CN111891244A - Obstacle-crossing type wall-climbing robot for welding seam detection - Google Patents
Obstacle-crossing type wall-climbing robot for welding seam detection Download PDFInfo
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- CN111891244A CN111891244A CN202010812286.9A CN202010812286A CN111891244A CN 111891244 A CN111891244 A CN 111891244A CN 202010812286 A CN202010812286 A CN 202010812286A CN 111891244 A CN111891244 A CN 111891244A
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- 238000003466 welding Methods 0.000 title claims abstract description 40
- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 230000009194 climbing Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 230000000670 limiting effect Effects 0.000 claims description 17
- 239000000725 suspension Substances 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 5
- 239000010959 steel Substances 0.000 abstract description 5
- 238000001179 sorption measurement Methods 0.000 description 14
- 239000007921 spray Substances 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
- G01N27/84—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields by applying magnetic powder or magnetic ink
Abstract
The invention discloses an obstacle-crossing type wall-climbing robot for detecting welding lines, which comprises a frame, a driving assembly arranged on the frame, an auxiliary obstacle-crossing mechanism connected with the driving assembly, and a welding line detection mechanism. Compared with a common wall climbing machine, the wall climbing machine has better obstacle crossing performance, is specially used for welding seams, rivets and other raised obstacles on the wall surface, is provided with a welding seam defect detection mechanism, and can meet the requirement of industrial welding seam defect detection on the surface of steel.
Description
Technical Field
The invention relates to the field of robots, in particular to an obstacle-crossing type wall-climbing robot for welding line detection.
Background
The wall-climbing robot is widely applied to the field of special operation, such as anti-terrorism rescue, wall surface cleaning, ship detection and flaw detection and the like. The magnetic adsorption wall-climbing robot belongs to a branch of the wall-climbing robot, is mainly applied to steel wall surfaces, replaces high-altitude workers to carry out dangerous and heavy field operation, does not need to install a scaffold, and can improve the operation efficiency. However, most of the existing wheel-type wall-climbing robots are still weak in obstacle-crossing capability, and when the robots meet obstacles such as welding seams and rivets on the wall surface of steel, a large power source is needed for driving the magnetic wheels to cross the obstacles. The invention provides a wall-climbing robot with an auxiliary obstacle-crossing structure, which can cross raised obstacles more loosely and stably, and can finish the detection of weld defects on steel wall surfaces by carrying a weld detection mechanism.
The Chinese patent with the application number of 201921494327.3 discloses a large-scale metal facade obstacle-crossing wall-climbing robot, which separates an adsorption module from a motion wheel, lifts the adsorption module when encountering an obstacle, so that the adsorption force of the wall surface to the part is reduced, and the obstacle crossing is completed. The Chinese patent with the application number of 201911161505.5, namely 'wheel-foot conversion type robot capable of climbing obstacles and climbing walls', adopts negative pressure adsorption, when an obstacle is encountered, the front wheel is overturned to be foot type adsorption on the wall surface, and then the overturning motor is controlled to overturn 180 degrees by taking the front two adsorption feet as the rotating center of the whole robot, so that the obstacle-surmounting movement is completed, and the mechanism cannot provide a larger load and has low obstacle-surmounting stability. The Chinese patent with the application number of 201620481193.1 discloses a barrier-crossing wall-climbing robot, which adopts an electric sucker type adsorption mode, controls the existence of magnetic force of an adsorption module by controlling power on and off, controls a screw rod to complete the lifting of the adsorption module, moves in a translation barrier-crossing action, and is stable in barrier-crossing but slow in walking speed. At present, most of wall-climbing robots with obstacle-crossing capability complete obstacle-crossing actions through lifting adsorption mechanisms, and the overall obstacle-crossing efficiency is low and the stability is lacked.
Disclosure of Invention
The invention aims to provide an obstacle-crossing type wall-climbing robot for detecting welding seams, aiming at the current technical situation, the robot directly completes obstacle-crossing actions through an auxiliary obstacle-crossing mechanism aiming at common raised obstacles on industrial steel wall surfaces such as welding seams, rivets and the like, so that the robot has higher stability as a whole.
1. The technical scheme adopted by the invention for solving the technical problems is as follows: an obstacle-crossing type wall-climbing robot for detecting welding seams comprises a frame, a driving assembly arranged on the frame, an auxiliary obstacle-crossing mechanism connected with the driving assembly, and a welding seam detection mechanism; the driving assembly comprises a driving motor, a transmission mechanism connected with the motor and a magnet module. The robot is adsorbed on the wall surface through the magnet module, the driving motor controls the transmission mechanism to rotate, the transmission mechanism transmits power torque to the magnet module, and the robot moves through friction force between the magnet module and the wall surface; when the magnet module meets raised obstacles such as welding seams, the auxiliary obstacle crossing mechanism helps to pass through the obstacles, and then the welding seam detection mechanism completes detection work.
Preferably, the transmission assembly comprises a motor connecting plate, a left bearing seat, a right bearing seat, a bearing seat connecting plate, a driving shaft, a motor side synchronous pulley, a driving shaft side synchronous pulley and a synchronous belt; the motor connecting plate is connected with the motor and used for fixing the motor; the left bearing seat and the right bearing seat are respectively arranged on two sides of the bearing connecting plate and are fixedly connected with the bearing connecting plate, and the bearing connecting plate is fixedly connected with the motor connecting plate; the driving shaft is connected with the left bearing seat and the right bearing seat; the motor side synchronous belt pulley and the driving shaft side synchronous belt pulley are respectively connected with a driving motor shaft and a driving shaft, and torque transmission is completed through the synchronous belt. The drive shaft transmits power to the magnet module through the flat key.
The auxiliary obstacle crossing assembly preferably comprises a sliding assembly connected with the frame, a connecting rod assembly connected with the transmission assembly, and a spring assembly respectively connected with the sliding assembly and the connecting rod assembly. The sliding assembly comprises a linear slide rail, a left slide block and a right slide block which are arranged on the linear slide rail, a left limit screw and a right limit screw which are fixedly connected with the linear slide rail, and a left connecting rod connecting piece and a right connecting rod connecting piece which are respectively connected with the left slide block and the right slide block; the left sliding block and the right sliding block can move freely along the direction of the sliding rail respectively, the left limiting screw limits the left limiting position of the left sliding block, and the right limiting screw limits the right limiting position of the right sliding block; the left and right connecting rod connecting pieces are used for connecting the connecting rod assemblies. The connecting rod assembly comprises a left connecting rod, a right connecting rod and a middle connecting rod. The left first connecting rod and the left second connecting rod are respectively and rotatably connected with the left connecting rod connecting piece, and the right first connecting rod connecting piece and the right second connecting rod connecting piece are respectively and rotatably connected with the right connecting rod connecting piece. The middle connecting rod is rotationally connected with the left first connecting rod, the left second connecting rod, the right first connecting rod and the right second connecting rod, is fixedly connected with the driving system, and is a lifting acting element of the auxiliary obstacle crossing mechanism on the driving system. The spring assembly comprises a left extension spring, a right extension spring, a left spring connecting bolt, a right spring connecting bolt and a right spring connecting bolt; the left spring connecting bolt is fixedly connected to the left connecting rod, the left second connecting bolt is fixed to the left connecting rod connecting piece, the right spring connecting bolt is fixedly connected to the right connecting rod, the right second spring is connected to the right connecting rod connecting piece, the left stretching spring is connected with the left first connecting bolt and the left second connecting bolt, and the right stretching spring is connected with the right first connecting bolt and the right second connecting bolt.
Preferably, the robot is provided with four groups of driving assemblies and auxiliary obstacle crossing mechanisms connected with the driving assemblies, and the driving assemblies and the auxiliary obstacle crossing mechanisms are distributed in a cross shape.
Preferably, the welding seam detection mechanism comprises a welding seam detection connecting plate, a joint motor, a buffer spring assembly, a magnetic conduction connecting plate, a left cylindrical magnet, a right cylindrical magnet, a left limiting wheel and a right limiting wheel; the welding seam detects connecting plate fixed connection on the frame, joint motor and welding seam detection connecting plate fixed connection, buffer spring subassembly and joint motor fixed connection, and magnetic conduction connecting plate and buffer spring subassembly sliding connection, left and right cylinder magnet fixed connection respectively on the magnetic conduction connecting plate, control spacing round respectively fixed connection on the magnetic conduction connecting plate. Two groups of welding seam detection mechanisms are arranged at the front end of the robot.
Preferably, the vehicle frame is provided with a magnetic suspension spray head for spraying the magnetic suspension. The frame is also provided with an electric control box for installing a power supply and connecting wires with other circuit elements.
The invention has the beneficial effects that:
1. through the design of the auxiliary obstacle crossing structure, obstacle crossing is directly completed through magnetic wheel adsorption and a connecting rod auxiliary mechanism, a control system is simple, and the effect of high stability of obstacle crossing is achieved.
2. Compared with other structures capable of realizing obstacle crossing, the structure is simple and easy to realize, and has good application prospect.
3. Through the design that four groups of adsorption device cross distribute, increased wall climbing robot's stability.
4. When the wall climbing robot crosses the obstacle, due to the action of the parallel four connecting rods, the motor can transmit a part of forward force of the magnetic wheel to serve as lifting force for the magnetic wheel to cross the obstacle, and the single auxiliary obstacle crossing mechanism is symmetrically distributed by the two parallel four connecting rods, so that the robot is supported to move forwards and retreat to cross the obstacle.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a driving structure of the present invention.
Fig. 3 is a schematic view of an auxiliary obstacle crossing structure according to the present invention.
Fig. 4 is a schematic flow chart of obstacle crossing according to the present invention.
FIG. 5 is a schematic view of the weld detection mechanism of the present invention.
In the figure: 1. a vehicle frame, 2, a driving assembly, 3, an auxiliary obstacle crossing mechanism, 4, a welding seam detection mechanism, 5, a magnetic suspension sprayer, 6, an electronic control box, 21, a driving motor, 22, a transmission mechanism, 23, a magnet module, 2201, a motor connecting plate, 2202, a left bearing seat, 2203, a right bearing seat, 2204, a bearing seat connecting plate, 2205, a driving shaft, 2206, a motor side synchronous pulley, 2207, a driving shaft side synchronous pulley, 2208, a synchronous belt, 31, a sliding assembly, 32, a connecting rod assembly, 33, a spring assembly, 3101, a linear sliding rail, 3102, a left sliding block, 3103, a right sliding block, 3104, a left limit screw, 3105, a right limit screw, 3106, a left connecting rod, 3107, a right connecting rod, 3201, a left connecting rod, 3202, a left connecting rod, 3203, a right connecting rod, 3204, a right connecting rod, 3205, a middle connecting rod, 3301, a left tension spring, a 3302, a right tension spring, 3303, a left, 3304. two spring coupling bolts on the left side, 3305, a spring coupling bolt on the right side, 3306, two spring coupling bolts on the right side, 401, welding seam detect connecting plate, 402, joint motor, 403, buffer spring subassembly, 404, magnetic conduction connection version, 405, left cylinder magnet, 406, right cylinder magnet, 407, the spacing wheel in a left side, 408, the spacing wheel in the right side
Detailed Description
The present invention will be further described with reference to the accompanying drawings and embodiments.
As shown in fig. 1, an obstacle-crossing type wall-climbing robot for detecting a weld joint comprises a frame 1, a driving assembly 2 arranged on the frame, an auxiliary obstacle-crossing mechanism 3 connected with the driving assembly, and a weld joint detecting mechanism 4; the driving assembly comprises a driving motor 21, a transmission mechanism 22 connected with the motor and a magnet module 23.
The robot is adsorbed on the wall surface through the magnet module 23, the driving motor 21 controls the transmission mechanism 22 to rotate, the transmission mechanism 22 transmits power torque to the magnet module 23, and the robot moves due to friction force between the magnet module 23 and the wall surface; when the magnet module 23 meets raised obstacles such as a welding seam, the auxiliary obstacle crossing mechanism 3 transmits a part of forward force transmitted to the magnet module by the motor to the magnet module through the connecting rod mechanism to be converted into lifting force, so that the auxiliary obstacle crossing mechanism helps to pass through the obstacles, and then the welding seam detection mechanism 4 completes detection work.
As shown in fig. 2, the transmission assembly includes a motor connecting plate 2201, a left bearing seat 2202, a right bearing seat 2203, a bearing seat connecting plate 2204, a driving shaft 2205, a motor-side synchronous pulley 2206, a driving shaft-side synchronous belt 2207 and a synchronous belt 2208; the motor connecting plate 2201 is connected with the driving motor 21 through a bolt and used for fixing the driving motor 21; the left bearing seat 2202 and the right bearing seat 2203 are respectively arranged at two sides of the bearing seat connecting plate 2204 and are fixedly connected with the bearing seat connecting plate, and the bearing seat connecting plate 2204 is fixedly connected with the motor connecting plate 2201; the driving shaft 2205 is respectively connected with the left bearing seat and the right bearing seat in a rotating way and can rotate by the rotating centers of the hole positions of the left bearing seat and the right bearing seat; the motor-side timing pulley 2206 and the drive shaft-side timing pulley 2207 are connected to the drive motor shaft and the drive shaft, respectively, and complete torque transmission through the timing belt 2208. The drive shaft 2205 transmits power to the magnet module through a flat key.
As shown in fig. 3, the auxiliary obstacle crossing assembly includes a slide assembly 31 connected to the frame, a link assembly 32 connected to the transmission assembly, and a spring assembly 33 connected to the slide assembly and the link assembly, respectively. The sliding assembly 31 comprises a linear slide rail 3101, a left slider 3102 and a right slider 3103 which are arranged on the linear slide rail, a left limit screw 3104 and a right limit screw 3105 which are fixedly connected with the linear slide rail, and a left connecting rod connecting piece 3106 and a right connecting rod connecting piece 3107 which are respectively connected with the left slider and the right slider; the left and right sliding blocks can move freely along the direction of the linear sliding rail 3101 respectively, the left limiting screw 3104 limits the left limit position of the left sliding block 3102, and the right limiting screw 3105 limits the right limit position of the right sliding block 3103; the left connecting rod connecting piece and the right connecting rod connecting piece are used for connecting the connecting rod component. The link assembly 32 includes a left first link 3201, a left second link 3202, a right first link 3203, a right second link 3204, and an intermediate link 3205. The left one and the left two connecting rods are respectively connected with the left connecting rod connecting piece 3106 in a rotating way, and the right one and the right two connecting rod connecting pieces are respectively connected with the right connecting rod connecting piece 3107 in a rotating way. The middle connecting rod 3205 is rotatably connected with the left first connecting rod, the left second connecting rod, the right first connecting rod and the right second connecting rod, is fixedly connected with the driving assembly 2, and is a lifting acting element of the auxiliary obstacle crossing mechanism on the driving system. The spring assembly 33 comprises a left extension spring 3301, a right extension spring 3302, a left first spring connecting bolt 3303, a left second spring connecting bolt 3304, a right first spring connecting bolt 3305, and a right second spring connecting bolt 3306; the left spring connecting bolt 3303 is fixedly connected to the left first connecting rod 3201, the left second connecting bolt 3304 is fixed to the left connecting rod connecting piece 3106, the right spring connecting bolt 3305 is fixedly connected to the right first connecting rod 3203, the right second spring connecting bolt 3306 is connected to the right connecting rod connecting piece 3107, the left extension spring is connected with the left first connecting bolt and the left second connecting bolt, and the right extension spring is connected with the right first connecting bolt and the right second connecting bolt.
With reference to fig. 4, the operation state of the auxiliary obstacle crossing mechanism during obstacle crossing will be described:
1. when the auxiliary obstacle crossing mechanism travels on a plane, the auxiliary obstacle crossing mechanism is in an initial state (shown as A in the figure), and due to the action of the dead weight and the extension spring, connecting rod connecting pieces fixedly connected with the sliding blocks on two sides are respectively positioned at the left limit position and the right limit position of the sliding rail and limited by the left limit screw and the right limit screw.
2. When the magnet module meets an obstacle (as shown in the figure B, the obstacle is on the right side of the magnetic wheel), the obstacle can provide a leftward hindering acting force for the magnet module, at the moment, the middle connecting rod indirectly and fixedly connected with the magnetic wheel simultaneously receives leftward thrust, the left connecting rod connecting piece is fixed under the position limiting action of the left limiting screw, the right connecting rod connecting piece moves leftward, and through the position relation and the force transmission of the connecting rods of the four planar connecting rods, the middle connecting rod can receive an upward lifting force of the vertical wall, so that the magnetic wheel is driven to upwards cross the obstacle.
3. After crossing the obstacle (as shown in the figure C), the left and right connecting rod connecting pieces return to the initial state due to the action of the extension spring and are limited by the left and right limiting screws.
The robot is provided with four groups of driving components 2 and auxiliary obstacle crossing mechanisms 3 connected with the driving components, the driving components and the auxiliary obstacle crossing mechanisms are distributed in a cross shape, and when one magnet module crosses an obstacle, other magnet modules can still provide enough magnetic adsorption force to enable the robot to stably move.
As shown in fig. 5, the robot further carries a weld detection mechanism 4, which includes a weld detection connection plate 401, a joint motor 402, a buffer spring assembly 403, a magnetic conduction connection plate 404, a left cylindrical magnet 405, a right cylindrical magnet 406, a left limit wheel 407, and a right limit wheel 408; welding seam detects connecting plate 401 fixed connection on frame 1, joint motor 402 and welding seam detect connecting plate 401 fixed connection, buffer spring subassembly 403 and joint motor 402 fixed connection, magnetic conduction connecting plate 404 and buffer spring subassembly 403 sliding connection, left and right cylinder magnet 405, 406 respectively fixed connection on magnetic conduction connecting plate 404 for form the magnetic field return circuit with the wall, detect the welding seam defect, left and right spacing wheel 407, 408 respectively fixed connection on magnetic conduction connecting plate, the position of the relative bottom surface of restriction cylinder magnet, prevent wearing and tearing.
When the robot detects the welding seam, the magnetic suspension spray head 5 on the frame sprays the magnetic suspension, the left and right cylindrical magnets are respectively arranged at two sides of the welding seam, and the formed magnetic field can lead the magnetic suspension to leave marks at the defect position of the welding seam, thereby completing the detection work. Two groups of magnetic suspension spray heads and a welding line detection mechanism are arranged at the front end of the robot, so that the detection efficiency is improved.
And an electric control box 6 is also arranged on the frame and used for installing hardware and a power module of the control motor.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a hinder formula wall climbing robot more for welding seam detects which characterized in that: the device comprises a frame (1), a driving assembly (2) arranged on the frame, an auxiliary obstacle crossing mechanism (3) connected with the driving assembly, and a welding line detection mechanism (4); the driving assembly comprises a driving motor (21), a transmission mechanism (22) connected with the motor and a magnet module (23).
The robot is adsorbed on the wall surface through the magnet module, the driving motor controls the transmission mechanism to rotate, and the transmission mechanism rotates to drive the magnet module to move forwards; when the magnet module meets raised obstacles such as welding seams, the auxiliary obstacle crossing mechanism helps to pass through the obstacles, and then the welding seam detection mechanism completes detection work.
2. The wall-climbing robot of claim 1, wherein: the transmission mechanism comprises a motor connecting plate (2201), a left bearing seat (2202), a right bearing seat (2203), a bearing seat connecting plate (2204), a driving shaft (2205), a motor side synchronous pulley (2206), a driving shaft side synchronous pulley (2207) and a synchronous belt (2208); the motor connecting plate is connected with the motor and used for fixing the motor; the left bearing seat and the right bearing seat are respectively arranged on two sides of the bearing connecting plate, and the bearing connecting plate is fixedly connected with the motor connecting plate; the driving shaft is connected with the left bearing seat and the right bearing seat; the motor side synchronous belt pulley and the driving shaft side synchronous belt pulley are respectively connected with the motor and the driving shaft, and power is transmitted through the synchronous belt. The drive shaft transmits power to the magnet module in the form of a flat key.
3. The wall-climbing robot of claim 1, wherein: the auxiliary obstacle crossing assembly comprises a sliding assembly (31) connected with the frame, a connecting rod assembly (32) connected with the transmission assembly, and a spring assembly (33) respectively connected with the sliding assembly and the connecting rod assembly.
4. A wall-climbing robot as claimed in claim 3, wherein: the sliding assembly (31) comprises a linear slide rail (3101), a left slide block (3102) and a right slide block (3103) which are arranged on the linear slide rail, a left limit screw (3104) and a right limit screw (3105) which are fixedly connected with the linear slide rail, and a left connecting rod connecting piece (3106) and a right connecting rod connecting piece (3107) which are respectively connected with the left slide block and the right slide block; the left sliding block and the right sliding block can move freely along the direction of the sliding rail respectively, the left limiting screw limits the left limiting position of the left sliding block, and the right limiting screw limits the right limiting position of the right sliding block; the left and right connecting rod connecting pieces are used for connecting the connecting rod assemblies.
5. A wall-climbing robot as claimed in claim 1 or 3, characterized by: the connecting rod assembly (32) comprises a left connecting rod (3201), a left second connecting rod (3202), a right connecting rod (3203), a right second connecting rod (3204) and a middle connecting rod (3205). The left first connecting rod and the left second connecting rod are respectively and rotatably connected with the left connecting rod connecting piece, and the right first connecting rod connecting piece and the right second connecting rod connecting piece are respectively and rotatably connected with the right connecting rod connecting piece. The middle connecting rod is rotationally connected with the left first connecting rod, the left second connecting rod, the right first connecting rod and the right second connecting rod, is fixedly connected with the driving system, and is a lifting acting element of the auxiliary obstacle crossing mechanism on the driving system.
6. A wall-climbing robot as claimed in claim 3, 4 or 5, wherein: the spring assembly (33) comprises a left extension spring (3301), a right extension spring (3302), a left first spring connecting bolt (3303), a left second spring connecting bolt (3304), a right first spring connecting bolt (3305) and a right second spring connecting bolt (3306); the left spring connecting bolt is fixedly connected to the left connecting rod, the left second connecting bolt is fixed to the left connecting rod connecting piece, the right spring connecting bolt is fixedly connected to the right connecting rod, the right second spring connecting bolt is arranged on the right connecting rod connecting piece, the left stretching spring is connected with the left first connecting bolt and the left second connecting bolt, and the right stretching spring is connected with the right first connecting bolt and the right second connecting bolt.
7. A wall climbing robot according to claim 1 or 2 or 3 or 4 or 5 or 6, characterized in that: the robot is provided with four groups of driving components and auxiliary obstacle crossing mechanisms connected with the driving components in a cross-shaped distribution.
8. The wall-climbing robot of claim 1, wherein: the welding seam detection mechanism (4) comprises a welding seam detection connecting plate (401), a joint motor (402), a buffer spring assembly (403), a magnetic conduction connecting plate (404), a left cylindrical magnet (405), a right cylindrical magnet (406), a left limiting wheel (407) and a right limiting wheel (408); the welding seam detects connecting plate fixed connection on the frame, joint motor and welding seam detection connecting plate fixed connection, buffer spring subassembly and joint motor fixed connection, and magnetic conduction connecting plate and buffer spring subassembly sliding connection, left and right cylinder magnet fixed connection respectively on the magnetic conduction connecting plate, and left and right spacing wheel fixed connection respectively is on the magnetic conduction connecting plate. Two groups of welding seam detection mechanisms are arranged at the front end of the robot.
9. The wall-climbing robot of claim 8, wherein: the frame (1) is provided with a magnetic suspension sprayer (5) and an electric control box (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010812286.9A CN111891244A (en) | 2020-08-13 | 2020-08-13 | Obstacle-crossing type wall-climbing robot for welding seam detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010812286.9A CN111891244A (en) | 2020-08-13 | 2020-08-13 | Obstacle-crossing type wall-climbing robot for welding seam detection |
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| CN111891244A true CN111891244A (en) | 2020-11-06 |
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|---|---|---|---|
| CN202010812286.9A Pending CN111891244A (en) | 2020-08-13 | 2020-08-13 | Obstacle-crossing type wall-climbing robot for welding seam detection |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11208538A (en) * | 1998-01-28 | 1999-08-03 | Komatsu Engineering Kk | Rough terrain travelling working vehicle |
| JP2008254588A (en) * | 2007-04-05 | 2008-10-23 | Matsushita Electric Ind Co Ltd | Traveling device and mobile robot |
| CN101947777A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| JP2014172427A (en) * | 2013-03-06 | 2014-09-22 | Jfe Steel Corp | Wall surface traveling dolly |
| CN207579988U (en) * | 2017-12-08 | 2018-07-06 | 中国石油化工股份有限公司 | A kind of obstacle detouring auxiliary body applied to the wheeled climbing robot of non-destructive testing |
| CN208515724U (en) * | 2018-05-09 | 2019-02-19 | 北京林业大学 | One kind adaptively adjusting steady wheel leg type barrier-exceeding vehicle |
-
2020
- 2020-08-13 CN CN202010812286.9A patent/CN111891244A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11208538A (en) * | 1998-01-28 | 1999-08-03 | Komatsu Engineering Kk | Rough terrain travelling working vehicle |
| JP2008254588A (en) * | 2007-04-05 | 2008-10-23 | Matsushita Electric Ind Co Ltd | Traveling device and mobile robot |
| CN101947777A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| JP2014172427A (en) * | 2013-03-06 | 2014-09-22 | Jfe Steel Corp | Wall surface traveling dolly |
| CN207579988U (en) * | 2017-12-08 | 2018-07-06 | 中国石油化工股份有限公司 | A kind of obstacle detouring auxiliary body applied to the wheeled climbing robot of non-destructive testing |
| CN208515724U (en) * | 2018-05-09 | 2019-02-19 | 北京林业大学 | One kind adaptively adjusting steady wheel leg type barrier-exceeding vehicle |
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Application publication date: 20201106 |