CN110434828B - Large-scale metal facade obstacle-surmounting wall-climbing robot - Google Patents
Large-scale metal facade obstacle-surmounting wall-climbing robot Download PDFInfo
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- CN110434828B CN110434828B CN201910850150.4A CN201910850150A CN110434828B CN 110434828 B CN110434828 B CN 110434828B CN 201910850150 A CN201910850150 A CN 201910850150A CN 110434828 B CN110434828 B CN 110434828B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- 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
Abstract
The invention relates to a large-scale metal facade obstacle-surmounting wall-climbing robot which comprises a plurality of frame modules, wheel-foot composite driving modules symmetrically arranged on each frame module, frame connecting modules for connecting two adjacent frame modules and composite variable magnetic force adsorption modules arranged on each frame module, wherein the frame connecting modules are arranged on the frame modules; the frame connection module includes: the connecting shell is positioned at the corresponding position of the frame module, a cavity in the connecting shell is provided with a cylindrical part which just accommodates the connecting piece and the half-section type needle bearing after being assembled, the outer side of the cylindrical part is provided with a rectangular cavity part matched with the shape of a connecting piece beam, and a gap is reserved between the connecting piece beam and the upper surface and the lower surface of the rectangular cavity part of the connecting shell; the fixed plugs are fixedly connected with the corresponding frame modules. The robot has excellent obstacle surmounting capability, and can meet the requirements of the robot for movement and operation in a complex environment.
Description
Technical Field
The invention relates to a robot for a metal elevation, in particular to a large-scale metal elevation obstacle-surmounting wall-climbing robot.
Background
At present, the requirements of maintenance and construction operations such as rust removal, paint spraying, detection and the like of large-scale metal facades such as petrochemical storage tanks, ships and the like at home and abroad on environmental protection, personal safety, low cost and high efficiency are becoming stricter, so that the obstacle-surmounting wall-climbing robot is used as an automatic device capable of being adsorbed and moved on the metal facades, and has wide application prospects.
Because permanent magnet adsorption has the advantages of stable adsorption force and large adsorption force, the wall climbing robot applied to the metal vertical face mostly adopts the permanent magnet as a main adsorption mechanism, and the permanent magnet can provide stable and large adsorption force, but is not easy to adjust magnetic force, and is difficult to adapt to the obstacle surmounting process of the robot. Most of permanent magnet type wall climbing robots in the market are wheel type and crawler type, the wheel type has high moving speed and motion stability, the crawler type has the characteristic of high adsorption force, and the permanent magnet type wall climbing robots have certain curved surface self-adaption capability, but do not have excellent obstacle crossing performance. Most permanent magnet type wall climbing robots realize rigid curved surface self-adaption through structural arrangement of the robots, and a part of the robots realize flexible curved surface self-adaption through a hinge and other modes, so that the rigidity is difficult to adapt to complex curved surfaces and barriers, the flexibility is difficult to control the internal bending angle of the robots, and the robot is not suitable for the working environment of large-scale metal vertical surfaces.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides the large-scale metal elevation obstacle-surmounting wall-climbing robot, which solves a series of problems existing in the operation of the large-scale metal elevation of the existing permanent magnet wall-climbing robot, has the advantages of high moving speed, good stability and flexible steering of a wheel type mobile robot, has good terrain trafficability, namely excellent obstacle-surmounting capability, and can meet the requirements of the robot for movement and operation under a complex environment.
The invention is realized by the following technical proposal,
the large metal facade obstacle-surmounting wall-climbing robot is characterized by comprising a plurality of frame modules, wheel-foot composite driving modules symmetrically arranged on each frame module, frame connecting modules for connecting two adjacent frame modules, composite variable magnetic force adsorption modules arranged on each frame module and a high-pressure water gun carrying module;
the bottom ends of the opposite faces of the two adjacent frame modules are respectively provided with frame lower end rubber, two frame connecting modules with the same structure are arranged between the two adjacent frame modules,
the frame connection module includes: a connecting shell, an upper rubber, a lower rubber, a half-section type needle roller bearing, a connecting piece and a fixed plug,
The connecting shell is positioned at the corresponding position of the frame module, a cavity for installing a connecting piece is formed in the connecting shell, two ends of the connecting piece are cylindrical, two cylindrical side faces are connected by a cuboid type cross beam, the cylindrical side faces and the cuboid type cross beam are integrally formed, a half-section type needle bearing is installed at one end, far away from the cross beam, of the cylindrical side face, the connecting piece is matched with the half-section type needle bearing and positioned in the cavity in the connecting shell, the outer ring of the half-section type needle bearing is tightly matched with the connecting shell, and the cylindrical side face of the connecting piece, which is not wrapped by the half-section type needle bearing, is in contact with the wall of the cavity of the connecting shell; the cavity in the connecting shell is provided with a cylindrical part which just accommodates the assembly of the connecting piece and the half-section type needle roller bearing, the outer side of the cylindrical part is provided with a rectangular cavity part matched with the shape of the cross beam of the connecting piece, the upper rubber and the lower rubber are respectively laid on the upper inner surface and the lower inner surface of the rectangular cavity part which are contacted with the connecting piece, a gap is formed between the cross beam of the connecting piece and the upper surface and the lower surface of the rectangular cavity part of the connecting shell, the gap is marked as H, and the depth of the cross beam extending into the rectangular cavity part is marked as L; and a fixed plug installation cavity is arranged in the connecting shell at a position which is close to the rectangular cavity and far away from the axle center of the frame, the size of the fixed plug installation cavity can accommodate the assembly of the connecting piece and the half-section type needle roller bearing, and the outer surface of the fixed plug is connected with the corresponding frame module through a screw.
The wheel foot composite driving module comprises a lifting arm assembly, a supporting arm assembly, a driving arm assembly and travelling wheels; one part of the lifting arm assembly is arranged on the frame module, and the other part of the lifting arm assembly is connected with the upper part of the driving arm assembly; one part of the supporting arm assembly is connected with the frame module, the other part of the supporting arm assembly is connected with the lower part of the driving arm assembly, and the tail end of the driving arm assembly is provided with travelling wheels; the lifting arm assembly and the supporting arm assembly are jointly used for lifting the wheel foot composite driving module, and the driving arm assembly is used for driving the travelling wheels to walk; the distance between the lifting arm assembly and the support arm assembly at two mounting positions of the drive arm assembly is equal to the distance between the lifting arm assembly and the support arm assembly at two mounting positions of the frame module;
the lifting arm assembly comprises a lifting arm driving motor, a speed reducer and a lifting arm; the lifting arm driving motor is arranged on the frame module, an output shaft of the lifting arm driving motor is connected with an input end of the speed reducer, an output end of the speed reducer is fixedly connected with one end of the lifting arm through a key, and the position of the output shaft of the speed reducer is an upper joint of the lifting arm; the other end of the lifting arm is hinged to the hinged support at the upper part of the driving arm assembly through a first connecting shaft, the lifting arm and the hinged support at the upper part of the driving arm assembly form a revolute pair, and the position of the first connecting shaft is the lower joint of the lifting arm;
The support arm assembly comprises a support arm, a second connecting shaft and a third connecting shaft; one end of the supporting arm is hinged on a frame of the wall climbing robot to be installed through a second connecting shaft, the supporting arm and the frame module form a revolute pair, and the position of the second connecting shaft is an upper joint of the supporting arm; the other end of the supporting arm is hinged on a hinged support at the lower part of the driving arm assembly through a third connecting shaft, the supporting arm and the hinged support at the lower part of the driving arm assembly form a revolute pair, and the position of the third connecting shaft is a joint under the supporting arm;
the four joints are enclosed to form a parallelogram structure.
Each frame module is provided with a composite variable magnetic force adsorption module, the composite variable magnetic force adsorption module comprises a screw rod assembly and an adsorption assembly, the adsorption assembly is positioned at the outer side of the bottom of the frame module, and in a normal running state, the adsorption assembly is at a certain distance from the bottom of the frame; the lead screw assembly is located inside the frame module, and can drive the adsorption assembly to move up and down.
The screw assembly includes: the device comprises a screw motor, a screw motor reduction gearbox, a screw motor brake, a screw motor flange, an A-type belt pulley, a belt, a B-type belt pulley tapered roller bearing, a screw nut tapered roller bearing, a screw nut positioning frame and a screw;
Wherein, the screw motor brake, the screw motor and the screw motor reduction gear box are connected in sequence, the output end of the screw motor reduction gear box passes through the screw motor flange, the end part of the screw motor reduction gear box is fixed with a screw motor flange plate, and the side wall of the screw motor flange plate is fixedly connected to the frame module; an A-type belt pulley is arranged at the output end of a screw motor reduction gear box, and the A-type belt pulley and the B-type belt pulley are connected and driven through a belt; the lower end of the B-shaped belt wheel is provided with a boss at the lower end of the B-shaped belt wheel, the outer ring of the boss at the lower end of the B-shaped belt wheel is sleeved with a tapered roller bearing of the B-shaped belt wheel, and the boss at the lower end of the B-shaped belt wheel is matched and fixed with the inner ring of the tapered roller bearing of the B-shaped belt wheel; the screw rod passes through the B-type belt pulley, and the lower part of the screw rod is fixed with the adsorption component; the lower end of the B-type belt pulley tapered roller bearing is contacted with the bottom of the frame module;
the screw nut is arranged on the screw rod at the upper part of the B-shaped belt wheel, the screw nut comprises an upper cylindrical part and a lower supporting plate, a boss at the upper end of the cylindrical part is provided with a screw nut upper end, a threaded hole at the lower end of the screw nut is formed in the supporting plate, and the upper end of the B-shaped belt wheel is fixedly connected with the supporting plate through the threaded hole at the lower end of the screw nut and a screw;
The upper part of a boss at the upper end of the screw nut is provided with a screw nut tapered roller bearing, and the boss at the upper end of the screw nut is matched with the inner diameter of the screw nut tapered roller bearing; the screw nut, the screw nut tapered roller bearing, the B-type belt pulley tapered roller bearing and the B-type belt pulley are integrally sleeved with a screw nut positioning frame, and the screw nut can rotate relative to the screw nut positioning frame; the lower end of the screw nut positioning frame is fixed with the bottom surface of the frame module;
the adsorption assembly includes: yoke, even number of permanent magnets, one permanent magnet, two groups of electromagnets and guide rail; the lower surface of the yoke is provided with a groove for installing one type of permanent magnet, two types of permanent magnets and an electromagnet, and the center of the yoke is provided with a center threaded hole at the upper end of the yoke, which is connected with the threads at the lower end of the screw rod; the second-class permanent magnets are positioned at the center of the yoke, and a hole for accommodating threads at the lower end of the screw rod is formed in the center of the second-class permanent magnets; two sides along the length direction of the yoke iron take the two types of magnets as symmetry axes, and the two types of permanent magnets are symmetrically arranged; two groups of electromagnets are symmetrically arranged along the two sides of the width direction of the yoke by taking the two types of permanent magnets as axes; the lower surfaces of the first permanent magnet, the second permanent magnet and the electromagnet are equal in height; the lower end of the guide rail is fixedly arranged on the upper surface of the yoke, and the guide rail is matched with a guide rail seat on the frame module.
The carrying high-pressure water gun module comprises: the driving motor is fixed inside the frame module in the middle, the water gun supporting arm is directly inserted on the output shaft of the driving motor reducer, the rotation of the output shaft drives the rotation of the water gun supporting arm, and the water gun seat is fixed on the water gun supporting arm.
Compared with the prior art, the invention has the beneficial effects that:
1) Through the design of frame connection module, connecting piece and half needle bearing cooperate and are located inside the connection casing, and fixed cock is located inside the connection casing to link to each other with preceding frame module through the screw, make the connecting piece possess certain rotation ability, and then make the robot possess outstanding controllable curved surface self-adaptation ability. The robot body is divided into three parts (three frame modules), and the middle parts are connected by flexible connecting pieces (frame connecting modules) with controllable corners, so that the robot has extremely excellent curved surface self-adaptation performance.
2) The invention improves the obstacle surmounting mechanism of the traditional permanent magnet type wall climbing robot by using the wheel foot type walking mode, and the wheel foot type driving module is positioned at two sides of the frame and does not occupy the internal space of the frame, thus directly reducing the height of the frame, namely reducing the total mass center height of the whole machine, reducing the total mass center height of the robot, improving the anti-overturning performance of the robot and increasing the obstacle surmounting height of the robot, and simultaneously has the advantages of high moving speed, good stability and flexible steering of the wheel type mobile robot. In addition, the obstacle surmounting of the wheel-foot combined type driving module only rotates at the periphery of the frame, the height of the frame is not influenced, and the mass center of the robot is not lifted. For example, the robot of this patent can be 12cm in obstacle crossing height, and the robot of the existing patent (201010289327.7) (the wheel is located under the automobile body, in the obstacle crossing process, in order to satisfy a certain automobile body center of mass height, the wheel lifting space is limited) can be 6cm in obstacle crossing height, and the two center of mass heights are close.
3) The magnetic adsorption module with variable magnetic force and variable magnetic field improves the permanent magnetic adsorption mechanism of the traditional permanent magnet type wall climbing robot, so that the height of a magnet can be changed along with the change of the shape of a wall obstacle in the obstacle crossing process of the robot, and the magnetic field intensity of the magnet in unit volume is enhanced and the stability and safety of the robot in the operation period are improved by improving the distribution of the magnetic induction lines of the composite type magnetic adsorption module, namely the distribution mode of a permanent magnet, a yoke iron, a permanent magnet, a yoke iron and an electromagnet.
Drawings
FIG. 1 is a three-dimensional schematic view of the general structure of the present invention
FIG. 2 is a schematic three-dimensional view of the frame connector module of the present invention mounted on a frame module
FIG. 3 is a three-dimensional schematic view of the connection housing of the present invention mounted on a vehicle frame
FIG. 4 is a schematic view showing the assembly structure of the fixing plug, half-section needle bearing and connecting member of the present invention
FIG. 5 is a schematic cross-sectional view of a frame connector module according to the present invention
FIG. 6 is an enlarged view of a portion of a connector according to the present invention
FIG. 7 is a three-dimensional view of a composite variable magnetic force adsorption module according to the present invention
FIG. 8 is a cross-sectional view of a composite variable magnetic force adsorption module according to the present invention
Fig. 9 is a bottom view of the combined type variable magnetic force adsorption module of the present invention
FIG. 10 is a three-dimensional view of a wheel-foot composite drive module according to the present invention
Fig. 11 is a three-dimensional view of a high-pressure water gun module according to the present invention
FIG. 12 is a front view of a first frame set of the present invention during obstacle surmounting
FIG. 13 is a top view of a first set of frames according to the present invention during obstacle surmounting
FIG. 14 is a side view of a first set of frames of the present invention during an obstacle surmounting procedure
Fig. 15 is a schematic working diagram of the high-pressure water gun module according to the present invention
FIG. 16 is a schematic view showing the overall structure of the present invention operating on a convex curved surface
FIG. 17 is a schematic view showing the overall structure of the present invention operating on a concave curved surface
FIG. 18 is a schematic diagram of the overall structure obstacle surmounting process of the present invention;
in the figure: the device comprises a 1-frame module, a 2-wheel-foot composite driving module, a 3-frame connecting module, a 4-composite variable magnetic force adsorption module and a 5-carrying high-pressure water gun module;
11-rubber at the lower end of the frame;
a 21-lift arm assembly; 22-a support arm assembly; 23-a drive arm assembly; 24-travelling wheels;
211-a lift arm drive motor; 212-a decelerator; 213-lifting arms; 214-a first connection shaft;
221-a support arm; 222-a second connecting shaft; 223-a third connecting shaft;
23-a drive arm assembly; 231-a drive arm section; 232-driving arm two; 233-three drive arms; 234-drive arm four; 235-a walking driving motor; 236-right angle reducer;
31-connecting shell, 32-upper rubber, 33-lower rubber, 34-half-section type needle bearing, 35-connecting piece, 36-fixed plug;
41-a lead screw assembly; 4102-lead screw motor, 4101-lead screw motor reduction gearbox, 4103-lead screw motor brake, 4104-lead screw motor flange, 4105-A type pulley, 4106-belt, 4107-B type pulley, 4108-B type pulley lower end boss, 4109-B type pulley tapered roller bearing, 4110-B type pulley tapered roller bearing lower end, 4111-lead screw nut, 4112-lead screw nut upper end boss, 4113-lead screw nut lower end threaded hole, 4114-lead screw nut tapered roller bearing, 4115-lead screw nut tapered roller bearing upper end, 4116-screw, 4117-lead screw nut positioning frame, 4118-lead screw nut positioning frame upper end, 4119-lead screw nut positioning frame support leg, 4120-lead screw;
42-an adsorption assembly; 4201-screw lower end screw thread, 4202-yoke upper end central screw hole, 4203-yoke, 4204-permanent magnet, 4205-permanent magnet, 4206-electromagnet;
51-driving motor, 52-water gun supporting arm and 53-water gun seat.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, which should not be construed as limiting the scope of the present application.
As shown in fig. 1 to 11, a large-sized metal elevation obstacle-surmounting wall-climbing robot of the present invention includes: the device comprises a plurality of frame modules 1, wheel-foot composite driving modules 2 symmetrically arranged on each frame module, frame connecting modules 3 used for connecting two adjacent frame modules, composite variable magnetic force adsorption modules 4 arranged on each frame module and carrying high-pressure water gun modules 5;
the number of the frame modules is three, the three frame modules are sequentially connected, and are respectively named as a front frame module, a middle frame module and a rear frame module from front to back, wherein the front frame module, the middle frame module and the rear frame module are connected by a frame connecting module, the bottom ends of the opposite faces of the two adjacent frame modules are respectively provided with frame lower end rubber, the front frame module lower end rubber is fixed on the front frame module, and the middle frame module lower end rubber is fixed on the middle frame module. When arranging frame lower extreme rubber, be in order to prevent that wall camber from slightly being big, robot overall structure can produce crooked, and three sets of frame modules can form an pitch arc this moment, and the lower extreme of two sets of frame modules of this moment probably can contact the collision, and the effect of frame lower extreme rubber is that prevent two sets of adjacent frames can direct collision, reduces the fatigue strength of material and increase life, plays the cushioning effect in the centre.
Two frame connecting modules with the same structure are arranged between two adjacent frame modules, the three frame modules comprise four frame connecting modules, which are sequentially named as a left front frame connecting module, a right front frame connecting module, a left rear frame connecting module and a right rear frame connecting module, wherein the left front frame connecting module and the right front frame connecting module are used for connecting the front frame module with the middle frame module, and the left rear frame connecting module and the right rear frame connecting module are used for connecting the middle frame module with the rear frame module.
The frame connection module includes: a connecting housing 31, an upper rubber 32, a lower rubber 33, a half-section needle bearing 34, a connecting member 35, a fixing plug 36,
the connecting shell is positioned at the corresponding position of the frame module, a cavity for installing the connecting piece 35 is formed in the connecting shell, two ends of the connecting piece 35 are cylindrical, two cylindrical side faces are connected by a cuboid-shaped cross beam, the cylindrical side faces and the cuboid-shaped cross beam are integrally formed, a half-section type needle bearing 34 is installed at one end, far away from the cross beam, of the cylindrical side face, the connecting piece is matched with the half-section type needle bearing and positioned in the cavity in the connecting shell, the outer ring of the half-section type needle bearing is in tight fit with the connecting shell, the inner ring of the half-section type needle bearing is in tight fit with the cylindrical shape of the connecting piece, and the side face, which is not wrapped by the half-section type needle bearing, of the connecting piece is in contact with the cavity wall of the connecting shell; the cavity in the connecting shell is provided with a cylindrical part which just accommodates the assembly of the connecting piece and the half-section type needle roller bearing, the outer side of the cylindrical part is provided with a rectangular cavity part matched with the shape of the connecting piece beam, the upper and lower inner surfaces of the rectangular cavity part, which are contacted with the connecting piece, are respectively paved with upper rubber 32 and lower rubber 33, and a gap is formed between the connecting piece beam and the upper and lower surfaces of the rectangular cavity part of the connecting shell, and the gap is marked as H; a fixed plug installation cavity is arranged in the connecting shell which is close to the rectangular cavity part and far away from the axle center of the frame, the fixed plug installation cavity is sized to accommodate the assembled component of the connecting piece and the half-section type needle roller bearing, when the connecting piece is assembled, the assembled component extends into the connecting shell from the fixed plug installation cavity, then is horizontally inserted into the cylindrical cavity part and the rectangular cavity part of the connecting shell, finally, the fixed plug 36 extends into a fixed plug mounting cavity in the connecting shell, the outer surface of the fixed plug is connected with a corresponding frame module through a screw, and the fixed plug mainly plays a limiting role, namely, after the needle roller bearing and the connecting piece are mounted in, the fixed plug is fixed on the frame, so that the freedom degree of the connecting piece in the left-right direction is limited, and the connecting piece can only rotate relative to the stationary frame;
The frame module and the connecting shell are integrally made of aluminum materials, and the connecting piece is made of steel materials, so that in the rotating process of the connecting piece, the connecting piece can be contacted with the connecting shell on the frame at a certain angle, the connecting piece and the connecting shell form line contact, the connecting piece is clamped by the upper inner surface and the lower inner surface of the rectangular cavity part on the connecting shell, the rotating angle of the connecting piece is limited, and the upper rubber 32 and the lower rubber 33 of the rectangular cavity part are used for fixing the part contacted with the connecting piece on the connecting shell and do not enable two groups of rigid materials to be in direct contact to serve as buffering.
When the robot is positioned on the curved surface, the connecting pieces in the left front frame connecting module, the right front frame connecting module, the left rear frame connecting module and the right rear frame connecting module can do certain rotation relative to the frame modules due to the existence of magnetic adsorption forceAnd the robot is rotated to ensure the adhesion of the robot and the wall surface. Two car body connecting modules are arranged between every two adjacent car frame modules so as to control the left and right balance of the car frame and prevent the car frame from tilting left and right. The maximum rotation angle of the connecting piece can be controlled by controlling the insertion depth L of the connecting piece into the connecting shell (namely the depth of the cross beam extending into the rectangular cavity part) and the up-down distance H of the connecting piece from the connecting shell, which is that 
Two alpha corners can be generated between every two adjacent frame modules, four corners can be generated as a whole, and the two corners can adapt to curved surfaces with larger curvature.
The six wheel foot composite driving modules are symmetrically fixed on the left side and the right side of the corresponding frame module in three groups and are respectively named as a left front wheel foot composite driving module, a right front wheel foot composite driving module, a left middle wheel foot composite driving module, a right middle wheel foot composite driving module, a left rear wheel foot composite driving module and a right rear wheel foot composite driving module; the left front wheel foot composite driving module and the right front wheel foot composite driving module are connected with the front frame module, the left middle wheel foot composite driving module and the right middle wheel foot composite driving module are connected with the middle frame module, and the left rear wheel foot composite driving module and the right rear wheel foot composite driving module are connected with the rear frame module. When the robot normally runs on the barrier-free wall surface, each wheel-foot composite driving module is in a descending pose, when the robot passes through a barrier, two groups of wheel-foot composite driving modules on the corresponding barrier-surmounting frame can be lifted by a distance of 10-12 cm to pass through the barrier, and at the moment, four wheel-foot composite driving modules on the other two frames keep the original pose continuously so as to ensure the normal running of the robot.
The wheel foot composite driving module comprises a lifting arm assembly 21, a supporting arm assembly 22, a driving arm assembly 23 and a travelling wheel 24; a part of the lifting arm assembly 21 is mounted on the frame module 1, and the other part is connected with the upper part of the driving arm assembly 23; one part of the supporting arm assembly 22 is connected with the frame module 1, the other part of the supporting arm assembly is connected with the lower part of the driving arm assembly 23, and the tail end of the driving arm assembly 23 is provided with a travelling wheel 24; the lifting arm assembly 21 and the supporting arm assembly 22 are jointly used for lifting the wheel foot composite driving module, and the driving arm assembly 23 is used for driving the travelling wheels 24 to walk; the distance between the lifting arm assembly and the support arm assembly at two mounting positions of the drive arm assembly is equal to the distance between the lifting arm assembly and the support arm assembly at two mounting positions of the frame module;
the lift arm assembly 21 includes a lift arm drive motor 211, a decelerator 212, and a lift arm 213; the lifting arm driving motor 211 is arranged on the frame module 1, an output shaft of the lifting arm driving motor 211 is connected with an input end of the speed reducer 212, an output end of the speed reducer 212 is fixedly connected with one end of the lifting arm 213 through a key, and the position of the output shaft of the speed reducer is an upper joint of the lifting arm 213; the other end of the lifting arm 213 is hinged on a hinged support at the upper part of the driving arm assembly through a first connecting shaft 214, the lifting arm 213 and the hinged support at the upper part of the driving arm assembly form a revolute pair, and the position of the first connecting shaft is the lower joint of the lifting arm 213;
The support arm assembly 22 includes a support arm 221, a second connection shaft 222, and a third connection shaft 223; one end of the supporting arm 221 is hinged on the frame 1 of the wall climbing robot to be installed through a second connecting shaft 222, the supporting arm 221 and the frame module 1 form a revolute pair, and the position of the second connecting shaft is a joint on the supporting arm 221; the other end of the supporting arm 221 is hinged on a lower hinged support 2321 of the driving arm assembly through a third connecting shaft 223, the supporting arm 221 and the lower hinged support of the driving arm assembly form a revolute pair, and the position of the third connecting shaft is the lower joint of the supporting arm 221;
the four joints are enclosed to form a parallelogram structure.
The driving arm assembly 23 comprises a driving arm first part 231, a driving arm second part 232, a driving arm third part 233, a driving arm fourth part 234, a walking driving motor 235 and a right-angle reducer 236; the walking driving motor 235 is arranged in the driving arm part 231, the walking driving motor 235 is vertically arranged, and a right-angle reducer 236 is arranged on an output shaft of the walking driving motor; the output end of the right-angle reducer 236 is provided with the travelling wheel 24, the right-angle reducer 236 is connected with one part of the driving arm through a mounting frame which can wrap the right-angle reducer, and the mounting frame consists of a driving arm two part 232, a driving arm three part 233 and a driving arm four part 234.
The combined type becomes magnetic force adsorption module, and is total three combined type becomes magnetic force adsorption module in the installation on every frame module, and the name is in proper order become magnetic force adsorption module before, well combined type becomes magnetic force adsorption module, back combined type becomes magnetic force adsorption module, and wherein, preceding combined type becomes magnetic force adsorption module connects in preceding frame module, and well combined type becomes magnetic force adsorption module and connects in well frame module, and back combined type becomes magnetic force adsorption module and connects in back frame module, provides the required adsorption affinity of climbing the wall for the robot. When the robot normally runs on the barrier-free wall surface, each composite variable magnetic force adsorption module is in a descending pose and is close to the wall surface in distance to provide the adsorption force for the robot to attach to the wall surface, when the robot passes through the barrier, the corresponding composite variable magnetic force adsorption modules on the barrier-surmounting frame can be matched with the reverse magnetizing function of the electromagnet, and the adsorption assembly is driven to lift 10-12 cm away to pass through the barrier through the screw rod assembly inside the module, so that the electromagnets in the two groups of composite variable magnetic force adsorption modules on the rest frames are positively magnetized, and the adsorption force for the robot attached to the wall surface is continuously met.
The combined type becomes magnetic force adsorption module and includes lead screw subassembly 41 and adsorption component 42, lead screw subassembly 41 include: the screw motor 4102, the screw motor reduction gear box 4101, the screw motor brake 4103, the screw motor flange 4104, the a-type pulley 4105, the belt 4106, the B-type pulley 4107, the B-type pulley tapered roller bearing 4109, the screw nut 4111, the screw nut tapered roller bearing 4114, the screw 4116, the screw nut positioning frame 4117, and the screw 4120.
The screw motor brake 4103, the screw motor 4102 and the screw motor reduction gear box 4101 are sequentially connected, the output end of the screw motor reduction gear box 4101 passes through the screw motor flange 4104, the end part of the screw motor reduction gear box 4101 is fixed with the screw motor flange, and the side wall of the screw motor flange is fixedly connected to the frame module and is fixed by screws; an A-type pulley 4105 is arranged on the output end of the screw motor reduction gear box 4101, and the A-type pulley 4105 and the B-type pulley 4107 are connected and driven by a belt 4106; the A-type belt pulley 4105 is connected with the output shaft of the screw motor reduction gear box 4101 through a key fit to provide power for belt transmission, and one end of the belt is connected to the A-type belt pulley 4105 to play a role in transmission.
The lower end of the B-shaped belt pulley 4107 is provided with a B-shaped belt pulley lower end boss 4108, a B-shaped belt pulley tapered roller bearing 4109 is sleeved on the outer ring of the B-shaped belt pulley lower end boss 4108, and the B-shaped belt pulley lower end boss 4108 is matched and fixed with the inner ring of the B-shaped belt pulley tapered roller bearing 4109; the lead screw 4120 passes through the B-type belt pulley 4107, and the lower part of the lead screw is fixed with the adsorption assembly 42; the lower end of the B-type belt pulley tapered roller bearing 4109 is contacted with the upper surface of the bottom of the frame module;
a screw nut 4111 is mounted on the screw rod at the upper part of the B-shaped belt pulley 4107, the screw nut comprises an upper cylindrical part and a lower support plate, a screw nut upper end boss 4112 is arranged at the upper end of the cylindrical part, a screw nut lower end threaded hole 4113 is arranged on the support plate, the upper end of the B-shaped belt pulley is fixedly connected with the support plate through the screw nut lower end threaded hole 4113 and a screw, and the consistency of the circumferential movement of the B-shaped belt pulley and the screw nut is ensured;
a screw nut tapered roller bearing 4114 is arranged on the upper part of a screw nut upper end boss 4112, and the screw nut upper end boss is matched with the inner diameter of the screw nut tapered roller bearing; the screw nut, the screw nut tapered roller bearing, the B-type belt pulley tapered roller bearing 4109 and the B-type belt pulley are integrally sleeved with a screw nut positioning frame 4117, the upper end and the lower end of the screw adjacent to the screw nut positioning frame 4117 are respectively fixed together through the upper end 4115 of the screw nut tapered roller bearing and the B-type belt pulley tapered roller bearing 4109, the screw nut can rotate relative to the screw nut positioning frame, and the inner space of the screw nut positioning frame can only accommodate the sizes of the screw nut, the B-type belt pulley tapered roller bearing and the assembled parts of the screw nut tapered roller bearing; the lower end of the screw nut positioning frame is fixed with the bottom surface of the frame module;
The upper end 4118 of the screw nut positioning frame 4117 is provided with a round hole through which a screw passes, the lower part of the screw nut positioning frame 4117 is provided with screw nut positioning frame support legs 4119, the inside of the screw nut positioning frame 4117 accommodates a B-shaped belt wheel, the inner wall of the screw nut positioning frame 4117 is matched with the outer diameter of a screw nut tapered roller bearing, the upper end of the screw nut positioning frame is contacted with the upper surface of the screw nut tapered roller bearing, namely the upper end of the screw nut positioning frame is pressed on the upper surface of the screw nut tapered roller bearing, and the lower end of the screw nut positioning frame is contacted with a frame and is fixed with the frame through screws.
The adsorption component 42 is positioned at the outer side of the bottom of the frame module, and in a normal running state, the adsorption component is at a distance from the bottom of the frame; the adsorption assembly 42 includes: yoke 4203, ten permanent magnets 4204, one permanent magnet 4205, two electromagnet groups 4206, and guide rail 4207; the lower surface of the yoke is provided with grooves for installing a first permanent magnet 4204, a second permanent magnet 4205 and an electromagnet, and the center of the yoke is provided with a central threaded hole 4202 at the upper end of the yoke for connecting the threads at the lower end of the screw rod; the second-class permanent magnets are positioned at the center of the yoke, and a hole for accommodating the screw thread 4201 at the lower end of the screw rod is formed in the center of the second-class permanent magnets; ten first-class permanent magnets are symmetrically arranged along two sides of the length direction of the yoke by taking the first-class magnets as symmetry axes; two groups of electromagnets are symmetrically arranged along the two sides of the width direction of the yoke by taking the two types of permanent magnets as axes, and the electromagnets are fixedly connected with corresponding fixing screws on the yoke through self-provided central threaded holes; the lower surfaces of the first permanent magnet 4204, the second permanent magnet 4205 and the electromagnet are equal in height; the lower end of the guide rail is fixedly arranged on the upper surface of the yoke, and the guide rail is matched with the guide rail seat on the frame module to ensure the determination of the movement direction of the guide rail, further ensure the accurate movement direction of the adsorption assembly and realize the up-and-down movement along the guide rail seat.
The lower end of the screw rod is in threaded connection with the upper end of the yoke, so that the adsorption assembly and the screw rod assembly form a whole, ten types of permanent magnets and one type of magnet are completely identical in material property and property, different in size and attached to the yoke, main adsorption force is provided for the robot, and two groups of electromagnets 4206 are fixedly connected with a fixed screw on the yoke 4203 through a central threaded hole of each electromagnet in a matched mode, so that auxiliary adsorption force is provided for the robot.
The yoke iron is made of high magnetic conduction materials, the first permanent magnet and the second permanent magnet are made of neodymium iron boron materials, and the magnetization direction is vertical. The size of a single permanent magnet is 30×25×30 (mm), the size of a second permanent magnet is 60×50×30 (mm), and the radius of an electromagnet is 25mm and the height of the electromagnet is 27mm. The same-name magnetic poles of the two permanent magnets are both downward or upward.
The carrying high-pressure water gun module comprises: a driving motor 51, a gun supporting arm 52 and a gun seat 53. Wherein, driving motor 51 is fixed in the inside of well frame module, and the squirt support arm 52 is directly inserted on the output shaft of driving motor 51 reduction gear, and the rotation of driving squirt support arm 52 by the rotation of output shaft drives the rotation of squirt seat 53 and is fixed in on the squirt support arm, installs the squirt on the squirt seat, and the squirt provides rust cleaning function for the robot. If the high-pressure water gun module is arranged on the first group of frames, the force arm is too long, the pressure is high during the working of the water gun, the vehicle body is easy to overturn, and if the high-pressure water gun module is arranged on the third group, the water gun support arm 52, namely the water gun arm, is too long, the mass is large, and the high-pressure water gun module is arranged in the middle most suitable.
As shown in fig. 15, when the high-pressure water gun module is mounted, the driving motor 51 in the high-pressure water gun module drives the water gun supporting arm 52 to swing left and right, and drives the water gun seat 53 and the water gun to swing, thereby providing a rust removing function.
As shown in fig. 16 and 17, when the robot is located on a curved surface, the left front frame connecting module, the right front frame connecting module, the left rear frame connecting module and the right rear frame connecting module all rotate by a certain amount relative to the front, middle and rear three groups of frame modules, so as to meet the self-adaptive performance of the curved surface of the robot.
As shown in fig. 18, the robot is the obstacle surmounting whole process. The operation principle of the obstacle-surmounting wall-climbing robot is as follows:
during normal running, the left front wheel foot composite driving module, the right front wheel foot composite driving module, the left middle wheel foot composite driving module, the right middle wheel foot composite driving module, the left rear wheel foot composite driving module and the right rear wheel foot composite driving module are all in a descending pose, power required by walking is provided for the robot, meanwhile, the composite variable magnetic force adsorption module is in a descending pose, so that the front composite variable magnetic force adsorption module, the middle composite variable magnetic force adsorption module and the rear composite variable magnetic force adsorption module are in close contact with a wall surface, enough wall surface adsorption force is provided for the robot, a driving motor in the high-pressure water gun module is carried to drive a water gun support arm to swing left and right, a water gun seat and a water gun swing are driven, and a rust removing function is provided.
When the robot encounters an obstacle, the left front wheel foot composite driving module and the right front wheel foot composite driving module are lifted by the lifting driving motor, the front composite type variable magnetic force adsorption module is lifted by the aid of electromagnet reverse magnetization in the self adsorption assembly, at the moment, the distance between the left front wheel foot composite driving module, the right front wheel foot composite type driving module and the front composite type variable magnetic force adsorption module and the wall surface reaches 10cm, the front frame module and the attaching module thereof pass through the obstacle, the left middle wheel foot composite type driving module, the right middle wheel foot composite type driving module, the left rear wheel foot composite type driving module and the right rear wheel foot composite type driving module are still in a descending pose, power required by walking is provided for the robot, the middle composite type variable magnetic force adsorption module and the rear composite type variable magnetic force adsorption module are still in a descending pose, so that the middle composite type variable magnetic force adsorption module and the rear composite type variable magnetic force adsorption module are still in close contact with the wall surface, enough wall surface adsorption force is provided for the robot, the driving motor in the high-pressure water gun module is stopped, and the swing water gun stops working. The front frame module and the attaching module thereof have enough heights to pass through obstacles, the left front wheel foot composite driving module, the right front wheel foot composite driving module and the front composite variable magnetic force adsorption module descend to the original position, the left middle wheel foot composite driving module, the right middle wheel foot composite driving module and the middle composite variable magnetic force adsorption module are lifted to the appointed height, the middle frame module and the attaching module thereof have enough heights to pass through obstacles, the left front wheel foot composite driving module, the right front wheel foot composite driving module, the left rear wheel foot composite driving module and the right rear wheel foot composite driving module are in the descending position, power required by walking is provided for the robot, and the front composite variable magnetic force adsorption module and the rear composite variable magnetic force adsorption module are in the descending position so as to ensure that the front composite variable magnetic force adsorption module, the rear composite variable magnetic force adsorption module and the wall surface are still in close contact, and enough wall surface adsorption force is provided for the robot. The left wheel foot composite driving module, the right wheel foot composite driving module and the middle composite variable magnetic force adsorption module are lowered to the original positions after the middle frame module and the attaching module thereof pass through the obstacle, the left rear wheel foot composite driving module, the right rear wheel foot composite driving module and the rear composite variable magnetic force adsorption module are lifted to the designated height, the rear frame module and the attaching module thereof have enough heights to pass through the obstacle, the left front wheel foot composite driving module, the right front wheel foot composite driving module, the left middle wheel foot composite driving module and the right middle wheel foot composite driving module are in the descending positions, power required by walking is provided for the robot, and the front composite variable magnetic force adsorption module and the middle composite variable magnetic force adsorption module are in the descending positions so as to ensure that the front composite variable magnetic force adsorption module, the middle composite variable magnetic force adsorption module and the wall surface are still in close contact, and enough wall surface adsorption force is provided for the robot. The rear frame module and the attaching module thereof have enough height to pass through the obstacle, the left rear wheel foot compound driving module, the right rear wheel foot compound driving module and the rear compound type magnetic force adsorption module descend to the original position, the left front wheel foot compound driving module, the right front wheel foot compound driving module, the left middle wheel foot compound driving module, the right middle wheel foot compound driving module, the left rear wheel foot compound driving module and the right rear wheel foot compound driving module are all in the descending position, power required by walking is provided for the robot, and meanwhile, the compound type magnetic force adsorption module, the middle compound type magnetic force adsorption module and the rear compound type magnetic force adsorption module are all in the descending position, so that the front compound type magnetic force adsorption module, the middle compound type magnetic force adsorption module and the rear compound type magnetic force adsorption module are in close contact with a wall surface, enough wall surface adsorption force is provided for the robot, and a driving motor in the carrying high-pressure water gun module continuously drives a supporting arm to swing left and right, drives a water gun seat and swing, and a rust removing function is provided.
The curved surface self-adaptation principle of the obstacle-surmounting wall-climbing robot is as follows: when the wall surface has no curvature change,the left front frame connecting module, the right front frame connecting module, the left rear frame connecting module and the right rear frame connecting module are kept vertical to the frame unchanged (because if the walking wheels are in contact with the wall surface on the plane, and the wheel foot composite driving modules of each group are in the same pose and are all standing relative to the wall surface, the height of each frame relative to the wall surface is certain and is parallel to the wall surface, namely the frame connecting modules are vertical to the side surface of the frame), when the robot is positioned on the curved surface, due to the existence of magnetic adsorption force, the left front frame connecting module, the right front frame connecting module, the left rear frame connecting module and the right rear frame connecting module can rotate to a certain extent relative to the frame modules so as to ensure the fit between the robot and the wall surface. Two sets of frame connecting modules are arranged between every two sets of frame modules so as to control the left and right balance of the frame and prevent the frame from tilting left and right. The maximum rotation angle of the connecting piece can be controlled by controlling the insertion depth L of the connecting piece into the connecting shell and the distance H between the upper surface and the lower surface of the connecting piece and the upper surface and the lower surface of the rectangular cavity of the connecting shell, and the maximum rotation angle is as follows 
Two alpha corners can be generated between two adjacent frame modules, four corners can be generated as a whole, and the two adjacent frame modules can adapt to curved surfaces with larger curvature. The arrangement of the upper rubber and the lower rubber in the connecting shell serves as buffering between the connecting piece and the connecting shell, so that the problem of fatigue life reduction caused by collision is solved. The arrangement of the rubber at the lower end of the frame is used as the buffer between the frame and the frame, when the curvature is prevented from being too large, the direct collision friction between the frames (namely, when the curvature of the wall surface is prevented from being slightly large in some cases, the robot can bend, namely, three groups of frames can form an arc line, the lower ends of two adjacent groups of frames can possibly contact and collide in the moment, the rubber at the lower end of the frame plays a role in preventing the two adjacent groups of frames from directly colliding, the fatigue strength of materials is reduced, the service life of the materials is prolonged, and the buffer effect is played in the middle. />
The operation principle of the combined type variable magnetic force adsorption module of the obstacle-surmounting wall-climbing robot is as follows: in the normal running process of the robot, the screw rod assembly is in a braking state, the adsorption assembly is in a descending state, the gap between the adsorption assembly and the wall surface is small, and reliable wall surface adsorption force is provided for the robot. When the robot encounters an obstacle, a screw rod assembly on the corresponding frame starts to run, a screw rod motor drives an A-type belt pulley to rotate, a belt is driven to run, and then a B-type belt pulley is driven to rotate, because the B-type belt pulley and the screw rod nut are relatively fixed in circumferential movement, the screw rod nut performs the same rotational movement, and because the axial direction movement of the screw rod nut is fixed, the screw rod is driven to lift, and after the screw rod drives the adsorption assembly to lift at a certain height, the screw rod motor brakes, and meanwhile, the adsorption assembly driven by the screw rod is reversely magnetized by an electromagnet in the adsorption assembly driven by the screw rod, so that the adsorption force of one type of permanent magnets and the other type of permanent magnets relative to the wall surface is counteracted, the electromagnet in the adsorption assembly not driven is positively magnetized, so that the wall surface adsorption force required during the running of the robot is ensured, and a plurality of groups of adsorption modules are mutually matched for use. When the frame corresponding to the adsorption module passes through the obstacle, the screw motor reversely operates to drive the adsorption assembly to descend to the designated height, and the electromagnet stops operating to finish the obstacle crossing process of the frame.
The embodiment is implemented on the premise of the technical scheme of the invention, and a detailed implementation mode and a specific operation process are provided, but the protection scope of the invention is not limited to the embodiment.
Claims (6)
1. The large metal facade obstacle-surmounting wall-climbing robot is characterized by comprising a plurality of frame modules, wheel-foot composite driving modules symmetrically arranged on each frame module, frame connecting modules for connecting two adjacent frame modules, composite variable magnetic force adsorption modules arranged on each frame module and a high-pressure water gun carrying module;
the bottom ends of the opposite faces of the two adjacent frame modules are respectively provided with frame lower end rubber, two frame connecting modules with the same structure are arranged between the two adjacent frame modules,
the frame connection module includes: a connecting shell, an upper rubber, a lower rubber, a half-section type needle roller bearing, a connecting piece and a fixed plug,
the connecting shell is positioned at the corresponding position of the frame module, a cavity for installing a connecting piece is formed in the connecting shell, two ends of the connecting piece are cylindrical, two cylindrical side faces are connected by a cuboid type cross beam, the cylindrical side faces and the cuboid type cross beam are integrally formed, a half-section type needle bearing is installed at one end, far away from the cross beam, of the cylindrical side face, the connecting piece is matched with the half-section type needle bearing and positioned in the cavity in the connecting shell, the outer ring of the half-section type needle bearing is tightly matched with the connecting shell, and the cylindrical side face, far away from one end of the cross beam, of the connecting piece, which is not wrapped by the half-section type needle bearing is in contact with the cavity wall of the connecting shell, and the length of the cylindrical side face is larger than the width of the half-section type needle bearing; the cavity in the connecting shell is provided with a cylindrical part which just accommodates the assembly of the connecting piece and the half-section type needle roller bearing, the outer side of the cylindrical part is provided with a rectangular cavity part matched with the shape of the cross beam of the connecting piece, the upper rubber and the lower rubber are respectively laid on the upper inner surface and the lower inner surface of the rectangular cavity part which are contacted with the connecting piece, a gap is formed between the cross beam of the connecting piece and the upper surface and the lower surface of the rectangular cavity part of the connecting shell, the gap is marked as H, and the depth of the cross beam extending into the rectangular cavity part is marked as L; and a fixed plug installation cavity is arranged in the connecting shell at a position which is close to the rectangular cavity and far away from the axle center of the frame, the size of the fixed plug installation cavity can accommodate the assembly of the connecting piece and the half-section type needle roller bearing, and the outer surface of the fixed plug is connected with the corresponding frame module through a screw.
2. The large metal facade obstacle surmounting wall climbing robot as recited in claim 1, wherein the wheel-foot composite drive module comprises a lift arm assembly, a support arm assembly, a drive arm assembly, and road wheels; one part of the lifting arm assembly is arranged on the frame module, and the other part of the lifting arm assembly is connected with the upper part of the driving arm assembly; one part of the supporting arm assembly is connected with the frame module, the other part of the supporting arm assembly is connected with the lower part of the driving arm assembly, and the tail end of the driving arm assembly is provided with travelling wheels; the lifting arm assembly and the supporting arm assembly are jointly used for lifting the wheel foot composite driving module, and the driving arm assembly is used for driving the travelling wheels to walk; the distance between the lifting arm assembly and the support arm assembly at two mounting positions of the drive arm assembly is equal to the distance between the lifting arm assembly and the support arm assembly at two mounting positions of the frame module;
the lifting arm assembly comprises a lifting arm driving motor, a speed reducer and a lifting arm; the lifting arm driving motor is arranged on the frame module, an output shaft of the lifting arm driving motor is connected with an input end of the speed reducer, an output end of the speed reducer is fixedly connected with one end of the lifting arm through a key, and the position of the output shaft of the speed reducer is an upper joint of the lifting arm; the other end of the lifting arm is hinged to the hinged support at the upper part of the driving arm assembly through a first connecting shaft, the lifting arm and the hinged support at the upper part of the driving arm assembly form a revolute pair, and the position of the first connecting shaft is the lower joint of the lifting arm;
The support arm assembly comprises a support arm, a second connecting shaft and a third connecting shaft; one end of the supporting arm is hinged on the frame module through a second connecting shaft, the supporting arm and the frame module form a revolute pair, and the position of the second connecting shaft is an upper joint of the supporting arm; the other end of the supporting arm is hinged on a hinged support at the lower part of the driving arm assembly through a third connecting shaft, the supporting arm and the hinged support at the lower part of the driving arm assembly form a revolute pair, and the position of the third connecting shaft is a joint under the supporting arm;
the four joints are enclosed to form a parallelogram structure.
3. The large-scale metal facade obstacle-surmounting wall-climbing robot according to claim 1, characterized in that a composite variable magnetic force adsorption module is arranged on each frame module, the composite variable magnetic force adsorption module comprises a screw rod component and an adsorption component, the adsorption component is positioned on the outer side of the bottom of the frame module, and in a normal running state, the adsorption component is at a distance from the bottom of the frame; the lead screw assembly is located inside the frame module, and can drive the adsorption assembly to move up and down.
4. The large-scale metal facade obstacle surmounting wall climbing robot as recited in claim 3, wherein the screw assembly comprises: the device comprises a screw motor, a screw motor reduction gearbox, a screw motor brake, a screw motor flange, an A-type belt pulley, a belt, a B-type belt pulley tapered roller bearing, a screw nut tapered roller bearing, a screw nut positioning frame and a screw;
Wherein, the screw motor brake, the screw motor and the screw motor reduction gear box are connected in sequence, the output end of the screw motor reduction gear box passes through the screw motor flange, the end part of the screw motor reduction gear box is fixed with a screw motor flange plate, and the side wall of the screw motor flange plate is fixedly connected to the frame module; an A-type belt pulley is arranged at the output end of a screw motor reduction gear box, and the A-type belt pulley and the B-type belt pulley are connected and driven through a belt; the lower end of the B-shaped belt wheel is provided with a boss at the lower end of the B-shaped belt wheel, the outer ring of the boss at the lower end of the B-shaped belt wheel is sleeved with a tapered roller bearing of the B-shaped belt wheel, and the boss at the lower end of the B-shaped belt wheel is matched and fixed with the inner ring of the tapered roller bearing of the B-shaped belt wheel; the screw rod passes through the B-type belt pulley, and the lower part of the screw rod is fixed with the adsorption component; the lower end of the B-type belt pulley tapered roller bearing is contacted with the bottom of the frame module;
the screw nut is arranged on the screw rod at the upper part of the B-shaped belt wheel, the screw nut comprises an upper cylindrical part and a lower supporting plate, a boss at the upper end of the cylindrical part is provided with a screw nut upper end, a threaded hole at the lower end of the screw nut is formed in the supporting plate, and the upper end of the B-shaped belt wheel is fixedly connected with the supporting plate through the threaded hole at the lower end of the screw nut and a screw;
The upper part of a boss at the upper end of the screw nut is provided with a screw nut tapered roller bearing, and the boss at the upper end of the screw nut is matched with the inner diameter of the screw nut tapered roller bearing; the screw nut, the screw nut tapered roller bearing, the B-type belt pulley tapered roller bearing and the B-type belt pulley are integrally sleeved with a screw nut positioning frame, and the screw nut can rotate relative to the screw nut positioning frame; the lower end of the screw nut positioning frame is fixed with the bottom surface of the frame module;
the adsorption assembly includes: yoke, even number of permanent magnets, one permanent magnet, two groups of electromagnets and guide rail; the lower surface of the yoke is provided with a groove for installing one type of permanent magnet, two types of permanent magnets and an electromagnet, and the center of the yoke is provided with a center threaded hole at the upper end of the yoke, which is connected with the threads at the lower end of the screw rod; the second-class permanent magnets are positioned at the center of the yoke, and a hole for accommodating threads at the lower end of the screw rod is formed in the center of the second-class permanent magnets; two sides along the length direction of the yoke iron take the two types of magnets as symmetry axes, and the two types of permanent magnets are symmetrically arranged; two groups of electromagnets are symmetrically arranged along the two sides of the width direction of the yoke by taking the two types of permanent magnets as axes; the lower surfaces of the first permanent magnet, the second permanent magnet and the electromagnet are equal in height; the lower end of the guide rail is fixedly arranged on the upper surface of the yoke, and the guide rail is matched with a guide rail seat on the frame module.
5. The large metal facade obstacle surmounting wall climbing robot as set forth in claim 1, wherein said high pressure water gun module comprises: the driving motor is fixed inside the frame module in the middle, the water gun supporting arm is directly inserted on the output shaft of the driving motor reducer, the rotation of the output shaft drives the rotation of the water gun supporting arm, and the water gun seat is fixed on the water gun supporting arm.
6. The large metal facade obstacle surmounting wall climbing robot as recited in claim 1, wherein the number of frame modules is three.
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| CN113619704B (en) * | 2021-08-27 | 2022-06-28 | 中国船舶科学研究中心 | Magnetic force self-adaptive amphibious wall-climbing robot |
| CN114378502B (en) * | 2022-03-24 | 2022-06-24 | 中国核工业二四建设有限公司 | Mobile robot for automatic continuous welding of right-angle fillet weld |
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| US7520356B2 (en) * | 2006-04-07 | 2009-04-21 | Research Foundation Of The City University Of New York | Modular wall climbing robot with transition capability |
| CN101947776B (en) * | 2010-09-22 | 2011-08-31 | 上海交通大学 | Wheel type barrier-crossing wall-climbing robot |
| CN101973028B (en) * | 2010-10-15 | 2011-12-07 | 北京航空航天大学 | Multi-joint series wheeled mobile robot |
| CN102616295A (en) * | 2012-04-09 | 2012-08-01 | 北京理工大学 | Multi-joint chain link-type robot based on modularization |
| WO2017076806A1 (en) * | 2015-11-02 | 2017-05-11 | Starship Technologies Oü | Obstacle traversing mobile robot |
| CN108890612A (en) * | 2018-08-20 | 2018-11-27 | 南昌大学 | A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot |
| CN109334801B (en) * | 2018-09-19 | 2020-05-29 | 上海工程技术大学 | Wall-climbing robot for large-radian curved wall surface and control method |
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