Robot capable of automatically climbing

Abstract

The present invention relates to the field of automated apparatuses. Disclosed is a robot capable of automatically climbing, wherein the robot capable of automatically climbing comprises a main body and climbing mechanisms, each of the climbing mechanisms comprising a telescopic linkage. An inner lifting sliding rail moves vertically along a fixed sliding rail, a middle lifting sliding rail moves vertically along the inner lifting sliding rail, and an outer lifting sliding rail moves vertically along the middle lifting sliding rail. An instant adhesive storage tank and a numerical control nozzle are provided at the top end of each of the inner, middle and outer lifting sliding rails, the numerical control nozzle spraying an instant adhesive to a climbing surface to form a load-bearing plate. A climbing assembly is provided on each of the inner, middle and outer lifting sliding rails, and the climbing assembly moves vertically along its corresponding inner, middle and outer lifting sliding rails and is configured to be supported on the load-bearing plate. A central processing unit is in communication connection with the telescopic linkage, the inner, middle and outer lifting sliding rails, the climbing assembly and the numerical control nozzle.

Description

A robot that can climb automatically Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a robot capable of automatic climbing. Background Art

[0002] With the development of science and technology, the application of robots in daily life is becoming more and more widespread, and various types of robots are emerging one after another. In an era with more and more high-rise buildings, the demand for high-rise work is also increasing. Some of these tasks require the use of robots. However, the outer walls of high-rise buildings often have no footholds, making it difficult for robots to climb, resulting in low reliability and the risk of falling. Technical issues

[0003] The main purpose of the present invention is to provide a robot that can automatically climb, aiming to solve the technical problems of difficulty in climbing high-rise buildings and low reliability of robots. Technical Solutions

[0004] To achieve the above-mentioned purpose, the robot capable of automatic climbing proposed by the present invention comprises: a main body, wherein a central processing unit is provided in the main body; and a climbing mechanism, wherein climbing mechanisms are symmetrically provided on both sides of the main body, and the climbing mechanism comprises a telescopic link, wherein the telescopic link is connected to the main body, and the end of the telescopic link away from the main body is connected to a fixed slide rail, and the fixed slide rail is connected to an inner lifting slide rail, and the inner lifting slide rail moves up and down along the fixed slide rail, and the side of the inner lifting slide away from the fixed slide rail is connected to a middle lifting slide rail, and the middle lifting slide moves up and down along the inner lifting slide rail, and the side of the middle lifting slide away from the inner lifting rail is provided with an outer lifting slide rail, and the outer lifting slide rail moves up and down along the middle lifting slide rail, and the inner lifting slide rail and the middle lifting slide rail are connected. The top of the rail and the outer lifting slide are respectively provided with a quick gel storage tank and a CNC nozzle, the quick gel storage tank is used to store quick gel, and the CNC nozzle sprays quick gel toward the climbing surface to form a force plate, the inner lifting slide, the middle lifting slide and the outer lifting slide are also respectively provided with a climbing component, the climbing component moves up and down along the corresponding inner lifting slide, the middle lifting slide and the outer lifting slide, the climbing component is used to be supported on the force plate, the telescopic link drives the fixed slide, the inner lifting slide, the middle lifting slide and the outer lifting slide to move in the horizontal direction, and the central processing unit is communicatively connected with the telescopic link, the inner lifting slide, the middle lifting slide, the outer lifting slide, the CNC nozzle and the climbing component.

[0005] In one embodiment, the climbing component includes a driving slider and a mobile CNC suction cup. The mobile CNC suction cup is provided on the driving slider and is used to adsorb the force plate. The driving slider moves up and down along the corresponding inner lifting rail, the middle lifting rail and the outer lifting rail.

[0006] In one embodiment, the driving slider includes a slider body and a driving motor, the driving motor is connected to a first gear and a second gear, the driving motor, the first gear and the second gear are all arranged on the slider body, the inner lifting slide rail, the middle lifting slide rail and the outer lifting slide rail are respectively provided with sliding grooves, and the opposite side walls of the sliding groove are correspondingly provided with a first rack and a second rack, the first gear is meshed with the first rack, and the second gear is meshed with the second rack.

[0007] In one embodiment, the inner lifting rail is provided with an internal CNC motor, the internal CNC motor is connected to an internal gear, the fixed rail is provided with an internal rack, the internal gear is meshed with the internal rack, and the internal CNC motor drives the internal gear to rotate so that the inner lifting rail moves up and down along the fixed rail.

[0008] In one embodiment, the middle lifting rail is provided with a middle CNC motor, the middle CNC motor is connected to a middle gear, the inner lifting rail is provided with a middle rack, the middle gear is meshed with the middle rack, and the middle CNC motor drives the middle gear to rotate so that the middle lifting rail moves up and down along the inner lifting rail.

[0009] In one embodiment, the outer lifting rail is provided with an external CNC motor, the external CNC motor is connected to an external gear, the middle lifting rail is provided with an external rack, the external gear is meshed with the external rack, and the external CNC motor drives the external gear to rotate so that the outer lifting rail moves up and down along the middle lifting rail.

[0010] In one embodiment, the traction plate is arranged flatly toward the surface of the robot.

[0011] The present invention also proposes a robot capable of automatic climbing, comprising: a main body, wherein a central processing unit is provided in the main body; and a climbing mechanism, wherein climbing mechanisms are symmetrically provided on both sides of the main body, and the climbing mechanism comprises a telescopic link, wherein the telescopic link is connected to the main body, and the end of the telescopic link away from the main body is connected to a fixed slide rail, and the fixed slide rail is connected to an inner lifting slide rail, and the inner lifting slide rail moves up and down along the fixed slide rail, and the side of the inner lifting slide rail away from the fixed slide rail is connected to a middle lifting slide rail, and the middle lifting slide rail moves up and down along the inner lifting slide rail, and the top ends of the inner lifting slide rail and the middle lifting slide rail are respectively A quick gel storage tank and a CNC nozzle are provided, the quick gel storage tank is used to store quick gel, the CNC nozzle sprays quick gel toward the climbing surface to form a force plate, the inner lifting slide and the middle lifting slide are also respectively provided with two groups of climbing components, the climbing components move up and down along the corresponding inner lifting slide and the middle lifting slide, the climbing components are used to be supported on the force plate, the telescopic connecting rod drives the fixed slide, the inner lifting slide and the middle lifting slide to move in the horizontal direction, and the central processing unit is communicated with the telescopic connecting rod, the inner lifting slide, the middle lifting slide, the outer lifting slide, the climbing component and the CNC nozzle. Beneficial effects

[0012] The technical solution of the present invention achieves climbing by adopting two sets of symmetrical climbing mechanisms arranged on both sides of the main body. Specifically, the central processing unit is used to control the movement of the climbing mechanism, thereby realizing automatic climbing of the robot. The telescopic connecting rod connects the main body and the fixed slide rail respectively, which can realize the left and right movement of the climbing robot. The inner lifting slide rail moves up and down along the fixed slide rail, the middle lifting slide rail moves up and down along the inner lifting slide rail, and the outer lifting slide rail moves up and down along the middle lifting slide rail. The inner lifting slide rail, the middle lifting slide rail, and the outer lifting slide rail are respectively provided with climbing components. The CNC nozzle sprays the speed gel to form a bearing plate. The climbing components are used to support the corresponding bearing plate. In this way, the support position provided by the bearing plate can improve the climbing stability of the climbing components. Climbing is further achieved by the cooperation of the climbing components with the corresponding inner lifting slide rail, the middle lifting slide rail, and the outer lifting slide rail. The telescopic connecting rod drives the fixed slide rail, the inner lifting slide rail, the middle lifting slide rail, and the outer lifting slide rail to move horizontally to realize the left and right movement of the robot. The technical solution is highly reliable, thereby reducing the risk of falling. The process is simple and efficient, and has strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0014] FIG1 is a schematic structural diagram of an embodiment of an automatic climbing robot provided by the present invention;

[0015] FIG2 is a schematic structural diagram of an embodiment of a robot capable of automatic climbing provided by the present invention in a first state;

[0016] FIG3 is a schematic structural diagram of another state of an embodiment of the automatic climbing robot provided by the present invention;

[0017] FIG4 is a schematic structural diagram of an embodiment of the automatic climbing robot provided by the present invention in another state;

[0018] FIG5 is a schematic structural diagram of another state of an embodiment of the automatic climbing robot provided by the present invention;

[0019] FIG6 is a schematic structural diagram of an embodiment of an automatic climbing robot provided by the present invention driving a slider to move;

[0020] FIG7 is a schematic structural diagram of the movement of the lifting rail of the automatic climbing robot embodiment provided by the present invention;

[0021] FIG8 is a schematic structural diagram of another embodiment of the automatic climbing robot provided by the present invention in one state;

[0022] FIG9 is a schematic structural diagram of another state of another embodiment of the automatic climbing robot provided by the present invention.

[0023] Explanation of the accompanying numbers: 1. Central processing unit; 2. Inner lifting slide; 3. Inner speed gel storage tank and CNC printhead; 4. Inner moving CNC suction cup; 5. Outer lifting slide; 6. Middle lifting slide; 7. Middle speed gel storage tank and CNC printhead; 8. Telescopic connecting rod; 9. Outer speed gel storage tank and CNC printhead; 10. Middle moving CNC suction cup; 11. Fixed slide; 12. Inner gear; 13. Inner rack; 14. Outer moving CNC suction cup; 15. Middle gear; 16. Middle rack; 17. Outer gear; 18. Outer rack; 19. Drive motor; 20. First gear; 21. Second gear; 22. First rack; 23. Second rack; 24. Slider body.

[0024] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. Best Mode for Carrying Out the Invention

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0026] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0027] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] In the existing technology, as high-rise buildings become more and more numerous, the demand for high-rise work is also increasing. Some of the work will use robots, but the outer walls of high-rise buildings usually have no fulcrums, making it difficult for robots to climb, with low reliability and the risk of falling.

[0029] The present invention provides a robot capable of automatic climbing.

[0030] Please refer to Figures 1 to 7. In one embodiment of the present invention, the robot capable of automatic climbing includes: a main body and a climbing mechanism, wherein a central processing unit 1 is provided in the main body; climbing mechanisms are symmetrically provided on both sides of the main body, and the climbing mechanism includes a telescopic link 8, which is connected to the main body, and the end of the telescopic link 8 away from the main body is connected to a fixed slide rail 11, and the fixed slide rail 11 is connected to an inner lifting slide rail 2, and the inner lifting slide rail 2 moves up and down along the fixed slide rail 11, and the side of the inner lifting slide rail 2 away from the fixed slide rail 11 is connected to a middle lifting slide rail 6, and the middle lifting slide rail 6 moves up and down along the inner lifting slide rail 2, and the side of the middle lifting slide rail 6 away from the inner lifting slide rail 2 is provided with an outer lifting slide rail 5, and the outer lifting slide rail 5 moves up and down along the middle lifting slide rail 6, and the inner The tops of the lifting slide 2, the middle lifting slide 6 and the outer lifting slide 5 are respectively provided with a speed gel storage tank and a CNC nozzle. The speed gel storage tank is used to store the speed gel, and the CNC nozzle sprays the speed gel toward the climbing surface to form a force plate. The inner lifting slide 2, the middle lifting slide 6 and the outer lifting slide 5 are also respectively provided with a climbing component. The climbing component moves up and down along the corresponding inner lifting slide 2, the middle lifting slide 6 and the outer lifting slide 5. The climbing component is also used to support the force plate. The telescopic link 8 drives the fixed slide 11, the inner lifting slide 2, the middle lifting slide 6 and the outer lifting slide 5 to move in the horizontal direction. The central processing unit 1 is communicated with the telescopic link 8, the inner lifting slide 2, the middle lifting slide 6, the outer lifting slide 5, the climbing component and the CNC nozzle.

[0031] During the specific implementation process, the central processing unit 1 is set in the main body, which can protect the central processing unit 1 and avoid damage. Two sets of climbing mechanisms are set on both sides of the main body. The central processing unit 1 controls the two sets of climbing mechanisms to move synchronously to achieve up and down climbing. In addition, the central processing unit 1 also controls the two sets of climbing mechanisms to move in sequence through two telescopic connecting rods 8 to achieve horizontal movement. The central processing unit 1 also controls the CNC nozzle to spray the speed gel. Among them, the speed gel storage tank and CNC nozzle corresponding to the inner lifting rail 2 are the inner speed gel storage tank and CNC nozzle 3, the speed gel storage tank and CNC nozzle corresponding to the middle lifting rail 6 are the middle speed gel storage tank and CNC nozzle 7, and the speed gel storage tank and CNC nozzle corresponding to the outer lifting rail 5 are the outer speed gel storage tank and CNC nozzle 9, which respectively form a force plate and cooperate with the corresponding climbing component. Among them, the climbing component can be inserted or adsorbed on the force plate, so that the corresponding lifting rail has stable support for up and down and left and right movement.

[0032] The technical solution of the present invention realizes climbing by adopting two sets of climbing mechanisms symmetrically arranged on both sides of the main body. Specifically, the central processing unit 1 is used to control the movement of the climbing mechanism, thereby realizing automatic climbing of the robot. The telescopic connecting rod 8 connects the main body and the fixed slide 11 respectively, which can realize the left and right movement of the climbing robot. The inner lifting slide 2 moves up and down along the fixed slide 11. The inner lifting slide 2 is also provided with an inner moving CNC suction cup 4. The middle lifting slide 6 moves up and down along the inner lifting slide 2. The middle lifting slide 6 is also provided with a middle moving CNC suction cup 10. The gel storage tank and the CNC nozzle form a force plate. The inner moving CNC suction cup 4 and the middle moving CNC suction cup 10 are respectively adsorbed on the corresponding force plates. In this way, the stability of the adsorption of the inner CNC suction cup and the middle moving CNC suction cup 10 can be improved. Climbing and left and right movement can be further realized through the cooperation between the inner CNC suction cup and the inner lifting slide 2 and the cooperation between the middle CNC suction cup and the middle lifting slide 6. The technical solution is highly reliable, thereby reducing the risk of falling, and the process is simple and efficient, with strong applicability.

[0033] In one embodiment, the climbing assembly includes a driving slider and a mobile CNC suction cup. The mobile CNC suction cup is provided on the driving slider and is used to adsorb the force plate. The driving slider moves up and down along the corresponding inner lifting rail, middle lifting rail and outer lifting rail.

[0034] During the specific implementation process, the inner lifting slide rail 2 is correspondingly provided with an inner driving slider and an inner movable CNC suction cup 4, the inner driving slider is slidably connected to the inner lifting slide rail 2 and drives the inner movable CNC suction cup 4 to move up and down along the inner lifting slide rail 2, and the inner movable CNC suction cup 4 is used to adsorb the corresponding force plate; the middle lifting slide rail 6 is correspondingly provided with a middle driving slider and a middle movable CNC suction cup 10, the middle driving slider is slidably connected to the middle lifting slide rail 6 and drives the middle movable CNC suction cup 10 to move up and down along the middle lifting slide rail 6; the outer movable CNC suction cup 14 is used to adsorb the corresponding force plate, and the outer lifting slide rail 5 is correspondingly provided with an outer driving slider and an outer movable CNC suction cup 14, the outer driving slider is slidably connected to the outer lifting slide rail 5 and drives the outer movable CNC suction cup 14 to move up and down along the outer lifting slide rail 5, and the outer movable CNC suction cup 14 is used to adsorb the corresponding force plate.

[0035] Furthermore, the force plate is disposed flatly on the surface facing the robot. When the robot encounters a gravel wall or other uneven surfaces, the flat force plate ensures that the mobile CNC suction cup can be stably attached to the force plate, providing stable support and improving the robot's applicability and reliability.

[0036] It can be understood that in this embodiment, the climbing mechanism has three sets of lifting rails, which can improve the stability of the robot when climbing, and combined with the cooling time of the quick gel, it avoids waiting for the quick gel to solidify, which can improve the efficiency of climbing. Specifically, when the robot is climbing a wall, referring to Figures 2 and 3, the robot moves to the front of the wall, and the central processing unit 1 controls all the quick gel storage tanks and CNC nozzles to spray the quick gel. After the quick gel solidifies, a pancake-shaped flat force plate is formed. The central processing unit 1 controls the outer lifting rails 5 on the left and right sides of the main body to move upward. When the outer lifting rails 5 on the left and right sides drive the outer movable CNC suction cups 14 on the left and right sides to rise to the position of the front force plate, the central processing unit 1 controls the outer movable CNC suction cups 14 to be adsorbed on the front force plate, and the quick gel storage tanks and CNC nozzles on the outer lifting rails 5 spray the quick gel at the new position, forming a new pancake-shaped flat force plate. At the same time, the central processing unit 1 controls the middle lifting slide rails 6 on the left and right sides to move upward to the same height as the outer lifting slide rails 5, and the middle mobile CNC suction cup 10 is adsorbed on the corresponding force plate in the middle of the front. The quick gel storage tank and CNC nozzle on the middle lifting slide rail 6 spray quick gel at the new position to form a new force plate. At the same time, the central processing unit 1 controls the outer mobile CNC suction cup 14 to release the adsorption force between it and the corresponding force plate, and then the central processing unit 1 controls the outer lifting slide rail 5 to move upward. When the outer mobile CNC suction cups 14 on the left and right sides rise to the position of the new force plate on the outside of the front, the central processing unit 1 controls the outer mobile CNC suction cup 14 to be adsorbed on the front force plate, forming the state of Figure 2.

[0037] The central processing unit 1 controls the inner lifting rail 2 to move upward. When the inner lifting rail 2 rises to the same height as the middle lifting rail 6, the central processing unit 1 controls the quick gel storage tank and the CNC nozzle on the inner lifting rail 2 to spray quick gel, forming a new contact plate. Then the inner lifting rail 2 continues to move. When the inner mobile CNC suction cup 4 rises to the position of the new contact plate in front, the central processing unit 1 controls the inner mobile CNC suction cup 4 to be adsorbed on the front outer pancake plane. At the same time, the quick gel storage tank and the CNC nozzle spray quick gel at the new position to form a new contact plate. The central processing unit 1 controls the inner lifting rail 2 to drive the fixed rail 11 to drive the telescopic connecting rod 8 and the main body to move upward. Then, the central processing unit 1 controls the middle mobile CNC suction cup 10 to release the adsorption force between it and the corresponding contact plate. The central processing unit 1 controls the middle lifting rail 6 to move upward. When the middle mobile CNC suction cup 10 rises to the new contact plate position, the central processing unit 1 controls the middle mobile CNC suction cup 10 to be adsorbed on the surface of the new contact plate, forming the state shown in Figure 4. The central processing unit 1 controls each lifting slide rail, the CNC nozzle and the mobile CNC suction cup to repeat the above operation, and the device shape is converted between Figure 2 and Figure 5 until the device reaches the target height.

[0038] When the device needs to move horizontally to the left, the CPU 1 controls all the mobile CNC suction cups on the right side to attach to the force plate, while simultaneously releasing all the mobile CNC suction cups on the left side and retracting all the lifting rails on the left side to the same height. The CPU 1 controls the telescopic link 8 to extend to the left. When the telescopic link 8 extends to a certain length, the CPU 1 controls all the quick-gel storage tanks and CNC nozzles on the left side to simultaneously spray quick-gel. The CPU 1 then controls all the lifting rails on the left side and the mobile CNC suction cups to the glue spraying area and attach to the force plate. The CPU 1 then controls all the mobile CNC suction cups on the right side to release their suction force. The CPU 1 controls the telescopic link 8 to retract to the left and simultaneously retract all the lifting rails on the right side to the same height. When the telescopic link 8 is fully retracted, the CPU 1 controls all the quick-gel storage tanks and CNC nozzles on the right side to simultaneously spray quick-gel. The CPU 1 then controls all the lifting rails on the right side and the mobile CNC suction cups to the glue spraying area and attach to the pancake-shaped surface. The above process is repeated until the target position is reached. When the device moves to the right, the operation sequence is similar to the left movement process. When the robot returns to the ground, the central processor 1 controls the device to return to the original path.

[0039] It should be noted that when there is no obstacle directly below the target point, the robot moves to the bottom of the target point, as in the above embodiment; when there is an obstacle below the target, the robot moves to the lower point where there is no obstacle around the target point, as in the above embodiment; when the height of the robot completely exceeds the horizontal height of all obstacles below the target, the robot moves horizontally to the bottom of the target point and continues to move upward, or when the robot moves upward to the horizontal height of the target point, the robot moves horizontally to the target point.

[0040] Referring to Figure 6, in one embodiment, the driving slider includes a slider body 24 and a driving motor 19, the driving motor 19 is connected to a first gear 20 and a second gear 21, the driving motor 19, the first gear 20 and the second gear 21 are all arranged on the slider body 24, the slider body 24 is also slidably connected with the corresponding inner lifting slide rail 2, the middle lifting slide rail 6 and the outer lifting slide rail 5, the inner lifting slide rail 2, the middle lifting slide rail 6 and the outer lifting slide rail 5 are respectively provided with a sliding groove, and the opposite side walls of the sliding groove are correspondingly provided with a first rack 22 and a second rack 23, the first gear 20 is meshed with the first rack 22, and the second gear 21 is meshed with the second rack 23.

[0041] During implementation, the slider body 24 is slidably connected to the corresponding inner lift rail 2, middle lift rail 6, and outer lift rail 5 to enhance the stability of the drive slider and prevent it from falling off. In this embodiment, the corresponding movable CNC suction cup corresponding to each lift rail is driven by the drive slider to move along the lift rail. The inner movable CNC suction cup 4 of the inner lift rail 2 is used as an example for description. The movement of the middle movable CNC suction cup 10 of the middle lift rail 6 and the outer movable CNC suction cup 14 of the outer lift rail 5 are similar to the movement of the inner movable CNC suction cup 4 of the inner lift rail 2. Specifically, the inner movable CNC suction cup 4 is arranged on the slider body 24, and the slider body 24 drives the inner movable CNC suction cup 4 to move up and down in the slide groove of the inner lifting slide rail 2. The drive motor 19 and the first gear 20 and the second gear 21 are arranged on the slider body 24. The drive motor 19 drives the first gear 20 and the second gear 21 to rotate. The first rack 22 and the second rack 23 are fixedly provided on the two opposite side walls of the slide groove. The first gear 20 is engaged with the first rack 22, and the second gear 21 is engaged with the second rack 23. In this way, the drive motor 19 can move along the inner lifting slide rail 2 under the action of the first rack 22 and the second rack 23 by driving the first gear 20 and the second gear 21 to rotate.

[0042] It should be noted that the slider body 24 is further provided with a pushing cylinder, which is connected to the corresponding mobile numerical control suction cup and drives the corresponding mobile numerical control suction cup to move closer to or away from the adsorption plate.

[0043] Referring to Figure 7, in one embodiment, the inner lifting slide rail 2 is provided with an internal CNC motor, the internal CNC motor is connected to an internal gear 12, the fixed slide rail 11 is provided with an internal rack 13, the internal gear 12 is meshed with the internal rack 13, and the internal CNC motor drives the internal gear 12 to rotate so that the inner lifting slide rail 2 moves up and down along the fixed slide rail 11.

[0044] During the specific implementation, the internal numerical control motor drives the internal gear 12 to rotate, and the internal gear 12 meshes with the internal rack 13. In this way, when the internal numerical control motor drives the internal gear 12 to rotate, the internal lifting rail 2 can be moved along the fixed rail 11. In addition, when the internal lifting rail 2 is fixed to the focus plate by the internal movable numerical control suction cup 4, by controlling the internal numerical control motor to rotate the internal gear 12 in the opposite direction, the fixed rail 11 and the main body can be moved upward, thereby achieving overall climbing.

[0045] In one embodiment, the middle lifting slide rail 6 is provided with a middle CNC motor, the middle CNC motor is connected to the middle gear 15, the inner lifting slide rail 2 is provided with a middle rack 16, the middle gear 15 is meshed with the middle rack 16, and the middle CNC motor drives the middle gear 15 to rotate so that the middle lifting slide rail 6 moves up and down along the inner lifting slide rail 2.

[0046] In addition, in one embodiment, the outer lifting slide 5 is provided with an external CNC motor, which is connected to an external gear 17, and the middle lifting slide 6 is provided with an external rack 18. The external gear 17 is meshed with the external rack 18, and the external CNC motor drives the external gear 17 to rotate, causing the outer lifting slide 5 to move up and down along the middle lifting slide 6.

[0047] In practice, the vertical movement of the middle and outer lift rails 6 and 5 is similar to the movement of the inner lift rail 2. Specifically, a middle rack 16 is provided on the inner lift rail 2, and cooperates with the middle CNC motor on the middle lift rail 6 to achieve the movement of the middle lift rail 6. An outer rack 18 is provided on the middle lift rail 6, and cooperates with the outer CNC motor on the outer lift rail 5 to achieve the movement of the outer lift rail 5, thereby enabling the entire robot to climb. Modes for Carrying Out the Invention

[0048] With reference to Figures 8 to 9, in another embodiment, the present invention further proposes a robot capable of automatic climbing, comprising a main body and a climbing mechanism, wherein a central processing unit 1 is provided in the main body; climbing mechanisms are symmetrically provided on both sides of the main body, and the climbing mechanism comprises a telescopic link 8, the telescopic link 8 is connected to the main body, the end of the telescopic link 8 away from the main body is connected to a fixed slide rail 11, the fixed slide rail 11 is connected to an inner lifting slide rail 2, the inner lifting slide rail 2 moves up and down along the fixed slide rail 11, the side of the inner lifting slide rail 2 away from the fixed slide rail 11 is connected to a middle lifting slide rail 6, the middle lifting slide rail 6 moves up and down along the inner lifting slide rail 2, the inner lifting slide rail 2 and the middle lifting slide rail The top of the rail 6 is respectively provided with a speed gel storage tank and a CNC nozzle. The speed gel storage tank is used to store speed gel, and the CNC nozzle sprays speed gel toward the climbing surface to form a force plate. The inner lifting slide 2 and the middle lifting slide 6 are also respectively provided with a climbing component. The climbing component moves up and down along the corresponding inner lifting slide 2, middle lifting slide 6 and outer lifting slide 5. The climbing component is also used to support the force plate. The telescopic link 8 drives the fixed slide 11, the inner lifting slide 2 and the middle lifting slide 6 to move in the horizontal direction. The central processing unit 1 is communicated with the telescopic link 8, the inner lifting slide 2, the middle lifting slide 6, the outer lifting slide 5, the climbing component and the CNC nozzle.

[0049] In this embodiment, the climbing mechanism includes an inner lift rail 2 and a middle lift rail 6. For the specific climbing method and structure, please refer to the specific structure and coordination of the inner lift rail 2 and the middle lift rail 6 in the above-mentioned embodiment. Climbing can be achieved by cooperating with the inner lift rail 2 and the middle lift rail 6, and will not be described in detail in this embodiment. In addition, it should be noted that in this embodiment, the inner lift rail 2 and the middle lift rail 6 are each provided with two sets of climbing components, and the two sets of climbing components are alternately supported on the support plate in sequence to improve climbing stability. Specifically, the climbing component includes a driving slider and a mobile CNC suction cup. Accordingly, the inner lifting slide rail 2 is provided with two groups of inner driving sliders and inner mobile CNC suction cups 4, and the middle lifting slide rail 6 is provided with two groups of middle driving sliders and middle CNC suction cups 10. The two groups of inner mobile CNC suction cups 4 and the two groups of middle mobile CNC suction cups 10 cooperate with each other to successively adsorb the force plates to realize up and down climbing movement. By arranging two groups of inner mobile CNC suction cups 4 in the inner lifting slide rail 2 and two groups of middle CNC suction cups in the middle lifting slide rail 6, it is possible to avoid the force plates from forming a straight line when the robot moves horizontally, thereby affecting the stability of the robot, thereby improving the reliability of the climbing robot during horizontal movement and avoiding falling.

[0050] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by utilizing the contents of the present description and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention. Industrial Applicability

[0051] The equipment has the advantages of simple structure, strong applicability, high degree of automation and easy production. Sequence Listing Free Content

[0052] Type your sequence listing free description paragraph here.

Claims

1. A robot capable of automatic climbing, characterized in that: include: A main body, wherein a central processing unit is arranged in the main body; and a climbing mechanism, wherein climbing mechanisms are symmetrically arranged on both sides of the main body, wherein the climbing mechanism comprises a telescopic connecting rod, wherein the telescopic connecting rod is connected to the main body, wherein the end of the telescopic connecting rod away from the main body is connected to a fixed slide rail, wherein the fixed slide rail is connected to an inner lifting slide rail, wherein the inner lifting slide rail moves up and down along the fixed slide rail, wherein a side of the inner lifting slide rail away from the fixed slide rail is connected to a middle lifting slide rail, wherein the middle lifting slide rail moves up and down along the inner lifting slide rail, wherein an outer lifting slide rail is arranged on a side of the middle lifting slide rail away from the inner lifting slide rail, wherein the outer lifting slide rail moves up and down along the middle lifting slide rail, wherein the top ends of the inner lifting slide rail, the middle lifting slide rail and the outer lifting slide rail are respectively A quick gel storage tank and a CNC nozzle are provided, the quick gel storage tank is used to store quick gel, the CNC nozzle sprays quick gel toward the climbing surface to form a force plate, the inner lifting slide rail, the middle lifting slide rail and the outer lifting slide rail are also respectively provided with climbing components, the climbing components move up and down along the corresponding inner lifting slide rail, the middle lifting slide rail and the outer lifting slide rail, the climbing components are used to be supported on the force plate, the telescopic connecting rod drives the fixed slide rail, the inner lifting slide rail, the middle lifting slide rail and the outer lifting slide rail to move in the horizontal direction, and the central processing unit is communicatively connected with the telescopic connecting rod, the inner lifting slide rail, the middle lifting slide rail, the outer lifting slide rail, the climbing component and the CNC nozzle.

2. The automatic climbing robot according to claim 1, characterized in that: The climbing assembly includes a driving slider and a mobile CNC suction cup, wherein the mobile CNC suction cup is arranged on the driving slider and is used to adsorb the force plate, and the driving slider moves up and down along the corresponding inner lifting rail, the middle lifting rail and the outer lifting rail.

3. The automatic climbing robot according to claim 2, characterized in that: The driving slider includes a slider body and a driving motor, the driving motor is connected to a first gear and a second gear, the driving motor, the first gear and the second gear are all arranged on the slider body, the inner lifting rail, the middle lifting rail and the outer lifting rail are respectively provided with sliding grooves, and the two side walls opposite to each other of the sliding grooves are correspondingly provided with a first rack and a second rack, the first gear is meshed with the first rack, and the second gear is meshed with the second rack.

4. The automatic climbing robot according to claim 3, characterized in that: The inner lifting slide rail is provided with an internal CNC motor, the internal CNC motor is connected with an internal gear, the fixed slide rail is provided with an internal rack, the internal gear is meshingly connected with the internal rack, and the internal CNC motor drives the internal gear to rotate so that the inner lifting slide rail moves up and down along the fixed slide rail.

5. The automatic climbing robot according to claim 3, characterized in that: The middle lifting slide rail is provided with a middle CNC motor, the middle CNC motor is connected with a middle gear, the inner lifting slide rail is provided with a middle rack, the middle gear is meshingly connected with the middle rack, and the middle CNC motor drives the middle gear to rotate so that the middle lifting slide rail moves up and down along the inner lifting slide rail.

6. The automatic climbing robot according to claim 3, characterized in that: The outer lifting rail is provided with an external numerically controlled motor, the external numerically controlled motor is connected with an external gear, the middle lifting rail is provided with an external rack, the external gear is meshingly connected with the external rack, and the external numerically controlled motor drives the external gear to rotate so that the outer lifting rail moves up and down along the middle lifting rail.

7. The automatic climbing robot according to any one of claims 1 to 6, characterized in that: The focus plate is arranged flatly toward the surface of the robot.

8. A robot capable of automatic climbing, characterized in that: include: A main body, wherein a central processing unit is arranged in the main body; and a climbing mechanism, wherein climbing mechanisms are symmetrically arranged on both sides of the main body, wherein the climbing mechanism comprises a telescopic connecting rod, wherein the telescopic connecting rod is connected to the main body, wherein the end of the telescopic connecting rod away from the main body is connected to a fixed slide rail, wherein the fixed slide rail is connected to an inner lifting slide rail, wherein the inner lifting slide rail moves up and down along the fixed slide rail, wherein the inner lifting slide rail is connected to a middle lifting slide rail on the side away from the fixed slide rail, wherein the middle lifting slide rail moves up and down along the inner lifting slide rail, wherein the tops of the inner lifting slide rail and the middle lifting slide rail are respectively provided with a speed gel storage tank and a digital The CNC nozzle is used for spraying the quick gel storage tank onto the climbing surface to form a force plate. The inner lifting rail and the middle lifting rail are also provided with two sets of climbing components respectively. The climbing components move along the corresponding inner lifting rail and the middle lifting rail. The climbing components are supported on the force plate. The telescopic connecting rod drives the fixed slide rail, the inner lifting rail and the middle lifting rail to move in the horizontal direction. The central processing unit is communicatively connected with the telescopic connecting rod, the inner lifting rail, the middle lifting rail, the outer lifting rail, the climbing component and the CNC nozzle.

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