Wall-climbing robot

Abstract

The utility model provides a wall-climbing robot. The wall-climbing robot comprises a main support; the two auxiliary supports are connected to the two opposite sides of the main support, and at least one auxiliary support is rotationally connected with the main support and rotates around the main support in the arrangement direction of the auxiliary supports and the main support; the two wheel sets are installed on the different auxiliary supports respectively, each wheel set comprises a driving wheel and a driven wheel, and the driving wheels and the driven wheels are rotationally installed on the auxiliary supports. The curved surface adaptability of the wall-climbing robot can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a wall-climbing robot. BACKGROUND

[0002] In recent years, the petrochemical storage tank, wind power, shipbuilding and other industries have developed rapidly, which has brought many maintenance problems. From surface detection to rust removal and cleaning, it often requires a huge labor cost, and manual operation has problems such as low efficiency, long construction period, unguaranteed operation quality, hidden dangers of worker safety and environmental pollution. Therefore, many industries have begun to focus on the use of wall-climbing robots. Through the characteristics of wall-climbing robots that can walk on the surface of ships, wind towers and petrochemical storage tanks, combined with ultra-high pressure water cleaning devices and recycling systems, the efficiency of maintenance work can be improved, the operation quality can be guaranteed, labor can be liberated, and environmental pollution can be reduced, thereby achieving cost control and maximum benefit. However, the existing wall-climbing robots have weak curve self-adaptive ability, and the rigid connection structure on the robot body can perform well on large planes or curved surfaces with certain curvature, but it is easy to fall off on curved surfaces with variable curvature or unevenness. CONTENT OF THE UTILITY MODEL

[0003] Embodiments of the present application provide a wall-climbing robot that can improve the curve adaptive ability of the wall-climbing robot.

[0004] Embodiments of the present application provide a wall-climbing robot, comprising:

[0005] a main support;

[0006] two auxiliary supports connected to opposite sides of the main support, at least one auxiliary support being rotatably connected to the main support and rotating around the main support along the arrangement direction of the auxiliary support and the main support;

[0007] two wheel sets respectively mounted on different auxiliary supports, each wheel set comprising a driving wheel and a driven wheel, the driving wheel and the driven wheel being rotatably mounted on the auxiliary support.

[0008] In an embodiment, the auxiliary support comprises a support body and a rotating body, the support body being rotatably connected to the main support, the driven wheel being mounted on the rotating body, and the rotating body being rotatably mounted on the support body.

[0009] In an embodiment, the rotating body rotates around the support body along the arrangement direction of the auxiliary support and the main support.

[0010] In an embodiment, the rotating body comprises a first mounting portion and a first protruding portion, the first protruding portion being protruded from one side of the first mounting portion facing the support body, and the first protruding portion being oppositely arranged with the support body along the arrangement direction of the driving wheel and the driven wheel.

[0011] The auxiliary support further comprises a rotating shaft, which is arranged through the first protruding part and the support body, so that the rotating body can rotate relative to the support body.

[0012] In an embodiment, the support body comprises two second protruding parts arranged oppositely, the first protruding part is arranged between the two second protruding parts, and the rotating shaft is arranged through the first protruding part and the two second protruding parts.

[0013] In an embodiment, along the arrangement direction of the driving wheel and the driven wheel, the first mounting part is provided with the first protruding part at two ends arranged oppositely, and the first protruding part and the support body are connected by the rotating shaft.

[0014] In an embodiment, the main support comprises an intermediate rotating shaft and a rack hinge shaft, the auxiliary support comprises a support body and a lug, the support body is arranged on one side of the intermediate rotating shaft in the axial direction, the lug is arranged on one side of the intermediate rotating shaft in the radial direction, and the rack hinge shaft is arranged through the lug and the intermediate rotating shaft, so that the auxiliary support can rotate around the rack hinge shaft.

[0015] In an embodiment, the intermediate rotating shaft comprises a support rod and a connecting piece, the support rod is connected with the auxiliary support through the connecting piece, and the connecting piece is connected with the lug through the rack hinge shaft.

[0016] In an embodiment, the intermediate rotating shaft further comprises a fixed pin shaft, the connecting piece is at least partially sleeved on the support rod, and the fixed pin shaft is arranged through the connecting piece and the support rod to connect the connecting piece and the support rod.

[0017] In an embodiment, at least one end of the two opposite ends of the support rod is provided with a strip-shaped hole, the strip-shaped hole extends along the arrangement direction of the driving wheel and the driven wheel, and the fixed pin shaft is arranged through the strip-shaped hole, so that the auxiliary support can swing relative to the main support.

[0018] In the embodiments of this application, the wall-climbing robot includes a main support, two auxiliary supports, and two wheel sets. The two auxiliary supports are respectively connected to opposite sides of the main support, and the two wheel sets are respectively mounted on different auxiliary supports. Each wheel set includes a driving wheel and a driven wheel, which are rotatably mounted on the auxiliary support. It can be understood that along the walking direction of the two wheel sets of the wall-climbing robot, the two auxiliary supports are respectively located on the left and right sides of the main support. Therefore, the rotation of the auxiliary supports around the main support along the arrangement direction of the auxiliary and main supports is equivalent to the auxiliary supports being able to rotate left or right around the main support. Thus, during the wall-climbing robot's movement, the driving and driven wheels rotatably connected to the auxiliary supports can also rotate left or right following the auxiliary supports. During the wall-climbing robot's movement on the wall surface, it may encounter protruding obstacles, recessed areas, or changes in curvature. The auxiliary supports can drive the wheel sets to rotate left or right, adjusting the angle of the wheel sets, maintaining good contact between the wheel sets and the wall surface, improving the wall-climbing robot's surface adaptability, and ensuring stable movement. Understandably, when a wall-climbing robot walks on a complex curved surface, if only the front drive wheel can rotate while the rear driven wheel cannot adjust its walking angle in time, the wall-climbing robot may lose its balance. However, in this embodiment, both the drive wheel and the driven wheel of the wall-climbing robot can rotate with the auxiliary support and can adjust their angles. Therefore, it can adapt to the undulations of the curved surface more flexibly, effectively maintain balance, and prevent tipping. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the wall-climbing robot provided in the embodiments of this application;

[0021] Figure 2 for Figure 1 A schematic diagram of the hidden structure of the wall-climbing robot shown;

[0022] Figure 3 for Figure 1 The diagram shows the structure of the auxiliary support frame in the wall-climbing robot.

[0023] Figure 4 for Figure 3 A magnified view of part B of the auxiliary support shown;

[0024] Figure 5 for Figure 1 A schematic diagram of the auxiliary support structure of the wall-climbing robot from another angle is shown.

[0025] Figure 6 As shown in the sectional view along the direction of D-D of the auxiliary support shown in Figure 5

[0026] Figure 7 As shown in the sectional view along the direction of D-D of the auxiliary support shown in Figure 2

[0027] Figure 8 As shown in the sectional view along the direction of D-D of the auxiliary support shown in Figure 1 DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. In addition, it should be understood that the specific embodiments 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, the orientation words such as "upper" and "lower" generally refer to the upper and lower of the device in the actual use or working state, and specifically refer to the direction of the drawing surface in the drawings; and "inner" and "outer" refer to the contour of the device.

[0029] Please refer to Figure 1 , Figure 1 The structural schematic diagram of the wall-climbing robot provided by the embodiments of the present application is shown. The embodiments provide a wall-climbing robot 10, which comprises a main support 100, two auxiliary supports 200 and two wheel sets 300.

[0030] The wall-climbing robot 10 is equipped with the main support 100 and the two auxiliary supports 200, and the two auxiliary supports 200 are respectively connected to the opposite sides of the main support 100. This layout enables the wall-climbing robot 10 to maintain balance when walking on the wall surface.

[0031] In the embodiments, at least one auxiliary support 200 is rotatably connected to the main support 100, and rotates around the main support 100 along the arrangement direction of the auxiliary support 200 and the main support 100. Therefore, the at least one auxiliary support 200 can rotate around the main support 100.

[0032] ​​​The two wheel groups 300 of the wall-climbing robot 10 are respectively installed on the two auxiliary supports 200, each wheel group 300 includes a driving wheel 310 and a driven wheel 320, and the driving wheel 310 and the driven wheel 320 are rotatably installed on the auxiliary support 200, and the two wheel groups 300 are responsible for the walking function of the wall-climbing robot 10. It can be understood that along the direction of walking of the two wheel groups 300 of the wall-climbing robot 10, the driving wheel 310 can be installed in front of the auxiliary support 200, and the driven wheel 320 can be installed at the rear of the auxiliary support 200, and the two auxiliary supports 200 are respectively arranged on the left side and the right side of the main support 100, so that the auxiliary support 200 can rotate left or right relative to the main support 100, and then the driving wheel 310 and the driven wheel 320 rotatably connected with the auxiliary support 200 can also rotate left or right with the auxiliary support 200 during the walking process of the wall-climbing robot 10, thereby improving the curved surface self-adaptability of the wall-climbing robot 10.

[0033] For example, when the wall-climbing robot 10 walks on the curved wall surface, it may encounter a convex obstacle or a concave area. For example, there is a small convexity on the wall surface, the auxiliary support 200 can drive the wheel group 300 to rotate left or right, so that the wheel group 300 passes through from the two sides of the convexity instead of directly hitting it, thereby improving the obstacle crossing ability of the wall-climbing robot 10; for another example, when there is a concave area on the wall surface, the rotation of the auxiliary support 200 can also help the wheel group 300 to adapt to the change of the terrain, by adjusting the angle of the wheel group 300, the wheel group 300 can better fit the shape of the concave area, thereby maintaining stable walking. In another example, there can be a change in curvature on the wall surface, such as a certain arc or wavy shape along the arrangement direction of the auxiliary support 200 and the main support 100, when the wheel group 300 walks on the wall surface with a change in curvature, the corresponding auxiliary support 200 can also adjust the angle of the wheel group 300 by rotating, so that the wheel group 300 better fits the wall surface, maintains good contact between the wheel group 300 and the wall surface, and thereby ensures that the wall-climbing robot 10 stably travels on the complex curved surface.

[0034] Moreover, in the embodiment, the driving wheel 310 and the driven wheel 320 are both rotatably connected with the auxiliary support 200, so they can all flexibly rotate with the auxiliary support 200, compared with the design that only the front driving wheel 310 can rotate, the wall-climbing robot 10 of the embodiment has better flexibility, stability and balance. It can be understood that when the wall-climbing robot 10 walks on a complex curved surface, if only the front driving wheel 310 can rotate, and the rear driven wheel 320 cannot timely adjust the walking angle, the wall-climbing robot 10 is likely to lose balance. However, in the embodiment, since the driving wheel 310 and the driven wheel 320 can both rotate with the auxiliary support 200 and can both adjust the angle, the wall-climbing robot 10 can more flexibly adapt to the ups and downs of the curved surface, more effectively maintain balance and prevent overturning, thereby maintaining a stable walking state.

[0035] In some embodiments, the wall-climbing robot 10 also includes components such as a motor, a reducer, and a drive shaft. The motor is the power source of the wall-climbing robot 10, and the reducer is a key component connecting the motor and the drive shaft. The motor is connected to the reducer, and during operation, the reducer converts the high-speed, low-torque output of the motor into a low-speed, high-torque output to the drive shaft. The drive shaft then transmits the output torque to the drive wheels 310, thereby driving the entire robot to move. Two pairs of drive wheels 310 can be mounted on both sides of the reducer, providing balanced driving force to the drive wheels 310 on both sides, enabling the wall-climbing robot 10 to move stably on the wall surface.

[0036] In some implementation methods, please refer to Figure 2 , Figure 3 and Figure 4 , Figure 2 for Figure 1 A schematic diagram of the hidden structure of the wall-climbing robot shown. Figure 3 for Figure 1 The diagram shows the structure of the auxiliary support frame in the wall-climbing robot. Figure 4 for Figure 3 The diagram shows a partial enlarged view of part B of the auxiliary support. The auxiliary support 200 includes a frame 210 and a rotating body 220. The frame 210 is rotatably connected to the main support 100, and the driven wheel 320 is mounted on the rotating body 220. The rotating body 220 is rotatably mounted on the frame 210.

[0037] In this embodiment, the frame 210 is the main structure of the auxiliary support 200, and is connected to the main support 100 by a rotatable connection, allowing the frame 210 to rotate relative to the main support 100. The rotating body 220 of the frame 210 is rotatably mounted on the frame 210, thus the rotating body 220 can rotate further within a certain range relative to the frame 210. The driven wheel 320 is mounted on the rotating body 220, thus the driven wheel 320 can follow the rotating body 220 in rotating relative to the frame 210. For example, the driven wheel 320 can be an omnidirectional wheel.

[0038] In the embodiment, the driving wheel 310 and the driven wheel 320 are both capable of rotating with the auxiliary support 200 relative to the main support 210, and further, the driven wheel 320 is also capable of rotating with the rotating body 220 relative to the support body 210, thereby enhancing the adaptability of the driven wheel 320 to the curved surface. It can be understood that, during the walking process of the wall-climbing robot 10, the curved surface environment faced by the driving wheel 310 and the driven wheel 320 can be different, such as the curvature variation of the curved surface, the ups and downs, the different distribution of obstacles, etc. Thanks to the independent rotation of the driven wheel 320 relative to the support body 210, the rotation angle of the driven wheel 320 can be different from that of the driving wheel 310, so that the driving wheel 310 and the driven wheel 320 can respectively adjust the most suitable rotation angle according to the current curved surface environment, thereby making the wall-climbing robot 10 have higher flexibility and better cope with the complex and changeable curved surface environment.

[0039] In some embodiments, the rotating body 220 rotates around the support body 210 along the arrangement direction of the auxiliary support 200 and the main support 100.

[0040] In the embodiment, the rotating body 220 rotates around the support body 210 along the arrangement direction of the auxiliary support 200 and the main support 100. Since the driven wheel 320 is connected with the rotating body 220, the driven wheel 320 can also rotate along the same arrangement direction with the rotating body 220. When the auxiliary support 200 rotates left or right relative to the main support 100, it will not only drive the driving wheel 310 to rotate in the same direction, but also drive the driven wheel 320 to rotate in the same direction through the connection of the rotating body 220. At the same time, since the rotating body 220 itself has the ability to rotate independently, on the basis of the auxiliary support 200 driving the driven wheel 320 to rotate, the rotating body 220 can also drive the driven wheel to rotate left or right independently and additionally, and make more precise angle adjustment, so that the driven wheel 320 can more flexibly adapt to the complex and changeable curved surface environment.

[0041] For example, when the wall-climbing robot 10 is walking, when the wheel set 300 encounters a curve to the left, the auxiliary support 200 can rotate relative to the left side of the main support 100, and the driving wheel 310 and the driven wheel 320 will rotate to the left following the rotation of the auxiliary support 200. However, this curve to the left may not be completely flat, for example, when the driving wheel 310 encounters an obstacle, in order to avoid the obstacle, the rotation angle is adjusted again, at this time the rotating body 220 can flexibly adjust left or right to ensure that the driven wheel 320 can always closely fit the curved surface, and is not affected by the change of the rotation angle of the driving wheel. When the driven wheel 320 encounters an obstacle during walking, the rotating body 220 will immediately respond, through its independent rotation ability, so that the driven wheel 320 can skillfully avoid the obstacle without affecting the rotation angle of the driving wheel 310, thereby ensuring the freedom and stability of the overall movement of the wall-climbing robot 10.

[0042] In some embodiments, referring to Figure 5 and Figure 6 , Figure 5 for Figure 1 another angle of the auxiliary support structure of the wall-climbing robot shown in FIG. 6, Figure 6 for Figure 5 the auxiliary support shown in FIG. 6, the cross-sectional view along the D-D direction. The rotating body 220 includes a first mounting portion 221 and a first protruding portion 222, the first protruding portion 222 is protruding from the first mounting portion 221 towards one side of the frame body 210, along the arrangement direction of the driving wheel 310 and the driven wheel 320, the first protruding portion 222 is arranged opposite to the frame body 210; the auxiliary support 200 further includes a rotating shaft 230, the rotating shaft 230 is arranged through the first protruding portion 222 and the frame body 210, so that the rotating body 220 can rotate relative to the frame body 210.

[0043] The first protruding portion 222 is protruding from the first mounting portion 221, and is arranged opposite to the frame body 210 along the arrangement direction of the driving wheel 310 and the driven wheel 320, so the first protruding portion 222 and the frame body 210 are arranged front and back along the arrangement direction of the driving wheel 310 and the driven wheel 320, the rotating shaft 230 is arranged through the first protruding portion 222 and the frame body 210, so the rotating shaft 230 is also arranged along the arrangement direction of the driving wheel 310 and the driven wheel 320, so the rotating body 220 can rotate around the frame body 210 along the arrangement direction of the auxiliary support 200 and the main support 100 through the rotating shaft 230. That is, the rotating shaft 230 is arranged front and back along the walking direction of the wall-climbing robot 10, and the rotating body 220 can rotate left or right around the frame body 210 through the rotating shaft 230.

[0044] Therefore, on the basis of the auxiliary support 200 driving the driven wheel 320 to rotate left and right, the rotating body 220 can also drive the driven wheel 320 to additionally rotate left and right. It can be understood that, in the walking process of the wall-climbing robot 10, the curved surface environment faced by the driving wheel 310 and the driven wheel 320 can be different, and the driven wheel 320 can further independently rotate to the left or the right, so that the driving wheel 310 and the driven wheel 320 can respectively adjust to the most appropriate rotation angle according to the current curved surface environment, and can better cope with the complex and changeable curved surface environment.

[0045] In some embodiments, the frame body 210 includes two second protrusions 211 arranged oppositely, and the first protrusion 222 is arranged between the two second protrusions 211, and the rotating shaft 230 penetrates the first protrusion 222 and the two second protrusions 211.

[0046] The first protrusion 222 is arranged between the two second protrusions 211 of the frame body 210, and the rotating shaft 230 penetrates the first protrusion 222 and the two second protrusions 211, so that the rotating body 220 can stably rotate relative to the frame body 210.

[0047] In some embodiments, one side of the second protrusion 211 towards the first mounting portion 221 is arc-shaped, and the first mounting portion 221 is provided with an arc-shaped groove corresponding to the second protrusion 211 to avoid the second protrusion 211, so that the two are tightly matched and do not interfere with each other, and therefore the first protrusion 222 and the two second protrusions 211 can be arranged along the arrangement direction of the driving wheel 310 and the driven wheel 320, and the rotating shaft 230 is accurately penetrated in the first protrusion 222 and the two second protrusions 211, realizing the rotating connection between the rotating body 220 and the frame body 210.

[0048] In some embodiments, along the arrangement direction of the driving wheel 310 and the driven wheel 320, the first mounting portion 221 is provided with the first protrusion 222 at the two opposite ends, respectively, and the first protrusion 222 and the frame body 210 are both rotatably connected through the rotating shaft 230.

[0049] In the arrangement direction of the driving wheel 310 and the driven wheel 320, the first protrusion 222 is arranged at the two opposite ends of the first mounting portion 221, respectively, and the first protrusions 222 at the two ends and the frame body 210 are both rotatably connected through the rotating shaft 230, that is, the two ends of the rotating body 220 are rotatably connected with the frame body 210, enhancing the stability of the rotating connection between the rotating body 220 and the frame body 210.

[0050] In some embodiments, please refer to Figure 7 , Figure 7 to Figure 2A partial enlarged view of the hidden part A in the structure shown. The main support 100 includes an intermediate shaft 110 and a rack hinge shaft 120, and the auxiliary support 200 includes a rack body 210 and a lug 240. The rack body 210 is arranged on one side of the intermediate shaft 110 in the axial direction, and the lug 240 is arranged on one side of the intermediate shaft 110 in the radial direction. The rack hinge shaft 120 passes through the lug 240 and the intermediate shaft 110, so that the auxiliary support 200 can rotate around the rack hinge shaft 120.

[0051] The intermediate shaft 110 of the main support 100 can be cylindrical or rod-shaped, and the like. The rack body 210 of the auxiliary support 200 is arranged on one side of the intermediate shaft 110 in the axial direction, and the lug 240 of the auxiliary support 200 is arranged on one side of the intermediate shaft 110 in the radial direction. The rack hinge shaft 120 passes through the lug 240 and the intermediate shaft 110, and the rack hinge shaft 120 is also arranged on one side of the intermediate shaft 110 in the radial direction. Therefore, the auxiliary support 200 can rotate around the intermediate shaft 110 in the axial direction of the intermediate shaft 110, that is, the auxiliary support 200 can rotate around the main support 100 in the arrangement direction of the auxiliary support 200 and the main support 100.

[0052] In this embodiment, the auxiliary support 200 and the main support 100 are connected through the rack hinge shaft 120 passing through the intermediate shaft 110 and the lug 240 to establish a hinge, so that the auxiliary support 200 can rotate flexibly around the main support 100, that is, the driving wheel 310 and the driven wheel 320 connected to the auxiliary support 200 can also rotate relative to the main support 100. Further, the rotating body 220 and the rack body 210 are connected through the rotating shaft 230 passing through the first protruding part 222 and the rack body 210 to establish a hinge, so that the rotating body 220 can rotate relative to the rack body 210, that is, the driven wheel 320 connected to the rotating body 220 can further rotate independently of the driving wheel 310 relative to the rack body 210. Through the above two hinge designs, the wall climbing robot 10 can more flexibly adapt to different surfaces and angles during movement, greatly increasing the freedom of movement of the wall climbing robot 10 and better adapting to various complex environments.

[0053] In some embodiments, the intermediate shaft 110 includes a support rod 111 and a connecting piece 112. The support rod 111 is connected to the auxiliary support 200 through the connecting piece 112, and the connecting piece 112 is rotationally connected to the lug 240 through the rack hinge shaft 120.

[0054] The connecting piece 112 is used to connect the support rod 111 and the lug 240 of the auxiliary support 200 together. The lug 240 can be provided with a hole matched with the rack hinge shaft 120, so that the rack hinge shaft 120 passes through the lug 240 and the connecting piece 112 to connect the auxiliary support 200 and the intermediate shaft 110, thereby realizing the rotating function of the auxiliary support 200.

[0055] In some embodiments, the intermediate rotating shaft 110 further comprises a fixing pin 113, the connecting member 112 is at least partially sleeved on the support rod 111, and the fixing pin 113 is arranged through the connecting member 112 and the support rod 111 to connect the connecting member 112 and the support rod 111.

[0056] The intermediate rotating shaft 110 comprises the support rod 111, the connecting member 112 and the fixing pin 113, which work together to realize the stable connection and rotation function between the auxiliary support 200 and the intermediate rotating shaft 110. The support rod 111 is the main part of the intermediate rotating shaft 110, the connecting member 112 is at least partially sleeved on the support rod 111, and the fixing pin 113 is arranged through the connecting member 112 and the support rod 111 to stably and reliably connect the two components.

[0057] In some embodiments, please refer to Figure 8 , Figure 8 for Figure 1 the structure diagram of the support rod in the wall climbing robot. At least one of the opposite ends of the support rod 111 is provided with a strip-shaped hole 114, the strip-shaped hole 114 extends along the arrangement direction of the driving wheel 310 and the driven wheel 320, and the fixing pin 113 is arranged through the strip-shaped hole 114, so that the auxiliary support 200 can swing relative to the main support 100.

[0058] In the embodiment, at least one of the opposite ends of the support rod 111 is provided with a strip-shaped hole 114, the strip-shaped hole 114 extends along the arrangement direction of the driving wheel 310 and the driven wheel 320, the support rod 111 is in a cylindrical or rod-shaped structure, so that the strip-shaped hole 114 has a certain length and arc along the arrangement direction of the driving wheel 310 and the driven wheel 320, thereby allowing the fixing pin 113 arranged through the strip-shaped hole 114 to move in a curve within the strip-shaped hole 114 along the arrangement direction of the driving wheel 310 and the driven wheel 320. When the fixing pin 113 moves in a curve, the connecting member 112 moves in a curve synchronously, and this curve movement actually represents that the connecting member 112 swings to a certain extent along the arrangement direction of the driving wheel 310 and the driven wheel 320, and the connecting member 112 is connected with the auxiliary support 200, so that the auxiliary support 200 can also swing to a certain extent along the arrangement direction of the driving wheel 310 and the driven wheel 320 following the connecting member 112. Therefore, the auxiliary support 200 can not only rotate around the main support 100 along the arrangement direction of the auxiliary support 200 and the main support 100, but also swing relative to the main support 100 along the arrangement direction of the driving wheel 310 and the driven wheel 320, that is, the auxiliary support 200 can not only flexibly rotate left and right relative to the main support 100, but also flexibly swing forward and backward relative to the main support 100, thereby increasing the flexibility and adaptability of the wall climbing robot 10.

[0059] It can be understood that when performing wall work, the wall climbing robot 10 may encounter various complex terrains, such as protruding obstacles, recessed pits or irregular wall structures. The auxiliary support 200 of the embodiment can rotate left and right and swing forward and backward relative to the main support 100, so that the wheel set 300 can rotate left and right and swing forward and backward relative to the main support 100, further improving the degree of freedom of the wheel set 300 activity, which enables the wall climbing robot 10 to better adapt to these complex terrains. For example, when the wall climbing robot 10 is working on the wall, it encounters a protruding obstacle, the auxiliary support 200 can drive the wheel set 300 to rotate left or right, so that the wall climbing robot 10 can bypass the obstacle, or when the protruding height of the obstacle is moderate, the auxiliary support 200 can also drive the wheel set 300 to swing forward, so as to cross the obstacle. For another example, the wall surface may have a certain curvature or wavy shape. When there is a certain curvature or wavy shape along the arrangement direction of the driving wheel 310 and the driven wheel 320, the auxiliary support 200 adjusts the angle of the wheel set 300 forward or backward, and when there is a certain curvature or wavy shape along the arrangement direction of the auxiliary support 200 and the main support 100, the auxiliary support 200 adjusts the angle of the wheel set 300 left or right, so that the wheel set 300 can always adhere to the curved surface when the wall climbing robot 10 is working on the complex curved surface, maintaining good contact between the wheel set 300 and the curved surface, and realizing stable walking.

[0060] It should be noted that one end of the support rod 111 can be provided with a strip-shaped hole 114, and the other end can be provided with a conventional circular hole 115, so that the auxiliary support 200 located on both sides of the support rod can have different adjustment capabilities, such as the auxiliary support 200 on one side can flexibly rotate left and right relative to the main support 100, and the auxiliary support 200 on one side can flexibly rotate left and right relative to the main support 100 and can also swing forward and backward relative to the main support 100. The two ends of the support rod 111 can also be provided with strip-shaped holes 114, so that the auxiliary supports 200 located on both sides of the support rod 111 can rotate left and right and swing forward and backward relative to the main support 100. The embodiment does not limit this.

[0061] In some embodiments, please continue to refer to Figure 1 The main support 100 further includes a base, a functional part 140, a connecting seat and a collision prevention rod 160, the collision prevention rod 160 is spaced apart from the base, the connecting seat is connected between the collision prevention rod 160 and the base, and the collision prevention rod 160 includes a first side face facing the base, and the functional part 140 is located on the side of the first side face facing the base.

[0062] In some embodiments, the collision prevention rod 160 extends along the arrangement direction of the main support 100 and the auxiliary support 200, and is at least partially disposed above the auxiliary support 200, and at least one of the auxiliary support 200, the driving wheel 310 and the driven wheel 320 is located on the side of the first side face facing the base.

[0063] The anti-collision rod 160 is an important safety component on the main support 100, which can be made of high-strength and wear-resistant materials to withstand possible impact and friction. The base can be connected with the functional part 140 of the wall climbing robot 10, which is a key area on the main support 100 to realize specific functions, such as a cleaning module to realize the wall cleaning function of the wall climbing robot 10. The connecting seat plays a role of a bridge in the main support 100, connecting the anti-collision rod 160 and the base.

[0064] Based on the spatial layout relationship of the anti-collision rod 160 relative to other main body structures of the wall climbing robot 10, the functional part 140 is located on the side of the plane of the first side face towards the base, and / or at least one of the auxiliary support 200, the driving wheel 310 and the driven wheel 320 is located on the side of the plane of the first side face towards the base, so that in the working process of the wall climbing robot 10, if falling occurs, the anti-collision rod 160 can be contacted first to absorb and disperse the impact force generated by the collision, thereby protecting at least one of the functional part 140, the base, the auxiliary support 200, the driving wheel 310 and the driven wheel 320 of the wall climbing robot 10, reducing the damage of the collision to the wall climbing robot 10, and increasing the safety of the wall climbing robot 10.

[0065] In some embodiments, the functional part 140 can be a cleaning module, which can include a cleaning disc, a cleaning knife holder, a rotating joint, a brush, a sealing skin, a recovery interface and a spring, etc. The cleaning knife holder is installed on the inner side of the cleaning disc as a support structure of the high-pressure nozzle, connected with the rotating joint on the upper part of the cleaning disc, and the bottom of the cleaning knife holder is provided with a plurality of high-pressure nozzles. When cleaning work is performed, the high-pressure nozzles at the bottom of the cleaning knife holder will shoot high-pressure water flow at a certain angle to the wall surface. At the same time, the reaction force generated when the high-pressure water flow is shot makes the cleaning knife holder rotate at high speed around the rotating joint, thereby forming a circumferential cleaning area. The brush is connected with the brush mounting ring bolt, and the outer circumferential surface thereof is wrapped with a layer of thin rubber, which can enhance the sealing with the wall surface. When the cleaning disc encounters an obstacle such as a weld, the brush on the cleaning disc is pushed upward by the force outwardly perpendicular to the wall surface, and the thin rubber wrapped outside the brush has good deformation performance, which can ensure good sealing between the robot and the wall surface when the robot overcomes the obstacle. The brush mounting ring is connected with the cleaning disc through the spring, so that the brush has a certain up-down floating range to adapt to the unevenness of the wall surface. The recovery interface is installed on the upper part of the cleaning disc and connected with a vacuum pipe. The vacuum pipe serves as a channel for sewage recovery, connecting the recovery interface with a sewage treatment device for receiving and treating the recovered sewage from the cleaning area. The cleaning module can be arranged at the middle position of the wall climbing robot 10, which is helpful to maintain the balance and stability of the wall climbing robot 10 during the cleaning process.

[0066] The wall-climbing robot 10 further comprises a control module, which is the "brain" of the wall-climbing robot 10 and is responsible for receiving operation instructions, controlling the movement and cleaning operation of the wall-climbing robot 10, etc. The control module can be installed at a middle position above the cleaning module to reasonably utilize the space and avoid direct contact with the wall.

[0067] The wall-climbing robot 10 needs strong adsorption capacity to ensure its stability and safety on the wall. Therefore, in some embodiments, the wall-climbing robot 10 can be equipped with multiple magnetic adsorption units, such as four magnetic adsorption units evenly distributed around the four driving wheels 310 and the four driven wheels 320 of the wall-climbing robot 10. Through the combined action of the front and rear wheel multi-point magnetic adsorption units, the magnetic adsorption force of the wall-climbing robot is increased, the adaptability to the wall environment is improved, the load capacity of the robot is increased, and the balance and stability of walking are improved. When the wall-climbing robot 10 is working in an environment with uneven outer walls such as a ship, it is likely to encounter obstacles or pits, which may cause the suction force of a single-point magnetic adsorption unit to fail or weaken. However, since the wall-climbing robot 10 of the present embodiment adopts four magnetic adsorption units, even if one of the adsorption units is affected, the remaining units can still provide sufficient adsorption force to ensure that the wall-climbing robot 10 can continue to climb stably and is not easy to slip or tilt. For example, the magnetic adsorption units arranged around the driving wheels 310 and the magnetic adsorption units arranged around the driven wheels 320 can be composed of different specifications or the same specifications of magnet covers, magnet covers, yokes and multiple pieces of neodymium iron boron permanent magnets, which are not limited in the present embodiment.

[0068] In the present embodiment, the wall-climbing robot 10 further improves the obstacle crossing function and stability of the wall-climbing robot 10 through the design of 4-point uniform distribution of the magnetic adsorption units and the floating connection of the cleaning disc brush, which can better complete the task in the case of uneven outer walls of a ship, greatly reduces the risk of falling off the machine, and improves the safety of the equipment.

[0069] The wall-climbing robot of the present embodiment is described in detail above, and specific examples are applied to describe the principles and implementation modes of the present application. The above description of the embodiments is only used to help understand the method and its core idea of the present application; meanwhile, for those skilled in the art, the specific implementation modes and application ranges can be changed according to the idea of the present application. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A wall-climbing robot, characterized by, The utility model relates to a kind of auxiliary frame and main frame, including: Main support; Two auxiliary frames are connected to the opposite sides of the main support, at least one of the auxiliary frames is rotatably connected to the main support, and rotates around the main support along the arrangement direction of the auxiliary frame and the main support; Two wheel groups are respectively installed on different auxiliary frames, and each wheel group includes a driving wheel and a driven wheel, the driving wheel and the driven wheel are rotatably installed on the auxiliary frame.

2. The wall-climbing robot according to claim 1, wherein The auxiliary frame includes a frame body and a rotating body, the frame body is rotatably connected to the main support, the driven wheel is installed on the rotating body, and the rotating body is rotatably installed on the frame body.

3. The wall-climbing robot according to claim 2, wherein The rotating body rotates around the frame body along the arrangement direction of the auxiliary frame and the main support.

4. The wall-climbing robot according to claim 3, wherein The rotating body includes a first mounting portion and a first protruding portion, the first protruding portion protrudes from the side of the first mounting portion towards the frame body, and the first protruding portion is oppositely arranged along the arrangement direction of the driving wheel and the driven wheel. The auxiliary frame further includes a rotating shaft, the rotating shaft is arranged through the first protruding portion and the frame body, so that the rotating body can rotate relative to the frame body.

5. The wall-climbing robot according to claim 4, wherein The frame body includes two oppositely arranged second protruding portions, the first protruding portion is arranged between the two second protruding portions, and the rotating shaft is arranged through the first protruding portion and the two second protruding portions.

6. The wall-climbing robot according to claim 4, wherein Along the arrangement direction of the driving wheel and the driven wheel, the first mounting portion oppositely arranged two ends are respectively provided with the first protruding portion, and the first protruding portion and the frame body are rotatably connected through the rotating shaft.

7. The wall-climbing robot according to claim 1, wherein The main support includes a middle shaft and a rack hinge shaft, the auxiliary frame includes a frame body and a lug, the frame body is arranged on one side of the middle shaft in the axial direction, the lug is arranged on one side of the middle shaft in the radial direction, and the rack hinge shaft is arranged through the lug and the middle shaft, so that the auxiliary frame can rotate around the rack hinge shaft.

8. The wall-climbing robot according to claim 7, characterized in that, The middle shaft includes a support rod and a connecting piece, the support rod is connected with the auxiliary frame through the connecting piece, and the connecting piece is rotatably connected with the lug through the rack hinge shaft.

9. The wall-climbing robot according to claim 8, characterized in that, The middle shaft further includes a fixed pin shaft, the connecting piece is at least partially sleeved on the support rod, and the fixed pin shaft is arranged through the connecting piece and the support rod to connect the connecting piece and the support rod.

10. The wall-climbing robot according to claim 9, characterized in that, At least one end of the opposite ends of the support rod is provided with a strip-shaped hole, the strip-shaped hole extends along the arrangement direction of the driving wheel and the driven wheel, and the fixed pin shaft is arranged through the strip-shaped hole, so that the auxiliary frame can swing relative to the main support.

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