CN105216889A - Climbing robot - Google Patents

Climbing robot Download PDF

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Publication number
CN105216889A
CN105216889A CN201510668009.4A CN201510668009A CN105216889A CN 105216889 A CN105216889 A CN 105216889A CN 201510668009 A CN201510668009 A CN 201510668009A CN 105216889 A CN105216889 A CN 105216889A
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China
Prior art keywords
frame
pipe link
rod
hydraulic cylinder
hinged
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CN201510668009.4A
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Chinese (zh)
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CN105216889B (en
Inventor
杨虎
李强
谢新亚
王勇
陈军彦
肖炳花
夏红
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新疆新能钢结构有限责任公司
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Priority to CN201510668009.4A priority Critical patent/CN105216889B/en
Publication of CN105216889A publication Critical patent/CN105216889A/en
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Publication of CN105216889B publication Critical patent/CN105216889B/en

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Abstract

<b> the present invention relates to robotics, it is a kind of climbing robot, comprise crawler body and operation module, crawler body comprises frame, crawler belt, change magnetic absorbing unit, the outer wall of crawler belt is installed with the change magnetic absorbing unit being no less than two, the front-end and back-end of frame are installed with and the driving lever becoming magnetic sheave and match respectively.Reasonable and compact in structure of the present invention, easy to use, its by driving lever with become magnetic sheave coordinate the magnetic force direction changing and become magnetic absorbing unit, and then the absorption realizing becoming magnetic absorbing unit and wind-power tower surface be separated, thus realize the walking of this climbing robot along wind-power tower surface, this climbing robot can eliminate rust to wind-power tower, clean and spray painting operation, maintain the neat and artistic of wind-power tower surface, improve fan operation safety, reduce the labour intensity of workman, shorten construction period, cut operating costs, reduce potential safety hazard.</b>

Description

Climbing robot

Technical field

the present invention relates to robotics, is a kind of climbing robot.

Background technology

the climate crisis faced along with the whole world is day by day obvious, and low-carbon economy becomes the hot issue in the world, and wind-power electricity generation becomes as important clean energy resource and first develops selection.Under so international overall background, Wind Power Generation Industry obtained swift and violent development in nearly ten years, and the Wind Power Generation Industry in Xinjiang presents that investment subject increases severely, undergo an unusual development swift and violent situation especially.Wind-powered electricity generation industry is after explosive type development, each wind field all establishes the aerogenerator cohort of substantial amounts, but expose to the weather for a long time through field, grit friction, after saline and alkaline erosion, wind-power tower surface there will be depainting and even corrosion phenomena mostly, affect and attractive in appearancely even may jeopardize fan operation safety, the management expectancy of safe and civilized production can not be met.What the rust cleaning of current tower cylinder, cleaning and touch-up paint operation adopted is Traditional Man mode of operation, and labour intensity is large, long construction period, and maintenance cost is high, there is the problems such as potential safety hazard.

Summary of the invention

the invention provides a kind of climbing robot, overcome the deficiency of above-mentioned prior art, it effectively can solve the problem that the hand labor intensity existed in the rust cleaning of existing wind-power tower, cleaning and touch-up paint operation process is large, long construction period, maintenance cost are high, there is potential safety hazard.

the first technical scheme of the present invention is realized by following measures: a kind of climbing robot, comprise crawler body and operation module, crawler body comprises frame, crawler belt, become magnetic absorbing unit, operation module is fixedly mounted in frame, crawler belt can be arranged in frame rotationally, the outer wall of crawler belt is installed with the change magnetic absorbing unit being no less than two, become magnetic absorbing unit and comprise permanent magnet, upper yoke, lower yoke, left every magnetic patch, right every magnetic patch, left door, right end cap, upper yoke, lower yoke, left every magnetic patch, right joining end to end every magnetic patch surrounds a hollow cylinder, permanent magnetism physical efficiency is arranged in hollow cylinder along own axis, left door is fixedly mounted on the left end of hollow cylinder, right end cap can be arranged on the right-hand member of hollow cylinder rotationally, right end cap is installed with and becomes magnetic sheave, right end cap is fixedly connected with permanent magnet, the front-end and back-end of frame are installed with and the driving lever becoming magnetic sheave and match respectively.

here is the further optimization and/or improvements to foregoing invention technical scheme:

the left side of above-mentioned frame is installed with left side wing plate, the right side of frame is installed with right side wing plate, the rear end of left side wing plate is provided with the first axle drive shaft, first axle drive shaft is installed with the first drive sprocket, the rear end of right side wing plate is provided with the second axle drive shaft, the second axle drive shaft is installed with the second drive sprocket; The front end of left side wing plate is provided with the first driven shaft, and the first driven shaft is installed with the first driven sprocket, the front end of right side wing plate is provided with the second driven shaft, the second driven shaft is installed with the second driven sprocket; Crawler belt comprises the first chain and the second chain, first chain is arranged on the first drive sprocket and the first driven sprocket, second chain is arranged on the second drive sprocket and the second driven sprocket, the outer wall of the first chain is installed with the change magnetic absorbing unit being no less than two, the outer wall of the second chain is installed with the change magnetic absorbing unit being no less than two; The rear end of frame is installed with the first servo deceleration machine and the second servo deceleration machine, the clutch end of the first servo deceleration machine is connected with the power intake of the first axle drive shaft, and the clutch end of the second servo deceleration machine is connected with the power intake of the second axle drive shaft.

above-mentioned change magnetic sheave is circumferentially evenly equipped with four gear teeth, the gear teeth are wedge, one end that wedge thickness is little is provided with side elevation, one end that wedge thickness is large is provided with end face, side elevation and end face orthogonal, the inclined-plane of wedge is arc surface, and be provided with circular groove between adjacent two gear teeth, one end that wedge thickness is large is tooth root; Or/and, the outer wall of the outer wall of upper yoke, the left outer wall every magnetic patch, lower yoke fixedly mounts rubber sleeve.

above-mentioned climbing robot also comprises camera and read out instrument, and camera is fixedly mounted in frame, and camera is connected with read out instrument by cable.

above-mentioned operation module is derusting device, derusting device comprises brush, bristle, motor, reductor and telescoping mechanism, the clutch end of motor is connected with the power intake of reductor, the clutch end of reductor is installed with brush, the lower surface of brush is installed with bristle, and the motion portion of telescoping mechanism is fixedly mounted on motor or reductor.

above-mentioned brush is disc, by the increasing lengths of the bristle at centre to edge in brush; Or/and telescoping mechanism is hydraulic actuating cylinder, the piston rod of hydraulic actuating cylinder is fixedly mounted on motor or reductor.

above-mentioned operation module is washing equipment, washing equipment comprises and rolls frame, round brush, framework connecting plate, the first curved boom connecting rod, the second curved boom connecting rod, head rod, the second pipe link, the first lifting hydraulic cylinder, the second lifting hydraulic cylinder, the first telescopic hydraulic cylinder, the second telescopic hydraulic cylinder, roll frame to comprise and roll frame body, the left end rolling frame body is provided with a left socle stretched out forward, the right-hand member rolling frame body is provided with a right support stretched out forward, and left socle and right support are respectively perpendicular to rolling frame body; The left end of round brush can be arranged on inside left socle rotationally, and the right-hand member of round brush can be arranged on the inner side of right support rotationally; Framework connecting plate is installed with the first articulated slab and the second articulated slab that are arranged in order from left to right, the rear end of the first curved boom connecting rod is hinged in the first articulated slab, the front end of the first curved boom connecting rod is hinged on the middle part of head rod, the front end of head rod is fixedly mounted on rolls on frame body, the middle part of the first curved boom connecting rod and the rear end of the first telescopic hydraulic cylinder hinged, the front end of the first telescopic hydraulic cylinder and the rear end of head rod hinged; The lower end of the first lifting hydraulic cylinder is hinged on framework connecting plate, and the upper end thereof of the first lifting hydraulic cylinder is at the rear portion of the first curved boom connecting rod; The rear end of the second curved boom connecting rod is hinged in the second articulated slab, the front end of the second curved boom connecting rod is hinged on the middle part of the second pipe link, the front end of the second pipe link is fixedly mounted on rolls on frame body, the middle part of the second curved boom connecting rod and the rear end of the second telescopic hydraulic cylinder hinged, the front end of the second telescopic hydraulic cylinder and the rear end of the second pipe link hinged; The lower end of the second lifting hydraulic cylinder is hinged on framework connecting plate, and the upper end thereof of the second lifting hydraulic cylinder is at the rear portion of the second curved boom connecting rod.

above-mentioned head rod comprises pipe link body, the front end of pipe link body is provided with the first bending part perpendicular to pipe link body, the rear end of pipe link body is provided with the second bending part perpendicular to pipe link body, first bending part with roll frame body and be fixedly connected with by bolt and nut, at the first bending part and on rolling between frame body bolt, Compress Spring is installed; The front end of the second bending part and the first telescopic hydraulic cylinder is hinged; The middle part of pipe link body and the front end of the first curved boom connecting rod hinged; Second pipe link comprises pipe link body, the front end of pipe link body is provided with the first bending part perpendicular to pipe link body, the rear end of pipe link body is provided with the second bending part perpendicular to pipe link body, first bending part with roll frame body and be fixedly connected with by bolt and nut, at the first bending part and on rolling between frame body bolt, Compress Spring is installed; The front end of the second bending part and the second telescopic hydraulic cylinder is hinged; The middle part of pipe link body and the front end of the second curved boom connecting rod hinged.

above-mentioned operation module is paint spray equipment, paint spray equipment comprises paint can, force lift, delivery pipe, nozzle, vertically telescopic boom, sideslipway, can drive the vertical telescopic boom transversely driver train that horizontally slips of slideway, nozzle is communicated with paint can inside by delivery pipe, delivery pipe is installed with force lift, nozzle is fixedly mounted on the lower end of vertical telescopic boom, and vertical telescopic boom can be arranged on sideslipway slidingly.

above-mentioned paint spray equipment also comprises spraying frame, and paint can, force lift, sideslipway are fixedly mounted in frame respectively; Or/and driver train is walking dolly, is provided with slide rail in sideslipway, walking dolly is arranged on slide rail, and walking dolly is fixedly connected with the upper end of vertical telescopic boom.

reasonable and compact in structure of the present invention, easy to use, its design is ingenious, by driving lever with become magnetic sheave coordinate the magnetic force direction changing and become magnetic absorbing unit, and then the absorption realizing becoming magnetic absorbing unit and wind-power tower surface be separated, thus realize the walking of this climbing robot along wind-power tower surface, this climbing robot can carry cleaning and maintenance equipment eliminates rust to wind-power tower, cleaning and spray painting operation, maintain the neat and artistic of wind-power tower surface, improve fan operation safety, meet the requirement of safety in production, reduce the labour intensity of workman, shorten construction period, cut operating costs, reduce potential safety hazard, there is safety, laborsaving, easy, efficient feature.

Accompanying drawing explanation

accompanying drawing 1 is the perspective view of crawler body of the present invention.

accompanying drawing 2 is the perspective view becoming magnetic absorbing unit in accompanying drawing 1.

the main TV structure schematic diagram that accompanying drawing 3 is structure shown in accompanying drawing 2.

accompanying drawing 4 be in accompanying drawing 3 A-A to sectional structure schematic diagram.

accompanying drawing 5 be in accompanying drawing 3 B-B to sectional structure schematic diagram.

accompanying drawing 6 is become the structural representation that magnetic absorbing unit is in adsorbed state.

accompanying drawing 7 is become the structural representation that magnetic absorbing unit is in non-adsorbed state.

accompanying drawing 8 is the perspective view of the embodiment of the present invention one.

accompanying drawing 9 is the perspective view of derusting device in accompanying drawing 8.

accompanying drawing 10 is the perspective view of the embodiment of the present invention two.

accompanying drawing 11 is the perspective view of washing equipment in accompanying drawing 10.

accompanying drawing 12 is the perspective view of the embodiment of the present invention three.

coding in accompanying drawing is respectively: 1 is frame, 2 for becoming magnetic absorbing unit, 3 is permanent magnet, 4 is upper yoke, 5 is lower yoke, 6 is left every magnetic patch, 7 is right every magnetic patch, 8 is left door, 9 is right end cap, 10 for becoming magnetic sheave, 11 is driving lever, 12 is left side wing plate, 13 is right side wing plate, 14 is the first axle drive shaft, 15 is the first drive sprocket, 16 is the second axle drive shaft, 17 is the second drive sprocket, 18 is the first driven shaft, 19 is the first driven sprocket, 20 is the second driven shaft, 21 is the second driven sprocket, 22 is the first chain, 23 is the second chain, 24 is the first servo deceleration machine, 25 is the second servo deceleration machine, 26 is rubber coating, 27 is brush, 28 is bristle, 29 is motor, 30 is reductor, 31 is telescoping mechanism, 32 is round brush, 33 is framework connecting plate, 34 for rolling frame body, 35 is left socle, 36 is right support, 37 is bolt, 38 is nut, 39 is Compress Spring, 40 is the first curved boom connecting rod, 41 is the second curved boom connecting rod, 42 is head rod, 43 is the second pipe link, 44 is the first lifting hydraulic cylinder, 45 is the second lifting hydraulic cylinder, 46 is the first telescopic hydraulic cylinder, 47 is the second telescopic hydraulic cylinder, 48 is the first articulated slab, 49 is the second articulated slab, 50 is paint can, 51 is nozzle, 52 is vertical telescopic boom, 53 is sideslipway, 54 is spraying frame, 55 is walking dolly, 56 is camera, 57 is crawler body, 58 is derusting device, 59 is washing equipment, 60 is paint spray equipment, 61 side elevations, 62 is end face, 63 is inclined-plane, 64 is circular groove.

Detailed description of the invention

the present invention by the restriction of following embodiment, can not determine concrete embodiment according to technical scheme of the present invention and actual conditions.

in the present invention, for convenience of description, the description of the relative position relation of each parts is all be described according to the Butut mode of Figure of description 1, as: the position relationship of forward and backward, upper and lower, left and right etc. determines according to the Butut direction of Figure of description.

below in conjunction with embodiment and accompanying drawing, the invention will be further described:

as accompanying drawing 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, shown in 12, this climbing robot comprises crawler body 57 and operation module, crawler body 57 comprises frame 1, crawler belt, become magnetic absorbing unit 2, operation module is fixedly mounted in frame 1, crawler belt can be arranged in frame 1 rotationally, the outer wall of crawler belt is installed with the change magnetic absorbing unit 2 being no less than two, become magnetic absorbing unit 2 and comprise permanent magnet 3, upper yoke 4, lower yoke 5, left every magnetic patch 6, right every magnetic patch 7, left door 8, right end cap 9, upper yoke 4, lower yoke 5, left every magnetic patch 6, right joining end to end every magnetic patch 7 surrounds a hollow cylinder, permanent magnet 3 can be arranged in hollow cylinder along own axis, left door 8 is fixedly mounted on the left end of hollow cylinder, right end cap 9 can be arranged on the right-hand member of hollow cylinder rotationally, right end cap 9 is installed with and becomes magnetic sheave 10, right end cap 9 is fixedly connected with permanent magnet 3, the front-end and back-end of frame 1 are installed with and the driving lever 11 becoming magnetic sheave 10 and match respectively.

the principle of work becoming magnetic absorbing unit 2 is as follows: as shown in Figure 6, magnetic line of force is in the horizontal direction formed between the N pole of change magnetic absorbing unit 2 and S pole, upper yoke 4 and lower yoke 5 are all positioned on magnetic line of force, the magnetic force between this change magnetic absorbing unit 2 and wind-power tower surface can be strengthened, now, become magnetic absorbing unit 2 and be adsorbed on wind-power tower on the surface.

as shown in Figure 7, the permanent magnet 3 now becoming magnetic absorbing unit 2 rotates 90 degree, magnetic line of force is vertically formed between the N pole of change magnetic absorbing unit 2 and S pole, a left side is all positioned on magnetic line of force every magnetic patch 7 every magnetic patch 6 and the right side, the magnetic force become between magnetic absorbing unit 2 and wind-power tower surface is very little, now, become magnetic absorbing unit 2 and be in non-adsorbed state with wind-power tower surface, become magnetic absorbing unit 2 and be separated with wind-power tower surface.

the outer wall of crawler belt is provided with and becomes magnetic absorbing unit 2, adsorbed state is in the change magnetic absorbing unit 2 of wind-power tower surface contact, the driving lever 11 of frame 1 front-end and back-end can drive change magnetic sheave 10 to rotate, becoming magnetic sheave 10 drives permanent magnet 3 to rotate, thus realize the switch becoming magnetic absorbing unit 2 magnetic force, then realize the absorption and the disengaging that become magnetic absorbing unit 2 and wind-power tower surface.

according to actual needs, above-mentioned climbing robot can be made further optimization and/or improvements:

as shown in Figure 1, the left side of frame 1 is installed with left side wing plate 12, the right side of frame 1 is installed with right side wing plate 13, the rear end of left side wing plate 12 is provided with the first axle drive shaft 14, first axle drive shaft 14 is installed with the first drive sprocket 15, the rear end of right side wing plate 13 is provided with on the second axle drive shaft 16, second axle drive shaft 16 and is installed with the second drive sprocket 17; The front end of left side wing plate 12 is provided with on the first driven shaft 18, first driven shaft 18 and is installed with the first driven sprocket 19, and the front end of right side wing plate 13 is provided with on the second driven shaft 20, second driven shaft 20 and is installed with the second driven sprocket 21; Crawler belt comprises the first chain 22 and the second chain 23, first chain 22 is arranged on the first drive sprocket 15 and the first driven sprocket 19, second chain 23 is arranged on the second drive sprocket 17 and the second driven sprocket 21, the outer wall outer wall of the first chain 22 being installed with change magnetic absorbing unit 2, second chain 23 being no less than two is installed with the change magnetic absorbing unit 2 being no less than two; The rear end of frame 1 is installed with the first servo deceleration machine 24 and the second servo deceleration machine 25, the clutch end of the first servo deceleration machine 24 is connected with the power intake of the first axle drive shaft 14, and the clutch end of the second servo deceleration machine 25 is connected with the power intake of the second axle drive shaft 16.The crawler belt of the present embodiment comprises the first chain 22 and the second chain 23, first servomotor drives the first axle drive shaft 14 to rotate, first axle drive shaft 14 drives the first drive sprocket 15 to rotate, first sprocket wheel drives the first driven sprocket 19 to rotate by the first chain 22, and the first chain 22 drives change magnetic absorbing unit 2 mounted thereto to rotate; Second servomotor drives the second axle drive shaft 16 to rotate, second axle drive shaft 16 drives the second driving wheel to rotate, second driving wheel drives the second flower wheel to rotate by the second chain 23, second chain 23 drives change magnetic absorbing unit 2 mounted thereto to rotate, thus realize the walking of this climbing robot on wind-power tower surface, first servomotor and the second servomotor can synchronous axial system, realize the straight line moving of this climbing robot; First servomotor and the second servomotor also can asynchronously rotate, and realize turning to of this climbing robot.

as shown in accompanying drawing 2,3,4,5, above-mentioned change magnetic sheave 10 is circumferentially evenly equipped with four gear teeth, the gear teeth are wedge, one end that wedge thickness is little is provided with side elevation 61, one end that wedge thickness is large is provided with end face 62, side elevation 61 and end face 62 orthogonal, the inclined-plane 63 of wedge is arc surface, be provided with circular groove 64 between adjacent two gear teeth, one end that wedge thickness is large is tooth root.Like this, when becoming magnetic absorbing unit 2 through driving lever 11, driving lever 11 can drive change magnetic sheave 10 to rotate 90 degree, realizes the change becoming magnetic absorbing unit 2 magnetic force direction, thus realizes the switch becoming magnetic force between magnetic absorbing unit 2 and wind-power tower surface.

as shown in accompanying drawing 2,3,4,5,6,7, the outer wall of the outer wall of above-mentioned upper yoke 4, the left outer wall every magnetic patch 6, lower yoke 5 fixedly mounts rubber sleeve 26.Rubber coating 26 wraps and becomes magnetic absorbing unit 2, can prevent becoming magnetic absorbing unit 2 and firmly contact with wind-power tower surface, avoid becoming the lacquer painting that magnetic absorbing unit 2 destroys wind-power tower surface.

as shown in Figure 5, above-mentioned right end cap 9 is connected by keyway with permanent magnet 3.Employing key connects, and structure is simple, and transmission is convenient.

during work, first this climbing robot is placed in wind-power tower on the surface, make all to be in adsorbed state with the change magnetic absorbing unit 2 of wind-power tower surface contact, when this climbing robot is along the walking of wind-power tower surface, if walk forward, then just stir will with the change magnetic sheave 10 on the change magnetic absorbing unit 2 of wind-power tower surface contact for the driving lever 11 of frame 1 front end, permanent magnet 3 on this change magnetic absorbing unit 2 is turned an angle, make this change magnetic absorbing unit 2 become adsorbed state, thus with wind-power tower adsorption, and the driving lever 11 of frame 1 rear end just will with the change magnetic sheave 10 on the surperficial change magnetic absorbing unit 2 that depart from of wind-power tower by stirring, permanent magnet 3 on this change magnetic absorbing unit 2 is turned an angle, make this change magnetic absorbing unit 2 into non-adsorbed state, thus be separated with wind-power tower surface, like this, will with the change magnetic absorbing unit 2 of wind-power tower surface contact by the effect of driving lever 11 convert magnetic force direction one by one with wind-power tower surface contact, the change magnetic absorbing unit 2 that will be separated with wind-power tower surface converts magnetic force direction by the effect of driving lever 11 and is separated with wind-power tower surface one by one, so move in circles, just achieve the walking forward of this climbing robot.In like manner, when this climbing robot is walked backward, the driving lever 11 of frame 1 rear end just stir will with the change magnetic sheave 10 of the change magnetic absorbing unit 2 of wind-power tower surface contact, make this change magnetic absorbing unit 2 become adsorbed state; The change magnetic sheave 10 of the change magnetic absorbing unit 2 that will be separated with wind-power tower surface just stirred by the driving lever 11 of frame 1 front end, makes this change magnetic absorbing unit 2 into non-adsorbed state, moves in circles, realize the walking backward of this climbing robot.The design of this climbing robot is ingenious, by driving lever 11 with become magnetic sheave 10 coordinate the magnetic force direction changing and become magnetic absorbing unit 2, and then the absorption realizing becoming magnetic absorbing unit 2 and wind-power tower surface be separated, thus realize the walking of this climbing robot along wind-power tower surface, this climbing robot can carry cleaning and maintenance equipment eliminates rust to wind-power tower, cleaning and spray painting operation, maintain the neat and artistic of wind-power tower surface, improve fan operation safety, meet the requirement of safety in production, reduce the labour intensity of workman, shorten construction period, cut operating costs, reduce potential safety hazard.

embodiment one: as Figure 8,9, in the present embodiment, operation module is derusting device 58, derusting device 58 comprises brush 27, bristle 28, motor 29, reductor 30 and telescoping mechanism 31, the clutch end of motor 29 is connected with the power intake of reductor 30, the clutch end of reductor 30 is installed with brush 27, the lower surface of brush 27 is installed with bristle 28, the motion portion of telescoping mechanism 31 is fixedly mounted on motor 29 or reductor 30.Crawler body 57 or wheel undercarriage move to the region that wind-power tower surface needs rust cleaning operation, telescoping mechanism 31 stretches out and makes bristle 28 and wind-power tower surface need the location contacts eliminated rust, then starter motor 29, motor 29 drives reductor 30 to rotate, reductor 30 drives brush 27 to rotate, brush 27 drives bristle 28 to carry out rust cleaning operation, after the rust cleaning end of job, telescoping mechanism 31 is retracted and bristle 28 is departed from the surface of wind-power tower, completes the rust cleaning operation of wind-power tower surface regional area or entirety.This derusting device 58 and crawler body 57 or wheel undercarriage with the use of, the overall or local automatic rust-removing operation of wind-power tower outside face can be realized, thus substitute traditional manual work, improve operating efficiency, cancel job potential safety hazard, reduce operating cost.

above-mentioned brush 27 is disc, by the increasing lengths of the bristle 28 at centre to edge in brush 27.Like this, bristle 28 can contact with the curved surface of wind-power tower better, and in the process of rust cleaning, friction is evenly, can not localized region polishing excessive, avoid causing damage to wind-power tower surface, extend the service life of wind-power tower, improve production security.

above-mentioned telescoping mechanism 31 is hydraulic actuating cylinder, and the piston rod of hydraulic actuating cylinder is fixedly mounted on motor 29 or reductor 30.Adopt hydraulic actuating cylinder as telescoping mechanism 31, control accuracy is high, works more reliable and more stable.

embodiment two: as accompanying drawing 10, shown in 11, in the present embodiment, operation module is washing equipment 59, washing equipment 59 comprises and rolls frame, round brush 32, framework connecting plate 33, first curved boom connecting rod 43, second curved boom connecting rod 41, head rod 42, second pipe link 43, first lifting hydraulic cylinder 44, second lifting hydraulic cylinder 45, first telescopic hydraulic cylinder 46, second telescopic hydraulic cylinder 47, roll frame to comprise and roll frame body 34, the left end rolling frame body 34 is provided with a left socle stretched out forward 35, the right-hand member rolling frame body 34 is provided with a right support stretched out forward 36, left socle 35 and right support 36 are respectively perpendicular to rolling frame body 34, the left end of round brush 32 can be arranged on inside left socle 35 rotationally, and the right-hand member of round brush 32 can be arranged on the inner side of right support 36 rotationally, framework connecting plate 33 is installed with the first articulated slab 48 and the second articulated slab 49 be arranged in order from left to right, the rear end of the first curved boom connecting rod 40 is hinged in the first articulated slab 48, the front end of the first curved boom connecting rod 40 is hinged on the middle part of head rod 42, the front end of head rod 42 is fixedly mounted on rolls on frame body 34, the middle part of the first curved boom connecting rod 40 and the rear end of the first telescopic hydraulic cylinder 46 hinged, the front end of the first telescopic hydraulic cylinder 46 and the rear end of head rod 42 hinged, the lower end of the first lifting hydraulic cylinder 44 is hinged on framework connecting plate 33, and the upper end thereof of the first lifting hydraulic cylinder 44 is at the rear portion of the first curved boom connecting rod 40, the rear end of the second curved boom connecting rod 41 is hinged in the second articulated slab 49, the front end of the second curved boom connecting rod 41 is hinged on the middle part of the second pipe link 43, the front end of the second pipe link 43 is fixedly mounted on rolls on frame body 34, the middle part of the second curved boom connecting rod 41 and the rear end of the second telescopic hydraulic cylinder 47 hinged, the front end of the second telescopic hydraulic cylinder 47 and the rear end of the second pipe link 43 hinged, the lower end of the second lifting hydraulic cylinder 45 is hinged on framework connecting plate 33, and the upper end thereof of the second lifting hydraulic cylinder 45 is at the rear portion of the second curved boom connecting rod 41.This washing equipment 59 adopts two groups of piston crank mechanisms, wherein, first curved boom connecting rod 40, head rod 42, first lifting hydraulic cylinder 44, first telescopic hydraulic cylinder 46 form first group of piston crank mechanism, second curved boom connecting rod 41, second pipe link 43, second lifting hydraulic cylinder 45, second telescopic hydraulic cylinder 47 forms second group of piston crank mechanism, first group of piston crank mechanism and second group of piston crank mechanism are synchronized with the movement, realize the adjustment of round brush 32 height and round brush 32 and the adjustment of pressure during wind-power tower surface contact, ensure cleaning quality.Crawler body 57 is adsorbed on wind-power tower on the surface, when carrying out the operation of wind-power tower surface cleaning, first lifting hydraulic cylinder 44, second lifting hydraulic cylinder 45 is by the flexible height that can regulate round brush 32, first telescopic hydraulic cylinder 46 and the downforce of the second telescopic hydraulic cylinder 47 by stretching when can regulate round brush 32 and wind-power tower surface contact, thus round brush 32 height can be regulated according to different cleaning areas, ensure cleaning quality.First lifting hydraulic cylinder 44 drives the first curved boom connecting rod 40, first telescopic hydraulic cylinder 46, head rod 42, roll frame, round brush 32 stretches in the lump and is fixed on a certain assigned address, simultaneously, second lifting hydraulic cylinder 45 drives the second curved boom connecting rod 41, second telescopic hydraulic cylinder 47, second pipe link 43, roll frame, round brush 32 stretches in the lump and is fixed on a certain assigned address, now, first telescopic hydraulic cylinder 46 drives head rod 42, roll frame, round brush 32 swings, second telescopic hydraulic cylinder 47 drives the second pipe link 43, roll frame, round brush 32 swings, thus downforce when regulating round brush 32 and wind-power tower surface contact, ensure cleaning quality.Washing equipment that the present embodiment provides 59 and crawler body 57 with the use of, the overall or local washing and cleaning operation automatically of wind-power tower outside face can be realized, thus substitute traditional manual work, improve operating efficiency, cancel job potential safety hazard, reduce operating cost.

as shown in accompanying drawing 10,11, above-mentioned head rod 42 comprises pipe link body 37, the front end of pipe link body 37 is provided with the first bending part 38 perpendicular to pipe link body 37, the rear end of pipe link body 37 is provided with the second bending part 39 perpendicular to pipe link body 37, first bending part 38 with roll frame body 34 and be fixedly connected with by bolt 37 nut 38, at the first bending part 38 and on rolling between frame body 34 bolt 37, Compress Spring 39 is installed; The front end of the second bending part 39 and the first telescopic hydraulic cylinder 46 is hinged; The middle part of pipe link body 37 and the front end of the first curved boom connecting rod 40 hinged; Second pipe link 43 comprises pipe link body 37, the front end of pipe link body 37 is provided with the first bending part 38 perpendicular to pipe link body 37, the rear end of pipe link body 37 is provided with the second bending part 39 perpendicular to pipe link body 37, first bending part 38 with roll frame body 34 and be fixedly connected with by bolt 37 nut 38, at the first bending part 38 and on rolling between frame body 34 bolt 37, Compress Spring 39 is installed; The front end of the second bending part 39 and the second telescopic hydraulic cylinder 47 is hinged; The middle part of pipe link body 37 and the front end of the second curved boom connecting rod 41 hinged.Round brush 32 is arranged on and rolls on frame, roll frame to be connected with head rod 42, second pipe link 43 by Compress Spring 39, Compress Spring 39 has enough strokes, the clean surface of different curvature can be adapted to, first lifting hydraulic cylinder 44, second lifting hydraulic cylinder 45, first telescopic hydraulic cylinder 46, second telescopic hydraulic cylinder 47 can regulate round brush 32 height according to different cleaning areas, ensures cleaning quality.

as shown in Figure 10, this climbing robot also comprises camera 56 and read out instrument, and camera 56 is fixedly mounted in frame 1, and camera 56 is connected with read out instrument by cable.

embodiment three: as shown in Figure 12, in the present embodiment, operation module is paint spray equipment 60, paint spray equipment 60 comprises paint can 50, force lift, delivery pipe, nozzle 51, vertically telescopic boom 52, sideslipway 53, can drive the vertical telescopic boom 52 transversely driver train that horizontally slips of slideway 53, nozzle 51 is communicated with paint can 50 inside by delivery pipe, delivery pipe is installed with force lift, nozzle 51 is fixedly mounted on the lower end of vertical telescopic boom 52, and vertical telescopic boom 52 can be arranged on sideslipway 53 slidingly.

in the present embodiment, the capacity of paint can 50 is 2kg, and force lift is the stroke of small pressure pump, vertically telescopic boom 52 is 500mm, and nozzle 51 adopts high pressure nozzle 51, and this paint spray equipment 60 has that volume is little, lightweight, the feature of easy accessibility.In use, crawler body 57 carries this paint spray equipment 60 and creeps on the surface at wind-power tower and arrive the touch-up paint operating area of specifying, actuating pressure pump, paint in paint can 50 is pumped to nozzle 51 place by delivery pipe by force lift, and carry out touch-up paint operation by nozzle 51, meanwhile, regulate nozzle 51 to the distance on wind-power tower surface, to meet different job requirements by vertical telescopic boom 52; Driver train drive vertical telescopic boom 52 and nozzle 51 transversely slideway 53 horizontally slip, formed by point to line, by the touch-up paint operation of line to face, after touch-up paint operation completes, vertical telescopic boom 52 is retracted, nozzle 51 is away from wind-power tower surface, and crawler body 57 carries this paint spray equipment 60 and arrives next touch-up paint operating area.This paint spray equipment 60 and crawler body 57 with the use of, the overall or local touch-up paint operation automatically of wind-power tower outside face can be realized, thus substitute traditional manual work, improve operating efficiency, cancel job potential safety hazard, reduce operating cost.

as shown in Figure 12, above-mentioned paint spray equipment 60 also comprises spraying frame 54, and paint can 50, force lift, sideslipway 53 are fixedly mounted in frame 1 respectively.Spraying frame 54 is fixedly mounted on crawler body 57, can realize this paint spray equipment 60 and be connected with the installation of crawler body 57.

as shown in Figure 12, above-mentioned driver train is walking dolly 55, is provided with slide rail in sideslipway 53, and walking dolly 55 is arranged on slide rail, and walking dolly 55 is fixedly connected with the upper end of vertical telescopic boom 52.Like this, walking dolly 55 can drive vertical telescopic boom 52 transversely slideway 53 move, realize by point to line, by the touch-up paint operation of line to face.

above technical characteristic constitutes embodiments of the invention, and it has stronger comformability and implementation result, can increase and decrease non-essential technical characteristic according to actual needs, meet the demand of different situations.

Claims (10)

1. a climbing robot, it is characterized in that comprising crawler body and operation module, crawler body comprises frame, crawler belt, become magnetic absorbing unit, operation module is fixedly mounted in frame, crawler belt can be arranged in frame rotationally, the outer wall of crawler belt is installed with the change magnetic absorbing unit being no less than two, become magnetic absorbing unit and comprise permanent magnet, upper yoke, lower yoke, left every magnetic patch, right every magnetic patch, left door, right end cap, upper yoke, lower yoke, left every magnetic patch, right joining end to end every magnetic patch surrounds a hollow cylinder, permanent magnetism physical efficiency is arranged in hollow cylinder along own axis, left door is fixedly mounted on the left end of hollow cylinder, right end cap can be arranged on the right-hand member of hollow cylinder rotationally, right end cap is installed with and becomes magnetic sheave, right end cap is fixedly connected with permanent magnet, the front-end and back-end of frame are installed with and the driving lever becoming magnetic sheave and match respectively.
2. climbing robot according to claim 1, it is characterized in that the left side of frame is installed with left side wing plate, the right side of frame is installed with right side wing plate, the rear end of left side wing plate is provided with the first axle drive shaft, first axle drive shaft is installed with the first drive sprocket, the rear end of right side wing plate is provided with the second axle drive shaft, the second axle drive shaft is installed with the second drive sprocket; The front end of left side wing plate is provided with the first driven shaft, and the first driven shaft is installed with the first driven sprocket, the front end of right side wing plate is provided with the second driven shaft, the second driven shaft is installed with the second driven sprocket; Crawler belt comprises the first chain and the second chain, first chain is arranged on the first drive sprocket and the first driven sprocket, second chain is arranged on the second drive sprocket and the second driven sprocket, the outer wall of the first chain is installed with the change magnetic absorbing unit being no less than two, the outer wall of the second chain is installed with the change magnetic absorbing unit being no less than two; The rear end of frame is installed with the first servo deceleration machine and the second servo deceleration machine, the clutch end of the first servo deceleration machine is connected with the power intake of the first axle drive shaft, and the clutch end of the second servo deceleration machine is connected with the power intake of the second axle drive shaft.
3. climbing robot according to claim 2, it is characterized in that becoming on magnetic sheave and be circumferentially evenly equipped with four gear teeth, the gear teeth are wedge, one end that wedge thickness is little is provided with side elevation, one end that wedge thickness is large is provided with end face, side elevation and end face orthogonal, the inclined-plane of wedge is arc surface, be provided with circular groove between adjacent two gear teeth, one end that wedge thickness is large is tooth root; Or/and, the outer wall of the outer wall of upper yoke, the left outer wall every magnetic patch, lower yoke fixedly mounts rubber sleeve.
4. climbing robot according to claim 3, it is characterized in that climbing robot also comprises camera and read out instrument, camera is fixedly mounted in frame, and camera is connected with read out instrument by cable.
5. the climbing robot according to claim 1 or 2 or 3 or 4, it is characterized in that operation module is derusting device, derusting device comprises brush, bristle, motor, reductor and telescoping mechanism, the clutch end of motor is connected with the power intake of reductor, the clutch end of reductor is installed with brush, the lower surface of brush is installed with bristle, and the motion portion of telescoping mechanism is fixedly mounted on motor or reductor.
6. climbing robot according to claim 5, is characterized in that brush is disc, by the increasing lengths of the bristle at centre to edge in brush; Or/and telescoping mechanism is hydraulic actuating cylinder, the piston rod of hydraulic actuating cylinder is fixedly mounted on motor or reductor.
7. the climbing robot according to claim 1 or 2 or 3 or 4, it is characterized in that operation module is washing equipment, washing equipment comprises and rolls frame, round brush, framework connecting plate, first curved boom connecting rod, second curved boom connecting rod, head rod, second pipe link, first lifting hydraulic cylinder, second lifting hydraulic cylinder, first telescopic hydraulic cylinder, second telescopic hydraulic cylinder, roll frame to comprise and roll frame body, the left end rolling frame body is provided with a left socle stretched out forward, the right-hand member rolling frame body is provided with a right support stretched out forward, left socle and right support are respectively perpendicular to rolling frame body, the left end of round brush can be arranged on inside left socle rotationally, and the right-hand member of round brush can be arranged on the inner side of right support rotationally, framework connecting plate is installed with the first articulated slab and the second articulated slab that are arranged in order from left to right, the rear end of the first curved boom connecting rod is hinged in the first articulated slab, the front end of the first curved boom connecting rod is hinged on the middle part of head rod, the front end of head rod is fixedly mounted on rolls on frame body, the middle part of the first curved boom connecting rod and the rear end of the first telescopic hydraulic cylinder hinged, the front end of the first telescopic hydraulic cylinder and the rear end of head rod hinged, the lower end of the first lifting hydraulic cylinder is hinged on framework connecting plate, and the upper end thereof of the first lifting hydraulic cylinder is at the rear portion of the first curved boom connecting rod, the rear end of the second curved boom connecting rod is hinged in the second articulated slab, the front end of the second curved boom connecting rod is hinged on the middle part of the second pipe link, the front end of the second pipe link is fixedly mounted on rolls on frame body, the middle part of the second curved boom connecting rod and the rear end of the second telescopic hydraulic cylinder hinged, the front end of the second telescopic hydraulic cylinder and the rear end of the second pipe link hinged, the lower end of the second lifting hydraulic cylinder is hinged on framework connecting plate, and the upper end thereof of the second lifting hydraulic cylinder is at the rear portion of the second curved boom connecting rod.
8. climbing robot according to claim 7, it is characterized in that head rod comprises pipe link body, the front end of pipe link body is provided with the first bending part perpendicular to pipe link body, the rear end of pipe link body is provided with the second bending part perpendicular to pipe link body, first bending part with roll frame body and be fixedly connected with by bolt and nut, at the first bending part and on rolling between frame body bolt, Compress Spring is installed; The front end of the second bending part and the first telescopic hydraulic cylinder is hinged; The middle part of pipe link body and the front end of the first curved boom connecting rod hinged; Second pipe link comprises pipe link body, the front end of pipe link body is provided with the first bending part perpendicular to pipe link body, the rear end of pipe link body is provided with the second bending part perpendicular to pipe link body, first bending part with roll frame body and be fixedly connected with by bolt and nut, at the first bending part and on rolling between frame body bolt, Compress Spring is installed; The front end of the second bending part and the second telescopic hydraulic cylinder is hinged; The middle part of pipe link body and the front end of the second curved boom connecting rod hinged.
9. the climbing robot according to claim 1 or 2 or 3 or 4, it is characterized in that operation module is paint spray equipment, paint spray equipment comprises paint can, force lift, delivery pipe, nozzle, vertically telescopic boom, sideslipway, can drive the vertical telescopic boom transversely driver train that horizontally slips of slideway, nozzle is communicated with paint can inside by delivery pipe, delivery pipe is installed with force lift, nozzle is fixedly mounted on the lower end of vertical telescopic boom, and vertical telescopic boom can be arranged on sideslipway slidingly.
10. climbing robot according to claim 9, it is characterized in that paint spray equipment also comprises spraying frame, paint can, force lift, sideslipway are fixedly mounted in frame respectively; Or/and driver train is walking dolly, is provided with slide rail in sideslipway, walking dolly is arranged on slide rail, and walking dolly is fixedly connected with the upper end of vertical telescopic boom.
CN201510668009.4A 2015-10-16 2015-10-16 Climbing robot CN105216889B (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105640465A (en) * 2016-01-11 2016-06-08 安徽理工大学 Robot for cleaning cooking utensils
CN105799805A (en) * 2016-05-06 2016-07-27 吉林大学 Modular flight wall-climbing robot
CN105835977A (en) * 2016-05-24 2016-08-10 邵萌 Crawler-type wall climbing robot
CN105945894A (en) * 2016-05-24 2016-09-21 邵萌 Track type wall climbing robot capable of randomly steering
CN106625173A (en) * 2016-12-28 2017-05-10 浙江海洋大学 Vessel rust remover capable of moving in multiple directions
CN106808353A (en) * 2017-01-15 2017-06-09 浙江海洋大学 A kind of oil tank automatic cleaning machine people
CN107444518A (en) * 2017-08-14 2017-12-08 乔斌 A kind of chassis sliding equipment for intelligent robot
CN110453891A (en) * 2019-09-08 2019-11-15 李秀枝 A kind of external walls of building automation spray painting to maintain equipment

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CN204396254U (en) * 2014-12-26 2015-06-17 山东豪迈机械制造有限公司 Inner surface of container automatic spray apparatus
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US5368232A (en) * 1992-07-13 1994-11-29 Graco, Inc. Striping apparatus for vehicle travel surfaces
CN1375437A (en) * 2002-04-29 2002-10-23 清华大学 Crawler for magnetically adsorbed wall-climbing robot
CN1789062A (en) * 2005-12-21 2006-06-21 哈尔滨工程大学 Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing
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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105640465A (en) * 2016-01-11 2016-06-08 安徽理工大学 Robot for cleaning cooking utensils
CN105640465B (en) * 2016-01-11 2018-02-23 安徽理工大学 A kind of robot scrubbed for kitchen tools
CN105799805B (en) * 2016-05-06 2019-04-09 吉林大学 A kind of modularization flight climbing robot
CN105799805A (en) * 2016-05-06 2016-07-27 吉林大学 Modular flight wall-climbing robot
CN105835977A (en) * 2016-05-24 2016-08-10 邵萌 Crawler-type wall climbing robot
CN105945894B (en) * 2016-05-24 2020-07-31 北京史河科技有限公司 Crawler-type wall climbing robot capable of steering randomly
CN105945894A (en) * 2016-05-24 2016-09-21 邵萌 Track type wall climbing robot capable of randomly steering
CN106625173A (en) * 2016-12-28 2017-05-10 浙江海洋大学 Vessel rust remover capable of moving in multiple directions
CN106625173B (en) * 2016-12-28 2018-09-28 浙江海洋大学 It is a kind of can multidirectional movement ship rust removal
CN106808353A (en) * 2017-01-15 2017-06-09 浙江海洋大学 A kind of oil tank automatic cleaning machine people
CN107444518A (en) * 2017-08-14 2017-12-08 乔斌 A kind of chassis sliding equipment for intelligent robot
CN110453891A (en) * 2019-09-08 2019-11-15 李秀枝 A kind of external walls of building automation spray painting to maintain equipment

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