CN111878327A - Wall-climbing robot suitable for cleaning fan tower cylinder - Google Patents
Wall-climbing robot suitable for cleaning fan tower cylinder Download PDFInfo
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- CN111878327A CN111878327A CN202010913796.5A CN202010913796A CN111878327A CN 111878327 A CN111878327 A CN 111878327A CN 202010913796 A CN202010913796 A CN 202010913796A CN 111878327 A CN111878327 A CN 111878327A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 54
- 230000005291 magnetic effect Effects 0.000 claims abstract description 53
- 230000009471 action Effects 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 17
- 238000007789 sealing Methods 0.000 claims description 16
- 238000003466 welding Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000002265 prevention Effects 0.000 claims description 4
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 3
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 3
- 241001330002 Bambuseae Species 0.000 claims description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 3
- 239000011425 bamboo Substances 0.000 claims description 3
- 239000003302 ferromagnetic material Substances 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 17
- 230000009467 reduction Effects 0.000 abstract description 8
- 230000000712 assembly Effects 0.000 abstract description 2
- 238000000429 assembly Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 239000002861 polymer material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
- F03D80/55—Cleaning
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention relates to a wall-climbing robot suitable for cleaning a fan tower cylinder, which structurally comprises a rack, a walking driving system, a movable support arm and a magnetic suction disc, wherein the rack is provided with a plurality of guide rails; the walking driving system comprises a motor reducer and a universal shaft; the two output ends of the motor reducer are respectively connected with a power output shaft, each power output shaft is connected with a commutator, and the output ends of the commutators are connected with wheel assemblies on the same side of the robot through universal shafts, so that wheels on the same side of the wall-climbing robot synchronously run under the driving of the motor reducer; the movable support arm comprises a support arm component and a wheel component, a harmonic speed reducer is installed in the wheel component, and the cardan shaft is connected with the harmonic speed reducer through a fastener. The movable support arms on the same side of the robot are driven and controlled by one motor reducer, a multi-stage speed reduction driving mode can be formed, the configuration number and the dead weight of the motor reducers are reduced, and the load capacity and the working characteristics of the wall climbing robot are improved.
Description
Technical Field
The invention relates to a robot, in particular to a wall-climbing robot suitable for cleaning a fan tower cylinder.
Background
The wall climbing robot needs to have a large climbing capacity, and the embodiment of the climbing capacity is mainly determined by the magnitude of the rotation torque provided by the driving motor used on the wall climbing robot for the wheels. The traditional wall climbing robot is generally provided with a set of motor speed reducer on each climbing arm, and the problem of the power driving mode with one-stage speed reduction is as follows: in order to meet the requirement of the operation condition of the wall-climbing robot, a reducer with a large reduction ratio is inevitably required to be configured, so that the dead weight of the motor reducer is naturally increased, and the plurality of motor reducers are additionally arranged on the wall-climbing robot, so that the self weight of the robot is inevitably increased, the load capacity of the robot is correspondingly reduced, and the working characteristic of the wall-climbing robot is reduced.
Disclosure of Invention
The invention aims to provide a wall-climbing robot suitable for cleaning a fan tower cylinder, and aims to solve the problems of large self weight and low load force of the existing wall-climbing robot.
The invention is realized by the following steps: the utility model provides a wall climbing robot suitable for wash fan tower section of thick bamboo, includes frame, walking drive system, activity support arm and magnetic chuck, walking drive system includes motor, reduction gear and cardan shaft, the output of reduction gear connects first commutator, a second commutator is respectively connected through the transmission shaft to two way outputs of first commutator, the output of second commutator connects the wheel subassembly on the robot homonymy activity support arm through the cardan shaft to make the wheel synchronous operation under the drive of a motor on the wall climbing robot homonymy activity support arm.
The movable support arm comprises a support arm component and a wheel component, a harmonic speed reducer is installed in the wheel component, and the cardan shaft is connected with the harmonic speed reducer through a fastener.
The wheel assembly comprises a wheel frame serving as a wheel framework, a wheel sleeve sleeved on the periphery of the wheel frame, a harmonic speed reducer installed in the wheel frame and a sealing cover for sealing the harmonic speed reducer; the universal shaft penetrates through the support arm assembly and is connected to the harmonic speed reducer through a fastener.
The harmonic speed reducer comprises a rigid gear, a flexible gear and a wave generator; the wheel carrier is a cylinder, a circular ring body protruding inwards towards the center of the cylinder is arranged in the middle of the inner circular surface of the wheel carrier, the outer protruding part of a flexible gear of the harmonic speed reducer is inserted into a core hole of the circular ring body, a rigid gear of the harmonic speed reducer is fixed in the inner cavity of the wheel carrier on one side of the circular ring body, and the sealing cover is fixed on the circular ring body through the inner cavity of the wheel carrier on the other side of the circular ring body.
The second commutators are arranged in the walking driving system and are directly or indirectly connected with the first commutators through the transmission shaft, so that the movable support arms arranged on the same side of the robot are driven and controlled by one motor and one reducer, the operation synchronism of the movable support arms of the wall climbing robot is well ensured, the control difficulty coefficient of a motor control system is reduced, and the configuration quantity of the motors and the reducers is correspondingly reduced. In addition, the harmonic speed reducer is additionally arranged in the wheel assembly, so that a multi-stage speed reduction driving mode can be formed, the use of a speed reducer with a large speed reduction ratio can be avoided, the configuration and the self weight of the motor speed reducer are further reduced, and the improvement of the load capacity and the working characteristic of the wall climbing robot is facilitated.
The support arm assembly comprises a support arm body and a connecting flange, wherein one end of the support arm body is inserted into a transverse sleeve of the rack and is connected with the transverse sleeve through a pin shaft, and the other end of the support arm body is connected with the wheel assembly through the connecting flange.
The support arm body is provided with a support arm sucker which is formed by arranging strong magnets and has an attraction action surface facing the operation surface of the robot, and the transverse sleeve is provided with an adjusting bolt for limiting and adjusting the maximum opening angle of the support arm component.
The invention utilizes the magnetic gap action principle to ensure that the support arm component hinged in the transverse sleeve of the rack of the wall-climbing robot can be always attached to the surface of the fan tower cylinder in the operation process of the wall-climbing robot, thereby realizing the purpose that the support arm component automatically adjusts the opening angle along with the thickness change of the fan tower cylinder, saving the arrangement of a movable support arm opening angle adjusting mechanism, realizing the stable and good contact between the wheel surface of the wheels of the robot and the operation surface of the fan tower cylinder, and ensuring the normal walking operation of the wall-climbing robot on the fan tower cylinder.
The invention also comprises a tower barrel transverse welding seam suction prevention mechanism, which comprises:
the roller wheel bracket is fixed on a rack of the wall-climbing robot, and the mounting positions of the roller wheel bracket are positioned at the front end and the rear end of the magnetic suction disc on the rack; and
the gyro wheel is installed on the gyro wheel support, and the wheel face lower flange salient of gyro wheel is in the actuation working face of magnetic chuck to form the plane support to frame and magnetic chuck, make the actuation working face of magnetic chuck and tower section of thick bamboo operation face keep the non-contact clearance.
The axial lead of the roller is vertical to the long direction of the rack, and the lower flange of the wheel surface of the roller is parallel to the suction action surface of the magnetic suction disc.
After the anti-suction mechanism for the transverse welding seam of the tower barrel is installed, the front and rear rollers can form a plane support for the rack and the magnetic suction disc, so that a non-contact interval can be always kept between the suction action surface of the magnetic suction disc and the operation surface of the tower barrel, the interval not only meets the magnetic suction action interval between the suction action surface of the magnetic suction disc and the operation surface of the tower barrel, but also is larger than the protruding height of the welding seam on the surface of the tower barrel, thereby effectively avoiding suction stop accidents which easily occur when a wall climbing robot passes through the transverse welding seam on the tower barrel, and ensuring the smooth completion of the operation of cleaning the tower barrel of the fan by the wall climbing robot.
The invention also comprises a tower cylinder longitudinal welding line suction-preventing mechanism, which comprises:
the two rolling shaft supports are oppositely fixed on two sides of the rack provided with the magnetic suction disc on the wall-climbing robot; and
the roller is made of non-ferromagnetic materials, two ends of the roller are respectively coupled on the roller bracket, the shaft body of the roller is immersed in the height area of the magnetic chuck, and the lower flange of the shaft surface of the roller protrudes out of the attraction action surface of the magnetic chuck.
The roller is vertical to the long direction of the frame, and the lower flange of the axial surface of the roller is parallel to the suction action surface of the magnetic suction disc.
The outer end part of the end strong magnet arranged on the central rod frame forming the frame is also provided with a ball bearing support component; the ball bearing assembly comprises a support body connected with the central rod frame and a ball arranged in the support body, the ball is provided with an outer convex spherical surface protruding out of the support port of the support body, and the highest point of the outer convex spherical surface protrudes out of the suction action surface of the magnetic suction disc.
After the anti-suction mechanism for the longitudinal welding line of the tower barrel is installed, when the wall-climbing robot passes through the longitudinal welding line on the tower barrel, even if the opening angle of the movable support arm is larger and the distance between the suction disc surface of the magnetic suction disc and the surface of the tower barrel is smaller, the roller shafts arranged at the end part and the middle part of the magnetic suction disc can play a supporting role for the magnetic suction disc, so that the magnetic suction disc can not be sucked with the longitudinal welding line protruding out of the surface of the tower barrel, the suction stop accident which is very easy to occur when the wall-climbing robot passes through the longitudinal welding line on the tower barrel is effectively avoided, and the smooth completion of the operation of cleaning the fan tower barrel by the wall-climbing robot is ensured.
The support arm body comprises a groove-shaped support arm beam and a sealing plate welded on a notch of the groove-shaped support arm beam. The support arm body is divided into the groove-shaped support arm beam and the sealing plate, so that the groove-shaped support arm beam and the connecting flange can be welded firstly, then one end of the sealing plate is inserted into the inner side of the square-frame-shaped convex edge of the connecting flange and is welded with the groove-shaped support arm beam and the square-frame-shaped convex edge, and therefore the support arm body which is high in self strength and firm in connection is formed.
The connecting flange is characterized in that a square-frame-shaped convex edge which is used for being connected with the end part of the support arm body in a matched mode is arranged on one end face of the flange body, the square-frame-shaped convex edge surrounds the periphery of a shaft hole which is formed in the flange body and used for being connected with a driving shaft in a penetrating mode, and a group of adjacent corners of the square-frame-shaped convex edge are opening angles so that the end part of the groove-shaped support arm beam enters the square-frame-shaped convex edge through the opening angles. The side edges of two opposite opening angles of the square convex edge are close to the edge of the shaft hole.
The invention forms a flange connector welded with the support arm by adding the square frame-shaped convex edge on the flange body of the connecting flange, and simultaneously, the port of the groove-shaped support arm beam in the support arm body can be pressed into the square frame-shaped convex edge through the opening angle by designing a group of adjacent corners of the square frame-shaped convex edge into the form of the opening angle, so that the port of the groove-shaped support arm beam in the support arm body can be pressed into the inner opening of the square frame-shaped convex edge through the opening angle, the size of the groove-shaped support arm beam can be properly increased, and the tight fit of the port of the groove-shaped support arm beam and the inner opening of the square frame-shaped convex edge is realized. The method is favorable for improving the connection strength of the groove-shaped support arm beam and the square frame-shaped convex edge after welding, thereby effectively solving the problems of low connection strength and low firmness of the existing connection flange and the support arm body.
Drawings
Fig. 1 and 2 are schematic diagrams of the overall structure of the invention.
Fig. 3 is a schematic structural view of a one-sided travel drive system.
Fig. 4 is a plan view of fig. 3 with the motor and reducer omitted.
FIG. 5 is a schematic view of a partial structure of a machine body including a magnetic chuck and a tower weld anti-attraction mechanism.
Fig. 6 is a bottom view of fig. 5.
Fig. 7 is a schematic structural view of the ball support assembly.
Fig. 8 is a schematic structural view of the movable arm.
Figure 9 is a schematic structural view of a support arm assembly.
Fig. 10 is a schematic structural view of the arm beam.
FIG. 11 is a schematic view of the structure of the arm beam after the pin is inserted.
Fig. 12 is a schematic view of the structure of the sealing plate.
Fig. 13 is a schematic view of the structure of the connection flange.
Detailed Description
As shown in fig. 1 and 2, the wall-climbing robot of the present invention includes a frame 160, a walking driving system, a movable arm, and a magnetic attraction disc 162. An arc-shaped double-arm guide 151 is provided at the front of the frame 160, a slide mechanism 152 that can reciprocate on the guide is attached to the arc-shaped double-arm guide 151, and an attachment plate 153 to which the cleaning device is attached is provided on the slide mechanism 152. Three front, middle and rear cross sleeves 159 are mounted on the frame 160, a movable arm is connected to each port of the three cross sleeves 159, and the outer end of each movable arm is connected to the wheel assembly 140, thereby forming a structure of three movable arms on each side. A magnetic attraction plate 162 is mounted on the bottom surface of the frame 160. The magnetic chuck 162 is a magnetic chuck formed by arranging a plurality of strong magnets in a matrix, and the bottom surface of the magnetic chuck 162 is an attraction acting surface for attracting the fan tower.
As shown in fig. 3 and 4, the walking driving system of the wall climbing robot includes a motor 121, a speed reducer 122 and a universal shaft 120, the motor 121 is a servo motor and is connected to the speed reducer 122, an output of the speed reducer 122 is connected to a first commutator 125, two output ends of the first commutator 125 are connected to transmission shafts 123, each transmission shaft 123 is connected to a second commutator 124, and output ends of the second commutators are connected to wheel assemblies 140 on the same-side movable arm of the wall climbing robot through the universal shaft 120, so that wheels on the same-side movable arm of the wall climbing robot can synchronously run under the driving of one motor.
In fig. 4, the universal shafts 120 connected to the movable arms at the front and rear ends of the wall-climbing robot in the same direction are connected to a single-output second commutator; the universal shaft connected with the middle movable support arm is connected to a double-output second commutator, so that multi-stage power transmission between the second commutators can be formed. For a robot with more than three movable support arms arranged on the same side, the connection mode of the universal shaft in each middle movable support arm can adopt the connection mode of multi-stage power transmission.
As shown in fig. 5 and 6, the tower transversal welding anti-attraction mechanism of the wall-climbing robot includes four roller brackets 167 and four rollers 168, each two of the four roller brackets 167 is fixed on the frame 160 at the front end and the rear end of the magnetic attraction disc 162, the rollers 168 are mounted on the roller brackets 167, the axial line of the rollers 168 is perpendicular to the longitudinal direction of the frame 160, and the lower flange of the wheel surface of the rollers 168 is parallel to the attraction action surface of the magnetic attraction disc 162.
The wheel surface of the roller 168 is a cylindrical wheel surface, the lower flange of the roller protrudes out of the attraction action surface of the magnetic attraction disc 162, and the four rollers 168 can form a plane support for the rack 160 and the magnetic attraction disc 162, so that the attraction action surface of the magnetic attraction disc 162 and the tower barrel operation surface can always keep a non-contact gap.
Of course, it is also possible to design a roller holder 167 capable of mounting two rollers, and to mount the roller holder 167 on the frame 160 at the front or rear end of the magnetic attraction plate 162, so that the number of the roller holders 167 can be reduced. The rollers 168 and the roller holders 167 may take various forms such as universal wheels.
As shown in fig. 5 and 6, the anti-adhesion mechanism for the longitudinal weld of the tower of the wall-climbing robot includes two roller supports 163 and two rollers 164, and the two roller supports 163 are fixed on two sides of the frame 160 of the wall-climbing robot, where the magnetic disks are disposed, and are opposite to each other. The roller 164 is a cylindrical roller made of a non-ferromagnetic material such as copper or stainless steel, and both ends thereof are respectively coupled to the roller holder 163, and the shaft body thereof is inserted into the height region of the magnetic chuck 162, and the lower flange of the shaft surface thereof protrudes from the attracting action surface of the magnetic chuck 162. The roller 164 is perpendicular to the longitudinal direction of the frame 160 of the wall-climbing robot, and the lower flange of the axial surface of the roller 164 is parallel to the attraction acting surface of the magnetic attraction disc 162.
In fig. 6, there are three sets of the tower longitudinal weld anti-pick-up mechanisms composed of the roller bracket 163 and the roller 164, two ends of the magnetic attraction disc 162 on the frame 160 of the wall-climbing robot are respectively provided with one set, and the middle of the magnetic attraction disc 162 is provided with one set. The rollers 164 provided in the middle group occupy the position where the strong magnet is provided on the magnetic attraction plate 162.
As a supplement to the longitudinal weld joint pull-in prevention mechanism of the tower, the invention can also arrange a set of ball supporting components at the outer end part of the end strong magnet 169 arranged on the central rod frame 161 of the machine frame. As shown in fig. 7, the ball bearing assembly includes a ball 165 and a support body 166. The support body 166 is fixedly connected to the center rod frame 161, the ball 165 is embedded in the support body 166, and the ball 165 has a convex spherical surface protruding from the upper end of the support body 166. The highest point of the convex spherical surface protrudes out of the attraction action surface of the magnetic attraction disc 162, so that when the wall-climbing robot passes through the longitudinal weld on the tower drum and the longitudinal weld is just opposite to the central rod frame 161 of the rack 160, the end strong magnet 169 on the central rod frame 161 is supported by a small distance through the ball 165, and therefore contact attraction between the end strong magnet 169 and the longitudinal weld of the tower drum is avoided.
As shown in fig. 8, the movable arm of the wall-climbing robot includes an arm assembly, a wheel assembly 140, and a cardan shaft 120. The wheel assembly 140 includes a wheel carrier 141, a wheel sleeve 142, a harmonic speed reducer 143, a seal cover 144, and the like. The harmonic speed reducer 143 includes a rigid gear, a flexible gear, a wave generator, and the like. The harmonic reducer 143 is mounted in the carrier 141. The wheel carrier 141 is a wheel frame and has a cylindrical shape. The middle part of the inner circle surface of the wheel frame 141 is provided with a circular ring body with a cylindrical center protruding inwards, the outer protruding part of a flexible gear of the harmonic speed reducer is inserted into a core hole of the circular ring body of the frame, and a rigid gear of the harmonic speed reducer is fixed in an inner cavity of the wheel frame 141 on one side of the circular ring body, and the shape of the inner cavity is an ellipse matched with that of the rigid gear of the harmonic speed reducer. The sealing cover 144 is in a disc shape, and is fixed on the circular ring body through screws in the inner cavity of the wheel carrier 141 on the other side of the circular ring body so as to seal the harmonic speed reducer 143. The wheel sleeve 142 is made of elastic polymer material, and its inner cavity is a cylindrical wall whose diameter is slightly less than the outer diameter of the wheel frame, and its outer periphery is a circular table wall whose one end is large and one end is small. The wheel sleeve is in a shape which is required by the wall-climbing robot to be used on a cylindrical tower barrel. The wheel sleeve 142 is sleeved and tightened on the outer circumferential ring of the wheel frame 141. The support arm assembly is fixedly connected with a rigid wheel of the harmonic speed reducer 143 through the connecting flange 100, one end of the universal shaft 120 is fixedly connected to the harmonic speed reducer 143 through a fastener, and the universal shaft 120 penetrates through the support arm assembly to be connected with a walking driving system so as to realize speed reduction driving of the wheel assembly 140.
In fig. 8, the wheel assembly 140 includes a wheel carrier 141, a wheel sleeve 142, a harmonic speed reducer 143, a seal cover 144, and the like. The harmonic speed reducer 143 includes a rigid gear, a flexible gear, a wave generator, and the like. The harmonic reducer 143 is mounted in the carrier 141. The wheel carrier 141 is a wheel frame and has a cylindrical shape. The middle part of the inner circle surface of the wheel frame 141 is provided with a circular ring body with a cylindrical center protruding inwards, the outer protruding part of a flexible gear of the harmonic speed reducer is inserted into a core hole of the circular ring body of the frame, and a rigid gear of the harmonic speed reducer is fixed in an inner cavity of the wheel frame 141 on one side of the circular ring body, and the shape of the inner cavity is an ellipse matched with that of the rigid gear of the harmonic speed reducer. The sealing cover 144 is in a disc shape, and is fixed on the circular ring body through screws in the inner cavity of the wheel carrier 141 on the other side of the circular ring body so as to seal the harmonic speed reducer 143. The wheel sleeve 142 is made of elastic polymer material, the inner wall of the wheel sleeve is a cylindrical wall with a diameter slightly smaller than the outer diameter of the wheel frame, and the outer wall of the wheel sleeve is a frustum wall with a large diameter at one end and a small diameter at the other end. The shape of the wheel sleeve is suitable for the use requirement of the wall-climbing robot for walking on the cylindrical fan tower. The wheel sleeve 142 is sleeved and tightened on the outer circumferential ring of the wheel frame 141.
As shown in fig. 9, the arm assembly includes two components, an arm body 110 and a connecting flange 100. One end of the arm body 110 is inserted into the lateral sleeve 159 of the frame 160 (fig. 1) and is hinged to the lateral sleeve 159 of the frame by a pin, and the other end of the arm body 110 is connected to the wheel assembly 140 by the connecting flange 100. In fig. 1, a fixed frame 131 is sleeved on the arm body of the movable arm, an arm suction cup 130 (fig. 2) is fixedly connected below the fixed frame 131, and the suction action surface of the arm suction cup 130 faces the operation surface of the wall climbing robot, so as to suck the movable arm onto the operation surface of the tower. The support arm sucker 130 is formed by arranging strong magnets, the attraction action surface faces downwards (namely the operation surface of the robot), and when the movable support arm is at the maximum opening angle, the attraction action surface of the support arm sucker 130 can not touch the surface of the operation surface, namely the support arm assembly can not be fixed due to the attraction between the support arm sucker and the surface of the fan tower cylinder. An adjusting bolt 158 (fig. 1) is arranged on the transverse sleeve 159, and the threaded end of the adjusting bolt 158 is inserted into and fixed in the transverse sleeve 159 for limiting and adjusting the maximum opening angle of the movable arm during operation.
As shown in fig. 9, the arm body 110 includes a channel-shaped arm beam 111 and a sealing plate 112 welded to a notch of the channel-shaped arm beam. As shown in fig. 10, the slot-type outrigger beam 111 is a square slot long-strip structure, the connection end with the connection flange 100 is a door-shaped flat port, the connection end with the rack is an extended end 113 extended from the front ends of the two side walls of the slot-type outrigger beam to the front lower side, the two extended ends 113 are respectively provided with a round hole 114, the two round holes 114 have the same size and opposite circle centers, a shaft sleeve 115 can be arranged between the two round holes, and a pin 116 passes through the round hole 114 and the shaft sleeve 115 (fig. 11), and then passes through a transverse sleeve 159 (fig. 1) on the rack 160, thereby realizing the hinged connection of the movable outrigger and the rack transverse sleeve 159. As shown in fig. 12, the sealing plate 112 is matched with the notch of the trough-shaped support arm beam 111, and one end of the sealing plate is a straight end so as to be flush with the door-shaped flat port of the trough-shaped support arm beam 111; the other end is bent into a circular arc surface to hold the shaft sleeve 115 (fig. 9) and protect the shaft sleeve 115.
As shown in fig. 13, the main body of the connecting flange 100 is a flange body 101, the flange body 101 is a disc, a shaft hole 103 for passing a driving shaft is formed at the center of the flange body 101, the back surface of the flange body 101 is formed in a shape capable of being fitted to a roller and an internal mechanism, a square frame-shaped protruding edge 102 is integrally formed on the middle area on the front end surface of the flange body 101, the square frame-shaped protruding edge 102 is perpendicular to the front end surface of the flange body 101 and surrounds the periphery of the shaft hole 103, and a group of adjacent corners of the square frame-shaped protruding edge 102 is processed into an opening angle 104. The two opening angles 104 are designed, so that the door-shaped port of the groove-shaped support arm beam 111 in the support arm body 110 can be pressed into the inner opening of the square-frame-shaped convex edge 102 through the opening angle 104, the groove-shaped support arm beam port can be processed into a mode of tight fit with the inner wall of the square-frame-shaped convex edge 102, and the tight fit mode can well eliminate the movable spaciousness between the groove-shaped support arm beam port and the inner wall of the square-frame-shaped convex edge, so that the welding strength and the welding quality between the groove-shaped support arm beam port and the square-frame-shaped convex edge are ensured, the connection strength between the support arm body 110 and the connecting flange 100 is improved, and the integral firmness degree of the movable support arm is ensured.
After the groove-shaped support arm beam 111 is welded with the connecting flange 100, the straight end of the sealing plate 112 is inserted into the inner side of the square-frame-shaped flange 102 of the connecting flange 100 and is respectively welded with the groove-shaped support arm beam 111 and the square-frame-shaped flange 102, thereby forming a complete support arm body.
In fig. 13, the side edges of the two opposite opening angles of the square frame-shaped ledge 102 are adjacent to the edge of the shaft hole 103 of the flange body 101, so that the square frame-shaped ledge 102 is in an eccentric arrangement mode. The eccentric flange connection mode can lead the wheel connection end of the movable support arm to move downwards, thus leading the suction action surface of the movable support arm and the support arm sucker arranged on the movable support arm to be arranged on the surface of the fan tower cylinder as flat as possible under the condition of not reducing the wheel diameter of the wheel, and being beneficial to the normal exertion of the magnetic suction capacity of the support arm sucker.
Claims (10)
1. A wall-climbing robot suitable for cleaning a fan tower cylinder comprises a rack, a walking driving system, a movable support arm and a magnetic chuck, and is characterized in that the walking driving system comprises a motor, a speed reducer and a universal shaft, the output of the speed reducer is connected with a first commutator, two paths of outputs of the first commutator are respectively connected with a second commutator through transmission shafts, and the output end of the second commutator is connected with wheel components on the movable support arm on the same side of the robot through the universal shaft, so that wheels on the movable support arm on the same side of the wall-climbing robot synchronously rotate under the driving of one motor;
the movable support arm comprises a support arm component and a wheel component, a harmonic speed reducer is installed in the wheel component, and the cardan shaft is connected with the harmonic speed reducer through a fastener.
2. The wall-climbing robot as claimed in claim 1, wherein the wheel assembly includes a wheel frame as a wheel skeleton, a wheel sleeve sleeved on the outer periphery of the wheel frame, a harmonic reducer installed in the wheel frame, and a sealing cover sealing the harmonic reducer; the universal shaft penetrates through the support arm assembly and is fixedly connected to the harmonic speed reducer.
3. The wall-climbing robot as recited in claim 2, wherein the harmonic reducer includes a rigid gear, a flexible gear, and a wave generator; the wheel carrier is a cylinder, a circular ring body protruding inwards towards the center of the cylinder is arranged in the middle of the inner circular surface of the wheel carrier, the outer protruding part of a flexible gear of the harmonic speed reducer is inserted into a core hole of the circular ring body, a rigid gear of the harmonic speed reducer is fixed in the inner cavity of the wheel carrier on one side of the circular ring body, and the sealing cover is fixed on the circular ring body through the inner cavity of the wheel carrier on the other side of the circular ring body.
4. A wall-climbing robot as claimed in claim 1, 2 or 3, wherein the arm assembly comprises an arm body and a connecting flange, one end of the arm body is inserted into a transverse sleeve of the frame and connected with the transverse sleeve through a pin shaft, and the other end of the arm body is connected with the wheel assembly through the connecting flange.
5. The wall-climbing robot as claimed in claim 4, wherein the arm body is provided with an arm sucker which is formed by arranging strong magnets and has an attraction acting surface facing the working surface of the robot, and the transverse sleeve is provided with an adjusting bolt for limiting and adjusting the maximum opening angle of the arm assembly.
6. The wall-climbing robot as claimed in claim 1, further comprising a tower transverse welding seam suction prevention mechanism, wherein the tower transverse welding seam suction prevention mechanism comprises:
the roller wheel bracket is fixed on a rack of the wall-climbing robot, and the mounting positions of the roller wheel bracket are positioned at the front end and the rear end of the magnetic suction disc on the rack; and
the gyro wheel is installed on the gyro wheel support, and the wheel face lower flange salient of gyro wheel is in the actuation working face of magnetic chuck to form the plane support to frame and magnetic chuck, make the actuation working face of magnetic chuck and tower section of thick bamboo operation face keep the non-contact clearance.
7. The wall-climbing robot as set forth in claim 6, wherein the axial line of the roller is perpendicular to the longitudinal direction of the frame, and the lower flange of the roller is parallel to the attraction surface of the magnetic chuck.
8. The wall-climbing robot as claimed in claim 1, further comprising a tower longitudinal weld anti-attraction mechanism, wherein the tower longitudinal weld anti-attraction mechanism comprises:
the two rolling shaft supports are oppositely fixed on two sides of the rack provided with the magnetic suction disc on the wall-climbing robot; and
the roller is made of non-ferromagnetic materials, two ends of the roller are respectively coupled on the roller bracket, the shaft body of the roller is immersed in the height area of the magnetic chuck, and the lower flange of the shaft surface of the roller protrudes out of the attraction action surface of the magnetic chuck.
9. The wall-climbing robot as claimed in claim 8, wherein the roller is perpendicular to the longitudinal direction of the frame, and the lower flange of the axial surface of the roller is parallel to the attraction acting surface of the magnetic attraction disc.
10. The wall-climbing robot as claimed in claim 8, wherein a ball support assembly is further provided at an outer end portion of the end portion strong magnet mounted on the center pole frame constituting the frame; the ball bearing assembly comprises a support body connected with the central rod frame and a ball arranged in the support body, the ball is provided with an outer convex spherical surface protruding out of the support port of the support body, and the highest point of the outer convex spherical surface protrudes out of the suction action surface of the magnetic suction disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010913796.5A CN111878327A (en) | 2020-09-03 | 2020-09-03 | Wall-climbing robot suitable for cleaning fan tower cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010913796.5A CN111878327A (en) | 2020-09-03 | 2020-09-03 | Wall-climbing robot suitable for cleaning fan tower cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111878327A true CN111878327A (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010913796.5A Pending CN111878327A (en) | 2020-09-03 | 2020-09-03 | Wall-climbing robot suitable for cleaning fan tower cylinder |
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| Country | Link |
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| CN (1) | CN111878327A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114776538A (en) * | 2022-06-02 | 2022-07-22 | 苏州荣坤智能机器科技有限公司 | Automatic cleaning system and automatic cleaning method for wind power tower |
| CN116771617A (en) * | 2023-08-15 | 2023-09-19 | 威海亨策新能源科技有限公司 | Wind driven generator tower drum cleaning equipment and method |
-
2020
- 2020-09-03 CN CN202010913796.5A patent/CN111878327A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114776538A (en) * | 2022-06-02 | 2022-07-22 | 苏州荣坤智能机器科技有限公司 | Automatic cleaning system and automatic cleaning method for wind power tower |
| CN116771617A (en) * | 2023-08-15 | 2023-09-19 | 威海亨策新能源科技有限公司 | Wind driven generator tower drum cleaning equipment and method |
| CN116771617B (en) * | 2023-08-15 | 2023-11-17 | 威海亨策新能源科技有限公司 | Wind driven generator tower drum cleaning equipment and method |
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Application publication date: 20201103 |