A wall-climbing robot

Abstract

The application relates to a wall-climbing robot, which comprises a vehicle frame and two walking mechanisms arranged on opposite sides of the vehicle frame along a first direction. Each walking mechanism comprises a first driving wheel, a second driving wheel and an adapter. The first end of the adapter is movably connected to the vehicle frame, and the second end of the adapter is rotatably connected to the first driving wheel and the second driving wheel. The first driving wheel is rotatably connected to the adapter around a first rotation shaft, and the second driving wheel is rotatably connected to the adapter around a second rotation shaft. In the application, the first driving wheel and the second driving wheel are connected to the adapter through independent rotation shafts, so that the relative angle of the first driving wheel and the second driving wheel with the vehicle frame can be independently adjusted, the wall surface with different curvatures can be better matched, the dynamic matching degree of the wall-climbing robot with the wall surface is enhanced, and the wall-climbing robot can effectively avoid sliding or falling due to insufficient adsorption force when turning.

Description

Technical Field

[0001] This application relates to the field of inspection robot technology, and more particularly to a wall-climbing robot. Background Technology

[0002] Wall-climbing robots have been widely used for inspection, cleaning, or maintenance of walls with diverse curvatures, such as large storage tanks and water-cooled walls. These operational scenarios require robots not only to move stably on flat surfaces but also to adapt to complex curved surfaces such as cylinders and spheres, and to achieve flexible and reliable steering on them.

[0003] Existing wall-climbing robots have relatively mature linear motion capabilities on flat walls. However, when the robot performs turning maneuvers on walls with varying curvatures, the dynamic fit between the robot and the wall decreases significantly, resulting in insufficient reliability. Utility Model Content

[0004] To overcome the problems existing in related technologies, this application provides a wall-climbing robot.

[0005] According to an embodiment of this application, a wall-climbing robot is provided, comprising: Frame; Two walking mechanisms are respectively disposed on opposite sides of the vehicle frame along a first direction; each walking mechanism includes a first drive wheel, a second drive wheel and an adapter, the first drive wheel and the second drive wheel are connected to the vehicle frame through the adapter, and the first drive wheel and the second drive wheel are respectively disposed on opposite sides of the adapter along a second direction, the first direction is perpendicular to the second direction and both are perpendicular to the height direction of the vehicle frame; The first end of the adapter is movably connected to the vehicle frame, and the second end of the adapter is rotatably connected to the first drive wheel and the second drive wheel. The first drive wheel is rotatably connected to the adapter around a first pivot, and the second drive wheel is rotatably connected to the adapter around a second pivot. The axial directions of the first pivot and the second pivot are both parallel to the first direction.

[0006] In some embodiments, the first drive wheel is connected to the adapter via a first adjusting motor; and / or, the second drive wheel is connected to the adapter via a second adjusting motor; The wall-climbing robot further includes a control unit, which is used to control the first adjusting motor to adjust the relative posture of the first drive wheel and the frame according to the position and / or posture of the wall-climbing robot, and to control the second adjusting motor to adjust the relative posture of the second drive wheel and the frame.

[0007] In some embodiments, the adapter includes: A first structure is rotatably connected to the first drive wheel and the second drive wheel; The second structure connects the first structure to the vehicle frame and forms a rotatable connection with the vehicle frame; Wherein, the first structure and the second structure are rotatably connected around a third pivot, and the second structure is rotatably connected to the vehicle frame around a fourth pivot. The axial direction of one of the third and fourth rotating shafts is parallel to the first direction, and the axial direction of the other shaft is parallel to the second direction.

[0008] In some embodiments, a handle is provided on the side of the first structure away from the frame; and / or, The first structure is provided with a drive box, which is used to control the rotation of the first drive wheel and the second drive wheel in the walking mechanism located on one side of the frame.

[0009] In some embodiments, both the first drive wheel and the second drive wheel are magnetic wheels; The outer circumferential surfaces of the first drive wheel and the second drive wheel are provided with annular rubber coating.

[0010] In some embodiments, a magnetic compensation device is further included, which is rotatably connected to the frame about a fifth pivot, the axis of which is parallel to the height direction of the frame.

[0011] In some embodiments, the magnetic compensation device includes: Mounting bracket, the top middle area of ​​which is rotatably connected to the vehicle frame, with the rotation axis direction parallel to the second direction; A magnet is disposed at the bottom of the mounting bracket; At least one omnidirectional wheel is provided at the bottom of the mounting bracket.

[0012] In some embodiments, a maintenance device is also included, wherein the maintenance device and the magnetic compensation device are disposed on the same side of the frame in the first direction.

[0013] In some embodiments, a battery module is also included, which is disposed on the vehicle frame and detachably connected to the vehicle frame; The bottom of the battery module is provided with a limiting protrusion, the limiting protrusion includes at least one mounting hole, the mounting hole passes through the limiting protrusion along the second direction, and at least one limiting pin is provided on the vehicle frame; In the assembled state, the mounting hole is directly opposite the limiting pin, and the limiting pin passes through the mounting hole to limit the relative position of the battery module and the vehicle frame.

[0014] In some embodiments, the battery module includes an electronic control box and at least one battery box, wherein the electronic control box and the battery box are stacked along the height direction of the vehicle frame; The adjacent electrical control boxes and battery boxes, and / or the adjacent battery boxes, are connected by a snap fastener to form a detachable connection.

[0015] The technical solutions provided by the embodiments of this application may include the following beneficial effects: the first drive wheel and the second drive wheel are connected to the adapter through independent shafts, so that the first drive wheel and the second drive wheel can independently adjust their relative angles with the frame, thereby better fitting with walls of different curvatures, enhancing the dynamic fit between the wall-climbing robot and the wall, and effectively preventing the wall-climbing robot from sliding or falling due to insufficient suction force when turning.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] Figure 1 This is a schematic diagram of a wall-climbing robot according to an exemplary embodiment.

[0019] Figure 2 This is an exploded view of a wall-climbing robot according to an exemplary embodiment.

[0020] Figure 3 This is a bottom view of a wall-climbing robot according to an exemplary embodiment.

[0021] Figure 4 This is an exploded view of a wall-climbing robot according to an exemplary embodiment.

[0022] Figure 5 This is a side view of a wall-climbing robot according to an exemplary embodiment.

[0023] Figure 6 This is a schematic diagram of a wall-climbing robot according to an exemplary embodiment.

[0024] Figure 7 This is a schematic diagram of a battery module according to an exemplary embodiment.

[0025] Figure 8 This is a front view of a battery module according to an exemplary embodiment.

[0026] Figure label: 10. Chassis; 11. Limiting pin 20. Walking mechanism; 21. First drive wheel; 22. Second drive wheel; 23. Adapter; 231. First structure; 232. Second structure; 233. Handle; 234. Driver box; 20a, First pivot; 20b, Second pivot; 20c, Third pivot; 20d, Fourth pivot; 30. Magnetic compensation device; 31. Mounting bracket; 32. Magnet; 33. Casters; 30a, Fifth pivot; 40. Maintenance devices; 50. Battery module; 51. Control box; 52. Battery box; 53. Limiting protrusion; 531. Mounting hole; 54. Buckle. Detailed Implementation

[0027] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0028] To address the problems in related technologies, this application provides a wall-climbing robot. The robot includes a frame and two walking mechanisms, which are respectively disposed on opposite sides of the frame along a first direction. Each walking mechanism includes a first drive wheel, a second drive wheel, and a connecting member. A first end of the connecting member is movably connected to the frame, and a second end is rotatably connected to the first and second drive wheels. The first drive wheel is rotatably connected to the connecting member around a first axis, and the second drive wheel is rotatably connected to the connecting member around a second axis. In this application, the first and second drive wheels are connected to the connecting member via independent axes, allowing the first and second drive wheels to independently adjust their relative angles to the frame. This improves the robot's fit with walls of varying curvatures, enhancing the dynamic fit between the robot and the wall and effectively preventing the robot from slipping or falling due to insufficient suction when turning.

[0029] According to an exemplary embodiment of this application, such as Figure 1 As shown, this embodiment provides a wall-climbing robot that can move stably on vertical or inclined steel walls (such as wind turbine towers, water-cooled walls, ship hulls, storage tanks, and steel structure building exterior walls) and perform tasks such as inspection and cleaning.

[0030] like Figure 1As shown, the wall-climbing robot includes a frame 10, which serves as the main load-bearing structure of the robot. The frame 10 is typically constructed from aluminum alloy profiles or welded steel plates, possessing sufficient rigidity and lightweight characteristics. (See reference...) Figure 1 The frame 10 is roughly rectangular frame structure, with a defined height direction (defined as the z direction, perpendicular to the wall direction), width direction (defined as the first direction, i.e. the x direction), and length direction (defined as the second direction, i.e. the y direction). Both the x and y directions are perpendicular to the z direction and are perpendicular to each other.

[0031] like Figure 1 As shown, two walking mechanisms 20 are respectively arranged on opposite sides of the frame 10 along the x-direction. The walking mechanism 20 serves as the robot's moving unit, providing the wall-climbing robot with driving force for ascending, descending, and turning along the wall. In one example, the drive wheel in the walking mechanism 20 can be set as a magnetic wheel, so that the walking mechanism 20 simultaneously serves as the moving unit and adsorption unit of the wall-climbing robot.

[0032] like Figures 1 to 3 As shown, in order to enable the wall-climbing robot to adapt to complex walls and maintain stable driving and adsorption, each walking mechanism 20 includes a first drive wheel 21, a second drive wheel 22, and a multi-degree-of-freedom adapter 23. The first end of the adapter 23 is movably connected to the frame 10, and the second end of the adapter 23 is rotatably connected to the first drive wheel 21 and the second drive wheel 22. The adapter 23 is a key component connecting the first drive wheel 21 and the second drive wheel 22 to the frame 10, so that the walking mechanism 20 has at least two rotational degrees of freedom. When the wall-climbing robot adsorbs onto walls of different shapes (curvatures), the multiple drive wheels in the walking mechanism 20 can move relative to each other so that the drive wheels can better adhere to the wall and ensure the adsorption effect.

[0033] In some embodiments, such as Figure 2 and Figure 3 As shown, the first end of the adapter 23 is movably connected to the frame 10. The movable connection can be, for example, a hinge or a ball joint. In one example, the first end of the adapter 23 is hinged to the frame 10, with the axial direction of the rotation axis parallel to a first direction, allowing the frame 10 to be adjusted by oscillating around the pitch axis. In another example, the first end of the adapter 23 is hinged to the frame 10, with the axial direction of the rotation axis parallel to a second direction, allowing the frame 10 to be adjusted by oscillating around the yaw axis. In yet another example, the first end of the adapter is movably connected to the frame via a ball joint, allowing for further directional and angular adjustments to the frame and the running gear.

[0034] In other embodiments, such as Figure 2 and Figure 3As shown, the first drive wheel 21 is rotatably connected to the adapter 23 around the first pivot 20a, and the second drive wheel 22 is rotatably connected to the adapter 23 around the second pivot 20b. The axial directions of the first pivot 20a and the second pivot 20b are both parallel to the first direction, but the first pivot 20a and the second pivot 20b can rotate independently so that the first drive wheel 21 and the second drive wheel 22 can have different postures relative to the frame 10. For example, the curvature of the wall surface varies at different locations on the wind turbine tower. When the wall-climbing robot turns on the wall surface of the wind turbine tower, the contact positions of the first drive wheel 21 and the second drive wheel 22 with the wall surface are different. To ensure the reliability of the wall-climbing robot's adsorption, the first drive wheel 21 and the second drive wheel 22 may maintain different relative postures with the frame 10 to ensure that both the first drive wheel 21 and the second drive wheel 22 are in close contact with the wall surface. Therefore, the arrangement in this embodiment connects the first drive wheel 21 and the second drive wheel 22 to the adapter 23 through two independent rotating shafts. This allows the first drive wheel 21 and the second drive wheel 22 to adjust their posture independently relative to the frame 10, enhancing the dynamic adhesion between the wall-climbing robot and the wall surface and effectively preventing the wall-climbing robot from sliding or falling due to insufficient adsorption force when making turning movements.

[0035] In this embodiment, the first drive wheel and the second drive wheel are connected to the adapter through independent shafts, so that the first drive wheel and the second drive wheel can independently adjust their relative angles with the frame, thereby better fitting with walls of different curvatures, enhancing the dynamic fit between the wall-climbing robot and the wall, and effectively preventing the wall-climbing robot from sliding or falling due to insufficient suction force when turning.

[0036] In some embodiments, the wall-climbing robot further includes a control unit, which can determine the wall curvature at the position of the wall-climbing robot based on the position and / or posture of the wall-climbing robot, and then control the output torque of the first adjustment motor and the second adjustment motor to adjust the relative posture of the first drive wheel 21 and the second drive wheel 22 with the frame 10 respectively, so as to ensure that the first drive wheel 21 and the second drive wheel 22 are in close contact with the wall.

[0037] Among them, see Figure 2 and Figure 3 The main body of the first adjusting motor is mounted on the bracket of the first drive wheel 21. The output shaft of the first adjusting motor is connected to the adapter 23. The first adjusting motor can output torque to drive the first drive wheel 21 to swing around the first rotating shaft 20a relative to the connecting member, thereby adjusting the relative position of the first drive wheel 21 and the frame 10. The second adjusting motor can adopt the same setting as the first adjusting motor, and will not be described in detail.

[0038] In this embodiment, by setting up a control unit, a first adjusting motor, and a second adjusting motor, the wall-climbing robot can actively adjust the attitude of the drive wheels relative to the frame 10 according to the wall curvature at different positions of the wind turbine tower, ensuring the reliability of the drive wheels' contact with the wall.

[0039] In some embodiments, such as Figure 2 As shown, the adapter 23 is a key component connecting the walking mechanism 20 and the frame 10, and its design allows the walking mechanism 20 to have multiple degrees of rotational freedom. The adapter 23 includes a first structure 231 and a second structure 232 connected together. The first structure 231 is rotatably connected to the first drive wheel 21 and the second drive wheel 22. For example, both ends of the first structure 231 along the second direction are fixedly connected to the output shafts of the first and second adjusting motors, respectively, thereby indirectly forming a rotatable connection with the brackets of the first drive wheel 21 and the second drive wheel 22. The second structure 232 serves as a connecting arm, with one end rotatably connected to the first structure 231 and the other end rotatably connected to the frame 10.

[0040] The first structure 231 and the second structure 232 are rotatably connected around a third rotating shaft 20c via bearings or hinges, with the axis of the third rotating shaft 20c parallel to the y-direction. The second structure 232 and the frame 10 are rotatably connected around a fourth rotating shaft 20d via bearings or hinges, with the axis of the fourth rotating shaft 20d parallel to the x-direction. Through this design, the adapter 23 achieves a "tilt" movement around the x-axis and a "pitch" movement of the traveling mechanism 20 around the y-axis. These two passive degrees of freedom allow the traveling mechanisms 20 on both sides to independently adapt to the local unevenness of the wall, ensuring that all drive wheels are always in effective contact with the wall.

[0041] In some embodiments, see Figure 2 A handle 233 is provided at the bottom of the first structure 231. The handle 233 is provided on the first structure 231 located between the first drive wheel 21 and the second drive wheel 22, which facilitates manual handling and saves effort during installation.

[0042] In some embodiments, see Figure 2 The driver box 234, which controls the walking mechanism 20 located on one side of the frame 10, is mounted on the first structure 231. The driver box 234 integrates the control circuit for driving the first drive wheel 21 and the second drive wheel 22 on the same side to rotate and swing. This arrangement makes the driver box 234 external, which is convenient for debugging and enhances heat dissipation performance.

[0043] In some embodiments, see Figures 1 to 3The outer circumference of the first drive wheel 21 and the second drive wheel 22 is provided with annular rubber coating, the material of which is, for example, rubber. The annular rubber coating can prevent the steel magnetic wheel from directly contacting the wall of the wind turbine tower and causing scratches, and can also enhance the friction.

[0044] In some embodiments, see Figures 3 to 5 The wall-climbing robot also includes a magnetic compensation device 30, which is used to compensate for and enhance the magnetic attraction between the wall-climbing robot and the wall when the robot crosses a wall protrusion (such as a weld) or is in a special posture, so as to prevent the robot from slipping.

[0045] In one example, the magnetic compensation device 30 and the maintenance device 40 of the wall-climbing robot are located on the same side of the frame 10. The maintenance device 40 has either a detection function or a maintenance function; for example, it can be a weld seam detection sensor or a cleaning device. It is understood that when the maintenance device 40 is mounted on the frame 10 of the wall-climbing robot, by placing the magnetic compensation device 30 close to the maintenance device 40, reliable adhesion between the maintenance device 40 and the wall of the wind turbine tower can be ensured, improving the overall adhesion reliability of the wall-climbing robot.

[0046] Among them, such as Figure 4 As shown, the magnetic compensation device 30 includes a mounting bracket 31, a magnet 32, and at least one caster wheel 33. The top central region of the mounting bracket 31 is rotatably connected to the vehicle frame 10 via a pivot joint about a fifth pivot axis 30a, the axis of which is parallel to the second direction (…). Figure 3 The magnetic compensation device 30 is positioned in the xz plane (as shown in the y-direction) so that it can swing freely like a pendulum in the xz plane, flexibly adapting to the contours of the wall. A magnet 32, typically a permanent magnet or an electromagnet, is fixedly mounted on the bottom of the mounting frame 31. When the wall-climbing robot is walking normally, the magnet 32 ​​approaches the wall but does not contact it, providing continuous compensating adhesion. At least one (usually two) casters 33 are mounted on the bottom of the mounting frame 31, located on either side of the magnet 32. The casters 33 provide rolling support when the magnetic compensation device 30 contacts the wall, reducing friction and ensuring that the magnet 32 ​​does not directly contact or scrape against the wall.

[0047] In some embodiments, such as Figure 6 As shown, the battery module 50 of the wall-climbing robot is mounted on the frame 10 and detachably connected to the frame 10. The modular design allows for quick assembly and disassembly, facilitating battery replacement and extending operating time.

[0048] Among them, see Figure 1 , Figure 6 and Figure 8The bottom of the battery module 50 is provided with a limiting protrusion 53, and the limiting protrusion 53 has at least one mounting hole 531, which extends through the limiting protrusion 53 in a second direction. In the assembled state, the mounting hole 531 is aligned with the limiting pin 11 on the frame 10. The limiting pin 11 passes through the mounting hole 531 and engages in it, thereby assisting in positioning the battery module 50 and the frame 10 to align the threaded holes on the battery module 50 and the frame 10, facilitating subsequent fastening with fasteners (such as bolts). Furthermore, since the limiting protrusion 53 is located in the battery module 50 near the head of the wall-climbing robot, it can also provide support force to the battery module 50 when the wall-climbing robot moves vertically upward, thus preventing the fasteners from directly bearing radial shear force and affecting their service life.

[0049] In some embodiments, see Figure 7 and Figure 8 The battery module 50 can be composed of an electronic control box 51 and one or more battery boxes 52 stacked along the z-direction (height direction). The electronic control box 51 contains power management circuitry, a communication module, etc. The battery box 52 contains a lithium-ion battery pack. The electronic control box 51 and the battery boxes 52, as well as multiple battery boxes 52, are quickly connected and disconnected via mechanical latches 54, facilitating flexible configuration of battery capacity according to task requirements. Furthermore, the latches 54 connection allows for quick configuration replacement.

[0050] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0051] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A wall-climbing robot, characterized in that, include: Frame; Two walking mechanisms are respectively disposed on opposite sides of the vehicle frame along a first direction; each walking mechanism includes a first drive wheel, a second drive wheel and an adapter, the first drive wheel and the second drive wheel are connected to the vehicle frame through the adapter, and the first drive wheel and the second drive wheel are respectively disposed on opposite sides of the adapter along a second direction, the first direction is perpendicular to the second direction and both are perpendicular to the height direction of the vehicle frame; The first end of the adapter is movably connected to the vehicle frame, and the second end of the adapter is rotatably connected to the first drive wheel and the second drive wheel. The first drive wheel is rotatably connected to the adapter around a first pivot, and the second drive wheel is rotatably connected to the adapter around a second pivot. The axial directions of the first pivot and the second pivot are both parallel to the first direction.

2. The wall-climbing robot according to claim 1, characterized in that, The first drive wheel is connected to the adapter via a first adjusting motor; and / or, the second drive wheel is connected to the adapter via a second adjusting motor; The wall-climbing robot further includes a control unit, which is used to control the first adjusting motor to adjust the relative posture of the first drive wheel and the frame according to the position and / or posture of the wall-climbing robot, and to control the second adjusting motor to adjust the relative posture of the second drive wheel and the frame.

3. The wall-climbing robot according to claim 1 or 2, characterized in that, The adapter includes: A first structure is rotatably connected to the first drive wheel and the second drive wheel; The second structure connects the first structure to the vehicle frame and forms a rotatable connection with the vehicle frame; Wherein, the first structure and the second structure are rotatably connected around a third pivot, and the second structure is rotatably connected to the vehicle frame around a fourth pivot. The axial direction of one of the third and fourth rotating shafts is parallel to the first direction, and the axial direction of the other shaft is parallel to the second direction.

4. The wall-climbing robot according to claim 3, characterized in that, The first structure has a handle on the side away from the frame; and / or, The first structure is provided with a drive box, which is used to control the rotation of the first drive wheel and the second drive wheel in the walking mechanism located on one side of the frame.

5. The wall-climbing robot according to claim 1, characterized in that, Both the first drive wheel and the second drive wheel are magnetic wheels; The outer circumferential surfaces of the first drive wheel and the second drive wheel are provided with annular rubber coating.

6. The wall-climbing robot according to claim 1, characterized in that, It also includes a magnetic compensation device, which is rotatably connected to the frame around a fifth pivot, the axis of which is parallel to the height direction of the frame.

7. The wall-climbing robot according to claim 6, characterized in that, The magnetic compensation device includes: Mounting bracket, the top middle area of ​​which is rotatably connected to the vehicle frame, with the rotation axis direction parallel to the second direction; A magnet is disposed at the bottom of the mounting bracket; At least one omnidirectional wheel is provided at the bottom of the mounting bracket.

8. The wall-climbing robot according to claim 6 or 7, characterized in that, It also includes a maintenance device, which and the magnetic compensation device are disposed on the same side of the frame in the first direction.

9. The wall-climbing robot according to claim 1, characterized in that, It also includes a battery module, which is disposed on the vehicle frame and detachably connected to the vehicle frame; The bottom of the battery module is provided with a limiting protrusion, the limiting protrusion includes at least one mounting hole, the mounting hole passes through the limiting protrusion along the second direction, and at least one limiting pin is provided on the vehicle frame; In the assembled state, the mounting hole is directly opposite the limiting pin, and the limiting pin passes through the mounting hole to limit the relative position of the battery module and the vehicle frame.

10. The wall-climbing robot according to claim 9, characterized in that, The battery module includes an electronic control box and at least one battery box, wherein the electronic control box and the battery box are stacked along the height direction of the vehicle frame; The adjacent electrical control boxes and battery boxes, and / or the adjacent battery boxes, are connected by a snap fastener to form a detachable connection.

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