Wall-climbing robot

Abstract

A wall-climbing robot which can stably walk on a curved surface to implement stable operation on a curved wall surface. The wall-climbing robot (1) comprises: a robot base (10); and a traveling mechanism (20), which is arranged on the side of the robot base (10) facing toward a wall surface, and comprises a swing shaft (21), a connecting shaft (22), wheels (23) and a magnet (24), wherein the wheels (23) are used for walking on the wall surface and are arranged at two ends of the connecting shaft (22) that extend in a first direction, the first direction being perpendicular to the diameter direction of the wheels (23); the magnet (24) is used for providing a magnetic attraction force between the traveling mechanism (20) and the wall surface and is arranged between the wheels (23) at the two ends of the connecting shaft (22); the swing shaft (21) extends in a second direction and is arranged between the wheels (23) at the two ends of the connecting shaft (22), the second direction being perpendicular to the first direction; and the connecting shaft (22) is capable of rotating about the swing shaft (21).

Description

A wall-climbing robot

[0001] This application claims priority to Chinese patent applications with application date of December 6, 2023, application number 202311665612.8, application name “A magnetic universal wheel and magnetic working device applicable to curved surfaces” and application date of May 6, 2024, application number 202410550612.1, application name “A wall-climbing robot cleaning and recovery device”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of robotics, and in particular to a wall-climbing robot. Background Art

[0003] Magnetic wall-climbing robots are specialized robots used in harsh, dangerous, and extreme working conditions. They can attach to magnetic surfaces and perform specific tasks such as cleaning, probing, repairing, welding, or grinding. Currently, magnetic wall-climbing robots are widely used in the production and maintenance of steel structures, primarily in wind power, the nuclear industry, the petrochemical industry, the construction industry, firefighting, and shipbuilding.

[0004] However, existing magnetic universal wheels with high suction capacity suffer from large diameters, poor adaptability to curved surfaces, and reduced magnetic suction force in certain operating conditions, all of which affect the performance of magnetic wall-climbing robots. Furthermore, in applications such as wind turbine towers, ship hulls, and petrochemical pipelines, there are numerous complex surfaces with large and variable curvatures. Working on these curved surfaces makes it difficult to maintain the constant load and spacing required for tasks such as inspection, cleaning, welding, and grinding. Therefore, a wall-climbing robot suitable for working on curved surfaces is needed. Summary of the Invention

[0005] The present application provides a wall-climbing robot that can walk stably on a curved surface and achieve stable operation on a curved wall.

[0006] In a first aspect, a wall-climbing robot is provided, comprising: a robot base; a walking mechanism, wherein the walking mechanism is arranged on the side of the robot base facing the wall, the walking mechanism comprising a swing shaft, a connecting shaft, a wheel body and a magnet, the wheel body being used for walking on the wall, being arranged at both ends of the connecting shaft extending in a first direction, the first direction being perpendicular to the diameter direction of the wheel body, the magnet being used for providing a magnetic adsorption force between the walking mechanism and the wall, being arranged between the wheel bodies at both ends of the connecting shaft, the swing shaft extending in a second direction, and being arranged between the wheel bodies at both ends of the connecting shaft, the second direction being perpendicular to the first direction, and the connecting shaft being able to rotate around the swing shaft.

[0007] When a wall-climbing robot travels on a curved surface, the connecting shaft can rotate about the swing axis as the surface changes, allowing the wheels at both ends of the connecting shaft to adjust to a position that aligns with the wall surface, increasing the robot's flexibility and adaptability. Furthermore, a magnet is positioned below the swing axis and between the two wheels, rotating along with the wheels about the swing axis. This ensures that the magnet's magnetic attraction remains perpendicular to the wall surface, providing a constant operating load and operating spacing for the robot base or operating device, thereby improving the robot's stability while walking on the curved surface. Furthermore, the swing axis positioned between the two wheels minimizes the rotation amplitude of the wheels and magnets during rotation about the swing axis, further improving the robot's stability while walking on the curved surface.

[0008] In some embodiments, the magnet is a single magnet; the walking mechanism includes a conductive magnetic disk for magnetizing the magnet in a first direction, the conductive magnetic disk is arranged on both sides of the magnet along the first direction, and the size of the conductive magnetic disk on a plane perpendicular to the first direction is larger than the size of the magnet on a plane perpendicular to the first direction.

[0009] Because the magnet has magnetic properties, and the connecting shaft and the swing shaft are jointly set, the flexibility and adaptability of the walking mechanism are increased, so that the walking mechanism can passively move on a curved surface with varying curvatures, providing a constant working spacing for the robot base, so that the robot base can move quickly and passively on the curved surface with minimal resistance.

[0010] In some embodiments, the magnet includes a middle single magnet and two end single magnets arranged along the second direction, the middle single magnet is located between the two end single magnets, the magnetization direction of the end single magnets is parallel to the second direction, the magnetization direction of the middle single magnet is parallel to the third direction, the magnetic pole of the end single magnet on the side close to the middle single magnet in the second direction is the same as the magnetic pole of the middle single magnet on the side close to the wall in the third direction, and the third direction is perpendicular to the first direction and the second direction.

[0011] Compared with other magnetizing directions of magnets of the same volume, this magnetic attraction direction has a magnetic attraction force more than twice that of other magnetizing directions at a distance of 3 mm from the wall.

[0012] In some embodiments, the walking mechanism includes a driving wheel, and a swing shaft of the driving wheel is connected to the robot base.

[0013] This can not only enable the wall-climbing robot to maintain its walking direction during walking and improve the stability of the wall-climbing robot walking on the wall, but also retain the freedom of the active wheel to rotate around the swing axis, and adjust to a position that fits the wall when the curved surface changes, thereby improving the adaptability of the wall-climbing robot to the curved surface.

[0014] In some embodiments, the walking mechanism includes a passive wheel, the passive wheel includes a rotating shaft, the rotating shaft is connected to the robot base, the rotating shaft extends along a third direction, and the rotating shaft extends along the third direction, and the third direction is perpendicular to the first direction and the second direction.

[0015] By arranging a swing frame on the rotating shaft, it is convenient to install the swing shaft on the swing frame, that is, providing an installation position for the swing shaft; since the rotating shaft can rotate around the straight line where the third direction is located, the magnetic universal wheel can be passively rotated 180° to passively adapt to the direction adjustment when the robot's movement direction changes.

[0016] In some embodiments, a swing frame is provided on the rotating shaft, and the swing frame includes: a swing plate, and the rotating shaft is set through the swing plate; there are two fixed plates, and the two fixed plates are symmetrically arranged at the bottom of the swing plate, and the swing shaft is set on the fixed plate.

[0017] The connection between the swing shaft and the swing frame can be achieved, and the connection stability of the fixed plate is improved.

[0018] In some embodiments, the swing frame further includes a positioning plate, the swing shaft passes through the fixed plate and the positioning plate, and the magnet is connected to the positioning plate.

[0019] The positioning plate can be rotated relative to the guide disk, providing a mounting surface for the guide disk and the swing shaft, thereby achieving connection between the guide disk and the swing shaft.

[0020] In some embodiments, the magnet is connected to the connecting shaft, and the connecting shaft is connected to the swing shaft and can rotate around the swing shaft.

[0021] The connection between the connecting shaft and the swing shaft can compress the internal space of the walking mechanism, while maintaining the magnetic adsorption force of the walking mechanism to the wall, further reducing the volume occupied by the walking mechanism.

[0022] In some embodiments, the two end single magnets are respectively connected to the middle single magnet on both sides of the middle single magnet along the second direction, and are respectively connected to the swing axis, and the magnets can rotate around the swing axis.

[0023] This can keep the magnetic attraction force of the magnet always toward the wall, thereby improving the stability of the walking mechanism when walking on the curved surface.

[0024] In some embodiments, a mounting frame is further included, and the rotating shaft is arranged on the mounting frame.

[0025] The provision of the mounting frame facilitates the connection of the walking mechanism with other mechanisms on the robot.

[0026] In some embodiments, the wall-climbing robot further includes: an operation connecting plate, on which a connecting end is provided, and a mounting bracket is mounted on the connecting end; and an operation tool, which is provided on the operation connecting plate.

[0027] The embodiments of the present application can maintain a constant force and distance between the working tool and the curved wall, without the need to use additional motors to control the force and distance between the working tool and the wall, and without the need to use complex mechanisms such as springs to ensure multi-point constant contact between the working tool and the wall, cleverly solving the problems of high cost, complex control, and low operating accuracy in the process of wall-climbing robots performing related work tasks.

[0028] In some embodiments, there are one or more connecting ends. In the case where there are multiple connecting ends, the multiple connecting ends are spaced apart along the outer edge of the working connecting plate.

[0029] By placing the connecting ends on the outer edges of the work connecting plate, the walking mechanism can be easily installed on the work connecting plate, improving the installation stability of the work connecting plate. At the same time, the connecting ends at multiple vertices do not interfere with each other, making it easier for the walking mechanism to drive the work tool on the curved surface.

[0030] In some embodiments, the wall-climbing robot includes: an operating module, including at least one main operating platform, which is connected to the robot base; a walking mechanism includes an adsorption wheel, which is arranged on the side of the main operating platform facing the wall for fitting with the wall.

[0031] This allows the main working platform to remain in close contact with the wall, improving the working effect on the wall.

[0032] In some embodiments, the operation module further includes at least one sub-operation platform, which is movably connected to the main operation platform, and the adsorption wheel is arranged on the side of the sub-operation platform facing the wall for fitting with the wall.

[0033] This can increase the working area and reduce cleaning costs. While increasing the working area, both the main working platform and the sub-working platform can have good contact with the wall, thereby improving the working effect.

[0034] In some embodiments, the sub-working platform is connected to the main working platform via a hinge.

[0035] The position adjustment between the main working platform and the sub-working platform can be achieved to adapt to the curvature change of the wall.

[0036] In some embodiments, the wall-climbing robot includes: an adaptive adjustment mechanism, which is connected to the robot base and to the main working platform, and is used to drive the main working platform to move.

[0037] The adaptive adjustment mechanism can drive the main working platform and sub-working platforms in the working module to move, and cooperate with multiple adsorption wheels to enable the main working platform and multiple sub-working platforms to adaptively adjust as the curvature on the wall changes, thereby adapting to the changes in the curvature on the wall to the greatest extent.

[0038] Because the adaptive adjustment mechanism lacks a power source and the multiple sub-operating platforms are flexibly connected to the main operating platform, it adapts to changes in wall curvature as the robot base moves. Consequently, the suction wheels ensure close contact between the main and sub-operating platforms, ensuring the cleanliness of the wall-climbing robot's cleaning and recovery devices.

[0039] In some embodiments, the main working platform and the sub-working platform respectively include a driving mechanism, a cleaning brush disc and a connecting plate. The driving mechanism is arranged on the side of the connecting plate away from the wall along the third direction, and the cleaning brush disc is arranged on the side of the connecting plate facing the wall along the third direction. The driving mechanism is connected to the cleaning brush disc for driving the cleaning brush disc to work.

[0040] This allows for cleaning of the wall surface.

[0041] In some embodiments, the wall-climbing robot includes: a high-pressure water pipe and a cleaning liquid pipe, and the high-pressure water pipe and the cleaning liquid pipe are arranged on the operation module.

[0042] The cleaning liquid pipe can spray the cleaning liquid to the working area on the wall, and the driving mechanism drives the cleaning brush disc to clean the working area; the high-pressure water pipe can transport the water used for cleaning to the working area to flush the area brushed by the cleaning brush disc.

[0043] In some embodiments, the wall-climbing robot includes: a flow regulating device, which is provided on the robot base and is connected to the cleaning liquid pipe.

[0044] The flow regulating device can timely adjust the flow of the cleaning liquid to avoid the situation of too little or too much cleaning liquid.

[0045] In some embodiments, the flow regulating device includes: a solenoid valve fixed base plate, the solenoid valve fixed base plate is arranged on the robot base, an upper cover plate is provided on the solenoid valve fixed base plate, a solenoid valve is provided on the solenoid valve fixed base plate, and the solenoid valve is arranged on a high-pressure water pipe; an electric driving component, which is arranged on the solenoid valve fixed base plate, and the cleaning liquid pipe passes through the electric driving component.

[0046] The solenoid valve fixing base plate provides an installation location for the solenoid valve fixing base plate; the upper cover plate can provide protection for the solenoid valve and the electric drive component to prevent the solenoid valve and the electric drive component from being exposed to the outside and being damaged.

[0047] In some embodiments, the electric push assembly includes: an electric push rod fixed base plate, which is arranged on the solenoid valve fixed base plate, an adjustment seat is provided on the electric push rod fixed base plate, and a cleaning liquid pipe passes through the adjustment seat; an electric push rod, which is arranged on the electric push rod fixed base plate, and the electric push rod is in contact with the cleaning liquid pipe.

[0048] The flow rate of the cleaning liquid pipe can be adjusted by controlling the extension and retraction of the electric push rod.

[0049] In some embodiments, the wall-climbing robot includes: a flexible recovery mechanism, which is provided on a robot base, and an opening direction of the flexible recovery mechanism is opposite to a water flow direction.

[0050] The setting of the flexible recovery mechanism can quickly collect the cleaning oil and wastewater generated during the cleaning process to ensure the cleanliness of the wall surface.

[0051] In some embodiments, the flexible recovery mechanism includes: a recovery trough, which is connected to the robot base, and a mounting plate is arranged in the recovery trough, and a recovery bar fixing bracket is provided on the mounting plate; a recovery scraper, which is arranged on the side of the recovery bar fixing bracket facing the wall along the third direction; a flexible part, which is arranged between the recovery scraper and the recovery bar fixing bracket, and is used to press the recovery scraper against the wall.

[0052] The flexible member has a certain elasticity in its extension direction, which can provide support for the recovery scraper in the direction of gravity and provide pressure to the recovery scraper in the direction perpendicular to the wall, so that the recovery scraper fits tightly to the wall.

[0053] In some embodiments, the flexible recovery mechanism includes: an adsorption member, and the recovery scraper is in close contact with the wall surface through the flexible member and the adsorption member as the curvature of the wall surface changes.

[0054] The provision of the flexible member and the adsorption member can improve the degree of contact between the recovery scraper and the wall surface, thereby improving the recovery effect of the recovery scraper on sewage.

[0055] In some embodiments, the adaptive adjustment mechanism includes: an extension rod, which is provided on the mounting plate; a sliding assembly, which is connected to the extension rod and to the main working platform, and is used to drive the main working platform to move in a third direction; an adjustment assembly, which is provided between the connecting plate of the sliding assembly and the main working platform, and the adjustment assembly is used to drive the sliding assembly and the main working platform to rotate around the straight line in the second direction and / or the straight line in the first direction.

[0056] The adaptive adjustment mechanism realizes the adjustment of the entire operation module in multiple directions through the setting of the sliding component and the adjustment component.

[0057] In some embodiments, the adjustment assembly includes: an angle adjustment member, which is arranged at the bottom of the sliding assembly; a connecting block, which is connected to the connecting plate of the main working platform; a first rotating shaft, which extends along the second direction and is arranged on one side of the connecting block along the second direction, and the connecting block can rotate around the first rotating shaft; a second rotating shaft, which is connected to the angle adjustment member and is arranged on the first rotating shaft, and the first rotating shaft and the second rotating shaft are perpendicular to each other.

[0058] In this way, the adaptive adjustment mechanism can be rotated relative to each other in two directions, so that the main working platform can adapt to the change of the curvature of the wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] FIG1 is a schematic structural diagram of a wall-climbing robot provided in the present application.

[0060] FIG2 is a schematic structural diagram of a walking mechanism provided in this application.

[0061] FIG3 is a schematic diagram of a magnet arrangement in a walking mechanism provided in the present application.

[0062] FIG4 is a schematic structural diagram of an operation connecting plate and an operation tool provided in the present application.

[0063] FIG5 is a schematic structural diagram of another wall-climbing robot provided in the present application.

[0064] FIG6 is a schematic structural diagram of an operation module provided in this application.

[0065] FIG7 is a schematic structural diagram of a main operating platform provided in this application.

[0066] FIG8 is a schematic structural diagram of another operation module provided in this application.

[0067] FIG9 is a schematic structural diagram of another wall-climbing robot provided in the present application.

[0068] FIG10 is a schematic structural diagram of a flow regulating device provided in the present application.

[0069] FIG11 is a schematic structural diagram of another flow regulating device provided in the present application.

[0070] FIG12 is a schematic structural diagram of a flexible recovery mechanism provided in this application.

[0071] FIG13 is a schematic structural diagram of another flexible recovery mechanism provided in the present application.

[0072] FIG14 is a schematic structural diagram of a flexible recovery mechanism and flow regulating device provided in the present application.

[0073] FIG15 is a schematic diagram of the exploded structure of an adaptive adjustment mechanism and a main working platform provided in the present application.

[0074] FIG16 is a schematic structural diagram of another adaptive adjustment mechanism and main operating platform provided in the present application. DETAILED DESCRIPTION

[0075] The following detailed description of the embodiments of the present application is provided in conjunction with the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present application, but are not intended to limit the scope of the present application, i.e., the present application is not limited to the described embodiments.

[0076] In the description of this application, it should be noted that the terms "upper," "lower," "left," "right," "inner," "outer," etc., indicating directions or positional relationships, are used solely for the purpose of facilitating the description of this application and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction. Therefore, they should not be construed as limiting this application. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Perpendicular" does not mean perpendicular in the strict sense, but rather within the tolerance range. "Parallel" does not mean parallel in the strict sense, but rather within the tolerance range. All technical and scientific terms used in this application have the same meanings as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification of the application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including," "having," and any variations thereof in the specification and claims of this application and the accompanying drawings are intended to cover non-exclusive inclusions.

[0077] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0078] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0079] In the embodiments of this application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components in different embodiments are omitted. It should be understood that the thickness, length, width, and other dimensions of the various components in the embodiments of this application, as well as the overall thickness, length, width, and other dimensions of the integrated device shown in the drawings are merely illustrative and should not constitute any limitation on this application.

[0080] The present application provides a wall-climbing robot 1, as shown in FIG1 , comprising a robot base 10 and a walking mechanism 20. The walking mechanism 20 is disposed on the side of the robot base 10 facing the wall. The walking mechanism 20 comprises a swing shaft 21, a connecting shaft 22, a wheel body 23, and a magnet 24. The wheel body 23 is used for walking on the wall and is disposed at both ends of the connecting shaft 22 extending along a first direction X, the first direction X being perpendicular to the diameter direction of the wheel body 23. The magnet 24 is used for providing a magnetic attraction force between the walking mechanism 20 and the wall and is disposed between the wheel bodies 23 at both ends of the connecting shaft 22. The swing shaft 21 extends along a second direction Y and is disposed between the wheel bodies 23 at both ends of the connecting shaft 22, the second direction Y being perpendicular to the first direction X. The connecting shaft 22 is capable of rotating around the swing shaft 21.

[0081] The robot base 10 is the portion of the wall-climbing robot 1 that houses components such as wiring and batteries. It is driven by the walking mechanism 20 to move along the wall. The robot base 10 can typically be connected to various operating components, allowing them to be moved to the work area by the wall-climbing robot 1.

[0082] The walking mechanism 20 is the structure of the wall-climbing robot 1 that drives the robot base 10 along the wall. The walking mechanism 20 can be, for example, a drive wheel, which typically includes a wheel and a drive motor. The drive motor is used to drive the wheel to rotate, providing power for the wall-climbing robot 1 to move. The walking mechanism 20 can also be, for example, a driven wheel, which does not provide power itself but moves with the movement of the robot base 10 during its movement.

[0083] FIG2 shows the structure of a walking mechanism 20. As shown in FIG2 , a connecting shaft 22 is the rotation axis of a wheel body 23. The wheel body 23 rotates around the connecting shaft 22 to achieve walking on a wall. The connecting shaft 22 extends along a first direction X, and the wheel bodies 23 are provided at both ends of the connecting shaft 22.

[0084] Magnet 24 is a structure on the walking mechanism 20 that provides magnetic attraction, with the magnetic attraction being directed toward the wall. Magnet 24 is positioned between the two wheels 23 and can be connected to the connecting shaft 22. While the wheels 23 rotate, magnet 24 remains stationary, ensuring it consistently provides magnetic attraction toward the wall, maintaining the stability of the walking mechanism 20 as it travels along the wall. Magnet 24 can be cylindrical, semi-cylindrical, or columnar in shape.

[0085] The swing shaft 21 extends along the second direction Y and is spatially disposed between the two wheels 23. The swing shaft 21 extends perpendicularly to the connecting shaft 22. The connecting shaft 22 can drive the wheels 23 to rotate about the swing shaft 21. In some embodiments, the connecting shaft 22 can drive both the wheels 23 and the magnets 24 to rotate about the swing shaft 21.

[0086] When the wall-climbing robot 1 travels on a curved surface, the connecting shaft 22 can rotate about the swing shaft 21 as the surface changes, and the wheels 23 at both ends of the connecting shaft 22 can adjust to a position that conforms to the wall surface, thereby increasing the flexibility and adaptability of the wall-climbing robot 1. Simultaneously, the magnet 24 is disposed below the swing shaft 21 and between the two wheels 23. It can rotate along with the wheels 23 about the swing shaft 21, ensuring that the magnetic attraction of the magnet 24 is always perpendicular to the wall surface. This provides a constant operating load and operating spacing for the robot base 10 or the operating device, thereby improving the stability of the wall-climbing robot 1 while traveling on the curved surface. Furthermore, the swing shaft 21 disposed between the two wheels 23 can reduce the rotation amplitude of the wheels 23 and magnet 24 during their rotation about the swing shaft 21, further improving the stability of the wall-climbing robot 1 while traveling on the curved surface.

[0087] According to some embodiments of the present application, the magnet 24 is a single magnet. The walking mechanism 20 includes a conductive magnetic disk 25 for magnetizing the magnet 24 in the first direction X. The conductive magnetic disks 25 are arranged on both sides of the magnet 24 along the first direction X. The size of the conductive magnetic disks 25 in a plane perpendicular to the first direction X is larger than the size of the magnet 24 in the plane perpendicular to the first direction X.

[0088] When the magnet 24 is a single magnet, the magnet 24 can be fixed between the two wheels 23 via the connecting shaft 22. For example, the connecting shaft 22 can pass through the magnet 24 and be connected to the wheels 23 at both ends of the connecting shaft 22. By providing the guide disk 25 on the connecting shaft 22 and on both sides of the magnet 24, the magnetic attraction force of the walking mechanism 20 can be increased.

[0089] When the cross-sections of the guide disk 25 and the magnet 24 are both circular, the size of the guide disk 25 on the plane perpendicular to the first direction X is the diameter of the guide disk 25, and the size of the magnet 24 on the plane perpendicular to the first direction X is the diameter of the magnet 24.

[0090] The larger diameter of the guide disks 25 than the diameter of the magnet 24 facilitates uniform magnetization of the magnet 24, ensuring strong magnetic attraction at both the center and edges of the magnet 24. Furthermore, the larger diameter of the guide disks 25 allows the magnet 24 to remain suspended. During operation, the two guide disks 25 support the magnet 24, maintaining an appropriate gap between it and the curved surface. The two guide disks 25 drive the magnet 24 to rotate freely without contact with the curved surface. Furthermore, the travel mechanism 20 is easy to manufacture and low-cost.

[0091] According to some embodiments of the present application, a predetermined gap is provided between the guide disk 25 and the wheel body 23 .

[0092] The wheel 23 is mounted on the bearings 231 of the connecting shaft 22 and is located at both ends of the magnet 24. A predetermined gap is provided between the guide disk 25 and the wheel 23. This arrangement allows the wheel 23 to directly contact the curved surface, increasing the flexibility of the running mechanism 20. Furthermore, the wheel 23 is mounted on the bearings 231 of the connecting shaft 22 and can rotate independently of the connecting shaft 22.

[0093] The wheel body 23 is a non-metallic wheel, specifically, the wheel body 23 is made of a low-friction material. In the embodiment of the present application, the wheel body 23 can be, for example, a nylon wheel, which has the advantages of moderate magnetic adsorption force, good flexibility, and low cost.

[0094] At the same time, the setting of the predetermined gap can avoid direct contact between the guide disk 25 and the wheel body 23 , or direct contact between the wheel body 23 and the magnet 24 , thereby increasing the flexibility of the walking mechanism 20 .

[0095] In the embodiments of the present application, there are two options: the first is: only the guide disks 25 are provided at both ends of the magnet 24; the second is: the guide disks 25 are provided at both ends of the magnet 24, and the wheels 23 are also provided on both sides of the guide disks 25. If the wall surface is a surface that can come into contact with metal, the wheels 23 can be removed, and the axially magnetized magnets 24 are selected, and the guide disks 25 are used as the rolling wheels of the running mechanism 20. If the wall surface is a surface that cannot come into contact with metal, the magnets 24 and wheels 23 can be used together.

[0096] According to some embodiments of the present application, the magnet 24 includes a central single magnet 241 and two end single magnets 242 arranged along the second direction Y, the central single magnet 241 is located between the two end single magnets 242, the magnetization direction of the end single magnets 242 is parallel to the second direction Y, the magnetization direction of the central single magnet 241 is parallel to the third direction Z, the magnetic pole of the end single magnet 242 on the side close to the central single magnet 241 in the second direction Y is the same as the magnetic pole of the central single magnet 241 on the side close to the wall in the third direction Z, and the third direction Z is perpendicular to the first direction X and the second direction Y.

[0097] In some optional embodiments, the magnet 24 includes a plurality of single magnets. The plurality of single magnets together constitute a magnet 24. The number of the plurality of single magnets can be set according to actual use.

[0098] Figure 3 shows a structure in which a magnet 24 includes multiple single magnets. Specifically, the magnet 24 includes a middle single magnet 241 and two end single magnets 242 arranged along the second direction Y, wherein the middle single magnet 241 is located between the two end single magnets 242, and the magnetization direction of the middle single magnet 241 is parallel to the third direction Z, that is, perpendicular to the axis of the swing shaft 21; the magnetization direction of the end single magnet 242 is parallel to the second direction Y, that is, parallel to the axis of the swing shaft 21.

[0099] The magnetic poles of the end single magnets 242 on the side closer to the middle single magnet 241 in the second direction Y are the same as the magnetic poles of the middle single magnet 241 on the side closer to the wall in the third direction Z. For example, the magnetic poles of the two end single magnets 242 on the side closer to the middle single magnet 241 in the second direction Y are S poles, and the magnetic poles on the side away from the middle single magnet 241 are N poles; the magnetic poles of the middle single magnet 241 on the side closer to the wall in the third direction Z are S poles, and the magnetic poles on the side away from the middle single magnet 241 are N poles. Alternatively, the magnetic poles of the two end single magnets 242 on the side closer to the middle single magnet 241 in the second direction Y may be N poles, and the magnetic poles on the side away from the middle single magnet 241 may be S poles; the magnetic poles of the middle single magnet 241 on the side closer to the wall in the third direction Z may be N poles, and the magnetic poles on the side away from the middle single magnet 241 may be S poles. Compared with other magnetizing directions of the magnet 24 of the same volume, this magnetizing direction has a magnetic attraction force more than twice that of other magnetizing directions at a distance of 3 mm from the wall.

[0100] This arrangement can ensure that the central single magnet 241 and the two end single magnets 242 have a relatively small structural size while still having a relatively large magnetic attraction force.

[0101] A connecting block 5036 may be provided inside the middle single magnet 241 , and bolts may pass through the two end single magnets 242 and the connecting block 5036 , thereby integrating the middle single magnet 241 and the two end single magnets 242 into an integrated structure.

[0102] In some optional embodiments, the bottom surface of the middle single magnet 241 is arc-shaped. This arrangement facilitates the tangency of the magnet 24 with the curved surface, thereby increasing the adsorption force of the walking mechanism 20.

[0103] The middle single magnet 241 and the two end single magnets 242 form a semi-cylindrical structure.

[0104] According to some embodiments of the present application, the walking mechanism 20 includes a driving wheel 201 , and a swing shaft 21 of the driving wheel 201 is connected to the robot base 10 .

[0105] The driving wheel 201 is a walking mechanism 20 on the wall-climbing robot 1 that drives the robot base 10 to walk, and generally includes a driving motor to provide power for the driving wheel 201 to walk.

[0106] In an embodiment of the present application, the swing shaft 21 of the driving wheel 201 is connected to the robot base 10. This allows the wall-climbing robot 1 to maintain its walking direction during walking and improve the stability of the wall-climbing robot 1 when walking on the wall. It also retains the freedom of the driving wheel 201 to rotate around the swing shaft 21, and adjusts it to a position that fits the wall when the curved surface changes, thereby improving the adaptability of the wall-climbing robot 1 to the curved surface.

[0107] According to some embodiments of the present application, the walking mechanism 20 includes a passive wheel 202, the passive wheel 202 includes a rotating shaft 26, the rotating shaft 26 is connected to the robot base 10, and the rotating shaft 26 extends along the third direction Z, which is perpendicular to the first direction X and the second direction Y.

[0108] The passive wheel 202 is a walking mechanism 20 on the wall-climbing robot 1 that rotates following the movement of the robot base 10. The passive wheel 202 usually does not have a drive motor and mainly plays the role of supporting the robot base 10 and reducing friction during the walking process of the wall-climbing robot 1.

[0109] The passive wheel 202 includes a rotating shaft 26, which is connected to the robot base via the rotating shaft 26. Since the rotating shaft 26 extends along the third direction Z and can rotate about a line in the third direction Z, the passive wheel 202 is passively rotated to passively adapt to changes in the direction of movement of the wall-climbing robot 1. The swing shaft 21 extends along the second direction Y and can rotate about a line in the second direction Y to adapt to changes in the curvature of the passive wheel 202 when moving within a curved surface. Furthermore, a magnet 24 is disposed below the swing shaft 21, allowing the swing shaft 21 to drive the magnet 24 to rotate about the line in the second direction Y.

[0110] Since the magnet 24 is magnetic, and at the same time, the common setting of the rotating shaft 26 and the swing shaft 21 increases the flexibility and adaptability of the passive wheel 202, so that the passive wheel 202 can passively move on a curved surface with varying curvatures, which is convenient for use with the robot base 10 or the operating device, providing the robot base 10 or the operating device with a constant operating load and operating spacing, so that the robot base 10 or the operating device can passively move quickly on the curved surface with minimal resistance.

[0111] According to some embodiments of the present application, a swing frame 27 is provided on the rotating shaft 26, and the swing frame 27 includes: a swing plate 271, and the rotating shaft 26 is arranged through the swing plate 271; a fixed plate 272, which has two, and the two fixed plates 272 are symmetrically arranged at the bottom of the swing plate 271, and the swing shaft 21 is arranged on the fixed plate 272.

[0112] The swing bracket 27 provided on the rotating shaft 26 facilitates the installation of the swing shaft 21 on the swing bracket 27, providing a mounting location for the swing shaft 21. The rotating shaft 26 passes through the swing plate 271, connecting the rotating shaft 26 to the swing plate 271. Furthermore, a fixed plate 272 is provided at the bottom of the swing plate 271, and the swing shaft 21 passes through the two fixed plates 272, thereby connecting the swing shaft 21 to the swing bracket 27.

[0113] The fixing plate 272 is L-shaped, which can improve the connection stability of the fixing plate 272 .

[0114] Specifically, the structure of the swing shaft 21 can be adaptively adjusted according to the structure of the magnet 24 .

[0115] When the magnet 24 is composed of a central single magnet 241 and two end single magnets 242 , the bottom of the swing shaft 21 is a square groove 211 , which is convenient for matching with the central single magnet 241 .

[0116] According to some embodiments of the present application, the swing frame 27 further includes a positioning plate 273 , the swing shaft 21 passes through the fixing plate 272 and the positioning plate 273 , and the magnet 24 is connected to the positioning plate 273 .

[0117] In some optional embodiments, the swing frame 27 further includes a positioning plate 273 . The positioning plate 273 is sleeved on the connecting shaft 22 and connected to the swing shaft 21 .

[0118] As shown in Figure 2, the magnet 24 and the positioning plate 273 can be connected by screws. In some embodiments, the walking mechanism 20 can be a driving wheel 201 or a driven wheel 202, and the magnet 24 is connected to the swing shaft 21 via the positioning plate 273. The swing shaft 21 is connected to the robot base 10 via the fixed plate 272 and the swing plate 271. In other embodiments, if the walking mechanism 20 is a driven wheel 202, the swing shaft 21 can be connected to the rotary shaft 26 via the fixed plate 272 and the swing plate 271, and the rotary shaft 26 is connected to the robot base 10.

[0119] By setting the positioning plate 273, that is, one end of the positioning plate 273 is sleeved on the connecting shaft 22, the positioning plate 273 can be rotated relative to the guide disk 25, and the other end of the positioning plate 273 is fixedly connected to the swing shaft 21. The positioning plate 273 provides a mounting surface for the guide disk 25 and the swing shaft 21, thereby realizing the connection between the guide disk 25 and the swing shaft 21.

[0120] The bottom of the swing shaft 21 is provided with an arc-shaped groove, so as to facilitate matching with the outer surface of the magnet 24 .

[0121] According to some embodiments of the present application, the magnet 24 is connected to the connecting shaft 22 , and the connecting shaft 22 is connected to the swing shaft 21 and can rotate around the swing shaft 21 .

[0122] In this embodiment, the magnet 24 is held in position within the traveling mechanism 20 by being connected to the connecting shaft 22. The connection between the connecting shaft 22 and the swing shaft 21 can compress the internal space of the traveling mechanism 20, further reducing the volume occupied by the traveling mechanism 20 while maintaining the magnetic attraction of the traveling mechanism 20 to the wall.

[0123] According to some embodiments of the present application, the two end single magnets 242 are respectively connected to the middle single magnet 241 on both sides of the middle single magnet 241 along the second direction Y, and are respectively connected to the swing axis 21, and the magnet 24 can rotate around the swing axis 21.

[0124] In this embodiment, the magnet 24 is maintained in position within the walking mechanism 20 by being connected to the swing shaft 21. Specifically, the two end single magnets 242 are connected to the middle single magnet 241 in the second direction Y to form a single unit, namely the magnet 24. Simultaneously, the two end single magnets 242 are connected to the swing shaft 21 in the third direction Z and can rotate together with the middle single magnet 241 around the line along which the swing shaft 21 lies. In other words, the magnet 24 does not need to be connected to the connecting shaft 22 and does not need to rotate with the rotation of the connecting shaft 22. This ensures that the magnetic attraction of the magnet 24 is always directed toward the wall, thereby improving the stability of the walking mechanism 20 when traveling on a curved surface.

[0125] According to some embodiments of the present application, the wall-climbing robot 1 further includes a mounting frame 28 , and the rotary shaft 26 is disposed on the mounting frame 28 .

[0126] The installation of the mounting frame 28 facilitates the connection between the walking mechanism 20 and other mechanisms on the robot.

[0127] According to some embodiments of the present application, the wall-climbing robot 1 further includes: an operation connecting plate 30 , on which a connection end 31 is provided, and a mounting frame 28 is provided on the connection end 31 ; and an operation tool 40 , which is provided on the operation connecting plate 30 .

[0128] FIG4 shows a schematic structural diagram of an operation connecting plate 30 and an operation tool 40 . The operation connecting plate 30 and the operation tool 40 may be structures connected to the robot base 10 to perform operations such as cleaning the wall, rust removal, painting, and welding.

[0129] In an embodiment of the present application, the walking mechanism 20 connected to the robot base 10 can also be arranged on the side of the working connecting plate 30 facing the wall, providing support on the wall for the working connecting plate 30 and the working tool 40 connected to the working connecting plate 30, so that the working connecting plate 30 can maintain a constant distance from the wall through the magnet 24 on the walking mechanism 20, and can move on the wall as the robot base 10 moves.

[0130] The connection end 31 is provided on the work connecting plate 30 to facilitate installation of the mounting bracket 28 on the work connecting plate 30, thereby providing a mounting location for the traveling mechanism 20. The work tool 40 is mounted on the connecting plate. For example, the work tool 40 can be a brush, a wire brush, an electric brush, an electric wire brush, a paint sprayer, or a welding device.

[0131] The embodiment of the present application can maintain a constant force and distance between the working tool 40 and the curved wall, without the need to use an additional motor to control the force and distance between the working tool 40 and the wall, and without the need to use complex mechanisms such as springs to ensure multi-point constant contact between the working tool 40 and the wall, cleverly solving the problems of high cost, complex control, and low operating accuracy in the process of the wall-climbing robot 1 performing related working tasks.

[0132] The specific structure of the working tool 40 can be set according to actual conditions.

[0133] The operation connecting plate 30 is provided with a connecting structure 32 connected to the moving guide rail of the wall-climbing robot 1, thereby achieving the connection between the operation connecting plate 30 and the robot base 10. The connecting structure 32 can be a connecting shaft or the like.

[0134] According to some embodiments of the present application, there are one or more connecting ends 31 . In the case where there are multiple connecting ends 31 , the multiple connecting ends 31 are spaced apart along the outer edge of the working connecting plate 30 .

[0135] When there is only one connection end 31, it can be set at any position on the work connection plate 30. When there are multiple connection ends 31, multiple connection ends 31 can also be set at any position on the work connection plate 30, or a stable connection point can be selected according to actual conditions to set the connection end 31.

[0136] In another embodiment, multiple connecting ends 31 are provided, spaced apart along the outer edge of the work connecting plate 30. By locating the connecting ends 31 on the outer edge of the work connecting plate 30, the traveling mechanism 20 can be more easily mounted on the work connecting plate 30, improving the installation stability of the work connecting plate 30. Furthermore, the connecting ends 31 at multiple vertices do not interfere with each other, facilitating the movement of the traveling mechanism 20 and the working tool 40 on the curved surface.

[0137] FIG4 shows a case where there are four connection terminals 31 . The specific number of connection terminals 31 can be set according to actual conditions.

[0138] When the height of the working tool 40 needs to be adjusted, a gasket may be provided between the working connection plate 30 and the working tool 40 , that is, the height of the working tool 40 is adjusted by the gasket.

[0139] The wall-climbing robot 1 provided in the embodiments of the present application can be used for surface operations on flat or curved surfaces, and is particularly suitable for surface operations on vertical, inclined, or inaccessible walls. Specifically, it can be used for surface operations on equipment such as ship hulls, oil and water storage tanks, bridges, high towers, and wind turbine towers. It can also be used for surface operations on large industrial equipment (such as boilers and reactors).

[0140] Taking the application of the wall-climbing robot 1 to a wind turbine tower as an example, since the radius of the tower becomes smaller and smaller and the curvature becomes larger and larger from bottom to top, not only does the wall-climbing robot 1 need to adapt to the changes in the curved surface when walking on the tower surface, but the working tool 40 carried by the wall-climbing robot 1 also needs to adapt to the changes in the curved surface. If only one working tool 40 is used for operation, the operation efficiency will be relatively low. If the size of the working tool 40 is too large, the working tool 40 will not have good contact with the tower curved surface during operation (close contact in the middle and loose contact on both sides). In this case, a larger operation area can only be achieved by setting up multiple working tools 40. If multiple working tools 40 are used, each working tool 40 requires an adaptive adjustment mechanism 503 and three magnetic universal wheels to achieve stable contact with the working surface. This will make the structure of the working tool 40 complicated, not only increasing the weight of the equipment, but also increasing the equipment cost.

[0141] Therefore, the wall-climbing robot 1 provided in the embodiment of the present application may include an operating module 50, the operating module 50 includes at least one main operating platform 501, and the main operating platform 501 is connected to the robot base 10; the walking mechanism 20 includes an adsorption wheel 60, and the adsorption wheel 60 is arranged on the side of the main operating platform 501 facing the wall, for fitting with the wall.

[0142] The operation module 50 is a device mounted on the robot base 10 to perform wall operations, such as cleaning, rust removal, spray painting, welding, etc. The main operation platform 501 in the operation module 50 is connected to the robot base 10.

[0143] The walking mechanism 20 of the wall-climbing robot 1 may include an adsorption wheel 60 that moves on the wall surface with the auxiliary operation module 50. The adsorption wheel 60 is arranged on the side of the main operation platform 501 facing the wall. The adsorption wheel 60 usually has a certain adsorption force on the wall surface and can pull the main operation platform 501 to fit the wall surface. When the curvature of the wall surface changes, the adsorption wheel 60 on the main operation platform 501 always moves along the wall surface and approaches the wall surface under the drive of the adsorption wheel 60. The adsorption wheel 60 can be, for example, an adsorption universal wheel or an adsorption omnidirectional wheel. In some embodiments, the structure of the adsorption wheel 60 can be the same as that of the passive wheel 202.

[0144] In this way, the main working platform 501 can be kept in contact with the wall surface, thereby improving the working effect on the wall surface.

[0145] According to some embodiments of the present application, the operation module 50 also includes at least one sub-operation platform 502, which is movably connected to the main operation platform 501, and the adsorption wheel 60 is arranged on the side of the sub-operation platform 502 facing the wall for fitting with the wall.

[0146] Figure 5 shows a structure in which an operating module 50 is mounted on a robot base 10. Taking Figure 5 as an example, there can be one main operating platform 501 and four sub-operating platforms 502. The four sub-operating platforms 502 are symmetrically arranged on both sides of the main operating platform 501.

[0147] The sub-operating platform 502 may also be equipped with suction wheels 60, located on the side of the sub-operating platform 502 facing the wall. The suction wheels 60 typically exert a certain amount of suction force on the wall, pulling the main operating platform 501 and the sub-operating platform 502 into contact with the wall. If the curvature of the wall changes, the suction wheels 60 on the sub-operating platform 502 will continue to move along the wall. Driven by the suction wheels 60, the sub-operating platform 502 approaches the wall and adjusts its relative position to the main operating platform 501 through a flexible connection.

[0148] Through the movable connection between the sub-operating platform 502 and the main operating platform 501, the sub-operating platform 502 can adjust the connection angle with the main operating platform 501 according to the changes in the curved surface to maintain contact with the wall, and is not easily separated from the wall when the curvature of the wall changes.

[0149] This can increase the working area and reduce cleaning costs. While increasing the working area, both the main working platform 501 and the sub-working platform 502 can have good contact with the wall surface, thereby improving the working effect.

[0150] According to some embodiments of the present application, the sub-operating platform 502 is connected to the main operating platform 501 via a hinge.

[0151] The movable connection 508 between the sub-working platform 502 and the main working platform 501 can be a hinge, or other structure that enables relative rotation of the two connected parts. The hinge, or other structure can adjust the position of the main working platform 501 and the sub-working platform 502 to accommodate changes in the curvature of the wall.

[0152] According to some embodiments of the present application, the wall-climbing robot 1 includes an adaptive adjustment mechanism 503 , which is connected to the robot base 10 and to the main working platform 501 , and is used to drive the main working platform 501 to move.

[0153] The adaptive adjustment mechanism 503 refers to the portion connecting the main working platform 501 and the robot base 10 , and has a portion that can slide relatively so as to adjust the main working platform 501 according to the actual conditions of the wall.

[0154] Specifically, the adaptive adjustment mechanism 503 may include a sliding component 504 and an adjustment component 505. The sliding component 504 is connected to the robot base 10. The sliding component 504 can move in the third direction Z along the sliding component 504, so that the main working platform 501 can realize adaptive adjustment of the relative position with the wall according to the change of the curved surface.

[0155] The adaptive adjustment mechanism 503 can also realize the connection between the working module 50 and the robot base 10. When the robot base 10 moves along the wall driven by the walking mechanism 20, it drives the working module 50 to walk on the wall and move to the working area to perform operations.

[0156] There may be multiple adaptive adjustment mechanisms 503 , and correspondingly there may be multiple main operating platforms 501 connected to the adaptive adjustment mechanisms 503 . The number of sub-operating platforms 502 may be set according to actual conditions.

[0157] According to some embodiments of the present application, the main working platform 501 and the sub-working platform 502 respectively include a driving mechanism 51, a cleaning brush disc 52 and a connecting plate 53. The driving mechanism 51 is arranged on the side of the connecting plate 53 away from the wall along the third direction Z, and the cleaning brush disc 52 is arranged on the side of the connecting plate 53 toward the wall along the third direction Z. The driving mechanism 51 is connected to the cleaning brush disc 52 for driving the cleaning brush disc 52 to work.

[0158] FIG6 shows a schematic structural diagram of an operation module 50. Taking the operation module 50 used for cleaning a wall as an example, each main operation platform 501 and each sub-operation platform 502 may include a drive mechanism 51, a cleaning brush disc 52, and a connecting plate 53. The connecting plate 53 of the main operation platform 501 is connected to the adaptive adjustment mechanism 503. The drive mechanism 51 and the cleaning brush disc 52 of the main operation platform 501 are respectively connected to the connecting plate 53. Specifically, the drive mechanism 51 is arranged on the side of the connecting plate 53 facing away from the wall along the third direction Z, and the cleaning brush disc 52 is arranged on the side of the connecting plate 53 facing the wall along the third direction Z. The drive mechanism 51 and the cleaning brush disc 52 are connected in a form of penetrating the connecting plate 53. The drive mechanism 51 drives the cleaning brush disc 52 to rotate, and the cleaning brush disc 52 is used to clean the wall.

[0159] According to some embodiments of the present application, the driving mechanism 51 includes: a power motor 511 and a reducer 512, the power motor 511 is connected to the reducer 512, and the reducer 512 is arranged on the support bracket 531 of the connecting plate 53; a coupling 513, which is arranged in the support bracket 531, one end of the coupling 513 is connected to the reducer 512, and the other end is connected to the cleaning brush plate 52.

[0160] Figure 7 shows a structural schematic diagram of a driving mechanism 51 and a cleaning brush disc 52. As shown in Figure 7, a supporting bracket 531 is provided on the connecting plate 53, which can provide an installation position for the power motor 511 and the reducer 512. At the same time, a coupling 513 is also provided at one end of the reducer 512, which is connected to the cleaning brush disc 52 to realize the connection between the reducer 512 and the cleaning brush disc 52, that is, the power motor 511 is used to drive the cleaning brush disc 52 to clean the oil and water stains on the surface of the wind turbine tower.

[0161] According to some embodiments of the present application, the wall-climbing robot 1 includes: a high-pressure water pipe 70 and a cleaning liquid pipe 90 , and the high-pressure water pipe 70 and the cleaning liquid pipe 90 are arranged on the operation module 50 .

[0162] FIG8 is a schematic diagram showing the structure of the operation module 50 provided with a high-pressure water pipe 70 and a cleaning liquid pipe 90. As shown in FIG8 , the cleaning liquid pipe 90 can spray cleaning liquid onto the operation area on the wall surface, and the driving mechanism 51 drives the cleaning brush disc 52 to clean the operation area; the high-pressure water pipe 70 can deliver water used for cleaning to the operation area, and rinse the area brushed by the cleaning brush disc 52. In one embodiment, the cleaning liquid nozzle 506 can be provided on the connecting plate 53. Specifically, a fixing bracket 507 can be provided on the connecting plate 53, and the fixing bracket 507 is used to fix the cleaning liquid nozzle 506. The cleaning liquid nozzle 506 is connected to the cleaning liquid pipe 90 to spray cleaning liquid onto the wall surface.

[0163] According to some embodiments of the present application, the wall-climbing robot 1 includes: a flow regulating device 80 , which is provided on the robot base 10 , and the flow regulating device 80 is connected to the cleaning liquid pipe 90 .

[0164] 9 shows the structure of the flow regulating device 80 on the robot base 10. The flow regulating device 80 can timely adjust the flow of the cleaning liquid to avoid the situation of too little or too much cleaning liquid.

[0165] According to some embodiments of the present application, the flow regulating device 80 includes: a solenoid valve fixed base plate 801, the solenoid valve fixed base plate 801 is arranged on the robot base 10, an upper cover plate 802 is provided on the solenoid valve fixed base plate 801, a solenoid valve 803 is provided on the solenoid valve fixed base plate 801, and the solenoid valve 803 is provided on the high-pressure water pipe 70; an electric driving component 805, which is arranged on the solenoid valve fixed base plate 801, and the cleaning liquid pipe 90 passes through the electric driving component 805.

[0166] Figures 10 and 11 show the structure of a specific flow regulating device 80. As shown in Figures 10 and 11, the solenoid valve fixing base plate 801 is set on the robot base 10, providing an installation position for the solenoid valve fixing base plate 801; at the same time, the setting of the upper cover plate 802 can protect the solenoid valve 803 and the electric driving component 805 in the upper cover plate 802, avoiding the solenoid valve 803 and the electric driving component 805 from being exposed to the outside and damaged.

[0167] A solenoid valve fixing plate 804 is also provided on the solenoid valve fixing base plate 801, and the solenoid valve 803 is also fixed on the solenoid valve fixing plate 804. The solenoid valve 803 is provided on the high-pressure water pipe 70, and the solenoid valve 803 can be used to adjust the flow of water.

[0168] According to some embodiments of the present application, the electric push assembly 805 includes: an electric push rod 808 fixed base plate 806, which is arranged on the solenoid valve fixed base plate 801, an adjustment seat 807 is provided on the electric push rod 808 fixed base plate 806, and the cleaning liquid pipe 90 passes through the adjustment seat 807; an electric push rod 808, which is arranged on the electric push rod 808 fixed base plate 806, and the electric push rod 808 abuts against the cleaning liquid pipe 90.

[0169] The solenoid valve fixing base 801 provides a mounting location for the electric push rod 808 fixing base 806. Furthermore, an adjustment seat 807 is provided on the electric push rod 808 fixing base 806, through which the cleaning liquid pipe 90 passes. Furthermore, the electric push rod 808 abuts against the cleaning liquid pipe 90, and the flow rate of the cleaning liquid pipe 90 can be adjusted by controlling the extension and retraction of the electric push rod.

[0170] Among them, the end of the electric push rod 808 is provided with a top tightening cap 809, which abuts against the cleaning liquid pipe 90 and plays a role in protecting the cleaning liquid pipe 90. At the same time, the top tightening cap 809 is a conical structure, which is also convenient for quickly adjusting the flow rate of the cleaning liquid.

[0171] According to some embodiments of the present application, the wall-climbing robot 1 includes: a flexible recovery mechanism 100, which is provided on the robot base 10, and the opening direction of the flexible recovery mechanism 100 is opposite to the direction of water flow.

[0172] Figure 12 shows the structure of a flexible recovery mechanism 100. During the cleaning process, the generated sewage flows back through gravity and is quickly collected by the flexible recovery mechanism 100 to improve the cleanliness of the wall surface. This not only maintains cleanliness, but also reduces the risk of the walking mechanism 20 slipping or falling on the tower wall covered with oil and sewage. Since the opening direction of the flexible recovery mechanism 100 is opposite to the direction of water flow, the cleaned sewage flows downward along the direction of gravity. The flexible recovery mechanism 100 opens upward along the direction of gravity, so the sewage can be caught by the flexible recovery mechanism 100 and smoothly enters the flexible recovery mechanism 100 for recycling.

[0173] According to some embodiments of the present application, the flexible recovery mechanism 100 includes: a recovery trough 101, which is connected to the robot base 10, and a mounting plate 102 is arranged in the recovery trough 101, and a recovery bar fixing bracket 103 is provided on the mounting plate 102; a recovery scraper 104, which is arranged on the side of the recovery bar fixing bracket 103 facing the wall along the third direction Z; a flexible member 106, which is arranged between the recovery scraper 104 and the recovery bar fixing bracket 103, and is used to press the recovery scraper 104 against the wall.

[0174] The mounting plate 102 within the recovery trough 101 provides a mounting location for the recovery bar fixing bracket 103. The recovery bar fixing bracket 103 can have two symmetrically arranged brackets, each used to connect the recovery trough 101 and the recovery scraper 104. Specifically, the recovery bar fixing bracket 103 connects to the recovery trough by connecting to the mounting plate 10 within the recovery trough 101, and connects to the recovery scraper 104 by connecting to the flexible member 106. The flexible member 106 is disposed between the recovery scraper 104 and the recovery bar fixing bracket 103, with one end of the flexible member 106 connected to the recovery scraper 104 and the other end connected to the recovery bar fixing bracket 103.

[0175] The flexible member 106 has a certain elasticity in its extension direction, which can provide support to the recovery scraper 104 in the direction of gravity and provide pressure to the recovery scraper 104 in the direction perpendicular to the wall surface, so that the recovery scraper 104 fits tightly to the wall surface.

[0176] The recovery scraper 104 is provided on one side of the recovery bar fixing bracket 103 facing the wall along the third direction Z. The recovery scraper 104 can collect sewage and allow the sewage to quickly enter the recovery tank 101 .

[0177] According to some embodiments of the present application, the flexible recovery mechanism 100 includes an adsorption member 109 , and the recovery scraper 104 is in close contact with the wall surface through the flexible member 106 and the adsorption member 109 as the curvature of the wall surface changes.

[0178] The suction member 109 is provided on the recovery scraper 104 and is capable of generating an adsorption force with the wall surface on the side of the recovery scraper 104 facing the wall surface along the third direction Z, thereby causing the recovery scraper 104 to closely adhere to the wall surface. Specifically, the suction member 109 can be provided at both ends of the recovery scraper 104 along the second direction Y. Then, the flexible member 106 applies a force toward the wall surface to the recovery scraper 104 in the middle region of the recovery scraper 104, thereby causing the middle region of the recovery scraper 104 to closely adhere to the wall surface. The suction member 109 generates an adsorption force with the wall surface at both end regions of the recovery scraper 104, thereby causing the end regions of the recovery scraper 104 to closely adhere to the wall surface.

[0179] Therefore, the provision of the flexible member 106 and the adsorption member 109 can improve the degree of contact between the recovery scraper 104 and the wall surface, thereby improving the recovery effect of the recovery scraper 104 on sewage.

[0180] In some embodiments, the adsorption member 109 may be a magnet, and there may be a plurality of magnets, which are spaced apart and arranged on the recovery scraper 104 .

[0181] Specifically, as shown in Figure 13, the flexible part 106 may include a pin shaft 1061 and a connecting rod 1062, a telescopic spring 1063, and a plastic sleeve 1064; the pin shaft 1061 is arranged on the mounting seat of the recovery scraper 104, and the pin shaft 1061 passes through the connecting rod 1062, the telescopic spring 1063 is sleeved on the connecting rod 1062, and the plastic sleeve 1064 is arranged on the top of the connecting rod 1062; through the connection between the pin shaft 1061 and the connecting rod 1062, the telescopic spring 1063, and the plastic sleeve 1064 and the recovery scraper 104, the recovery scraper 104 can change with the change of curvature on the wall surface, that is, it is in close contact with the wall surface, ensuring that the cleaned oil and wastewater flow smoothly into the recovery tank 101 for collection.

[0182] At the same time, a recovery pipe 108 may also be provided on the recovery tank 101 , as shown in FIG. 13 and FIG. 14 . The recovery pipe 108 is provided at both ends of the recovery tank 101 through mounting joints 1081 for discharging water from the recovery tank 101 .

[0183] A quick-release plug 11 is provided on the robot base 10 , and the quick-release plug 11 is connected to the recovery tank 101 , so that the robot base 10 can be quickly connected to and removed from the recovery tank 101 through the quick-release plug 11 .

[0184] In some embodiments, a water pipe fixing plate 701 is provided on the adaptive adjustment mechanism 503, and a water pipe fixing block 702 is provided on the water pipe fixing plate 701, and the water pipe fixing block 702 is connected to the extension rod 107, that is, the water pipe fixing plate 701 is fixed to the extension rod 107 for fixation; and a plurality of high-pressure water nozzles 703 are provided on the high-pressure water pipe, and two adjacent high-pressure water pipes are connected using a water pipe connector 704.

[0185] According to some embodiments of the present application, the adaptive adjustment mechanism 503 includes: an extension rod 107, which is provided on the mounting plate 102; a sliding assembly 504, which is connected to the extension rod 107 and to the main working platform 501, and is used to drive the main working platform 501 to move in the third direction Z; an adjustment assembly 505, which is provided between the sliding assembly 504 and the connecting plate 53 of the main working platform 501, and the adjustment assembly 505 is used to drive the sliding assembly 504 and the main working platform 501 to rotate around the straight line in the second direction Y and / or the straight line in the first direction X.

[0186] Sliding assembly 504 is the structure on adaptive adjustment mechanism 503 that drives the working module 50 to perform adaptive adjustment in the third direction. One end of sliding assembly 504 is connected to the working module 50, specifically, to the main working platform 501; the other end is connected to the recovery tank 101 via an extension rod 107. Specifically, extension rod 107 is located in the middle of mounting plate 102 and connects to mounting plate 102 within the recovery tank 101.

[0187] The adjustment component 505 refers to a structure on the adaptive adjustment mechanism 503 for performing rotational adjustment on the operation module 50 around the line in the second direction Y and / or the line in the first direction X.

[0188] The adaptive adjustment mechanism 503 simultaneously realizes the adjustment of the entire operation module 50 in multiple directions through the arrangement of the sliding component 504 and the adjustment component 505.

[0189] FIG15 shows an exploded structural diagram of the adaptive adjustment mechanism 503. As shown in FIG15 , the sliding assembly 504 includes a slider 5031, a slide rail 5032, an adapter 5033, and a fixing member 5034. The fixing member 5034 is connected to the extension rod 107, the adapter 5033 is connected to the fixing member 5034, and the slider 5031 is connected to the adapter 5033. The slider 5031 is slidably connected to the slide rail 5032. The adjustment assembly 505 is located at the bottom of the slide rail 5032, and can drive the main working platform 501 to move up and down through the robot base 10 to adapt to the wall.

[0190] This setting method enables the adjustment component 505 and the main working platform 501 to move in the extension direction of the slide rail 5032, that is, the adjustment component 505 and the main working platform 501 are moved in the vertical direction of the slide rail 5032, wherein the vertical direction of the slide rail 5032 is the third direction Z.

[0191] In addition, the setting of the adjustment component 505 can adjust the angles of the main working platform 501 and the sub-working platform 502 on the wall, so that the contact between the main working platform 501 and the sub-working platform 502 and the wall is more close, so that the main working platform 501 and the sub-working platform 502 can better clean the wall and avoid omissions.

[0192] There are two sliders 5031, which are mounted on two slide rails 5032. At the same time, fixed connectors 5039 are provided on the slide rails 5032, forming the two slide rails 5032 into a whole. The fixed connectors 5039 are used to connect the two slide rails 5032, ensuring the stability of the movement of the adjustment assembly 505 and the main working platform 501.

[0193] According to some embodiments of the present application, the adjustment assembly 505 includes: an angle adjustment member 5035, which is provided at the bottom of the sliding assembly 504; a connecting block 5036, which is connected to the connecting plate 53 of the main working platform 501; a first rotating shaft 5037 extending along the second direction Y and is provided on one side of the connecting block 5036 along the second direction Y, and the connecting block 5036 can rotate around the first rotating shaft 5037; a second rotating shaft 5038, which is connected to the angle adjustment member 5035 and is provided on the first rotating shaft 5037, and the first rotating shaft 5037 and the second rotating shaft 5038 are perpendicular to each other.

[0194] As shown in Figures 15 and 16, the adjustment assembly 505 includes an angle adjustment member 5035, which is located at the bottom of the slide rail 5032; two connecting blocks 5036, which are located on the connecting plate 53 of the main working platform 501. A first rotating shaft 5037 is located between the two connecting blocks 5036. The angle adjustment member 5035 is located on the first rotating shaft 5037 via a second rotating shaft 5038. The first rotating shaft 5037 and the second rotating shaft 5038 are perpendicular to each other. This enables the adaptive adjustment mechanism 503 to rotate relative to each other in two directions, allowing the main working platform 501 to adapt to changes in the curvature of the wall.

[0195] The angle adjustment member 5035 includes an L-shaped folding plate and two vertical plates, with a gap between the two vertical plates for accommodating the first rotating shaft 5037. In order to facilitate the connection between the angle adjustment member 5035 and the first rotating shaft 5037, the middle portion of the first rotating shaft 5037 can be set into a prism shape.

[0196] When the wall-climbing robot 1 cleaning and recovery device is actually used, the operation module 50 and the flexible recovery mechanism 100 are fixed to the robot base 10. The operation module 50 uses five rotating cleaning brush discs 52 to clean oil stains, water stains and other attachments on the surface of the wind turbine tower. While the cleaning brush discs 52 are cleaning, the cleaning liquid nozzle 506 sprays cleaning liquid on the tower surface to be cleaned. After the cleaning brush discs 52 are cleaned, the high-pressure water nozzle 703 is used to high-pressure rinse the cleaned area.

[0197] In the case of a vertical tower: after high-pressure washing, the cleaned oil stains, water stains and other attachments are recovered through the recovery scraper 104 and the recovery tank 101.

[0198] In the case of a horizontal tower: after high-pressure washing, the washed surface is scraped by the recovery scraper 104 without recycling.

[0199] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A wall-climbing robot, characterized in that: include: Robot base (10); A walking mechanism (20), wherein the walking mechanism (20) is arranged on a side of the robot base (10) facing the wall, and comprises a swing shaft (21), a connecting shaft (22), a wheel body (23) and a magnet (24). The wheel body (23) is used for walking on the wall and is arranged at two ends of the connecting shaft (22) extending along a first direction (X), wherein the first direction (X) is perpendicular to the diameter direction of the wheel body (23). The magnet (24) is used for providing a magnetic adsorption force between the walking mechanism (20) and the wall, and is arranged between the wheel bodies (23) at two ends of the connecting shaft (22). The swing shaft (21) extends along a second direction (Y) and is arranged between the wheel bodies (23) at two ends of the connecting shaft (22), wherein the second direction (Y) is perpendicular to the first direction (X). The connecting shaft (22) can rotate around the swing shaft (21).

2. The wall-climbing robot according to claim 1, characterized in that: The magnet (24) is a single magnet; The walking mechanism (20) comprises a magnetic guide disk (25) for magnetizing the magnet (24) in the first direction (X); the magnetic guide disk (25) is arranged on both sides of the magnet (24) along the first direction (X); the size of the magnetic guide disk (25) on a plane perpendicular to the first direction (X) is larger than the size of the magnet (24) on a plane perpendicular to the first direction (X).

3. The wall-climbing robot according to claim 1, characterized in that: The magnet (24) comprises a middle single magnet (241) and two end single magnets (242) arranged along a second direction (Y), the middle single magnet (241) being located between the two end single magnets (242), the magnetization direction of the end single magnets (242) being parallel to the second direction (Y), the magnetization direction of the middle single magnet (241) being parallel to a third direction (Z), the magnetic pole of the end single magnet (242) on a side close to the middle single magnet (241) in the second direction (Y) being the same as the magnetic pole of the middle single magnet (241) on a side close to the wall in the third direction (Z), and the third direction (Z) being perpendicular to the first direction (X) and the second direction (Y).

4. The wall-climbing robot according to any one of claims 1 to 3, characterized in that: The walking mechanism (20) comprises a driving wheel, and the swing shaft (21) of the driving wheel is connected to the robot base (10).

5. The wall-climbing robot according to any one of claims 1 to 4, characterized in that: The walking mechanism (20) comprises a passive wheel, the passive wheel comprises a rotating shaft (26), the rotating shaft (26) is connected to the robot base (10), the rotating shaft (26) extends along a third direction (Z), the rotating shaft (26) extends along the third direction (Z), and the third direction (Z) is perpendicular to the first direction (X) and the second direction (Y).

6. The wall-climbing robot according to claim 5, characterized in that: The rotary shaft (26) is provided with a swing frame (27), and the swing frame (27) comprises: A swing plate (271), wherein the rotary shaft (26) is disposed through the swing plate (271); The fixed plates (272) are provided with two, and the two fixed plates (272) are symmetrically arranged at the bottom of the swing plate (271), and the swing shaft (21) is arranged on the fixed plates (272).

7. The wall-climbing robot according to claim 6, characterized in that: The swing frame (27) further comprises a positioning plate (273), the swing shaft (21) is arranged to penetrate the fixing plate (272) and the positioning plate (273), and the magnet (24) is connected to the positioning plate (273).

8. The wall-climbing robot according to any one of claims 1 to 7, characterized in that: The magnet (24) is connected to the connecting shaft (22), and the connecting shaft (22) is connected to the swing shaft (21) and is capable of rotating around the swing shaft (21).

9. The wall-climbing robot according to any one of claims 3 to 8, characterized in that: The two end single magnets (242) are respectively connected to the middle single magnet (241) on both sides of the middle single magnet (241) along the second direction (Y), and are respectively connected to the swing shaft (21), and the magnet (24) can rotate around the swing shaft (21).

10. The wall-climbing robot according to any one of claims 1 to 9, characterized in that: It also includes a mounting frame (28), and the rotating shaft (26) is arranged on the mounting frame (28).

11. The wall-climbing robot according to any one of claims 1 to 10, characterized in that: The wall-climbing robot also includes: An operation connecting plate (30), wherein the operation connecting plate (30) is provided with a connecting end (31), and the mounting frame (28) is arranged on the connecting end (31); The working tool (40) is arranged on the working connecting plate (30).

12. The wall-climbing robot according to claim 11, characterized in that: The connection end (31) has one or more than one connection end. When the connection end (31) has more than one connection end, the connection ends (31) are arranged at intervals along the outer edge of the operation connection plate (30).

13. The wall-climbing robot according to any one of claims 1 to 12, characterized in that: The wall-climbing robot comprises: An operation module (50) comprises at least one main operation platform (501), wherein the main operation platform (501) is connected to the robot base (10); The walking mechanism (20) comprises an adsorption wheel (60), and the adsorption wheel (60) is arranged on a side of the main working platform (501) facing the wall surface, and is used to fit the wall surface.

14. The wall-climbing robot according to claim 13, characterized in that: The operation module (50) further comprises at least one sub-operation platform (502), wherein the sub-operation platform (502) is movably connected to the main operation platform (501), and the adsorption wheel (60) is arranged on a side of the sub-operation platform (502) facing the wall surface, and is used for being attached to the wall surface.

15. The wall-climbing robot according to claim 14, characterized in that: The sub-operating platform (502) is connected to the main operating platform (501) via a hinge.

16. The wall-climbing robot according to any one of claims 13 to 15, characterized in that: The wall-climbing robot comprises: An adaptive adjustment mechanism (503), the adaptive adjustment mechanism (503) is connected to the robot base (10) and to the main working platform (501), and is used to drive the main working platform (501) to move.

17. The wall-climbing robot according to any one of claims 14 to 16, characterized in that: The main working platform (501) and the sub-working platform (502) respectively comprise a driving mechanism (51), a cleaning brush disc (52) and a connecting plate (53); the driving mechanism (51) is arranged on a side of the connecting plate (53) away from the wall surface along a third direction (Z); the cleaning brush disc (52) is arranged on a side of the connecting plate (53) facing the wall surface along the third direction (Z); the driving mechanism (51) is connected to the cleaning brush disc (52) and is used to drive the cleaning brush disc (52) to work.

18. The wall-climbing robot according to any one of claims 13 to 17, characterized in that: The wall-climbing robot comprises: A high-pressure water pipe (70) and a cleaning liquid pipe (90), wherein the high-pressure water pipe (70) and the cleaning liquid pipe (90) are arranged on the operation module (50).

19. The wall-climbing robot according to claim 18, characterized in that: The wall-climbing robot comprises: A flow regulating device (80) is arranged on the robot base (10), and the flow regulating device (80) is connected to the cleaning liquid pipe (90).

20. The wall-climbing robot according to claim 19, characterized in that: The flow regulating device (80) comprises: A solenoid valve fixing base plate (801), the solenoid valve fixing base plate (801) being arranged on the robot base (10), an upper cover plate (802) being arranged on the solenoid valve fixing base plate (801), a solenoid valve (803) being arranged on the solenoid valve fixing base plate (801), and the solenoid valve (803) being arranged on the high-pressure water pipe (70); The electric driving component (805) is arranged on the electromagnetic valve fixed bottom plate (801), and the cleaning liquid pipe (90) passes through the electric driving component (805).

21. The wall-climbing robot according to claim 20, characterized in that: The electric propulsion assembly (805) comprises: An electric push rod fixed base plate (806) is arranged on the electromagnetic valve fixed base plate (801), an adjustment seat (807) is arranged on the electric push rod fixed base plate (806), and the cleaning liquid pipe (90) passes through the adjustment seat (807); The electric push rod (808) is arranged on the electric push rod fixing base plate (806), and the electric push rod (808) is in contact with the cleaning liquid pipe (90).

22. The wall-climbing robot according to any one of claims 13 to 21, characterized in that: The wall-climbing robot comprises: A flexible recovery mechanism (100) is arranged on the robot base (10), and an opening direction of the flexible recovery mechanism (100) is opposite to a water flow direction.

23. The wall-climbing robot according to claim 22, characterized in that: The flexible recovery mechanism (100) comprises: A recycling tank (101) is connected to the robot base (10), and a mounting plate (102) is arranged in the recycling tank (101), and a recycling bar fixing bracket (103) is arranged on the mounting plate (102); A recovery scraper (104) is arranged on a side of the recovery bar fixing bracket (103) facing the wall surface along the third direction (Z); A flexible member (109), the flexible member (109) being arranged between the recovery scraper (104) and the recovery bar fixing bracket (103), and being used for pressing the recovery scraper (104) against the wall surface.

24. The wall-climbing robot according to claim 23, characterized in that: The flexible recovery mechanism (100) comprises: The adsorption member (109), the recovery scraper (104) is in close contact with the wall surface through the flexible member (109) and the adsorption member (109) together with the change of the curvature of the wall surface.

25. The wall-climbing robot according to claim 24, characterized in that: The adaptive adjustment mechanism (503) comprises: An extension rod (107) is arranged on the mounting plate (102); A sliding assembly (504) connected to the extension rod (107) and to the main working platform (501), and used for driving the main working platform (501) to move in the third direction (Z); An adjusting component (505) is disposed between the sliding component (504) and a connecting plate (53) of the main working platform (501), and the adjusting component (505) is used to drive the sliding component (504) and the main working platform (501) to rotate around a straight line where the second direction (Y) is located and / or a straight line where the first direction (X) is located.

26. The wall-climbing robot according to claim 25, characterized in that: The adjustment component (505) comprises: An angle adjustment member (5035) is disposed at the bottom of the sliding assembly (504); A connecting block (5036), the connecting block (5036) being connected to the connecting plate (53) of the main working platform (501); A first rotating shaft (5037), extending along the second direction (Y), and arranged on one side of the connecting block (5036) along the second direction (Y), and the connecting block (5036) is capable of rotating around the first rotating shaft (5037); The second rotating shaft (5038) is connected to the angle adjusting member (5035) and is disposed on the first rotating shaft (5037). The first rotating shaft (5037) and the second rotating shaft (5038) are perpendicular to each other.

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