WO2021012426A1

WO2021012426A1 - Anti-fall wall climbing robot and walking method thereof

Info

Publication number: WO2021012426A1
Application number: PCT/CN2019/111924
Authority: WO
Inventors: 朱家义
Original assignee: 朱家义
Priority date: 2019-07-22
Filing date: 2019-10-18
Publication date: 2021-01-28
Also published as: CN110341827B; CN110341827A

Abstract

An anti-fall wall climbing robot and a walking method thereof. A central platform of the wall climbing robot can move along a frame (12), a central fixed disc (7) and a central movable disc (8) are successively arranged on the bottom of a main transmission shaft (14), a ball screw (15) is in cooperating connection with the movable disc (8) such that the movable disc (8) can move relative to the central fixed disc (7) along an axial direction of the ball screw (15), and an adhesion structure (10) is provided on lower sides of the movable disc (8) and the frame (12) respectively such that the wall climbing robot can be adhered onto the wall. Two or more groups of bistable electromagnets are used in the wall climbing robot for adhesion to and separation from the wall by means of magnetic charging and discharging. At least one group of bistable electromagnets are magnetic and are adhered on the wall during the climbing process, that is, magnetism is charged at first and then discharged during the magnetic field exchange between different groups of bistable electromagnets. Meanwhile, self-adaption structures are disposed both on the frame (12) and on the adhesion structure (10) of the wall climbing robot so as to enable the climbing on a curved wall with variable curvature radius.

Description

Anti-falling wall climbing robot and walking method thereof

Technical field

The invention relates to the technical field of robots, in particular to an anti-falling wall climbing robot and a walking method thereof.

Background technique

The wall-climbing robot is a robot that can crawl on the surface of a vertical object. It crawls on the wall through intelligent control or artificial control. The adsorption device adsorbed on the wall mainly depends on continuous energy consumption to maintain suction, such as electricity or Other energy converted from electric energy, such as electromagnetic, vacuum, etc., are therefore in an unstable state. Once a sudden power failure occurs, the wall-climbing robot will fall from the wall, bringing great safety risks.

The applicant of this application discloses a bistable electromagnet in China Patent Publication No. CN109545499A, which has two stable states, one is a stable state with magnetism, and the other is a stable state without magnetism. Once one of the states is selected The power-on trigger is established, and then there is no need to continue power supply. Unless another state is selected for power-on trigger establishment, the state can be reversed, that is, the state is changed from the non-magnetic stable state to the magnetically stable state or vice versa. The trigger establishment is the previous The reverse current magnetization of the reversible magnet causes the magnetic pole of the reversible magnet to reverse. The reversal of the two states is completed instantaneously, without continuous power supply, and therefore will not cause the bistable electromagnet to continue to heat and consume energy. This application preferably combines the structural characteristics of the above-mentioned bistable electromagnet to improve the wall-climbing robot, and designs a new-structure anti-falling wall-climbing robot, which is especially suitable for curved walls with varying radius of curvature, such as ship hull surfaces. Crawling. Preferably, when a bistable electromagnet is used as the adsorption structure, the wall material of the fall-proof wall-climbing robot crawls is a material with magnetic permeability, such as ferrous metals such as steel (Note: stainless steel is a non-magnetic material, not the original The crawling range of the anti-fall climbing wall robot).

Summary of the invention

The purpose of the present invention is to solve the shortcomings of the prior art and provide an anti-falling wall-climbing robot and a walking method thereof, which can be adsorbed on the surface of the wall and crawl steadily. Will fall from the wall, and preferably can stay on the wall indefinitely, without any energy consumption, unless you restart, and the preferred embodiment of the present invention is particularly suitable for curved walls with varying radius of curvature Crawling, as on the surface of a hull.

In order to achieve the above-mentioned purpose, the present invention preferably combines the structural characteristics of the bistable electromagnets, and adopts two or more sets of bistable electromagnets to alternately magnetize and adsorb on the wall and demagnetize to meet the requirements of crawling. The structure is designed to simulate the gait of the foot to complete crawling, turning and other actions, and throughout the crawling process to ensure that at least one bistable electromagnet in the first adsorption structure and the second adsorption structure is in a magnetic state and Adsorbed to the wall, that is, the magnetic field is first magnetized and demagnetized in the bistable electromagnet magnetic field exchange between the groups, so as to achieve the technology that the wall-climbing robot can crawl steadily without falling from the wall Solution. At the same time, an adaptive structure is set on the frame of the wall-climbing robot and the suction device to meet the requirements of crawling on curved walls with varying radius of curvature. It integrates multiple technical solutions and combines intelligent control to design a safe and reliable adaptation A powerful anti-falling wall-climbing robot.

The present invention provides an anti-falling wall-climbing robot, which includes an adsorption structure and an electrical system for driving the anti-falling wall-climbing robot, and also includes a frame and a center plate transmission assembly and a center platform inside the frame. The disc drive assembly includes a matched steering motor and a main drive shaft, a matched center disc lifting motor and a ball screw, the main drive shaft is rotatably connected with a central platform, and the central platform is connected to the frame In a matched connection, the steering motor is fixed to the central platform, so that the steering motor can drive the central platform and the frame to rotate, and the central platform can move along the frame, and the bottom of the main drive shaft is provided with a central fixed plate, The main drive shaft is coaxially arranged with the ball screw and the ball screw is matedly connected with the central moving plate, so that when the ball screw rotates, the central moving plate can be relative to the The central fixed plate moves along the axial direction of the ball screw, the adsorption structure includes a first adsorption structure and a second adsorption structure, and at least one first adsorption structure is provided on the lower side of the central moving plate. The lower side of the frame is provided with at least one second adsorption structure to achieve crawling through alternate adsorption of the first adsorption structure and the second adsorption structure.

The present invention also has the following preferred technical solutions:

The first adsorption structure and the second adsorption structure are respectively provided with a fixing frame, the fixing frame is provided with a step hole in the vertical direction, and the central bolt of the adsorption structure passes through the step hole and makes the adsorption The structure is located on the lower side of the step hole, and a vertically arranged first spring is connected between the top of the central bolt of the adsorption structure and the bottom of the step hole.

The side of the frame is rotatably provided with a connecting lever. The two ends of the connecting lever are respectively provided with a fixing frame for connecting the second adsorption structure and an adaptive return spring. The adaptive return spring is arranged vertically and resists the connecting lever and Between frames.

The frame is rectangular, a set of opposite sides of the rectangle is provided with ball guide rails, and the bottom of the center platform is provided with a sliding block matched with the ball guide rail and can move along the ball guide rail.

The bottom of the center platform is provided with gears downwards, and the center platform is provided with a motor for driving the gears, and the inner side of the frame is provided with a rack that meshes with the gears, so that the gears are driven by the motor Rotating to drive the central platform to move along the rack provided on the inner side of the frame.

The lead wire of the suction structure provided on the lower side of the central moving plate is connected with the carbon brush provided on the central fixed plate, and the carbon brush and the central fixed plate are insulated from each other, and the bottom of the central platform is provided with the The ring-shaped conductive track printed board matched with the carbon brush is used to realize the electrical activity connection with the central fixed plate through the carbon brush, so as to guide the wire drawn from the adsorption structure on the lower side of the central moving plate to the center Come on the platform.

The center plate lifting motor is installed on a bracket, the bracket is fixed on an insulating plate with carbon brushes, the insulating plate is fixed with the main drive shaft, and the worm gear is fixed on the center platform. The box body and the worm gearbox body are provided with another annular conductive track printed board which is matched with the carbon brush of the insulating disc. The lead wire of the center disc lifting motor is connected to the carbon brush on the insulating disc, so that The center plate lifting motor is electrically connected to the center platform, so that the normal power supply channel of the center plate lifting motor is not hindered when the main drive shaft rotates.

The adsorption structure adopts a bistable electromagnet.

The present invention also relates to a walking method of the anti-falling wall-climbing robot, the method includes a traveling method, and the traveling method is achieved by performing step a and step b in sequence or performing step b and step a in sequence: step a. The anti-falling wall climbing robot is adsorbed on the wall by the first suction structure on the lower side of the central moving plate, and the second suction structure on the lower side of the frame is out of contact with the wall. At this time, the frame Move along the central platform; step b. The fall-proof wall-climbing robot is adsorbed on the wall through the second suction structure on the lower side of the frame, and the first suction structure on the lower side of the central moving disc is out of contact with the wall , At this time, make the center platform move along the frame.

The method further includes a steering method, and the steering method is specifically as follows: the fall-proof wall-climbing robot is adsorbed on the wall through the first adsorption structure on the lower side of the central moving disc, and the lower side of the frame The second adsorption structure is out of contact with the wall. At this time, the steering motor drives the frame to rotate, so as to realize the steering of the anti-falling wall-climbing robot.

The adsorption structure adopts bistable electromagnets, and adopts at least two sets of bistable electromagnets to alternately magnetize and adsorb on the wall surface, demagnetize and detach, and ensure that at least one set of bistable electromagnets are in place during the entire crawling process. The magnetic state is adsorbed on the wall, that is, in the bistable electromagnet magnetic field exchange between the groups, the magnet is first magnetized and then demagnetized, so that the wall-climbing robot can crawl steadily without falling.

Compared with the prior art, the present invention has the advantages that: the present invention provides an anti-falling wall climbing robot and its walking method, which has a novel structure and reliable operation, can be adsorbed on the wall surface and crawls stably. The bistable electromagnet structure previously applied by people is used as the adsorption structure, and two or more sets of bistable electromagnets work alternately, always keeping at least one set of bistable electromagnets in a magnetic state and adsorbed on the wall The surface does not need to be continuously powered, and therefore it will not cause the bistable electromagnet to continuously heat up and consume energy. In the event of a sudden power failure, the anti-falling wall-climbing robot will not fall down, and can stay on the wall indefinitely without any energy consumption unless you restart it. At the same time, in its preferred embodiment, an adaptive structure including a lever, a first spring and an adaptive return spring is designed, which is especially suitable for curved walls with varying radius of curvature. Through reasonable structural design, and the originality of the operation mode The design, combined with intelligent control, can realize the stable, safe and effective operation of the anti-falling wall-climbing robot, and can instantly switch the adsorption state with the wall.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the anti-falling wall climbing robot of the present invention in an embodiment;

2 is a schematic diagram of the structure of the center plate transmission assembly and the center platform of the anti-falling wall climbing robot of the present invention in an embodiment;

Fig. 3 is a schematic structural diagram of the center plate transmission assembly of the anti-falling wall climbing robot of the present invention in an embodiment;

4 is a schematic diagram of the main drive shaft of the anti-falling wall climbing robot of the present invention and the ball screw in an embodiment;

Figure 5 is a schematic diagram of the bottom structure of the anti-falling wall climbing robot of the present invention in an embodiment;

Fig. 6 is a partial enlarged schematic diagram of Fig. 5;

FIG. 7 is a schematic diagram of a state in which the anti-falling wall-climbing robot of the present invention encounters an inclined surface in an embodiment, when the connecting lever is adaptively rotated;

Figure 8 is a schematic diagram of the contact between the adsorption structure of the present invention and the wall in one embodiment (1);

Fig. 9 is a schematic diagram showing the self-adaptive contact between the adsorption structure of the present invention and the wall in an embodiment (2);

Figure 10 is a schematic diagram of the carbon brush structure of the present invention in one embodiment;

Figure 11 is a schematic diagram of the anti-falling wall climbing robot of the present invention in an embodiment when it is in the "0" state;

Figure 12 is a schematic diagram of the anti-falling wall climbing robot of the present invention in an embodiment when it is in the "1" state;

Figure 13 is a schematic diagram of the anti-falling wall climbing robot of the present invention in an embodiment when it is in the "-1" state;

Figure 14 is a schematic diagram of the running process of the anti-falling wall climbing robot of the present invention in an embodiment;

15 is a schematic diagram of the structural installation of the connecting lever of the anti-falling wall climbing robot of the present invention in an embodiment;

In the figure: 1. Center plate lifting motor 2. Steering motor 3. Worm gearbox body 4. Ring conductive track printed board 5. Power-off brake 6. Slider 7. Center fixed plate 8. Center moving plate 9. Carbon Brush 10, adsorption structure 11, synchronous motor 12, frame 13, guide post guide sleeve 14, main drive shaft 15, ball screw 16, gear 17, rack 18, connecting lever 19, first worm gear 20, adaptive reset Spring 21, second worm gear pair 22, first spring 23, step hole 24, fixing frame 25, ball guide 26, shaft sleeve 27. lever central axis 28. bracket 29. Insulating plate.

Detailed ways

The present invention will be further explained below in conjunction with the accompanying drawings. The structure and principle of this device are very clear to those in the field. It should be understood that the specific implementation cases described here are only used to explain the present invention, but not to limit the present invention.

Referring to Figure 7, the anti-falling wall-climbing robot provided by this embodiment, in addition to the electrical system used to drive the anti-falling wall-climbing robot, mainly includes the frame and the center disk drive assembly and the center platform inside the frame. The frame has a rectangular structure, and the main drive shaft is movably connected to the middle of the central platform through a bearing connection or other known connection methods. See Figures 2 and 3, and the central disk drive assembly includes a matching steering The motor and the main drive shaft, and since the steering motor is fixed on the central platform, when the main drive shaft is stationary relative to the ground, the drive of the steering motor can drive the central platform to rotate. In this embodiment, the steering motor drives the central platform to rotate after the speed of the two-stage worm gear is reduced, and the two-stage deceleration is achieved by setting the first worm gear pair and the second worm gear pair to different transmission ratios. In addition, the central platform and the frame are matched and connected. The frame in this embodiment is rectangular, and a set of opposite sides of the rectangle is provided with a ball guide rail structure, that is, a set of opposite sides of the rectangular frame It is composed of a ball guide rail, and the sliding block of the ball guide rail structure on the ball guide rail is fixed to the bottom of the center platform, so that the bottom of the center platform is connected to the frame in cooperation and can move along the ball guide rail , That is, the central platform can move along the frame. Furthermore, when the central platform rotates, it can drive the frame to rotate synchronously to achieve the effect of turning. It should be understood that the central platform referred to in the present embodiment can move along the frame, which also includes the frame can move along the central platform. Movement, that is, when the central platform is the stationary reference system, the movement of the central platform relative to the frame is the movement of the frame relative to the central platform.

Also referring to Figures 2 and 3 in combination with Figure 4, the center disk drive assembly also includes a center disk lifting motor and a ball screw that cooperate, the center disk lifting motor can drive the ball screw to rotate, and the main The transmission shaft and the ball screw are both vertically arranged to realize the movement of the central moving plate relative to the central fixed plate in the vertical direction. In this embodiment, the ball screw is arranged coaxially with the main drive shaft. Specifically, the ball screw is arranged in the middle of the main drive shaft, and the main drive shaft is provided with a A cavity, and the inner wall of the main drive shaft extends to the inside of the cavity with a boss. The ball screw is equipped with two bearings. The two bearings are clamped on the upper and lower sides of the boss to assist in positioning the ball screw , And the ball screw extends from the lower part of the main drive shaft to the outside of the main drive shaft. The center plate lifting motor is fixed to the upper end of the main drive shaft by bolt connection or other known connection methods and is connected to the main drive shaft. The ball screw in the middle part is matched and connected. The lower end of the main drive shaft is fixedly connected with a central fixed plate, and the ball screw passes through the central fixed plate from top to bottom from the middle of the central fixed plate and then engages with the middle of the central moving plate through threaded fit. It is connected so that when the ball screw rotates, the central moving plate can move relative to the central fixed plate along the axial direction of the ball screw, thereby realizing the lifting of the central moving plate. In addition, preferably, a guide sleeve and a guide column are provided between the central moving plate and the central fixed plate to assist in lifting and guiding.

With reference to Figure 1, Figure 8 and Figure 9, this embodiment is provided with a set of first adsorption structures at the bottom of the central moving plate, and a set of second adsorption structures at the bottom of the frame. The outer sides of a set of short sides of the rectangular frame can be The middle part of the connecting lever is rotatably connected. As shown in Figure 15, the short side of the rectangular frame is provided with a through hole for connecting a shaft sleeve. The shaft sleeve is rotatably provided with a lever central shaft, and the outside of the lever central shaft passes The bolt is connected to the middle of the connecting lever. Both ends of the connecting lever are respectively provided with a fixing frame for connecting the second adsorption structure and an adaptive return spring, and the adaptive return spring is arranged vertically and resists between the connecting lever and the frame. And a fixing frame for connecting the first adsorption structure is also provided on the central moving plate. A stepped hole is vertically arranged in the fixing frame, and the stepped hole is formed by connecting two sections of connecting holes with different diameters, and the hole of the connecting hole on the upper side is larger than that of the connecting hole on the lower side. Thus, a stepped hole is formed. The central bolt of the adsorption structure passes through the stepped hole and the adsorption structure is located on the lower side of the frame or the central moving disc. The top of the central bolt of the adsorption structure is connected to the stepped hole. The bottom is connected with a first spring arranged vertically, so that the individual of the adsorption structure can be adaptively adsorbed on the inclined wall surface. When the fall-proof wall-climbing robot is adsorbed on a curved wall with a changing radius of curvature, the suction structure at the left and right ends can be located in a tilted or curved plane through the rotation of the connecting lever, and through the first spring and the adaptive return spring The self-adjustment makes the adsorption structure match the wall to which it is attached.

In one embodiment, referring to Figures 5 and 6, the effect that the central platform can move along the frame is achieved by the following structure. The central platform is rectangular, and the diagonally opposite corners of the central platform are provided with a through hole. , The through hole is provided with a transmission shaft downward, the outer side of the transmission shaft is connected with a gear or the surface of the transmission shaft is provided with a gear, and the central platform is provided with a motor for driving the gear, the two rectangular frames The inner side of the long side is provided with a rack gear meshing with the gear, so that the motor drives the gear to rotate to drive the central platform to move along the rack provided on the inner side of the frame. Of course, the two motors that drive the frame must be electrically synchronized and ensure that the two motors drive the same direction of rotation to push the frame to move. At the same time, the output shaft of the synchronous motor is equipped with a power-off brake to prevent the motor from losing after power off. Self-locking causes relative slippage between the center platform and the frame structure.

In one embodiment, in conjunction with Figures 2 and 10, the first adsorption structure provided on the lower side of the central moving disk has its lead wires connected to the carbon brushes on the central fixed disk, and the carbon brushes are connected to the center plate. The fixed plates are insulated from each other. The bottom of the central platform is provided with the annular conductive track printed board matched with the carbon brushes, and the carbon brushes are electrically connected to the central fixed plate, thereby connecting the The lead wires of a suction structure are guided to the central platform. Since the wires are not directly connected, when the central platform and the frame of the fall-proof wall-climbing robot rotate, the wires of the first adsorption structure will not be disordered. As for the wires of the second suction structure connecting the two ends of the lever, they are arranged through the wire groove provided on the connecting lever and pass through the central hole on the lever central axis in the middle of the lever, so that the wires of the suction structure are guided to the frame. When the lever is turned, it will not affect the conductive channel.

The center plate lifting motor is installed on a support, the support is fixed on an insulating plate provided with carbon brushes, the insulating plate is fixed to the main drive shaft through a central hole thread, and the central platform is fixed There is a worm gearbox body and another annular conductive track printed board is provided on the worm gearbox body to cooperate with the carbon brushes of the insulating disc, and the lead wire of the center disc lifting motor is connected to the carbon brushes on the insulating disc Therefore, the center plate lifting motor is electrically connected to the center platform, so that the normal power supply channel of the center plate lifting motor is not hindered when the main drive shaft rotates.

The central moving plate and the lower side of the frame are respectively provided with a first adsorption structure and a second adsorption structure, so that the fall-proof wall climbing robot can be adsorbed on the wall, and the adsorption structure can preferably be able to The bistable electromagnet disclosed by the applicant in my country Patent Publication No. CN109545499A is used.

The following describes the use and operation mode of the anti-falling wall climbing robot, referring to Fig. 11. In this embodiment, the state is in the "0" state. In the "0" state, the first adsorption structure at the bottom of the center moving disc and The second adsorption structures provided on the lower sides of the four corners of the rectangular frame are in contact with the wall.

Referring to Figure 12, this embodiment takes this state as the "1" state. In the "1" state, the first adsorption structure at the bottom of the center moving plate is in contact with the wall and the second adsorption structure is provided on the lower side of the four corners of the rectangular frame Do not touch the wall.

Referring to Figure 13, the present embodiment takes this state as the "-1" state. In the "-1" state, the first adsorption structure at the bottom of the center moving disc does not contact the wall surface, and the first adsorption structure at the bottom of the four corners of the rectangular frame is provided with The second adsorption structure is in contact with the wall.

The following is an example of the operation of the anti-falling wall-climbing robot. It should be noted that the wall surface described in this embodiment also includes a horizontal wall surface, which is equivalent to the ground. Referring to Figure 14, the adsorption structure of the anti-falling wall-climbing robot in this embodiment adopts the bistable electromagnet disclosed by the applicant in my country's patent publication number CN109545499A. The operation process of the anti-falling wall-climbing robot is as follows:

As shown in part a, first, the fall-proof wall-climbing robot is in the "0" state, and the magnetic field is exchanged: the first bistable electromagnet group on the lower side of the center moving disk is first magnetized, and then the second bistable on the frame The state electromagnet group demagnetizes backward. Then, start the center plate lifting motor to move the center plate downwards to prop up the entire fall-proof wall-climbing robot. The second bistable electromagnet group on the frame leaves the wall, and the fall-proof wall-climbing robot enters the "1" state. , And then the synchronous motor starts, and the frame moves forward along the central platform, that is, to the right side in this embodiment, as shown in part b.

Start the center plate lifting motor again to move the center moving plate upwards, so that the fall-proof wall-climbing robot returns to the "0" state, that is, the first bistable electromagnet group under the central moving plate and the second bistable under the frame The two-state electromagnet groups are all in contact with the wall, and then the magnetic field is exchanged: the second bistable electromagnet group on the frame is magnetized first, and the first bistable electromagnet group on the lower side of the center moving disk is demagnetized, and then Start the center disk lifting motor to move the center disk upward again, so that the first bistable electromagnet group on the lower side of the center disk leaves the wall, and the falling wall climbing robot enters the "-1" state, and then starts the synchronous motor, so that The central platform moves along the frame, and the central platform moves from the leftmost end to the rightmost end of the frame. At this time, the anti-falling wall climbing robot does not move relative to the wall, as shown in part c.

Then start the center plate lifting motor to make the anti-falling wall climbing robot enter the "0" state, that is, the first bistable electromagnet group on the center plate and the second bistable electromagnet group on the frame are in contact with the wall at the same time . Then the magnetic field exchange is: the first bistable electromagnet on the center plate is magnetized first, the second bistable electromagnet group on the frame is demagnetized, and the center plate lifting motor is started again, so that the anti-falling wall climbing robot enters "1" "State, start the synchronous motor, the frame moves along the center platform, so that the center platform is in the middle of the frame, and the steering is ready, as shown in part d.

Then, the steering motor is started, the frame and the center platform are rotated 90 degrees clockwise with the axis of the main drive shaft, as shown in part e. Then continue to rotate 45 degrees clockwise, as shown in part f. After the steering is completed, the anti-falling wall-climbing robot is still in the "1" state. At this time, the synchronous motor is started to cause a relative linear motion between the center platform and the frame, and the frame moves forward.

Of course, the anti-falling wall-climbing robot runs under an intelligent control or human manipulation environment. As long as the operation method and logic rules of the present invention are followed, the anti-falling wall-climbing robot can achieve safe, reliable, flexible and fast wall-climbing operation.

Claims

An anti-falling wall-climbing robot, comprising an adsorption structure and an electrical system for driving the anti-falling wall-climbing robot, and is characterized in that it also includes a frame, a center plate transmission assembly and a center platform inside the frame, and the center The disc drive assembly includes a matched steering motor and a main drive shaft, a matched center disc lifting motor and a ball screw, the main drive shaft is rotatably connected with a central platform, and the central platform is connected to the frame In a matched connection, the steering motor is fixed to the central platform, so that the steering motor can drive the central platform and the frame to rotate, and the central platform can move along the frame, and the bottom of the main drive shaft is provided with a central fixed plate, The main drive shaft is coaxially arranged with the ball screw and the ball screw is matedly connected with the central moving plate, so that when the ball screw rotates, the central moving plate can be relative to the The central fixed plate moves along the axial direction of the ball screw, the adsorption structure includes a first adsorption structure and a second adsorption structure, and at least one first adsorption structure is provided on the lower side of the central moving plate. The lower side of the frame is provided with at least one second adsorption structure to achieve crawling through alternate adsorption of the first adsorption structure and the second adsorption structure.
The anti-falling wall-climbing robot according to claim 1, wherein the first adsorption structure and the second adsorption structure are respectively provided with a fixing frame, and the fixing frame is provided with a step hole in the vertical direction, so The central bolt of the adsorption structure passes through the step hole so that the adsorption structure is located on the lower side of the step hole, and a first spring is connected between the top of the central bolt of the adsorption structure and the bottom of the step hole. .
The anti-falling wall-climbing robot according to claim 1 or 2, characterized in that the side of the frame is rotatably provided with a connecting lever, and two ends of the connecting lever are respectively provided with a fixing frame for connecting the second adsorption structure and an adaptive The return spring, the self-adaptive return spring is vertically arranged and held between the connecting lever and the frame.
The fall-proof wall-climbing robot according to claim 1, wherein the frame is rectangular, a set of opposite sides of the rectangular are provided with ball guide rails, and the bottom of the central platform is provided with The sliding block matched with the ball guide rail can move along the ball guide rail.
The anti-falling wall-climbing robot according to claim 1 or 4, wherein the bottom of the center platform is provided with gears downward, and the center platform is provided with a motor for driving the gears, and the inner side of the frame A rack gear meshed with the gear is provided, so that the motor drives the gear to rotate to drive the central platform to move along the rack gear provided inside the frame.
The anti-falling wall-climbing robot according to claim 1, characterized in that the suction structure on the lower side of the central moving plate is provided with a lead wire connected to a carbon brush provided on the central fixed plate, and the carbon brush is connected to the central plate. The fixed plates are insulated from each other, and the bottom of the center platform is provided with a ring-shaped conductive track printed board matched with a carbon brush, so as to realize the electrical activity connection with the central fixed plate through the carbon brush;

The center plate lifting motor is installed on a bracket, the bracket is fixed on an insulating plate with carbon brushes, the insulating plate is fixed with the main drive shaft, and the worm gear is fixed on the center platform. The box body and the worm gearbox body are provided with another annular conductive track printed board which is matched with the carbon brush of the insulating disc. The lead wire of the center disc lifting motor is connected to the carbon brush on the insulating disc, so that The center plate lifting motor is electrically connected to the center platform, so that the normal power supply channel of the center plate lifting motor is not hindered when the main drive shaft rotates.
The anti-falling wall-climbing robot according to claim 1, wherein the adsorption structure adopts a bistable electromagnet.
The walking method of the fall-proof wall-climbing robot according to claim 1, wherein the method includes a traveling method, and the traveling method is performed by sequentially performing step a and step b or performing step b and step a in sequence achieve:

Step a. The anti-falling wall climbing robot is adsorbed on the wall through the first suction structure on the lower side of the center moving plate, and the second suction structure on the lower side of the frame is out of contact with the wall. At this time, make The frame moves along the central platform;

Step b. Use the second suction structure on the lower side of the frame to make the anti-fall wall climbing robot adsorb on the wall surface, and the first suction structure on the lower side of the center moving plate is out of contact with the wall surface. The central platform moves along the frame.
8. The walking method of the anti-falling wall-climbing robot according to claim 8, characterized in that the method further comprises a steering method, and the steering method is specifically as follows: through the first adsorption structure on the lower side of the central moving disc The fall-proof wall-climbing robot is adsorbed on the wall surface, and the second suction structure on the lower side of the frame is out of contact with the wall surface. At this time, the frame is driven to rotate by the steering motor, so as to realize the turning of the fall-proof wall-climbing robot.
The walking method of the fall-proof wall-climbing robot according to claim 8, wherein the adsorption structure adopts bistable electromagnets, and adopts at least two sets of bistable electromagnets to alternately magnetize and adsorb on the wall, and demagnetize Break away and ensure that at least one group of bistable electromagnets are in a magnetic state and attached to the wall during the entire crawling process, that is, the bistable electromagnets between groups are magnetized first in the magnetic field exchange, and then retreat Magnetic, so that the wall-climbing robot can crawl steadily without falling.