CN108500997B - Curved surface wall climbing robot for surface cleaning - Google Patents
Curved surface wall climbing robot for surface cleaning Download PDFInfo
- Publication number
- CN108500997B CN108500997B CN201810546050.8A CN201810546050A CN108500997B CN 108500997 B CN108500997 B CN 108500997B CN 201810546050 A CN201810546050 A CN 201810546050A CN 108500997 B CN108500997 B CN 108500997B
- Authority
- CN
- China
- Prior art keywords
- driving mechanism
- front wheel
- wheel driving
- cleaning
- rear wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a curved surface wall climbing robot for surface cleaning. The invention comprises a front wheel driving mechanism, a rear wheel driving mechanism, an attitude adjusting mechanism and a cleaning derusting machine. The front wheel driving mechanism and the rear wheel driving mechanism have the same structure. The steering motor in the gesture adjusting mechanism drives the front wheel rotating claw and the rear wheel connecting claw to rotate, and then drives the connecting rod to move, so that the front wheel driving mechanism and the rear wheel driving mechanism steer in opposite directions. The guide air driver and the air cylinder in the cleaning and derusting mechanism are fixed on the side surface of the cross beam through the mounting frame, and the cleaning disc can swing by controlling the posture of the guide air driver and the air cylinder; the soft rubber pad is fixed on the lower side of the cleaning disc and can press the working wall surface; the rotator spray head is fixed in the center of the upper surface of the cleaning disc, is connected with a high-pressure water pipe and sprays high-pressure water outwards through the spray rod. The invention can creep on a curved surface with large curvature, expands the working environment and the working capacity of the robot, and can meet the cleaning requirements under different postures.
Description
Technical Field
The invention belongs to the field of wall climbing robots, and particularly relates to a permanent magnet adsorption type wall climbing cleaning robot.
Background
Ships, fans, large steel containers, pipes, etc., require periodic surface cleaning during use. The manual operation has the advantages of severe and dangerous environment, low working efficiency and high cost. The curved surface wall climbing robot for surface cleaning can effectively replace manual work to finish cleaning operations of various surfaces, improves operation safety and efficiency, and reduces operation cost. Therefore, the curved surface wall climbing robot has quite wide application fields.
Disclosure of Invention
The invention mainly provides a curved surface wall climbing robot for surface cleaning, which is used for cleaning complex curved surfaces of ships, fans, large steel containers, pipelines and the like.
The technical scheme of the invention comprises the following specific contents:
the invention comprises a front wheel driving mechanism, a rear wheel driving mechanism, an attitude adjusting mechanism and a cleaning derusting machine.
The front wheel driving mechanism and the rear wheel driving mechanism have the same structure, a driving motor and a motor mounting plate thereof in the driving mechanism are mounted on the driving chassis through a side supporting plate, and the driving motor drives the differential mechanism, the chain wheel, the gear train and the universal wheel to rotate through a chain; the permanent magnet is hung below the driving chassis, and the driving chassis is fixed with the chassis axle, so that the robot is adsorbed on the working wall surface; the differential can adjust the speed of the left and right wheels in the wheel train during steering.
The steering motor in the gesture adjusting mechanism drives the front wheel rotating claw and the rear wheel connecting claw to rotate through the hinged connecting piece, and then drives the connecting rod to move, so that the front wheel driving mechanism and the rear wheel driving mechanism steer in opposite directions.
The guide air driver and the air cylinder in the cleaning and rust removing mechanism are fixed on the side surface of the cross beam through the mounting frame, the cleaning disc can swing through controlling the posture of the guide air driver and the air cylinder, and the cross beam is bridged between the front wheel driving mechanism and the rear wheel driving mechanism; the soft rubber pad is fixed on the lower side of the cleaning disc and can press the working wall surface; the rotator spray head is fixed in the center of the upper surface of the cleaning disc, is connected with a high-pressure water pipe and sprays high-pressure water outwards through the spray rod;
the front wheel driving chassis is connected with the cross beam through the damper, and the front wheel driving chassis can be compressed or elongated; the front wheel chassis is hinged with the damper, so that the permanent magnet maintains a tangential posture with the curved surface; the damping sleeve is sleeved outside the damper and connected with the front wheel rotating claw and the driving chassis, and can transmit steering torque.
The curved surface wall climbing robot is provided with an independent front-back driving mechanism and a cleaning mechanism, the front-back driving mechanism can meet the requirement of crawling on a curved surface with large curvature, and the damper can stretch out and draw back. The cleaning disc can adjust the posture of the cleaning disc by guiding the air driver and the air cylinder to move. The soft rubber pad is deformable, compresses tightly the working wall, and high-pressure waste water is retrieved through the vacuum outlet pipe.
The invention has the beneficial effects that:
1. the front wheel chassis of the curved surface wall climbing robot is hinged with the damper, so that the robot can climb on a curved surface with large curvature, and the working environment and the working capacity of the robot are enlarged.
2. The curved surface wall climbing robot provided by the invention is provided with the cleaning disc with the adjustable gesture, can meet the cleaning requirements under different gestures, and can obtain a safe and high-quality cleaning effect.
3. The curved surface wall climbing robot provided by the invention is provided with the steering motor and the connecting rod, so that the same steering angle of the front and rear driving mechanisms is ensured, and the steering speed and the stability are improved.
4. The curved surface wall climbing robot drives the wheel train through the motor, the differential mechanism and the chain wheel and chain, and the differential mechanism ensures different speeds of left and right wheels in the steering process and can normally steer.
5. The permanent magnet provided by the invention can provide a stronger magnetic field and a larger suction force due to magnetization by using the Halbach array, is relatively small in mass of the wheel, is lighter and is convenient to replace. The magnetic field generated by the magnetizing mode is almost a single-sided magnetic field, namely, one side of the magnet is strong in magnetic field, attractive force is generated, the other side of the magnet is almost free of magnetic field, electromagnetic influence generated by other electric elements and motors in the whole robot is more similar, and the system is safer to work. The method can use finite element analysis tools to optimally design key parameters of the magnet units in the adsorption wheel, fully exert the performance of the permanent magnet, maximize the ratio of the adsorption force and the dead weight provided by the adsorption device, and improve the magnetic energy utilization rate.
Drawings
FIG. 1 is a three-dimensional isometric view of a curved surface wall climbing robot;
FIG. 2 is a rear view of a curved wall climbing robot;
FIG. 3 is a bottom view of a curved wall climbing robot;
FIG. 4 is a front view of a damper of the curved wall climbing robot;
in the figure: the device comprises a 1-driving motor, a 2-motor mounting plate, a 3-motor-differential mechanism chain group, a 4-side supporting plate, a 5-differential mechanism, a 6-universal wheel, a 7-differential mechanism-main wheel tether group, an 8-driving wheel, a 9-safety lifting ring, a 10-vertical beam, a 11-soft rubber pad, a 12-clamp, a 13-cleaning disc, a 14-vacuum outlet pipe, a 15-rotator nozzle, a 16-guiding air driver, a 17-connecting rod, a 18-driving chassis, a 19-lower side damping sleeve, a 20-upper side damping sleeve, a 21-front wheel rotating claw, a 22-rotating hinge piece, a 23-motor push rod, a 24-steering motor, a 25-rear wheel rotating claw, a 26-beam, a 27-mounting bracket, a 28-cylinder, a 29-cylinder hinge piece, a 30-damper, a 31-nylon pad, a 32-spraying rod, a 33-chassis wheel axle and a 34-permanent magnet.
Detailed Description
As shown in fig. 1 to 3, the curved wall climbing robot for surface cleaning mainly comprises a driving motor 1, a motor mounting plate 2, a motor-differential chain group 3, a side support plate 4, a differential 5, a universal wheel 6, a differential-main wheel tether group 7, a driving wheel 8, a safety lifting ring 9, a vertical beam 10, a soft rubber pad 11, a clamp 12, a cleaning disc 13, a vacuum outlet pipe 14, a rotator spray head 15, a guiding air driver 16, a connecting rod 17, a driving chassis 18, a lower damping sleeve 19, an upper damping sleeve 20, a front wheel rotating claw 21, a rotating hinge 22, a motor push rod 23, a steering motor 24, a rear wheel rotating claw 25, a cross beam 26, a mounting frame 27, a cylinder 28, a cylinder hinge 29, a damper 30, a nylon pad 31, a spray rod 32, a chassis wheel axle 33 and a permanent magnet 34; the damper 30 is structured as shown in fig. 4.
The driving motor 1 is arranged on the motor mounting plate 2 by using screws, the motor mounting plate 2 is connected with the side support plates 4 by using screws, the differential mechanism 5 is arranged between the two side support plates 4, the driving motor 1 drives the differential mechanism 5 through the motor-differential mechanism chain group 3, the differential mechanism 5 drives the driving wheel 8 through the differential mechanism-main wheel chain group 7, and the universal wheels 6 move along with the driving wheel 8; the chassis wheel shaft 33 passes through the driving wheel 8 through a bearing, the driving chassis 18 is fixed on the upper side of the chassis wheel shaft 33 through a screw, and the permanent magnet 34 is fixed on the lower side of the driving chassis 18 through a screw; the damper 30 is hinged with the driving chassis 18, the lower damping sleeve 19 is sleeved outside the damper 30, the upper damping sleeve 20 is sleeved outside the lower damping sleeve 19, and the cross beam 26 is sleeved with the upper damping sleeve 20 through a bearing; the front wheel rotating claw 21 is connected with the upper side damping sleeve through a pin, and the motor push rod 23 is connected with the front wheel rotating claw through a rotating hinge piece 22; the steering motor 24 is connected with the motor push rod 23 through internal threads, the steering motor 24 is connected with the rear wheel rotating claw 25 through the rotating hinge piece 22, and the connecting rod 17 is connected with the rotating hinge piece 22 through internal threads; the vertical beam 10 is connected with the driving chassis 18 through external threads and sleeved with the cross beam 26 through a bearing; the mounting bracket 27 is fixed with the cross beam 26 by screws, the guide air driver 16 is connected with the mounting bracket 27 by pins, and the air cylinder 28 is connected with the cleaning disk 13 by an air cylinder hinge 29; the rotary sprayer 15 is arranged at the center of the cleaning disc 13 through a screw, the spray rod 32 is connected with the rotary sprayer 15 through threads, the cleaning disc 13 is fixed at the lower side of the guide air driver 16 through a screw, the vacuum outlet pipe 14 is welded with the side face of the cleaning disc 13, the soft rubber pad 11 is fastened at the side face of the cleaning disc 13 through the clamp 12, and the nylon pad 33 is fixed at the lower part of the soft rubber pad 11 through a screw.
The damper in the embodiment can stretch out and draw back, so that the front wheel driving mechanism moves up and down integrally, and the requirement of crawling on a large-curvature curved surface is met.
The cleaning disc in the embodiment can adjust the posture of the cleaning disc through the guide air driver and the air cylinder to realize close fit with the working wall surface.
The front wheel rotating claw, the rear wheel rotating claw and the connecting rod in the embodiment are driven by the steering motor, so that the cooperative rotation of the front wheel driving mechanism and the rear wheel driving mechanism is realized.
The soft rubber pad in the embodiment compresses the working wall surface by deformation. The high pressure wastewater can be recovered through a vacuum outlet pipe.
The differential in this example is capable of ensuring coordination of the speeds of the left and right wheels during steering.
The working process of the embodiment comprises the following steps:
A. motion process of robot: the robot is attached to the working wall surface through a permanent magnet, and the driving motor drives the driving wheel to move forwards and backwards through the chain wheel group; the steering motor drives the front and rear driving mechanisms to perform steering movement through the connecting rod; in the steering process, the differential mechanism ensures the coordination of the speeds of the left wheel and the right wheel.
B: the surface cleaning operation process comprises the following steps: and sending an instruction through the wireless transmitter, controlling the guide air driver and the air cylinder to move, and attaching the cleaning disc to the working wall surface. High-pressure water is sprayed out through the rotator spray head and the spray boom, the working wall surface inside the cleaning disc is cleaned, and the waste water is discharged through the vacuum outlet pipe.
Claims (4)
1. Curved surface wall climbing robot for surface cleaning, including front wheel actuating mechanism, rear wheel actuating mechanism, adjustment gesture mechanism and wash rust cleaning mechanism, its characterized in that:
the front wheel driving mechanism and the rear wheel driving mechanism have the same structure, a driving motor in the front wheel driving mechanism or the rear wheel driving mechanism and a motor mounting plate thereof are arranged on a driving chassis of the front wheel driving mechanism and the rear wheel driving mechanism through side support plates, and the driving motor drives a differential mechanism, a chain wheel, a gear train and a universal wheel to rotate through a chain; the driving chassis of the front wheel driving mechanism and the rear wheel driving mechanism are fixed with chassis wheel shafts, and the permanent magnets are suspended below the driving chassis of the front wheel driving mechanism and the rear wheel driving mechanism, so that the robot is adsorbed on the working wall surface; the differential mechanism can adjust the speeds of left and right wheels in the gear train in the steering process;
the steering motor in the gesture adjusting mechanism drives the front wheel rotating claw and the rear wheel rotating claw to rotate through the hinged connecting piece, so that the connecting rod is driven to move, and the front wheel driving mechanism and the rear wheel driving mechanism steer in opposite directions;
the guide air driver and the air cylinder in the cleaning and rust removing mechanism are fixed on the side surface of the cross beam through the mounting frame, the cleaning disc can swing through controlling the posture of the guide air driver and the air cylinder, and the cross beam is bridged between the front wheel driving mechanism and the rear wheel driving mechanism; the soft rubber pad is fixed on the lower side of the cleaning disc and can press the working wall surface; the rotator spray head is fixed in the center of the upper surface of the cleaning disc, is connected with a high-pressure water pipe and sprays high-pressure water outwards through the spray rod;
the front wheel driving mechanism is connected with the front wheel driving mechanism, and the front wheel driving mechanism is connected with the front wheel driving mechanism through the front wheel driving mechanism; the driving chassis of the front wheel driving mechanism is hinged with the damper, so that the permanent magnet maintains a tangential posture with the curved surface; the damping sleeve is sleeved on the outer side of the damper, and is connected with the front wheel rotating claw and the driving chassis of the front wheel driving mechanism, so that steering torque can be transmitted;
the guide air driver is connected with the mounting frame through a pin, and the air cylinder is connected with the cleaning disc through an air cylinder hinge piece;
the section of the permanent magnet is in a partial arc shape, the permanent magnet adopts a magnetic array mode, and the array mode of the permanent magnet is a Halbach array.
2. The curved surface wall climbing robot according to claim 1, wherein: the damping sleeve is divided into a lower damping sleeve and an upper damping sleeve, wherein the lower damping sleeve is sleeved outside the damper, the upper damping sleeve is sleeved outside the lower damping sleeve, and the cross beam is sleeved with the upper damping sleeve through a bearing.
3. The curved surface wall climbing robot according to claim 2, wherein: the front wheel rotating claw is connected with the upper damping sleeve through a pin, and a push rod of the steering motor is connected with the front wheel rotating claw through a first rotating hinge piece; the steering motor is connected with the push rod through internal threads, the steering motor is connected with the rear wheel rotating claw through a second rotating hinge piece, and the connecting rod is connected with the first rotating hinge piece through internal threads.
4. The curved surface wall climbing robot according to claim 1, wherein: the transverse beam is sleeved with a vertical beam on the rear wheel driving mechanism through a bearing, and the vertical beam is connected with a driving chassis in the rear wheel driving mechanism through external threads; the mounting frame is fixed with the cross beam through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810546050.8A CN108500997B (en) | 2018-05-31 | 2018-05-31 | Curved surface wall climbing robot for surface cleaning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810546050.8A CN108500997B (en) | 2018-05-31 | 2018-05-31 | Curved surface wall climbing robot for surface cleaning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108500997A CN108500997A (en) | 2018-09-07 |
| CN108500997B true CN108500997B (en) | 2023-09-29 |
Family
ID=63402151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810546050.8A Active CN108500997B (en) | 2018-05-31 | 2018-05-31 | Curved surface wall climbing robot for surface cleaning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108500997B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109305237B (en) * | 2018-11-12 | 2021-08-24 | 山东大学 | Wall-climbing robot |
| CN110341909B (en) * | 2019-06-24 | 2020-12-25 | 浙江大学 | Underwater steel structure surface marine organism cleaning robot based on reflective panoramic imaging |
| CN110341908B (en) * | 2019-06-24 | 2022-04-01 | 浙江大学 | Control method of marine organism cleaning robot on surface of underwater steel structure |
| CN110125809B (en) * | 2019-06-27 | 2024-02-06 | 安徽理工大学 | Wall climbing type rust removing device |
| CN110181537A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of cleaning device and cleaning robot |
| 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 |
| CN111483280B (en) * | 2020-06-28 | 2020-10-23 | 之江实验室 | Suspension-steering combined mechanism suitable for wall-climbing robot |
| CN111483278B (en) * | 2020-06-28 | 2020-10-13 | 之江实验室 | Vertical buffer integrated suspension-steering mechanism |
| CN114472409A (en) * | 2020-10-23 | 2022-05-13 | 天津市伟铭精密机械制造有限公司 | Wall-climbing robot |
| CN113021375B (en) * | 2021-03-24 | 2022-08-19 | 浙江海洋大学 | Oil tank rust cleaning wall climbing robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130035453A (en) * | 2011-09-30 | 2013-04-09 | 삼성중공업 주식회사 | Driving apparatus |
| CN105035202A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Derusting wall-climbing robot for ship |
| CN106976002A (en) * | 2017-05-17 | 2017-07-25 | 湖南大学 | A kind of ship naval vessels wall wall-climbing cleaning robot |
| CN107443392A (en) * | 2017-07-11 | 2017-12-08 | 浙江大学 | Climb wall rust removing robot |
| CN107444511A (en) * | 2017-07-18 | 2017-12-08 | 河北科美意环保机械制造有限公司 | A kind of cleaning robot |
| CN208231811U (en) * | 2018-05-31 | 2018-12-14 | 浙江大学 | A kind of curved surface climbing robot for surface clean |
-
2018
- 2018-05-31 CN CN201810546050.8A patent/CN108500997B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130035453A (en) * | 2011-09-30 | 2013-04-09 | 삼성중공업 주식회사 | Driving apparatus |
| CN105035202A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Derusting wall-climbing robot for ship |
| CN106976002A (en) * | 2017-05-17 | 2017-07-25 | 湖南大学 | A kind of ship naval vessels wall wall-climbing cleaning robot |
| CN107443392A (en) * | 2017-07-11 | 2017-12-08 | 浙江大学 | Climb wall rust removing robot |
| CN107444511A (en) * | 2017-07-18 | 2017-12-08 | 河北科美意环保机械制造有限公司 | A kind of cleaning robot |
| CN208231811U (en) * | 2018-05-31 | 2018-12-14 | 浙江大学 | A kind of curved surface climbing robot for surface clean |
Non-Patent Citations (1)
| Title |
|---|
| 姬国钊等.真空吸盘式爬壁清洗机器人的研究与开发.机械研究与应用.2009,第5-8页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108500997A (en) | 2018-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108500997B (en) | Curved surface wall climbing robot for surface cleaning | |
| CN207931951U (en) | A kind of ship rust removing robot of more suction type fusions | |
| CN108297957B (en) | Magnetic gap wheel type wall climbing robot | |
| CN106976002B (en) | Wall-climbing cleaning robot for ship and naval vessel wall surface | |
| CN100455473C (en) | Alcula type wall climbing robot | |
| CN209757468U (en) | Special derusting wall-climbing robot for large ship | |
| CN208231811U (en) | A kind of curved surface climbing robot for surface clean | |
| CN102699893B (en) | Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom | |
| CN202624434U (en) | Full driving magnetic attraction type multifunctional wall climbing robot with small-folding-size mechanical arm | |
| CN107585271B (en) | Big seam rust cleaning of hull wall climbing robot | |
| CN107310645B (en) | Wall climbing robot with adjustable shock absorption | |
| CN110123194B (en) | Wheeled belt cleaning device that can be used to smooth surface | |
| EP4389586A1 (en) | Wall-climbing cleaning robot | |
| CN108482505B (en) | Wall climbing robot motion mechanism suitable for curved surface | |
| CN206366923U (en) | A kind of ball blast cleaner | |
| CN106428281B (en) | Magnetic adsorption wall climbing robot | |
| CN109131619B (en) | Wall climbing robot | |
| CN209351490U (en) | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot | |
| CN207746023U (en) | A kind of hull paint-spray robot of adjustable magnetic force | |
| CN107054491B (en) | Walking chassis device of wall-climbing magnetic adsorption robot | |
| CN206871217U (en) | A kind of robot mobile device | |
| CN206202480U (en) | Magnetic adsorption wall climbing robot | |
| CN205396486U (en) | A hull wiper mechanism for wall climbing robot | |
| CN208429170U (en) | A kind of wall-climbing device robot movement mechanism suitable for curved surface | |
| CN110562344A (en) | Magnetic adsorption type wall-climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |