CN108995730B - Magnetic adsorption type transverse obstacle-surmounting wall-climbing robot - Google Patents
Magnetic adsorption type transverse obstacle-surmounting wall-climbing robot Download PDFInfo
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- CN108995730B CN108995730B CN201810826702.3A CN201810826702A CN108995730B CN 108995730 B CN108995730 B CN 108995730B CN 201810826702 A CN201810826702 A CN 201810826702A CN 108995730 B CN108995730 B CN 108995730B
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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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Abstract
Magnetic adsorption type transverse obstacle-surmounting wall-climbing robot comprises: the frame is used for installing the obstacle crossing mechanism; the transverse obstacle crossing device comprises an obstacle crossing driving mechanism and a swinging mechanism, wherein the obstacle crossing driving mechanism is arranged on the frame, the upper part of the swinging mechanism is connected with the output end of the obstacle crossing driving mechanism, and the swinging end of the lower part of the swinging mechanism is provided with a driving adsorption device; the driving adsorption device comprises a walking driving mechanism and an adsorption mechanism, wherein the walking driving mechanism is arranged at the swinging end of the obstacle crossing mechanism, and the adsorption mechanism is arranged at the walking position of the walking driving mechanism; and the control device comprises a controller and a pressure sensor, wherein the pressure sensor is arranged on the driving adsorption device, the output end of the pressure sensor is electrically connected with the input end of the controller, and the output end of the controller is in signal connection with the transverse obstacle surmounting device and the signal input end of the driving adsorption device. The invention has the beneficial effects that: the wall climbing mechanism can span across the transverse edge barrier on the inner wall of the converter valve, and can be provided with a mechanical arm to complete various detection tasks.
Description
Technical Field
The invention relates to a magnetic adsorption type transverse obstacle-surmounting wall-climbing robot.
Background
The converter valve is core equipment of direct current transmission engineering, and obtains expected direct current voltage and realizes control of power by connecting three-phase alternating current voltage to a direct current end. The converter valve hall is a closed building for placing the converter valve, and the height of the converter valve hall is 30 meters, namely, a robot is required to climb on a vertical wall surface with the height of about 30 meters and perform cleaning work, dust accumulated on the inner wall of the robot can be diffused into the air if the dust is not cleaned in time, and therefore the normal operation and the service life of the converter valve are greatly influenced. At present, the cleaning work of the wall surface is finished by manpower, a professional lifting machine is required to be purchased, the efficiency is low, the danger is high, a large amount of manpower and material resources are wasted, and the development of an automatic cleaning robot is imperative. At present, the robot which can climb the wall on the inner wall of the converter valve and can cross the transverse edge obstacle on the color steel plate of the inner wall cannot be found in the market.
Disclosure of Invention
In order to solve the problems, the invention provides a magnetic adsorption type transverse obstacle-crossing wall-climbing robot which can be used for moving in a vertical wall and crossing the transverse obstacle of a color steel plate on the inner wall of a converter valve.
The invention relates to a magnetic adsorption type transverse obstacle-surmounting wall-climbing robot, which is characterized in that: comprising the following steps:
the frame is used for installing the obstacle crossing mechanism;
the transverse obstacle crossing device comprises an obstacle crossing driving mechanism and a swinging mechanism, wherein the obstacle crossing driving mechanism is arranged on the frame, the upper part of the swinging mechanism is connected with the output end of the obstacle crossing driving mechanism, and the swinging end of the lower part of the swinging mechanism is provided with a driving adsorption device for driving the driving adsorption device to cross a walking surface obstacle;
the driving adsorption device comprises a walking driving mechanism and an adsorption mechanism, wherein the walking driving mechanism is arranged at the swinging end of the obstacle crossing mechanism, and the adsorption mechanism is arranged at the walking position of the walking driving mechanism and is used for being adsorbed on the steel plate and driven by the walking driving mechanism to walk along the steel plate;
and the control device comprises a controller and a pressure sensor, wherein the pressure sensor is arranged on the driving adsorption device, the output end of the pressure sensor is electrically connected with the input end of the controller, and the output end of the controller is in signal connection with the transverse obstacle surmounting device and the signal input end of the driving adsorption device and is used for controlling the transverse obstacle surmounting device and controlling the driving adsorption device to work.
The obstacle crossing driving mechanism comprises an obstacle crossing stepping motor, a first planetary reducer and a transmission gear set, wherein the obstacle crossing stepping motor and the first planetary reducer are arranged on the frame, the output end of the obstacle crossing stepping motor is connected with the input end of the first planetary reducer, the output end of the first planetary reducer is connected with the upper end of the swinging mechanism through the transmission gear set and used for driving the whole swinging mechanism to swing inside and outside so as to transversely cross the walking surface obstacle, and the inside and outside swing is defined as the rotation direction of a gear center shaft of the transmission gear set.
The transmission gear set comprises a cylindrical gear and a cylindrical half gear, wherein the cylindrical gear is coaxially fixedly connected with the output end of the first planetary reducer, a connecting rod fixedly connected with the swinging mechanism is arranged at the lower part of the cylindrical half gear, and an external gear at the upper part of the connecting rod is meshed with the cylindrical gear which is coaxially arranged, so that the connecting rod can swing inside and outside the central shaft of the cylindrical half gear as a rotating shaft under the driving of the obstacle-surmounting stepping motor.
The swing mechanism comprises a swing motor and a lower connecting rod, the swing motor is arranged on the upper portion of the lower connecting rod, an output shaft of the swing motor is connected with the lower portion of the connecting rod, a set of driving adsorption device capable of swinging around the upper end of the lower connecting rod back and forth is assembled on the lower portion of the lower connecting rod, and the advancing direction of the driving adsorption device is defined to be the front.
The walking driving mechanism comprises a plurality of chain wheels, a chain, a driving stepping motor, a second planetary reducer, a transmission fixed shaft and a chain tensioner, wherein the chain wheels are arranged at the lower end of the swing rod through a rotating shaft, so that the chain wheels and the chain tensioner are in rotating connection; the outside of the chain wheel is sleeved with an annular chain together, and a chain tensioner for adjusting the tension of the chain is arranged between the chains; the driving stepping motor is arranged at the lower part of the swinging mechanism through one end of the transmission fixed shaft, an output shaft of the driving stepping motor is connected with the input end of the second planetary reducer, and the output end of the second planetary reducer is fixedly connected with one of the chain wheels; the chain tensioner is provided with a pressure sensor for detecting the obstacle of the walking surface.
The adsorption mechanism is provided with a plurality of electromagnets at a plurality of intervals, wherein the energizing ends of the electromagnets are electrically connected with the signal output end of the controller.
The ball pair is additionally arranged between the frame and the driving adsorption device and comprises a connecting piece and a reinforcing rib, wherein the connecting piece is fixedly arranged at the bottom of the frame, the upper end of the reinforcing rib is hinged with the connecting piece, and the lower end of the reinforcing rib is connected with a transmission fixed shaft and is used for preventing the frame from shaking in the moving process.
The vehicle frame is provided with 4 sets of transverse obstacle crossing devices and 4 sets of driving adsorption devices, wherein the 4 sets of transverse obstacle crossing devices are symmetrically arranged on two opposite sides of the vehicle frame respectively, the bottom of each set of transverse obstacle crossing device is correspondingly provided with one driving adsorption device, and the travelling directions of travelling driving mechanisms of the driving adsorption devices are consistent.
The frame is a rectangular plate.
The frame can be provided with various mechanical arms to finish various detection tasks such as cleaning, rust removal, paint spraying and the like.
The working process of the invention comprises the following steps: firstly, a stepping motor and a second planetary reducer are driven to provide walking power for the whole robot; when the robot needs to move transversely, the pressure sensor detects the transverse edge obstacle of the color steel plate, a detection signal is transmitted to the control device, then the controller of the control device sends an instruction to 4 driving stepping motors, the 4 driving stepping motors stop advancing at the moment, an electromagnet on a chain of one traveling driving mechanism is powered off, the electromagnet cancels the adsorption force at the moment, the chain is in an unadsorbed state, and then the swing motor drives the driving adsorption device to swing, and the chain leaves the color steel plate at the moment; the obstacle crossing stepping motor drives the transmission gear set to rotate, the integral swing mechanism swings outwards, and meanwhile the pressure sensor always keeps detecting the position of the transverse edge of the color steel plate until the detected position signal is zero, so that the situation that the chain leaves an obstacle and reaches the other side of the transverse edge is indicated; zero signal transmission is to controlling means, and controlling means controls swing motor, and then drives the drive adsorption equipment, resumes the contact of this chain and various steel sheet, and the electro-magnet circular telegram simultaneously, this chain pass through the obstacle and resume with the adsorption state of various steel sheet, and the other three chain same modes pass through the obstacle afterwards, until whole machine passes through the obstacle, begins work.
The invention has the beneficial effects that: the wall climbing mechanism can span across the transverse edge barrier on the inner wall of the converter valve, and can be provided with a mechanical arm to finish various detection tasks, such as cleaning, rust removal, paint spraying and the like. The working efficiency is high, a large amount of cost is saved, the inner wall of the converter valve hall is up to 30 meters, and the danger can be reduced by using the mechanism for working. The invention can provide basis for design and research of the wall climbing robot used in various working environments.
Drawings
Fig. 1 is a front view of the overall structure of the present invention.
Fig. 2 is a top view of the overall structure of the invention.
Fig. 3 is an inventive work environment color plate.
Description of the embodiments
The invention will be further described with reference to the accompanying drawings
Referring to the drawings:
embodiment 1 the magnetic adsorption type transverse obstacle-surmounting wall-climbing robot of the invention comprises:
a frame 6 for mounting an obstacle surmounting mechanism;
the transverse obstacle crossing device comprises an obstacle crossing driving mechanism and a swinging mechanism, wherein the obstacle crossing driving mechanism is arranged on the frame, the upper part of the swinging mechanism is connected with the output end of the obstacle crossing driving mechanism, and the swinging end of the lower part of the swinging mechanism is provided with a driving adsorption device for driving the driving adsorption device to cross a walking surface obstacle;
the driving adsorption device comprises a walking driving mechanism and an adsorption mechanism, wherein the walking driving mechanism is arranged at the swinging end of the obstacle crossing mechanism, and the adsorption mechanism is arranged at the walking position of the walking driving mechanism and is used for being adsorbed on the steel plate and driven by the walking driving mechanism to walk along the steel plate;
and the control device comprises a controller and a pressure sensor, wherein the pressure sensor is arranged on the driving adsorption device, the output end of the pressure sensor is electrically connected with the input end of the controller, and the output end of the controller is in signal connection with the transverse obstacle surmounting device and the signal input end of the driving adsorption device and is used for controlling the transverse obstacle surmounting device and controlling the driving adsorption device to work.
The obstacle crossing driving mechanism comprises an obstacle crossing stepping motor 8, a first planetary reducer 7 and a transmission gear set, wherein the obstacle crossing stepping motor 8 and the first planetary reducer 7 are arranged on the frame 6, the output end of the obstacle crossing stepping motor 8 is connected with the input end of the first planetary reducer 7, the output end of the first planetary reducer 7 is connected with the upper end of the swinging mechanism through the transmission gear set and is used for driving the whole swinging mechanism to swing inside and outside to transversely cross a walking surface obstacle, and the swing inside and outside is defined as the rotation direction of one gear central shaft of the transmission gear set, namely the transverse direction refers to the width direction of the frame.
The transmission gear set comprises a cylindrical gear 9 and a cylindrical half gear 10, wherein the cylindrical gear 9 is coaxially and fixedly connected with the output end of the first planetary reducer 7, an upper connecting rod fixedly connected with the swinging mechanism is arranged at the lower part of the cylindrical half gear 10, and an outer gear at the upper part of the upper connecting rod is meshed with the coaxially arranged cylindrical gear, so that the upper connecting rod can swing inside and outside the central shaft of the cylindrical half gear as a rotating shaft under the driving of the obstacle crossing stepping motor.
The swing mechanism 12 comprises a swing motor 11 and a lower connecting rod 19, the swing motor is arranged on the upper portion of the lower connecting rod, an output shaft of the swing motor is connected with the lower portion of the upper connecting rod, a set of driving adsorption device capable of swinging around the upper end of the lower connecting rod back and forth is assembled on the lower portion of the lower connecting rod, and the advancing direction of the driving adsorption device is defined to be the front.
The walking driving mechanism comprises a plurality of chain wheels 2, chains 1, a driving stepping motor 16, a second planetary reducer 15, a transmission fixed shaft 17 and a chain tensioner 13, wherein the chain wheels 2 are in one-to-one correspondence with the swing rods, and the chain wheels 2 are arranged at the lower end of the swing mechanism 12 through the transmission fixed shaft 17 so as to realize the rotary connection of the chain wheels 2 and the swing mechanism; the outside of the chain wheel is sleeved with an annular chain 1, and a chain tensioner for adjusting the tension of the chain is arranged between the chains 1; the driving stepping motor is arranged at the lower part of the swinging mechanism 12 through one end of a transmission fixed shaft, an output shaft of the driving stepping motor is connected with the input end of a second planetary reducer, and the output end of the second planetary reducer is fixedly connected with one of the chain wheels; the chain tensioner is provided with a pressure sensor for detecting the obstacle of the walking surface.
The adsorption mechanism is a plurality of electromagnets 3 which are arranged on the bending of the chain at intervals, wherein the energizing ends of the electromagnets 3 are electrically connected with the signal output end of the controller.
The ball pair 5 is additionally arranged between the frame and the driving adsorption device and comprises a connecting piece and a reinforcing rib 4, wherein the connecting piece is fixedly arranged at the bottom of the frame, the upper end of the reinforcing rib is hinged with the connecting piece, and the lower end of the reinforcing rib is connected with one end of the driving fixing shaft 17 and is used for preventing the frame from shaking in the moving process.
The vehicle frame is provided with 4 sets of transverse obstacle crossing devices and 4 sets of driving adsorption devices, wherein the 4 sets of transverse obstacle crossing devices are symmetrically arranged on two opposite sides of the vehicle frame respectively, the bottom of each set of transverse obstacle crossing device is correspondingly provided with one driving adsorption device, and the travelling directions of travelling driving mechanisms of the driving adsorption devices are consistent.
The frame 6 is a rectangular plate.
The frame 6 can be provided with various mechanical arms to complete various detection tasks, such as cleaning, rust removal, paint spraying and the like.
The working process of the invention comprises the following steps: firstly, a stepping motor and a second planetary reducer are driven to provide walking power for the whole robot; when the robot needs to move transversely, the pressure sensor detects the transverse edge obstacle of the color steel plate, a detection signal is transmitted to the control device, then the controller of the control device sends an instruction to 4 driving stepping motors, the 4 driving stepping motors stop advancing at the moment, an electromagnet on a chain of one traveling driving mechanism is powered off, the electromagnet cancels the adsorption force at the moment, the chain is in an unadsorbed state, and then the swing motor drives the driving adsorption device to swing, and the chain leaves the color steel plate 21 at the moment; the obstacle crossing stepping motor drives the transmission gear set to rotate, the integral swing mechanism swings outwards, and meanwhile the pressure sensor always keeps detecting the position of the transverse edge 20 of the color steel plate 21 until the detected position signal is zero, which indicates that the chain leaves an obstacle and reaches the other side of the transverse edge; zero signal transmission is to controlling means, and controlling means controls swing motor, and then drives the drive adsorption equipment, resumes the contact of this chain and various steel sheet, and the electro-magnet circular telegram simultaneously, this chain pass through the obstacle and resume with the adsorption state of various steel sheet, and the other three chain same modes pass through the obstacle afterwards, until whole machine passes through the obstacle, begins work.
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, but also equivalent technical means that can be conceived by those skilled in the art according to the inventive concept.
Claims (4)
1. Magnetic adsorption type transverse obstacle-surmounting wall-climbing robot is characterized in that: comprising the following steps:
the frame is used for installing the obstacle crossing mechanism;
the transverse obstacle crossing device comprises an obstacle crossing driving mechanism and a swinging mechanism, wherein the obstacle crossing driving mechanism is arranged on the frame, the upper part of the swinging mechanism is connected with the output end of the obstacle crossing driving mechanism, and the swinging end of the lower part of the swinging mechanism is provided with a driving adsorption device for driving the driving adsorption device to cross a walking surface obstacle; the obstacle crossing driving mechanism comprises an obstacle crossing stepping motor, a first planetary reducer and a transmission gear set, wherein the obstacle crossing stepping motor and the first planetary reducer are arranged on the frame, the output end of the obstacle crossing stepping motor is connected with the input end of the first planetary reducer, the output end of the first planetary reducer is connected with the upper end of the swinging mechanism through the transmission gear set and is used for driving the whole swinging mechanism to swing inside and outside so as to transversely cross a walking surface obstacle, and the inside and outside swing is defined as the rotation direction of a gear center shaft of the transmission gear set; the transmission gear set comprises a cylindrical gear and a cylindrical half gear, wherein the cylindrical gear is coaxially fixedly connected with the output end of the first planetary reducer, a connecting rod which can be fixedly connected with the swinging mechanism is arranged at the lower part of the cylindrical half gear, and an external gear at the upper part of the cylindrical half gear is meshed with the coaxially arranged cylindrical gear, so that the connecting rod can swing inside and outside a rotating shaft by taking the central shaft of the cylindrical half gear as the central shaft under the driving of the obstacle-crossing stepping motor; the swing mechanism comprises a swing motor and a lower connecting rod, the swing motor is arranged at the upper part of the lower connecting rod, an output shaft of the swing motor is connected with the lower part of the connecting rod, a set of driving adsorption device capable of swinging around the upper end of the lower connecting rod back and forth is assembled at the lower part of the lower connecting rod, and the advancing direction of the driving adsorption device is defined as the front;
the driving adsorption device comprises a walking driving mechanism and an adsorption mechanism, wherein the walking driving mechanism is arranged at the swinging end of the obstacle crossing mechanism, and the adsorption mechanism is arranged at the walking position of the walking driving mechanism and is used for being adsorbed on the steel plate and driven by the walking driving mechanism to walk along the steel plate; the walking driving mechanism comprises a plurality of chain wheels, a chain, a driving stepping motor, a second planetary reducer, a transmission fixed shaft and a chain tensioner, wherein the chain wheels are arranged at the lower end of the swing rod through a rotating shaft, so that the chain wheels and the chain tensioner are in rotating connection; the outside of the chain wheel is sleeved with an annular chain together, and a chain tensioner for adjusting the tension of the chain is arranged between the chains; the driving stepping motor is arranged at the lower part of the swinging mechanism through one end of the transmission fixed shaft, an output shaft of the driving stepping motor is connected with the input end of the second planetary reducer, and the output end of the second planetary reducer is fixedly connected with one of the chain wheels; the chain tensioner is provided with a pressure sensor for detecting the obstacle of the walking surface; the adsorption mechanism is provided with a plurality of electromagnets at intervals, wherein the energizing ends of the electromagnets are electrically connected with the signal output end of the controller;
and the control device comprises a controller and a pressure sensor, wherein the pressure sensor is arranged on the driving adsorption device, the output end of the pressure sensor is electrically connected with the input end of the controller, and the output end of the controller is in signal connection with the transverse obstacle surmounting device and the signal input end of the driving adsorption device and is used for controlling the transverse obstacle surmounting device and controlling the driving adsorption device to work.
2. The magnetically attractable, lateral barrier-surmounting wall climbing robot of claim 1, wherein: the ball pair is additionally arranged between the frame and the driving adsorption device and comprises a connecting piece and a reinforcing rib, wherein the connecting piece is fixedly arranged at the bottom of the frame, the upper end of the reinforcing rib is hinged with the connecting piece, and the lower end of the reinforcing rib is connected with a transmission fixed shaft and is used for preventing the frame from shaking in the moving process.
3. The magnetically attractable, lateral barrier-surmounting wall climbing robot of claim 2, wherein: the vehicle frame is provided with 4 sets of transverse obstacle crossing devices and 4 sets of driving adsorption devices, wherein the 4 sets of transverse obstacle crossing devices are symmetrically arranged on two opposite sides of the vehicle frame respectively, the bottom of each set of transverse obstacle crossing device is correspondingly provided with one driving adsorption device, and the travelling directions of travelling driving mechanisms of the driving adsorption devices are consistent.
4. The magnetically attractable, lateral barrier-surmounting wall climbing robot of claim 3, wherein: the frame is a rectangular plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810826702.3A CN108995730B (en) | 2018-07-25 | 2018-07-25 | Magnetic adsorption type transverse obstacle-surmounting wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810826702.3A CN108995730B (en) | 2018-07-25 | 2018-07-25 | Magnetic adsorption type transverse obstacle-surmounting wall-climbing robot |
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| CN108995730A CN108995730A (en) | 2018-12-14 |
| CN108995730B true CN108995730B (en) | 2023-10-20 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110946495A (en) * | 2019-11-25 | 2020-04-03 | 美好(广东)人工智能科技有限公司 | Dual-drive mechanism, traveling device and working method |
| CN112716399B (en) * | 2021-01-15 | 2024-07-02 | 北京工业大学 | Cleaning adsorption device of photovoltaic curtain wall cavity cleaning robot |
| CN115092277B (en) * | 2022-05-27 | 2023-10-27 | 吉林宏日新能源股份有限公司 | Robot for maintaining and overhauling water cooling wall of large boiler |
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