A wall-climbing robot

Abstract

The utility model discloses a wall -climbing robot belongs to wall -climbing robot technical field. Including the connecting frame and the fixed frame, the top of connecting frame is installed with fixed frame, the top of fixed frame is installed with the moving frame of sliding, the top of moving frame is installed with mechanical arm, the top of mechanical arm is installed with support frame, the top of connecting frame one side of fixed frame symmetry is installed with two group power motor, the output all of power motor is installed with swing arm, the outer wall of swing arm all is swinged and installed with drive arm, the outer wall of drive arm all is swinged and installed with transmission arm, the bottom all of transmission arm is installed with electromagnetic valve. The utility model not only realized wall -climbing robot convenient wall -climbing movement, facilitated in smooth plane or curved surface environment work, and facilitated wall -climbing robot to the convenient clamping movement of barrier, avoided the efficiency of barrier influence wall -climbing robot wall -climbing, improved the convenience of wall -climbing robot wall -climbing.

Description

Technical Field

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

[0002] A wall-climbing robot is an automated device that can move and complete tasks on vertical or inclined surfaces. It mainly relies on media such as walls and glass curtain walls to climb. Through biomimetic structures or negative pressure adsorption technology, it can move autonomously or remotely on complex surfaces. It is used in hazardous environments such as tank flaw detection and bridge inspection, cleaning the facades of high-rise buildings, and maintaining power facilities.

[0003] As disclosed in the patent announcement number CN205952111U, a wall-climbing robot includes a robot body, a connecting rod hinged to the robot body, an electrical control unit, and at least two feet. Each foot includes a foot body and, placed on the foot body, a vertical motion mechanism for driving the foot to move vertically relative to the plane, a horizontal rotation mechanism for driving the foot to rotate horizontally relative to the plane, an adsorption mechanism, and a drive wheel. The control signal output terminal of the electrical control unit is respectively connected to the control terminals of the vertical motion mechanism, the horizontal rotation mechanism, the adsorption mechanism, and the drive wheel of each foot. The vertical motion mechanism and the horizontal rotation mechanism are respectively connected to the robot body through the connecting rod.

[0004] While it enables walking on horizontal and inclined planes, turning corners, and traversing obstacles and ditches, it does not solve the problems of existing wall-climbing robots, such as difficulty in convenient and stable wall-climbing, inconvenience in working on smooth or curved surfaces, and difficulty in easily gripping and moving obstacles. Encountering obstacles can easily affect the wall-climbing efficiency and reduce the ease of wall-climbing. Utility Model Content

[0005] The purpose of this invention is to provide a wall-climbing robot to solve the problems mentioned in the background art, such as the inconvenience of wall-climbing robots in terms of convenient and stable wall-climbing movement, inconvenience in working on smooth or curved surfaces, and inconvenience in easily gripping and moving obstacles. When encountering obstacles, the wall-climbing efficiency of the robot is easily affected, reducing the convenience of wall-climbing.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: A wall-climbing robot includes a connecting frame and a fixed frame. A fixed frame is mounted on the top of the connecting frame, and a movable frame is slidably mounted on the top of the fixed frame. A robotic arm is mounted on the top of the movable frame, and a support frame is mounted on the top of the robotic arm. Two sets of power motors are symmetrically mounted on the top of the connecting frame on one side of the fixed frame. A rocker arm is mounted on the output end of each power motor. A drive arm is movably mounted on the outer wall of each rocker arm, and a transmission arm is movably mounted on the outer wall of each drive arm. A solenoid valve is mounted on the bottom end of each transmission arm, and a vacuum suction cup is mounted on the bottom end of each solenoid valve. A wireless transmission control module is mounted on the top of the connecting frame below the fixed frame, and a battery is mounted on the top of the connecting frame on the side of the wireless transmission control module.

[0007] Optionally, a vacuum generator is installed on the top of the connecting bracket on one side of the battery, a drive motor is installed on the outer wall of the rocker arm near the drive arm, and the output end of the drive motor is connected to the drive arm, and a rotary motor is installed on the outer wall of the drive arm near the transmission arm, and the output end of the rotary motor is connected to the transmission arm.

[0008] Optionally, a rack is installed at the top of the fixed frame below the mobile frame, and limit rods are symmetrically installed at the top of the fixed frame on one side of the rack, and the limit rods are slidably connected to the mobile frame. A servo motor is installed at the top of the mobile frame above the rack, and a gear is provided on the outside of the rack on one side of the servo motor, and the output end of the servo motor is connected to the gear, and the gear meshes with the rack.

[0009] Optionally, a stepper motor is installed on the outer wall of the support frame, and a threaded rod is installed at the output end of the stepper motor, with the threaded rod extending to the outside of the support frame.

[0010] Optionally, the surface of the threaded rod is fitted with a threaded sleeve, and drive blocks are symmetrically installed on the outer wall of the threaded sleeve. A hinge arm is movably installed on the outer wall of each drive block, and a movable shaft is installed on the outer wall of each hinge arm near the drive block. The drive block is movably connected to the hinge arm through the movable shaft.

[0011] Optionally, clamping arms are movably mounted on the outer wall of the hinge arm on the side away from the movable axis, and a power shaft is mounted on the outer wall of the clamping arm on the side close to the hinge arm, and the hinge arm is movably connected to the clamping arm through the power shaft.

[0012] Optionally, a rotating shaft is installed on the outer wall of the clamping arm near the support frame, and the clamping arm is movably connected to the support frame through the rotating shaft. A clamping block is movably installed on the outer wall of the clamping arm away from the power shaft.

[0013] Optionally, each clamping block has a hinge shaft installed on its outer wall near the clamping arm, and the clamping arm is movably connected to the clamping block via the hinge shaft.

[0014] Optionally, a limiting arm is movably installed on the outer wall of the support frame near the clamping block, and a supporting shaft is installed on the outer wall of the limiting arm near the support frame, and the limiting arm is movably connected to the support frame through the supporting shaft.

[0015] Optionally, a connecting shaft is installed on the outer wall of the limiting arm near the clamping block, and the limiting arm is movably connected to the clamping block through the connecting shaft.

[0016] Compared with the prior art, the beneficial effects of this utility model are: the wall-climbing robot not only realizes convenient wall-climbing movement, making it convenient to work in smooth or curved environments, but also facilitates the wall-climbing robot's convenient gripping and movement of obstacles, avoiding obstacles from affecting the wall-climbing robot's climbing efficiency and improving the convenience of wall-climbing.

[0017] The connecting frame is placed at the location where wall climbing is required. Workers use an external tablet or computer to wirelessly control the vacuum generator and the two sets of solenoid valves to open. This allows the solenoid valves to control the latter two sets of vacuum suction cups to adhere to the wall surface, while the first two sets remain suspended. When wall climbing is needed, workers use the external tablet or computer to wirelessly control the two motors on one side of the first two sets of vacuum suction cups to open. The motors drive the rocker arm to rotate, which in turn moves the drive arm, transmission arm, solenoid valves, and vacuum suction cups to the appropriate position. The drive motor then drives the drive arm to rotate, which in turn moves the transmission arm, solenoid valves, and vacuum suction cups to the appropriate position. Finally, the rotary motor drives the transmission arm to rotate, which in turn moves the solenoid valves and vacuum suction cups to the appropriate position. After the first two sets of vacuum suction cups are moved to the appropriate position, the operator uses an external tablet or computer to control the opening of the first two sets of solenoid valves via a wireless transmission control module. This allows the first two sets of vacuum suction cups to adhere to the wall surface. Simultaneously, the operator controls the closing of the last two sets of solenoid valves, suspending the last two sets of vacuum suction cups in the air. The operator then controls the opening of the last two sets of power motors, drive motors, and rotary motors, facilitating the movement of the last two sets of vacuum suction cups to the appropriate position. This process is repeated to facilitate the easy climbing of the connecting frame. When obstacles need to be cleared during climbing, the servo motor drives the gears to rotate, which in turn moves the moving frame. This allows the moving frame to move the robotic arm and support frame to the appropriate position. The operator then uses an external tablet or computer to control the robotic arm to adjust the support frame to the appropriate position via a wireless transmission control module. This allows the stepper motor to drive the two sets of gripping blocks to clamp and move the obstacle to the appropriate position. This enables the climbing robot to move easily up and down walls, allowing it to work on smooth or curved surfaces and improving its climbing convenience.

[0018] A stepper motor drives a threaded rod to rotate, which in turn moves a threaded sleeve. The threaded sleeve then moves two sets of drive blocks. These drive blocks, via a movable shaft, move a hinged arm. The hinged arm, via a power shaft, moves a clamping arm about the rotation axis. The clamping arm, via the hinged shaft, moves a clamping block. A limiting arm, via a connecting shaft, provides limiting support to the clamping block. This allows the two sets of clamping blocks to clamp and fix obstacles, facilitating cleaning and movement of the obstacles. This enables the wall-climbing robot to conveniently clamp and fix obstacles, allowing for multi-position clamping and movement of obstacles, and preventing obstacles from affecting the robot's climbing efficiency. Attached Figure Description

[0019] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the present invention and, together with the specification, further serve to explain the principles of the present invention and enable those skilled in the art to implement and use the present invention.

[0020] Figure 1 This is a front view structural diagram of the present utility model; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 This is a three-dimensional structural diagram of the clamping block of this utility model; Figure 4 This is a three-dimensional structural diagram of the hinge shaft of this utility model; Figure 5 This is a three-dimensional structural diagram of the fixing frame of this utility model; Figure 6 This is a three-dimensional schematic diagram of the rack structure of this utility model; Figure 7 This is a three-dimensional structural diagram of the connecting frame of this utility model; Figure 8 This is a three-dimensional structural diagram of the vacuum suction cup of this utility model.

[0021] Figure label: 1. Connecting frame; 2. Fixed frame; 3. Robotic arm; 4. Support frame; 5. Power motor; 6. Rocker arm; 7. Drive arm; 8. Transmission arm; 9. Solenoid valve; 10. Vacuum suction cup; 11. Wireless transmission control module; 12. Battery; 13. Vacuum generator; 14. Drive motor; 15. Rotary motor; 16. Rack; 17. Limit rod; 18. Servo motor; 19. Gear; 20. Stepper motor; 21. Threaded rod; 22. Threaded sleeve; 23. Drive block; 24. Hinge arm; 25. Movable shaft; 26. Rotating shaft; 27. Power shaft; 28. Hinge shaft; 29. ​​Clamping block; 30. Limit arm; 31. Connecting shaft; 32. Support shaft; 33. Moving frame; 34. Clamping arm.

[0022] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiment of this utility model. However, this is only for illustrative purposes and is not intended to limit this utility model to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0023] The wall-climbing robot provided by this utility model will be described in detail below with reference to the accompanying drawings and specific embodiments. It should also be noted that, in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art can also use other alternative methods to implement some well-known technologies; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit this utility model.

[0024] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0025] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0026] It is understood that the meanings of “on”, “above”, and “above” in this utility model should be interpreted in the broadest manner, such that “on” not only means “directly on” something, but also includes the meaning of being “on” something with an intervening feature or layer, and that “above” or “above” not only means “on” something, but also includes the meaning of being “on” something without an intervening feature or layer.

[0027] Furthermore, spatially related terms such as “below,” “under,” “lower,” “above,” and “upper” are used herein for convenience to describe the relationship of one element or feature to one or more other elements or features, as illustrated in the accompanying drawings. Spatially related terms are intended to cover different orientations in the use or operation of the device other than those depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially related descriptive terms used herein can be interpreted similarly.

[0028] like Figures 1 to 8 As shown, an embodiment of this utility model provides a wall-climbing robot, including a connecting frame 1 and a fixed frame 2. The fixed frame 2 is installed at the top of the connecting frame 1, and a movable frame 33 is slidably installed at the top of the fixed frame 2. A mechanical arm 3 is installed at the top of the movable frame 33, and a support frame 4 is installed at the top of the mechanical arm 3. Two sets of power motors 5 are symmetrically installed at the top of the connecting frame 1 on one side of the fixed frame 2. A rocker arm 6 is installed at the output end of each power motor 5. A drive arm 7 is movably installed on the outer wall of each rocker arm 6. A transmission arm 8 is movably installed on the outer wall of each drive arm 7. A solenoid valve 9 is installed at the bottom end of each transmission arm 8. A vacuum suction cup 10 is installed at the bottom end of each solenoid valve 9. A wireless transmission control module 11 is installed at the top of the connecting frame 1 below the fixed frame 2. A battery 12 is installed at the top of the connecting frame 1 on one side of the wireless transmission control module 11. A vacuum generator 13 is installed at the top of the connecting frame 1 on one side of the battery 12.

[0029] Each rocker arm 6 has a drive motor 14 installed on its outer wall near the drive arm 7, and the output end of the drive motor 14 is connected to the drive arm 7. Each drive arm 7 has a rotary motor 15 installed on its outer wall near the transmission arm 8, and the output end of the rotary motor 15 is connected to the transmission arm 8. A rack 16 is installed on the top of the fixed frame 2 below the moving frame 33. Limiting rods 17 are symmetrically installed on the top of the fixed frame 2 on one side of the rack 16, and the limiting rods 17 are slidably connected to the moving frame 33. A servo motor 18 is installed on the top of the moving frame 33 above the rack 16. A gear 19 is provided on the outside of the rack 16 on one side of the servo motor 18, and the output end of the servo motor 18 is connected to the gear 19, and the gear 19 meshes with the rack 16.

[0030] Place the connecting frame 1 at the location where wall climbing is required. The operator uses an external tablet or computer to control the vacuum generator 13 and the two sets of solenoid valves 9 via the wireless transmission control module 11. This allows the solenoid valves 9 to control the two sets of vacuum suction cups 10 at the back to adhere to the wall surface, while the two sets of vacuum suction cups 10 remain suspended. When wall climbing is required, the operator uses an external tablet or computer to control the two sets of power motors 5 on one side of the two sets of vacuum suction cups 10 via the wireless transmission control module 11. With the support of the connecting frame 1, the power motors 5 drive the rocker arm 6 to rotate. The rocker arm 6 moves the drive arm 7, transmission arm 8, solenoid valve 9, and vacuum suction cups 10 to the appropriate position. The operator then controls the drive motor 14 to open. With the support of the rocker arm 6, the drive motor 14 drives the drive arm 7 to rotate.

[0031] The drive arm 7 rotates the transmission arm 8, solenoid valve 9, and vacuum suction cup 10 to a suitable position, controlling the rotary motor 15 to open. Supported by the drive arm 7, the rotary motor 15 drives the transmission arm 8 to rotate, which in turn drives the solenoid valve 9 and vacuum suction cup 10 to the appropriate position. After the first two sets of vacuum suction cups 10 have moved to the appropriate position, the operator uses an external tablet or computer to control the opening of the first two sets of solenoid valves 9 via the wireless transmission control module 11. This allows the first two sets of solenoid valves 9 to control the first two sets of vacuum suction cups 10 to adhere to the wall surface. Simultaneously, it controls the closing of the last two sets of solenoid valves 9, causing the last two sets of vacuum suction cups 10 to adhere to the wall surface. Vacuum suction cup 10 is suspended in the air. The control of the two sets of power motors 5, drive motor 14 and rotary motor 15 is turned on to facilitate the movement of the two sets of vacuum suction cups 10 to a suitable position. The above operation is repeated to facilitate the convenient movement of the climbing arm of the connecting frame 1. When it is necessary to clean and move obstacles when climbing the arm, the staff uses an external tablet or computer to control the servo motor 18 to turn on through the wireless transmission control module 11. With the support of the moving frame 33, the servo motor 18 drives the gear 19 to rotate. Under the meshing of the gear 19 and the rack 16, the gear 19 drives the moving frame 33 to move.

[0032] With the support of the fixed frame 2 and the limiting rod 17, the limiting rod 17 slides inside the moving frame 33 to provide sliding support for the moving frame 33. This facilitates the moving frame 33 to move the robotic arm 3 and the support frame 4 to a suitable position. After the moving frame 33 moves the robotic arm 3 and the support frame 4 to a suitable position, the operator uses an external tablet or computer to control the robotic arm 3 to move the support frame 4 to a suitable position via the wireless transmission control module 11. The stepper motor 20 is then opened to facilitate the stepper motor 20 to drive the two sets of clamping blocks 29 to clamp and move the obstacle to a suitable position. The battery 12 provides power to the vacuum generator 13, the wireless transmission control module 11, the power motor 5, the robotic arm 3, the servo motor 18, the drive motor 14, the rotary motor 15, the solenoid valve 9, and the stepper motor 20. This enables the wall-climbing robot to move conveniently on walls, making it easier to work in smooth or curved environments and improving the convenience of wall climbing.

[0033] A stepper motor 20 is installed on the outer wall of the support frame 4. A threaded rod 21 is installed at the output end of the stepper motor 20 and extends to the outside of the support frame 4. A threaded sleeve 22 is fitted on the surface of the threaded rod 21. A drive block 23 is symmetrically installed on the outer wall of the threaded sleeve 22. A hinge arm 24 is movably installed on the outer wall of each drive block 23. A movable shaft 25 is installed on the outer wall of each hinge arm 24 near the drive block 23. The drive block 23 is movably connected to the hinge arm 24 through the movable shaft 25. A clamping arm 34 is movably installed on the outer wall of each hinge arm 24 away from the movable shaft 25. A power shaft 27 is installed on the outer wall of each clamping arm 34 near the hinge arm 24. The hinge arm 24 is movably connected to the clamping arm 34 through the power shaft 27. A rotating shaft 26 is installed on the outer wall of each clamping arm 34 near the support frame 4.

[0034] The clamping arm 34 is movably connected to the support frame 4 via the rotating shaft 26. Clamping blocks 29 are movably installed on the outer wall of the clamping arm 34 on the side away from the power shaft 27. Hinges 28 are installed on the outer wall of the clamping blocks 29 on the side close to the clamping arm 34. The clamping arm 34 is movably connected to the clamping blocks 29 via the hinge shaft 28. Limiting arms 30 are movably installed on the outer wall of the support frame 4 on the side close to the clamping blocks 29. Support shafts 32 are installed on the outer wall of the limiting arms 30 on the side close to the support frame 4. The limiting arms 30 are movably connected to the support frame 4 via the support shafts 32. Connecting shafts 31 are installed on the outer wall of the limiting arms 30 on the side close to the clamping blocks 29. The limiting arms 30 are movably connected to the clamping blocks 29 via the connecting shafts 31.

[0035] The operator uses an external tablet or computer to control the stepper motor 20 via the wireless transmission control module 11 to open it. Supported by the support frame 4, the stepper motor 20 drives the threaded rod 21 to rotate. With the threaded connection between the threaded rod 21 and the threaded sleeve 22, the threaded rod 21 drives the threaded sleeve 22 to move. The threaded sleeve 22 drives two sets of drive blocks 23 to move. The drive blocks 23, via the movable shaft 25, drive the hinge arm 24 to move. The hinge arm 24, via the power shaft 27, drives the clamping arm 34 to rotate around the rotating shaft 26. The support frame 4 rotates around the rotating shaft... 26 provides active support. The clamping arm 34 drives the clamping block 29 to rotate via the hinge shaft 28. With the support of the support frame 4 on the support shaft 32 and the limit arm 30 on the limit arm 32, the limit arm 30 provides limit support for the clamping block 29 via the connecting shaft 31. This facilitates the clamping and fixing of obstacles by the two sets of clamping blocks 29, making it easier to clean and move obstacles. This enables the wall-climbing robot to conveniently clamp and fix obstacles, facilitates the clamping and moving of obstacles in multiple positions, and avoids obstacles affecting the wall-climbing efficiency of the wall-climbing robot.

[0036] The working principle of the technical solution provided by this utility model is as follows: The connecting frame 1 is placed at the location where wall climbing is required. The operator uses an external tablet or computer to control the vacuum generator 13 and the two sets of solenoid valves 9 to open via the wireless transmission control module 11. This allows the solenoid valves 9 to control the two sets of vacuum suction cups 10 at the rear to adhere to the wall surface, while the two sets of vacuum suction cups 10 remain suspended. When wall climbing is required, the operator uses an external tablet or computer to control the two sets of power motors 5 on one side of the two sets of vacuum suction cups 10 to open via the wireless transmission control module 11. The power motors 5 drive the rocker arm 6 to rotate, and the rocker arm 6 drives the drive... Arm 7, transmission arm 8, solenoid valve 9, and vacuum suction cup 10 are moved to the appropriate position. Drive motor 14 drives drive arm 7 to rotate, which in turn drives transmission arm 8, solenoid valve 9, and vacuum suction cup 10 to rotate to the appropriate position. Rotary motor 15 drives transmission arm 8 to rotate, which in turn drives solenoid valve 9 and vacuum suction cup 10 to rotate to the appropriate position. After the first two sets of vacuum suction cups 10 have moved to the appropriate position, the operator uses an external tablet or computer to control the opening of the first two sets of solenoid valves 9 via wireless transmission control module 11. This allows the first two sets of solenoid valves 9 to control the first two sets of vacuum suction cups 10 to adhere to the wall surface. Simultaneously, the operator controls the closing of the last two sets of solenoid valves 9, allowing the last two sets of vacuum suction cups 10 to adhere to the wall surface. With the vacuum suction cup 10 suspended in the air, the two sets of power motors 5, drive motors 14, and rotary motors 15 are activated to facilitate the movement of the two sets of vacuum suction cups 10 to a suitable position. This process is repeated to facilitate the easy movement of the climbing arm of the connecting frame 1. When it is necessary to clean or move obstacles during the climbing arm movement, the servo motor 18 drives the gear 19 to rotate, and the gear 19 drives the moving frame 33 to move. This facilitates the movement of the moving frame 33, which in turn moves the robotic arm 3 and the support frame 4 to a suitable position. After this, the operator uses an external tablet or computer to control the robotic arm 3 and the support frame 4 to adjust to a suitable position via the wireless transmission control module 11, which in turn facilitates the movement of the two sets of vacuum suction cups 10 by the stepper motor 20. The clamping block 29 clamps and moves the obstacle to a suitable position. The stepper motor 20 drives the threaded rod 21 to rotate, the threaded rod 21 drives the threaded sleeve 22 to move, and the threaded sleeve 22 drives the two sets of drive blocks 23 to move. The drive blocks 23 drive the hinge arm 24 to move via the movable shaft 25. The hinge arm 24 drives the clamping arm 34 to rotate around the rotation shaft 26 via the power shaft 27. The clamping arm 34 drives the clamping block 29 to rotate via the hinge shaft 28. The limiting arm 30 limits and supports the clamping block 29 via the connecting shaft 31, so that the two sets of clamping blocks 29 can clamp and fix the obstacle, so as to facilitate the cleaning and movement of the obstacle, thus completing the use of the wall-climbing robot.

[0037] This utility model encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this utility model. To provide the public with a thorough understanding of this utility model, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand this utility model even without these detailed descriptions. Furthermore, to avoid unnecessary confusion regarding the essence of this utility model, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0038] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A wall-climbing robot, characterized in that: The device includes a connecting frame and a fixed frame. A fixed frame is mounted on the top of the connecting frame. A movable frame is slidably mounted on the top of the fixed frame. A robotic arm is mounted on the top of the movable frame. A support frame is mounted on the top of the robotic arm. Two sets of power motors are symmetrically mounted on the top of the connecting frame on one side of the fixed frame. A rocker arm is mounted on the output end of each power motor. A drive arm is movably mounted on the outer wall of each rocker arm. A transmission arm is movably mounted on the outer wall of each drive arm. A solenoid valve is mounted on the bottom end of each transmission arm. A vacuum suction cup is mounted on the bottom end of each solenoid valve. A wireless transmission control module is mounted on the top of the connecting frame below the fixed frame. A battery is mounted on the top of the connecting frame on the side of the wireless transmission control module.

2. The wall-climbing robot according to claim 1, characterized in that: A vacuum generator is installed at the top of the connecting bracket on one side of the battery. A drive motor is installed on the outer wall of the rocker arm near the drive arm, and the output end of the drive motor is connected to the drive arm. A rotary motor is installed on the outer wall of the drive arm near the transmission arm, and the output end of the rotary motor is connected to the transmission arm.

3. The wall-climbing robot according to claim 2, characterized in that: A rack is installed at the top of the fixed frame below the mobile frame. Limiting rods are symmetrically installed at the top of the fixed frame on one side of the rack, and the limiting rods are slidably connected to the mobile frame. A servo motor is installed at the top of the mobile frame above the rack. A gear is provided on the outside of the rack on one side of the servo motor, and the output end of the servo motor is connected to the gear, and the gear meshes with the rack.

4. The wall-climbing robot according to claim 3, characterized in that: A stepper motor is installed on the outer wall of the support frame, and a threaded rod is installed at the output end of the stepper motor, extending to the outside of the support frame.

5. The wall-climbing robot according to claim 4, characterized in that: The threaded rod is fitted with a threaded sleeve, and drive blocks are symmetrically installed on the outer wall of the threaded sleeve. A hinge arm is movably installed on the outer wall of each drive block. A movable shaft is installed on the outer wall of each hinge arm near the drive block, and the drive block is movably connected to the hinge arm through the movable shaft.

6. The wall-climbing robot according to claim 5, characterized in that: Clamping arms are movably mounted on the outer wall of the hinge arm on the side away from the movable shaft. A power shaft is mounted on the outer wall of the clamping arm on the side close to the hinge arm, and the hinge arm is movably connected to the clamping arm through the power shaft.

7. The wall-climbing robot according to claim 6, characterized in that: Each clamping arm has a rotating shaft installed on the outer wall of the side closest to the support frame, and the clamping arm is movably connected to the support frame through the rotating shaft. Each clamping arm has a clamping block movably installed on the outer wall of the side away from the power shaft.

8. The wall-climbing robot according to claim 7, characterized in that: Each clamping block has a hinge shaft installed on its outer wall near the clamping arm, and the clamping arm is movably connected to the clamping block through the hinge shaft.

9. The wall-climbing robot according to claim 8, characterized in that: Each of the support frames has a limiting arm movably installed on the outer wall near the clamping block. Each limiting arm has a supporting shaft installed on the outer wall near the support frame, and the limiting arm is movably connected to the support frame through the supporting shaft.

10. The wall-climbing robot according to claim 9, characterized in that: Each of the limiting arms has a connecting shaft installed on the outer wall of the side near the clamping block, and the limiting arm is movably connected to the clamping block through the connecting shaft.

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