CN115402436A - Wall-climbing robot - Google Patents
Wall-climbing robot Download PDFInfo
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- CN115402436A CN115402436A CN202210848714.2A CN202210848714A CN115402436A CN 115402436 A CN115402436 A CN 115402436A CN 202210848714 A CN202210848714 A CN 202210848714A CN 115402436 A CN115402436 A CN 115402436A
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- wall
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention provides a wall-climbing robot which comprises a robot body and a plurality of adsorption components, wherein the adsorption components are fixed on the robot body, the robot body can drive the adsorption components to move, and when the robot body drives the adsorption components to move, the adsorption components alternately move or circularly roll. Adsorption component includes interconnect's sucking disc and motion joint, the sucking disc pass through the motion joint with this body coupling of robot, the motion joint includes base and rotation portion, rotation portion with the base is connected, and receives the external force back rotation portion with the base can rotate relatively each other. The wall climbing robot provided by the invention can realize automatic wall climbing.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a wall-climbing robot.
Background
The existing large-scale equipment, ships, buildings and the like have the problem of difficult operation, the risk of adopting manual high-altitude operation is large, the safety of personnel is difficult to guarantee, but some large-scale buildings or high towers need to remove rust on metal structures, otherwise, the strength of the structures per se can be influenced, and extremely large accidents can be caused.
For example, a rust removal device is a mechanical device for cleaning an oxide layer on a metal surface, so as to further perform other processes on the metal surface after rust removal (for example, painting paint on the metal surface after rust removal), and if manual rust removal is adopted, structures of some higher parts are difficult to implement.
It is therefore desirable to provide a robot that is capable of automatically climbing a wall.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a wall climbing robot capable of automatically climbing a wall.
The invention provides a wall-climbing robot which comprises a robot body and a plurality of adsorption components, wherein the adsorption components are fixed on the robot body, the robot body can drive the adsorption components to move, and when the robot body drives the adsorption components to move, the adsorption components alternately move or roll circularly.
Preferably, the plurality of suction assemblies include a first suction assembly and a second suction assembly, the first suction assembly and the second suction assembly are spaced apart from each other along a movement direction of the robot body, the second suction assembly is movable when the first suction assembly is in a suction state, and the first suction assembly is movable when the second suction assembly is in a suction state.
Preferably, the robot body comprises a lifting mechanism which can drive the adsorption component to move up and down; the robot body comprises a climbing motor for driving the adsorption component to move back and forth; the robot body also comprises a transverse moving motor for driving the adsorption component to move left and right; the robot body further comprises an environment camera and a movable pulley, the movable pulley is fixed at the end of the robot body, and the bottom of the adsorption component is made of a non-metal elastic material.
Preferably, the robot body further comprises a longitudinal beam, a first connecting cross beam and a second connecting cross beam, the adsorption components comprise a first adsorption component, a second adsorption component and a third adsorption component, the first connecting cross beam and the second connecting cross beam are arranged on the longitudinal beam at intervals along the length direction of the longitudinal beam, the first adsorption component is arranged on the first connecting cross beam at two sides of the longitudinal beam, the second adsorption component is arranged on the second connecting cross beam at two sides of the longitudinal beam, the third adsorption component is arranged at the end of the longitudinal beam, and when two adsorption components in the first adsorption component, the second adsorption component and the third adsorption component are adsorbed, the other adsorption component can move.
Preferably, the first connecting cross beam and the second connecting cross beam can move back and forth along the length direction of the longitudinal beam to drive the first adsorption assembly and the second adsorption assembly to move back and forth, and the first connecting cross beam and the second connecting cross beam can move left and right relative to the longitudinal beam to drive the first adsorption assembly and the second adsorption assembly to move left and right.
Preferably, the adsorption component comprises a sucker and a kinematic joint which are connected with each other, the sucker is connected with the robot body through the kinematic joint, the kinematic joint comprises a base and a rotating part, the rotating part is connected with the base, and after external force is applied to the rotating part, the base can rotate relatively.
Preferably, the rotating part is externally provided with a first engaging part, the base is provided with a second engaging part, the first engaging part and the second engaging part are engaged with each other, and the engaging positions of the first engaging part and the second engaging part can be changed when the rotating part and the base rotate relative to each other.
Preferably, the kinematic joint further comprises a reset mechanism mounted on the base, the reset mechanism is matched with the rotating part, and after the external force acting on the rotating part or the base is eliminated, the reset mechanism enables the rotating part to restore to an initial position relative to the base.
Preferably, the base has an installation cavity, a first rack, a first gear, a first elastic member and a second elastic member are arranged in the installation cavity, the first gear and the rotating portion are coaxially arranged, the first rack is slidably connected with the base, the first rack is meshed with the first gear, one end of the first elastic member and one end of the second elastic member are respectively abutted against two ends of the first rack, and the other end of the first elastic member and the other end of the second elastic member are connected with an end wall of the installation cavity;
the mounting cavity comprises a first cavity and a second cavity which are communicated with each other, the first elastic piece, the second elastic piece and the first rack are mounted in the first cavity, the first rack can slide along the axial direction of the first cavity, and the first gear and the rotating part are mounted in the second cavity.
Preferably, two ends or one end of the installation cavity are respectively provided with an adjusting piece, the adjusting pieces are connected with the first elastic piece and/or the second elastic piece, the adjusting pieces are movably connected with the base, and the adjusting pieces can move along the length direction of the installation cavity;
an air pressure balance hole is further formed in the first rack, and the air pressure balance hole penetrates through the first rack in the axial direction relative to the first rack.
The wall climbing robot provided by the invention can realize automatic wall climbing.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual size, emphasis instead being placed upon illustrating the principles of the invention.
Fig. 1 is a schematic structural view of the wall-climbing robot provided by the invention.
FIG. 2 is a schematic view of the overall structure of a kinematic joint according to the present invention;
FIG. 3 is a cross-sectional structural view of a kinematic joint of the present invention;
FIG. 4 is a cross-sectional view of the susceptor according to the present invention;
FIG. 5 is an exploded view of the kinematic joint of the present invention;
FIG. 6 is a schematic view of a portion of the adsorption assembly of the present invention;
FIG. 7a is a schematic view of the adsorption assembly in a first adsorption movement state;
FIG. 7b is a schematic view of the adsorption assembly in a second adsorption movement state;
FIG. 7c is a schematic view of the adsorption assembly in a third adsorption movement state;
fig. 8 is a photograph of the actual wall climbing work of the wall climbing robot.
Detailed Description
The present invention will be described in further detail with reference to the drawings and specific examples so that those skilled in the art can better understand the present invention and can implement the present invention, but the examples are not intended to limit the present invention, and in the present examples, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like as used herein are for illustrative purposes only.
As shown in fig. 1 to 8, an embodiment of the present invention provides a wall climbing robot, including a robot body and a plurality of adsorption components, where the plurality of adsorption components are fixed on the robot body, the robot body can drive the adsorption components to move, and when the robot body drives the adsorption components to move, the adsorption components move or roll alternately. When the robot body adopts the mode of slide rail, then the adsorption component is the alternating motion, guarantees the stable absorption of robot and climbs the wall, and when the robot body adopted track drive's mode, the adsorption component was the mode of advancing of circulating rolling.
Referring to fig. 1, in a preferred embodiment, the suction assembly comprises at least two suction assemblies, ensuring the alternation of the suction assemblies. The suction component referred to in this embodiment is a component having a suction cup and may also be referred to as a foot climbing. Adsorb through two adsorption component in turn, practice wall climbing robot is better climbs the wall. For example, in the working state, the first adsorption component is fixed in an adsorption mode, then the second adsorption component moves forwards, when the second adsorption component moves for a certain displacement, the second adsorption component is fixed in an adsorption mode, then the first adsorption component moves forwards, and the alternate motion can ensure stable wall climbing of the wall climbing robot. Of course, a third, fourth or fifth suction module etc. may also be provided.
Referring to fig. 1, in a preferred embodiment, the robot body includes a lifting mechanism 15 for moving the suction assembly up and down, so as to lift the foot of the suction assembly. The robot body comprises a climbing motor for driving the adsorption component to move back and forth, and the robot can climb upwards to the wall. The robot body also comprises a transverse moving motor for driving the adsorption component to move left and right, and the transverse movement of the robot can be realized. In the operation process of the wall climbing robot of the present embodiment, the lifting mechanism 15 lifts the suction assembly, and then moves to the next position to start suction. The adsorption component of this embodiment not only can go up and down, can also move from front to back, can also remove from side to side, can diversely remove when realizing the operation, not only can climb from top to bottom on the facade, can also remove from side to side along the facade. The front and rear directions, the left and right directions, and the up and down directions in the present embodiment are directions as shown in fig. 1, and are opposite directions, and when the placing position of the wall climbing robot is different from that of fig. 1, it should be understood with reference to the relative position of fig. 1.
Referring to fig. 1, in a preferred embodiment, the robot body further includes a longitudinal beam 101, a first connecting cross beam 102 and a second connecting cross beam 103, the suction assemblies include a first suction assembly 201, a second suction assembly 202 and a third suction assembly 203, the first connecting cross beam 102 and the second connecting cross beam 103 are arranged on the longitudinal beam 101 at intervals in the transverse direction of the longitudinal beam 101, the first suction assembly 201 is arranged on the first connecting cross beam 101 at two sides of the longitudinal beam 101, the second suction assembly 202 is arranged on the second connecting cross beam 103 at two sides of the longitudinal beam 101, the third suction assembly 203 is arranged on the end of the longitudinal beam 101, and when two suction assemblies among the first suction assembly 201, the second suction assembly 202 and the third suction assembly 203 are sucked, the other suction assembly can move.
In a further preferred embodiment, the first connecting beam 102 and the second connecting beam 103 can move back and forth along the length direction of the longitudinal beam 101 to drive the first adsorption assembly 201 and the second adsorption assembly 202 to move back and forth, and the first connecting beam 102 and the second connecting beam 103 can move left and right relative to the longitudinal beam 101 to drive the first adsorption assembly 201 and the second adsorption assembly 202 to move left and right.
The adsorption moving process specifically comprises the following conditions:
referring to fig. 7a, when the third adsorption assembly 203 and the second adsorption assembly 202 adsorb, the first adsorption assembly 202 can move back and forth or move left and right;
referring to fig. 7b, when the third adsorption assembly 203 and the first adsorption assembly 201 adsorb, the second adsorption assembly 202 can move back and forth or move left and right;
referring to fig. 7c, when the first adsorption assembly 201 and the second adsorption assembly 202 adsorb, the third adsorption assembly 203 may move back and forth or move left and right.
It can be seen that, the motion process keeps 3 at least adsorption component in the adsorption state all the time, and the robot focus is in the within range of stable adsorption component (climbing foot) interval all the time.
Referring to fig. 1, in a preferred embodiment, the robot body further includes a moving pulley 105 provided at one end of the robot body. In the using process, the movable pulley is adopted to push the wall-climbing robot to a specified position, and then the robot starts to climb the wall. The preferred removal pulley of this embodiment is 3, can realize the effect of the wall climbing robot of stable implementation.
Referring to fig. 1-6, in a preferred embodiment, the suction assembly comprises a suction cup 14 and a kinematic joint 1 connected with each other, the kinematic joint 1 comprises a base 2 and a rotating part 3, the rotating part 3 is connected with the base 2, and the rotating part 3 and the base 2 can rotate relative to each other after an external force is applied.
The suction cup 14 in this embodiment is connected to the robot body through the kinematic joint 1, and when the kinematic joint 1 receives an external force, the rotation portion 3 and the base 2 of the kinematic joint 1 can rotate relative to each other, so that the suction cup 14 serving as a walking foot of the robot can be adaptively attached to a walking surface of a workpiece, if the walking surface is an arc surface, the suction cup 14 can deflect at a certain angle relative to the robot body by using the kinematic joint 11 as a rotation point, and further the suction cup 14 can be better attached to the walking surface, so that imbalance of stress of the suction cup 14 is reduced, and meanwhile, a gap is not easily generated between the suction cup 14 and the workpiece, so that the suction cup 14 is facilitated to maintain effective suction (negative pressure) relative to a row, that is, the robot is not easily detached from the walking surface. That is, after the suction cup 14 is sucked to the workpiece, the robot main body is less likely to deflect or shake with the kinematic joint 11 as a rotation point; and the convenience of the walking robot is improved, and the adaptability to the walking vertical face is improved.
Referring to fig. 3, in a preferred embodiment, the rotating portion 3 is externally provided with a first engaging portion, the base 2 is provided with a second engaging portion, the first engaging portion and the second engaging portion are engaged with each other, and the engaging positions of the first engaging portion and the second engaging portion can be changed when the rotating portion 3 and the base 2 are rotated relative to each other. The rotation of the rotation portion 3 and the base 2 relative to each other is achieved in this embodiment by the first engagement portion and the second engagement portion engaging with each other. The base 2 may be tilted left and right with respect to the rotating portion 3 such that the rotating portion 3 engages a different position of the second engaging portion in the base 2.
When the suction cup is used, if the suction cup meets an inclined operation vertical surface during suction, the base and the rotating part automatically incline and mesh, and unbalance of stress of the suction cup 14 is reduced. Compared with the prior art that the rotating motor is adopted as the joint, the engaged joint structure greatly reduces the weight of the wall-climbing robot and reduces the climbing burden of the wall-climbing robot. Meanwhile, the wire configuration of the rotating motor during assembly is reduced, and the cost is greatly reduced. Meanwhile, when the base inclines along with the angle self-adaption of the vertical surface, the first meshing part and the second meshing part are meshed and have a certain self-locking effect due to the fixed adsorption of the sucker. Therefore, the motion joint structure of the embodiment can have a good self-adaptive effect when being applied to the wall-climbing robot.
Referring to fig. 3, in a preferred embodiment, the kinematic joint further includes a return mechanism mounted on the base, and the return mechanism may be a spring, or may be a matching structure of the spring and the gear shown in fig. 3. The reset mechanism is matched with the rotating part 3, and after the external force acting on the rotating part 3 or the base 2 is eliminated, the reset mechanism enables the rotating part 3 to be restored to the initial position relative to the base 2. The reset mechanism is installed on the base 2 and is matched with the rotating part 3, and after the external force acting on the rotating part 3 or the base 2 is eliminated, the reset mechanism enables the rotating part 3 to be restored to the initial position relative to the base 2. Specifically, a reset mechanism is arranged in the kinematic joint 1, and after the external force acting on the suction cup 14 in the walking process of the robot is eliminated, the kinematic joint 1 can drive the suction cup 14 to reset (for example, the suction cup 14 is kept in a vertical state relative to the axis of the lifting device), so that the suction cup 14 can better adapt to a walking surface when the robot drops feet next time (the suction cup 14 is adsorbed on different positions of a workpiece); secondly, the running stability of the robot on the running surface can be ensured due to the reaction force in the reset mechanism (elastic part),
referring to fig. 3-4, in a preferred embodiment, the base 2 has a mounting cavity, a first rack 5, a first gear 6, a first elastic member 7 and a second elastic member 5 are arranged in the mounting cavity, the first gear 6 is coaxially arranged with the rotating part 3, the first rack 5 is slidably connected with the base, the first rack 5 is meshed with the first gear 6, one end of the first elastic member 7 and one end of the second elastic member 5 are respectively abutted against two ends of the first rack 5, and the other end of the first elastic member 7 and the other end of the second elastic member 5 are connected with an end wall of the mounting cavity.
In the preferred embodiment, as shown in fig. 3-4, the mounting cavity comprises a first chamber 9 and a second chamber 10, the first chamber 9 is in communication with the second chamber 10, the axes of the first chamber 9 and the second chamber 10 are perpendicular to each other, and the second chamber 10 is located in the middle of the first chamber 9 with respect to the length direction of the first chamber 9. The first rack 5 is installed in the first chamber 9 and is reciprocally slidable in the axial direction of the first chamber 9, and the first gear 6 is installed in the second chamber 10. Specifically, when the kinematic joint is stressed, the rotating part 3 rotates relative to the base 2 and drives the first gear 6 to rotate, and the first gear 6 drives the first rack 5 engaged with the first gear to slide leftwards or rightwards along the first chamber 9; further, for example, when the first rack 5 slides to the left, a pressing force is respectively applied to the first elastic members 7 located at the left ends thereof, so that the original elastic force acting on the second elastic members 8 is released, that is, the pressing force applied to the first elastic members 7 is greater than the pressing force applied to the second elastic members 8; when the external force acting on the joint 1 is removed, that is, the extrusion force acting on the first elastic member 7 is removed, the first elastic member 7 pushes the first rack 5 to move rightward, and the rotating portion 3 is driven to rotate by the first gear 6 until the forces exerted on the first elastic member 7 and the second elastic member 8 reach a relatively balanced state, that is, the joint 1 is self-reset. The first elastic member 7 and the second elastic member 8 in this embodiment are both springs.
As shown in fig. 3-5, in a preferred embodiment, the first chamber 9 is further provided with adjusting members 11 at two ends thereof, the adjusting members 11 are connected with the base 2 through threads, and the adjusting members 11 can move along the length direction of the first chamber 9; one end of the first elastic piece 7 and one end of the second elastic piece 8 are respectively abutted against two ends of the first rack 5, and the other end of the first elastic piece 7 and the other end of the second elastic piece 8 are respectively abutted against the adjusting piece 11. Through the adjustment of the adjusting piece 11, an extrusion force or a pretightening force can be respectively applied to the first elastic piece 7 and/or the second elastic piece 8, so that the driving torque of the stressed motion joint can be adjusted; alternatively, the initial return point of the rotating portion may be adjusted by adjusting the adjusting member 11. For example, in the state that the rotating part of the kinematic joint is at the initial reset point, the suction cup 14 is perpendicular to the axis of the lifting device, and the suction cup 14 can be no longer in a perpendicular state relative to the axis of the lifting device by adjusting the adjusting member 11, so as to adapt to different work shapes.
In a preferred embodiment, as shown in fig. 3, the first rack 5 is further provided with an air pressure balancing hole 12, the air pressure balancing hole 12 penetrates through the first rack 5 in the axial direction of the first rack 5, and the air pressure balancing hole 12 is arranged to prevent the first rack from forming a piston effect when the first cavity 9 moves. Further, still be provided with retaining member 13 on the base 2, retaining member 13 with base 2 through the screw thread formation be connected, and retaining member 13 is used for fixed regulating part 11 for the position of base 2, its tip and regulating part 11 looks butt of retaining member 13 after the locking, and then avoid regulating part 11 to take place to become flexible and influence the motion joint.
Referring to fig. 6, in a preferred embodiment, the base 2 of the kinematic joint 1 is bolted to the suction cup 14, and the rotating part 3 of the kinematic joint 1 is used to connect external equipment. Furthermore, the lifting mechanism 15 is also included, the lifting mechanism 15 is fixed with the rotating part 3 of the kinematic joint 1 through a bolt, and the kinematic joint 1 enables the suction cup 14 to rotate or deflect relative to the lifting mechanism 15.
As shown in fig. 6, in a preferred embodiment, the lifting mechanism 15 includes a guide rail 16, a slide carriage 17, and a driving mechanism, the guide rail 16 is fixed to the kinematic joint 1 by a bolt, the slide carriage 17 is slidably connected to the guide rail 16, and the slide carriage 17 can slide back and forth along the length direction of the guide rail 16, the driving mechanism is fixed to the slide carriage 17, and the driving mechanism is in transmission connection with the guide rail 16, and the driving mechanism is used for driving the slide carriage 17 to move relative to the slide rail. Further, the driving mechanism comprises a motor 18, a second gear 19 and a second rack 20, the second rack 20 is fixed with the guide rail 16, the second gear 19 is fixed with a driving shaft of the motor 18, the motor 18 is fixed with the sliding seat 17 through bolts, the second gear 19 is meshed with the second rack 20, and the axes of the second rack 20 and the guide rail 16 are parallel to each other. Further, the lifting mechanism 15 further comprises a reinforcing rod 21, and the reinforcing rod 21 and the guide rail 16 are fixed through bolts. The reinforcing bar 21 is used to increase the rigidity of the guide rail 16 and reduce the amount of deformation of the guide rail 16 after being subjected to a force. The lifting mechanism 15 can realize the lifting action (lifting feet) of the sucker 14, or when a step appears on a walking surface, the sucker 14 can be adjusted through the lifting mechanism 15 without adjusting the overall posture of the robot.
According to the wall-climbing robot, the moving joints are arranged on the suckers for connection, so that the suckers serving as the walking feet of the robot can be attached to the walking surface of a workpiece in a self-adaptive manner, when the walking surface is in an arc surface, the suckers can deflect relative to the robot by taking the moving joints as rotating points, the suckers can be attached to the walking surface better, unbalance of stress of the suckers is reduced, gaps are not prone to being generated between the suckers and the workpiece, suction of the suckers relative to the walking surface is guaranteed, and the robot is not prone to falling off from the walking surface; furthermore, a reset mechanism is arranged in the kinematic joint, and after the external force acting on the sucker in the walking process of the robot is eliminated, the kinematic joint can drive the sucker to reset (for example, the sucker is kept in a vertical state relative to the axis of the lifting device), so that the sucker can better adapt to a walking surface when the robot drops feet next time (the sucker is adsorbed on different positions of a workpiece); secondly, due to the reaction force in the resetting mechanism (elastic part), the walking stability of the robot on a walking surface can be ensured, namely, after the sucker is adsorbed on a workpiece, the robot main body is not easy to deflect and shake by taking a moving joint as a rotating point; and the convenience of the walking robot is improved, and the adaptability to the walking vertical face is improved.
Referring to fig. 8, the wall-climbing robot provided by the present invention has an adsorption assembly capable of performing lifting movement and moving back and forth, and integrated vacuum negative pressure suction plate feet, wherein the sole is made of non-metal elastic material, such as polymer material, and can walk on the surface of various materials. The moving joint is adopted for compounding, the walking device can effectively adapt to the walking of double curved surfaces, the non-metal sole surface can effectively protect the paint surface, and the steel structure tower cylinder can not be magnetized. Through verification, the method can better crawl on a curved surface.
In this specification, unless explicitly stated or limited otherwise, a first feature may be "on" or "under" a second feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, reference to the description of the terms "preferred embodiment," "yet another embodiment," "other embodiments," or "specific examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. The utility model provides a wall climbing robot, its characterized in that includes robot body and a plurality of adsorption component, and a plurality of adsorption component are fixed in on the robot body, the robot body can drive adsorption component removes, works as the robot body drive when adsorption component removes, adsorption component alternate motion or circulation roll.
2. The wall-climbing robot of claim 1, wherein the plurality of adsorption modules include a first adsorption module and a second adsorption module, the first adsorption module and the second adsorption module being spaced apart in a movement direction of the robot body, the second adsorption module being movable when the first adsorption module is in the adsorption state, and the first adsorption module being movable when the second adsorption module is in the adsorption state.
3. The wall-climbing robot as claimed in claim 1, wherein the robot body includes a lifting mechanism for moving the adsorption assembly up and down; the robot body comprises a climbing motor for driving the adsorption component to move back and forth; the robot body also comprises a traversing motor for driving the adsorption component to move left and right; the robot body still includes environment camera and removal pulley, it is fixed in to remove the pulley the tip of robot body, the adsorption component bottom is nonmetal elastic material.
4. The wall-climbing robot of claim 1, wherein the robot body further comprises a longitudinal beam, a first connecting cross beam and a second connecting cross beam, the adsorption components comprise a first adsorption component, a second adsorption component and a third adsorption component, the first connecting cross beam and the second connecting cross beam are transversely arranged on the longitudinal beam at intervals along the length direction of the longitudinal beam, the first adsorption component is respectively arranged on the first connecting cross beam at two sides of the longitudinal beam, the second adsorption component is respectively arranged on the second connecting cross beam at two sides of the longitudinal beam, the third adsorption component is arranged at the end of the longitudinal beam, and when two adsorption components of the first adsorption component, the second adsorption component and the third adsorption component adsorb, the other adsorption component can move.
5. The wall-climbing robot as claimed in claim 4, wherein the first connecting beam and the second connecting beam can move back and forth along the length direction of the longitudinal beam to drive the first adsorption component and the second adsorption component to move back and forth, and the first connecting beam and the second connecting beam can move left and right relative to the longitudinal beam to drive the first adsorption component and the second adsorption component to move left and right.
6. The wall-climbing robot as claimed in any one of claims 1 to 5, wherein the suction assembly includes a suction cup and a kinematic joint connected to each other, the suction cup is connected to the robot body through the kinematic joint, the kinematic joint includes a base and a rotating part, the rotating part is connected to the base, and the rotating part and the base are rotatable relative to each other upon application of an external force.
7. The wall-climbing robot as claimed in claim 6, wherein the rotating part has a first engaging part outside, the base has a second engaging part on the base, the first engaging part and the second engaging part are engaged with each other, and an engaging position of the first engaging part and the second engaging part is changeable when the rotating part and the base are rotated relative to each other.
8. The wall-climbing robot as recited in claim 6, wherein the kinematic joint further includes a restoring mechanism mounted to the base, the restoring mechanism cooperating with the rotating portion to restore the rotating portion to an initial position relative to the base after an external force acting on the rotating portion or the base is removed.
9. The wall-climbing robot as claimed in claim 6, wherein the base has a mounting cavity, a first rack, a first gear, a first elastic member and a second elastic member are disposed in the mounting cavity, the first gear is disposed coaxially with the rotating portion, the first rack is slidably connected to the base, the first rack is engaged with the first gear, one end of the first elastic member and one end of the second elastic member abut against two ends of the first rack, respectively, and the other end of the first elastic member and the other end of the second elastic member are connected to an end wall of the mounting cavity;
the mounting cavity comprises a first cavity and a second cavity which are communicated with each other, the first elastic piece, the second elastic piece and the first rack are mounted in the first cavity, the first rack can slide along the axial direction of the first cavity, and the first gear and the rotating part are mounted in the second cavity.
10. The wall-climbing robot as claimed in claim 9, wherein the mounting cavity is provided at one or both ends thereof with an adjusting member, the adjusting member is connected to the first elastic member and/or the second elastic member, the adjusting member is movably connected to the base, and the adjusting member is movable along a length direction of the mounting cavity;
an air pressure balance hole is further formed in the first rack, and the air pressure balance hole penetrates through the first rack in the axial direction relative to the first rack.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210848714.2A CN115402436B (en) | 2022-07-19 | 2022-07-19 | Wall climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210848714.2A CN115402436B (en) | 2022-07-19 | 2022-07-19 | Wall climbing robot |
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| CN115402436B CN115402436B (en) | 2024-01-30 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202593672U (en) * | 2012-04-20 | 2012-12-12 | 上海电机学院 | Integral wall-climbing robot |
| CN103962847A (en) * | 2014-04-08 | 2014-08-06 | 南京航空航天大学 | Double-direction crawling light moving type parallel normal-direction hole forming device |
| CN104129448A (en) * | 2014-08-11 | 2014-11-05 | 罗权 | Complex curved surface adsorption walking and steering method of caterpillar wall climbing robot |
| CN109229227A (en) * | 2018-11-09 | 2019-01-18 | 燕山大学 | Climbing robot |
| AU2019100810A4 (en) * | 2019-07-24 | 2019-08-29 | Guorui Zhang | Robot Obstacle Surmounting Mechanism |
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2022
- 2022-07-19 CN CN202210848714.2A patent/CN115402436B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202593672U (en) * | 2012-04-20 | 2012-12-12 | 上海电机学院 | Integral wall-climbing robot |
| CN103962847A (en) * | 2014-04-08 | 2014-08-06 | 南京航空航天大学 | Double-direction crawling light moving type parallel normal-direction hole forming device |
| CN104129448A (en) * | 2014-08-11 | 2014-11-05 | 罗权 | Complex curved surface adsorption walking and steering method of caterpillar wall climbing robot |
| CN109229227A (en) * | 2018-11-09 | 2019-01-18 | 燕山大学 | Climbing robot |
| AU2019100810A4 (en) * | 2019-07-24 | 2019-08-29 | Guorui Zhang | Robot Obstacle Surmounting Mechanism |
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| CN115402436B (en) | 2024-01-30 |
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