CN111086568A - Crawler-type steel wall climbing robot - Google Patents
Crawler-type steel wall climbing robot Download PDFInfo
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- CN111086568A CN111086568A CN201911342944.6A CN201911342944A CN111086568A CN 111086568 A CN111086568 A CN 111086568A CN 201911342944 A CN201911342944 A CN 201911342944A CN 111086568 A CN111086568 A CN 111086568A
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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
The invention discloses a crawler-type steel wall climbing robot which comprises a shell, an adsorption walking device and a power supply control device, wherein a main frame is arranged in the shell, and the middle part of the main frame is longitudinally and fixedly connected with a secondary frame; the two groups of adsorption traveling devices are respectively arranged on two sides of the secondary frame; the adsorption walking device comprises a worm and gear motor, a rotary positioning plate, an adsorption walking shell, a magnetic chain transmission mechanism and an inner chain supporting mechanism, wherein the rotary positioning plate is rotatably connected between the main frame and the first positioning frame, and the worm and gear motor is connected in the rotary positioning plate; the adsorption walking shell comprises two groups of first tensioning adjusting plate assemblies, and a first main transmission gear assembly and a second auxiliary transmission gear assembly are connected between the two groups of first tensioning adjusting plate assemblies; the magnetic chain transmission mechanism is sleeved at the outer ends of the first main transmission gear component and the second auxiliary transmission gear component. The robot can automatically adapt to steel wall surfaces with different curvature radiuses, and is good in walking stability.
Description
Technical Field
The invention relates to the field of machinery, in particular to a crawler-type steel wall climbing robot.
Background
The surface layer of a large ship is easy to oxidize when being in fresh water, seawater and other environments for a long time, or the surface layer of a ship body needs to be detected and repaired due to various reasons such as errors in the production process, or the safety problem of the ship is caused. Or the surface of the large pressure vessel is stored with corrosive liquid or exposed to the atmospheric environment to cause rusting, thereby causing material failure and severe explosion of the pressure vessel, so that the quality inspection and maintenance of the pressure vessel are required regularly. The quality detection and maintenance of ships and large pressure vessels are both manual operation at the present stage, the workload is large, and the danger coefficient is high, so that the research and development of a mobile platform capable of carrying detection equipment and maintenance equipment to walk on a steel wall surface is of great significance.
At the present stage, research on steel wall climbing mobile platforms is started in many countries, and various steel wall climbing mobile platforms are developed, so that a crawler-type steel wall climbing robot is provided.
Disclosure of Invention
The invention aims to provide a crawler-type steel wall climbing robot which can automatically adapt to steel walls with different curvature radiuses and can safely and reliably walk on the walls under the condition of bearing detection or maintenance equipment.
In order to achieve the purpose, the invention adopts the technical scheme that:
a crawler-type steel wall climbing robot comprises a shell, an adsorption walking device and a power supply control device, wherein a main frame is arranged in the shell, a secondary frame is longitudinally and fixedly connected to the middle of the main frame, the secondary frame comprises a first positioning frame and a first supporting plate connected to the front end of the first positioning frame, and the power supply control device is connected to the first positioning frame; the two groups of adsorption traveling devices are respectively arranged on two sides of the secondary frame;
the adsorption walking device comprises a worm and gear motor, a rotary positioning plate, an adsorption walking shell, a magnetic chain transmission mechanism and an inner chain supporting mechanism, wherein the rotary positioning plate is rotatably connected between the main frame and the first positioning frame through a first positioning plate connecting mechanism, and the worm and gear motor is connected in the rotary positioning plate;
the adsorption walking shell comprises two groups of first tensioning adjusting plate assemblies, a first main transmission gear assembly and a second auxiliary transmission gear assembly are connected between the two groups of first tensioning adjusting plate assemblies, and the first main transmission gear assembly is connected with a worm gear motor;
the magnetic chain transmission mechanism is positioned between the two groups of first tensioning adjusting plate assemblies and is sleeved at the outer ends of the first main transmission gear assembly and the second auxiliary transmission gear assembly; the chain inner support mechanism is arranged on the inner side of the magnetic chain transmission mechanism and is positioned through the first tensioning adjusting plate component;
the magnetic chain transmission mechanism comprises an adsorption magnet block, a transmission gear chain and a magnet block fixing plate assembly, wherein the transmission gear chain is connected with a plurality of magnet block fixing plate assemblies which are arranged in parallel through bolts, and each magnet block fixing plate assembly is connected with a plurality of adsorption magnet blocks through bolts.
Preferably, the main frame is in a square frame shape, the upper end of the main frame is connected with a rectangular shell-shaped shell, and two sides of the main frame are connected with carrying handles;
the power supply control device comprises a battery, a controller and a control positioning plate, the first positioning frame is in a rectangular frame shape, the control positioning plate is in an L-shaped plate shape, the control positioning plate is connected in the first positioning frame, and the battery and the controller are connected to the control positioning plate.
Preferably, the first support plates are in a U-shaped plate shape, the number of the first support plates is two, and the two first support plates are arranged in a mirror symmetry manner;
the front end of the first supporting plate is connected with the front part of the main frame through a bolt, and the rear end of the first supporting plate is connected with the front part of the secondary frame through a bolt; and an anti-collision buffer block is arranged between the battery and the first positioning frame, and the length of the control positioning plate is smaller than that of the first positioning frame.
Preferably, the rotary positioning plate is in a U-shaped plate shape, and the side end of the opening of the rotary positioning plate is connected with the first tensioning adjusting plate assembly through a first end connecting plate; a first plate positioning hole and a second plate positioning hole are formed in the front end face of the rotary positioning plate, and a third plate positioning hole and a fourth plate positioning hole are formed in the rear end face of the rotary positioning plate;
the front part of the main frame is provided with a first arc-shaped slotted hole and a first frame positioning hole, and the front part of the secondary frame is provided with a second arc-shaped slotted hole and a second frame positioning hole.
Preferably, the first positioning plate connecting mechanism comprises a first plate fixing rod, a second plate fixing rod, a first plate rotating rod and a second plate rotating rod, two end portions of the first plate fixing rod are respectively connected with the first plate positioning hole and the first frame positioning hole, and two end portions of the second plate fixing rod are respectively connected with the third plate positioning hole and the second frame positioning hole;
the two end parts of the first plate rotating rod are respectively connected with the second plate positioning hole and the first arc-shaped slotted hole, and the two end parts of the second plate rotating rod are respectively connected with the fourth plate positioning hole and the second arc-shaped slotted hole.
Preferably, the first tensioning adjusting plate assembly comprises a first front adjusting plate, a first rear adjusting plate and a tensioning screw assembly, and a first gear shaft connecting hole for connecting the first main transmission gear assembly is formed in the front part of the first front adjusting plate;
a first supporting connecting hole for connecting the chain inner supporting mechanism is formed in the middle of the first front adjusting plate, two first strip-shaped slotted holes which are arranged in parallel are formed in the rear portion of the first front adjusting plate, and a first adjusting and positioning bolt is connected in each first strip-shaped slotted hole.
Preferably, the first front adjusting plate and the first rear adjusting plate are rectangular plates, a first adjusting plate notch is formed in the front part of the first rear adjusting plate, and a plurality of first adjusting plate positioning holes are formed in the first rear adjusting plate at the side end of the first adjusting plate notch;
the tensioning screw rod assembly comprises a first tensioning positioning seat, a second tensioning positioning seat and a tensioning positioning screw rod, the first tensioning positioning seat is fixedly connected to a first front adjusting plate between two first slotted holes, and the second tensioning positioning seat is fixedly connected to a first rear adjusting plate on the inner side of a slot opening of the first adjusting plate;
the first rear adjusting plate is connected with a first adjusting positioning bolt through a first adjusting plate positioning hole, the tensioning positioning screw rod is connected with a first tensioning positioning seat and a second tensioning positioning seat, and the tensioning positioning screw rod is connected with a tensioning positioning nut.
Preferably, the first main transmission gear assembly comprises a first main rotating shaft and a first main gear sleeved on the first main rotating shaft, one end of the first main rotating shaft penetrates through the first tensioning adjusting plate assembly on the inner side and then is connected with a rotating worm of the worm gear motor, and the other end of the first main rotating shaft penetrates through the first tensioning adjusting plate assembly on the outer side and then is fastened and positioned through the first rotating shaft positioning seat;
the second driven transmission gear assembly comprises a second driven rotating shaft and a second driven gear sleeved on the second driven rotating shaft, and the end part of the second driven rotating shaft penetrates through the first tensioning adjusting plate assembly and then is fastened and positioned through a second rotating shaft positioning seat.
Preferably, the chain inner support mechanism comprises a first chain supporting plate and a plurality of auxiliary push wheel assemblies, and the first chain supporting plate is positioned at the lower end of the upper part of the magnetic chain transmission mechanism and is connected with the first tensioning adjusting plate assembly; the plurality of auxiliary push wheel assemblies are uniformly distributed between the two groups of first tensioning adjusting plate assemblies;
the auxiliary push wheel assembly comprises a first push rod fixing sheet, a first T-shaped push rod and a first push wheel, the first push rod fixing sheet is in an inverted U shape and is connected between the two first tensioning adjusting plate assemblies through screws, and the lower end of the middle part of the first push rod fixing sheet is connected with a first sleeve;
the rod end part of the first T-shaped push rod penetrates through the first sleeve and the first push rod fixing piece and then is connected with a first push rod positioning nut, and a first compression spring is sleeved on the first T-shaped push rod below the first sleeve; the first push wheels are two and are respectively connected to two ends of the first T-shaped push rod through first flange bearings.
Preferably, the magnet block fixing plate assembly comprises two first L-shaped magnet block connecting plates, the first L-shaped magnet block connecting plates are connected with the inner side ends of the transmission gear chains, the upper ends of the first L-shaped magnet block connecting plates are connected with first U-shaped magnet block connecting plates, and the inner ends of the first U-shaped magnet block connecting plates are connected with the plurality of adsorption magnet blocks through bolts.
The invention has the beneficial effects that:
when the robot works, the robot is placed on the wall surface of a large pressure vessel or the outer wall surface of a ship body, the left adsorption walking device on the robot rotates around the shaft, the adsorption walking device on the right side of the robot rotates around the shaft, and meanwhile, the shaft is positioned in the first arc-shaped groove hole and the second arc-shaped groove hole. The arc-shaped slot hole limits the rotation angle of the robot adsorption walking device, so that the robot can automatically adapt to the radian of the pressure container or the outer wall surface of the ship body to a certain extent along the direction of the central shaft.
Above-mentioned crawler-type steel wall climbing robot has set up simple structure's casing and corresponding frame construction at first, and the structure is compacter, has reduced overall support structure's weight. Meanwhile, two groups of novel adsorption walking devices are arranged, and rotation phase-change walking of the adsorption walking devices is realized by arranging the first positioning plate connecting mechanism.
And the inner chain supporting mechanism is arranged in the magnetic chain transmission mechanism, so that the structure reinforced support of the chain is realized, and the magnetic chain transmission mechanism is supported and positioned, so that the magnet block of the magnetic chain transmission mechanism can be more effectively attached to the wall surface of a large pressure vessel or the outer wall surface of a ship body. Above-mentioned body structure of crawler-type steel wall climbing robot can make the robot adapt to different curvature radius's steel wall automatically to can be under the condition of bearing detection or maintenance of equipment the walking of wall safe and reliable.
Drawings
In order to clearly illustrate the embodiments or technical solutions of the present invention in the prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of a crawler-type steel wall climbing robot.
FIG. 2 is a schematic view of the connection between the carrying handle and the main frame.
Fig. 3 is a schematic view of the configuration of the adsorption running gear when rotating.
Fig. 4 is a schematic view of a connection structure of the housing and the main frame.
Fig. 5 is a schematic view of a first tensioning plate assembly attachment arrangement.
Fig. 6 is a schematic view of the overall structure of the support mechanism in the chain.
Fig. 7 is a schematic view of a connection structure of a transmission gear chain and a magnet block fixing plate assembly.
Fig. 8 is a schematic view of the overall structure of the auxiliary push wheel assembly.
FIG. 9 is a schematic view showing a coupling structure of the first rear adjustment plate and the second driven gear assembly.
Fig. 10 is a schematic view of the overall structure of the main frame.
Fig. 11 is a schematic view of the overall structure of the first support plate.
Fig. 12 is a schematic view of the overall structure of the first positioning frame.
Fig. 13 is a schematic view of the overall structure of the worm gear motor.
Fig. 14 is a schematic view of the overall structure of the rotating positioning plate.
Detailed Description
The invention provides a crawler-type steel wall climbing robot, and the invention is further described in detail below in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention is described in detail below with reference to the accompanying drawings:
example 1
With reference to fig. 1 to 14, a crawler-type steel wall climbing robot comprises a housing 1, a power supply control device 2 and an adsorption walking device 3, wherein a main frame 11 is arranged in the housing 1, a secondary frame 12 is longitudinally fixedly connected to the middle of the main frame 11, the secondary frame 12 comprises a first positioning frame 121 and a first supporting plate 122 connected to the front end of the first positioning frame 121, and the power supply control device 3 is connected to the first positioning frame 121. There are two sets of absorption running gear 2, and two sets of absorption running gear 2 set up respectively in the main frame 11 of subframe 12 both sides.
The adsorption walking device 3 comprises a worm gear motor 31, a rotary positioning plate 32, an adsorption walking shell 33, a magnetic chain transmission mechanism 4 and a chain inner support mechanism 5. The rotary positioning plate 32 is rotatably connected between the main frame 11 and the first positioning frame 121 through the first positioning plate connecting mechanism 6, and the worm gear motor 31 is connected in the rotary positioning plate 32.
The adsorption walking shell 33 comprises two groups of first tensioning adjusting plate assemblies 7, a first main transmission gear assembly 34 and a second auxiliary transmission gear assembly 35 are connected between the two groups of first tensioning adjusting plate assemblies 7, and the first main transmission gear assembly 34 is connected with the worm gear motor 31.
The magnetic chain transmission mechanism 4 is positioned between the two groups of the first tensioning adjusting plate assemblies 7 and is sleeved at the outer ends of the first main transmission gear assembly 34 and the second auxiliary transmission gear assembly 35.
The chain inner support mechanism 5 is arranged on the inner side of the magnetic chain transmission mechanism 4 and is positioned through a first tensioning adjusting plate component 7; the magnetic chain transmission mechanism 4 includes an adsorption magnet block 41, a transmission gear chain 42, and a magnet block fixing plate assembly 43, the transmission gear chain 42 is bolted to a plurality of magnet block fixing plate assemblies 43 arranged in parallel, and each magnet block fixing plate assembly 43 is bolted to a plurality of adsorption magnet blocks 41.
The main frame 11 is in a square frame shape, the upper end of the main frame 11 is connected with the rectangular shell-shaped casing 1, and the two sides of the main frame 11 are connected with the carrying handles 13.
The power supply control device 2 includes a battery 21, a controller 22 and a control positioning plate 23, the first positioning frame 121 is rectangular frame-shaped, the control positioning plate 23 is L-shaped plate-shaped, the control positioning plate 23 is connected in the first positioning frame 121, and the battery 21 and the controller 22 are connected on the control positioning plate.
The first supporting plates 122 are U-shaped, the number of the first supporting plates 122 is two, the two first supporting plates 122 are vertically installed, and the two first supporting plates 122 are arranged in a mirror symmetry manner. The front end of the first support plate 122 is connected with the front part of the main frame 11 through bolts, and the rear end of the first support plate 122 is connected with the front part of the sub-frame 12 through bolts; be provided with crashproof buffer block 24 between battery 21 and the first locating frame 121, the length of control locating plate 23 is less than the length of first locating frame 121, makes control locating plate 23 and first locating frame 121 leave certain installation space like this, the subsequent installation of being convenient for.
The rotary positioning plate 32 is in a U-shaped plate shape, and the side end of the opening of the rotary positioning plate 32 is connected with the first tensioning plate assembly 7 through a first end connecting plate; a first plate positioning hole 301 and a second plate positioning hole 302 are formed in the front end surface of the rotational positioning plate 32, and a third plate positioning hole 303 and a fourth plate positioning hole 304 are formed in the rear end surface of the rotational positioning plate;
a first arc-shaped slot hole 101 and a first frame positioning hole 102 are provided on the front portion of the main frame 11, and a second arc-shaped slot hole 103 and a second frame positioning hole 104 are provided on the front portion of the sub-frame 12.
The first positioning plate connecting mechanism 6 includes a first plate fixing lever 61, a second plate fixing lever 62, a first plate rotating lever 63, and a second plate rotating lever 64, both ends of the first plate fixing lever 61 are connected to the first plate positioning hole 301 and the first frame positioning hole 102, respectively, and both ends of the second plate fixing lever 62 are connected to the third plate positioning hole 303 and the second frame positioning hole 104, respectively.
The first plate rotating lever 63 has both end portions connected to the second plate positioning hole 302 and the first arc-shaped slot hole 101, respectively, and the second plate rotating lever 64 has both end portions connected to the fourth plate positioning hole 304 and the second arc-shaped slot hole 103, respectively.
The first tensioning adjusting plate assembly 7 comprises a first front adjusting plate 71, a first rear adjusting plate 72 and a tensioning screw assembly 73, a first gear shaft connecting hole for connecting the first main transmission gear assembly 34 is formed in the front of the first front adjusting plate 71, a first supporting connecting hole for connecting the chain inner supporting mechanism 5 is formed in the middle of the first front adjusting plate 71, two first strip-shaped slots 74 arranged in parallel are formed in the rear of the first front adjusting plate 71, and first adjusting positioning bolts 75 are connected in the first strip-shaped slots 74.
The first front adjustment plate 71 and the first rear adjustment plate 72 are rectangular plates, a first adjustment plate slot is formed in the front portion of the first rear adjustment plate 72, and a plurality of first adjustment plate positioning holes 76 are formed in the first rear adjustment plate 72 at the side end of the first adjustment plate slot. The tension screw assembly 73 comprises a first tension positioning seat 77, a second tension positioning seat 78 and a tension positioning screw 79, wherein the first tension positioning seat 77 is fixedly connected on the first front adjusting plate 71 between the two first strip-shaped slotted holes 74, and the second tension positioning seat 78 is fixedly connected on the first rear adjusting plate 72 at the inner side of the slot opening of the first adjusting plate. After the first rear adjusting plate 72 is connected with the first adjusting positioning bolt 75 through the first adjusting plate positioning hole 76, the first tensioning positioning seat 77 and the second tensioning positioning seat 78 are connected through the tensioning positioning screw 79, and the tensioning positioning screw 79 is connected with a tensioning positioning nut for positioning the tensioning positioning screw 79.
The first main transmission gear assembly 34 includes a first main rotating shaft and a first main gear sleeved on the first main rotating shaft, one end of the first main rotating shaft is connected with the rotating worm of the worm gear motor 31 after passing through the first tightening adjusting plate assembly 7 on the inner side, and the other end of the first main rotating shaft is fastened and positioned by the first rotating shaft positioning seat after passing through the first tightening adjusting plate assembly 7 on the outer side.
The second driven transmission gear assembly 35 comprises a second driven rotating shaft 35 and a second driven gear 351 sleeved on the second driven rotating shaft 35, and the end of the second driven rotating shaft 35 passes through the first tensioning adjusting plate assembly 7 and is fixedly positioned through a second rotating shaft positioning seat.
The chain inner supporting mechanism 5 comprises a first chain supporting plate 51 and a plurality of auxiliary push wheel assemblies 52, wherein the first chain supporting plate 51 is positioned at the lower end of the upper part of the magnetic chain transmission mechanism 4 and is connected with the first tensioning adjusting plate assembly 7; a plurality of auxiliary pusher wheel assemblies 52 are uniformly distributed between the two sets of first tensioning plate assemblies 7.
The auxiliary push wheel assembly 52 comprises a first push rod fixing plate 53, a first T-shaped push rod 54 and a first push wheel 55, the first push rod fixing plate 53 is in an inverted U shape, the first push rod fixing plate 53 is connected between the two first tensioning adjusting plate assemblies 7 through screws, and the lower end of the middle part of the first push rod fixing plate 53 is connected with a first sleeve 56;
the rod end of the first T-shaped push rod 54 passes through the first sleeve 56 and the first push rod fixing plate 53 and then is connected with a first push rod positioning nut 57, and a first pressing spring 58 is sleeved on the first T-shaped push rod 54 below the first sleeve 56. The number of the first push wheels 55 is two, and the two first push wheels 55 are respectively connected to two ends of the first T-shaped push rod 54 through first flange bearings.
The magnet block fixing plate assembly 43 includes two first L-shaped magnet block connecting plates 431, the first L-shaped magnet block connecting plates 431 are connected to the inner end of the transmission gear chain 42, the upper end of the first L-shaped magnet block connecting plates 431 is connected to a first U-shaped magnet block connecting plate 432, and the inner end of the first U-shaped magnet block connecting plate 432 is connected to the plurality of magnet blocks 41 by bolts.
Example 2
When the robot works, the robot is placed on the wall surface of a large pressure vessel or the outer wall surface of a ship body, the left adsorption walking device on the robot rotates around the shaft, the adsorption walking device on the right side of the robot rotates around the shaft, and meanwhile, the shaft is positioned in the first arc-shaped groove hole and the second arc-shaped groove hole. The arc-shaped slot hole limits the rotation angle of the robot adsorption walking device, so that the robot can automatically adapt to the radian of the pressure container or the outer wall surface of the ship body to a certain extent along the direction of the central shaft.
The adsorption walking device is internally provided with a chain inner supporting mechanism 5, and the chain inner supporting mechanism 5 is arranged on the inner side of the magnetic chain transmission mechanism 4 and is positioned through a first tensioning adjusting plate component 7. The first pressing spring 58 in the support mechanism 5 in the chain pushes the first T-shaped push rod 54, so that the first push wheel 55 on the first T-shaped push rod 54 always pushes and supports the magnetic chain transmission mechanism 4 elastically, and at this time, the magnetic chain transmission mechanism 4 supports the gravity of the whole robot.
Example 3
The controller controls the work of the worm gear motor, the worm gear motor drives the first main transmission gear assembly 34 to rotate, the first main transmission gear assembly 34 drives the magnetic chain transmission mechanism 4 to rotate to work, in the rotating process of the magnetic chain transmission mechanism 4, the inner chain support mechanism 5 serves as an auxiliary support, the robot finally walks on the wall surface, the rotating speeds of the two worm gear motors of the robot are changed, differential rotation is achieved, and the robot can turn. When the magnet chain on the adsorption walking device of the robot is loosened, the length of the first tensioning adjusting plate component 7 can be adjusted, and the tensioning of the magnet chain of the left adsorption walking device can be realized.
Above-mentioned crawler-type steel wall climbing robot has set up simple structure's casing and corresponding frame construction at first, and the structure is compacter, has reduced overall support structure's weight. Meanwhile, two groups of novel adsorption walking devices are arranged, and rotation phase-change walking of the adsorption walking devices is realized by arranging the first positioning plate connecting mechanism 6.
And the chain inner supporting mechanism 5 is arranged in the magnetic chain transmission mechanism 4, so that the structure reinforced support of the chain is realized, and the magnetic chain transmission mechanism 4 is supported and positioned, so that the magnet block of the magnetic chain transmission mechanism 4 can be more effectively attached to the wall surface of a large pressure vessel or the outer wall surface of a ship body. Above-mentioned body structure of crawler-type steel wall climbing robot can adapt to different curvature radius's steel wall automatically to can be under the condition of bearing detection or maintenance of equipment the walking of wall safe and reliable.
Example 4
When the robot carries corrosive liquid, a carrying tank for containing and carrying the corrosive liquid can be arranged on the shell, and the carrying tank can be welded on the shell.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (10)
1. A crawler-type steel wall climbing robot is characterized by comprising a shell, an adsorption walking device and a power supply control device, wherein a main frame is arranged in the shell, a secondary frame is longitudinally and fixedly connected to the middle of the main frame, the secondary frame comprises a first positioning frame and a first supporting plate connected to the front end of the first positioning frame, and the power supply control device is connected into the first positioning frame; the two groups of adsorption traveling devices are respectively arranged on two sides of the secondary frame;
the adsorption walking device comprises a worm and gear motor, a rotary positioning plate, an adsorption walking shell, a magnetic chain transmission mechanism and an inner chain supporting mechanism, wherein the rotary positioning plate is rotatably connected between the main frame and the first positioning frame through a first positioning plate connecting mechanism, and the worm and gear motor is connected in the rotary positioning plate;
the adsorption walking shell comprises two groups of first tensioning adjusting plate assemblies, a first main transmission gear assembly and a second auxiliary transmission gear assembly are connected between the two groups of first tensioning adjusting plate assemblies, and the first main transmission gear assembly is connected with a worm gear motor;
the magnetic chain transmission mechanism is positioned between the two groups of first tensioning adjusting plate assemblies and is sleeved at the outer ends of the first main transmission gear assembly and the second auxiliary transmission gear assembly; the chain inner support mechanism is arranged on the inner side of the magnetic chain transmission mechanism and is positioned through the first tensioning adjusting plate component;
the magnetic chain transmission mechanism comprises an adsorption magnet block, a transmission gear chain and a magnet block fixing plate assembly, wherein the transmission gear chain is connected with a plurality of magnet block fixing plate assemblies which are arranged in parallel through bolts, and each magnet block fixing plate assembly is connected with a plurality of adsorption magnet blocks through bolts.
2. The crawler-type steel wall climbing robot according to claim 1, wherein the main frame is in a square frame shape, the upper end of the main frame is connected with a rectangular shell-shaped shell, and two sides of the main frame are connected with carrying handles;
the power supply control device comprises a battery, a controller and a control positioning plate, the first positioning frame is in a rectangular frame shape, the control positioning plate is in an L-shaped plate shape, the control positioning plate is connected in the first positioning frame, and the battery and the controller are connected to the control positioning plate.
3. The crawler-type steel wall climbing robot according to claim 2, wherein the first support plates are U-shaped plate-shaped, and the number of the first support plates is two, and the two first support plates are arranged in a mirror symmetry manner;
the front end of the first supporting plate is connected with the front part of the main frame through a bolt, and the rear end of the first supporting plate is connected with the front part of the secondary frame through a bolt; and an anti-collision buffer block is arranged between the battery and the first positioning frame, and the length of the control positioning plate is smaller than that of the first positioning frame.
4. The crawler-type steel wall climbing robot according to claim 1, wherein the rotating positioning plate is in a U-shaped plate shape, and the side end of the opening of the rotating positioning plate is connected with the first tensioning adjusting plate assembly through a first end connecting plate; a first plate positioning hole and a second plate positioning hole are formed in the front end face of the rotary positioning plate, and a third plate positioning hole and a fourth plate positioning hole are formed in the rear end face of the rotary positioning plate;
the front part of the main frame is provided with a first arc-shaped slotted hole and a first frame positioning hole, and the front part of the secondary frame is provided with a second arc-shaped slotted hole and a second frame positioning hole.
5. The crawler-type steel wall climbing robot according to claim 4, wherein the first positioning plate connecting mechanism comprises a first plate fixing rod, a second plate fixing rod, a first plate rotating rod and a second plate rotating rod, two ends of the first plate fixing rod are respectively connected with the first plate positioning hole and the first frame positioning hole, and two ends of the second plate fixing rod are respectively connected with the third plate positioning hole and the second frame positioning hole;
the two end parts of the first plate rotating rod are respectively connected with the second plate positioning hole and the first arc-shaped slotted hole, and the two end parts of the second plate rotating rod are respectively connected with the fourth plate positioning hole and the second arc-shaped slotted hole.
6. The crawler-type steel wall climbing robot according to claim 1, wherein the first tensioning adjusting plate assembly comprises a first front adjusting plate, a first rear adjusting plate and a tensioning screw assembly, and a first gear shaft connecting hole for connecting the first main transmission gear assembly is formed in the front of the first front adjusting plate;
a first supporting connecting hole for connecting the chain inner supporting mechanism is formed in the middle of the first front adjusting plate, two first strip-shaped slotted holes which are arranged in parallel are formed in the rear portion of the first front adjusting plate, and a first adjusting and positioning bolt is connected in each first strip-shaped slotted hole.
7. The crawler-type steel wall climbing robot according to claim 6, wherein the first front adjusting plate and the first rear adjusting plate are rectangular plates, a first adjusting plate notch is formed in the front of the first rear adjusting plate, and a plurality of first adjusting plate positioning holes are formed in the first rear adjusting plate at the side end of the first adjusting plate notch;
the tensioning screw rod assembly comprises a first tensioning positioning seat, a second tensioning positioning seat and a tensioning positioning screw rod, the first tensioning positioning seat is fixedly connected to a first front adjusting plate between two first slotted holes, and the second tensioning positioning seat is fixedly connected to a first rear adjusting plate on the inner side of a slot opening of the first adjusting plate;
the first rear adjusting plate is connected with a first adjusting positioning bolt through a first adjusting plate positioning hole, the tensioning positioning screw rod is connected with a first tensioning positioning seat and a second tensioning positioning seat, and the tensioning positioning screw rod is connected with a tensioning positioning nut.
8. The crawler-type steel wall climbing robot is characterized in that the first main transmission gear assembly comprises a first main rotating shaft and a first main gear sleeved on the first main rotating shaft, one end of the first main rotating shaft penetrates through the first tensioning adjusting plate assembly on the inner side and then is connected with a rotating worm of a worm gear motor, and the other end of the first main rotating shaft penetrates through the first tensioning adjusting plate assembly on the outer side and then is fastened and positioned through a first rotating shaft positioning seat;
the second driven transmission gear assembly comprises a second driven rotating shaft and a second driven gear sleeved on the second driven rotating shaft, and the end part of the second driven rotating shaft penetrates through the first tensioning adjusting plate assembly and then is fastened and positioned through a second rotating shaft positioning seat.
9. A tracked steel wall climbing robot according to claim 1, wherein the in-chain support mechanism comprises a first chain support plate and a plurality of auxiliary push wheel assemblies, the first chain support plate is located at the lower end of the upper part of the magnetic chain transmission mechanism and is connected with the first tensioning adjusting plate assembly; the plurality of auxiliary push wheel assemblies are uniformly distributed between the two groups of first tensioning adjusting plate assemblies;
the auxiliary push wheel assembly comprises a first push rod fixing sheet, a first T-shaped push rod and a first push wheel, the first push rod fixing sheet is in an inverted U shape and is connected between the two first tensioning adjusting plate assemblies through screws, and the lower end of the middle part of the first push rod fixing sheet is connected with a first sleeve;
the rod end part of the first T-shaped push rod penetrates through the first sleeve and the first push rod fixing piece and then is connected with a first push rod positioning nut, and a first compression spring is sleeved on the first T-shaped push rod below the first sleeve; the first push wheels are two and are respectively connected to two ends of the first T-shaped push rod through first flange bearings.
10. The crawler-type steel wall climbing robot according to claim 1, wherein the magnet fixing plate assembly comprises two first L-shaped magnet connecting plates, the first L-shaped magnet connecting plates are connected with the inner ends of the transmission gear chains, the upper ends of the first L-shaped magnet connecting plates are connected with first U-shaped magnet connecting plates, and the inner ends of the first U-shaped magnet connecting plates are connected with the plurality of magnet adsorbing blocks through bolts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911342944.6A CN111086568B (en) | 2019-12-24 | 2019-12-24 | Crawler-type steel wall climbing robot |
| PCT/CN2020/081572 WO2021128623A1 (en) | 2019-12-24 | 2020-03-27 | Crawler-type steel wall climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911342944.6A CN111086568B (en) | 2019-12-24 | 2019-12-24 | Crawler-type steel wall climbing robot |
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| CN111086568B CN111086568B (en) | 2020-10-30 |
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| WO (1) | WO2021128623A1 (en) |
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Also Published As
| Publication number | Publication date |
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| WO2021128623A1 (en) | 2021-07-01 |
| CN111086568B (en) | 2020-10-30 |
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