheels provided below the connecting rod.

[0017] Specifically, the balancing device can ensure that the center of gravity of the wall-climbing robot maintains sufficient stability with the wall surface. Even when traveling on a curved surface, it can prevent the wall-climbing robot from tilting or twisting to a certain extent, effectively avoiding directional deviation.

[0018] The present invention also includes other components that enable the adaptive variable curvature chassis of a wall-climbing robot to function properly, all of which are conventional in the art. Furthermore, any devices or components not otherwise specified in the present invention utilize conventional technologies in the art, such as stepper motors, servo motors, depth cameras, lidars, tilt sensors, and contact sensors.

[0019] The working principle of the present invention is that when the wall-climbing robot moves toward the metal facade, the stepper motor located on the front side of the shell drives the pitch axis to rotate, and drives the two walking adsorption devices on the front side to rotate upward through a certain angle, while the stepper motor located on the rear side of the shell cooperates to drive the two walking adsorption devices on the rear side to rotate downward through a certain angle, and at the same time the servo motor drives the driving wheel to rotate, thereby driving the two crawlers for transmission. The permanent magnet between the two layers of crawlers can adsorb the metal facade, so that the front end of the wall-climbing robot slowly climbs up the metal facade. At this time, the main body of the wall-climbing robot is in an inclined state with the front higher and the back lower. Under the driving action of the four walking adsorption devices, the wall-climbing robot gradually climbs the metal facade until the main body of the wall-climbing robot remains parallel to the metal facade; if the metal facade is a curved cylinder, the two walking adsorption devices at the left and right ends of the pitch axis will flip upward or downward around the pin shaft between the connecting block and the mounting block, so that the second crawler can fit the cylinder to the maximum extent, thereby improving the stability of movement.

[0020] The beneficial effects of the utility model are:

[0021] (1) Through the walking adsorption device, multiple permanent magnets are set between the two layers of tracks. As the tracks are continuously transmitted, the distance between the internal permanent magnets and the wall is adjusted, so that the robot can achieve the best adsorption effect on different wall surfaces; through the real-time detection and feedback mechanism, the distance between the permanent magnets and the wall surface is monitored in real time and the gap is adjusted. The gap is automatically adjusted according to environmental changes, so that the robot can adapt to different surface characteristics and load conditions, and the robot can maintain a stable adsorption state in complex environments, thereby ensuring the stability and safety of the robot on the wall surface; and the four walking adsorption devices provide four support points for the robot, distributed at the four corners of the robot. This layout enhances the stability during crawling and can effectively cope with larger obstacles. Each track helps to distribute the load, so that the robot can cross obstacles more smoothly; due to the increase in support points, the four walking adsorption devices can better manage dynamic loads and tilts, and more effectively maintain balance and stability; in addition, the four walking adsorption devices can also achieve precise motion control, and each walking adsorption device can be independently controlled, providing excellent operability and flexibility in complex environments.

[0022] (2) The robot body is connected to the walking adsorption device through a connecting device, and the traditional integrated track-connected vehicle body is replaced by a split structure. The pitch axis and flip axis in the connecting device can provide the walking adsorption device with two degrees of freedom of pitch and flip, which effectively increases the contact area between the walking adsorption device and the wall, ensures a stable adsorption force, and realizes adaptive movement on surfaces with different curvatures. At the same time, the flip and pitch degrees of freedom in the connecting device ensure the relative independence of posture adjustment, which helps the robot adapt to the curved surface in longitudinal and rotational movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0025] Figure 2 This is a schematic diagram of the bottom structure of the adaptive variable curvature chassis of the present invention.

[0026] Figure 3 It is a structural schematic diagram of the walking adsorption device of the present utility model.

[0027] Figure 4 This is a schematic structural diagram of the permanent magnet of the present invention.

[0028] Figure 5 This is a structural schematic diagram of the connecting device of the utility model from one perspective.

[0029] Figure 6This is a structural schematic diagram of the connecting device of the present invention from another perspective.

[0030] Figure 7 It is a structural schematic diagram of the balancing device of the present utility model.

[0031] In the figure: 1. Shell, 2. Connecting device, 3. Walking adsorption device, 4. Pitch axis, 5. Flip axis, 6. Mounting block, 7. Connecting block, 8. Connecting plate, 9. Mounting axis, 10. Driving wheel, 11. Driven wheel, 12. First track, 13. Second track, 14. Stepper motor, 15. Permanent magnet, 16. Robotic arm, 17. Cleaning disc, 18. Depth camera, 19. LiDAR, 20. Balancing device, 21. Fixing plate, 22. Connecting rod, 23. Balancing wheel, 24. Fixing column. DETAILED DESCRIPTION

[0032] The present invention is described below in conjunction with the accompanying drawings and specific embodiments of the present invention. The description herein is intended only to explain the present invention and is not intended to limit the present invention. Based on the embodiments of the present invention, any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without creative work to all other embodiments obtained based on the embodiments of the present invention shall be included within the scope of protection of the present invention.

[0033] Example

[0034] like Figure 1-7 As shown, an embodiment of the utility model provides an adaptive variable curvature chassis of a wall-climbing robot, comprising a shell 1 arranged outside the wall-climbing robot, two connecting devices 2 and four walking adsorption devices 3, the two connecting devices 2 are arranged at the front and rear ends of the bottom of the shell 1, each connecting device 2 includes a pitch axis 4 and two flip axes 5, the left and right ends of the pitch axis 4 are respectively rotatably connected to a hinge seat, and the hinge seat is fixedly connected to the bottom of the shell 1, the left and right ends of the pitch axis 4 are fixed with mounting blocks 6, a limiting slot is provided on the outside of the mounting block 6, the middle part of the pitch axis 4 is transmission-connected with a stepper motor 14, that is, the pitch axis 4 is transmission-connected to the output shaft of the stepper motor 14 through a gear transmission structure, the two flip axes 5 are respectively arranged at the left and right ends of the pitch axis 4, a connecting block 7 is fixed on the side of the flip axis 5 close to the pitch axis 4, and the connecting block 7 is hinged in the limiting slot of the mounting block 6 through a pin shaft, a connecting plate 8 is fixed on the side of the flip axis 5 away from the pitch axis 4, and two mounting axes 9 are fixed on the outside of the connecting plate 8.

[0035] The four walking adsorption devices 3 are arranged in pairs on the left and right sides of the shell 1, and each walking adsorption device 3 corresponds to each flip axis 5. Each walking adsorption device 3 includes a driving wheel 10, a driven wheel 11, a first crawler 12, a second crawler 13 and a servo motor. The wheel shafts of the driving wheel 10 and the driven wheel 11 are respectively connected to the two mounting shafts 9 through bearings. The first crawler 12 is wound around the outside of the driving wheel 10 and the driven wheel 11, and the second crawler 13 is sleeved on the outside of the first crawler 12. The second crawler 13 is fixedly connected to the first crawler 12 There are several permanent magnets 15. Protective side plates are provided on the inner sides of the first track 12 and the second track 13. The protective side plates are fixedly connected to the two mounting shafts 9. The servo motor is mounted on the protective side plates. The output shaft of the servo motor is connected to the axle of the drive wheel 10 through a planetary gear reducer. The main function of the planetary gear reducer is to convert the high speed of the servo motor into low-speed high-torque output to ensure that the drive wheel 10 has sufficient traction to drive the first track 12, and then drive the second track 13, to achieve precise control of the speed of the two tracks. In addition, the walking adsorption device 3 is also provided with a tilt sensor and a contact sensor. The tilt sensor can detect the tilt angle of the walking adsorption device 3 relative to the horizontal plane by using gravity, and the contact sensor can realize signal transmission through physical contact. Under the joint detection of the two, the contact state and posture changes of the walking adsorption device 3 and the curved surface can be monitored in real time.

[0036] The permanent magnet 15 adopts a rectangular plate structure. Fixed columns 24 are fixed on both sides of the permanent magnet 15. The permanent magnet 15 is fixedly connected to the first track 12 and the second track 13 through the fixed columns 24 on both sides.

[0037] It is understandable that the rectangular permanent magnet 15 can optimize the coverage and adhesion of the magnetic field, avoid the concentration of magnetic force in a specific area, and improve the overall adsorption effect; at the same time, the permanent magnet 15 needs to be made into a sufficiently narrow and thin long strip plate structure to avoid getting stuck at the turning point between the two layers of tracks, so as to ensure the normal operation of the two layers of tracks.

[0038] The connecting device 2 is made of aluminum alloy.

[0039] Understandably, aluminum alloy is lightweight and durable, ensuring structural strength.

[0040] The first crawler track 12 and the second crawler track 13 are both made of high-strength nylon composite material.

[0041] Understandably, the high-strength nylon composite material offers good grip and durability for easy track walking.

[0042] The housing 1 is provided with a robotic arm 16 , a cleaning disc 17 , a depth camera 18 and a laser radar 19 .

[0043] It is understandable that the robotic arm 16 is used to perform various operational tasks of the wall-climbing robot; the cleaning disc 17 is used to clean dust; the depth camera 18 and the lidar 19 are used to identify the surrounding environment so that the wall-climbing robot can make corresponding adjustments in a timely manner.

[0044] A balancing device 20 is provided below the housing 1 . The balancing device 20 includes two fixing plates 21 fixed to the bottom of the housing 1 , a connecting rod 22 fixedly connected between the two fixing plates 21 , and two balancing wheels 23 provided below the connecting rod 22 .

[0045] It is understandable that the balancing device 20 can ensure that the center of gravity of the wall-climbing robot maintains sufficient stability with the wall surface, and can prevent the wall-climbing robot from tilting or twisting to a certain extent even when traveling on a curved surface, thereby effectively avoiding directional deviation.

[0046] The working principle of the present invention is that when the wall-climbing robot moves toward the metal facade, the stepper motor 14 located on the front side of the shell 1 drives the pitch axis 4 to rotate, and drives the two walking adsorption devices 3 on the front side to rotate upward through a certain angle, while the stepper motor 14 located on the rear side of the shell 1 cooperates to drive the two walking adsorption devices 3 on the rear side to rotate downward through a certain angle, and at the same time the servo motor drives the driving wheel 10 to rotate, thereby driving the two crawlers for transmission, and the permanent magnet 15 between the two layers of crawlers can adsorb the metal facade so that the front end of the wall-climbing robot slowly climbs up the metal facade. At this time, the main body of the wall-climbing robot is in an inclined state with the front higher and the back lower. Under the driving action of the four walking adsorption devices 3, the wall-climbing robot gradually climbs the metal facade until the main body of the wall-climbing robot remains parallel to the metal facade; if the metal facade is a curved cylinder, the two walking adsorption devices 3 at the left and right ends of the pitch axis 4 will flip upward or downward around the pin shaft between the connecting block 7 and the mounting block 6, so that the second crawler 13 can fit the cylinder to the maximum extent, thereby improving the stability of movement.

[0047] While the embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An adaptive variable curvature chassis for a wall-climbing robot, comprising a housing disposed outside the wall-climbing robot, two connecting devices, and four walking adsorption devices, characterized in that: Two connecting devices are provided at the front and rear ends of the bottom of the shell, each connecting device includes a pitch axis and two flip axes, the left and right ends of the pitch axis are respectively rotatably connected to the hinge seat, and the hinge seat is fixedly connected to the bottom of the shell, the left and right ends of the pitch axis are fixed with mounting blocks, the outer side of the mounting block is provided with a limiting slot, the middle part of the pitch axis is connected to the stepping motor for transmission, the two flip axes are respectively provided at the left and right ends of the pitch axis, a connecting block is fixed on the side of the flip axis close to the pitch axis, and the connecting block is hinged in the limiting slot of the mounting block through a pin shaft, a connecting plate is fixed on the side of the flip axis away from the pitch axis, and two mounting axes are fixed on the outer side of the connecting plate; The four walking adsorption devices are arranged in groups of two on the left and right sides of the shell, and each walking adsorption device corresponds to each flip axis respectively. Each walking adsorption device includes a driving wheel, a driven wheel, a first track, a second track and a servo motor. The wheel axles of the driving wheel and the driven wheel are rotatably connected to the two mounting shafts respectively. The first track is wrapped around the outside of the driving wheel and the driven wheel, and the second track is sleeved on the outside of the first track. Several permanent magnets are fixedly connected between the second track and the first track. Protective side plates are provided on the inner sides of the first track and the second track, and the servo motor is installed on the protective side plates. The output shaft of the servo motor is connected to the wheel axle of the driving wheel through a reduction device.

2. The adaptive variable curvature chassis of the wall-climbing robot according to claim 1, characterized in that: The permanent magnet adopts a rectangular plate structure, and fixed columns are respectively fixed on both sides of the permanent magnet. The permanent magnet is fixedly connected to the first crawler and the second crawler through the fixed columns on both sides.

3. The adaptive variable curvature chassis of the wall-climbing robot according to claim 2, characterized in that: The material of the connecting device is aluminum alloy.

4. The adaptive variable curvature chassis of the wall-climbing robot according to claim 3, characterized in that: Both the first track and the second track are made of high-strength nylon composite material.

5. The adaptive variable curvature chassis of the wall-climbing robot according to claim 4, characterized in that: The reduction device is a planetary gear reducer.

6. The adaptive variable curvature chassis of the wall-climbing robot according to claim 5, characterized in that: The shell is equipped with a robotic arm, a cleaning disc, a depth camera and a laser radar.

7. The adaptive variable curvature chassis of the wall-climbing robot according to claim 6, characterized in that: A balancing device is provided below the shell, and the balancing device includes two fixing plates fixed to the bottom of the shell, a connecting rod fixedly connected between the two fixing plates, and two balancing wheels provided below the connecting rod.

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