CN105690401A - Flexible steel-made wall-climbing robot - Google Patents
Flexible steel-made wall-climbing robot Download PDFInfo
- Publication number
- CN105690401A CN105690401A CN201510896123.2A CN201510896123A CN105690401A CN 105690401 A CN105690401 A CN 105690401A CN 201510896123 A CN201510896123 A CN 201510896123A CN 105690401 A CN105690401 A CN 105690401A
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- magnet
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
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Abstract
The invention belongs to the technical field of machines and discloses a flexible steel-made wall-climbing robot. The wall-climbing robot is composed of a robot body, a three-freedom-degree operation mechanical arm and a rust removing device. The three-freedom-degree operation mechanical arm is connected with the robot body through a rotary disk shaft. The rust removing device is located at the tail of the robot body. The robot body comprises a peripheral box. Two rows of elastic hinges are fixedly connected into the box. A direct current motor is mounted on an elastic hinge lower plate and connected with a synchronous pulley through a worm gear reducer. The synchronous pulley and a magnet wheel conduct driving through a synchronous belt. The magnet wheel is of a hollow structure defined by yokes on the two sides and a driving pulley between the yokes. The hollow structure fixes a columnar magnet through a nylon sleeve. The flexible steel-made wall-climbing robot can carry out stable walking and effective detection on steel-made wall surfaces of chemical containers, large ship hulls and the like under the intelligent control condition, and has the advantages of being compact in structure, low in weight, easy to control and the like.
Description
Technical field
The invention belongs to field of mechanical technique, relate to a kind of flexible steel wall Work robot。
Background technology
Oil, the wide variety of various spherical tanks of chemical industry, the large pressurized vessels such as tubular storage tank, mostly the hull of large ship and blade of large-sized water turbine etc. are to be formed by Plate Welding, work under height corrosion and high pressure and high salinity state due to long-time, its surface and weld seam very easily produce defects such as getting rusty, thus causing material failure, these steel vessels of serious threat, the trouble free service of wall, for guaranteeing that it can run in the secure state, need regularly to carry out wall safety detection maintenance work, and these work at present are all by being accomplished manually, workload is big, danger coefficient is high, therefore develop steel wall Work robot to replace manually carrying out container wall and safeguard and be of great practical significance and wide application prospect。
Fast development along with robotics, steel wall Work robot enjoys people to pay close attention to, and each developed country carries out theory and technology research energetically, and have developed some steel wall Work robots differed from one another, for this, it is proposed that a kind of flexible steel wall Work robot。
Summary of the invention
It is an object of the invention to overcome defect of the prior art, the body construction of a kind of flexible steel wall Work robot is provided, it is possible not only to realize robot and automatically adapts to the steel wall that curvature is different, thereon safety and stability walking, and can effectively complete surface job task。
In order to solve above-mentioned technical problem, the invention provides following technical scheme:
The present invention provides a kind of flexible steel wall Work robot, described climbing robot is by robot body, Three Degree Of Freedom working rig mechanical arm and derusting device composition, described Three Degree Of Freedom working rig mechanical arm is connected with robot body by turntable shaft, derusting device is positioned at robot body afterbody, described robot body includes the casing of a periphery, be connected in casing the two elastic hinges of row, direct current generator is installed in elastic hinge lower plate, direct current generator connects synchronous pulley through worm-gear speed reducer, the synchronized band of synchronous pulley and magnet-wheel transmission, described magnet-wheel is surrounded hollow structure by the drive pulley that the yoke of both sides is middle with yoke, a columnar magnet is fixed by nylon jacket in hollow structure, columnar magnet is connected part and connects worm-and-wheel gear, worm-and-wheel gear connects adjustable magnetic knob, nylon jacket surrounding and magnet-wheel centre axis parallel inlay multiple permanent magnet, nylon jacket is additionally provided with not magnetic conduction connector, described not magnetic conduction connector is connected with permanent magnet。
As a preferred technical solution of the present invention, described Three Degree Of Freedom working rig mechanical arm front end is connected to spray-painting plant, described spray-painting plant includes a bearing outside, there are two deep groove ball bearings the internal left and right sides, in order to support the axle of bracket end, axle is fixed by spring shim in the axial direction, only can rotate around bearing outside, DC micro-motor is fixed together by motor rack and support, shaft coupling connects motor shaft, connecting worm be fixed on support by bearing on axle, worm gear and cam are fixed on axle；The bottle that sprays paint is fixed by arc plate and screw of handle, when motor controls rotational angle by PLC, drives worm and wormwheel to rotate, is pressed the bottle that sprays paint by cam and spray paint or stop。
As a preferred technical solution of the present invention, described derusting device, by electromagnet stent, slide block is fixed on robot wall；Electric magnet, motor is fastened on aluminium alloy plate, and aluminium alloy plate is connected on slide rail；Wire brush is connected on direct current generator by shaft coupling。
As a preferred technical solution of the present invention, the casing afterbody of described robot body is also fixed with permanent magnetism universal wheel。
The present invention reaches to provide the benefit that: a kind of flexible steel wall Work robot, is possible not only to realize robot and automatically adapts to the steel wall that curvature is different, thereon safety and stability walking, and can effectively complete surface job task。Robot of the present invention mainly includes robot body, Three Degree Of Freedom multi-function work machine arm, the spray-painting plant of mechanical arm front end, liftable derusting device。And robot body mainly includes chassis, actively permanent magnetic wheels mechanism, universal permanent magnetic wheels mechanism。The present invention can realize when Based Intelligent Control walking in steel wall upward stabilities such as pressure vessels for the chemical industry, large ship hulls and effectively detecting, have compact conformation, lightweight, control the advantages such as simple, simultaneously as the setting of not magnetic conduction connector, it is possible to avoid the magnetic of permanent magnet to weaken。
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, is used for together with embodiments of the present invention explaining the present invention, is not intended that limitation of the present invention。
In the accompanying drawings:
Fig. 1 is flexible steel wall Work robot body construction schematic diagram；
Fig. 2 is regulatable magnetic force permanent magnetic wheels structural representation；
Fig. 3 is flexible self adaptation chassis；
Fig. 4 is the wall container that flexible self adaptation chassis is adapted to different curvature radius；
Fig. 5 is bulk junction composition；
Fig. 6 is derusting device structure chart；
Fig. 7 is mechanical arm front end spray-painting plant structure chart；
Fig. 8 is magnetic circuit schematic diagram；
Fig. 9 is that robot adapts to different curvature radius (R=600mm) wall figure；
Figure 10 is that robot adapts to different curvature radius (R=1000mm) wall figure；
Figure 11 is that robot adapts to different curvature radius (R=2000mm) wall figure；
Figure 12 is that robot adapts to different curvature radius (R=3000mm) wall figure；
Figure 13 is based on the robot manipulator structure figure organizing parallel-crank mechanism more；
Number in the figure: 1, derusting device；2, turntable shaft；3, Three Degree Of Freedom working rig mechanical arm；4, robot body；21, synchronous pulley；22, direct current generator；23, casing；24, worm-gear speed reducer；25, Timing Belt；26, permanent magnetic wheels；27, elastic hinge；31, yoke；32, adjustable magnetic knob；33, columnar magnet；34, worm-and-wheel gear；35, connector；36, not magnetic conduction connector；37, permanent magnet；38, nylon jacket；41, electric magnet；42, slide rail；43, slide block；44, aluminium alloy plate；45, wire brush；46, electromagnetism brandreth；51, turbine；52, cam；53, axle；54, spray paint bottle；55, arc plate；56, screw of handle；57, micro-machine。
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are illustrated, it will be appreciated that preferred embodiment described herein is merely to illustrate and explains the present invention, is not intended to limit the present invention。
Embodiment: refer to Fig. 1-13, the present invention is a kind of flexible steel wall Work robot, described climbing robot is by robot body 4, Three Degree Of Freedom working rig mechanical arm 3 and derusting device 1 form, described Three Degree Of Freedom working rig mechanical arm 3 is connected with robot body 4 by turntable shaft 2, derusting device 1 is positioned at robot body 4 afterbody, described robot body 4 includes the casing 23 of a periphery, be connected in casing 23 the two elastic hinges 27 of row, direct current generator 22 is installed in elastic hinge 27 lower plate, direct current generator 22 connects synchronous pulley 21 through worm-gear speed reducer 24, the synchronized band 25 of synchronous pulley 21 and magnet-wheel transmission, described magnet-wheel is surrounded hollow structure by the drive pulley that the yoke 31 of both sides is middle with yoke 31, a columnar magnet 33 is fixed by nylon jacket 38 in hollow structure, columnar magnet 33 is connected part 35 and connects worm-and-wheel gear 34, worm-and-wheel gear 34 connects adjustable magnetic knob 32, nylon jacket 38 surrounding is parallel with magnet-wheel axle 53 inlays multiple permanent magnet 37, nylon jacket 38 is additionally provided with not magnetic conduction connector 36, described not magnetic conduction connector 36 is connected with permanent magnet 37。
Described Three Degree Of Freedom working rig mechanical arm 3 front end is connected to spray-painting plant, described spray-painting plant includes a bearing outside, there are two deep groove ball bearings the internal left and right sides, in order to support the axle 53 of bracket end, axle 53 is fixed upwardly through spring shim at axle 53, only can rotate around bearing outside, DC micro-motor 22 is fixed together by motor rack and support, shaft coupling connects motor shaft, connecting worm be fixed on support by bearing on axle 53, and worm gear and cam 52 are fixed on axle 53；The bottle 54 that sprays paint is fixed by arc plate 55 and screw of handle 56, when motor controls rotational angle by PLC, drives worm and wormwheel to rotate, pressed the bottle 54 that sprays paint spray paint by cam 52 or stop, described derusting device 1, by electric magnet 41 support, slide block 43 is fixed on robot wall；Electric magnet 41, motor is fastened on aluminium alloy plate 44, and aluminium alloy plate 44 is connected on slide rail 42；Wire brush 45 is connected on direct current generator 22 by shaft coupling, and casing 23 afterbody of described robot body 4 is also fixed with permanent magnetism universal wheel。
It should be noted that, the present invention is a kind of flexible steel wall Work robot, during work, there is provided a kind of based on permanent magnetic suck structure, the body construction climbing wall Work robot adapting to different curvature radius wall, it is possible not only to realize robot and automatically adapts to the steel wall that curvature is different, safety and stability walking thereon, and can effectively complete surface job task。
Operation principle: as it is shown in figure 1, derusting device 1 is in body portion, can be driven opposing body to move up and down by electric magnet 41。Can moving up and down mechanical arm portion to the rear on body by electric magnet 41 opposing body, only can rotate around body, spray-painting plant connects on the robotic arm。
As it is shown in figure 5, be bulk junction composition。Motor is connected with worm-gear speed reducer 24, worm-gear speed reducer 24 is connected by axle 53 with synchronous pulley 21, Timing Belt 25 connects synchronous pulley 21 and permanent magnetic wheels 26, the rotation of synchronous pulley 21 is transferred to permanent magnetic wheels 26, and elastic hinge 27 can regulate the angle of permanent magnetic wheels 26 according to the change of steel vessel curvature。
As in figure 2 it is shown, be adjustable magnet-wheel device so that magnetic force is adjustable, conveniently unload from steel wall container。
As shown in Figure 6, for climbing robot derusting device 1, whole device is by electric magnet 41 support, and slide block 43 is fixed on robot wall。Electric magnet 41, motor is fastened on aluminium alloy plate 44, is connected on slide rail 42。Wire brush 45 is connected on direct current generator 22 by shaft coupling。
As shown in Figure 7, it is shown that be based on the spray-painting plant of the mechanical hand front end of the wall-climbing device of permanent magnetic suck structure, it is that an axle 53 holds overcoat, the internal left and right sides has two deep-groove ball axles 53 to hold, in order to support the axle 53 of bracket end, axle 53 is fixed upwardly through spring shim at axle 53, only can around rotation。DC micro-motor 22 is fixed together by motor rack and support, and shaft coupling connects motor shaft, and connecting worm held by axle 53 and be fixed on support on axle 53, worm gear and cam 52 are fixed on axle 53。It is the bottle 54 that sprays paint, is fixed by arc plate 55 and screw of handle 56。When motor controls rotational angle by PLC, drive worm and wormwheel to rotate, pressed the bottle 54 that sprays paint by cam 52 and spray paint or stop。
It is illustrated in figure 8 magnetic circuit principle, it can be seen that the magnetic line of force sends from the N pole of permanent magnet 37, leads in the magneto motive working gas gap of needs via yoke 31, return to permanent magnet 37 through yoke 31 again, constitute a closed-loop path。Principle accordingly, in conjunction with annular neodymium iron boron, devise the magnetic circuit model of permanent magnetic wheels 26, as shown in Figure 8, the yoke 31 on both sides contacts with the N pole of permanent magnet 37 and S pole respectively, yoke 31 constitutes the closed magnetic circuit of air-gap-free with absorption wall after contacting, the magnetic flux of annular permanent magnet 37 is by forming powerful absorption affinity between yoke 31 and the wall of high magnetic permeability again。
As shown in Figure 10, for based on the Three Degree Of Freedom multi-function work machine handss organizing parallel-crank mechanism more。Front and back and upper and lower movement can be realized and around body rotation。Corresponding motor is had to control respectively。
Last it is noted that the foregoing is only the preferred embodiments of the present invention, it is not limited to the present invention, although the present invention being described in detail with reference to previous embodiment, for a person skilled in the art, technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature carries out equivalent replacement。All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention。
Claims (4)
1. a flexible steel wall Work robot, it is characterized in that, described climbing robot is by robot body (4), Three Degree Of Freedom working rig mechanical arm (3) and derusting device (1) composition, described Three Degree Of Freedom working rig mechanical arm (3) is connected with robot body (4) by turntable shaft (2), derusting device (1) is positioned at robot body (4) afterbody, described robot body (4) includes the casing (23) of a periphery, be connected in casing (23) the two elastic hinges (27) of row, direct current generator (22) is installed in elastic hinge (27) lower plate, direct current generator (22) connects synchronous pulley (21) through worm-gear speed reducer (24), synchronous pulley (21) synchronized band (25) and magnet-wheel transmission, described magnet-wheel is surrounded hollow structure by the drive pulley that the yoke (31) of both sides is middle with yoke (31), a columnar magnet (33) is fixed by nylon jacket (38) in hollow structure, columnar magnet (33) is connected part (35) and connects worm-and-wheel gear (34), worm-and-wheel gear (34) is upper connects adjustable magnetic knob (32), nylon jacket (38) surrounding is parallel with magnet-wheel axle (53) inlays multiple permanent magnet (37), nylon jacket (38) is additionally provided with not magnetic conduction connector (36), described not magnetic conduction connector (36) is connected with permanent magnet (37)。
2. a kind of flexible steel wall Work robot according to claim 1, it is characterized in that, described Three Degree Of Freedom working rig mechanical arm (3) front end is connected to spray-painting plant, described spray-painting plant includes a bearing outside, there are two deep groove ball bearings the internal left and right sides, in order to support the axle (53) of bracket end, axle (53) is fixed upwardly through spring shim at axle (53), only can rotate around bearing outside, DC micro-motor (22) is fixed together by motor rack and support, shaft coupling connects motor shaft, the upper connecting worm of axle (53) is also fixed on support by bearing, worm gear and cam (52) are fixed on axle (53)；The bottle (54) that sprays paint is fixed by arc plate (55) and screw of handle (56), when motor controls rotational angle by PLC, drive worm and wormwheel rotates, and presses the bottle that sprays paint (54) by cam (52) and sprays paint or stop。
3. a kind of flexible steel wall Work robot according to claim 1, it is characterised in that described derusting device (1), by electric magnet (41) support, slide block (43) is fixed on robot wall；Electric magnet (41), motor is fastened on aluminium alloy plate (44), and aluminium alloy plate (44) is connected on slide rail (42)；Wire brush (45) is connected on direct current generator (22) by shaft coupling。
4. a kind of flexible steel wall Work robot according to claim 1, it is characterised in that casing (23) afterbody of described robot body (4) is also fixed with permanent magnetism universal wheel。
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| CN201510896123.2A CN105690401B (en) | 2015-12-07 | 2015-12-07 | A kind of flexible steel wall surface Work robot |
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| CN201510896123.2A CN105690401B (en) | 2015-12-07 | 2015-12-07 | A kind of flexible steel wall surface Work robot |
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| CN105690401A true CN105690401A (en) | 2016-06-22 |
| CN105690401B CN105690401B (en) | 2019-01-18 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106345645A (en) * | 2016-11-15 | 2017-01-25 | 大连理工大学 | Wall-climbing air-free robot which works on the planking of the ship and the operational method of the wall-climbing air-free robot |
| CN106378274A (en) * | 2016-11-15 | 2017-02-08 | 大连理工大学 | Feeding and paint mist recovery protective cover system of ship shell plate towing spraying type robot and operation method of feeding and paint mist recovery protective cover system |
| CN106514609A (en) * | 2016-12-30 | 2017-03-22 | 洛阳圣瑞智能机器人有限公司 | Modular wheel type magnetic-attraction wall-climbing robot |
| CN106514608A (en) * | 2016-12-30 | 2017-03-22 | 洛阳圣瑞智能机器人有限公司 | Wall-climbing robot carrying connecting rod type mechanical arm |
| CN106807569A (en) * | 2017-03-24 | 2017-06-09 | 洛阳圣瑞智能机器人有限公司 | Wall paint-spray robot is climbed in a kind of stable type |
| CN107717695A (en) * | 2017-10-27 | 2018-02-23 | 合肥常青机械股份有限公司 | A kind of girder steel rust removing robot of four-degree-of-freedom |
| CN109199270A (en) * | 2018-09-25 | 2019-01-15 | 柳州市中晶科技有限公司 | climbing robot |
| CN110802072A (en) * | 2019-11-19 | 2020-02-18 | 中船重工海为郑州高科技有限公司 | Steel curved surface casing washs car |
| CN111515053A (en) * | 2020-04-21 | 2020-08-11 | 江苏中矿大正表面工程技术有限公司 | A automation equipment that is used for anticorrosive application of bridge tunnel large surface |
| CN112478078A (en) * | 2020-12-11 | 2021-03-12 | 兰州理工大学 | Novel boats and ships rust cleaning robot |
| CN113090291A (en) * | 2021-04-09 | 2021-07-09 | 中铁工程服务有限公司 | Shield subway tunnel segment repair and reinforcement complete equipment |
| CN113090293A (en) * | 2021-04-09 | 2021-07-09 | 中铁工程服务有限公司 | Shield subway tunnel segment repairing and reinforcing mechanical arm equipment |
| CN113118978A (en) * | 2021-05-25 | 2021-07-16 | 上海倍朔环保科技有限公司 | Automatic operation platform for ship coating |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106378274A (en) * | 2016-11-15 | 2017-02-08 | 大连理工大学 | Feeding and paint mist recovery protective cover system of ship shell plate towing spraying type robot and operation method of feeding and paint mist recovery protective cover system |
| CN106345645A (en) * | 2016-11-15 | 2017-01-25 | 大连理工大学 | Wall-climbing air-free robot which works on the planking of the ship and the operational method of the wall-climbing air-free robot |
| CN106514609A (en) * | 2016-12-30 | 2017-03-22 | 洛阳圣瑞智能机器人有限公司 | Modular wheel type magnetic-attraction wall-climbing robot |
| CN106514608A (en) * | 2016-12-30 | 2017-03-22 | 洛阳圣瑞智能机器人有限公司 | Wall-climbing robot carrying connecting rod type mechanical arm |
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| CN106807569B (en) * | 2017-03-24 | 2023-03-17 | 洛阳圣瑞智能机器人有限公司 | Stable wall-climbing paint spraying robot |
| CN106807569A (en) * | 2017-03-24 | 2017-06-09 | 洛阳圣瑞智能机器人有限公司 | Wall paint-spray robot is climbed in a kind of stable type |
| CN107717695A (en) * | 2017-10-27 | 2018-02-23 | 合肥常青机械股份有限公司 | A kind of girder steel rust removing robot of four-degree-of-freedom |
| CN109199270A (en) * | 2018-09-25 | 2019-01-15 | 柳州市中晶科技有限公司 | climbing robot |
| CN110802072A (en) * | 2019-11-19 | 2020-02-18 | 中船重工海为郑州高科技有限公司 | Steel curved surface casing washs car |
| CN110802072B (en) * | 2019-11-19 | 2024-06-07 | 中船海为高科技有限公司 | Steel curved surface shell cleaning vehicle |
| CN111515053A (en) * | 2020-04-21 | 2020-08-11 | 江苏中矿大正表面工程技术有限公司 | A automation equipment that is used for anticorrosive application of bridge tunnel large surface |
| CN112478078A (en) * | 2020-12-11 | 2021-03-12 | 兰州理工大学 | Novel boats and ships rust cleaning robot |
| CN113090291A (en) * | 2021-04-09 | 2021-07-09 | 中铁工程服务有限公司 | Shield subway tunnel segment repair and reinforcement complete equipment |
| CN113090293A (en) * | 2021-04-09 | 2021-07-09 | 中铁工程服务有限公司 | Shield subway tunnel segment repairing and reinforcing mechanical arm equipment |
| CN113118978A (en) * | 2021-05-25 | 2021-07-16 | 上海倍朔环保科技有限公司 | Automatic operation platform for ship coating |
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| CN105690401B (en) | 2019-01-18 |
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