CN111252160A

CN111252160A - Wall-climbing robot

Info

Publication number: CN111252160A
Application number: CN202010247520.8A
Authority: CN
Inventors: 冯消冰; 王明辉; 高力生; 闫炳义
Original assignee: Beijing Bo Tsing Technology Co Ltd
Current assignee: Beijing Bo Tsing Technology Co Ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2020-06-09

Abstract

The invention relates to the technical field of robot manufacturing, in particular to a wall-climbing robot. The wall-climbing robot comprises a vehicle body mechanism, a magnetic wheel mechanism and a reset mechanism, wherein one end of the reset mechanism is connected with the vehicle body mechanism, the other end of the reset mechanism is connected with the magnetic wheel mechanism, when the magnetic wheel mechanism passes through a pit, the pit adsorbs the magnetic wheel mechanism so that the magnetic wheel mechanism rotates towards the direction of the pit relative to the vehicle body mechanism, and a magnetic wheel of the magnetic wheel mechanism can be abutted against the inner surface of the pit, so that the magnetic wheel mechanism and the inner surface of the pit are tightly adsorbed; when the magnetic wheel mechanism moves out of the pit, the reset mechanism drives the magnetic wheel mechanism to reset so that the magnetic wheel mechanism is abutted to the plane, and the magnetic wheel of the magnetic wheel mechanism can be tightly attached to the plane. The magnetic wheel mechanism of the wall climbing robot can be well adsorbed with the magnetic conduction wall surface no matter the magnetic wheel mechanism moves on a plane or on the magnetic conduction wall surface with the pits, so that the wall climbing robot can be prevented from falling off from the magnetic conduction wall surface.

Description

Wall-climbing robot

Technical Field

The invention relates to the technical field of robot manufacturing, in particular to a wall-climbing robot.

Background

Along with the development of robot technique and welding technique, in the metal structure welding field, when carrying out welding operation to steel storage tank, spherical tank, pipeline cambered surface equipment, adopt crawling welding robot to weld usually. There is one type of wall climbing robot at present, wall climbing robot includes the frame usually, walking subassembly and welding assembly, walking subassembly divide into crawler-type walking subassembly and wheeled walking subassembly according to the difference of structure, wherein, traditional wheeled walking subassembly includes body and a plurality of magnetic wheel mechanism of fixed mounting on the body, when wheeled walking subassembly when taking the magnetic conduction wall face of pit, partly magnetic wheel mechanism is unsettled in the pit, this part magnetic wheel mechanism can't realize closely attached with the magnetic conduction wall face, lead to the adsorption affinity of magnetic wheel mechanism and magnetic conduction wall face not enough, lead to the problem that wall climbing robot drops from the magnetic conduction wall face easily.

Therefore, the invention is needed to solve the problem that the wall-climbing robot is easy to fall off through the magnetic conduction wall surface with the pit.

Disclosure of Invention

The invention aims to provide a wall climbing robot which can realize tight adsorption with a magnetic conduction wall surface with a pit and avoid falling off from the magnetic conduction wall surface.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a wall climbing robot, can follow the motion of magnetic conduction wall, the magnetic conduction wall includes pit and plane, wall climbing robot includes automobile body mechanism, wall climbing robot still includes:

the resetting mechanism is connected with the vehicle body mechanism at one end; and

the magnetic wheel mechanism is connected with the other end of the resetting mechanism, when the magnetic wheel mechanism passes through the pit, the pit adsorbs the magnetic wheel mechanism so that the magnetic wheel mechanism rotates towards the direction of the pit relative to the vehicle body mechanism, and the magnetic wheel mechanism is abutted against the inner surface of the pit; when the magnetic wheel mechanism moves out of the pit, the reset mechanism is configured to drive the magnetic wheel mechanism to reset so that the magnetic wheel mechanism is abutted against the plane.

Preferably, the reset mechanism includes:

the mounting shell is arranged on the vehicle body mechanism;

the one end of torsional spring with the installation shell is connected, the other end of torsional spring with the magnetic wheel mechanism is connected.

Preferably, the reset mechanism further comprises:

one end of the torsion spring is fixed on the bearing component, and the bearing component is arranged in the mounting shell; and

the bearing component is connected with the mounting shell through the one-way coupling component, and the one-way coupling component is configured to limit the bearing component to rotate relative to the mounting shell only towards the direction of the pit.

Preferably, the reset mechanism further comprises:

the other end of the linear telescopic assembly is rotatably connected with one end of the mounting shell, and the other end of the mounting shell is rotatably connected with the vehicle body mechanism.

Preferably, the linear expansion and contraction assembly includes:

the first retainer is rotationally connected with the vehicle body mechanism;

the second retainer is rotationally connected with the mounting shell; and

and one end of the spring is connected with the first retainer, and the other end of the spring is connected with the second retainer.

Preferably, the first retainer and the second retainer are arranged opposite to each other at an interval, and a distance between the first retainer and the second retainer is adjustable.

Preferably, the linear expansion and contraction assembly further includes:

and the guide structure can enable the first retainer and the second retainer to approach or depart from each other along a straight line.

Preferably, the guide structure includes:

one of the guide tube and the guide rod is arranged on the first retainer, the other of the guide tube and the guide rod is arranged on the second retainer, and the guide rod is inserted into the guide tube and can slide relative to the guide tube.

Preferably, the mounting case includes:

the bearing assembly, the one-way coupling assembly and the resetting mechanism are all arranged in the mounting sleeve.

Preferably, the torsion spring is connected with the bearing component through a first connecting component, and the first connecting component includes:

one end of the torsion spring is connected with the first connecting plate, and a first socket is formed in the first connecting plate; and

the first plug block is arranged on the bearing component and is plugged in the first socket.

Preferably, the first connecting plate is provided with a first mounting groove, and one end of the torsion spring is inserted into the first mounting groove.

Preferably, the torsion spring is connected with the magnetic wheel mechanism through a second connecting assembly, and the second connecting assembly includes:

the other end of the torsion spring is connected with the second connecting plate, and a second socket is formed in the second connecting plate; and

and the second insertion block is arranged on the magnetic wheel mechanism and inserted into the second insertion opening.

Preferably, a second mounting groove is formed in the second connecting plate, and the other end of the torsion spring is mounted in the second mounting groove.

Preferably, the torsion spring is compressed by the magnetic wheel mechanism and the mounting shell together along the axial direction of the torsion spring.

Preferably, the unidirectional coupling assembly includes:

the first one-way gear is arranged on the bearing component; and

and the second one-way gear is arranged on the mounting shell, and the first one-way gear is coupled with the second one-way gear.

The invention has the beneficial effects that:

the wall-climbing robot comprises a vehicle body mechanism, a magnetic wheel mechanism and a reset mechanism, wherein one end of the reset mechanism is connected with the vehicle body mechanism, the other end of the reset mechanism is connected with the magnetic wheel mechanism, when the magnetic wheel mechanism passes through a pit, the pit adsorbs the magnetic wheel mechanism so that the magnetic wheel mechanism rotates towards the direction of the pit relative to the vehicle body mechanism, and a magnetic wheel of the magnetic wheel mechanism can be abutted against the inner surface of the pit, so that the magnetic wheel mechanism and the inner surface of the pit are tightly adsorbed; when the magnetic wheel mechanism moves out of the pit, the reset mechanism drives the magnetic wheel mechanism to reset so that the magnetic wheel mechanism is abutted to the plane, and the magnetic wheel of the magnetic wheel mechanism can be tightly attached to the plane. Therefore, the magnetic wheel mechanism of the wall climbing robot provided by the invention can be well adsorbed with the magnetic conductive wall surface no matter the magnetic wheel mechanism moves on a plane or on the magnetic conductive wall surface of the pit, and the wall climbing robot can be prevented from falling off from the magnetic conductive wall surface.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a wall-climbing robot provided by an embodiment of the invention;

fig. 2 is a schematic structural diagram of a wall-climbing robot moving on a plane according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a magnetic wheel mechanism provided in an embodiment of the present invention in one orientation;

FIG. 4 is a schematic diagram of a magnetic wheel mechanism provided in an embodiment of the present invention in another orientation;

fig. 5 is a schematic structural diagram of a wall-climbing robot moving on a magnetic conductive wall surface with a pit according to an embodiment of the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

FIG. 7 is a cross-sectional view of a reset mechanism provided by an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a mounting housing provided by an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a load bearing assembly provided by an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a first one-way gear and a second one-way gear in a first meshing state provided by an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of the first one-way gear and the second one-way gear rotating relative to each other according to the embodiment of the present invention;

FIG. 12 is a schematic structural view of the first one-way gear and the second one-way gear in a second meshing state provided by the embodiment of the present invention;

FIG. 13 is a schematic structural view of a linear expansion assembly provided by an embodiment of the present invention;

FIG. 14 is an exploded view of a linear expansion assembly provided by an embodiment of the present invention;

FIG. 15 is an exploded view of a reset mechanism provided in accordance with an embodiment of the present invention;

FIG. 16 is an exploded view of a second reset mechanism provided by an embodiment of the present invention;

fig. 17 is a schematic structural diagram of a first connecting plate according to an embodiment of the present invention;

FIG. 18 is a schematic diagram of a second connecting plate mounted on a magnetic wheel mechanism according to an embodiment of the present invention;

FIG. 19 is a schematic structural view of a second connecting plate provided in an embodiment of the present invention;

FIG. 20 is a schematic diagram of a magnetic wheel mechanism provided by an embodiment of the present invention;

fig. 21 is a schematic structural diagram of a wall-climbing robot with a part of the magnetic wheel mechanism removed according to an embodiment of the present invention.

The figures are labeled as follows:

100-a wall climbing robot; 200-magnetic conductive wall surface;

1-a vehicle body mechanism; 2-a reset mechanism; 3-a magnetic wheel mechanism; 4-a headstock mechanism; 201-plane; 202-pits;

11-a mounting frame; 21-mounting the housing; 22-torsion spring; 23-a carrier assembly; 24-a unidirectional coupling component; 25-a linear expansion assembly; 26-a first connection assembly; 27-a second connection assembly; 28-a rotating shaft; 29-an axial stop assembly; 31-a support bar; 32-a magnetic wheel;

211-mounting the sleeve; 212-mounting flange; 241-a first one-way gear; 242-a second one-way gear; 251-a first holder; 252-a second cage; 253-a spring; 254-a guide structure; 255-a first transition piece; 256-a second adaptor; 261-a first connection plate; 262-a first insert; 271-a second connecting plate; 272-a second insert;

2411-a first inclined plane; 2412-a first vertical plane; 2421-a second ramp; 2422-a second vertical plane; 2541-guide tube; 2542-guide bar; 2611-a first socket; 2612-first mounting groove; 2711-a second socket; 2712-second mounting groove.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 and 2, the wall-climbing robot 100 provided in this embodiment is a wheel-type wall-climbing robot, and the wall-climbing robot 100 includes a vehicle body mechanism 1, a vehicle head mechanism 4, and a magnetic wheel 32 mechanism 3, and the vehicle head mechanism 4 and the magnetic wheel 32 mechanism 3 are disposed on the vehicle body mechanism 1 and support the vehicle body mechanism 1. The vehicle head mechanism 4 is used for providing power for the wall climbing robot 100, and the tractor body mechanism 1 moves forwards or backwards. The head mechanism 4 includes a head body, two head wheels and two motors, the two sides of the head body are respectively provided with one head wheel, each head wheel is connected with one motor, and the steering action of the wall-climbing robot 100 can be realized through the output of different rotating speeds of the two motors. The magnetic wheel 32 mechanism 3 is attracted to the magnetic conductive wall surface 200, thereby preventing the wall-climbing robot 100 from falling off the magnetic conductive wall surface 200. The magnetic wheel 32 mechanism 3 comprises a magnetic wheel 32 with magnetism, and the magnetic wheel 32 is adsorbed to the magnetic conduction wall surface 200, so that the problem that the wall-climbing robot 100 falls off from the magnetic conduction wall surface 200 can be avoided.

To facilitate understanding of the structure of the magnetic wheel mechanism 3, as shown in fig. 3 and 4, the magnetic wheel mechanism 3 includes a support rod 31 and a magnetic wheel 32 rotatably disposed at a free end of the support rod 31, the magnetic wheel 32 includes a main wheel, an annular groove is formed on an outer periphery of the main wheel, and a magnetic material is disposed in the annular groove.

The magnetic wheel mechanism 3 of the conventional wall climbing robot 100 is fixed with the vehicle body mechanism 1, so when the wall climbing robot 100 passes through the flat magnetic conductive wall surface 200, the wall climbing robot 100 can be firmly adsorbed on the magnetic conductive wall surface 200, but if the magnetic conductive wall surface 200 has the pit 202, a part of the magnetic wheels 32 of the magnetic wheel mechanism 3 will be suspended in the pit 202, and the part of the magnetic wheels 32 cannot be tightly attached to the magnetic conductive wall surface 200, especially when climbing the magnetic conductive wall surface 200 along the vertical direction as shown in fig. 2 and 5, or when the wall climbing robot 100 is inversely hung on the magnetic conductive wall surface 200, the adsorption force between the magnetic wheel mechanism 3 and the magnetic conductive wall surface 200 is insufficient, which easily causes the wall climbing robot 100 to fall off from the magnetic conductive wall surface 200.

In order to solve the above problem, as shown in fig. 5 and fig. 6, the wall-climbing robot 100 according to the present embodiment further includes a reset mechanism 2, one end of the reset mechanism 2 is connected to the vehicle body mechanism 1, and the other end of the reset mechanism 2 is connected to the magnetic wheel mechanism 3, when the magnetic wheel mechanism 3 passes through the pit 202, the pit 202 attracts the magnetic wheel mechanism 3, so that the magnetic wheel mechanism 3 rotates relative to the vehicle body mechanism 1 in the direction of the pit 202, and the magnetic wheel of the magnetic wheel mechanism 3 can abut against the inner surface of the pit 202, thereby achieving the function of tightly attracting the magnetic wheel mechanism 3 and the inner surface of the pit 202; when the magnetic wheel mechanism 3 moves out of the pit 202, the reset mechanism 2 drives the magnetic wheel mechanism 3 to reset, so that the magnetic wheel mechanism 3 is abutted against the plane 201, and the magnetic wheel of the magnetic wheel mechanism 3 can be tightly attached to the plane 201. Therefore, the magnetic wheel mechanism 3 of the wall climbing robot 100 according to the present embodiment can be well attracted to the magnetic conductive wall surface 200 regardless of whether the magnetic wheel mechanism 3 moves on the plane 201 or on the magnetic conductive wall surface 200 having the pits 202, and the wall climbing robot 100 can be prevented from falling off the magnetic conductive wall surface 200.

When the depth of the pit 202 on the magnetic conductive wall surface 200 is small, the magnetic wheel mechanism 3 deflects by a small angle relative to the vehicle body mechanism 1, and the effect that the magnetic wheel mechanism 3 enters the pit 202 and is completely attached to the inner surface of the pit 202 can be achieved, as shown in fig. 7, the reset mechanism 2 only comprises the installation shell 21 and the torsion spring 22, the installation shell 21 is arranged on the vehicle body mechanism 1, one end of the torsion spring 22 is connected with the installation shell 21, and the other end of the torsion spring 22 is connected with the magnetic wheel mechanism 3. As shown in fig. 5 and 6, when the magnetic wheel mechanism 3 passes through the recess 202, the magnetic conductive wall surface 200 attracts the magnetic wheel mechanism 3, and the magnetic wheel mechanism 3 rotates clockwise by a predetermined angle with respect to the mounting case 21, whereby the magnetic wheel mechanism 3 attracts the inner surface of the recess 202. When the magnetic wheel mechanism 3 passes through the pit 202, the magnetic wheel mechanism 3 is reset under the action of the torsion spring 22, the magnetic wheel mechanism 3 rotates counterclockwise by a certain angle relative to the mounting shell 21, and the magnetic wheel mechanism 3, the torsion spring 22 and the mounting shell 21 are matched to realize the supporting effect on the vehicle body mechanism 1. In other embodiments, the torsion spring 22 may be replaced with a spring member.

When the depth of the pit 202 on the magnetic conductive wall surface 200 is large, it is not enough that the magnetic wheel mechanism 3 rotates by a small angle clockwise, and the magnetic wheel mechanism 3 needs to rotate by a large angle clockwise to be attached to the inner surface of the pit 202, so that the rotation angle of the magnetic wheel mechanism 3 relative to the vehicle body mechanism 1 cannot be realized only by the elastic deformation of the torsion spring 22 itself in the circumferential direction. In order to further solve the problem that the magnetic conductive wall surface 200 is larger than the pit 202, as shown in fig. 3, 4 and 7, the reset mechanism 2 further includes a bearing component 23, a unidirectional coupling component 24 and a linear expansion component 25, the bearing component 23 is disposed in the mounting housing 21, one end of the torsion spring 22 is fixed on the bearing component 23, the bearing component 23 is connected with the mounting housing 21 through the unidirectional coupling component 24, the unidirectional coupling component 24 is used for limiting the bearing component 23 to only rotate towards the pit 202 relative to the mounting housing 21, so that the bearing component 23, the torsion spring 22 and the magnetic wheel mechanism 3 can rotate clockwise by a certain angle relative to the mounting housing 21, and the magnetic wheel mechanism 3 can rotate clockwise by a larger angle relative to the mounting housing 21 to match the pit 202 with a larger depth. In order to achieve the effect that the one-way coupling member 24 is used for limiting the rotation of the bearing member 23 relative to the mounting case 21 in a single preset direction, as shown in fig. 8 and 9, the one-way coupling member 24 includes a first one-way gear 241 and a second one-way gear 241, the first one-way gear 241 is disposed on the bearing member 23, the second one-way gear 241 is disposed on the mounting case 21, and the first one-way gear 241 is coupled with the second one-way gear 241.

For the convenience of understanding the specific structure of the first one-way gear 241 and the second one-way gear 241 and the relative movement relationship therebetween, the description will be made with reference to fig. 10 to 12.

As shown in fig. 10, when the bearing assembly 23 is not subjected to a circumferential force, the first one-way teeth on the first one-way gear 241 are inserted into the second one-way teeth on the second one-way gear 241. As shown in fig. 11, the first one-way gear includes a first inclined surface 2411 and a first vertical surface 2412, the second one-way gear includes a second inclined surface 2421 and a second vertical surface 2422, the first inclined surface 2411 and the second inclined surface 2421 have the same inclination, when the first one-way gear 241 is subjected to the driving force in the B direction as in fig. 11, the first inclined surface 2411 slides to the upper left along the second inclined surface 2421, and when the first one-way gear slides to the left by the pitch of one second one-way gear, as shown in fig. 12, the first one-way gear falls in the tooth groove on the left second one-way gear 241 adjacent thereto, and the rotation of the first one-way gear 241 with respect to the second one-way gear 241 is completed. The first one-way gear 241 can perform the relative movement only by moving in the direction C in fig. 12 with respect to the second one-way gear 241, and if the first one-way gear 241 receives a force to rotate in the opposite direction to the direction C with respect to the second one-way gear 241, since the first vertical surface 2412 and the second vertical surface 2422 are in contact, the first one-way gear 241 cannot rotate in the opposite direction to the direction C with respect to the second one-way gear 241. The present embodiment achieves the effect that the carrier member 23 can rotate only in the direction of the recess 202 with respect to the mounting case 21 by the first one-way gear 241 and the second one-way gear 241 as described above.

In addition, during the rotation of the first one-way gear 241 and the second one-way gear 241, due to the cooperation of the first inclined surface 2411 and the second inclined surface 2421, the first one-way gear 241 and the second one-way gear 241 may move in the vertical direction, and the one-way coupling assembly 24 may be separated during the movement. In order to solve the above problem, as shown in fig. 7, after the magnetic wheel mechanism 3 and the return mechanism 2 are installed, the torsion spring 22 is compressed by the magnetic wheel mechanism 3 and the installation shell 21 together along the axial direction of the torsion spring 22, the torsion spring 22 can compress the bearing component 23 and the installation shell 21 along the axial direction of the torsion spring 22, and the torsion spring 22, the bearing component 23 and the installation shell 21 cooperate with each other, so that the bearing component 23 can be effectively prevented from being loosened from the installation shell 21 when rotating relative to the installation shell 21, and the normal operation of the wall-climbing robot 100 is ensured.

In addition, in order to realize the detachment and return of the magnetic wheel mechanism 3 from the large-sized pit 202, as shown in fig. 5 and 6, the wall-climbing robot 100 further includes a linear expansion assembly 25, one end of the linear expansion assembly 25 is rotatably connected to the vehicle body mechanism 1, the other end of the linear expansion assembly 25 is rotatably connected to one end of the mounting shell 21, and the other end of the mounting shell 21 is rotatably connected to the vehicle body mechanism 1. When the magnetic wheel mechanism 3 is separated from the pit 202 with a large size, the linear telescopic assembly 25 is compressed, and the linear telescopic assembly 25 drives the mounting shell 21 to rotate counterclockwise by a certain angle relative to the vehicle body mechanism 1, so that the magnetic wheel mechanism 3 is reset. The linear telescopic assembly 25 and the one-way coupling assembly 24 are matched in mode, the structure is simple, the installation is convenient, the occupied space is small, the size of the wall-climbing robot 100 can be effectively reduced, the small-size design of the wall-climbing robot 100 is realized, and the application and the operation environment with small space are convenient.

In order to realize the linear telescopic motion of the linear telescopic assembly 25 itself, as shown in fig. 13 and 14, the linear telescopic assembly 25 includes a first holder 251, a second holder 252, and a spring 253, the first holder 251 is rotatably connected to the vehicle body mechanism 1, the second holder 252 is rotatably connected to the mounting case 21, one end of the spring 253 is connected to the first holder 251, and the other end of the spring 253 is connected to the second holder 252. When the magnetic wheel mechanism 3 rotates clockwise relative to the vehicle body mechanism 1, the mounting shell 21 also rotates clockwise relative to the vehicle body mechanism 1 by a certain angle, at this time, the spring 253 is elongated by a certain distance relative to the state during mounting, and when the magnetic wheel mechanism 3 is about to move out of the pit 202, the elongated spring 253 pulls the mounting shell 21, so that the mounting shell 21 rotates counterclockwise relative to the vehicle body mechanism 1 by a certain angle, the return of the magnetic wheel mechanism 3 is realized, and the magnetic wheel mechanism 3 can better support the vehicle body mechanism 1.

In order to achieve the rotational connection of the first holder 251 to the body mechanism 1, the first holder 251 is arranged on a first adapter 255, and the first adapter 255 is rotationally connected to the body mechanism 1. In order to achieve a rotational connection of the second holder 252 to the mounting housing 21, the second holder 252 is arranged on a second adapter 256, the second adapter 256 being rotationally connected to the mounting housing 21.

However, after the spring 253 is used for a period of time, the elastic recovery effect of the spring 253 is weakened, the first holder 251 and the second holder 252 are arranged opposite to each other at an interval, the distance between the first holder 251 and the second holder 252 is adjustable, and the effect of compressing the spring 253 can be achieved by adjusting the distance between the first holder 251 and the second holder 252, so that the elastic recovery effect of the spring 253 can be improved. As shown in fig. 13, in order to adjust the distance between the first holder 251 and the second holder 252, the first holder 251 is connected to the first adaptor 255 through a screw, the second holder 252 is connected to the second adaptor 256 through a screw, and an operator can adjust the distance between the first holder 251 and the second holder 252 only by simply screwing, so that the wall climbing robot 100 is convenient and simple to operate, can effectively reduce the labor intensity of the operator, and improves the maintenance efficiency.

In addition, as shown in fig. 13 and 14, in order to achieve the linear approaching or moving apart of the first holder 251 and the second holder 252, the linear retracting assembly 25 further includes a guide structure 254, and the guide structure 254 enables the first holder 251 and the second holder 252 to approach or move apart in a straight line. Specifically, as shown in fig. 13 and 14, the guide structure 254 includes a guide tube 2541 and a guide rod 2542, one of which is disposed on the first holder 251 and the other of which is disposed on the second holder 252, and the guide rod 2542 is inserted into the guide tube 2541 and is slidable with respect to the guide tube 2541. The structure that the guide tube 2541 and the guide rod 2542 are matched is simple in structure, good in guidance performance and easy to install.

As shown in fig. 4, the mounting case 21 includes a mounting sleeve 211 and a mounting flange 212, the mounting sleeve 211 is disposed on one side of the mounting flange 212, and the mounting flange 212 is planar, so that quick and easy mounting with the vehicle body mechanism 1 can be achieved. As shown in fig. 7, the bearing assembly 23, the unidirectional coupling assembly 24 and the torsion spring 22 are disposed in the mounting sleeve 211, and the mounting sleeve 211 can limit the circumferential position of the bearing assembly 23 and the torsion spring 22, so as to prevent the bearing assembly 23 and the torsion spring 22 from being separated from the mounting shell 21. In addition, the bearing component 23, the unidirectional coupling component 24 and the torsion spring 22 are arranged in the installation sleeve 211, and the installation sleeve 211 can achieve a good dustproof effect on the bearing component 23, the unidirectional coupling component 24 and the torsion spring 22.

In addition, as shown in fig. 7, in order to avoid the torsion spring 22 from deflecting during deformation, the reset mechanism 2 further includes a rotating shaft 28, and the rotating shaft 28 sequentially passes through the magnetic wheel mechanism 3, the mounting sleeve 211, the torsion spring 22, the bearing assembly 23, the unidirectional coupling assembly 24 and the mounting flange 212. In order to limit the relative position of each part of the reset mechanism 2 in the axial direction, two ends of the rotating shaft 28 are respectively provided with an axial limiting component 29, one axial limiting component 29 is located on the outer side of the magnetic wheel mechanism 3, the other axial limiting component 29 is located on the outer side of the mounting flange 212, and the axial limiting components 29 can be clamp springs, nuts and the like.

As shown in fig. 7, 8 and 9, to connect the torsion spring 22 and the carrier assembly 23, the torsion spring 22 and the carrier assembly 23 are connected by a first connecting assembly 26. In order to avoid the relative movement between the bearing assembly 23 and the first connecting assembly 26 along the circumferential direction, as shown in fig. 15 to 17, the first connecting assembly 26 includes a first connecting plate 261 and a first inserting block 262, one end of the torsion spring 22 is connected to the first connecting plate 261, a first inserting hole 2611 is formed in the first connecting plate 261, the first inserting block 262 is disposed on the bearing assembly 23, and the first inserting block 262 is inserted into the first inserting hole 2611, so that the installation efficiency of the first connecting assembly 26 and the bearing assembly 23 can be effectively improved.

In order to facilitate quick installation of the torsion spring 22 and the first connecting plate 261 and improve the installation efficiency of the reset mechanism 2, as shown in fig. 17, a first installation groove 2612 is formed in the first connecting plate 261, and one end of the torsion spring 22 is inserted into the first installation groove 2612. In order to prevent the portion of the torsion spring 22 inserted in the first mounting groove 2612 from being separated from the first mounting groove 2612, the depth of the first mounting groove 2612 is greater than the diameter of the wire of the torsion spring 224. As shown in fig. 9, the first insert 262 is fan-shaped and has an angle of 50 ° to 70 °, on the one hand, it is possible to prevent the first insert 262 from being damaged due to the long-term contact between the first connection plate 261 and the first insert 262; on the other hand, the first mounting groove 2612 provided in the first connection plate 261 can occupy a longer circumferential length in the circumferential direction, so that the contact length between the torsion spring 22 and the first connection plate 261 can be increased, and the torsion spring 22 can be prevented from being detached from the first connection plate 261.

As shown in fig. 18 to 20, in order to connect the torsion spring 22 and the magnet wheel mechanism 3, the torsion spring 22 and the magnet wheel mechanism 3 are connected by a second connection assembly 27. In order to avoid the relative rotation between the second connecting assembly 27 and the magnetic wheel mechanism 3, the second connecting assembly 27 includes a second connecting plate 271 and a second inserting block 272, the other end of the torsion spring 22 is connected to the second connecting plate 271, the second connecting plate 271 is provided with a second inserting opening 2711, the second inserting block 272 is provided on the magnetic wheel mechanism 3, and the second inserting block 272 is inserted into the second inserting opening 2711, so that the installation efficiency of the second connecting assembly 27 and the magnetic wheel mechanism 3 can be effectively improved.

As shown in fig. 19, in order to facilitate quick installation of the torsion spring 22 and the second connecting plate 271 and improve the installation efficiency of the wall-climbing robot 100, a second installation groove 2712 is formed on the second connecting plate 271, and the other end of the torsion spring 22 is installed in the second installation groove 2712. In order to prevent the portion of the torsion spring 22 inserted in the second mounting groove 2712 from being disengaged from the second mounting groove 2712, the depth of the second mounting groove 2712 is greater than the diameter of the wire of the torsion spring 224. As shown in fig. 20, the second insert block 272 is fan-shaped, and the angle of the fan shape is 50 ° to 70 °, on the one hand, it is possible to prevent the second insert block 272 from being damaged due to the long-time contact between the second connecting plate 271 and the second insert block 272; on the other hand, the circumferential length of the second mounting groove 2712 provided in the second connecting plate 271 can be made longer, the contact length between the torsion spring 22 and the second connecting plate 271 can be increased, and the torsion spring 22 can be further prevented from being disengaged from the second connecting plate 271.

Because the position that this canceling release mechanical system 2 set up can change, have the condition that first connecting plate 261 and second connecting plate 271 arranged along vertical direction, receive the action of gravity of first connecting plate 261 and second connecting plate 271, the phenomenon that first connecting plate 261 and carrier assembly 23 take place to loosen along vertical direction or second connecting plate 271 and magnetic wheel mechanism 3 take place to loosen along vertical direction appears, wall climbing robot 100 can't realize self effect. In order to solve the above problem, as shown in fig. 7, the torsion spring 22 is compressed by the magnetic wheel mechanism 3 and the mounting case 21 together along the axial direction of the torsion spring 22, and the torsion spring 22 compressed along the axial direction pushes the first connecting plate 261 and the second connecting plate 271 toward both sides thereof, so that the first connecting plate 261 is tightly pressed against the bearing assembly 23, and the second connecting plate 271 is tightly pressed against the magnetic wheel mechanism 3.

For the convenience of understanding the operation principle of the wall climbing robot, the following description will be made with reference to fig. 2, 5, and 21.

As shown in fig. 2 and 21, when the wall-climbing robot 100 climbs the magnetically conductive wall surface 200 in a planar state, the return mechanism 2 is attached to the mounting bracket 11 of the vehicle body mechanism 1, the torsion spring 22 in this state is deformed by tension with respect to the torsion spring 22 in a natural state, the spring 253 is deformed by compression, and the magnetic wheel mechanism 3 and the return mechanism 2 support the vehicle body mechanism 1 together.

As shown in fig. 5, when the wall-climbing robot 100 passes through the small-sized recess 202, the inner surface of the recess 202 attracts the magnetic wheel mechanism 3 to rotate clockwise with respect to the vehicle body mechanism 1 so that the torsion spring 22 is deformed from being pulled to being pressed, and when the magnetic wheel mechanism 3 moves out of the recess 202, the torsion spring 22 rotates the magnetic wheel mechanism 3 counterclockwise so that the magnetic wheel mechanism 3 returns to a state of abutting against the flat surface 201.

When the wall climbing robot 100 passes through the pit 202 with a large size, the bearing assembly 23 rotates clockwise by a certain angle relative to the mounting case 21, so that the rotation angle of the magnetic wheel mechanism 3 relative to the vehicle body mechanism 1 is larger. However, the bearing assembly 23 cannot rotate counterclockwise relative to the mounting shell 21, when the wall climbing robot 100 goes out of the large-sized pit 202, the linear expansion assembly 25 is compressed, the linear expansion assembly 25 drives the mounting shell 21 to rotate counterclockwise by a certain angle relative to the vehicle body mechanism 1, so that the magnetic wheel mechanism 3 is reset, and the magnetic wheel mechanism 3 is reset through the deformation of the linear expansion assembly 25 and the rotation of the mounting shell 21 relative to the vehicle body mechanism 1.

It is noted that the foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.

Claims

1. The utility model provides a wall climbing robot, can follow magnetic conduction wall surface (200) and move, magnetic conduction wall surface (200) include plane (201) and pit (202), wall climbing robot (100) includes automobile body mechanism (1), its characterized in that, wall climbing robot (100) still includes:

a reset mechanism (2), one end of which is connected with the vehicle body mechanism (1); and

the magnetic wheel mechanism (3) is connected with the other end of the reset mechanism (2), when the magnetic wheel mechanism (3) passes through the pit (202), the pit (202) adsorbs the magnetic wheel mechanism (3) so that the magnetic wheel mechanism (3) rotates towards the direction of the pit (202) relative to the vehicle body mechanism (1), and the magnetic wheel mechanism (3) is abutted against the inner surface of the pit (202); when the magnetic wheel mechanism (3) moves out of the pit (202), the reset mechanism (2) is configured to drive the magnetic wheel mechanism (3) to reset so that the magnetic wheel mechanism (3) is abutted against the plane (201).

2. A wall-climbing robot according to claim 1, characterized in that the reset mechanism (2) comprises:

a mounting case (21) provided on the vehicle body mechanism (1);

the one end of torsional spring (22) with installation shell (21) is connected, the other end of torsional spring (22) with magnetic wheel mechanism (3) are connected.

3. A wall climbing robot according to claim 2, characterized in that the reset mechanism (2) further comprises:

the bearing component (23), one end of the torsion spring (22) is fixed on the bearing component (23), and the bearing component (23) is arranged in the mounting shell (21); and

a unidirectional coupling component (24), the bearing component (23) is connected with the mounting shell (21) through the unidirectional coupling component (24), and the unidirectional coupling component (24) is configured to limit the bearing component (23) to rotate relative to the mounting shell (21) only towards the direction of the pit (202).

4. A wall climbing robot according to claim 3, characterized in that the reset mechanism (2) further comprises:

the vehicle body mechanism (1) is rotatably connected with the other end of the linear telescopic assembly (25), the other end of the linear telescopic assembly (25) is rotatably connected with one end of the installation shell (21), and the other end of the installation shell (21) is rotatably connected with the vehicle body mechanism (1).

5. A wall-climbing robot according to claim 4, characterized in that the linear telescopic assembly (25) comprises:

a first holder (251) which is rotationally connected with the vehicle body mechanism (1);

a second holder (252) rotatably connected to the mounting case (21); and

a spring (253), wherein one end of the spring (253) is connected with the first holder (251), and the other end of the spring (253) is connected with the second holder (252).

6. A wall climbing robot according to claim 5, characterized in that the first holder (251) and the second holder (252) are arranged opposite and spaced apart, the distance between the first holder (251) and the second holder (252) being adjustable.

7. A wall-climbing robot according to claim 5, characterized in that the linear telescopic assembly (25) further comprises:

a guide structure (254) for linearly moving the first holder (251) and the second holder (252) closer to and away from each other.

8. A wall-climbing robot as claimed in claim 7, characterized in that the guiding structure (254) comprises:

a guide pipe (2541) and a guide rod (2542), one of the two is arranged on the first retainer (251), the other one of the two is arranged on the second retainer (252), and the guide rod (2542) is inserted in the guide pipe (2541) and can slide relative to the guide pipe (2541).

9. A wall climbing robot according to claim 3, characterized in that the mounting shell (21) comprises:

a mounting sleeve (211), the bearing component (23), the one-way coupling component (24) and the torsion spring (22) are all arranged in the mounting sleeve (211).

10. A wall climbing robot according to claim 9, characterized in that the torsion spring (22) is connected with the carrying assembly (23) by a first connecting assembly (26), the first connecting assembly (26) comprising:

the first connecting plate (261), one end of the torsion spring (22) is connected with the first connecting plate (261), and a first socket (2611) is formed in the first connecting plate (261); and

a first plug block (262) arranged on the bearing component (23), wherein the first plug block (262) is plugged in the first socket (2611).

11. The wall-climbing robot as claimed in claim 10, wherein the first connecting plate (261) is provided with a first mounting groove (2612), and one end of the torsion spring (22) is inserted into the first mounting groove (2612).

12. A wall climbing robot according to claim 9, characterized in that the torsion spring (22) is connected with the magnet wheel mechanism (3) by a second connecting assembly (27), the second connecting assembly (27) comprising:

the other end of the torsion spring (22) is connected with the second connecting plate (271), and a second socket (2711) is formed in the second connecting plate (271); and

a second plug-in piece (272) which is arranged on the magnetic wheel mechanism (3), wherein the second plug-in piece (272) is plugged in the second socket (2711).

13. The wall climbing robot as claimed in claim 12, wherein the second connecting plate (271) is provided with a second mounting groove (2712), and the other end of the torsion spring (22) is mounted in the second mounting groove (2712).

14. A wall climbing robot according to claim 11 or 13, characterized in that the torsion spring (22) is compressed by the magnet wheel mechanism (3) and the mounting shell (21) together in the axial direction of the torsion spring (22).

15. A wall-climbing robot according to claim 3, characterized in that the unidirectional coupling assembly (24) comprises:

a first one-way gear (241) provided on the carrier assembly (23); and

a second one-way gear (242) provided on the mounting case (21), the first one-way gear (241) being coupled with the second one-way gear (242).