Wall-climbing robot

Abstract

A wall-climbing robot (10), comprising: a main frame (100); two auxiliary frames (200), which are connected to two opposite sides of the main frame (100), at least of the one auxiliary frames (200) being rotatably connected to the main frame (100) and rotating around the main frame (100) in the arrangement direction of the auxiliary frames (200) and the main frame (100); and two wheel groups (300), which are mounted on different auxiliary frames (200), respectively, each wheel group (300) comprising a driving wheel (310) and a driven wheel (320), and the driving wheel (310) and the driven wheel (320) being rotatably mounted on the auxiliary frame (200).

Description

Wall-climbing robot

[0001] This application claims priority to Chinese Patent Application No. 202411706135.X, filed on November 26, 2024, entitled "Wall Climbing Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics, specifically to a wall-climbing robot. Background Technology

[0003] In recent years, industries such as petrochemical storage tanks, wind power generation, and shipbuilding have flourished, bringing with them numerous maintenance challenges. From surface inspection to rust removal and cleaning, these processes often require significant manpower, and manual labor suffers from low efficiency, long lead times, inconsistent quality, worker safety hazards, and environmental pollution. Therefore, many industries have begun to focus on the use of wall-climbing robots. Leveraging the ability of these robots to traverse ship surfaces, wind turbine towers, and petrochemical storage tanks, combined with ultra-high-pressure water cleaning devices and recovery systems, maintenance efficiency can be improved, work quality guaranteed, labor freed up, and environmental pollution reduced, ultimately achieving cost control and maximizing benefits. Summary of the Invention

[0004] An embodiment of this application provides a wall-climbing robot.

[0005] Embodiments of this application provide a wall-climbing robot, comprising:

[0006] Main support;

[0007] Two auxiliary supports are connected to opposite sides of the main support, and at least one of the auxiliary supports is rotatably connected to the main support and rotates around the main support along the arrangement direction of the auxiliary supports and the main support;

[0008] Two wheel sets are respectively mounted on different auxiliary supports. Each wheel set includes a driving wheel and a driven wheel, which are rotatably mounted on the auxiliary support.

[0009] In one embodiment, the auxiliary support includes a frame and a rotating body, the frame being rotatably connected to the main support, the driven wheel being mounted on the rotating body, and the rotating body being rotatably mounted on the frame.

[0010] In one embodiment, the rotating body rotates around the frame along the arrangement direction of the auxiliary support and the main support.

[0011] In one embodiment, the rotating body includes a first mounting portion and a first protrusion. The first protrusion protrudes from the side of the first mounting portion facing the frame. Along the arrangement direction of the driving wheel and the driven wheel, the first protrusion is disposed opposite to the bracket.

[0012] The auxiliary support also includes a rotating shaft, which passes through the first protrusion and the frame, so that the rotating body can rotate relative to the frame.

[0013] In one embodiment, the frame includes two second protrusions disposed opposite to each other, the first protrusion being disposed between the two second protrusions, and the rotating shaft passing through the first protrusion and the two second protrusions.

[0014] In one embodiment, along the arrangement direction of the driving wheel and the driven wheel, the first mounting part has a first protrusion at each of its opposite ends, and the first protrusion and the frame are rotatably connected by the rotating shaft.

[0015] In one embodiment, the main support includes an intermediate rotating shaft and a frame hinge shaft, and the auxiliary support includes a frame body and a lug. The frame body is disposed on one side of the intermediate rotating shaft in the axial direction, and the lug is disposed on one side of the intermediate rotating shaft in the radial direction. The frame hinge shaft passes through the lug and the intermediate rotating shaft so that the auxiliary support can rotate around the frame hinge shaft.

[0016] In one embodiment, the intermediate pivot includes a support rod and a connector. The support rod is connected to the auxiliary support via the connector, and the connector is rotatably connected to the lug via the frame hinge.

[0017] In one embodiment, the intermediate pivot further includes a fixing pin, the connector is at least partially sleeved on the support rod, and the fixing pin passes through the connector and the support rod to connect the connector and the support rod.

[0018] In one embodiment, at least one of the opposite ends of the support rod is provided with a strip-shaped hole, the strip-shaped hole extending along the arrangement direction of the driving wheel and the driven wheel, and the fixing pin passing through the strip-shaped hole so that the auxiliary support can swing relative to the main support. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 is a structural schematic diagram of the wall-climbing robot provided in an embodiment of this application;

[0021] Figure 2 is a schematic diagram of the hidden part of the wall-climbing robot shown in Figure 1;

[0022] Figure 3 is a schematic diagram of the auxiliary support structure in the wall-climbing robot shown in Figure 1;

[0023] Figure 4 is a partial enlarged view of part B in the auxiliary support shown in Figure 3;

[0024] Figure 5 is a structural schematic diagram of the auxiliary support in the wall-climbing robot shown in Figure 1 from another angle;

[0025] Figure 6 is a cross-sectional view along the DD direction of the auxiliary support shown in Figure 5;

[0026] Figure 7 is a magnified view of part A in the hidden structure shown in Figure 2;

[0027] Figure 8 is a schematic diagram of the support rod structure in the wall-climbing robot shown in Figure 1. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. In this application, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0029] Embodiments of this application provide a wall-climbing robot, comprising:

[0030] Main support;

[0031] Two auxiliary supports are connected to opposite sides of the main support, and at least one of the auxiliary supports is rotatably connected to the main support and rotates around the main support along the arrangement direction of the auxiliary supports and the main support;

[0032] Two wheel sets are respectively mounted on different auxiliary supports. Each wheel set includes a driving wheel and a driven wheel, which are rotatably mounted on the auxiliary support.

[0033] In one embodiment, the auxiliary support includes a frame and a rotating body, the frame being rotatably connected to the main support, the driven wheel being mounted on the rotating body, and the rotating body being rotatably mounted on the frame.

[0034] In one embodiment, the rotating body rotates around the frame along the arrangement direction of the auxiliary support and the main support.

[0035] In one embodiment, the rotating body includes a first mounting portion and a first protrusion. The first protrusion protrudes from the side of the first mounting portion facing the frame. Along the arrangement direction of the driving wheel and the driven wheel, the first protrusion is disposed opposite to the bracket.

[0036] The auxiliary support also includes a rotating shaft, which passes through the first protrusion and the frame, so that the rotating body can rotate relative to the frame.

[0037] In one embodiment, the frame includes two second protrusions disposed opposite to each other, the first protrusion being disposed between the two second protrusions, and the rotating shaft passing through the first protrusion and the two second protrusions.

[0038] In one embodiment, along the arrangement direction of the driving wheel and the driven wheel, the first mounting part has a first protrusion at each of its opposite ends, and the first protrusion and the frame are rotatably connected by the rotating shaft.

[0039] In one embodiment, the main support includes an intermediate rotating shaft and a frame hinge shaft, and the auxiliary support includes a frame body and a lug. The frame body is disposed on one side of the intermediate rotating shaft in the axial direction, and the lug is disposed on one side of the intermediate rotating shaft in the radial direction. The frame hinge shaft passes through the lug and the intermediate rotating shaft so that the auxiliary support can rotate around the frame hinge shaft.

[0040] In one embodiment, the intermediate pivot includes a support rod and a connector. The support rod is connected to the auxiliary support via the connector, and the connector is rotatably connected to the lug via the frame hinge.

[0041] In one embodiment, the intermediate pivot further includes a fixing pin, the connector is at least partially sleeved on the support rod, and the fixing pin passes through the connector and the support rod to connect the connector and the support rod.

[0042] In one embodiment, at least one of the opposite ends of the support rod is provided with a strip-shaped hole, the strip-shaped hole extending along the arrangement direction of the driving wheel and the driven wheel, and the fixing pin passing through the strip-shaped hole so that the auxiliary support can swing relative to the main support.

[0043] In one embodiment, one end of the support rod is provided with the strip-shaped hole, and the other end is provided with a circular hole.

[0044] In one embodiment, the main support further includes a base, a functional part, a connecting seat, and a crash bar. The crash bar is spaced apart from the base, and the connecting seat is connected between the crash bar and the base. The crash bar includes a first side facing the base, and the functional part is located on the side of the plane containing the first side facing the base.

[0045] In one embodiment, the anti-collision bar extends along the arrangement direction of the main support and the auxiliary support, and is at least partially disposed above the auxiliary support. At least one of the auxiliary support, the driving wheel and the driven wheel is located on the side of the plane of the first side facing the base.

[0046] In one embodiment, the functional unit includes a cleaning module, which includes a cleaning disc, a cleaning blade holder, and a rotating joint. The cleaning blade holder is installed inside the cleaning disc and connected to the rotating joint. Multiple high-pressure nozzles are installed at the bottom of the cleaning blade holder, which can eject high-pressure water jets. The reaction force generated when the high-pressure water jets are ejected can cause the cleaning blade holder to rotate around the rotating joint.

[0047] In one embodiment, the cleaning module further includes a brush, a brush mounting ring, and a spring. The brush is bolted to the brush mounting ring, and the brush mounting ring is connected to the cleaning disc via the spring.

[0048] In one embodiment, the outer side of the brush is covered with a thin layer of rubber.

[0049] In one embodiment, the cleaning module further includes a recycling interface, which is installed on the upper part of the cleaning tray and is connected to the wastewater treatment device via a vacuum tube.

[0050] In one embodiment, the wall-climbing robot further includes a control module mounted above the cleaning module.

[0051] In one embodiment, the wall-climbing robot further includes multiple magnetic adsorption units.

[0052] In one embodiment, the driven wheel is an omnidirectional wheel.

[0053] Please refer to Figure 1, which is a structural schematic diagram of the wall-climbing robot provided in an embodiment of this application. This embodiment provides a wall-climbing robot 10, including a main support 100, two auxiliary supports 200, and two wheel sets 300.

[0054] The wall-climbing robot 10 is equipped with a main support 100 and two auxiliary supports 200. The two auxiliary supports 200 are respectively connected to the opposite sides of the main support 100. This layout enables the wall-climbing robot 10 to maintain balance when walking on the wall.

[0055] In this embodiment, at least one auxiliary support 200 is rotatably connected to the main support 100 and rotates around the main support 100 along the arrangement direction of the auxiliary support 200 and the main support 100. Therefore, at least one auxiliary support 200 can rotate around the main support 100.

[0056] The wall-climbing robot 10 has two wheel sets 300 mounted on auxiliary supports 200 on both sides. Each wheel set 300 includes a drive wheel 310 and a driven wheel 320, which are rotatably mounted on the auxiliary support 200. The two wheel sets 300 are responsible for the walking function of the wall-climbing robot 10. Understandably, along the direction of forward movement of the two wheel sets 300 of the wall-climbing robot 10, the drive wheel 310 can be mounted in front of the auxiliary support 200, and the driven wheel 320 can be mounted behind the auxiliary support 200. The two auxiliary supports 200 are respectively located on the left and right sides of the main support 100. Therefore, the auxiliary supports 200 can rotate left or right relative to the main support 100. During the walking process, the drive wheel 310 and driven wheel 320, which are rotatably connected to the auxiliary supports 200, can also rotate left or right with the auxiliary supports 200, thereby improving the wall-climbing robot 10's surface adaptive capability.

[0057] For example, when the wall-climbing robot 10 walks on a curved wall, it may encounter protruding obstacles or recessed areas. For instance, if there is a small protrusion on the wall, the auxiliary support 200 can drive the wheel set 300 to rotate to the left or right, allowing the wheel set 300 to pass through the sides of the protrusion instead of directly hitting it, thus improving the obstacle-crossing ability of the wall-climbing robot 10. As another example, when there are recessed areas on the wall, the rotation of the auxiliary support 200 can also help the wheel set 300 adapt to this terrain change. By adjusting the angle of the wheel set 300, the wheel set 300 can better conform to the shape of the recessed area, thereby maintaining stable walking. In another example, there may be curvature changes on the wall surface. For example, there may be a certain arc or wave shape on the wall surface along the arrangement direction of the auxiliary support 200 and the main support 100. When the wheel set 300 walks on the wall surface with curvature changes, the corresponding auxiliary support 200 can also adjust the angle of the wheel set 300 by rotating, so that the wheel set 300 can better fit the wall surface and maintain good contact between the wheel set 300 and the wall surface, thereby ensuring that the wall climbing robot 10 moves stably on the complex curved surface.

[0058] Furthermore, in this embodiment, both the drive wheel 310 and the driven wheel 320 are rotatably connected to the auxiliary support 200, thus allowing them to rotate flexibly together with the auxiliary support 200. Compared to a design where only the front drive wheel 310 can rotate, the wall-climbing robot 10 in this embodiment offers better flexibility, stability, and balance. It is understandable that when the wall-climbing robot 10 walks on a complex curved surface, if only the front drive wheel 310 can rotate while the rear driven wheel 320 cannot adjust its walking angle in time, the wall-climbing robot 10 is likely to lose its balance. However, in this embodiment, since both the drive wheel 310 and the driven wheel 320 can rotate with the auxiliary support 200 and adjust their angles, the wall-climbing robot 10 can more flexibly adapt to the undulations of the curved surface, more effectively maintain balance, prevent tipping, and thus maintain a stable walking state.

[0059] In some embodiments, the wall-climbing robot 10 also includes components such as a motor, a reducer, and a drive shaft. The motor is the power source of the wall-climbing robot 10, and the reducer is a key component connecting the motor and the drive shaft. The motor is connected to the reducer, and during operation, the reducer converts the high-speed, low-torque output of the motor into a low-speed, high-torque output to the drive shaft. The drive shaft then transmits the output torque to the drive wheels 310, thereby driving the entire robot to move. Two pairs of drive wheels 310 can be mounted on both sides of the reducer, providing balanced driving force to the drive wheels 310 on both sides, enabling the wall-climbing robot 10 to move stably on the wall surface.

[0060] In some embodiments, please refer to Figures 2, 3, and 4. Figure 2 is a schematic diagram of the hidden structure of the wall-climbing robot shown in Figure 1. Figure 3 is a schematic diagram of the auxiliary support structure in the wall-climbing robot shown in Figure 1. Figure 4 is a partial enlarged view of part B in the auxiliary support shown in Figure 3. The auxiliary support 200 includes a frame 210 and a rotating body 220. The frame 210 is rotatably connected to the main support 100. The driven wheel 320 is mounted on the rotating body 220, and the rotating body 220 is rotatably mounted on the frame 210.

[0061] In this embodiment, the frame 210 is the main structure of the auxiliary support 200, and is connected to the main support 100 by a rotatable connection, allowing the frame 210 to rotate relative to the main support 100. The rotating body 220 of the frame 210 is rotatably mounted on the frame 210, thus the rotating body 220 can rotate further within a certain range relative to the frame 210. The driven wheel 320 is mounted on the rotating body 220, thus the driven wheel 320 can follow the rotating body 220 in rotating relative to the frame 210. For example, the driven wheel 320 can be an omnidirectional wheel.

[0062] In this embodiment, both the driving wheel 310 and the driven wheel 320 have the function of rotating relative to the main frame 210 following the auxiliary support 200. Furthermore, the driven wheel 320 can also rotate additionally relative to the frame 210 via the rotating body 220, enhancing the driven wheel 320's adaptability to changes in curved surfaces. It is understandable that during the wall-climbing robot 10's movement, the driving wheel 310 and the driven wheel 320 may face different curved surface environments, such as changes in curvature, elevation differences, and varying obstacle distributions. Thanks to the ability of the driven wheel 320 to rotate independently relative to the frame 210, its rotation angle can differ from that of the driving wheel 310. Therefore, both the driving wheel 310 and the driven wheel 320 can flexibly adjust their optimal rotation angles according to the current curved surface environment, giving the wall-climbing robot 10 greater flexibility and enabling it to better cope with complex and changing curved surface environments.

[0063] In some embodiments, the rotating body 220 rotates around the frame 210 along the arrangement direction of the auxiliary support 200 and the main support 100.

[0064] In this embodiment, the rotating body 220 rotates around the frame 210 along the arrangement direction of the auxiliary support 200 and the main support 100. Since the driven wheel 320 is connected to the rotating body 220, it can also rotate along the same arrangement direction as the rotating body 220. When the auxiliary support 200 rotates left or right relative to the main support 100, it not only drives the driving wheel 310 to rotate in this direction, but also drives the driven wheel 320 to rotate synchronously in the same direction through the connection of the rotating body 220. Simultaneously, since the rotating body 220 itself has the ability to rotate independently, in addition to the auxiliary support 200 driving the driven wheel 320 to rotate, the rotating body 220 can also additionally and independently drive the driven wheel to rotate left or right, allowing for more precise angle adjustments, enabling the driven wheel 320 to more flexibly adapt to complex and varied curved surface environments.

[0065] For example, when the wall-climbing robot 10 is walking, if the wheel assembly 300 encounters a curved surface that bends to the left, the auxiliary support 200 can rotate relative to the left side of the main support 100. The driving wheel 310 and the driven wheel 320 will rotate to the left following the rotation of the auxiliary support 200. However, this curved surface may not be completely flat. For instance, when the driving wheel 310 encounters an obstacle, it adjusts its rotation angle to avoid it. In this case, the rotating body 220 can flexibly make fine adjustments to the left or right to ensure that the driven wheel 320 can always closely conform to the curved surface and is not affected by the change in the angle of the driving wheel. When the driven wheel 320 encounters an obstacle during its movement, the rotating body 220 will respond immediately. Through its independent rotation capability, the driven wheel 320 can cleverly avoid the obstacle without affecting the rotation angle of the driving wheel 310, thereby ensuring the freedom and stability of the overall movement of the wall-climbing robot 10.

[0066] In some embodiments, please refer to Figures 5 and 6. Figure 5 is a structural schematic diagram of the auxiliary support in the wall-climbing robot shown in Figure 1 from another angle, and Figure 6 is a cross-sectional view of the auxiliary support shown in Figure 5 along the DD direction. The rotating body 220 includes a first mounting portion 221 and a first protrusion 222. The first protrusion 222 protrudes from the first mounting portion 221 on the side facing the frame 210. Along the arrangement direction of the driving wheel 310 and the driven wheel 320, the first protrusion 222 is arranged opposite to the frame 210. The auxiliary support 200 also includes a rotating shaft 230, which passes through the first protrusion 222 and the frame 210 to enable the rotating body 220 to rotate relative to the frame 210.

[0067] The first protrusion 222 is a structure protruding from the first mounting portion 221. It is positioned opposite the frame 210 along the arrangement direction of the drive wheel 310 and the driven wheel 320. Therefore, the first protrusion 222 and the frame 210 are arranged back-to-back along the arrangement direction of the drive wheel 310 and the driven wheel 320. The rotating shaft 230 passes through the first protrusion 222 and the frame 210. Therefore, the rotating shaft 230 is also arranged along the arrangement direction of the drive wheel 310 and the driven wheel 320. Thus, the rotating body 220 can rotate around the frame 210 along the arrangement direction of the auxiliary support 200 and the main support 100 via the rotating shaft 230. That is, the rotating shaft 230 is arranged back-to-back along the walking direction of the wall-climbing robot 10, and the rotating body 220 can rotate left or right around the frame 210 via the rotating shaft 230.

[0068] Therefore, in addition to the auxiliary support 200 driving the driven wheel 320 to rotate left and right, the rotating body 220 can also drive the driven wheel 320 to rotate additionally left and right. Understandably, during the walking process, the active wheel 310 and the driven wheel 320 may face different curved surface environments. The driven wheel 320 can further rotate independently to the left or right, allowing both the active wheel 310 and the driven wheel 320 to adjust to the most suitable rotation angle according to the current curved surface environment, thus better coping with complex and changing curved surface environments.

[0069] In some embodiments, the frame 210 includes two second protrusions 211 disposed opposite to each other, a first protrusion 222 disposed between the two second protrusions 211, and a rotating shaft 230 passing through the first protrusion 222 and the two second protrusions 211.

[0070] The first protrusion 222 is disposed between the two second protrusions 211 of the frame 210, and the rotating shaft 230 passes through the first protrusion 222 and the two second protrusions 211, so that the rotating body 220 can rotate stably relative to the frame 210.

[0071] In some embodiments, the side of the second protrusion 211 facing the first mounting portion 221 is arc-shaped, and the first mounting portion 221 is provided with an arc-shaped groove corresponding to the second protrusion 211 to avoid the second protrusion 211, so that the two fit closely together and do not interfere with each other. Therefore, the first protrusion 222 and the two second protrusions 211 can be arranged along the arrangement direction of the driving wheel 310 and the driven wheel 320. The rotating shaft 230 is precisely inserted through the first protrusion 222 and the two second protrusions 211, realizing the rotational connection between the rotating body 220 and the frame 210.

[0072] In some embodiments, along the arrangement direction of the driving wheel 310 and the driven wheel 320, the two opposite ends of the first mounting portion 221 are respectively provided with first protrusions 222, and the first protrusions 222 and the frame 210 are rotatably connected by a rotating shaft 230.

[0073] In the arrangement direction of the driving wheel 310 and the driven wheel 320, the first mounting part 221 is provided with a first protrusion 222 at each of its opposite ends. The first protrusion 222 at both ends and the frame 210 are rotatably connected by a rotating shaft 230. That is, both ends of the rotating body 220 are rotatably connected to the frame 210, which enhances the stability of the rotatable connection between the rotating body 220 and the frame 210.

[0074] In some embodiments, please refer to FIG7, which is a partially enlarged view of part A in the hidden part structure shown in FIG2. The main support 100 includes an intermediate rotating shaft 110 and a frame hinge shaft 120. The auxiliary support 200 includes a frame body 210 and a lug 240. The frame body 210 is disposed on one side of the intermediate rotating shaft 110 in the axial direction, and the lug 240 is disposed on one side of the intermediate rotating shaft 110 in the radial direction. The frame hinge shaft 120 passes through the lug 240 and the intermediate rotating shaft 110 so that the auxiliary support 200 can rotate around the frame hinge shaft 120.

[0075] The intermediate pivot 110 of the main support 100 can be cylindrical or rod-shaped. The frame 210 of the auxiliary support 200 is located on one side of the axial direction of the intermediate pivot 110, and the lug 240 of the auxiliary support 200 is located in the radial direction of the intermediate pivot 110. The frame hinge 120 passes through the lug 240 and the intermediate pivot 110, and the frame hinge 120 is also located in the radial direction of the intermediate pivot 110. Thus, the auxiliary support 200 will rotate around the intermediate pivot 110 along the axial direction of the intermediate pivot 110. That is, the auxiliary support 200 will rotate around the main support 100 along the arrangement direction of the auxiliary support 200 and the main support 100.

[0076] In this embodiment, the auxiliary support 200 and the main support 100 are hinged together by using a frame hinge shaft 120 passing through the intermediate rotating shaft 110 and the lug 240, allowing the auxiliary support 200 to rotate flexibly around the main support 100. That is, the driving wheel 310 and the driven wheel 320 connected to the auxiliary support 200 can also rotate relative to the main support 100. Furthermore, the rotating body 220 and the frame 210 are hinged together by using a rotating shaft 230 passing through the first protrusion 222 and the frame 210, allowing the rotating body 220 to rotate relative to the frame 210. That is, the driven wheel 320 connected to the rotating body 220 can rotate relative to the frame 210 more independently of the driving wheel 310. Through the above two hinge designs, the wall-climbing robot 10 can more flexibly adapt to different surfaces and angles during movement, greatly increasing the degree of freedom of movement of the wall-climbing robot 10 and better adapting to various complex environments.

[0077] In some embodiments, the intermediate pivot 110 includes a support rod 111 and a connector 112. The support rod 111 is connected to the auxiliary support 200 through the connector 112, and the connector 112 is rotatably connected to the lug 240 through the frame hinge 120.

[0078] The connector 112 is used to connect the support rod 111 to the lug 240 of the auxiliary support 200. The lug 240 can be provided with a hole that matches the frame hinge shaft 120 so that the frame hinge shaft 120 passes through the lug 240 and the connector 112 to connect the auxiliary support 200 to the intermediate rotating shaft 110, thereby realizing the rotation function of the auxiliary support 200.

[0079] In some embodiments, the intermediate pivot 110 further includes a fixing pin 113, the connector 112 is at least partially sleeved on the support rod 111, and the fixing pin 113 passes through the connector 112 and the support rod 111 to connect the connector 112 and the support rod 111.

[0080] The intermediate rotating shaft 110 includes a support rod 111, a connector 112, and a fixing pin 113. These components work together to achieve a stable connection and rotation between the auxiliary support 200 and the intermediate rotating shaft 110. The support rod 111 is the main body of the intermediate rotating shaft 110. The connector 112 is at least partially sleeved on the support rod 111. The fixing pin 113 passes between the connector 112 and the support rod 111 to stably and reliably connect the two components.

[0081] In some embodiments, please refer to FIG8, which is a schematic diagram of the support rod structure in the wall-climbing robot shown in FIG1. ​​At least one of the opposite ends of the support rod 111 is provided with a strip hole 114. The strip hole 114 extends along the arrangement direction of the driving wheel 310 and the driven wheel 320. The fixing pin 113 passes through the strip hole 114 so that the auxiliary support 200 can swing relative to the main support 100.

[0082] In this embodiment, at least one of the two opposite ends of the support rod 111 is provided with a strip hole 114. The strip hole 114 extends along the arrangement direction of the driving wheel 310 and the driven wheel 320. The support rod 111 has a cylindrical or rod-shaped structure, so that the strip hole 114 has a certain length and curvature along the arrangement direction of the driving wheel 310 and the driven wheel 320, thereby allowing the fixing pin 113 passing through the strip hole 114 to move within a certain range of curves along the arrangement direction of the driving wheel 310 and the driven wheel 320 in the strip hole 114. When the fixed pin 113 moves along a curved path, it drives the connecting piece 112 to move synchronously along a curved path. This curved movement is actually manifested as the connecting piece 112 swinging to a certain extent along the arrangement direction of the driving wheel 310 and the driven wheel 320. Since the connecting piece 112 is connected to the auxiliary support 200, the auxiliary support 200 can also swing to a certain extent along the arrangement direction of the driving wheel 310 and the driven wheel 320, following the connecting piece 112. Therefore, the auxiliary support 200 can not only rotate around the main support 100 along the arrangement direction of the auxiliary support 200 and the main support 100, but also swing relative to the main support 100 along the arrangement direction of the driving wheel 310 and the driven wheel 320. That is, the auxiliary support 200 can not only flexibly rotate left and right relative to the main support 100, but also flexibly swing back and forth relative to the main support 100, increasing the flexibility and adaptability of the wall-climbing robot 10.

[0083] Understandably, when performing wall-climbing operations, the wall-climbing robot 10 may encounter various complex terrains, such as protruding obstacles, recessed pits, or irregular wall structures. In this embodiment, the auxiliary support 200 can rotate left and right and swing back and forth relative to the main support 100, thereby enabling the wheel assembly 300 to rotate left and right and swing back and forth relative to the main support 100, further enhancing the freedom of movement of the wheel assembly 300. This allows the wall-climbing robot 10 to better adapt to these complex terrains. For example, when the wall-climbing robot 10 encounters a protruding obstacle while working on a wall, the auxiliary support 200 can drive the wheel assembly 300 to rotate left or right, allowing the wall-climbing robot 10 to bypass the obstacle. Alternatively, when the height of the obstacle's protrusion is moderate, the auxiliary support 200 can also drive the wheel assembly 300 to swing forward, thereby overcoming the obstacle. For example, the wall surface may have a certain curvature or wave shape. When there is a certain curvature or wave shape along the arrangement direction of the driving wheel 310 and the driven wheel 320, the auxiliary support 200 adjusts the angle of the wheel set 300 forward or backward. When there is a certain curvature or wave shape along the arrangement direction of the auxiliary support 200 and the main support 100, the auxiliary support 200 adjusts the angle of the wheel set 300 left or right. This allows the wall-climbing robot 10 to keep the wheel set 300 in contact with the curved surface when working on complex curved surfaces, maintaining good contact between the wheel set 300 and the curved surface, and achieving stable walking.

[0084] It should be noted that one end of the support rod 111 may have a strip-shaped hole 114 and the other end may have a conventional circular hole 115, allowing the auxiliary supports 200 on both sides of the support rod to have different adjustment capabilities. For example, one auxiliary support 200 may be able to rotate flexibly left and right relative to the main support 100, and in addition to rotating flexibly left and right relative to the main support 100, it may also be able to swing back and forth relative to the main support 100. Both ends of the support rod 111 may also have strip-shaped holes 114, allowing both auxiliary supports 200 on both sides of the support rod 111 to rotate left and right and swing back and forth relative to the main support 100. This embodiment does not limit this aspect.

[0085] In some embodiments, please continue to refer to FIG1, the main support 100 further includes a base, a functional part 140, a connecting seat and a crash bar 160. The crash bar 160 is spaced apart from the base, and the connecting seat is connected between the crash bar 160 and the base. The crash bar 160 includes a first side facing the base, and the functional part 140 is located on the side of the plane of the first side facing the base.

[0086] In some embodiments, the anti-collision bar 160 extends along the arrangement direction of the main support 100 and the auxiliary support 200, and is at least partially disposed above the auxiliary support 200. At least one of the auxiliary support 200, the driving wheel 310 and the driven wheel 320 is located on the side of the plane of the first side facing the base.

[0087] The anti-collision bar 160 is an important safety component on the main support 100. It can be made of high-strength, wear-resistant materials to withstand potential impacts and friction. The base can be connected to the functional section 140 of the wall-climbing robot 10. The functional section 140 is a key area on the main support 100 that performs specific functions, such as a cleaning module, to enable the wall-climbing robot 10 to clean the wall surface. The connecting seat acts as a bridge within the main support 100, connecting the anti-collision bar 160 and the base.

[0088] Based on the spatial layout relationship of the anti-collision bar 160 relative to the other main structures of the wall-climbing robot 10, the functional part 140 is located on the side of the first side facing the base, and / or at least one of the auxiliary support 200, the drive wheel 310 and the driven wheel 320 is located on the side of the first side facing the base. This ensures that if the wall-climbing robot 10 falls during operation, it can first contact the anti-collision bar 160 to absorb and disperse the impact force generated by the collision. This protects at least one of the main structures of the wall-climbing robot 10, such as the functional part 140, the base, the auxiliary support 200, the drive wheel 310 and the driven wheel 320, reduces the damage to the wall-climbing robot 10 from collisions, and increases the safety of the wall-climbing robot 10.

[0089] In some embodiments, the functional unit 140 can be a cleaning module, which may include a cleaning disc, a cleaning blade holder, a rotary joint, brushes, a sealing bladder, a recovery interface, and springs. The cleaning blade holder is installed inside the cleaning disc, serving as a support structure for the high-pressure nozzles, and is connected to the rotary joint on the upper part of the cleaning disc. Multiple high-pressure nozzles are installed at the bottom of the cleaning blade holder. During cleaning, the high-pressure nozzles at the bottom of the cleaning blade holder eject high-pressure water at a certain angle to the wall surface. Simultaneously, the reaction force generated when the high-pressure water is ejected causes the cleaning blade holder to rotate at high speed around the rotary joint, thereby forming a circumferential cleaning area. The brushes are bolted to the brush mounting rings, and their outer circumferential surfaces are wrapped with a thin layer of rubber to enhance the sealing with the wall surface. When the cleaning disc encounters obstacles such as welds, the brushes on the cleaning disc are pushed upward by a force perpendicular to the wall surface. The thin rubber wrapped around the outside of the brushes has good deformation properties, ensuring good sealing between the robot and the wall surface when crossing obstacles. The brush mounting ring is connected to the cleaning disc via a spring, allowing the brush to move up and down within a certain range to adapt to uneven wall surfaces. The recovery interface is installed on the upper part of the cleaning disc and connected to a vacuum tube. The vacuum tube serves as a channel for wastewater recovery, connecting the recovery interface to a wastewater treatment device. The wastewater treatment device receives and treats the wastewater recovered from the cleaning area. The cleaning module can be positioned in the middle of the wall-climbing robot 10, helping to maintain its balance and stability during the cleaning process.

[0090] The wall-climbing robot 10 also includes a control module, which acts as the "brain" of the wall-climbing robot 10. It is responsible for receiving operation instructions, controlling the movement of the wall-climbing robot 10 and cleaning operations. The control module can be installed in the middle position above the cleaning module to make reasonable use of space and avoid direct contact between the robot and the wall.

[0091] The wall-climbing robot 10 requires strong magnetic adsorption capabilities to ensure its stability and safety on the wall surface. Therefore, in some embodiments, the wall-climbing robot 10 can be equipped with multiple magnetic adsorption units, such as four magnetic adsorption units evenly distributed around the four driving wheels 310 and driven wheels 320 of the wall-climbing robot 10. The combined action of the multi-point magnetic adsorption units on the front and rear wheels increases the magnetic adsorption force of the wall-climbing robot, improves its adaptability to the wall environment, increases the robot's load capacity, and improves its walking balance and stability. When the wall-climbing robot 10 operates in environments with uneven outer walls, such as ships, it may encounter obstacles or pits, which may cause the adsorption force of a single-point magnetic adsorption unit to fail or weaken. However, since the wall-climbing robot 10 in this embodiment uses four magnetic adsorption units, even if one adsorption unit is affected, the remaining units can still provide sufficient adsorption force to ensure that the wall-climbing robot 10 can continue to climb stably and is not prone to slipping or tilting. For example, the magnetic adsorption unit disposed around the driving wheel 310 and the magnetic adsorption unit disposed around the driven wheel 320 can be composed of magnet sleeves, magnet covers, yokes and multiple neodymium iron boron permanent magnets of different or the same specifications. This embodiment does not limit this.

[0092] In this embodiment, the wall-climbing robot 10 further enhances its obstacle-crossing function and stability through the design of the magnetic adsorption unit being evenly distributed at 4 points and the floating connection of the cleaning disc brush. In situations where the outer wall of a ship or other vessel is uneven, this robot can better complete its tasks, greatly reducing the risk of falling and improving the safety of the equipment.

[0093] The wall-climbing robot of the present application has been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present application. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present application. Therefore, the content of this specification should not be construed as a limitation of the present application.

Claims

1. A wall-climbing robot, wherein, include: Main support; Two auxiliary supports are connected to opposite sides of the main support, and at least one of the auxiliary supports is rotatably connected to the main support and rotates around the main support along the arrangement direction of the auxiliary supports and the main support; Two wheel sets are respectively mounted on different auxiliary supports. Each wheel set includes a driving wheel and a driven wheel, which are rotatably mounted on the auxiliary support.

2. The wall-climbing robot according to claim 1, wherein, The auxiliary support includes a frame and a rotating body. The frame is rotatably connected to the main support, the driven wheel is mounted on the rotating body, and the rotating body is rotatably mounted on the frame.

3. The wall-climbing robot according to claim 2, wherein, The rotating body rotates around the frame along the arrangement direction of the auxiliary support and the main support.

4. The wall-climbing robot according to claim 3, wherein, The rotating body includes a first mounting part and a first protrusion. The first protrusion protrudes from the side of the first mounting part facing the frame. Along the arrangement direction of the driving wheel and the driven wheel, the first protrusion is arranged opposite to the bracket. The auxiliary support also includes a rotating shaft, which passes through the first protrusion and the frame, so that the rotating body can rotate relative to the frame.

5. The wall-climbing robot according to claim 4, wherein, The frame includes two second protrusions arranged opposite each other, the first protrusion is disposed between the two second protrusions, and the rotating shaft passes through the first protrusion and the two second protrusions.

6. The wall-climbing robot according to claim 4, wherein, Along the arrangement direction of the driving wheel and the driven wheel, the first mounting part has a first protrusion at each of its opposite ends, and the first protrusion and the frame are rotatably connected by the rotating shaft.

7. The wall-climbing robot according to claim 1, wherein, The main support includes an intermediate rotating shaft and a frame hinge shaft. The auxiliary support includes a frame body and a lug. The frame body is located on one side of the intermediate rotating shaft in the axial direction, and the lug is located on one side of the intermediate rotating shaft in the radial direction. The frame hinge shaft passes through the lug and the intermediate rotating shaft so that the auxiliary support can rotate around the frame hinge shaft.

8. The wall-climbing robot according to claim 7, wherein, The intermediate rotating shaft includes a support rod and a connector. The support rod is connected to the auxiliary support through the connector, and the connector is rotatably connected to the lug through the frame hinge.

9. The wall-climbing robot according to claim 8, wherein, The intermediate pivot also includes a fixing pin. The connector is at least partially sleeved on the support rod. The fixing pin passes through the connector and the support rod to connect the connector and the support rod.

10. The wall-climbing robot according to claim 9, wherein, At least one of the opposite ends of the support rod is provided with a strip hole, which extends along the arrangement direction of the driving wheel and the driven wheel. The fixing pin passes through the strip hole so that the auxiliary support can swing relative to the main support.

11. The wall-climbing robot according to claim 10, wherein, One end of the support rod has the strip-shaped hole, and the other end has a circular hole.

12. The wall-climbing robot according to claim 1, wherein, The main support also includes a base, a functional part, a connecting seat, and a crash bar. The crash bar is spaced apart from the base, and the connecting seat is connected between the crash bar and the base. The crash bar includes a first side facing the base, and the functional part is located on the side of the plane containing the first side facing the base.

13. The wall-climbing robot according to claim 12, wherein, The anti-collision bar extends along the arrangement direction of the main support and the auxiliary support, and is at least partially disposed above the auxiliary support. At least one of the auxiliary support, the driving wheel and the driven wheel is located on the side of the plane of the first side facing the base.

14. The wall-climbing robot according to claim 13, wherein, The functional unit includes a cleaning module, which includes a cleaning tray, a cleaning blade holder, and a rotating joint. The cleaning blade holder is installed inside the cleaning tray and connected to the rotating joint. Multiple high-pressure nozzles are installed at the bottom of the cleaning blade holder. The high-pressure nozzles can eject high-pressure water jets. The reaction force generated when the high-pressure water jets are ejected can cause the cleaning blade holder to rotate around the rotating joint.

15. The wall-climbing robot according to claim 14, wherein, The cleaning module also includes a brush, a brush mounting ring, and a spring. The brush is bolted to the brush mounting ring, and the brush mounting ring is connected to the cleaning disc via the spring.

16. The wall-climbing robot according to claim 15, wherein, The brush is wrapped with a thin layer of rubber on the outside.

17. The wall-climbing robot according to claim 14, wherein, The cleaning module also includes a recycling interface, which is installed on the upper part of the cleaning tray and is connected to the wastewater treatment device through a vacuum tube.

18. The wall-climbing robot according to claim 14, wherein, The wall-climbing robot also includes a control module, which is installed above the cleaning module.

19. The wall-climbing robot according to claim 1, wherein, The wall-climbing robot also includes four magnetic adsorption units.

20. The wall-climbing robot according to claim 1, wherein, The driven wheel is an omnidirectional wheel.

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