CN105216889B - Climbing robot - Google Patents

Climbing robot Download PDF

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Publication number
CN105216889B
CN105216889B CN201510668009.4A CN201510668009A CN105216889B CN 105216889 B CN105216889 B CN 105216889B CN 201510668009 A CN201510668009 A CN 201510668009A CN 105216889 B CN105216889 B CN 105216889B
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China
Prior art keywords
rod
hinged
hydraulic cylinder
frame
magnetic
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CN201510668009.4A
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Chinese (zh)
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CN105216889A (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

The present invention relates to robotic technology field, it is a kind of climbing robot, including crawler body and operation module, crawler body includes frame, crawler belt, becomes magnetic absorbing unit, the change magnetic absorbing unit no less than two is installed with the outer wall of crawler belt, the front-end and back-end of frame are installed with the driving lever being engaged with becoming magnetic sheave respectively.Reasonable and compact in structure of the present invention, it is easy to use, it changes the magnetic force direction for becoming magnetic absorbing unit by cooperation of the driving lever with becoming magnetic sheave, and then realize the absorption for becoming magnetic absorbing unit and wind-power tower surface and separate, so as to realize walking of the climbing robot along wind-power tower surface, the climbing robot can be derusted to wind-power tower, be cleaned and spray painting operation, maintain the neat and artistic of wind-power tower surface, fan operation security is improved, the labor intensity of worker is reduced, shortens construction period, cut operating costs, reduce potential safety hazard.

Description

Climbing robot
Technical field
The present invention relates to robotic technology field, is a kind of climbing robot.
Background technology
As the climate crisis that faces of the whole world is increasingly apparent, low-carbon economy turns into the hot issue in the world, and wind-power electricity generation Turn into as important clean energy resource and first develop selection.Under such international overall background, Wind Power Generation Industry obtains in last decade Swift and violent development, the Wind Power Generation Industry in Xinjiang are even more to show that investment subject increases severely, undergo an unusual development swift and violent situation.Wind-powered electricity generation industry After explosion type develops, each wind field establishes the wind-driven generator group of substantial amounts, but expose to the weather for a long time through field, After grit friction, saline and alkaline erosion, depainting or even corrosion phenomena occurs in wind-power tower surface mostly, influences attractive in appearance possibly even to endanger And fan operation safety, it is impossible to meet the management requirement of safe and civilized production.Derusting, cleaning and the touch-up paint operation of tower are adopted at present It is Traditional Man operating type, labor intensity is big, long construction period, and maintenance cost is high, the problems such as potential safety hazard be present.
The content of the invention
The invention provides a kind of climbing robot, overcomes the deficiency of above-mentioned prior art, it can effectively solve existing Hand labor intensity present in the derusting of wind-power tower, cleaning and touch-up paint operation process is big, long construction period, maintenance cost Height, the problem of potential safety hazard be present.
The first technical scheme of the present invention is realized by following measures:A kind of climbing robot, including crawler belt Chassis and operation module, crawler body include frame, crawler belt, become magnetic absorbing unit, and operation module is fixedly mounted in frame, is carried out Band can be rotatably mounted in frame, and the change magnetic absorbing unit no less than two is installed with the outer wall of crawler belt, become magnetic Coupon member include permanent magnet, upper yoke, lower yoke, it is left every magnetic patch, it is right every magnetic patch, left door, right end cap, upper yoke, lower yoke, Left to be joined end to end every magnetic patch every magnetic patch, the right side and surround a hollow cylinder, permanent magnetism physical efficiency is arranged on hollow cylinder along own axis Interior, left door is fixedly mounted on the left end of hollow cylinder, and right end cap can be rotatably mounted at the right-hand member of hollow cylinder, be fixed on right end cap It is provided 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 becoming magnetic groove respectively Take turns the driving lever being engaged.
Here is the further optimization and/or improvements to foregoing invention technical scheme:
Left side wing plate is installed with the left of above-mentioned frame, right side wing plate, left side flap are installed with the right side of frame The rear end of plate is provided with the first drive shaft, and the first drive sprocket, the rear end peace of right side wing plate are installed with the first drive shaft Equipped with the second drive shaft, the second drive sprocket is installed with the second drive shaft;The front end of left side wing plate be provided with first from Moving axis, is installed with the first driven sprocket in first driven shaft, and the front end of right side wing plate is provided with second driven shaft, second from The second driven sprocket is installed with moving axis;Crawler belt includes the first chain and the second chain, and the first chain is arranged on the first master On movable sprocket and the first driven sprocket, the second chain is arranged on the second drive sprocket and the second driven sprocket, the first chain The change magnetic absorbing unit no less than two is installed with outer wall, is installed with the outer wall of the second chain no less than two Change magnetic absorbing unit;The rear end of frame is installed with the first servo deceleration machine and the second servo deceleration machine, and the first servo subtracts The clutch end of fast machine is connected with the power intake of the first drive shaft, the clutch end and second of the second servo deceleration machine The power intake connection of drive shaft.
Four gear teeth are evenly distributed on above-mentioned change magnetic sheave, the gear teeth are wedge, and the small one end of wedge thickness is set There is side elevation, the big one end of wedge thickness is provided with top surface, and side elevation and top surface are orthogonal, and the inclined-plane of wedge is circular arc Face, circular groove is provided between the two neighboring gear teeth, the big one end of wedge thickness is tooth root;Or/and upper yoke is outer It is wall, left every rubber sleeve is fixedly mounted on the outer wall of magnetic patch, the outer wall of lower yoke.
Above-mentioned climbing robot also includes camera and display device, and camera is fixedly mounted in frame, and camera leads to Cable is crossed to be connected with display device.
Above-mentioned operation module is derusting device, and derusting device includes brush, bristle, motor, reductor and telescoping mechanism, electricity The clutch end of machine and the power intake of reductor are connected, and brush is installed with the clutch end of reductor, are brushed Bristle is installed with the lower surface of disk, the motion portion of telescoping mechanism is fixedly mounted on motor or reductor.
Above-mentioned brush is in disk form, in brush by centre to edge bristle increasing lengths;Or/and telescoping mechanism is Hydraulic cylinder, the piston rod of hydraulic cylinder are fixedly mounted on motor or reductor.
Above-mentioned operation module is cleaning device, cleaning device include rolling frame, round brush, framework connecting plate, the first curved boom connecting rod, Second curved boom connecting rod, head rod, the second connecting rod, the first lifting hydraulic cylinder, the second lifting hydraulic cylinder, the first telescopic hydraulic Cylinder, the second telescopic hydraulic cylinder, rolling frame include rolling frame body, and the left end of rolling frame body is provided with a left socle forward extended out, rolling The right-hand member of frame body is provided with a right support forward extended out, and left socle and right support are respectively perpendicular to rolling frame body;Round brush Left end can be rotatably mounted on the inside of left socle, and the right-hand member of round brush can be rotatably mounted at the inner side of right support;Framework connecting plate On be installed with the first articulated slab and the second articulated slab being arranged in order from left to right, the rear end of the first curved boom connecting rod is hinged on In first articulated slab, the front end of the first curved boom connecting rod is hinged on the middle part of head rod, and peace is fixed in the front end of head rod On rolling frame body, the middle part and the rear end of the first telescopic hydraulic cylinder of the first curved boom connecting rod are hinged, the first telescopic hydraulic cylinder Front end and the rear end of head rod are hinged;The lower end of first lifting hydraulic cylinder is hinged on framework connecting plate, the first lifting liquid The upper end of cylinder pressure is hinged on the rear portion of the first curved boom connecting rod;The rear end of second curved boom connecting rod is hinged in the second articulated slab, and second The front end of curved boom connecting rod is hinged on the middle part of the second connecting rod, and the front end of the second connecting rod is fixedly mounted on rolling frame body, the The middle part and the rear end of the second telescopic hydraulic cylinder of two curved boom connecting rods are hinged, the front end of the second telescopic hydraulic cylinder and the second connecting rod Rear end is hinged;The lower end of second lifting hydraulic cylinder is hinged on framework connecting plate, and the upper end of the second lifting hydraulic cylinder is hinged on The rear portion of two curved boom connecting rods.
Above-mentioned head rod includes connecting rod body, and the front end of connecting rod body is provided with the perpendicular to connecting rod body One bending part, the rear end of connecting rod body are provided with the second bending part perpendicular to connecting rod body, the first bending part and rolling frame sheet Body is fixedly connected by bolt and nut, and compression spring is provided with the bolt between the first bending part and rolling frame body;The The front end of two bending parts and the first telescopic hydraulic cylinder is hinged;The middle part of connecting rod body and the front end of the first curved boom connecting rod are hinged; Second connecting rod includes connecting rod body, and the front end of connecting rod body is provided with the first bending part perpendicular to connecting rod body, even The rear end of extension bar body is provided with the second bending part perpendicular to connecting rod body, and the first bending part passes through bolt spiral shell with rolling frame body Mother is fixedly connected, and compression spring is provided with the bolt between the first bending part and rolling frame body;Second bending part and The front end of two telescopic hydraulic cylinders is hinged;The middle part of connecting rod body and the front end of the second curved boom connecting rod are hinged.
Above-mentioned operation module is spray-painting plant, and spray-painting plant includes paint can, compression pump, delivery pipe, nozzle, vertical flexible Arm, transverse slipway, the vertical telescopic arm drive mechanism that transversely slideway horizontally slips can be driven, nozzle passes through delivery pipe and paint Bucket is internal to be connected, and is installed with compression pump in delivery pipe, nozzle is fixedly mounted on the lower end of vertical telescopic arm, vertical telescopic arm Slidingly it can be arranged on transverse slipway.
Above-mentioned spray-painting plant also includes spraying frame, and paint can, compression pump, transverse slipway are respectively and fixedly installed in frame; Or/and drive mechanism is walking dolly, slide rail is provided with transverse slipway, walking dolly is arranged on slide rail, and walking dolly is with erecting The upper end of straight telescopic arm is fixedly connected.
Reasonable and compact in structure of the present invention, easy to use, its is ingenious in design, is changed by cooperation of the driving lever with becoming magnetic sheave Become the magnetic force direction of magnetic absorbing unit, and then realize the absorption for becoming magnetic absorbing unit and wind-power tower surface and separate, so as to real Now walking of the climbing robot along wind-power tower surface, the climbing robot can carry cleaning and maintained equipment to wind-power tower Derusted, cleaned and spray painting operation, maintain the neat and artistic of wind-power tower surface, improve fan operation security, meet peace The requirement produced entirely, the labor intensity of worker is reduced, shortens construction period, cuts operating costs, reduces potential safety hazard, there is peace Entirely, the characteristics of laborsaving, easy, efficient.
Brief description of the drawings
Accompanying drawing 1 is the dimensional structure diagram of crawler body of the present invention.
Accompanying drawing 2 is the dimensional structure diagram for becoming magnetic absorbing unit in accompanying drawing 1.
Accompanying drawing 3 is the main structure diagram of structure shown in accompanying drawing 2.
Accompanying drawing 4 be in accompanying drawing 3 A-A to cross section structure diagram.
Accompanying drawing 5 is B-B direction cross section structure diagram in accompanying drawing 3.
Accompanying drawing 6 is in the structural representation of adsorbed state for change magnetic absorbing unit.
Accompanying drawing 7 is in the structural representation of unadsorbed state for change magnetic absorbing unit.
Accompanying drawing 8 is the dimensional structure diagram of the embodiment of the present invention one.
Accompanying drawing 9 is the dimensional structure diagram of derusting device in accompanying drawing 8.
Accompanying drawing 10 is the dimensional structure diagram of the embodiment of the present invention two.
Accompanying drawing 11 is the dimensional structure diagram of cleaning device in accompanying drawing 10.
Accompanying drawing 12 is the dimensional structure diagram of the embodiment of the present invention three.
Coding in accompanying drawing is respectively:1 is frame, and 2 is become magnetic absorbing unit, and 3 be permanent magnet, and 4 be upper yoke, under 5 are Yoke, 6 be left every magnetic patch, and 7 be right every magnetic patch, and 8 be left door, and 9 be right end cap, and 10 be change magnetic sheave, and 11 be driving lever, and 12 be left Side wing, 13 be right side wing plate, and 14 be the first drive shaft, and 15 be the first drive sprocket, and 16 be the second drive shaft, and 17 be the second master Movable sprocket, 18 be first driven shaft, and 19 be the first driven sprocket, and 20 be second driven shaft, and 21 be the second driven sprocket, and 22 be One chain, 23 be the second chain, and 24 be the first servo deceleration machine, and 25 be the second servo deceleration machine, and 26 be rubber sleeve, and 27 be brush Disk, 28 be bristle, and 29 be motor, and 30 be reductor, and 31 be telescoping mechanism, and 32 be round brush, and 33 be framework connecting plate, and 34 be rolling frame Body, 35 be left socle, and 36 be right support, and 37 be bolt, and 38 be nut, and 39 be compression spring, and 40 be the first curved boom connecting rod, 41 It is head rod for the second curved boom connecting rod, 42,43 be the second connecting rod, and 44 be the first lifting hydraulic cylinder, and 45 be the second lifting Hydraulic cylinder, 46 be the first telescopic hydraulic cylinder, and 47 be the second telescopic hydraulic cylinder, and 48 be the first articulated slab, and 49 be the second articulated slab, 50 It is nozzle for paint can, 51,52 be vertical telescopic arm, and 53 be transverse slipway, and 54 be spraying frame, and 55 be walking dolly, and 56 be to take the photograph As head, 57 be crawler body, and 58 be derusting device, and 59 be cleaning device, and 60 be spray-painting plant, 61 side elevations, and 62 be top surface, 63 It is circular groove for inclined-plane, 64.
Embodiment
The present invention is not limited by following embodiments, can technique according to the invention scheme and actual conditions it is specific to determine Embodiment.
In the present invention, for the ease of description, the description of the relative position relation of each part is according to Figure of description 1 Butut mode be described, such as:The position relationship of forward and backward, upper and lower, left and right etc. is the Butut according to Figure of description Direction determines.
With reference to embodiment and accompanying drawing, the invention will be further described:
As shown in accompanying drawing 1,2,3,4,5,6,7,8,9,10,11,12, the climbing robot includes crawler body 57 and operation Module, crawler body 57 include frame 1, crawler belt, become magnetic absorbing unit 2, and operation module is fixedly mounted in frame 1, crawler belt energy It is rotatably mounted in frame 1, the change magnetic absorbing unit 2 no less than two is installed with the outer wall of crawler belt, becomes magnetic suck Unit 2 include permanent magnet 3, upper yoke 4, lower yoke 5, it is left every magnetic patch 6, it is right every magnetic patch 7, left door 8, right end cap 9, upper yoke 4, Lower yoke 5, a left side surround a hollow cylinder every magnetic patch 6, right joined end to end every magnetic patch 7, and permanent magnet 3 can pacify along own axis In hollow cylinder, left door 8 is fixedly mounted on the left end of hollow cylinder, and right end cap 9 can be rotatably mounted at the right-hand member of hollow cylinder, It is installed with right end cap 9 and becomes magnetic sheave 10, right end cap 9 is fixedly connected with permanent magnet 3;The front-end and back-end difference of frame 1 It is installed with the driving lever 11 being engaged with becoming magnetic sheave 10.
The operation principle for becoming magnetic absorbing unit 2 is as follows:As shown in Figure 6, shape between the N poles and S poles of change magnetic absorbing unit 2 Into the magnetic line of force in the horizontal direction, upper yoke 4 and lower yoke 5 are respectively positioned on the magnetic line of force, can strengthen the change magnetic absorbing unit 2 with Magnetic force between wind-power tower surface, now, become magnetic absorbing unit 2 and adsorb on wind-power tower surface.
As shown in Figure 7, the permanent magnet 3 of this time-varying magnetic absorbing unit 2 rotates 90 degree, becomes N poles and the S of magnetic absorbing unit 2 The magnetic line of force vertically is formed between pole, it is left to be respectively positioned on every magnetic patch 6 and the right side every magnetic patch 7 on the magnetic line of force, become magnetic absorbing unit 2 Magnetic force very little between wind-power tower surface, now, become magnetic absorbing unit 2 and be in unadsorbed state with wind-power tower surface, Become magnetic absorbing unit 2 to separate with wind-power tower surface.
It is provided with the outer wall of crawler belt and becomes magnetic absorbing unit 2, the change magnetic absorbing unit 2 contacted with wind-power tower surface is in Adsorbed state, the driving lever 11 of the front-end and back-end of frame 1 can drive change magnetic sheave 10 to rotate, become magnetic sheave 10 and drive permanent magnet 3 Rotate, so as to realize the switch for becoming the magnetic force of magnetic absorbing unit 2, then realize and become magnetic absorbing unit 2 and the suction on wind-power tower surface Attached and disengaging.
Above-mentioned climbing robot can be made further optimization and/or improvements according to being actually needed:
As shown in Figure 1, the left side of frame 1 is installed with left side wing plate 12, and the right side of frame 1 is installed with right side Wing plate 13, the rear end of left side wing plate 12 are provided with the first drive shaft 14, the first drive chain are installed with the first drive shaft 14 Wheel 15, the rear end of right side wing plate 13 is provided with the second drive shaft 16, and the second drive sprocket is installed with the second drive shaft 16 17;The front end of left side wing plate 12 is provided with first driven shaft 18, and the first driven sprocket 19 is installed with first driven shaft 18, The front end of right side wing plate 13 is provided with second driven shaft 20, and the second driven sprocket 21 is installed with second driven shaft 20;Carry out Band includes the first chain 22 and the second chain 23, and the first chain 22 is arranged on the first drive sprocket 15 and the first driven sprocket 19 On, the second chain 23 is arranged on the second drive sprocket 17 and the second driven sprocket 21, fixed peace on the outer wall of the first chain 22 Equipped with the change magnetic absorbing unit 2 no less than two, the change magnetic no less than two is installed with the outer wall of the second chain 23 Coupon member 2;The rear end of frame 1 is installed with the first servo deceleration machine 24 and the second servo deceleration machine 25, the first servo deceleration The clutch end of machine 24 is connected with the power intake of the first drive shaft 14, the clutch end of the second servo deceleration machine 25 with The power intake connection of second drive shaft 16.The crawler belt of the present embodiment includes the first chain 22 and the second chain 23, and first watches Take the first drive shaft of motor driven 14 to rotate, the first drive shaft 14 drives the first drive sprocket 15 to rotate, and the first sprocket wheel passes through the One chain 22 drives the first driven sprocket 19 to rotate, and the first chain 22 drives change magnetic absorbing unit 2 mounted thereto to rotate;The Two servomotors drive the second drive shaft 16 to rotate, and the second drive shaft 16 drives the second driving wheel to rotate, and the second driving wheel passes through Second chain 23 drives the second driven pulley to rotate, and the second chain 23 drives change magnetic absorbing unit 2 mounted thereto to rotate, so as to Realize walking of the climbing robot on wind-power tower surface, the first servomotor and the second servomotor can with synchronous axial system, Realize the straight line moving of the climbing robot;First servomotor and the second servomotor asynchronous can also rotate, and realizing should The steering of climbing robot.
As shown in accompanying drawing 2,3,4,5, four gear teeth have been evenly distributed on above-mentioned change magnetic sheave 10, the gear teeth are wedge, The small one end of wedge thickness is provided with side elevation 61, and the big one end of wedge thickness is provided with top surface 62, side elevation 61 and top surface 62 Orthogonal, the inclined-plane 63 of wedge is arc surface, is provided with circular groove 64 between the two neighboring gear teeth, wedge thickness is big One end be tooth root.So, when becoming magnetic absorbing unit 2 by driving lever 11, driving lever 11, which can drive, becomes the rotation of magnetic sheave 10 90 Degree, the change for becoming the magnetic force direction of magnetic absorbing unit 2 is realized, become magnetic between magnetic absorbing unit 2 and wind-power tower surface so as to realize The switch of power.
As shown in accompanying drawing 2,3,4,5,6,7, the outer wall of above-mentioned upper yoke 4, left outer wall, the outer wall of lower yoke 5 every magnetic patch 6 Upper fixed installation rubber sleeve 26.Rubber sleeve 26, which wraps, becomes magnetic absorbing unit 2, can prevent from becoming magnetic absorbing unit 2 and wind-powered electricity generation Tower surface contacts firmly, avoids 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 with permanent magnet 3 by keyway.It is simple in construction using key connection, Transmission is convenient.
During work, first the climbing robot is placed on wind-power tower surface, makes the change contacted with wind-power tower surface Magnetic absorbing unit 2 is in adsorbed state, the climbing robot along wind-power tower surface walk when, if walking forward, frame 1 The driving lever 11 of front end just stirs the change magnetic sheave 10 become on magnetic absorbing unit 2 that will be contacted with wind-power tower surface, and this is become Permanent magnet 3 on magnetic absorbing unit 2 turns an angle, and the change magnetic absorbing unit 2 is changed into adsorbed state, so that and wind tower Cylinder adsorption;And the driving lever 11 of the rear end of frame 1 will be just stirred on the change magnetic absorbing unit 2 that will depart from wind-power tower surface Change magnetic sheave 10, the permanent magnet 3 on the change magnetic absorbing unit 2 is turned an angle, makes the change magnetic absorbing unit 2 not inhale Attached state, so as to be separated with wind-power tower surface, so, the change magnetic absorbing unit 2 that will be contacted with wind-power tower surface passes through The effect conversion magnetic force direction of driving lever 11 contacts with wind-power tower surface one by one, the change magnetic that will be separated with wind-power tower surface Coupon member 2 converts magnetic force direction by the effect of driving lever 11 and separated one by one with wind-power tower surface, so moves in circles, and just realizes The walking of the climbing robot forward.Similarly, when the climbing robot is walked backward, the driving lever 11 of the rear end of frame 1 is just dialled The change magnetic sheave 10 of the dynamic change magnetic absorbing unit 2 that will be contacted with wind-power tower surface, makes the change magnetic absorbing unit 2 be changed into adsorbing State;The driving lever 11 of the front end of frame 1 just stirs the change magnetic sheave for the change magnetic absorbing unit 2 that will be separated with wind-power tower surface 10, the change magnetic absorbing unit 2 is moved in circles into unadsorbed state, realize the walking of the climbing robot backward.This climbs wall machine Device people is ingenious in design, changes the magnetic force direction for becoming magnetic absorbing unit 2 by cooperation of the driving lever 11 with becoming magnetic sheave 10, and then realize Become the absorption of magnetic absorbing unit 2 and wind-power tower surface and separate, so as to realize the climbing robot along wind-power tower surface Walking, the climbing robot can carry cleaning and maintained equipment is derusted to wind-power tower, cleaned and spray painting operation, maintain wind Electric tower surface it is neat and artistic, improve fan operation security, meet the requirement of safety in production, the work for reducing worker is strong Degree, 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, and derusting device 58 wraps Include brush 27, bristle 28, motor 29, reductor 30 and telescoping mechanism 31, the clutch end of motor 29 and moving for reductor 30 Power input connects, and is installed with brush 27 on the clutch end of reductor 30, is fixedly mounted on the lower surface of brush 27 There is bristle 28, the motion portion of telescoping mechanism 31 is fixedly mounted on motor 29 or reductor 30.Crawler body 57 or wheel undercarriage Moving to wind-power tower surface needs the region of derusting operation, and telescoping mechanism 31 stretches out and bristle 28 is needed with wind-power tower surface The location contacts to be derusted, then start motor 29, motor 29 drives reductor 30 to rotate, and reductor 30 drives 27 turns of brush Dynamic, brush 27 drives bristle 28 to carry out derusting operation, and after the end of job that derusts, telescoping mechanism 31 is retracted and makes bristle 28 and wind-powered electricity generation The surface of tower departs from, and completes the derusting operation of wind-power tower surface regional area or entirety.The derusting device 58 and track bottom Disk 57 or wheel undercarriage are used cooperatively, and the wholly or partially automatic rust-removing operation of wind-power tower outer surface can be realized, so as to replace For traditional manual work, operating efficiency is improved, cancel job potential safety hazard, reduces operating cost.
Above-mentioned brush 27 is in disk form, in brush 27 by centre to edge bristle 28 increasing lengths.So, bristle 28 It can preferably contact, be rubbed during derusting uniform with the curved surface of wind-power tower, will not localized region polishing It is excessive, avoid that wind-power tower surface is caused to damage, extend the service life of wind-power tower, improve production security.
Above-mentioned telescoping mechanism 31 is hydraulic cylinder, and the piston rod of hydraulic cylinder is fixedly mounted on motor 29 or reductor 30.Adopt By the use of hydraulic cylinder as telescoping mechanism 31, control accuracy is high, and work is more reliable and more stable.
Embodiment two:As shown in accompanying drawing 10,11, in the present embodiment, operation module is cleaning device 59, cleaning device 59 Including rolling frame, round brush 32, framework connecting plate 33, the first curved boom connecting rod 43, the second curved boom connecting rod 41, head rod 42, second Connecting rod 43, the first lifting hydraulic cylinder 44, the second lifting hydraulic cylinder 45, the first telescopic hydraulic cylinder 46, the second telescopic hydraulic cylinder 47, Rolling frame includes rolling frame body 34, and the left end of rolling frame body 34 is provided with a left socle 35 forward extended out, the right side of rolling frame body 34 End is provided with a right support 36 forward extended out, and left socle 35 and right support 36 are respectively perpendicular to rolling frame body 34;Round brush 32 Left end can be rotatably mounted at the inner side of left socle 35, and the right-hand member of round brush 32 can be rotatably mounted at the inner side of right support 36;Frame The first articulated slab 48 and the second articulated slab 49 being arranged in order from left to right, the first curved boom connecting rod are installed with connecting plate 33 40 rear end is hinged in the first articulated slab 48, and the front end of the first curved boom connecting rod 40 is hinged on the middle part of head rod 42, the The front end of one connecting rod 42 is fixedly mounted on rolling frame body 34, the middle part of the first curved boom connecting rod 40 and the first telescopic hydraulic cylinder 46 Rear end be hinged, the front end and the rear end of head rod 42 of the first telescopic hydraulic cylinder 46 are hinged;First lifting hydraulic cylinder 44 Lower end is hinged on framework connecting plate 33, and the upper end of the first lifting hydraulic cylinder 44 is hinged on the rear portion of the first curved boom connecting rod 40;The The rear end of two curved boom connecting rods 41 is hinged in the second articulated slab 49, and the front end of the second curved boom connecting rod 41 is hinged on the second connecting rod 43 Middle part, the front end of the second connecting rod 43 is fixedly mounted on rolling frame body 34, and the middle part of the second curved boom connecting rod 41 is stretched with second The rear end of contracting hydraulic cylinder 47 is hinged, and the front end of the second telescopic hydraulic cylinder 47 and the rear end of the second connecting rod 43 are hinged;Second lifting The lower end of hydraulic cylinder 45 is hinged on framework connecting plate 33, and the upper end of the second lifting hydraulic cylinder 45 is hinged on the second curved boom connecting rod 41 Rear portion.The cleaning device 59 uses two groups of toggles, wherein, the first curved boom connecting rod 40, head rod 42, first Lifting hydraulic cylinder 44, the first telescopic hydraulic cylinder 46 form first group of toggle, the second curved boom connecting rod 41, the second connecting rod 43rd, the second lifting hydraulic cylinder 45, the second telescopic hydraulic cylinder 47 form second group of toggle, first group of toggle It is synchronized with the movement with second group of toggle, the regulation and round brush 32 for realizing the height of round brush 32 contact with wind-power tower surface When pressure regulation, ensure cleaning quality.Crawler body 57 is adsorbed on wind-power tower surface, carries out wind-power tower surface clean During operation, the first lifting hydraulic cylinder 44, the second lifting hydraulic cylinder 45 are flexible by the flexible height that can adjust round brush 32, first The telescopic hydraulic cylinder 47 of hydraulic cylinder 46 and second by the flexible lower pressure that can be adjusted when round brush 32 contacts with wind-power tower surface, So as to adjust the height of round brush 32 according to different cleaning areas, ensure cleaning quality.First lifting hydraulic cylinder 44 drives the One curved boom connecting rod 40, the first telescopic hydraulic cylinder 46, head rod 42, rolling frame, round brush 32 are flexible in the lump and are fixed on a certain finger Positioning is put, meanwhile, the second lifting hydraulic cylinder 45 drive the second curved boom connecting rod 41, the second telescopic hydraulic cylinder 47, the second connecting rod 43, Rolling frame, round brush 32 stretch and are fixed on a certain specified location in the lump, now, the first telescopic hydraulic cylinder 46 driving head rod 42nd, rolling frame, round brush 32 are swung, and the second telescopic hydraulic cylinder 47 drives the second connecting rod 43, rolling frame, round brush 32 to swing, so as to adjust Lower pressure when round brush 32 contacts with wind-power tower surface, ensure cleaning quality.The cleaning device 59 that the present embodiment provides is with carrying out Band chassis 57 is used cooperatively, and wind-power tower outer surface wholly or partially automatic washing and cleaning operation can be realized, so as to substitute tradition 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 includes connecting rod body 37, and the front end of connecting rod body 37 is set There is the first bending part 38 perpendicular to connecting rod body 37, the rear end of connecting rod body 37 is provided with perpendicular to connecting rod body 37 Second bending part 39, the first bending part 38 is fixedly connected with rolling frame body 34 by the nut 38 of bolt 37, positioned at the first bending part Compression spring 39 is installed on bolt 37 between 38 and rolling frame body 34;Second bending part 39 and the first telescopic hydraulic cylinder 46 Front end is hinged;The middle part of connecting rod body 37 and the front end of the first curved boom connecting rod 40 are hinged;Second connecting rod 43 includes connecting rod Body 37, the front end of connecting rod body 37 are provided with the first bending part 38 perpendicular to connecting rod body 37, connecting rod body 37 Rear end is provided with the second bending part 39 perpendicular to connecting rod body 37, and the first bending part 38 passes through the spiral shell of bolt 37 with rolling frame body 34 Mother 38 is fixedly connected, and compression spring 39 is provided with the bolt 37 between the first bending part 38 and rolling frame body 34;Second The front end of bending part 39 and the second telescopic hydraulic cylinder 47 is hinged;The middle part of connecting rod body 37 and the front end of the second curved boom connecting rod 41 It is be hinged.Round brush 32 is arranged in rolling frame, and rolling frame is connected by compression spring 39 with head rod 42, the second connecting rod 43, pressure Contracting spring 39 has enough strokes, is adapted to the cleaning surface of different curvature, the first lifting hydraulic cylinder 44, second lifting liquid Cylinder pressure 45, the first telescopic hydraulic cylinder 46, the second telescopic hydraulic cylinder 47 can adjust the height of round brush 32 according to different cleaning areas, Ensure cleaning quality.
As shown in Figure 10, the climbing robot also includes camera 56 and display device, and camera 56 is fixedly mounted on In frame 1, camera 56 is connected by cable with display device.
Embodiment three:As shown in Figure 12, in the present embodiment, operation module is spray-painting plant 60, and spray-painting plant 60 wraps Include paint can 50, compression pump, delivery pipe, nozzle 51, vertical telescopic arm 52, transverse slipway 53, the vertical edge of telescopic arm 52 can be driven The drive mechanism that transverse slipway 53 horizontally slips, nozzle 51 are connected by delivery pipe with the inside of paint can 50, fixed peace in delivery pipe Equipped with compression pump, nozzle 51 is fixedly mounted on the lower end of vertical telescopic arm 52, and vertical telescopic arm 52 can be slidingly arranged on On transverse slipway 53.
In the present embodiment, the capacity of paint can 50 is 2kg, and compression pump is small pressure pump, the stroke of vertical telescopic arm 52 For 500mm, nozzle 51 uses high pressure nozzle 51, and the spray-painting plant 60 has the characteristics of small volume, in light weight, convenient disassembly. The touch-up paint operation area the specified in use, carrying of crawler body 57 spray-painting plant 60 is creeped and reached on wind-power tower surface, Start compression pump, the paint in paint can 50 is pumped at nozzle 51 by compression pump by delivery pipe, and is mended by nozzle 51 Operation is painted, meanwhile, the distance that nozzle 51 arrives wind-power tower surface can be adjusted by vertical telescopic arm 52, to meet different operations It is required that;Drive mechanism drives vertical telescopic arm 52 and nozzle 51, and transversely slideway 53 horizontally slips, and is formed by point to line, by line to The touch-up paint operation in face, after the completion of touch-up paint operation, vertical telescopic arm 52 is retracted, and nozzle 51 is away from wind-power tower surface, crawler body 57, which carry the spray-painting plant 60, reaches next touch-up paint operating area.The spray-painting plant 60 is used cooperatively with crawler body 57, can The wholly or partially automatic touch-up paint operation of wind-power tower outer surface is realized, so as to substitute traditional manual work, improves operation effect Rate, cancel job potential safety hazard, reduce operating cost.
As shown in Figure 12, above-mentioned spray-painting plant 60 also includes spraying frame 54, paint can 50, compression pump, transverse slipway 53 It is respectively and fixedly installed in frame 1.Spraying frame 54 be fixedly mounted on crawler body 57, can realize the spray-painting plant 60 with The installation connection of crawler body 57.
As shown in Figure 12, above-mentioned drive mechanism is walking dolly 55, and slide rail, walking dolly 55 are provided with transverse slipway 53 On slide rail, walking dolly 55 is fixedly connected with the upper end of vertical telescopic arm 52.So, walking dolly 55 can drive perpendicular Transversely slideway 53 moves straight telescopic arm 52, realizes by putting to line, by the touch-up paint operation of line to face.
Above technical characteristic constitutes embodiments of the invention, and it has stronger adaptability and implementation result, can basis The non-essential technical characteristic of increase and decrease is actually needed, to meet the needs of different situations.

Claims (5)

  1. A kind of 1. climbing robot, it is characterised in that including crawler body and operation module, crawler body include frame, crawler belt, Become magnetic absorbing unit, operation module is fixedly mounted in frame, and crawler belt can be rotatably mounted in frame, solid on the outer wall of crawler belt Dingan County is equipped with the change magnetic absorbing unit no less than two, and becoming magnetic absorbing unit includes permanent magnet, upper yoke, lower yoke, a left side every magnetic It is block, right every magnetic patch, left door, right end cap, upper yoke, lower yoke, it is left every magnetic patch, it is right every magnetic patch join end to end surround one it is hollow Cylinder, permanent magnetism physical efficiency are arranged in hollow cylinder along own axis, and left door is fixedly mounted on the left end of hollow cylinder, right end cap The right-hand member of hollow cylinder can be rotatably mounted at, is installed with right end cap and becomes magnetic sheave, right end cap is fixedly connected with permanent magnet; The front-end and back-end of frame are installed with the driving lever being engaged with becoming magnetic sheave respectively;Operation module is cleaning device, cleaning Device include rolling frame, round brush, framework connecting plate, the first curved boom connecting rod, the second curved boom connecting rod, head rod, the second connecting rod, First lifting hydraulic cylinder, the second lifting hydraulic cylinder, the first telescopic hydraulic cylinder, the second telescopic hydraulic cylinder, rolling frame include rolling frame body, The left end of rolling frame body is provided with a left socle forward extended out, and the right-hand member of rolling frame body is provided with a right branch forward extended out Frame, left socle and right support are respectively perpendicular to rolling frame body;The left end of round brush can be rotatably mounted on the inside of left socle, round brush Right-hand member can be rotatably mounted at the inner side of right support;The first hinge being arranged in order from left to right is installed with framework connecting plate Fishplate bar and the second articulated slab, the rear end of the first curved boom connecting rod are hinged in the first articulated slab, and the front end of the first curved boom connecting rod is hinged At the middle part of head rod, the front end of head rod is fixedly mounted on rolling frame body, the middle part of the first curved boom connecting rod with The rear end of first telescopic hydraulic cylinder is hinged, and the front end of the first telescopic hydraulic cylinder and the rear end of head rod are hinged;First lifting The lower end of hydraulic cylinder is hinged on framework connecting plate, and the upper end of the first lifting hydraulic cylinder is hinged on the rear portion of the first curved boom connecting rod; The rear end of second curved boom connecting rod is hinged in the second articulated slab, and the front end of the second curved boom connecting rod is hinged in the second connecting rod Portion, the front end of the second connecting rod are fixedly mounted on rolling frame body, middle part and the second telescopic hydraulic cylinder of the second curved boom connecting rod Rear end is hinged, and the front end of the second telescopic hydraulic cylinder and the rear end of the second connecting rod are hinged;The lower end of second lifting hydraulic cylinder is hinged On framework connecting plate, the upper end of the second lifting hydraulic cylinder is hinged on the rear portion of the second curved boom connecting rod.
  2. 2. climbing robot according to claim 1, it is characterised in that head rod includes connecting rod body, connecting rod The front end of body is provided with the first bending part perpendicular to connecting rod body, and the rear end of connecting rod body is provided with perpendicular to connecting rod sheet Second bending part of body, the first bending part is fixedly connected with rolling frame body by bolt and nut, positioned at the first bending part and rolling frame Compression spring is installed on bolt between body;The front end of second bending part and the first telescopic hydraulic cylinder is hinged;Connecting rod sheet The middle part of body and the front end of the first curved boom connecting rod are hinged;Second connecting rod includes connecting rod body, and the front end of connecting rod body is set There is the first bending part perpendicular to connecting rod body, the rear end of connecting rod body is provided with the second bending perpendicular to connecting rod body Portion, the first bending part are fixedly connected with rolling frame body by bolt and nut, the spiral shell between the first bending part and rolling frame body Compression spring is installed on bolt;The front end of second bending part and the second telescopic hydraulic cylinder is hinged;The middle part of connecting rod body and the The front end of two curved boom connecting rods is hinged.
  3. 3. climbing robot according to claim 2, it is characterised in that left side wing plate, machine are installed with the left of frame Right side wing plate is installed with the right side of frame, the rear end of left side wing plate is provided with the first drive shaft, peace is fixed in the first drive shaft Equipped with the first drive sprocket, the rear end of right side wing plate is provided with the second drive shaft, and the second master is installed with the second drive shaft Movable sprocket;The front end of left side wing plate is provided with first driven shaft, and the first driven sprocket, right side are installed with first driven shaft The front end of wing plate is provided with second driven shaft, and the second driven sprocket is installed with second driven shaft;Crawler belt includes the first chain Bar and the second chain, the first chain are arranged on the first drive sprocket and the first driven sprocket, and the second chain is arranged on the second master On movable sprocket and the second driven sprocket, the change magnetic absorbing unit no less than two is installed with the outer wall of the first chain, the The change magnetic absorbing unit no less than two is installed with the outer wall of two chains;The rear end of frame is installed with the first servo Reductor and the second servo deceleration machine, the clutch end of the first servo deceleration machine and the power intake of the first drive shaft connect Connect, the clutch end of the second servo deceleration machine is connected with the power intake of the second drive shaft.
  4. 4. climbing robot according to claim 3, it is characterised in that become on magnetic sheave and be evenly distributed four gear teeth, The gear teeth are wedge, and the small one end of wedge thickness is provided with side elevation, and the big one end of wedge thickness is provided with top surface, side elevation and Top surface is orthogonal, and the inclined-plane of wedge is arc surface, is provided with circular groove between the two neighboring gear teeth, wedge thickness is big One end be tooth root;Or/and the outer wall, left every being installed with rubber on the outer wall of magnetic patch, the outer wall of lower yoke of upper yoke Set.
  5. 5. climbing robot according to claim 4, it is characterised in that climbing robot also includes camera and display fills Put, camera is fixedly mounted in frame, and camera is connected by cable with display device.
CN201510668009.4A 2015-10-16 2015-10-16 Climbing robot CN105216889B (en)

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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
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
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
CN106808353B (en) * 2017-01-15 2019-01-22 浙江海洋大学 A kind of oil tank automatic cleaning machine people
CN107444518B (en) * 2017-08-14 2019-08-06 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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US5368232A (en) * 1992-07-13 1994-11-29 Graco, Inc. Striping apparatus for vehicle travel surfaces
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