CN209956103U

CN209956103U - Wall-climbing robot with variable curvature self-adaptive capacity

Info

Publication number: CN209956103U
Application number: CN201920772851.6U
Authority: CN
Inventors: 张小俊; 王洋; 张庆华; 王维鹏
Original assignee: Luoyang Shengrui Intelligent Robot Co Ltd
Current assignee: Luoyang Shengrui Intelligent Robot Co Ltd
Priority date: 2019-05-27
Filing date: 2019-05-27
Publication date: 2020-01-17
Anticipated expiration: 2029-05-27

Abstract

The utility model provides a wall climbing robot with variable camber self-adaptation ability, includes the frame and sets up a pair of crawler travel module in the frame both sides, crawler travel module passes through the joint and is connected with the frame, makes every crawler travel module have two mutually perpendicular rotational degrees of freedom for the frame. The crawler belt walking module comprises a permanent magnet adsorption plate, the permanent magnet adsorption plate and the walking supporting wheel have a rotational degree of freedom around the axis direction of the swing shaft, when the wall climbing robot moves on the variable-curvature magnetic conduction wall surface, the three degrees of freedom enable the crawler belt to be attached to the magnetic conduction wall surface through the permanent magnet adsorption plate and the walking supporting wheel, so that the permanent magnet adsorption plate of the wall climbing robot can automatically adjust the posture of the permanent magnet adsorption plate according to the situation of the walking magnetic conduction wall surface, the working air gap between each permanent magnet adsorption plate and the magnetic conduction wall surface is guaranteed to be changed within an allowable range, the reliable walking of the wall climbing robot on the variable-curvature magnetic conduction surface is guaranteed, and meanwhile, the flexibility of the walking is also achieved.

Description

Wall-climbing robot with variable curvature self-adaptive capacity

Technical Field

The utility model belongs to the technical field of the robotechnology and specifically relates to a wall climbing robot with variable camber adaptive capacity is related to.

Background

The magnetic adsorption wall climbing robot is one kind of automatic mechanical device for conducting specific operation, such as inspection, monitoring, welding, polishing, etc. on magnetically conducting wall in harsh, dangerous and extreme conditions. At present, the magnetic adsorption wall-climbing robot is widely applied to the production and construction of ferromagnetic structures in nuclear industry, petrochemical industry, building industry, fire-fighting department, shipbuilding industry and the like.

In practical application, some magnetic conductive wall surfaces are space curved surfaces, the surface appearance of the magnetic conductive wall surfaces is uneven, the curvature radius is smaller, and the curvature variation range is larger. For the magnetic adsorption wall-climbing robot running on the surface, the air gap between the adsorption device and the magnetic conduction wall surface changes, the magnitude of the magnetic adsorption force is inversely proportional to the square of the air gap distance, and the small air gap distance change can cause larger change of the adsorption force, so that the load capacity of the wall-climbing robot is seriously influenced. In addition, due to the unevenness of the magnetic conduction wall surface, the motion performance of the wall-climbing robot is also affected, and if the unevenness of the wall surface can cause the walking supporting wheels to be suspended, the driving is disabled. Therefore, for a wall-climbing robot running on a complex variable-curvature magnetic conduction wall surface, the robot is required to have strong load capacity and good motion flexibility, and meanwhile, the robot also has good self-adaptive capacity on the variable-curvature magnetic conduction wall surface. For the wall climbing robot, the wall climbing robot can be ensured to stably adsorb and climb on the variable-curvature magnetic conduction wall surface under the working load, adsorption failures such as gliding, falling and the like can not occur, and the wall climbing robot is the primary requirement and the most basic requirement of the wall climbing robot.

To the wall climbing robot that works on complicated variable curvature leads magnetic wall face, its core is to guarantee the invariable of magnetic attraction all the time, and this is the prerequisite, and it is the contact with the magnetic wall face all the time to guarantee the walking supporting wheel secondly. Only constant magnetic adsorption force can enable the wall climbing crawler belt walking module to be in contact with the magnetic conduction wall surface, and only the crawler belt is in contact with the magnetic conduction wall surface all the time through the walking supporting wheels and generates enough pressure, the walking of the wall climbing crawler belt walking module can be realized. The wall-climbing robot in the prior art cannot give consideration to both the wall-climbing robot and the wall-climbing robot.

Disclosure of Invention

The utility model aims at overcoming the weak point of prior art in the aspect of load capacity, curved surface adaptability, designing a wall climbing robot with variable camber adaptive capacity, make it when having strong load capacity, good motion flexibility, have better adaptive to variable camber magnetic conduction wall to solve the problem that exists among the prior art.

The utility model provides a wall climbing robot with variable camber self-adaptive capacity, including frame and a pair of crawler travel module of setting in the frame both sides, crawler travel module passes through the joint and is connected with the frame, makes every crawler travel module have two each other for the perpendicular rotational degree of freedom for the frame.

The crawler belt walking module comprises a driving wheel, a driven wheel and a pair of swinging support wheel assemblies arranged between the driving wheel and the driven wheel, and is connected and driven through a crawler belt; a swing shaft parallel to the axes of the driving wheel and the driven wheel is arranged on the swing support wheel assembly, a permanent magnetic adsorption plate is connected to the swing shaft, and a pair of walking support wheels parallel to the swing shaft are arranged at two ends of the permanent magnetic adsorption plate; the permanent magnetic adsorption plate and the pair of walking supporting wheels have a rotational degree of freedom around the axis direction of the swing shaft.

When the wall climbing robot moves on the variable-curvature magnetic conduction wall surface, the three rotational degrees of freedom enable the track to be tightly attached to the magnetic conduction wall surface through the permanent magnetic adsorption plate and the walking supporting wheels.

Preferably, the frame includes the main part roof beam, and the main part roof beam is the axle form, and the symmetric connection has a pair of joint on the flange of axle both ends, connect the joint including first pivot and the second pivot that each other is perpendicular, the second pivot rotates around first pivot, crawler travel module connects on the flange of second pivot, and rotates around the second pivot.

Preferably, a universal wheel main plate is arranged between the main body beam and the connecting joint, the universal wheel main plate is in a U-shaped groove shape, groove-direction long groove holes are formed in the two sides of the groove, and universal wheels are arranged on the long groove holes.

Preferably, install monitoring module and electrical apparatus box body on the main part roof beam, monitoring module includes camera and camera support, camera support passes through electrical apparatus box lantern ring upper part of the body and electrical apparatus box lantern ring lower part of the body lock fastening on the main part roof beam with the electrical apparatus box body.

Preferably, the crawler traveling module comprises an inner crawler shoe and an outer crawler shoe which are arranged in parallel, the driving wheel, the driven wheel and the pair of rocking support wheel assemblies are connected between the inner crawler shoe and the outer crawler shoe, and the inner crawler shoe is connected to the flange of the second rotating shaft.

Preferably, the driving wheel is connected with a motor module, the motor module comprises a motor, a right-angle speed reducer and a speed reducer flange, the speed reducer flange is connected with the inner side track shoe, and an output shaft of the right-angle speed reducer is connected with the driving wheel.

Preferably, a belt wheel reinforcing plate and a handle are connected between the inner side track shoe and the outer side track shoe, wherein one end of the belt wheel reinforcing plate is fixedly connected to a flange of the speed reducer, and the other end of the belt wheel reinforcing plate is fixedly connected to a bearing end cover of the driving wheel.

Preferably, the permanent magnetism adsorption plate includes magnetic conduction board and permanent magnet, the material of magnetic conduction board is pure iron or low carbon steel, the permanent magnet is the cuboid permanent magnet, and magnetizes along the direction of height, and two adjacent permanent magnets are connected on the magnetic conduction board along the direction of height with the opposite coupling arrangement mode of magnetic pole.

Preferably, the action wheel, from the driving wheel and the walking supporting wheel are coaxial double round structure, and the double round is at the both ends of place axle, the double round is the synchronizing wheel, the track is the hold-in range, and the inboard middle part of track is equipped with heavy groove, heavy groove is pressed close to the permanent magnet on the permanent magnetism adsorption plate.

Preferably, the driving wheel, the driven wheel and the walking supporting wheel are respectively provided with a pinch roller inner baffle at the inner sides of the two wheels, and the pinch roller inner baffle is positioned at the groove edge part at the inner side of the crawler belt sinking groove.

Wall climbing robot compare with prior art, have substantive characteristics and show the progress:

(1) the wall-climbing robot of the utility model adopts symmetrical crawler belt walking modules, each crawler belt walking module is independently driven by a self motor, the motion flexibility is high, the working environment adaptability is strong, the robot can self-adaptively walk on the magnetic conduction wall surface with variable curvature, and the robot has good load capacity;

(2) every track walking module has designed two each other for the frame and has been the mutually perpendicular rotational degree of freedom, has designed a rotational degree of freedom in the track walking module again, above-mentioned three rotational degree of freedom for the permanent magnetism adsorption plate of wall climbing robot can be according to the magnetic conduction wall situation automatically regulated posture of its self of walking, has guaranteed that the work air gap between every permanent magnetism adsorption plate and the magnetic conduction wall changes in the allowed band, makes the magnetism adsorption affinity invariable, guarantees that the wall climbing robot can not slide down because of the magnetism adsorption affinity suddenly diminishes, fall. Meanwhile, the constant magnetic adsorption force also provides necessary friction force for the walking of the crawler walking module, and the crawler skidding and the incapability of walking caused by insufficient friction force of the crawler walking module are avoided;

(3) the utility model discloses a wall climbing robot has good self-adaptation performance on the variable curvature magnetic conduction wall (like hydraulic turbine blade surface) of complicacy, and has good load capacity and motion flexibility.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of a frame;

FIG. 3 is a schematic view of the structure of the joint;

FIG. 4 is a schematic structural view of the present invention when walking along the axial direction of the arc surface;

FIG. 5 is a schematic structural view of the present invention when walking along the circumference of the arc curved surface;

FIG. 6 is a schematic structural view of the crawler travel module;

FIG. 7 is a schematic view of the track configuration;

FIG. 8 is a schematic structural view of the rocking support wheel assembly;

FIG. 9 is a schematic structural view of a motor module;

FIG. 10 is a schematic structural diagram of a permanent magnet module;

FIG. 11 is a schematic structural view of the present invention when turning along a curved surface;

fig. 12 is a schematic structural diagram of a monitoring module.

In the figure: 10. a frame; 101. a body beam; 102. a connecting joint; 1021. a first shaft base; 1022. a first rotating shaft; 1023. a second rotating shaft; 1024. a first shaft self-lubricating flanging shaft sleeve; 1025. a second shaft self-lubricating shaft sleeve; 1026. a bearing hub; 1027. a tapered roller bearing; 1028. a flat washer; 1029. a clamp spring; 103. a universal wheel main board; 104. a universal wheel; 20. a monitoring module; 201. A camera; 202. a camera head bracket; 203. an appliance box collar upper body; 204. the lower body of the electrical appliance box collar; 205. an electrical box body; 2051. a switching power supply; 2052. a power supply module; 2053. a network transmitter; 2054. a gyroscope; 30. a crawler belt traveling module; 302. a driving wheel; 303. a driven wheel; 40. a rocking support wheel assembly; 401. a swing shaft; 402. a permanent magnetic adsorption plate; 4021. a magnetic conductive plate; 4022. a permanent magnet; 403. a traveling support wheel; 404. an inner baffle of the pinch roller; 501. A crawler belt; 502. an inboard track shoe; 503. an outboard track shoe; 504. a handle; 60. a pulley reinforcing plate; 70. a motor module; 701. a motor; 702. a right-angle reducer; 703. speed reducer flange.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

As shown in fig. 1, the wall-climbing robot according to the embodiment of the present invention includes a frame 10 and a pair of crawler belt modules 30 disposed on both sides of the frame 10, the crawler belt modules 30 are connected to the frame 10 through a connection joint 102, and the frame 10 plays a role of supporting and connecting the crawler belt modules 30.

As shown in fig. 2-3, the frame 10 includes a main body beam 101, the main body beam 101 is in a shaft shape, a pair of connection joints 102 are symmetrically connected to flanges at two ends of the shaft, the connection joints 102 include a first rotating shaft 1022 and a second rotating shaft 1023 perpendicular to each other, the second rotating shaft 1023 rotates around the first rotating shaft 1022, and the crawler module 30 is connected to a flange of the second rotating shaft 1023 and rotates around the second rotating shaft 1023. The crawler belt modules 30 are connected to the frame 10 by a connecting joint 102, so that each crawler belt module 30 has two rotational degrees of freedom perpendicular to each other with respect to the frame 10.

In this embodiment, the second shaft 1023 in the joint 102 is connected with the first shaft base 1021 by a first shaft 1022, and the end of the first shaft 1022 is fixed by a clamp spring 1029; a first shaft self-lubricating flanging shaft sleeve 1024 is arranged between the first shaft 1022 and the first shaft base 1021 hole, a second shaft self-lubricating shaft sleeve 1025 is arranged between the second shaft 1023 hole and the first shaft 1022, and the second shaft 1023 can freely rotate around the first shaft 1022. The partial structure can enable the crawler belt walking modules 30 on the two sides to swing inwards or outwards by taking the walking direction as a rotation axis, so that the rotational freedom degree of one dimension is realized, and the crawler belt walking module can adapt to the axial walking of the arc-shaped curved surface, as shown in fig. 4.

The cylindrical end of the second shaft 1023 is in fit connection with the inner rings of a pair of tapered roller bearings 1027, the outer rings of the tapered roller bearings 1027 are in fit connection with a bearing hub 1026, and the bearing hub 1026 is fixed on the inner track shoe 502 through bolts. The inner ring of the inner tapered roller bearing 1027 is in contact with the shaft shoulder of the second shaft 1023, and the outer ring is in contact with one side of the shaft shoulder of the bearing hub 1026; the outer ring of the outer tapered roller bearing 1027 contacts with the other side of the shaft shoulder of the bearing hub 1026, and the inner ring is fixed by a flat washer 1028 and a nut. This partial structure can realize that crawler belt walking module 30 is around the second axle 1023 free rotation, at this moment, crawler belt walking module 30 of both sides can realize the space rotation alternately, consequently realize the rotational degree of freedom of two dimensions, as shown in fig. 5, can adapt to the circumference walking of circular arc curved surface, also can walk on the variable curvature face of more complicacy, but when walking on the variable curvature face of complicacy, permanent magnetism adsorption plate 402 and walking supporting wheel 403 if do not have the third rotational degree of freedom, the magnetism adsorption of permanent magnetism adsorption plate 402 and variable curvature magnetic conduction wall will be local absorption, the adsorption affinity will also be very reduced, can't adsorb on the variable curvature magnetic conduction wall reliably, also can not realize reliable walking.

In order to further improve the technical solution, as shown in fig. 6, 7 and 8, the crawler belt module 30 includes a driving wheel 302, a driven wheel 303 and a pair of rocking support wheel assemblies 40 disposed between the driving wheel 302 and the driven wheel 303. A swing shaft 401 parallel to the axes of the driving wheel 302 and the driven wheel 303 is arranged on the swing support wheel assembly 40, a permanent magnetic adsorption plate 402 is connected to the swing shaft 401, and a pair of walking support wheels 403 parallel to the swing shaft 401 are arranged at two ends of the permanent magnetic adsorption plate 402; the permanent magnetic adsorption plate 402 and the pair of walking support wheels 403 have a rotational degree of freedom around the axial direction of the rocking shaft 401. The driving wheel 302 and the driven wheel 303 are connected with the pair of swinging support wheel assemblies 40 for transmission through a crawler belt 501. The crawler module 30 further includes an inner track shoe 502 and an outer track shoe 503 which are disposed in parallel, the driving wheel 302 and the driven wheel 303 are connected between the inner track shoe 502 and the outer track shoe 503 with the pair of rocking support wheel assemblies 40, and the inner track shoe 502 is connected to a flange of the second rotating shaft 1023.

In this embodiment, the swing shaft 401 is provided in the middle of the permanent magnet adsorption plate 402, and the traveling support wheels 403 at both ends of the permanent magnet adsorption plate 402 swing with respect to the axis of the swing shaft 401 in an equi-armed manner. The swing shaft 401 is not necessarily disposed in the middle of the permanent magnetic adsorption plate 402, but may be disposed on one of the walking support wheels 403, or may be disposed at other positions, as long as one of the walking support wheels 403 swings with respect to the other walking support wheel 403, so that the two walking support wheels 403 can always contact with the magnetic conductive wall surface simultaneously on the complex curved surface.

Because the two walking support wheels 403 can always contact the magnetic conductive wall surface on the complex curved surface, the permanent magnetic adsorption plate 402 between the two walking support wheels 403 is always equidistant from the contact points of the two walking support wheels 403 on the magnetic conductive wall surface, so that the distance between the permanent magnetic adsorption plate 402 and the corresponding magnetic conductive wall surface can be kept unchanged. If the rotational degree of freedom is not provided, the two walking support wheels 403 are fixedly connected with the inner track shoe 305 and the outer track shoe 306, so that the two walking support wheels 403 can not be always in contact with the curved surface at the same time. This will cause the air gap distance between the permanent magnetic attraction plate 402 and the corresponding magnetic conduction wall surface to be normal on one side, and the air gap distance on the other side is too large, so that the magnetic attraction force is reduced sharply, and the wall climbing robot will slide down and fall down.

Since the magnetic attraction force of the rocking support wheel assembly 40 can be kept substantially constant, the magnetic attraction force is also substantially constant in pressing force against the crawler 501 and the magnetically conductive wall surface by the two walking support wheels 403. The wall climbing crawler belt walking module is provided with the pair of swinging support wheel assemblies 40, the four walking support wheels 403 on the two swinging support wheel assemblies 40 are always in contact with the crawler belt 501 and the magnetic conduction wall surface and generate constant pressure to the crawler belt 501 and the magnetic conduction wall surface, and the constant pressure provides necessary friction force for the walking of the wall climbing crawler belt walking module, so that the situation that the crawler belt 501 slips and cannot walk due to insufficient friction force is avoided.

Two problems can occur when the crawler 501 is in use, namely, the crawler 501 is excessively stretched and is separated from a belt wheel, so that the belt is dropped; another problem is that the curvature of the magnetic wall curved surface is too large, the track 501 has insufficient length margin to make the permanent magnetic adsorption plate 402 on the two swing support wheel assemblies 40 cling to the magnetic wall curved surface, which causes insufficient magnetic attraction force, and the heavy person causes the wall-climbing robot to fall. In order to solve the above problem, as shown in fig. 6, the connection between the swing shaft 401 and the inner and

outer shoes

502, 503 of the two swing support wheel assemblies 40 is adjustable, the holes connecting the inner and

outer shoes

502, 503 and the swing shaft 401 are long slot holes in the height direction, and the two swing support wheel assemblies 40 are adjustable in the height direction. When the crawler 501 is excessively elongated, the swing shafts 401 on the two swing support wheel assemblies 40 are adjusted downwards to tension the crawler 501, so that the crawler is prevented from falling off; when the curvature of the curved surface of the magnetic conductive wall is too large and the crawler belt 501 does not have enough length allowance, the swing shafts 401 on the two swing support wheel assemblies 40 are adjusted upwards, the crawler belt 501 is loosened, the permanent magnetic adsorption plate 402 is made to cling to the curved surface of the magnetic conductive wall, and the falling of the wall-climbing robot is avoided.

The driving wheel 302 is connected with the motor module 70, as shown in fig. 9, the motor module 70 includes a motor 701, a right-angle reducer 702 and a reducer flange 703, the motor 701 is disposed inside the frame 10, the output end of the motor 701 is connected with the right-angle reducer 702, the right-angle reducer 702 is fixed on the inner track shoe 305 through the reducer flange 703, the output shaft of the right-angle reducer 702 is connected with the driving wheel 302, and provides walking power for the crawler walking module 30.

As shown in fig. 10, in order to improve the magnetic adsorption strength, the permanent magnetic adsorption plate 402 includes a magnetic conduction plate 4021 and a permanent magnet 4022, the magnetic conduction plate 4021 is made of pure iron or low carbon steel, the permanent magnet 4022 is a rectangular permanent magnet and is magnetized in the height direction, and two adjacent permanent magnets 4022 are connected to the magnetic conduction plate 4021 in the height direction in a coupling arrangement manner with opposite magnetic poles. Specifically, a loop is formed by the fact that the N level of the front side magnet reaches the S level of the rear side permanent magnet through the magnetic conduction plate 4021 and then reaches the S level of the front side permanent magnet through the N level of the rear side permanent magnet through the wall surface, and therefore the mechanism is guaranteed to be attached to the magnetic conduction wall surface.

Permanent magnetism adsorption plate 402 and walking supporting wheel 403 are around the axis free rotation of rocking shaft 401, have realized the rotational degree of freedom of the third dimension of permanent magnetism adsorption plate 402 and walking supporting wheel 403, and the rotational degree of freedom of the third dimension makes permanent magnetism adsorption plate 402 and the magnetic adsorption of variable curvature face adsorb for whole, and the adsorption affinity also very improves for when track walking module 30 walked on the variable curvature magnetic conduction wall, permanent magnetism adsorption plate 402 can adsorb on the variable curvature magnetic conduction wall all the time.

As shown in fig. 11, the above three rotational degrees of freedom enable the permanent magnetic attraction plate 402 of the wall climbing robot to automatically adjust its posture according to the condition of the walking magnetic conductive wall surface, so as to ensure that the working air gap between each permanent magnetic attraction plate 402 and the magnetic conductive wall surface is within an allowable range, and ensure the reliable driving and the flexibility of the wall climbing robot.

In order to prevent the crawler belt 501 from falling off, the driving wheel 302, the driven wheel 303 and the walking supporting wheel 403 are of a coaxial double-wheel structure, and the double wheels are arranged at two ends of the shaft. The coaxial double round is the synchronizing wheel, track 501 is the hold-in range, and track 501 is not equipped with heavy groove with the middle part of double round meshing, heavy groove is pressed close to permanent magnet 4022 on the permanent magnetism adsorption plate 402. The driving wheel 302, the driven wheel 303 and the walking supporting wheel 403 are all provided with a pinch roller inner baffle 404 on the inner sides of the two wheels, and the pinch roller inner baffle 404 is positioned on the inner side groove edge part of the sinking groove of the crawler 501. Thus, the crawler 501 can be effectively prevented from coming off the belt wheel.

In order to increase the walking stability of the wall climbing robot, a universal wheel main plate 103 is arranged between the main body beam 101 and the connecting joint 102, the universal wheel main plate 103 is in a U-shaped groove shape, groove-direction long groove holes are formed in two sides of the groove, a universal wheel 104 is arranged on each long groove hole, and the height of the universal wheel 104 can be adjusted through each long groove hole. The universal wheels 104 can roll in contact with the magnetic conductive wall surface under certain conditions to ensure the walking stability of the wall climbing robot.

In order to further improve the technical scheme, a pulley reinforcing plate 60 and a handle 504 are connected between the inner track shoe 502 and the outer track shoe 503, wherein the handle 504 plays a role of facilitating the robot to be taken off from the wall surface. One end of the belt wheel reinforcing plate 60 is fixedly connected to the reducer flange 703, and the other end is fixedly connected to the bearing end cover of the driving wheel 302. The pulley reinforcing plate 60 is used for connecting the inner track shoe 305 and the outer track shoe 306, and is connected by bolts to play a clamping role, and the driving pulley reinforcing plate 60 is arranged at the position 2 at the front end of the track module 50 to ensure the stability of the front end of the track walking module 30.

In order to realize the utility model discloses a patrol and monitor function, as shown in fig. 12, monitoring module 20 includes camera 201, camera support 202, the electrical apparatus box lantern ring upper part of the body 203, the electrical apparatus box lantern ring lower part of the body 204 and electrical apparatus box body 205, and on camera 201 was connected to camera support 202 by bolted connection, camera 201 can be by 360 degrees rotations of wireless controller remote control to reach all-round monitoring and observe. The semicircular hole of the upper body 203 of the appliance box lantern ring and the semicircular hole of the lower body 204 of the appliance box lantern ring are fixed on the main body beam 101 through bolts in a matched and fastened mode, and the connecting portions of the upper lantern ring and the lower lantern ring of the appliance box and the main body 205 of the appliance box are connected through threads. The camera bracket 202 is provided with a long through hole which is connected with the upper body 203 of the electrical box through a bolt. The camera support 202 is provided with the reinforcing ribs, so that the camera support 202 is reinforced, and the stability and the definition of the camera in the operation process are ensured. The monitoring module 20 functions to capture the front working environment and view surface cracks. In this embodiment, the electrical box body 205 includes a switching power supply 2051, a 24v-12v power supply module 2052, a network transmitter 2053, and a gyroscope 2054. The switching power supply 2051 functions to supply 24v to the motor; the power module 2052 is used for supplying 12v voltage to the camera; the network transmitter 2053 is used for receiving and transmitting camera data; the gyroscope 2054 is used for measuring the rotation and deflection angles, so that stable operation is ensured.

In this embodiment, the utility model discloses can realize climbing wall robot's turn through the speed difference of control motor 701 the function of marcing forward, moving back, turning, motor 701 controls through the motor drive (not marked in the figure) in the electrical apparatus box 205. Because the motors 701 on the left and right sides can be controlled to rotate in opposite directions, the pivot turning of the utility model can be realized.

The present invention has been described only with the above embodiments, and the structure, the setting position and the connection of each part can be changed, on the basis of the technical solution of the present invention, the improvement and the equivalent transformation to the individual part according to the principle of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A wall climbing robot with variable curvature self-adaptive capacity is characterized in that: the crawler belt walking mechanism comprises a rack (10) and a pair of crawler belt walking modules (30) arranged on two sides of the rack (10), wherein the crawler belt walking modules (30) are connected with the rack (10) through connecting joints (102), so that each crawler belt walking module (30) has two mutually vertical rotational degrees of freedom relative to the rack (10);

the crawler belt walking module (30) comprises a driving wheel (302), a driven wheel (303) and a pair of swinging support wheel assemblies (40) arranged between the driving wheel (302) and the driven wheel (303), and is connected and driven through a crawler belt (501); a swing shaft (401) parallel to the axes of the driving wheel (302) and the driven wheel (303) is arranged on the swing supporting wheel assembly (40), a permanent magnetic adsorption plate (402) is connected to the swing shaft (401), and a pair of walking supporting wheels (403) parallel to the swing shaft (401) are arranged at two ends of the permanent magnetic adsorption plate (402); the permanent magnetic adsorption plate (402) and the pair of walking supporting wheels (403) have a rotational degree of freedom around the axial direction of the swing shaft (401);

when the wall climbing robot moves on the variable-curvature magnetic conduction wall surface, the three rotational degrees of freedom enable the crawler belt (501) to be attached to the magnetic conduction wall surface through the permanent magnetic adsorption plate (402) and the walking supporting wheels (403).

2. The wall-climbing robot with the variable curvature self-adaption capability as claimed in claim 1, wherein: frame (10) are including main part roof beam (101), and main part roof beam (101) are the axle form, and the symmetric connection has a pair of joint (102) of connecting on the flange of axle both ends, joint (102) are including each other first pivot (1022) and second pivot (1023) that are perpendicular, and second pivot (1023) rotates around first pivot (1022), crawler belt walking module (30) are connected on the flange of second pivot (1023), and rotate around second pivot (1023).

3. The wall-climbing robot with the variable curvature self-adaptive capacity as claimed in claim 2, wherein: a universal wheel main plate (103) is arranged between the main body beam (101) and the connecting joint (102), the universal wheel main plate (103) is in a U-shaped groove shape, groove-direction long groove holes are formed in the two sides of the groove, and a universal wheel (104) is arranged on each long groove hole.

4. The wall-climbing robot with the variable curvature self-adaptive capacity as claimed in claim 2, wherein: install monitoring module (20) and electrical apparatus box body (205) on main part roof beam (101), monitoring module (20) include camera (201) and camera support (202), camera support (202) and electrical apparatus box body (205) are through electrical apparatus box lantern ring upper part of the body (203) and electrical apparatus box lantern ring lower part of the body (204) lock fastening on main part roof beam (101).

5. The wall-climbing robot with the variable curvature self-adaptive capacity as claimed in claim 2, wherein: the crawler walking module (30) comprises an inner crawler board (502) and an outer crawler board (503) which are arranged in parallel, the driving wheel (302), the driven wheel (303) and the pair of swing supporting wheel assemblies (40) are connected between the inner crawler board (502) and the outer crawler board (503), and the inner crawler board (502) is connected to a flange of the second rotating shaft (1023).

6. The wall-climbing robot with the variable curvature self-adaption capability as claimed in claim 5, wherein: the driving wheel (302) is connected with a motor module (70), the motor module (70) comprises a motor (701), a right-angle speed reducer (702) and a speed reducer flange (703), the speed reducer flange (703) is connected with the inner side track shoe (502), and an output shaft of the right-angle speed reducer (702) is connected with the driving wheel (302).

7. The wall-climbing robot with the variable curvature self-adaption capability as claimed in claim 5, wherein: a pulley reinforcing plate (60) and a handle (504) are connected between the inner side track shoe (502) and the outer side track shoe (503), wherein one end of the pulley reinforcing plate (60) is fixedly connected to a reducer flange (703) of the motor, and the other end of the pulley reinforcing plate is fixedly connected to a bearing end cover of the driving wheel (302).

8. The wall-climbing robot with the variable curvature self-adaption capability as claimed in claim 1, wherein: the permanent magnet adsorption plate (402) comprises a magnetic conduction plate (4021) and a permanent magnet (4022), the magnetic conduction plate (4021) is made of pure iron or low-carbon steel, the permanent magnet (4022) is a cuboid permanent magnet and is magnetized in the height direction, and two adjacent permanent magnets (4022) are connected to the magnetic conduction plate (4021) in the height direction in a coupling arrangement mode with opposite magnetic poles.

9. The wall-climbing robot with the variable curvature self-adaption capability as claimed in claim 8, wherein: the driving wheel (302), follow driving wheel (303) and walking supporting wheel (403) are coaxial double round structure, and the double round is at the both ends of place axle, the double round is the synchronizing wheel, track (501) are the hold-in range, and the inboard middle part of track (501) is equipped with heavy groove, heavy groove is pressed close to in permanent magnet (4022) on permanent magnet adsorption plate (402).

10. The wall-climbing robot with the variable curvature self-adaptive capacity as claimed in claim 9, wherein: the inner sides of the two wheels of the driving wheel (302), the driven wheel (303) and the walking supporting wheel (403) are respectively provided with a pinch roller inner baffle (404), and the pinch roller inner baffle (404) is positioned at the groove edge part of the inner side of the sinking groove of the crawler belt (501).