CN104048139B - Magnet base type iron-based wall self-adaption crawling robot - Google Patents

Magnet base type iron-based wall self-adaption crawling robot Download PDF

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Publication number
CN104048139B
CN104048139B CN201410222806.5A CN201410222806A CN104048139B CN 104048139 B CN104048139 B CN 104048139B CN 201410222806 A CN201410222806 A CN 201410222806A CN 104048139 B CN104048139 B CN 104048139B
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CN
China
Prior art keywords
adsorbent equipment
self adaptation
robot
described
degree
Prior art date
Application number
CN201410222806.5A
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Chinese (zh)
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CN104048139A (en
Inventor
黎伟
金凡尧
段宇超
汪文祥
庹琪
罗永成
Original Assignee
西南石油大学
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Priority to CN201410222806.5A priority Critical patent/CN104048139B/en
Publication of CN104048139A publication Critical patent/CN104048139A/en
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Publication of CN104048139B publication Critical patent/CN104048139B/en

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/30Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/10Treating the inside of pipes
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/10Treating the inside of pipes
    • F16L2101/12Cleaning
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/30Inspecting, measuring or testing

Abstract

The invention discloses a magnet base type iron-based wall self-adaption crawling robot, and belongs to the field of robots. In the magnet base type iron-based wall self-adaption crawling robot, a main body is provided with at least two multi-degree of freedom mechanical arms, the tail ends of the multi-degree of freedom mechanical arms are connected with adsorption devices manufactured by taking magnet bases as the prototype, and the adsorption devices are provided with adsorption device switches and self-adaption probes. The magnet base type iron-based wall self-adaption crawling robot has the advantages that the load ratio is larger, the structure is simple, and the use is convenient; in a wall crawling process, all mechanical arms are mutually matched to work flexibly, and can be adapted to more complex wall situations; during working, all adsorption devices alternatively run so as to effectively reduce the energy consumption, and the contradiction between adsorption and movement of the robot is overcome; when the robot runs, the self-adaption probes can detect the angle change between the adsorption devices and a contact surface and automatically adjust the mechanical arms, so the adsorption devices and the working surface are in excellent contact.

Description

A kind of magnetic force A seating iron-based wall self adaptation climbing robot

Technical field

The present invention relates to a kind of replace manually being detected and maintaining robot in dangerous iron-based wall.

Background technology

Nowadays, industrial technology is increasingly flourishing, and for meeting present industrial production demand, production equipment also tends to large-scale Change, such as large-scale blower fan, large-scale Petroleum Storage Tank etc., these equipment all have the weight that can not be ignored in process of production Want status.

In daily production process, equipment can run into situations such as abrasion, corrosion unavoidably, if let go unchecked, will result in Huge production accident even causes personnel to injure.It is therefore desirable to manually periodically repair and maintenance be carried out to equipment.But, by Generally along with toxic and harmful or it is located at high-altitude in the position that these equipment need maintenance, personnel are unworkablely Side.These working environments are to have huge potential safety hazard for staff.

Work as oil pipeline, or when the wall of pressure vessel is damaged, carrying out detection maintenance rapidly and efficiently is to reduce Personnel's injury accident, reduces the important leverage of economic loss.Traditional maintenance process is:The operation of first arrestment, then right Equipment is aerated cleaning, and reaches failure area by personnel again until suitable manual work and carries out construction operation, but due to stopping Longer between man-hour, personnel's repair schedule is slow, and to producing, the economic loss causing is larger.

Traditional maintenance mode, not only during human users, workload is big, and operates also relatively difficult, is also accompanied by simultaneously Larger potential safety hazard.Therefore, personnel are replaced to enter if a kind of magnetic force A seating iron-based wall self adaptation climbing robot can be invented Carry out a series of service work inside dangerous pressure vessel, enable staff efficiently away from dangerous construction ring Border, or the place that the personnel that can go to are difficult to reach carries out long-range operation, so that the safety of staff is protected Barrier, also greatly reduces the downtime of enterprise simultaneously, effectively avoids because stopping work the economic loss that enterprise is brought.

Application No. 00200795.9, publication No. is CN2405719, and date of publication is on November 15th, 2000, entitled shoe The Chinese invention patent application of belt-type permanentmagnet iron climbing mechanism, discloses a kind of crawler-type permanent magnet creeping mechanism, and this mechanism adopts With the climbing mechanism based on the crawler belt that multiple permanent magnetism units are made although this mechanism has certain carrying capacity, but Be this delivery crawler belt be adopt permanent magnet unit be adsorbing mechanism it is impossible to change magnetic force, so having resulted in power of motor Unnecessary loss, but also there is the stability problem of operation.

Application No. 97219169.0, publication No. is CN2306869, and date of publication is on 2 10th, 1999, entitled electromagnetism The Chinese invention patent application of iron climbing mechanism, discloses a kind of electromagnet creeping mechanism, although this mechanism can control magnetic force The presence or absence of, overcome the contradiction between the absorption of wall-climbing robot and motion, but a set of control to electromagnet can be increased again Circuit processed, so can make robot architecture more complicated, also bring inconvenient and unsafe hidden danger to system simultaneously.

Application No. 200410016429.6, publication No. is CN1559759, and date of publication is on January 5th, 2005, entitled The Chinese invention application of magnetic roller adsorption type wall climbing robot, discloses a kind of magnetic roller adsorption type wall climbing robot, and this robot is adopted Carry out climbing wall action as adsorbing mechanism with magnet-wheel, relatively for magnetic crawler belt, the flexibility of this robot has obtained significantly Strengthen, but, adsorbent equipment and working face contact surface as magnetic wheel type limited it is impossible to provide too big delivery power, so load Load forces also accordingly limited it is impossible to enough meet the delivery of heavier instrument.

Content of the invention

It is an object of the invention to:For above-mentioned problem, provide a kind of structure simple, using very convenient, behaviour Make extremely simple, flexible movements, have larger carrying capacity it is possible to the effective relative complex face condition of reply Magnetic force A seating iron-based wall self adaptation climbing robot.Using this robot, not only can the larger service kit of mass carried, Can also flexibly operate to ensure that maintenance tasks secure is rapid under the complex work environment such as inside pressure vessel simultaneously Complete, and be skillfully constructed, structure is simple, reliability is high, has very high feasibility, be suitable for promoting;This robot employs Magnet base, as adsorbent equipment, not only can provide powerful absorption affinity, and controls simple, does not need volume in addition to electric-controlled switch Outer power supply, also makes robot energy consumption substantially reduce;This robot architecture is simple, is skillfully constructed, carries and keep in repair all extremely square Just.

The technical solution used in the present invention is as follows:

The magnetic force A seating iron-based wall self adaptation climbing robot of the present invention, it includes main body, multi-degree-of-freemechanical mechanical arm, suction Adsorption device and adsorbent equipment switch, equipped with least two multi-degree-of-freemechanical mechanical arm, described multi freedom degree mechanical in described main body Arm end is equipped with adsorbent equipment.

Due to employing said structure, using magnet base or similar to magnet base principle mechanism as adsorbent equipment, Make the present invention magnetic force A seating iron-based wall self adaptation climbing robot do not need additionally to power just can provide easily strong The absorption affinity of strength.

The magnetic force A seating iron-based wall self adaptation climbing robot of the present invention, described main body is connected with a plurality of multiple degrees of freedom Mechanical arm.

Due to employing said structure, employ multiple degrees of freedom biomimetic manipulator as travel mechanism, robot is provided with The ability of certain leaping over obstacles, and with adsorbent equipment use cooperatively so that robot inside pressure vessel wait complexity Move freely during environmental work.

The magnetic force A seating iron-based wall self adaptation climbing robot of the present invention, described adsorbent equipment is provided with self adaptation and visits Head, described self adaptation probe can detect the angle between adsorbent equipment bottom surface and contact surface and feed back to control system, then by controlling System processed sends the operation that instruction adjusts multi-degree-of-freemechanical mechanical arm.

Due to employing said structure, self adaptation probe is installed on adsorbent equipment, robot operationally can be constantly Be finely adjusted so that adsorbent equipment and contact surface keeping parallelism by feedack of popping one's head in, not only make adsorbent equipment permissible Fit on the contact surface completely, simultaneously also a certain degree of protect multi-degree-of-freemechanical mechanical arm (without the effect of this probe, Adsorbent equipment may be when contacting with iron-based wall with certain angle, and the powerful absorption affinity of adsorbent equipment may make machine Tool arm is towards a direction forced rotating in some instances it may even be possible to damage mechanical arm and control circuit etc.).

The magnetic force A seating iron-based wall self adaptation climbing robot of the present invention, described adsorbent equipment switch can be servo electricity Machine or relay etc. can trigger the mechanism whether adsorbent equipment works.

Due to employing said structure, using the mechanism controls magnetic switch such as servomotor or relay so that machine The magnetic force of the adsorbent equipment of people is had or not and directly can be controlled by robot control system, and does not need too many electric power, no Only overcome the contradiction between robot motion and absorption affinity, and also save battery power, substantially increase robot Endurance.

In sum, due to employing technique scheme, the invention has the beneficial effects as follows:

1st, the magnetic force A seating iron-based wall self adaptation climbing robot of the present invention, structure is simple, is skillfully constructed, reliability Height, has cleverly used the powerful absorption affinity of magnet base and the controlled feature of absorption affinity so that with magnet base or being similar to Mechanism in magnet base principle has stronger adsorption capacity and more stable controllability as the robot that adsorbent equipment is made;

2nd, the magnetic force A seating iron-based wall self adaptation climbing robot of the present invention, employs multi-degree-of-freemechanical mechanical arm as shifting Motivation structure so that the radius of turn of this robot is less, suitably more complicated working environment, mobile more stable flexibly;

3rd, the magnetic force A seating iron-based wall self adaptation climbing robot of the present invention, employs with magnet base or similar to magnetic force The mechanism of seat principle as adsorbent equipment it is not necessary to extra power supply as electromagnet, also will not be as conventional exposed permanent magnet The presence or absence of absorption affinity can not be controlled like that power of motor to be lost, thus having reached the purpose of energy-conservation;

4th, the magnetic force A seating iron-based wall self adaptation climbing robot of the present invention, is provided with self adaptation on adsorbent equipment and visits Head, can automatically adjust the attitude of machine people so that adsorbent equipment can be with contact surface good contact, it is to avoid absorption affinity damage Lose.

Brief description

Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:

Fig. 1 is the magnetic force A seating iron-based wall self adaptation climbing robot schematic diagram of the present invention;

Fig. 2 is that the magnetic force A seating iron-based wall self adaptation climbing robot 5- self adaptation probe partial enlargement of the present invention is illustrated Figure;

In figure marks:1- main body, 2- multi-degree-of-freemechanical mechanical arm, 3- adsorbent equipment switch, 4- adsorbent equipment, 5- self adaptation are visited Head.

It is embodied as

All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive Feature and/or step beyond, all can combine by any way.

The magnetic force A seating iron-based wall self adaptation climbing robot embodiment 1 of the present invention is as shown in figure 1, it includes main body 1 and multi-degree-of-freemechanical mechanical arm 2, described robot body 1 is a case structure based on rigid support, its case structure Placed inside control system circuit;It is fixedly connected by rigid support between described multi-degree-of-freemechanical mechanical arm 2 and main body 1;Described Multi-degree-of-freemechanical mechanical arm 2 end is fixedly connected adsorbent equipment 4;Described adsorbent equipment 4 upper surface or side are provided with adsorbent equipment (diagram adsorbent equipment switch 3 is the situation being arranged on adsorbent equipment upper surface to switch 3, is arranged on the situation of adsorbent equipment side Similar), described adsorbent equipment switch 3 can be the automatically controlled component such as servomotor or relay;Described self adaptation probe 5 peace It is contained in vertical with the lower surface of adsorbent equipment 4 on four angles of adsorbent equipment 4 and each top popped one's head in same parallel to absorption In the plane of device bottom surface.

The magnetic force A seating iron-based wall self adaptation climbing robot of the present invention, structure is simple, is skillfully constructed, and reliability is high, There is stronger carrying capacity, there is the ability crossing over prominent obstacle simultaneously, can stablize when carrying out wall detection with maintenance Reliably reach specified location, and the bigger instrument of quality can be carried.Due to employing with magnet base or similar to magnetic force The mechanism of seat principle as adsorbent equipment, except not needing outside the Pass additionally to power so that the cruising time of robot also obtains Improve, simultaneously the installation of component and the use such as self adaptation probe, robot is provided with adaptive ability so that this robot can To tackle freely in more complicated working environment.

The invention is not limited in aforesaid specific embodiment.The present invention expands to and any discloses in this manual New feature or any new combination, and the arbitrary new method of disclosure or the step of process or any new combination.

Claims (5)

1. the magnetic force A seating iron-based wall self adaptation climbing robot of the present invention, it includes:Robot body (1), multiple degrees of freedom Mechanical arm (2), adsorbent equipment (4), self adaptation probe (5), described main body (1) is upper to fill multi-degree-of-freemechanical mechanical arm (2), between the two Connected by support;Described multi-degree-of-freemechanical mechanical arm end is fixedly connected with adsorbent equipment (4), and described adsorbent equipment (4) adopts Magnet base principle mechanism;Adsorbent equipment switch (3) is provided with described adsorbent equipment (4) and four self adaptations are popped one's head in (5), institute State self adaptation probe (5) angle between adsorbent equipment ground and contact surface can be detected and feed back to control system, then by controlling System sends the operation that instruction adjusts multi-degree-of-freemechanical mechanical arm (2).
2. magnetic force A seating iron-based wall self adaptation climbing robot as claimed in claim 1 is it is characterised in that described main body (1) at least two multi-degree-of-freemechanical mechanical arm (2) are installed on, every described multi-degree-of-freemechanical mechanical arm (2) has at least two certainly By spending.
3. magnetic force A seating iron-based wall self adaptation climbing robot as claimed in claim 1 is it is characterised in that described absorption Device (4) is made up with magnet base of prototype;Described adsorbent equipment switch (3) is servomotor or relay.
4. magnetic force A seating iron-based wall self adaptation climbing robot as claimed in claim 1 is it is characterised in that described four Self adaptation probe (5) is fixedly mounted on four angles of adsorbent equipment (4), and four self adaptations on described adsorbent equipment (4) are visited The summit of head (5) can determine a plane parallel with adsorbent equipment (4) bottom surface.
5. magnetic force A seating iron-based wall self adaptation climbing robot as claimed in claim 4 it is characterised in that described from Adapting to probe (5) is the pressure sensor being made up of resistance strain gage, and described self adaptation probe (5) is detecting adsorbent equipment (4) when uneven with contact surface can in time feedback of the information to master control system, and automatically adjusted by master control system The state of section multi-degree-of-freemechanical mechanical arm (2) is until bottom surface and the contact surface keeping parallelism of adsorbent equipment (4).
CN201410222806.5A 2014-05-26 2014-05-26 Magnet base type iron-based wall self-adaption crawling robot CN104048139B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410222806.5A CN104048139B (en) 2014-05-26 2014-05-26 Magnet base type iron-based wall self-adaption crawling robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410222806.5A CN104048139B (en) 2014-05-26 2014-05-26 Magnet base type iron-based wall self-adaption crawling robot

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CN104048139A CN104048139A (en) 2014-09-17
CN104048139B true CN104048139B (en) 2017-02-22

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105539622A (en) * 2015-12-22 2016-05-04 国网重庆市电力公司电力科学研究院 Climbing robot and system

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06263068A (en) * 1993-03-15 1994-09-20 Hitachi Ltd Moving device on wall
JP3170251B2 (en) * 1998-11-30 2001-05-28 株式会社バンダイ Walking equipment
CN100540385C (en) * 2007-06-15 2009-09-16 哈尔滨工程大学 Modular mechanical crab
CN101367413B (en) * 2007-08-17 2010-10-13 高汉光 Multifunctional robot for climbing wall
CN102285389B (en) * 2011-05-30 2013-02-27 金陵科技学院 Robot with twelve feet and moving method thereof

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