A wall-climbing robot with an attitude adjustment structure

Abstract

This utility model relates to the field of wall-climbing robot technology, specifically to a mounting and attitude adjustment structure for a wall-climbing robot. It includes two sets of wing-shaped supports and two sets of moving units. A mounting frame is fixedly installed on the upper end of each of the two wing-shaped supports. A detection module is mounted on the upper side of the mounting frame. First fixing plates are fixedly connected to both sides of the mounting frame. First connecting blocks are fixedly connected to the sides of the first fixing plates. The lower end of the wing-shaped supports is hinged to the moving units. A second fixing plate is fixedly installed on the upper side of the moving units. A second connecting block is fixedly connected to the sides of the second fixing plate. A push rod is hinged between the first and second connecting blocks. The wing-shaped supports include a first support, a second support, and a connecting plate. The moving units and the two push rods work together to synchronously adjust the height and pitch angle of the wing-shaped supports, allowing for flexible adjustment of the detection module's attitude, thereby effectively expanding the detection field of view and improving adaptability to complex wall surfaces.

Description

Technical Field

[0001] This utility model relates to the field of wall-climbing robot technology, specifically to a mounting and attitude adjustment structure for a wall-climbing robot. Background Technology

[0002] A robot is an automated machine, but unlike humans or other living beings, it possesses some intelligent capabilities similar to those of humans or other living beings, such as perception, planning, movement, and coordination. It is a highly flexible automated machine that can assist or even replace humans in completing dangerous, heavy, and complex tasks, improving work efficiency and quality, serving human life, and expanding the scope of human activities and capabilities. In the process of inspecting walls or other building surfaces, wall-climbing robots are often used, with the detection module installed on the surface of a mounting frame. The wall-climbing robot, in conjunction with the mounting frame, moves the detection module to inspect the wall.

[0003] However, during the movement of wall-climbing robots, there will be situations where they need to overcome obstacles or go over curved surfaces. Existing mounting frames are mostly fixed, which, although they have high stability, can lead to inflexible attitude adjustment of the mounted detection modules, which in turn limits the detection angle, affects the detection range, and makes them unable to adapt to complex walls.

[0004] Therefore, it is necessary to invent a posture adjustment structure for a wall-climbing robot to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a mounting and attitude adjustment structure for a wall-climbing robot, in order to solve the problem that the attitude adjustment of the mounted detection module is inflexible, which leads to a limited detection angle and affects the detection range.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a mounting and attitude adjustment structure for a wall-climbing robot, comprising two sets of wing-shaped supports and two sets of moving units. A mounting frame is fixedly installed on the upper end of each of the two sets of wing-shaped supports. A detection module is installed on the upper side of each mounting frame. First fixing plates are fixedly connected to both sides of each mounting frame. A first connecting block is fixedly connected to the side of each first fixing plate. The lower end of each wing-shaped support is hinged to the moving unit. A second fixing plate is fixedly installed on the upper side of each moving unit. A second connecting block is fixedly connected to the side of each second fixing plate. A push rod is hinged between the first connecting block and the second connecting block. The wing-shaped support includes a first support, a second support, and a connecting plate.

[0007] By adopting the above technical solution, the front and rear moving units work together with the double push rods to synchronously adjust the height and pitch angle of the airfoil support during climbing or curved surface transition, thereby adjusting the detection angle of the detection module in real time, ensuring the detection range of the detection module, and improving the adaptability to complex walls.

[0008] Optionally, the connecting plate is fixedly connected to the lower end of the first bracket, the lower end of the first bracket is provided with a plurality of first connecting holes, and the upper end of the connecting plate is provided with a plurality of second connecting holes.

[0009] By adopting the above technical solution, screws are passed through the first connecting hole and the second connecting hole to fix the first bracket and the connecting plate.

[0010] Optionally, the second bracket is slidably connected to the lower end of the connecting plate, and multiple sets of limiting sliders are fixedly connected to the upper end of the second bracket. Multiple sets of first connecting grooves are provided at the lower end of the connecting plate.

[0011] By adopting the above technical solution, the limiting slider slides up and down inside the first connecting groove, thereby allowing the first direct and mounting bracket to slide up and down on the upper side of the second bracket.

[0012] Optionally, a second connecting groove is provided on both the front and rear surfaces of the moving unit.

[0013] By adopting the above technical solution, the screw passes through the second connecting groove to lock and fix the second fixing plate to the surface of the moving unit.

[0014] Optionally, the push rod includes a connecting pipe, a threaded rod, a first rotating block, a second rotating block, an adjusting block, a positioning groove, and a positioning block, wherein the threaded rod is slidably connected to the inside of the connecting pipe.

[0015] By adopting the above technical solution, the threaded rod can slide inside the connecting pipe, and the length of the push rod can be adjusted so that it can be used for airfoil brackets of different sizes.

[0016] Optionally, the first rotating block is fixedly connected to the lower end of the connecting pipe, the first rotating block is hinged to the second connecting block, the second rotating block is fixedly connected to the upper end of the threaded rod, and the second rotating block is hinged to the first connecting block.

[0017] By adopting the above technical solution, the first rotating block rotates around the second connecting block, and the second rotating block rotates around the first connecting block.

[0018] Optionally, the surface of the connecting pipe is symmetrically provided with two sets of positioning grooves, the positioning block is fixedly connected to one end of the threaded rod, and the positioning block is slidably connected to the positioning groove.

[0019] By adopting the above technical solution, the positioning block slides inside the positioning groove, limiting the position of the threaded rod and preventing the threaded rod from rotating.

[0020] Optionally, the lower end of the adjusting block is rotatably connected to the upper end of the connecting pipe, and the upper end of the adjusting block is threadedly connected to the threaded rod.

[0021] By adopting the above technical solution, the adjusting block can push the threaded rod out or retract it into the interior of the connecting pipe during rotation.

[0022] The technical effects and advantages provided by this utility model in the above technical solution are as follows:

[0023] 1. This utility model uses the front and rear moving units to work in coordination with the double push rods during climbing or curved surface transitions to synchronously adjust the height and pitch angle of the airfoil support. This allows for flexible adjustment of the detection module's attitude, effectively expanding the detection angle, ensuring the detection range of the detection module, and improving its adaptability to complex walls. At the same time, the rigid support of the airfoil support effectively ensures the stability of the detection module.

[0024] 2. This utility model allows the threaded rod to slide inside and outside the connecting pipe by rotating the adjusting block, thereby adjusting the overall length of the push rod to make it suitable for airfoil brackets of different sizes, effectively improving the adaptability of the push rod. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the mounting bracket structure of this utility model;

[0027] Figure 3 This is a schematic diagram of the airfoil support structure of this utility model;

[0028] Figure 4 This is a schematic diagram of the mobile unit structure of this utility model;

[0029] Figure 5 This is a schematic diagram of the push rod structure of this utility model.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Airfoil bracket; 11. First bracket; 111. First connecting hole; 12. Second bracket; 121. Limiting slider; 13. Connecting plate; 131. Second connecting hole; 132. First connecting groove; 2. Mounting bracket; 21. Detection module; 22. First fixing plate; 23. First connecting block; 3. Push rod; 31. Connecting pipe; 32. Threaded rod; 33. First rotating block; 34. Second rotating block; 35. Adjusting block; 36. Positioning groove; 37. Positioning block; 4. Moving unit; 41. Second connecting groove; 42. Second fixing plate; 43. Second connecting block. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0033] This utility model provides, for example Figures 1 to 4 The illustrated wall-climbing robot mounting and attitude adjustment structure includes two sets of wing-shaped supports 1 and two sets of moving units 4. Mounting frames 2 are fixedly mounted on the upper ends of the two sets of wing-shaped supports 1. Detection modules 21 are mounted on the upper side of the mounting frames 2. First fixing plates 22 are fixedly connected to both sides of the mounting frames 2. First connecting blocks 23 are fixedly connected to the sides of the first fixing plates 22. The lower ends of the wing-shaped supports 1 are hinged to the moving units 4. Second fixing plates 42 are fixedly mounted on the upper side of the moving units 4. Second connecting blocks 43 are fixedly connected to the sides of the second fixing plates 42. The first connecting blocks 23 are connected to the second connecting blocks 43. A push rod 3 is hinged between blocks 43. The airfoil bracket 1 includes a first bracket 11, a second bracket 12 and a connecting plate 13. The connecting plate 13 is fixedly connected to the lower end of the first bracket 11. The lower end of the first bracket 11 is provided with multiple sets of first connecting holes 111. The upper end of the connecting plate 13 is provided with multiple sets of second connecting holes 131. The second bracket 12 is slidably connected to the lower end of the connecting plate 13. The upper end of the second bracket 12 is fixedly connected with multiple sets of limiting sliders 121. The lower end of the connecting plate 13 is provided with multiple sets of first connecting grooves 132. The front and rear surfaces of the moving unit 4 are provided with second connecting grooves 41.

[0034] The first bracket 11, the connecting plate 13, and the mounting bracket 2 slide up and down on the upper side of the second bracket 12 through the cooperation of the second connecting hole 131 and the limiting slider 121. At the same time, the second bracket 12 can rotate around the moving unit 4, thereby adjusting the height and angle of the mounting bracket 2, thereby effectively expanding the detection angle of the detection module 21 and improving the detection range.

[0035] Specifically, when the moving unit 4 is crossing obstacles or transitioning to curved surfaces, one end of the moving unit 4 will lift up, and its end will rotate around the lower end of the second bracket 12, thereby rotating the second fixing plate 42 upward. At this time, through the cooperation of the two second fixing plates 42 and the two sets of push rods 3, the first fixing plate 22 will be pushed upward, thereby pushing the first bracket 11 and the mounting frame 2 upward, and adjusting the angle of the mounting frame 2 and the wing-shaped bracket 1, thereby adjusting the height and pitch angle of the detection module 21.

[0036] See Figure 1 and Figure 5 The push rod 3 includes a connecting pipe 31, a threaded rod 32, a first rotating block 33, a second rotating block 34, an adjusting block 35, a positioning groove 36, and a positioning block 37. The threaded rod 32 is slidably connected to the inside of the connecting pipe 31. The first rotating block 33 is fixedly connected to the lower end of the connecting pipe 31. The first rotating block 33 is hinged to the second connecting block 43. The second rotating block 34 is fixedly connected to the upper end of the threaded rod 32. The second rotating block 34 is hinged to the first connecting block 23. Two sets of positioning grooves 36 are symmetrically opened on the surface of the connecting pipe 31. The positioning block 37 is fixedly connected to one end of the inner side of the threaded rod 32. The positioning block 37 is slidably connected to the positioning groove 36. The lower end of the adjusting block 35 is rotatably connected to the upper end of the connecting pipe 31. The upper end of the adjusting block 35 is threadedly connected to the threaded rod 32.

[0037] In addition, the positioning block 37 slides inside the positioning groove 36, thereby driving the threaded rod 32 to slide inside the connecting pipe 31. During the clockwise rotation of the adjusting block 35, the threaded rod 32 will be pushed outward, thereby extending the push rod 3. Conversely, during the counterclockwise rotation of the adjusting block 35, the threaded rod 32 will be retracted inward, thereby shortening the push rod 3, so that it can be used for wing-shaped brackets 1 of different sizes and structures, improving the adaptability of the equipment.

[0038] The working principle of this utility model is as follows: The front and rear moving units 4 work in concert with the double push rods 3 during climbing or transitioning to curved surfaces to synchronously adjust the height and pitch angle of the airfoil bracket 1. This allows for flexible adjustment of the attitude of the detection module 21, effectively expanding the detection field of view, ensuring the detection range of the detection module 21, and improving its adaptability to complex walls. At the same time, the rigid support of the airfoil bracket 1 effectively ensures the stability of the detection module 21. Furthermore, by rotating the adjusting block 35, the threaded rod 32 can slide inside and outside the connecting pipe 31, thereby adjusting the overall length of the push rod 3 to accommodate airfoil brackets 1 of different sizes, effectively improving the adaptability of the push rod 3.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A posture adjustment structure for a wall-climbing robot, comprising two sets of wing-shaped supports (1) and two sets of moving units (4), characterized in that: The upper ends of the two sets of airfoil brackets (1) are fixedly mounted with mounting brackets (2). The upper side of the mounting brackets (2) is equipped with a detection module (21). The two sides of the mounting brackets (2) are fixedly connected with first fixing plates (22). The side of the first fixing plate (22) is fixedly connected with a first connecting block (23). The lower end of the airfoil brackets (1) is hinged to the moving unit (4). The upper side of the moving unit (4) is fixedly mounted with a second fixing plate (42). The side of the second fixing plate (42) is fixedly connected with a second connecting block (43). A push rod (3) is hinged between the first connecting block (23) and the second connecting block (43). The airfoil brackets (1) include a first bracket (11), a second bracket (12) and a connecting plate (13).

2. The attitude adjustment structure for a wall-climbing robot according to claim 1, characterized in that: The connecting plate (13) is fixedly connected to the lower end of the first bracket (11). The lower end of the first bracket (11) is provided with a plurality of first connecting holes (111), and the upper end of the connecting plate (13) is provided with a plurality of second connecting holes (131).

3. The attitude adjustment structure for a wall-climbing robot according to claim 1, characterized in that: The second bracket (12) is slidably connected to the lower end of the connecting plate (13), and multiple sets of limiting sliders (121) are fixedly connected to the upper end of the second bracket (12). Multiple sets of first connecting grooves (132) are opened at the lower end of the connecting plate (13).

4. The attitude adjustment structure for a wall-climbing robot according to claim 1, characterized in that: The front and rear surfaces of the moving unit (4) are provided with second connecting grooves (41).

5. The attitude adjustment structure for a wall-climbing robot according to claim 1, characterized in that: The push rod (3) includes a connecting pipe (31), a threaded rod (32), a first rotating block (33), a second rotating block (34), an adjusting block (35), a positioning groove (36), and a positioning block (37). The threaded rod (32) is slidably connected to the inside of the connecting pipe (31).

6. The attitude adjustment structure for a wall-climbing robot according to claim 5, characterized in that: The first rotating block (33) is fixedly connected to the lower end of the connecting pipe (31), the first rotating block (33) is hinged to the second connecting block (43), the second rotating block (34) is fixedly connected to the upper end of the threaded rod (32), and the second rotating block (34) is hinged to the first connecting block (23).

7. The attitude adjustment structure for a wall-climbing robot according to claim 6, characterized in that: The surface of the connecting pipe (31) is symmetrically provided with two sets of positioning grooves (36). The positioning block (37) is fixedly connected to one end of the inner side of the threaded rod (32), and the positioning block (37) is slidably connected to the positioning groove (36).

8. The attitude adjustment structure for a wall-climbing robot according to claim 7, characterized in that: The lower end of the adjusting block (35) is rotatably connected to the upper end of the connecting pipe (31), and the upper end of the adjusting block (35) is threadedly connected to the threaded rod (32).

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