CN107176223B - Cambered surface self-attaching magnetic adsorption wall climbing detection robot - Google Patents
Cambered surface self-attaching magnetic adsorption wall climbing detection robot Download PDFInfo
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- CN107176223B CN107176223B CN201710555524.0A CN201710555524A CN107176223B CN 107176223 B CN107176223 B CN 107176223B CN 201710555524 A CN201710555524 A CN 201710555524A CN 107176223 B CN107176223 B CN 107176223B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
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- B60B19/006—Magnetic wheels
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Abstract
The invention discloses a cambered surface self-attaching magnetic adsorption wall climbing detection robot which is characterized by comprising a middle main frame, a safety protection mechanism, a floating frame, a swinging magnetic adsorption wheel set, an encoder wheel floating mechanism and a nondestructive detection reciprocating mechanism. The robot is of a frame type open structure, light in weight, larger in adsorption force, flexible in movement, stable in walking, accurate in detection, easy to process and easy to disassemble. Because the robot has more passive degrees of freedom, the passive degrees of freedom which are too flexible are limited by adding the springs, and the damping effect can be achieved, so that no matter what cambered surface is the wall surface, the robot is in any pose, and four magnetic adsorption wheels of the robot can walk perpendicular to the tangential surface of the curved surface. When the magnetic wheel is perpendicular to the curved surface tangent plane, namely the included angle is 90 degrees, the magnetic utilization rate of the magnetic adsorption unit is highest, the magnetic force is also greatest, the probability that the robot falls off from the wall surface is lower, and the probability of accidents is lower.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a cambered surface self-attaching magnetic adsorption wall climbing detection robot.
Background
The wall climbing robot is a robot which climbs on a vertical wall and performs work instead of manual work. The wall climbing robot is mainly applied to paint removal and spray painting treatment of a large-scale oil storage tank, flaw detection or tank wall thickness detection, cleaning and spray painting operation of the surface of a building, flaw detection of a bridge, cleaning and spray painting maintenance of the surface of a ship, anti-terrorism reconnaissance of a high-rise building and the like.
The application number 201510173038.3 discloses a wall climbing robot for magnetic particle inspection and detection, which comprises a moving device, a magnetic spraying device, a magnetizing device and a marking device; a magnetic adsorption wheel with a damping structure is arranged on the frame. The structure is a frame type structure, and the construction is simpler. However, the direction of gravity is perpendicular to the attraction direction of the magnetic wheel in the working process, so that the vibration reduction function cannot be well realized by additionally installing the spring on the driving wheel, and the center distance of the synchronous pulley can be changed when the spring is deformed, so that the synchronous belt can not rotate or be loosened too tightly, and torque can not be effectively transmitted. And the detection efficiency is low, and large-area detection cannot be performed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the cambered surface self-attaching magnetic adsorption wall climbing detection robot. The robot is of a frame type open structure, light in weight, larger in adsorption force, flexible in movement, stable in walking, accurate in detection, easy to process and easy to disassemble.
The technical scheme for solving the technical problems is that the invention provides a cambered surface self-attaching magnetic adsorption wall climbing detection robot which is characterized by comprising a middle main frame, a safety protection mechanism, a floating frame, a swinging magnetic adsorption wheel set, an encoder wheel floating mechanism and a nondestructive detection reciprocating mechanism;
the middle main frame comprises an upper fixed frame, a compression spring, a spring guide rod, a control box cover and a lower floating frame; the lower floating frame is connected with the lower surface of the upper fixed frame, and the upper fixed frame and the lower floating frame can slide relatively; spring guide rods are symmetrically fixed on the upper surface of the upper fixed frame; the compression spring is nested on the spring guide rod, the lower end of the compression spring is contacted with the upper fixed frame, and the upper end of the compression spring is contacted with the L-shaped connecting plate of the lower floating frame; the control box cover is connected with the upper fixed frame;
the safety protection mechanism comprises an anti-falling sliding frame, an anti-falling sliding hook and an anti-falling sliding hook pulley; the two ends of the anti-falling sliding frame are fixed on the upper fixed frame, and the middle is a smooth sliding rod; the anti-falling sliding hook is of a Y-shaped structure, a through hole at one end of the anti-falling sliding hook is connected with a locking ring of a commercial differential anti-falling device, and a forked part of the Y-shaped structure at the other end of the anti-falling sliding hook is provided with an anti-falling sliding hook pulley; the anti-falling sliding hook pulley is matched with a sliding rod of the anti-falling sliding frame;
the floating mechanism comprises a left floating mechanism and a right floating mechanism which are symmetrically arranged at the left side and the right side of the robot respectively, and the structures of the left floating mechanism and the right floating mechanism are identical; the left floating mechanism comprises a swinging frame rotating shaft, a floating frame, a long floating connecting rod and a short floating connecting rod; the through holes at one end of the two short floating connecting rods are respectively connected with the protruding shafts at the front side and the rear side of the lower floating frame for rotation, and the other end of the through holes at one end of the long floating connecting rods are connected with the through holes at one end of the long floating connecting rods for rotation through rotating shafts; the two through holes at the other end of the long floating connecting rod are fixedly connected with the floating frame, and the rotating hole in the middle of the long floating connecting rod is connected with the fixed rotating shaft on the upper fixed frame; the swing frame rotating shaft is arranged on the floating frame;
the swing magnetic adsorption wheel set comprises a left swing magnetic adsorption wheel set and a right swing magnetic adsorption wheel set which are symmetrically arranged at the left side and the right side of the robot respectively, and the structures of the left swing magnetic adsorption wheel set and the right swing magnetic adsorption wheel set are identical; the left swing magnetic adsorption wheel set comprises a driving unit, a magnetic adsorption wheel rotating shaft, a swing frame, a synchronous belt, a magnetic adsorption wheel, a synchronous belt wheel and a swing damping spring; one end of the swing damping spring is connected with the swing frame, and the other end of the swing damping spring is connected with the floating frame; the swing frame is connected with the swing frame rotating shaft and can rotate around the swing frame rotating shaft; two magnetic adsorption wheel rotating shafts are respectively arranged at the front and the rear of the swing frame, a synchronous belt wheel and a magnetic adsorption wheel are respectively and coaxially fixed on the two magnetic adsorption wheel rotating shafts, and one magnetic adsorption wheel rotating shaft is coaxially connected with the driving unit; the two synchronous pulleys are connected through a synchronous belt;
the encoder wheel floating mechanism comprises an encoder wheel, an encoder, a floating spring, an encoder wheel fixing bracket, an encoder spring guide post and an encoder wheel floating bracket; the encoder wheel fixing bracket is fixedly connected with the floating frame; one end of the encoder spring guide post extends into the through hole of the encoder wheel fixing bracket and is fixed, and the other end of the encoder spring guide post is fixedly connected with one end of the encoder wheel floating bracket; a floating spring is sleeved on the encoder spring guide post; one end of the floating spring is contacted with the encoder wheel fixing bracket, and the other end of the floating spring is contacted with the encoder wheel floating bracket; the rotary shaft at the other end of the encoder wheel floating bracket is provided with an encoder wheel and an encoder, and a wheel hole of the encoder wheel and a shaft of the encoder are coaxially fixed; the shell of the encoder is fixedly connected with the encoder wheel floating bracket;
the nondestructive testing reciprocating mechanism comprises a reciprocating driving unit, a probe fixing piece, a nondestructive testing probe, a wall surface compression spring, a probe bracket, a sliding rail, a reciprocating synchronous pulley, a reciprocating synchronous belt, a synchronous belt clamping mechanism and a nondestructive testing reciprocating mechanism bracket; the nondestructive testing reciprocating mechanism support is fixedly connected with the swinging frame; the two reciprocating synchronous pulleys are respectively arranged at the left end and the right end of the nondestructive testing reciprocating mechanism bracket and are connected through a reciprocating synchronous belt; the reciprocating motion driving unit is coaxially fixed with one of the reciprocating motion synchronous pulleys; the sliding rail is fixed on the nondestructive testing reciprocating mechanism bracket; the synchronous belt clamping mechanism is arranged on a sliding block of the sliding rail; the probe support is fixedly connected with the synchronous belt clamping mechanism; the probe fixing piece is connected with the probe bracket through a rotating shaft and rotates around the shaft, and a wall surface compression spring is nested on the rotating shaft; the nondestructive testing probe is connected with the probe fixing piece through a shaft.
Compared with the prior art, the invention has the beneficial effects that:
1. the robot is of a frame type open structure, light in weight, larger in adsorption force, flexible in movement, stable in walking, accurate in detection, easy to process and easy to disassemble.
2. Because the robot has more passive degrees of freedom, the passive degrees of freedom which are too flexible are limited by adding the springs, and the damping effect can be achieved, so that no matter what cambered surface is the wall surface, the robot is in any pose, and four magnetic adsorption wheels of the robot can walk perpendicular to the tangential surface of the curved surface. When the magnetic wheel is perpendicular to the curved surface tangent plane, namely the included angle is 90 degrees, the magnetic utilization rate of the magnetic adsorption unit is highest, the magnetic force is also greatest, the probability that the robot falls off from the wall surface is lower, and the probability of accidents is lower.
3. The magnetic adsorption wheel is in a magnetic adsorption mode of monopole magnetization and yoke iron magnetic conduction, the magnetic field range is large, the magnetic force attenuation is small when the distance between the magnetic adsorption wheel and a magnetic conduction wall surface is large, the adsorption is stable, a higher protruding welding line can be spanned, and the robot is ensured not to fall off from the wall surface; the reliability of the robot for adsorbing the wall surface is guaranteed, meanwhile, the flexibility of turning is improved, the wall climbing robot moves more flexibly, and the robot can arrive at a working area faster during detection operation.
4. The safety protection mechanism can enable the robot to move in any direction, and when the robot is in any pose, the falling protector cable cannot be wound on the wall climbing robot, so that the climbing of the robot on the wall surface is not affected.
5. The magnetic unloading is simple, the magnetizer is rotated by 90 degrees through the magnetic unloading rod, so that the magnetic force between the magnetizer and the wall surface is minimized, and the robot can be easily removed from the wall surface.
6. The outer surface of the magnetic adsorption wheel is coated with anti-slip rubber, so that a larger friction coefficient with the wall surface is ensured, and slipping in the movement process is prevented.
7. The slide rail of the nondestructive testing reciprocating mechanism is longer, the detection area is large, the efficiency is high, and the detection probe can be tightly attached to the arc-shaped magnetic conduction wall surface through the wall surface compression spring, so that the detection is more accurate.
Drawings
FIG. 1 is a schematic axial view of an overall structure of one embodiment of a cambered surface self-attaching magnetic adsorption wall climbing detection robot of the invention;
FIG. 2 is a schematic overall front view of one embodiment of a cambered surface self-attaching magnetic adsorption wall climbing detection robot of the invention;
FIG. 3 is a schematic diagram of an overall bottom view of one embodiment of a cambered surface self-attaching magnetic attraction wall climbing detection robot of the invention;
FIG. 4 is an isometric view of a center frame of one embodiment of a cambered surface self-attaching magnetic attraction wall climbing detection robot of the invention;
FIG. 5 is an isometric view of a safety protection mechanism of one embodiment of a cambered surface self-attaching magnetic adsorption wall climbing detection robot of the invention;
FIG. 6 is a schematic view of the installation of the intermediate main frame, the safety protection mechanism and the floating mechanism of one embodiment of the cambered surface self-attaching magnetic adsorption wall climbing detection robot;
FIG. 7 is an isometric view of a swing magnetic attraction wheel set of one embodiment of a cambered surface self-attaching magnetic attraction wall climbing detection robot of the invention;
FIG. 8 is a schematic diagram of the installation of an encoder wheel floating mechanism and a swing damping spring of one embodiment of the cambered surface self-attaching magnetic adsorption wall climbing detection robot of the invention;
FIG. 9 is a schematic illustration of a magnetic attraction wheel axle of one embodiment of a cambered surface self-attaching magnetic attraction wall climbing detection robot of the invention;
FIG. 10 is a schematic diagram of the internal structure of a magnetic attraction wheel of one embodiment of the cambered surface self-attaching magnetic attraction wall climbing detection robot;
FIG. 11 is an isometric view of a magnetic attraction wheel of one embodiment of the cambered surface self-attaching magnetic attraction wall climbing detection robot of the invention when demagnetizing;
FIG. 12 is a schematic front view of the overall structure of an encoder wheel floating mechanism of one embodiment of the cambered surface self-attaching magnetic adsorption wall climbing detection robot of the invention;
FIG. 13 is an isometric view of the overall structure of a nondestructive testing reciprocating mechanism of one embodiment of a cambered surface self-attaching magnetic adsorption wall climbing detection robot of the invention;
FIG. 14 is a schematic diagram of the operation of a robot attached to a tank in one embodiment of a robot for magnetic adsorption wall climbing detection with a cambered surface self-attached; ( In the figure: 1. a middle main frame; 2. a safety protection mechanism; 3. a floating mechanism; 4. swinging the magnetic adsorption wheel set; 5. an encoder wheel float mechanism; 6. nondestructive testing of the reciprocating mechanism; 101. an upper fixed frame; 102. a compression spring; 103. a spring guide rod; 104. controlling the box cover; 105. a lower floating frame; 201. an anti-falling sliding frame; 202. anti-falling sliding hook; 203. anti-falling sliding hook pulley; 301. a swing frame rotation shaft; 302. a floating frame; 303. a long floating connecting rod; 304. a short floating connecting rod; 401. a driving unit; 402. the magnetic adsorption wheel rotates a shaft; 403. swinging the frame; 404. a synchronous belt; 405. a magnetic adsorption wheel; 406. a synchronous pulley; 407. swinging the damping spring; 405-1, outer encapsulation; 405-2, wheel housing; 405-3, a wheel cover; 405-4, an adsorption unit; 405-5, a bearing; 405-6, a magnetizer; 501. an encoder wheel; 502. an encoder; 503. a floating spring; 504. an encoder wheel mounting bracket; 505. encoder spring guide posts; 506. an encoder wheel floating mount; 601. a reciprocating driving unit; 602. a probe mount; 603. a nondestructive testing probe; 604. a wall surface compression spring; 605. a probe holder; 606. a slide rail; 607. a reciprocating synchronous pulley; 608. a reciprocating synchronous belt; 609. a synchronous belt clamping mechanism; 610. nondestructive testing reciprocating mechanism support )
Detailed Description
Specific examples of the present invention are given below. The specific examples are provided only for further elaboration of the invention and do not limit the scope of the claims of the present application.
The invention provides a cambered surface self-attaching magnetic adsorption wall climbing detection robot (refer to figures 1-14, robot for short), which is characterized by comprising a middle main frame 1, a safety protection mechanism 2, a floating mechanism 3, a swinging magnetic adsorption wheel set 4, an encoder wheel floating mechanism 5 and a nondestructive detection reciprocating mechanism 6;
the middle main frame 1 is positioned in the center of the whole robot and comprises an upper fixed frame 101, a compression spring 102, a spring guide rod 103, a control box cover 104 and a lower floating frame 105; the lower floating frame 105 is connected with the lower surface of the upper fixed frame 101 through a U-shaped chute on the upper fixed frame 101, and the upper fixed frame 101 and the lower floating frame 105 can slide relatively; the upper surface of the upper fixed frame 101 is symmetrically fixed with spring guide rods 103; the compression springs 102 are nested on the spring guide rods 103, the lower ends of the compression springs are in contact with the upper fixed frame 101, the upper ends of the compression springs are in contact with the L-shaped connecting plates of the lower floating frame 105, and the compression springs 102 are compressed and stretched to enable the upper fixed frame 101 and the lower floating frame 105 to move relatively; the control box cover 104 is connected with the upper fixed frame 101 through screws, and a controller can be arranged in the inner space of the control box cover;
the safety protection mechanism 2 comprises an anti-falling sliding frame 201, an anti-falling sliding hook 202 and an anti-falling sliding hook pulley 203; the two ends of the anti-falling sliding frame 201 are fixed on the upper fixed frame 101 through screws, and the middle is a smooth sliding rod; the anti-falling sliding hook 202 is of a Y-shaped structure, a through hole at one end is connected with a locking ring of a commercial differential anti-falling device, and a forked part of the Y-shaped structure at the other end is provided with an anti-falling sliding hook pulley 203; the anti-falling sliding hook pulley 203 is matched with a sliding rod of the anti-falling sliding frame 201 and can slide on the sliding rod; when the robot moves in any direction and is in any pose, the falling-preventing sliding hooks 202 can slide on the sliding rods of the falling-preventing sliding frames 201 without winding the falling-preventing device cables on the robot;
the floating mechanism 3 comprises a left floating mechanism and a right floating mechanism which are symmetrically arranged at the left side and the right side of the robot respectively, and the structures of the left floating mechanism and the right floating mechanism are identical; the left floating mechanism comprises a swing frame rotating shaft 301, a floating frame 302, a long floating connecting rod 303 and a short floating connecting rod 304; the through holes at one end of the two short floating connecting rods 304 are respectively connected with the protruding shafts at the front and rear sides of the lower floating frame 105 for rotation, and the other end of the through holes at one end of the long floating connecting rods 303 are connected with the through holes at one end of the long floating connecting rods through rotating shafts for rotation; two through holes at the other end of the long floating connecting rod 303 are fixedly connected with the floating frame 302 through screws, and a rotary hole in the middle of the long floating connecting rod 303 is connected with a fixed rotary shaft on the upper fixed frame 101; the swing frame rotating shaft 301 is installed at the center position of the floating frame 302; when the robot moves, the compression spring 102 deforms to enable the upper fixed frame 101 and the lower floating frame 105 to slide relatively, the short floating connecting rod 304 rotates around the protruding shaft of the lower floating frame 105 to drive the long floating connecting rod 303 to rotate around the fixed rotating shaft of the upper fixed frame 101, so that the floating frame 302 also rotates; under the action of the adsorption unit 405-4, the rotation of the floating frame 302 enables the magnetic adsorption wheel 405 to be perpendicular to the cambered surface, so that the magnetic utilization rate of the adsorption unit 405-4 is maximized;
the swing magnetic adsorption wheel set 4 comprises a left swing magnetic adsorption wheel set and a right swing magnetic adsorption wheel set which are symmetrically arranged at the left side and the right side of the robot respectively, and the structures of the left swing magnetic adsorption wheel set and the right swing magnetic adsorption wheel set are identical; the left swing magnetic absorption wheel set comprises a driving unit 401, a magnetic absorption wheel rotating shaft 402, a swing frame 403, a synchronous belt 404, a magnetic absorption wheel 405, a synchronous belt wheel 406 and a swing damping spring 407; the swing damping spring 407 is an extension spring, one end of the swing damping spring is connected with the swing frame 403, the other end of the swing damping spring is connected with the floating frame 302, and the damping spring plays a damping role when the swing magnetic adsorption wheel set 4 rotates forwards and backwards; the swing frame 403 is a frame of the swing magnetic adsorption wheel set 4, and the swing frame 403 is connected with the swing frame rotating shaft 301 and can rotate around the swing frame rotating shaft 301; two magnetic absorption wheel rotating shafts 402 are respectively arranged at the front and the rear of the swing frame 403, a synchronous pulley 406 and a magnetic absorption wheel 405 are respectively and coaxially fixed on the two magnetic absorption wheel rotating shafts 402, and one magnetic absorption wheel rotating shaft 402 is coaxially connected with the driving unit 401; the two synchronous pulleys 406 are connected through a synchronous belt 404; the driving unit 401 drives one of the magnetic adsorption wheels 405 and the synchronous pulley 406 on the magnetic adsorption wheel rotating shaft 402 to rotate, and power is transmitted to the other magnetic adsorption wheel 405 and the synchronous pulley 406 on the magnetic adsorption wheel rotating shaft 402 through the synchronous belt 404, so that the four magnetic adsorption wheels 405 have power; the swing magnetic adsorption wheel set 4 can swing around the swing frame rotating shaft 301, and the four magnetic adsorption wheels 405 can be simultaneously adsorbed on the cambered surface and can generate friction force to provide power;
the encoder wheel float mechanism 5 comprises an encoder wheel 501, an encoder 502, a float spring 503, an encoder wheel fixing bracket 504, an encoder spring guide post 505 and an encoder wheel float bracket 506; the encoder wheel mounting bracket 504 is fixedly connected with the floating frame 302; one end of the encoder spring guide post 505 extends into a through hole of the encoder wheel fixing bracket 504 and is fixed by a nut, and the other end is fixedly connected with one end of the encoder wheel floating bracket 506; the encoder spring guide post 505 is sleeved with a floating spring 503; one end of the floating spring 503 is in contact with the encoder wheel fixing bracket 504, and the other end is in contact with the encoder wheel floating bracket 506; the rotary shaft at the other end of the encoder wheel floating bracket 506 is provided with an encoder wheel 501 and an encoder 502, and a wheel hole of the encoder wheel 501 and a shaft of the encoder 502 are coaxially fixed; the housing of the encoder 502 is fixedly connected with an encoder wheel floating bracket 506; the encoder wheel 501 is an outer surface glue coating wheel, and does not slide relative to the wall surface in the process of rotation, and the walking position of the robot is accurately recorded through an encoder 502 which is coaxially and fixedly arranged with the encoder wheel; when the moving surface is uneven, the encoder wheel 501 can be made to closely fit the moving surface by the floating spring 503;
the nondestructive testing reciprocating mechanism 6 comprises a reciprocating driving unit 601, a probe fixing piece 602, a nondestructive testing probe 603, a wall surface compression spring 604, a probe bracket 605, a sliding rail 606, a reciprocating synchronous pulley 607, a reciprocating synchronous belt 608, a synchronous belt clamping mechanism 609 and a nondestructive testing reciprocating mechanism bracket 610; the nondestructive testing reciprocating mechanism support 610 is fixedly connected with the swing frame 403; two reciprocating synchronous pulleys 607 are respectively arranged at the left end and the right end of the nondestructive testing reciprocating mechanism bracket 610 and are connected with each other through a reciprocating synchronous belt 608 to transmit motion; the reciprocating driving unit 601 is coaxially fixed with one of the reciprocating synchronous pulleys 607, and the reciprocating synchronous belt 608 reciprocates through the forward and reverse rotation of the reciprocating driving unit; the sliding rail 606 is fixed on the nondestructive testing reciprocating mechanism bracket 610 through a screw; the synchronous belt clamping mechanism 609 is arranged on a sliding block of the sliding rail 606 and moves along with the reciprocating synchronous belt 608; the probe bracket 605 is fixedly connected with the synchronous belt clamping mechanism 609 through two screws; the probe fixing piece 602 is connected with the probe bracket 605 through a rotating shaft and rotates around the shaft, and a wall surface compression spring 604 is nested on the rotating shaft; the nondestructive testing probe 603 is connected with the probe fixing piece 602 through a shaft and can rotate; the wall surface compression spring 604 can enable the nondestructive testing probe 603 to be tightly attached to the wall surface, so that the stability and the accuracy of the detection are ensured;
the magnetic adsorption wheel 405 comprises an outer layer encapsulation 405-1, a wheel housing 405-2, a wheel housing cover 405-3, an adsorption unit 405-4, a bearing 405-5 and a magnetizer 405-6; the convex structure of the wheel housing 405-2 is a bearing shaft, the center of the bearing shaft is a key slot, and the key is connected with the magnetic adsorption wheel rotating shaft 402 to transmit torque; the outer rubber coating 405-1 is wrapped on the outer layer of the wheel shell 405-2 to increase friction force and prevent slipping in the walking process; the wheel housing cover 405-3 is fixed on the wheel housing 405-2 through screws; the two bearings 405-5 are in small clearance fit, and the inner ring is arranged on the outer circle of the bearing shaft of the wheel housing 405-2; the magnetizer 405-6 is tightly matched with the outer ring of the bearing 405-5, the sector adsorption unit 405-4 is connected with the magnetizer 405-6 through magnetic force, the sector structure below the magnetizer 405-6 is matched with the sector adsorption unit 405-4, and the magnetizing direction of the sector adsorption unit 405-4 is radial magnetizing; the two parts formed integrally can rotate around the convex structure of the wheel housing 405-2 to form a suspension structure, and when the robot adsorbs to the wall surface, the adsorption unit 405-4 can adsorb to the wall surface around the bearing 405-5; in the running process of the robot, the adsorption unit 405-4 always adsorbs to the wall surface due to the action of the bearing 405-5; the adsorption unit 405-4 is made of neodymium iron boron with high remanence, and the magnetizer 405-6 is made of metal with high magnetic permeability, so that the magnetic leakage of the adsorption unit 405-4 is minimized, and the magnetic utilization rate is maximized;
the working principle and the working flow of the cambered surface self-attaching magnetic adsorption wall-climbing detection robot are as follows: the robot is attracted to a smooth transition vertical wall, such as a circular arc tank surface (see fig. 14), and can also be used to detect a non-vertical wall, such as a wall with a tilt angle, but the wall must be a ferromagnetic surface so that the robot can be attracted to it. If the magnetic adsorption wheel 405 does not adsorb, the adsorption unit can be adsorbed on the vertical wall surface by means of the magnetic unloading rod. Under the action of the compression spring 102, the upper fixed frame 101 and the lower floating frame 105 slide relatively to drive the short floating connecting rod 304 and further drive the long floating connecting rod 303, and the floating frame 302 swings with the short floating connecting rod 304, so that the magnetic adsorption wheel 405 is adsorbed to the tank vertically. When the robot forms an included angle with the tank bus, the swing magnetic adsorption wheel set 4 rotates around the swing frame rotation shaft 301, so that the four magnetic adsorption wheels 405 can contact with the surface of the tank body to provide walking power. The robot may perform large area detection, line detection, and point detection. When the large-area detection task is executed, the robot walks according to a planned route, and performs detection operation when vertically crawling along the wall bus. In line detection and point detection, the robot travels to the detection point to start detection. The main shaft of the reciprocating motion driving unit 601 rotates to drive the synchronous pulley 607 to rotate, and then the nondestructive testing probe 603 is driven by the reciprocating motion synchronous belt 608 to reciprocate to detect the defect of the wall surface to be tested. The robot moves intermittently, i.e. the nondestructive testing probe reciprocates once, and moves forward for a distance which is smaller than the diameter which can be detected by the nondestructive testing probe 603. After the detection is completed, the robot walks to an area which can be reached by an operator, and the magnetic force of the robot is removed and taken down from the wall surface. The magnetizer 405-6 is provided with a magnetic unloading handle (as shown in fig. 11), and when the magnetizer is used for unloading magnetism, a magnetic unloading rod is inserted into the internal fixing hole of the wheel housing 405-2 through the hole on the magnetic unloading handle, and the magnetizer 405-6 and the adsorption unit 405-4 are swung for 90 degrees, so that the robot can be easily removed from the wall surface.
The invention is applicable to the prior art where it is not described.
Claims (6)
1. A cambered surface self-attaching magnetic adsorption wall climbing detection robot is characterized by comprising a middle main frame, a safety protection mechanism, a floating mechanism, a swinging magnetic adsorption wheel set, an encoder wheel floating mechanism and a nondestructive detection reciprocating mechanism;
the middle main frame comprises an upper fixed frame, a compression spring, a spring guide rod, a control box cover and a lower floating frame; the lower floating frame is connected with the lower surface of the upper fixed frame, and the upper fixed frame and the lower floating frame can slide relatively; spring guide rods are symmetrically fixed on the upper surface of the upper fixed frame; the compression spring is nested on the spring guide rod, the lower end of the compression spring is contacted with the upper fixed frame, and the upper end of the compression spring is contacted with the L-shaped connecting plate of the lower floating frame; the control box cover is connected with the upper fixed frame;
the safety protection mechanism comprises an anti-falling sliding frame, an anti-falling sliding hook and an anti-falling sliding hook pulley; the two ends of the anti-falling sliding frame are fixed on the upper fixed frame, and the middle is a smooth sliding rod; the anti-falling sliding hook is of a Y-shaped structure, a through hole at one end of the anti-falling sliding hook is connected with a locking ring of a commercial differential anti-falling device, and a forked part of the Y-shaped structure at the other end of the anti-falling sliding hook is provided with an anti-falling sliding hook pulley; the anti-falling sliding hook pulley is matched with a sliding rod of the anti-falling sliding frame;
the floating mechanism comprises a left floating mechanism and a right floating mechanism which are symmetrically arranged at the left side and the right side of the robot respectively, and the structures of the left floating mechanism and the right floating mechanism are identical; the left floating mechanism comprises a swinging frame rotating shaft, a floating frame, a long floating connecting rod and a short floating connecting rod; the through holes at one end of the two short floating connecting rods are respectively connected with the protruding shafts at the front side and the rear side of the lower floating frame for rotation, and the other end of the through holes at one end of the long floating connecting rods are connected with the through holes at one end of the long floating connecting rods for rotation through rotating shafts; the two through holes at the other end of the long floating connecting rod are fixedly connected with the floating frame, and the rotating hole in the middle of the long floating connecting rod is connected with the fixed rotating shaft on the upper fixed frame; the swing frame rotating shaft is arranged at the center of the floating frame;
the swing magnetic adsorption wheel set comprises a left swing magnetic adsorption wheel set and a right swing magnetic adsorption wheel set which are symmetrically arranged at the left side and the right side of the robot respectively, and the structures of the left swing magnetic adsorption wheel set and the right swing magnetic adsorption wheel set are identical; the left swing magnetic adsorption wheel set comprises a driving unit, a magnetic adsorption wheel rotating shaft, a swing frame, a synchronous belt, a magnetic adsorption wheel, a synchronous belt wheel and a swing damping spring; one end of the swing damping spring is connected with the swing frame, and the other end of the swing damping spring is connected with the floating frame; the swing frame is connected with the swing frame rotating shaft and can rotate around the swing frame rotating shaft; two magnetic adsorption wheel rotating shafts are respectively arranged at the front and the rear of the swing frame, a synchronous belt wheel and a magnetic adsorption wheel are respectively and coaxially fixed on the two magnetic adsorption wheel rotating shafts, and one magnetic adsorption wheel rotating shaft is coaxially connected with the driving unit; the two synchronous pulleys are connected through a synchronous belt;
the encoder wheel floating mechanism comprises an encoder wheel, an encoder, a floating spring, an encoder wheel fixing bracket, an encoder spring guide post and an encoder wheel floating bracket; the encoder wheel fixing bracket is fixedly connected with the floating frame; one end of the encoder spring guide post extends into the through hole of the encoder wheel fixing bracket and is fixed, and the other end of the encoder spring guide post is fixedly connected with one end of the encoder wheel floating bracket; a floating spring is sleeved on the encoder spring guide post; one end of the floating spring is contacted with the encoder wheel fixing bracket, and the other end of the floating spring is contacted with the encoder wheel floating bracket; the rotary shaft at the other end of the encoder wheel floating bracket is provided with an encoder wheel and an encoder, and a wheel hole of the encoder wheel and a shaft of the encoder are coaxially fixed; the shell of the encoder is fixedly connected with the encoder wheel floating bracket;
the nondestructive testing reciprocating mechanism comprises a reciprocating driving unit, a probe fixing piece, a nondestructive testing probe, a wall surface compression spring, a probe bracket, a sliding rail, a reciprocating synchronous pulley, a reciprocating synchronous belt, a synchronous belt clamping mechanism and a nondestructive testing reciprocating mechanism bracket; the nondestructive testing reciprocating mechanism support is fixedly connected with the swinging frame; the two reciprocating synchronous pulleys are respectively arranged at the left end and the right end of the nondestructive testing reciprocating mechanism bracket and are connected through a reciprocating synchronous belt; the reciprocating motion driving unit is coaxially fixed with one of the reciprocating motion synchronous pulleys; the sliding rail is fixed on the nondestructive testing reciprocating mechanism bracket; the synchronous belt clamping mechanism is arranged on a sliding block of the sliding rail; the probe support is fixedly connected with the synchronous belt clamping mechanism; the probe fixing piece is connected with the probe bracket through a rotating shaft and rotates around the shaft, and a wall surface compression spring is nested on the rotating shaft; the nondestructive testing probe is connected with the probe fixing piece through a shaft.
2. The cambered surface self-attaching magnetic adsorption wall climbing detection robot of claim 1, wherein the swing damping spring is an extension spring.
3. The robot for detecting the wall climbing by self-attaching magnetic attraction to the cambered surface according to claim 1, wherein the encoder wheel is an outer surface glue wheel, and the encoder wheel and the wall surface do not slide relatively in rotation.
4. The cambered surface self-attaching magnetic adsorption wall climbing detection robot is characterized in that the magnetic adsorption wheel comprises an outer layer encapsulation, a wheel shell cover, an adsorption unit, a bearing and a magnetizer; the convex structure of the wheel shell is a bearing shaft, the center of the bearing shaft is a key slot, and the bearing shaft is connected with the magnetic adsorption wheel through a key in a rotating way; the outer layer is encapsulated and wrapped on the outer layer of the wheel shell; the wheel casing cover is fixed on the wheel casing; the two bearing inner rings are arranged on the outer circle of the bearing shaft of the wheel shell; the magnetizer is arranged on the outer ring of the bearing, and the fan-shaped adsorption unit is connected with the magnetizer through magnetic force.
5. The robot for detecting the wall climbing by the cambered surface self-attaching magnetic adsorption of claim 4, wherein the adsorption unit is made of high-remanence material neodymium iron boron.
6. The robot for detecting the wall climbing by self-attaching magnetic attraction to a cambered surface according to claim 4, wherein the magnetizer is made of high-permeability metal.
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