A wall-climbing robot

Abstract

This utility model belongs to the field of robotics and relates to a wall-climbing robot, comprising: a chassis unit, an electrical control box, and a cleaning unit; the electrical control box is mounted on the chassis unit; the cleaning unit is connected to the chassis unit; the chassis unit includes a chassis shell, with a motor installed at each of the four corners of the chassis shell; a wheel axle bearing seat is installed at each of the four corners of the chassis shell; a wheel axle is rotatably connected to each of the wheel axle bearing seats; one end of the wheel axle is connected to the output end of the motor, and a wheel is installed at the other end of the wheel axle; several magnetic components are installed on the bottom surface of the chassis shell. The advantages of this structure are: the robot can adhere to the working surface through the attraction of magnets to ferrous or magnetic working surfaces, and then the chassis unit can drive the robot body to walk along the working surface; the cleaning unit cleans the working surface, making it convenient to operate and highly practical.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically, it relates to a wall-climbing robot. Background Technology

[0002] In industries such as nuclear power, petrochemicals, construction, fire services, and shipbuilding, there is a need to clean and inspect high-altitude iron work surfaces. Traditional manual methods are currently used for these tasks, which suffer from high labor intensity, long turnaround times, low efficiency, and poor safety. Therefore, improvements are necessary. Utility Model Content

[0003] To address the aforementioned problems in the prior art, this utility model provides a wall-climbing robot.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] As one aspect of this utility model, a wall-climbing robot is proposed, comprising: a chassis unit, an electrical control box, and a cleaning unit; the electrical control box is mounted on the chassis unit; the cleaning unit is connected to the chassis unit.

[0006] The chassis unit includes a chassis housing with an installation space. A motor is installed at each of the four corners of the installation space. A wheel axle bearing seat is installed at each of the four corners of the chassis housing, located outside the corresponding motor. A wheel axle is rotatably connected to each wheel axle bearing seat. One end of each wheel axle is connected to the output end of the motor, and the other end extends to the outside of the wheel axle bearing seat where a wheel is mounted. Several magnetic components are installed on the bottom surface of the chassis housing.

[0007] Furthermore, the magnetic attractor is a magnet, and there are four magnetic attractors arranged in a rectangular array on the bottom surface of the chassis housing; there is a preset distance between the bottom surface of the magnetic attractor and the lowest point of the wheel.

[0008] Furthermore, a handle is installed on the side of the chassis housing.

[0009] Furthermore, the electrical control box includes a housing, which is mounted on a chassis housing, and the bottom of the housing covers the opening end of the installation space; the housing has an installation cavity, in which a main control circuit board is installed, and a cover plate is installed at the opening end of the installation cavity; the motor is electrically connected to the main control circuit board.

[0010] Furthermore, a first camera is installed on the front side of the enclosure, and a second camera is installed on the rear side of the enclosure. The first camera and the second camera are electrically connected to the main control circuit board, respectively.

[0011] Furthermore, the cleaning unit includes a roller brush bracket mounted on a chassis housing; the roller brush bracket includes a bracket fixing part, the side of the bracket fixing part away from the chassis housing extending to form a bracket mounting part, the bracket mounting part and the bracket fixing part forming a preset angle; a guide bushing is respectively mounted on both sides of the bracket mounting part; a guide rod is movably inserted into the shaft hole of the guide bushing; one end of the guide rod is connected to or integrally formed with a mounting support, and the other end of the guide rod is connected to a limit nut; an elastic element is sleeved on the guide rod; the elastic element is located between the inner side of the mounting support and the bracket mounting part; a cleaning roller brush is installed between the two mounting supports.

[0012] Furthermore, the dimensions of the mounting bracket are larger than the diameter of the guide rod.

[0013] Furthermore, the mounting bracket is provided with a mounting groove that is adapted to the connecting rod of the cleaning roller brush.

[0014] Furthermore, a limiting hole is provided on the mounting groove, and a limiting component is installed in the limiting hole.

[0015] Furthermore, the number of wheel axle bearing seats is the same as the number of motors.

[0016] The wall-climbing robot of this utility model has the following advantages: it can be attached to the working surface by the attraction of magnets to iron or magnetic working surfaces, and then the robot body can be driven to walk along the working surface by the chassis unit; the cleaning unit cleans the working surface, which is convenient to operate and highly practical. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0018] Figure 1 This is a three-dimensional structural view of the wall-climbing robot of this utility model;

[0019] Figure 2 This is a side view of the structure of the wall-climbing robot of this utility model;

[0020] Figure 3 This is a top view of the wall-climbing robot of this utility model;

[0021] Figure 4 This is a front structural view of the chassis unit of this utility model;

[0022] Figure 5 This is a top view of the chassis unit of this utility model;

[0023] Figure 6 This is a top view of the chassis unit of this utility model;

[0024] Figure 7 This is a front view of the electrical control box of this utility model;

[0025] Figure 8 This is a bottom view of the electrical control box of this utility model;

[0026] Figure 9 This is a top view of the electrical control box of this utility model;

[0027] Figure 10 This is a three-dimensional structural view of the cleaning unit of this utility model.

[0028] Explanation of reference numerals in the attached drawings: 1-Chassis unit; 11-Chassis housing; 12-Installation space; 13-Motor; 14-Wheel axle bearing seat; 15-Wheel axle; 16-Wheel; 17-Magnetic clasp; 18-Handle;

[0029] 2-Electrical control box; 21-Box body; 22-Mounting cavity; 23-Main control circuit board; 24-First camera; 25-Second camera; 26-Cover plate;

[0030] 3-Cleaning unit; 31-Roller brush bracket; 311-Bracket fixing part; 312-Bracket mounting hole; 313-Leaning hole; 314-Bracket mounting part; 32-Guide bushing; 33-Guide rod; 34-Mounting support; 35-Elastic element; 36-Cleaning roller brush; 37-Mounting groove; 38-Limiting hole. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0032] One embodiment of this application provides a wall-climbing robot, such as... Figures 1-6 As shown, it includes: chassis unit 1;

[0033] Electrical control box 2 is installed on chassis unit 1;

[0034] Cleaning unit 3 is connected to chassis unit 1;

[0035] The chassis unit 1 includes a chassis housing 11, which has an installation space 12. A motor 13 is installed at each of the four corners of the installation space 12. The motor 13 is a DC geared motor, the structure of which is existing technology and will not be described in detail here. A wheel axle bearing seat 14 is installed at each of the four corners of the chassis housing 11. The number of wheel axle bearing seats 14 is the same as the number of motors 13, and the wheel axle bearing seats 14 are located outside the corresponding motor 13. A wheel axle 15 is rotatably connected to each wheel axle bearing seat 14. One end of the wheel axle 15 is connected to the output end of the motor 13, and the other end of the wheel axle 15 extends to the outside of the wheel axle bearing seat 14 where a wheel 16 is installed. When the motor 13 operates, it drives the wheel axle 15 to rotate, thereby driving the wheel 16 to rotate.

[0036] Furthermore, the bottom surface of the chassis housing 11 is higher than the lowest point of the wheel 16, so that the chassis housing 11 does not come into contact with the running surface when the wheel 16 is in motion.

[0037] Furthermore, such as Figure 5 As shown, a number of magnetic components 17 are installed on the bottom surface of the chassis housing 11. For example, the magnetic components 17 are magnets, and there are four magnetic components 17 arranged in a rectangular array on the bottom surface of the chassis housing 11. There is a preset distance between the bottom surface of the magnetic components 17 and the lowest point of the wheel 16. The magnetic components 17 are attracted to the iron working surface. The attraction force between them is less than the driving force of the motor 13, so as to ensure that the robot can move on the iron working surface without falling off.

[0038] Furthermore, for ease of handling, such as Figures 4-6 As shown, a handle 18 is installed on the side of the chassis housing 11.

[0039] Specifically, such as Figure 2 and Figures 7-9 As shown, the electrical control box 2 includes a box body 21, which is mounted on the chassis housing 11. The bottom of the box body 21 covers the opening end of the mounting space 12. The box body 21 has a mounting cavity 22, in which a main control circuit board 23 is installed. A cover plate 26 is installed at the opening end of the mounting cavity 22. The motor 13 is electrically connected to the main control circuit board 23. It should be noted that the box body 21 has through holes for wiring to pass through, which facilitates wiring connection. The structure of the main control circuit board 23 is existing known technology and will not be described in detail here.

[0040] Furthermore, such as Figure 9As shown, a first camera 24 is installed on the front side of the housing 21, and a second camera 25 is installed on the rear side of the housing 21. The first camera 24 and the second camera 25 are electrically connected to the main control circuit board 23 respectively. The cameras are used to photograph the iron working surface at a high position. It should be noted that the structure and operation of the cameras are existing known technologies, and will not be described in detail here.

[0041] Specifically, such as Figure 10 As shown, the cleaning unit 3 includes a roller brush bracket 31, which is mounted on the chassis housing 11 by fasteners. The roller brush bracket 31 includes a bracket fixing part 311, which has a bracket mounting hole 312. The bracket fixing part 311 is detachably connected to the chassis housing 11 through the bracket mounting hole 312 and the fasteners. The rod of the fastener passes through the bracket mounting hole 312, and then the rod is threaded with a fastening nut. The bracket fixing part 311 has a clearance hole 313 for the clearance installation of the handle 18.

[0042] The bracket fixing part 311 extends to form a bracket mounting part 314 on the side away from the chassis housing 11, and the bracket mounting part 314 and the bracket fixing part 311 form a preset angle; a guide bushing 32 is installed on each side of the bracket mounting part 314; a guide rod 33 is movably inserted into the shaft hole of the guide bushing 32; one end of the guide rod 33 is connected to or integrally formed with a mounting support 34, the size of which is larger than the diameter of the guide rod 33, for limiting the elastic element 35; the other end of the guide rod 33... A limit nut (not shown in the figure) is connected to the end thread; an elastic element 35, which is a spring, is sleeved on the guide rod 33; the elastic element 35 is located between the inner side of the mounting support 34 and the bracket mounting part 314; during installation, the elastic element 35 is first sleeved on the guide rod 33, and then the other end of the guide rod 33 moves through the shaft hole of the guide bushing 32 and connects to the limit nut; a cleaning roller brush 36 is installed between the two mounting supports 34. It should be noted that the structure of the cleaning roller brush 36 is existing known technology and will not be described in detail here.

[0043] Furthermore, the mounting bracket 34 is provided with a mounting groove 37 that matches the connecting rod of the cleaning roller brush 36, facilitating the installation of the cleaning roller brush 36; a limiting hole 38 is provided on the mounting groove 37, and a limiting member is installed in the limiting hole 38. The limiting member is a limiting rod. After the cleaning roller brush 36 is installed in place, the limiting member is connected to the limiting hole 38 to limit and fix the cleaning roller brush 36; the lowest point of the cleaning roller brush 36 is not lower than the lowest point of the wheel 16. During the movement of the cleaning roller brush 36, it cleans and removes dust from the iron working surface. The elastic member 35 ensures that the cleaning roller brush 36 is always in contact with the iron working surface.

[0044] When in use, the magnetic component 17 is attracted to the iron working surface, the motor 13 works, driving the axle 15 to rotate, which in turn drives the wheel 16 to rotate, so that the robot moves in the preset direction. During the movement, the cleaning roller brush 36 cleans and removes dust from the iron working surface.

[0045] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0046] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0047] The above description is only a preferred embodiment of the present utility model. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall be covered by the present utility model.

Claims

1. A wall-climbing robot, characterized in that its include: The chassis unit (1), the electrical control box (2), and the cleaning unit (3) are mounted on the chassis unit (1); the cleaning unit (3) is connected to the chassis unit (1). The chassis unit (1) includes a chassis housing (11), which has an installation space (12). A motor (13) is installed at each of the four corners of the installation space (12). A wheel axle bearing seat (14) is installed at each of the four corners of the chassis housing (11), and the wheel axle bearing seat (14) is located outside the corresponding motor (13). A wheel axle (15) is rotatably connected to each wheel axle bearing seat (14). One end of the wheel axle (15) is connected to the output end of the motor (13), and the other end of the wheel axle (15) extends to the outside of the wheel axle bearing seat (14) and a wheel (16) is installed thereon. Several magnetic components (17) are installed on the bottom surface of the chassis housing (11).

2. The wall-climbing robot as described in claim 1, characterized in that, The magnetic accumulator (17) is a magnet, and there are four magnetic accumulators (17). The four magnetic accumulators (17) are arranged in a rectangular array on the bottom surface of the chassis housing (11). There is a preset distance between the bottom surface of the magnetic accumulator (17) and the lowest point of the wheel (16).

3. The wall-climbing robot as described in claim 1, characterized in that, A handle (18) is installed on the side of the chassis housing (11).

4. The wall-climbing robot as described in claim 1, characterized in that, The electrical control box (2) includes a box body (21), which is mounted on the chassis housing (11). The bottom of the box body (21) covers the opening end of the installation space (12). The box body (21) has an installation cavity (22), in which a main control circuit board (23) is installed. A cover plate (26) is installed at the opening end of the installation cavity (22). The motor (13) is electrically connected to the main control circuit board (23).

5. The wall-climbing robot as described in claim 4, characterized in that, A first camera (24) is installed on the front side of the housing (21), and a second camera (25) is installed on the rear side of the housing (21). The first camera (24) and the second camera (25) are electrically connected to the main control circuit board (23).

6. The wall-climbing robot as described in claim 1, characterized in that, The cleaning unit (3) includes a roller brush bracket (31), which is mounted on the chassis housing (11). The roller brush bracket (31) includes a bracket fixing part (311), which extends to form a bracket mounting part (314) on the side away from the chassis housing (11). The bracket mounting part (314) and the bracket fixing part (311) form a preset angle. A guide bushing (32) is installed on each side of the bracket mounting part (314). A guide rod (33) is movably inserted into the shaft hole of the guide bushing (32). One end of the guide rod (33) is connected to or integrally formed with a mounting support (34), and the other end of the guide rod (33) is connected to a limit nut. An elastic element (35) is sleeved on the guide rod (33). The elastic element (35) is located between the mounting support (34) and the inner side of the bracket mounting part (314). A cleaning roller brush (36) is installed between the two mounting supports (34).

7. The wall-climbing robot as described in claim 6, characterized in that, The size of the mounting bracket (34) is larger than the diameter of the guide rod (33).

8. The wall-climbing robot as described in claim 6, characterized in that, The mounting bracket (34) is provided with a mounting groove (37) that is compatible with the connecting rod of the cleaning roller brush (36).

9. The wall-climbing robot as described in claim 8, characterized in that, A limiting hole (38) is provided on the mounting groove (37), and a limiting component is installed in the limiting hole (38).

10. The wall-climbing robot as described in claim 1, characterized in that, The number of wheel axle bearing seats (14) is the same as the number of motors (13).

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