CN111572725A - Curved surface self-adaptive underwater wall-climbing robot - Google Patents
Curved surface self-adaptive underwater wall-climbing robot Download PDFInfo
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- CN111572725A CN111572725A CN201910124138.5A CN201910124138A CN111572725A CN 111572725 A CN111572725 A CN 111572725A CN 201910124138 A CN201910124138 A CN 201910124138A CN 111572725 A CN111572725 A CN 111572725A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
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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 belongs to the technical field of wall climbing robots, and particularly relates to a curved surface self-adaptive underwater wall climbing robot which comprises a rack, a swing arm mechanism, an adsorption travelling mechanism and two driving mechanisms, wherein the swing arm mechanism is arranged on the front side of the top of the rack, the adsorption travelling mechanism comprises two driving wheels, two magnetic adsorption units and two auxiliary magnetic wheels, the two auxiliary magnetic wheels are respectively arranged on the front side and the rear side of the bottom of the rack, the two driving mechanisms are respectively hinged to two sides of the front end of the rack through two hinging mechanisms, the two magnetic adsorption units are respectively arranged at the bottoms of the two driving mechanisms, the two driving wheels are respectively connected with output ends of the two driving mechanisms, and the horizontal positions of the bottoms of the two driving wheels are lower than the horizontal positions of the. The curved surface self-adaptive underwater wall climbing robot is suitable for underwater pair execution work, and has the advantages of simple and light structure, good flexibility, strong load capacity and consideration of obstacle crossing capability and curved surface adaptability.
Description
Technical Field
The invention belongs to the technical field of wall-climbing robots, and particularly relates to a curved surface self-adaptive underwater wall-climbing robot.
Background
The cleaning and rust removal of ships are key problems in ship maintenance, and nowadays, a mature mode is that workers wear equipment to enter an underwater environment or clean ships through handheld cleaning equipment after docking, but the manual operation mode is low in efficiency, long in cycle time and heavy in physical and mental burden on workers, and due to the limitation of the number of docks, multiple ships cannot operate simultaneously. The wall climbing robot carries the cleaning device to perform operation, the high-pressure water nondestructive cleaning process, the real-time monitoring system and the wall climbing robot are organically combined, the cleaning efficiency is high, the operation is convenient, and the labor force of workers is greatly saved. The existing shipyards abroad start to apply the wall-climbing robot, but the wall-climbing robot is basically used in the water environment, and most of the wall-climbing robots are complex in structure, heavy in operation and low in load capacity. Common adsorption modes of wall-climbing robots include vacuum adsorption, thrust adsorption, magnetic adsorption, electrostatic adsorption and the like, wherein the magnetic adsorption is divided into permanent magnetic adsorption and electromagnetic adsorption, and the electromagnetic adsorption type wall-climbing robot is complex in structure and poor in safety, so that the application is less.
The patent 'a wheeled magnetism adsorbs wall climbing robot' (application number: 201610364096.9) provides a permanent magnetism wheeled wall climbing robot, and this robot structure is lighter, the motion is nimble, through camera and range finding sensor, can realize independently keeping away the barrier, but its organism and wall distance are little, and curved surface adaptability is weak, and load capacity is low, only is applicable to the operation of big planar detection. The patent of a crawler-type wall-climbing robot (application number: 201610350206.6) provides a crawler-type wall-climbing robot, which can realize the conversion of the distribution state of a magnetic field by a magnetic adsorption structure of a steering engine, is convenient for the robot to get on and off the wall, has firm adsorption and stronger load capacity, but has more complex structure, poor curved surface adaptability and obstacle crossing capability and limited application in the working environment of the wall surface of a ship. The patent 'a multicavity adsorbed wheel leg convolution wall climbing robot' (application number: 201710103129.9) has proposed a wheel leg convolution wall climbing robot, and this robot adopts the negative pressure adsorption mode, has set up one and has surmounted the arm and cooperate the robot motion, has improved the ability of surmounting the obstacle of robot, but the vacuum adsorption mode requires high to the wall, easy broken vacuum, adsorbs the stability inadequately, and the curved surface adaptability of this structure is also inadequately.
However, the ship wall surface cleaning equipment has certain weight, generates larger recoil force during working, and the surface of the ship body is a curved surface with multiple curvatures and multiple obstacles, so that the wall climbing robot is required to have various characteristics. The existing wall-climbing robot at home and abroad is generally used in an overwater plane environment, and due to the limitation of the structure of the magnetic adsorption unit and the distribution of magnetic force, the defects of complex and heavy structure, poor flexibility and incapability of taking the load capacity, obstacle-crossing capacity and curved surface adaptability into consideration generally exist, so that the wall-climbing robot has a limited effect on the maintenance operation of the wall surface of a ship.
Disclosure of Invention
The invention aims to provide a curved surface self-adaptive underwater wall climbing robot, and aims to solve the technical problems that the wall climbing robot applied to an underwater ship in the prior art is complex and heavy in structure, poor in flexibility and incapable of taking load capacity, obstacle crossing capacity and curved surface adaptability into consideration.
In order to achieve the above object, an embodiment of the present invention provides a curved surface self-adaptive underwater wall climbing robot, including a frame, a swing arm mechanism, an adsorption traveling mechanism and two driving mechanisms, where the swing arm mechanism is installed at a position on a front side of a top of the frame, the adsorption traveling mechanism includes two driving wheels, two magnetic adsorption units and two auxiliary magnetic wheels, the two auxiliary magnetic wheels are respectively installed at positions on a front side and a rear side of a bottom of the frame, the two driving mechanisms are respectively hinged to two sides of a front end of the frame through two hinge mechanisms, the two magnetic adsorption units are respectively installed at bottoms of the two driving mechanisms, the two driving wheels are respectively connected with output ends of the two driving mechanisms, and horizontal positions of bottoms of the two driving wheels are lower than horizontal positions of bottoms of the magnetic adsorption units.
Optionally, the hinge mechanism includes connecting axle, articulated seat and articulated shaft, articulated seat with the lateral part of frame is connected, just the tip of articulated seat is provided with the hinge hole that the axis extends along the horizontal direction, the connecting axle with actuating mechanism's lateral part is connected, just the connecting axle is provided with the shaft hole that the axis extends along the horizontal direction, the articulated shaft passes the hinge hole with the shaft hole and will articulated seat with the connecting shaft is articulated.
Optionally, each driving wheel includes a first hub and a rubber sheet wrapped around an outer circumference of the first hub, and the first hub is connected to the output end of the driving mechanism.
Optionally, the surface of the rubber skin is provided with a friction pattern.
Optionally, the magnetism adsorbs the unit and includes special-shaped neodymium iron boron permanent magnet, magnet protective sheath and magnetic yoke iron plate, the magnetic yoke iron plate is fixed in actuating mechanism's bottom, the magnet protective sheath cup joint in outside the special-shaped neodymium iron boron permanent magnet, special-shaped neodymium iron boron permanent magnet is fixed in the bottom of magnetic yoke iron plate, just the horizontal position of the bottom of special-shaped neodymium iron boron permanent magnet is higher than the horizontal position of the bottom of action wheel.
Optionally, supplementary magnetic wheel includes second wheel hub, annular neodymium iron boron permanent magnet, nylon cover and annular yoke iron piece, second wheel hub rotationally install in the bottom of frame, annular yoke iron piece install in on the second wheel hub, the nylon cover cup joint in outside the annular neodymium iron boron permanent magnet, annular neodymium iron boron permanent magnet is fixed in the inboard of annular yoke iron piece.
Optionally, a universal wheel carrier is arranged at the bottom of the frame, and the auxiliary magnetic wheel is mounted on the universal wheel carrier.
Optionally, the driving mechanism includes a first sealing shell, and a first motor and a first speed reducer that are disposed inside the first sealing shell, the first sealing shell is hinged to the side portion of the frame through the hinge mechanism, a main shaft of the first motor is connected to an input hole of the first speed reducer, and an output shaft of the first speed reducer extends out of the first sealing shell and is connected to an adjacent one of the driving wheels.
Optionally, the swing arm mechanism includes a second sealed shell, a second motor, a second speed reducer and a swing arm, the second sealed shell is installed in the position of the front side of the top of the frame, the second motor and the second speed reducer are both arranged in the second sealed shell, a main shaft of the second motor is connected with an input hole of the second speed reducer, an output shaft of the second speed reducer extends out of the second sealed shell, and the swing arm is connected with an output shaft of the second speed reducer.
Optionally, a self-rotating nozzle is mounted at the end of the swing arm.
One or more technical schemes in the curved surface self-adaptive underwater wall climbing robot provided by the embodiment of the invention at least have one of the following technical effects: the adsorption walking mechanism of the robot is provided with a left driving mechanism and a right driving mechanism, each driving mechanism respectively drives one driving wheel, the two driving wheels are matched with the two auxiliary magnetic wheels to realize the walking of the whole robot, a magnetic adsorption unit is arranged below the driving mechanisms, and a certain distance is formed between the magnetic adsorption unit and the wall surface, so that the driving wheels can be tightly attached to the wall surface under the action of the magnetic adsorption unit; meanwhile, the arranged hinge mechanisms enable the driving mechanisms at the left side and the right side to form certain-angle swing amplitude along with the condition of the wall surface, so that two driving wheels connected with the two driving mechanisms can also form certain-angle swing amplitude along with the condition of the wall surface; when the robot walks to the wall surface with different curvatures, the driving wheels on the two sides can swing around the hinge mechanism along with the fluctuation of the wall surface, so that the driving wheels, the auxiliary magnetic wheels and the wall surface are tightly attached, the gap between the magnetic adsorption unit and the wall surface can not be obviously changed, the stable adsorption walking of the robot is ensured, and the overturning danger can not occur, so that the robot has the self-adaptive capacity of the curved surface, and further the robot can be more flexible in the maintenance operation of various wall surfaces.
The curved surface self-adaptive underwater wall climbing robot provided by the embodiment of the invention is suitable for underwater execution work on ships, and has the advantages of simple and light structure, good flexibility, strong load capacity and consideration of obstacle crossing capability and curved surface adaptability.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a curved surface adaptive underwater wall-climbing robot provided in an embodiment of the present invention.
Fig. 2 is a cut-away view of another view of the curved adaptive underwater wall-climbing robot in fig. 1.
Fig. 3 is a side view of the curved adaptive underwater wall-climbing robot in fig. 1.
Fig. 4 is an exploded schematic view of the curved surface adaptive underwater wall-climbing robot in fig. 1.
Fig. 5 is a schematic structural diagram of the curved surface adaptive underwater wall-climbing robot in fig. 1 when walking on a curved surface.
Fig. 6 is a schematic structural diagram of the curved surface adaptive underwater wall-climbing robot in fig. 1 when walking on another curved surface.
Fig. 7 is a schematic partial structural view of a curved surface adaptive underwater wall-climbing robot according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
10-frame 11-universal wheel carrier 20-swing arm mechanism
21-second sealed shell 22-second motor 23-second speed reducer
24-swing arm 30-adsorption travelling mechanism 31-driving wheel
32-magnetic adsorption unit 33-auxiliary magnetic wheel 40-driving mechanism
41-first sealed shell 42-first motor 43-first speed reducer
50-hinge mechanism 51-connecting shaft 52-hinge seat
53-articulated shaft 241-self-rotating nozzle 311-first hub
312-rubber 321-special-shaped neodymium-iron-boron permanent magnet 322-magnet protective sleeve
323-magnetic yoke block 331-second hub 332-annular neodymium iron boron permanent magnet
333-nylon sleeve 334-ring yoke iron block.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-7 are exemplary and intended to be used to illustrate embodiments of the invention, and should not be construed as limiting the invention.
In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
In an embodiment of the present invention, as shown in fig. 1 to 7, a curved surface adaptive underwater wall-climbing robot is provided, which is suitable for performing related cleaning, derusting, overhauling and other operations on a ship and the like under hand, for example, cleaning, spraying, detecting and other operations on a metal wall surface can be performed by carrying corresponding operation equipment. The curved surface self-adaptive underwater wall climbing robot can also be used for climbing operation in environments such as an overwater drilling platform, a wind tower, an oil tank and the like on other metal curved surfaces.
Specifically, curved surface self-adaptation is wall climbing robot under water includes frame 10, swing arm mechanism 20, adsorbs running gear 30 and two actuating mechanism 40, swing arm mechanism 20 install in the position of frame 10 top front side, adsorb running gear 30 and include two action wheels 31, two magnetism and adsorb unit 32 and two supplementary magnetic wheel 33, two supplementary magnetic wheel 33 install respectively in the position of frame 10 bottom front side and rear side, two actuating mechanism 40 articulates respectively in the both sides of frame 10 front end through two hinge mechanisms 50 (refer to figure 7), directly articulate actuating mechanism 40 and frame 10 through hinge mechanism 50 and can make whole robot compacter. Two magnetic adsorption unit 32 installs respectively in two actuating mechanism 40's bottom, two the action wheel 31 is respectively with two actuating mechanism 40's output is connected, and two the horizontal position of action wheel 31 bottom all is less than the horizontal position of magnetic adsorption unit 32 bottom.
More specifically, the adsorption walking mechanism 30 of the robot provided by this embodiment is provided with two left and right driving mechanisms 40, each driving mechanism 40 drives one driving wheel 31, the two driving wheels 31 cooperate with two auxiliary magnetic wheels 33 to realize the walking of the whole robot, a magnetic adsorption unit 32 is installed below the driving mechanism 40, and a certain distance is formed between the magnetic adsorption unit 32 and the wall surface, so that the driving wheels 31 can be tightly attached to the wall surface under the action of the magnetic adsorption unit 32; meanwhile, the hinge mechanisms 50 enable the left and right driving mechanisms 40 to form a certain angle of swing (as shown in fig. 5-6) along with the wall surface, so that the two driving wheels 31 connected with the two driving mechanisms 40 can also form a certain angle of swing along with the wall surface; when the robot walks to the wall surface with different curvatures, the driving wheels 31 at the two sides can swing around the hinge mechanism 50 along with the fluctuation of the wall surface, so that the driving wheels 31 and the auxiliary magnetic wheels 33 are tightly attached to the wall surface, the gap between the magnetic adsorption unit 32 and the wall surface can not be obviously changed, the robot is ensured to stably adsorb and walk, the overturning danger can not occur, and the robot has the curved surface self-adaptive capacity, and further can be more flexible in the maintenance operation of various wall surfaces.
The curved surface self-adaptive underwater wall climbing robot provided by the embodiment of the invention is suitable for underwater execution work on ships, and has the advantages of simple and light structure, good flexibility, strong load capacity and consideration of obstacle crossing capability and curved surface adaptability. Compared with crawler-type and bionic foot-type robots, the robot has the advantages of simple structure, flexible walking and strong wall surface adaptability, and the carried rust removal cleaning device can replace manpower to be attached to curved surface wall surfaces of ships and the like, so that efficient operation is realized.
Furthermore, the robot complete machine disclosed by the invention adopts a modular design, different mechanisms are not interfered with each other and are matched with each other, and the robot complete machine can be disassembled, replaced and assembled in a blocking manner during installation and maintenance, so that the maintenance is more convenient. The overall structure of the robot is as shown in fig. 1-2, two driving wheels 31 are symmetrically arranged on the left side and the right side, and auxiliary magnetic wheels 33 are positioned in the front and the back of the whole robot and are positioned on the central plane of the robot; the swing arm mechanism 20 is arranged at the front position close to the upper edge of the front frame 10 and the lower edge of the rear frame 10, so that the steering stability and flexibility of the robot are improved.
In another embodiment of the present invention, as shown in fig. 7, the hinge mechanism 50 of the curved surface adaptive underwater wall-climbing robot is provided and includes a connecting shaft 51, a hinge seat 52 and a hinge shaft 53, the hinge seat 52 is connected to a side portion of the frame 10, an end portion of the hinge seat 52 is provided with a hinge hole (not shown) having an axis extending in a horizontal direction, the connecting shaft 51 is connected to a side portion of the driving mechanism 40, the connecting shaft 51 is provided with a shaft hole (not shown) having an axis extending in a horizontal direction, and the hinge shaft 53 passes through the hinge hole and the shaft hole and hinges the hinge seat 52 to the connecting shaft 51. Specifically, the connecting shaft 51 is disposed to allow a certain distance between the driving mechanism 40 and the frame 10, so as to provide a space for the subsequent driving mechanism 40 to swing. Meanwhile, the axis of the shaft hole formed in the end of the connecting shaft 51 extends along the horizontal direction and the axis of the hinge hole formed in the hinge shaft 53 extends along the horizontal direction, so that the hinge shaft 53 can be ensured to swing around the hinge shaft 53 as the center when the hinge shaft 53 passes through the hinge hole and the shaft hole, and the axis of the hinge shaft 53 also extends along the horizontal direction, so that the driving wheel 31 on both sides can swing around the hinge shaft 53 along with the fluctuation of the wall surface along with the driving mechanism 40 when the hinge seat 52 and the connecting shaft 51 rotate mutually, namely, the swinging in the vertical direction is realized, and the robot can walk on curved surfaces with different curvatures, so that the driving wheel 31 on both sides can closely attach to the wall surface along with the fluctuation of the wall surface, the overturning is prevented, and the self-adaptation.
In another embodiment of the present invention, as shown in fig. 2, each driving wheel 31 of the curved surface adaptive underwater wall-climbing robot provided includes a first hub 311 and a rubber skin 312 covering an outer circumference of the first hub 311, and the first hub 311 is connected to an output end of the driving mechanism 40. Specifically, when the driving wheel 31 encounters obstacles such as a weld, the contact surface between the driving wheel 31 and the weld is small, and the rubber sheet 312 has certain flexibility, so that the compression amount of the wheel at the contact position is large, the magnetic adsorption unit 32 and the gap between the magnetic adsorption unit and the wall surface cannot change too much, and the adsorption force is ensured; when the auxiliary magnetic wheel 33 at the rear position gets over the obstacle, the driving magnetic adsorption unit 32 provides main adsorption force and anti-overturning moment, thereby ensuring that the robot gets over the obstacle smoothly.
In another embodiment of the present invention, a friction pattern (not shown) is provided on the surface of the rubber skin 312 of the curved surface adaptive underwater wall-climbing robot. Specifically, the friction pattern provided on the rubber skin 312 may be formed by engraving, and the friction force of the entire driving wheel 31 may be increased by the arrangement thereof, so that it can better walk on the wall surface.
In another embodiment of the present invention, as shown in fig. 4, the magnetic adsorption unit 32 of the curved surface adaptive underwater wall-climbing robot includes a special-shaped ndfeb permanent magnet 321, a magnet protection sleeve 322 and a magnetic yoke block 323, the magnetic yoke block 323 is fixed at the bottom of the driving mechanism 40, the magnet protection sleeve 322 is sleeved outside the special-shaped ndfeb permanent magnet 321, the special-shaped ndfeb permanent magnet 321 is fixed at the bottom of the magnetic yoke block 323, and the horizontal position of the bottom of the special-shaped ndfeb permanent magnet 321 is higher than the horizontal position of the bottom of the driving wheel 31. Specifically, the magnetic yoke block 3233 plays a role of mounting the special-shaped ndfeb permanent magnet 321 at the bottom of the driving mechanism 40, and the magnet protection sleeve 322 can protect the special-shaped ndfeb permanent magnet 321 and prevent the special-shaped ndfeb permanent magnet 321 from being directly exposed and adsorbed on the wall surface.
In another embodiment of the present invention, as shown in fig. 4, the auxiliary magnetic wheel 33 of the curved surface adaptive underwater wall-climbing robot includes a second wheel hub 331, an annular ndfeb permanent magnet 332, a nylon sleeve 333 and an annular yoke iron block 334, the second wheel hub 331 is rotatably mounted at the bottom of the frame 10, the annular yoke iron block 334 is mounted on the second wheel hub 331, the nylon sleeve 333 is sleeved outside the annular ndfeb permanent magnet 332, and the annular ndfeb permanent magnet 332 is fixed inside the annular yoke iron block 334. Specifically, the annular yoke iron block 334 plays a role of mounting the annular ndfeb permanent magnet 332 on the second hub 331, and the nylon sleeve 333 can protect the annular ndfeb permanent magnet 332 and prevent the annular ndfeb permanent magnet 332 from being directly exposed and adsorbed on the wall surface.
Further, two auxiliary magnetic wheels 33 are arranged on the central axis of the whole machine.
In another embodiment of the present invention, as shown in fig. 4, a universal wheel carrier 11 is disposed at the bottom of the frame 10 of the curved surface adaptive underwater wall-climbing robot, and the auxiliary magnetic wheels 33 are mounted on the universal wheel carrier 11. Specifically, the universal wheel carrier 11 can rotate, so that the auxiliary magnetic wheel 33 can automatically swing to a proper angle to cooperate with the driving wheel 31 to travel according to the traveling path of the driving wheel 31.
In another embodiment of the present invention, as shown in fig. 4, the driving mechanism 40 of the curved surface adaptive underwater wall-climbing robot is provided, and includes a first sealing shell 41, and a first motor 42 and a first speed reducer 43 which are arranged inside the first sealing shell 41, the first sealing shell 41 is hinged to a side portion of the frame 10 through the hinge mechanism 50, a main shaft of the first motor 42 is connected to an input hole of the first speed reducer 43, and an output shaft of the first speed reducer 43 extends out of the first sealing shell 41 and is connected to an adjacent one of the driving wheels 31. Specifically, the first motor 42 drives the first speed reducer 43, and the first speed reducer 43 drives the driving wheel 31 connected with the output shaft thereof to rotate, so that the whole robot is driven to walk. The first sealing case 41 is disposed to prevent the first motor 42 and the first reducer 43 from contacting water and causing accidents.
In another embodiment of the present invention, as shown in fig. 4, the swing arm mechanism 20 of the curved surface adaptive underwater wall climbing robot includes a second sealed housing 21, a second motor 22, a second speed reducer 23 and a swing arm 24, the second sealed housing 21 is installed at a position on the front side of the top of the frame 10, the second motor 22 and the second speed reducer 23 are both disposed in the second sealed housing 21, a main shaft of the second motor 22 is connected to an input hole of the second speed reducer 23, an output shaft of the second speed reducer 23 extends out of the second sealed housing 21, and the swing arm 24 is connected to an output shaft of the second speed reducer 23. Specifically, the second motor 22 drives the second speed reducer 23, the output shaft of the second speed reducer 23 drives the swing arm 24 of the second speed reducer 23 to rotate, and the swing arm 24 can perform circular rotation motion around the output shaft of the second speed reducer 23, so that the length of the swing arm 24 is reduced, the load of the second motor 22 is reduced, the center of gravity of the robot is close to the coaxial line of the rotating shaft as much as possible, and the possibility of overturning of the robot is reduced. Wherein, the second sealed shell 21 is arranged to ensure that the second motor 22 and the second reducer 23 are prevented from contacting water to cause accidents.
In another embodiment of the present invention, as shown in fig. 4, the end of the swing arm 24 of the provided curved surface adaptive underwater wall-climbing robot is provided with a self-rotating nozzle 241. The robot in this embodiment can realize the cleaning operation by the cooperation of the self-rotation nozzle 241 of the robot and the swing arm 24. The self-rotating nozzle 241 starts to rotate after reaching a certain pressure to form a small cleaning circular ring, and the swing arm 24 drives the self-rotating nozzle 241 to swing back and forth under the driving of the motor, so that a circular ring cleaning surface with a certain width is formed, and efficient cleaning operation is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a curved surface self-adaptation is wall climbing robot under water which characterized in that: including frame, swing arm mechanism, absorption running gear and two actuating mechanism, swing arm mechanism install in the position of frame top front side, it includes two action wheels, two magnetism adsorption unit and two supplementary magnetic wheel to adsorb running gear, two supplementary magnetic wheel install respectively in the position of frame bottom front side and rear side, two actuating mechanism articulate respectively in through two hinge mechanisms the both sides of frame front end, two magnetism adsorption unit installs respectively in two actuating mechanism's bottom, two the action wheel is respectively with two actuating mechanism's output is connected, and two the horizontal position of action wheel bottom all is less than the horizontal position of magnetism adsorption unit bottom.
2. The curved adaptive underwater wall-climbing robot of claim 1, wherein: the hinge mechanism comprises a connecting shaft, a hinge seat and a hinge shaft, the hinge seat is connected with the side part of the frame, the end part of the hinge seat is provided with a hinge hole, the axis of the hinge hole extends along the horizontal direction, the connecting shaft is connected with the side part of the driving mechanism, the connecting shaft is provided with a shaft hole, the axis of the hinge hole extends along the horizontal direction, and the hinge shaft penetrates through the hinge hole and the shaft hole and the hinge seat is hinged with the connecting shaft.
3. The curved adaptive underwater wall-climbing robot of claim 1, wherein: each driving wheel comprises a first hub and a rubber sheet wrapping the outer circumference of the first hub, and the first hub is connected with the output end of the driving mechanism.
4. The curved adaptive underwater wall-climbing robot of claim 3, wherein: the surface of the rubber skin is provided with friction patterns.
5. The curved adaptive underwater wall-climbing robot of claim 1, wherein: the magnetic adsorption unit comprises a special-shaped neodymium iron boron permanent magnet, a magnet protective sleeve and a magnetic yoke iron block, wherein the magnetic yoke iron block is fixed at the bottom of the driving mechanism, the magnet protective sleeve is sleeved outside the special-shaped neodymium iron boron permanent magnet, the special-shaped neodymium iron boron permanent magnet is fixed at the bottom of the magnetic yoke iron block, and the horizontal position of the bottom of the special-shaped neodymium iron boron permanent magnet is higher than the horizontal position of the bottom of the driving wheel.
6. The curved adaptive underwater wall-climbing robot of claim 1, wherein: supplementary magnetic wheel includes second wheel hub, annular neodymium iron boron permanent magnet, nylon cover and annular yoke iron piece, second wheel hub rotationally install in the bottom of frame, annular yoke iron piece install in on the second wheel hub, the nylon cover cup joint in outside the annular neodymium iron boron permanent magnet, annular neodymium iron boron permanent magnet is fixed in the inboard of annular yoke iron piece.
7. The curved adaptive underwater wall-climbing robot of claim 1, wherein: the bottom of the rack is provided with a universal wheel carrier, and the auxiliary magnetic wheel is arranged on the universal wheel carrier.
8. The curved surface adaptive underwater wall-climbing robot as claimed in any one of claims 1 to 7, wherein: the driving mechanism comprises a first sealing shell, a first motor and a first speed reducer, wherein the first motor and the first speed reducer are arranged in the first sealing shell, the first sealing shell is hinged to the side portion of the rack through the hinge mechanism, a main shaft of the first motor is connected with an input hole of the first speed reducer, and an output shaft of the first speed reducer extends out of the first sealing shell and is connected with an adjacent driving wheel.
9. The curved surface adaptive underwater wall-climbing robot as claimed in any one of claims 1 to 7, wherein: the swing arm mechanism comprises a second sealing shell, a second motor, a second speed reducer and a swing arm, the second sealing shell is installed at the front side of the top of the frame, the second motor and the second speed reducer are arranged in the second sealing shell, a main shaft of the second motor is connected with an input hole of the second speed reducer, an output shaft of the second speed reducer extends out of the second sealing shell, and the swing arm is connected with an output shaft of the second speed reducer.
10. The curved adaptive underwater wall-climbing robot of claim 9, wherein: and the tail end of the swing arm is provided with a self-rotating nozzle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910124138.5A CN111572725A (en) | 2019-02-19 | 2019-02-19 | Curved surface self-adaptive underwater wall-climbing robot |
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| CN201910124138.5A CN111572725A (en) | 2019-02-19 | 2019-02-19 | Curved surface self-adaptive underwater wall-climbing robot |
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| CN201910124138.5A Pending CN111572725A (en) | 2019-02-19 | 2019-02-19 | Curved surface self-adaptive underwater wall-climbing robot |
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| CN (1) | CN111572725A (en) |
Cited By (14)
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| CN112172954A (en) * | 2020-09-17 | 2021-01-05 | 深圳市行知行机器人技术有限公司 | Wall surface cleaning robot |
| CN112960046A (en) * | 2021-03-29 | 2021-06-15 | 新天绿色能源股份有限公司 | Self-adaptive wall-climbing robot |
| CN113021375A (en) * | 2021-03-24 | 2021-06-25 | 浙江海洋大学 | Oil tank rust cleaning wall climbing robot |
| CN113619704A (en) * | 2021-08-27 | 2021-11-09 | 中国船舶科学研究中心 | Magnetic force self-adaptive amphibious wall-climbing robot |
| CN113753191A (en) * | 2021-09-24 | 2021-12-07 | 中国电子科技集团公司第十四研究所 | Wall-climbing robot for ship rust removal and paint spraying |
| CN114101162A (en) * | 2021-10-08 | 2022-03-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
| CN114655330A (en) * | 2022-03-28 | 2022-06-24 | 中国铁建重工集团股份有限公司 | Magnetic adsorption type wall-climbing robot chassis and magnetic wheel assembly |
| CN114834606A (en) * | 2022-03-28 | 2022-08-02 | 深圳市行知行机器人技术有限公司 | Wall-climbing cleaning robot |
| CN114906245A (en) * | 2021-02-07 | 2022-08-16 | 郑州迅布智能科技有限公司 | Wall-climbing robot |
| CN114954717A (en) * | 2022-04-15 | 2022-08-30 | 江苏科技大学 | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot |
| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
| CN117184270A (en) * | 2023-10-26 | 2023-12-08 | 武汉万曦智能科技有限公司 | Running gear of wall climbing robot and welding seam overhauls robot |
| WO2024066023A1 (en) * | 2022-09-29 | 2024-04-04 | 江苏镌极特种设备有限公司 | Highly-flexibile adsorption-type wall-climbing robot, climbing method, and application thereof |
| WO2024065947A1 (en) * | 2022-09-29 | 2024-04-04 | 江苏镌极特种设备有限公司 | High-flexibility deformable wall-climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112172954A (en) * | 2020-09-17 | 2021-01-05 | 深圳市行知行机器人技术有限公司 | Wall surface cleaning robot |
| CN114906245A (en) * | 2021-02-07 | 2022-08-16 | 郑州迅布智能科技有限公司 | Wall-climbing robot |
| CN113021375A (en) * | 2021-03-24 | 2021-06-25 | 浙江海洋大学 | Oil tank rust cleaning wall climbing robot |
| CN112960046A (en) * | 2021-03-29 | 2021-06-15 | 新天绿色能源股份有限公司 | Self-adaptive wall-climbing robot |
| CN113619704A (en) * | 2021-08-27 | 2021-11-09 | 中国船舶科学研究中心 | Magnetic force self-adaptive amphibious wall-climbing robot |
| 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 |
| CN113753191A (en) * | 2021-09-24 | 2021-12-07 | 中国电子科技集团公司第十四研究所 | Wall-climbing robot for ship rust removal and paint spraying |
| CN114101162A (en) * | 2021-10-08 | 2022-03-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
| CN114101162B (en) * | 2021-10-08 | 2022-11-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
| CN114834606A (en) * | 2022-03-28 | 2022-08-02 | 深圳市行知行机器人技术有限公司 | Wall-climbing cleaning robot |
| CN114655330A (en) * | 2022-03-28 | 2022-06-24 | 中国铁建重工集团股份有限公司 | Magnetic adsorption type wall-climbing robot chassis and magnetic wheel assembly |
| CN114954717A (en) * | 2022-04-15 | 2022-08-30 | 江苏科技大学 | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot |
| WO2024066023A1 (en) * | 2022-09-29 | 2024-04-04 | 江苏镌极特种设备有限公司 | Highly-flexibile adsorption-type wall-climbing robot, climbing method, and application thereof |
| WO2024065947A1 (en) * | 2022-09-29 | 2024-04-04 | 江苏镌极特种设备有限公司 | High-flexibility deformable wall-climbing robot |
| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
| CN115682649B (en) * | 2022-10-24 | 2023-08-08 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
| CN117184270A (en) * | 2023-10-26 | 2023-12-08 | 武汉万曦智能科技有限公司 | Running gear of wall climbing robot and welding seam overhauls robot |
| CN117184270B (en) * | 2023-10-26 | 2024-04-02 | 武汉万曦智能科技有限公司 | Running gear of wall climbing robot and welding seam overhauls robot |
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Inventor after: Chen Hao Inventor after: Cai Jiannan Inventor after: Li Jiuhua Inventor after: Geng Yongqing Inventor after: Wang Xingchao Inventor after: Lin Bingdi Inventor after: Hu Shaojie Inventor after: Deng Jing Inventor after: Liao Shanwei Inventor before: Chen Hao Inventor before: Deng Jing Inventor before: Liao Shanwei Inventor before: Cai Jiannan Inventor before: He Kai Inventor before: Li Jiuhua Inventor before: Fang Haitao Inventor before: Geng Yongqing Inventor before: Wang Xingchao Inventor before: Lin Bingdi Inventor before: Hu Shaojie |