CN112224297A - Hull magnetic adsorption type wall-climbing robot - Google Patents
Hull magnetic adsorption type wall-climbing robot Download PDFInfo
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- CN112224297A CN112224297A CN202011100592.6A CN202011100592A CN112224297A CN 112224297 A CN112224297 A CN 112224297A CN 202011100592 A CN202011100592 A CN 202011100592A CN 112224297 A CN112224297 A CN 112224297A
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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 provides a ship body magnetic adsorption type wall-climbing robot, which comprises a sucker hand device, namely a rack, a cam mechanism, a sliding guide rod mechanism and a sucker mechanism; the telescopic arm device comprises a fixed seat and an electric stay bar; steering devices, i.e., shoulders, stub shafts, bearings, bevel gears, baffles and servo motors; the electric control device comprises an upper triangular plate, a limiting clamp, a support, a power supply and a control panel; the running gear, namely the triangle bottom plate, the left wheel seat, the right wheel seat, the ball, the bracket and the magnetic steel. The ship body magnetic adsorption type wall-climbing robot is ingenious in structural design, simple and practical, and combines magnetic adsorption and sucker adsorption, wherein the sucker is an abalone-imitated short corrugated sucker and has the advantage of strong adsorption force, so that the ship body magnetic adsorption type wall-climbing robot has the advantages of being large in load and small in size. Through reasonable combination and matching operation of a plurality of mechanisms, the ship body magnetic adsorption type wall-climbing robot can effectively realize free linear walking, turning and hovering at any angle.
Description
Technical Field
The invention relates to a ship body magnetic adsorption type wall-climbing robot, and belongs to the technical field of mobile robots.
Background
The ship manufacturing industry in China plays an important role in the manufacturing field, with the rapid development of marine transportation, deep sea exploration and the like, higher requirements are put forward on the ship manufacturing technology, the main processing procedures in the ship manufacturing process comprise operations such as welding, derusting, spraying and the like, and because the manufacturing process environment is extremely severe, for example, in the welding process, workers need to bear high temperature of nearly 60 ℃ in a closed space, the wall climbing robot is actively promoted to be applied to the manufacturing fields of welding, coating and derusting in the ship manufacturing process at home and abroad in recent years.
Generally, the climbing of the existing wall-climbing robot adopts the following ways: the magnetic adsorption mode is mostly applied to the scene that the climbing wall surface is a magnetizer, and the magnetic adsorption mode comprises two modes of electromagnet adsorption and permanent magnet adsorption; the negative pressure adsorption is realized by utilizing the negative pressure formed between the robot and the adsorbed wall surface to generate adsorption force; the dry adhesive material is a polymer material adsorption array designed and manufactured by simulating gecko sole through micro-electro-mechanical system processing technology, and the dry adhesive material is in an electrostatic adsorption mode
The adsorption mode has the greatest advantages that no special requirements are required on the shape and the material of the adsorption surface, and the adaptability is strong. Common structures of the moving part of the wall-climbing robot are a foot type, a wheel type, a crawler type, a hybrid type and the like.
The existing patent discloses a wall climbing robot, publication number: CN110816770A, comprising: a support frame; the two driving wheel assemblies are connected to one side of the supporting frame at intervals; the two driven wheel assemblies are connected to the other side of the supporting frame at intervals, and are used for supporting the moving position of the supporting frame under the combined action of the driving wheel assemblies; at least one adsorption piece which is connected to the support frame, is arranged between the driving wheel assembly and the driven wheel assembly and can generate magnetic adsorption; and a cleaning member coupled to the supporting frame and disposed between the driving wheel assembly and the driven wheel assembly. Although the device has the advantages of reducing labor intensity of workers, improving rust removal efficiency and having relatively high safety, the device has the defects of requiring that the wall surface is required to be flat, the obstacle avoidance capability is poor and the non-contact type magnetic adsorption is unstable.
Disclosure of Invention
The invention aims to overcome the defects that the climbing adsorption structure of the existing wall-climbing robot generally has complex structure, heavy equipment, difficult control and the like; the moving mechanism generally has the defects of single moving mode, flat moving surface, difficult turning and the like. The ship body magnetic adsorption type wall-climbing robot has the advantages of ingenious structural design, practicality, simplicity, capability of moving at any angle and various moving modes.
The purpose of the invention is realized as follows: the electric control device is arranged above the walking device, the steering devices are provided with two devices which are symmetrically arranged on two sides of the walking device, the telescopic arm devices and the sucking disc hand devices are also provided with two devices, one end of each telescopic arm device is connected to the steering device, and the other end of each telescopic arm device is connected with the sucking disc hand device.
The invention also includes such structural features:
1. each sucking disc hand device comprises an upper platform, a direct current motor arranged on the upper platform, a cam arranged on the output end of the direct current motor, a lower platform arranged below the upper platform through a support, a sliding guide rod mechanism and a sucking disc mechanism, wherein the sliding guide rod mechanism comprises a pulley, a guide rod and a spring, the pulley is in contact with the cam, a central hole of the pulley penetrates through the upper part of the guide rod and can rotate freely, the lower part of the guide rod penetrates through a circular slotted hole of the lower platform and is movably connected with the lower platform through the spring, the upper end of the spring is in contact with a limiting part of the lower part of the guide rod, the lower end of the spring is in contact with the bottom of the circular slotted hole of the lower platform, the sucking disc mechanism comprises a sucking disc platform connected with the lower end of the guide rod, a small magnet arranged at the middle position of.
2. The abalone-imitated short corrugated sucking disc is provided with three different texture areas, namely an outer multi-lip edge area, a middle large pattern area and an inner dense small pattern area.
3. The walking device comprises a triangular bottom plate, three wheel seats symmetrically arranged at the lower end of the triangular bottom plate, a ball arranged in each wheel seat, and magnetic steel arranged in the middle of the lower end of the triangular bottom plate.
4. The electric control device comprises an upper triangular plate arranged above the triangular bottom plate through a support, a power supply arranged above the upper triangular plate, and a control panel arranged below the upper triangular plate.
5. Each steering device comprises a short shaft arranged on the triangular bottom plate through a bearing, a shoulder arranged at the upper end of the triangular bottom plate and fixedly connected with one end of the short shaft, a first bevel gear arranged at the other end of the short shaft, a servo motor arranged on the lower end face of the triangular bottom plate, and a second bevel gear arranged on an output shaft of the servo motor, wherein the first bevel gear is meshed with the second bevel gear.
6. Every flexible arm includes the electronic vaulting pole that links firmly with the shoulder, sets up the fixing base at electronic vaulting pole output, and the fixing base is installed on the upper mounting plate of the sucking disc hand device that corresponds.
Compared with the prior art, the invention has the beneficial effects that: the ship body magnetic adsorption type wall-climbing robot is ingenious in structural design, simple and practical, and combines magnetic adsorption and sucker adsorption, wherein the sucker is an abalone-imitated short corrugated sucker and has the advantage of strong adsorption force, so that the ship body magnetic adsorption type wall-climbing robot has the advantages of being large in load and small in size. Through reasonable combination and matching operation of a plurality of mechanisms, the hull magnetic adsorption type wall-climbing robot can effectively realize free linear walking, turning and hovering at any angle, and compared with the hull magnetic adsorption type wall-climbing robot on the current market, the hull magnetic adsorption type wall-climbing robot has the advantages of low cost, stable and reliable operation, no need of a lead external power supply, convenience in maintenance, capability of realizing operation in various complex occasions such as uneven hull surface, obstacle on hull surface, large hull surface gradient and the like, obvious effect, and good economic value and market benefit.
Drawings
Fig. 1 is a schematic structural diagram of the wall-climbing robot of the present invention.
FIG. 2 is a schematic view of the sucker hand of the present invention.
Fig. 3 is a schematic structural view of the telescopic arm of the present invention.
Fig. 4 is a schematic diagram of an electric control structure of the present invention.
Fig. 5 is a schematic view of the structure of the rotary joint of the present invention.
Fig. 6 is a schematic view of the walking structure of the present invention.
Fig. 7 is a schematic diagram of the imitated abalone short wave pattern sucker.
Fig. 8 is a cross-sectional view A-A of the short wave pattern sucking disc for abalone.
Fig. 9 is a schematic diagram of the hand lifting motion of the suction cup of the present invention.
Fig. 10 is a schematic diagram of a motion mode of the wall-climbing robot of the present invention.
Fig. 11 is a schematic diagram of a motion mode two of the wall-climbing robot of the present invention.
Wherein: 1. a suction cup hand device; 2. a telescopic arm device; 3. an electric control device; 4. a steering device; 5. a traveling device; 1-1, imitating an abalone short wave pattern sucker; 1-2, small magnet; 1-3, a sucker table; 1-4, a lower platform; 1-5, U-shaped strut; 1-6, I-shaped support; 1-7, a spring; 1-8, a guide rod; 1-9, a pulley; 1-10, a direct current motor; 1-11, a motor base I; 1-12, a cam; 1-13 and a motor base II; 1-14 upper stage; 2-1, fixing a base; 2-2 electric stay bar; 3-1, a pillar; 3-2, a control panel; 3-3, an upper triangular plate; 3-4 power supply; 3-5, limiting clamps; 4-1, shoulder; 4-2, minor axis; 4-3, bearing I; 4-4, bearing II; 4-5, a first bevel gear; 4-6 bevel gears II; 4-7, a baffle; 4-8 servo motors; 5-1, rolling balls; 5-2, left wheel seat; 5-3, right wheel seat; 5-4, a bracket; 5-5, magnetic steel; 5-6 and a triangular bottom plate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention relates to a ship body magnetic adsorption type wall-climbing robot, which comprises: the hand system comprises a hand system and a mobile system, wherein the two hand systems are fixedly connected to two sides of the mobile system.
The hand system comprises a sucker hand device, a telescopic arm device and a steering device, the tail of the sucker hand device is fixedly connected with the front end of the telescopic arm device, the tail end of the telescopic arm device is fixedly connected with the upper end of the steering device, and a stepping motor of the steering device is fixedly connected with a chassis of the walking device.
The sucker hand device comprises a rack, a cam mechanism, a sliding guide rod mechanism and a sucker mechanism, wherein the rack is fixedly connected with the cam mechanism, the cam mechanism is in rotating contact with the sliding guide rod mechanism, and the sliding guide rod mechanism is fixedly connected with the sucker mechanism. The sucking disc and the contact surface are switched between the adsorption state and the separation state, the suspension and movement functions are realized, the adsorption force during suspension is provided by the negative pressure suction force of the sucking disc and the magnetic force of the permanent magnet together, and the direct current motor drives the cam in the cam link mechanism to rotate so as to realize the up-and-down movement of the sucking disc. The telescopic arm device has the functions of telescopic property and controllable telescopic length, and can change the position of a sucker hand device or a steering device connected with the telescopic arm device. The rotation of a stepping motor in the steering device is transmitted to the telescopic arm device through a pair of meshed bevel gear mechanisms, so that the telescopic arm device can rotate within the range of 150 degrees.
The mobile system comprises an electric control device and a traveling device, wherein the lower end of the electric control device is fixedly connected with a chassis of the traveling device. The walking device is a main body of the ship body magnetic adsorption type wall-climbing robot, has the functions of adsorption, omnidirectional movement and support, provides adsorption force by a permanent magnet in the walking device, realizes omnidirectional movement of the mechanism by a universal ball in the walking device, and provides a support effect for the steering device and the electric control device. The electric control device has energy supply and control functions, a power supply in the electric control device provides power for driving elements of other devices, and a control panel in the electric control device realizes the control functions of lifting of a sucker in the sucker hand device, the telescopic distance of the telescopic arm device and the change of the rotation angle of the steering device.
Preferably, the rack comprises an upper platform, a lower platform, two U-shaped pillars and an I-shaped pillar, the upper platform is connected with the upper ends of the U-shaped pillars and the I-shaped pillars through bolts, and the lower platform is connected with the lower ends of the U-shaped pillars and the I-shaped pillars through bolts to form a layered framework. The advantage of this design is that bolted connection is easy to install in dismantlement, and the layering framework can provide sufficient space for the motion of cam mechanism.
Preferably, the cam mechanism comprises a direct current motor, a motor base I, a motor base II and a cam, the motor base I and the motor base II are fixedly installed on the left side and the right side of the upper portion of the upper platform through bolts, the direct current motor is fixedly installed on the outer side of the upper portion of the motor base I through bolts, and a center hole of the cam penetrates through a transmission shaft of the motor and is fixed through a screw. The advantage of this design is that the dc motor can drive the connected cams to rotate synchronously.
Preferably, the sliding guide rod mechanism comprises a pulley, a guide rod and a spring, a central hole of the pulley penetrates through the upper part of the guide rod and can freely rotate, the lower part of the guide rod penetrates through a circular groove hole of the lower platform and is movably connected with the lower platform through the spring, the upper end of the spring penetrates through the lower part of the guide rod and is in contact with a limiting part at the lower part of the guide rod, and the lower end of the spring is in contact with the bottom of the circular groove hole of the lower platform. The design has the advantages that when the cam rotates to move downwards, the sliding guide rod mechanism moves downwards by compressing the spring, when the cam rotates to move upwards, the sliding guide rod mechanism moves upwards by releasing the elastic force of the spring, and the friction loss of parts can be reduced by the rolling contact of the pulley and the cam.
Preferably, the sucking disc mechanism includes a sucking disc platform, a little magnet and three imitative abalone short wave line sucking disc, the central screw hole and the guide arm lower part screw rod fixed connection of sucking disc platform, little magnet is located the circular recess of sucking disc platform lower extreme and connects through interference fit, imitative abalone short wave line sucking disc passes through the bolt fastening in being located the space bar of sucking disc platform lower extreme. The benefit of this design is that the imitative abalone short wave line sucking disc of sucking disc mechanism downstream produces negative pressure suction with contact surface contact deformation and can make sucking disc mechanism firmly fixes at the contact surface, provides the supporting role for the motion on mechanism next step, the design of the different texture of multizone of the design imitative abalone short wave line sucking disc has the texture region of three difference, and the design of the big decorative pattern region 1-1b in outside multilip region 1-1a, middle part, the regional 1-1c of the intensive little decorative pattern in inboard, the design of three-layer texture and the short wave line structure of main part have improved the adsorption affinity of sucking disc greatly, the little magnet of installation can provide magnetic force and make sucking disc mechanism and the adsorption of contact surface more firm and help improve the adsorption affinity of imitative short wave line sucking disc among the sucking disc mechanism.
Preferably, the telescopic arm device comprises a fixed seat and an electric support rod, the lower part of the fixed seat is fixedly connected with the upper platform of the sucker hand device, the round hole groove of the fixed seat penetrates through the front end of the electric support rod and is fixedly connected with the front end of the electric support rod, and the tail end of the electric support rod is positioned in the shoulder upper clamping plate of the steering device and is fixedly connected with the shoulder upper clamping plate of the steering device through a bolt.
Preferably, the steering device comprises a shoulder, a short shaft, two bearings, two bevel gears, a baffle and a servo motor, the lower end of the shoulder is fixedly connected with the short shaft through threads, the two bearings through which the short shaft passes are fixed on a triangular bottom plate of the walking device, the two bevel gears are meshed with each other, one bevel gear is a driving bevel gear, the other bevel gear is a driven bevel gear, the driven bevel gear is in transmission connection with the short shaft, an output shaft of the servo motor is in transmission connection with a driving swinging bevel gear, the servo motor is fixedly connected with the baffle through bolts, and the baffle is welded to the lower portion of the triangular bottom plate. The advantage of this design is that the rotation of servo motor realizes that hand system relative movement system is at horizontal 150 degrees within range angle rotations, cooperates the motion of other mechanisms to reach the purpose that can arbitrary angle moves.
Preferably, electrically controlled device includes one and goes up set square, four spacing clamps, three pillar, a power and a control panel, pass through the bolt fastening above four spacing clamps and the last set square, the power is fixed by the space that four spacing clamps and last set square formed, the control panel is located and passes through the bolt fastening in the recess below the set square, three pillar upper segment passes through the thread fastening with last set square.
Preferably, running gear includes that a triangle bottom plate, three wheel seat are left, three wheel seat is right, three ball, one hold in the palm groove and a magnet steel, the triangle bottom plate passes through the thread tightening with electrically controlled device's pillar lower part, wheel seat is connected through the buckle with wheel seat is right to the wheel seat left side, wheel seat upper end and triangle bottom plate bottom surface pass through the bolt fastening, the ball is located by the spacing free roll of fixed in wheel seat lower extreme ball-type space, hold in the palm the groove and pass through the bolt fastening with triangle bottom plate lower extreme, the magnet steel is located and holds in the palm spacing fixedly in the groove. The magnetic steel can provide magnetic force to enable the traveling device to be adsorbed on the surface of the ship body, and the ball serving as the moving wheel can enable the wall-climbing robot to move in any direction.
The working mode of the ship body magnetic adsorption type wall-climbing robot comprises the following steps:
when the magnetic adsorption type wall-climbing robot is adsorbed on the surface of a ship body, two abalone-imitated short-wave-pattern suckers are adsorbed and fixed, after the two electric stay bar extension supporting moving systems move to expected positions in a linear mode, the sucker of one hand system is kept fixed, the sucker of the other hand system is lifted up through rotation of a cam, then the electric stay bar connected with the sucker is contracted, the sucker is lowered through rotation of the cam to fix the hand system, and the previous hand system is also contracted and fixed through the same motion operation; when the two hand systems are contracted and fixed, the next linear movement of the moving system can be started.
When the magnetic adsorption type wall climbing robot is adsorbed on the surface of a ship body and the advancing direction needs to be changed, firstly, a sucker of one hand system is kept fixed, a sucker of the other hand system is lifted by rotating a cam, the hand system rotates to a required angle within the range of 150 degrees through the rotation of a stepping motor in a steering device, then an electric support rod connected with the sucker is contracted, the sucker is descended through the rotation of the cam, the hand system is fixed, and the hand system is contracted and fixed after the rotating angle of the previous hand system is adjusted through the same motion operation. After the two hand systems are adjusted and fixed, the next linear movement of the moving system can be started.
Example 1:
as shown in fig. 1 to 11, the present embodiment provides a hull magnetic adsorption type wall-climbing robot, which includes two suction hand devices 1, two telescopic arm devices 2, an electric control device 3, two steering devices 4 and a traveling device 5.
The tail of the sucking disc hand device 1 is fixedly connected with the front end of the telescopic arm device 2, the tail end of the telescopic arm device 2 is fixedly connected with the upper end of the steering device 3, the stepping motor of the steering device 4 is fixedly connected with the chassis of the walking device 5, and the lower end of the electric control device 3 is fixedly connected with the chassis of the walking device 5.
The sucker hand device 1 comprises a rack, a cam mechanism, a sliding guide rod mechanism and a sucker mechanism, wherein the rack is fixedly connected with the cam mechanism, the cam mechanism is in rotating contact with the sliding guide rod mechanism, the sliding guide rod mechanism is fixedly connected with the sucker mechanism, the rack comprises an upper platform 1-14, a lower platform 1-4, two U-shaped pillars 1-5 and an I-shaped pillar 1-6, and the upper platform 1-14 and the lower platform 1-4 are respectively connected with the upper ends and the lower ends of the U-shaped pillars 1-5 and the I-shaped pillars 1-6 through bolts to form a layered framework. The cam mechanism comprises direct current motors 1-10, motor bases I1-11, motor bases II 1-13 and cams 1-12, the motor bases I1-11 and the motor bases II 1-13 are fixedly installed on the left side and the right side of the upper portion of the upper platform 1-14 through bolts, the direct current motors 1-10 are fixedly installed on the outer sides of the upper portions of the motor bases I1-11 through bolts, and center holes of the cams 1-12 penetrate through transmission shafts of the direct current motors 1-10 and are fixed through screws. The sliding guide rod mechanism comprises pulleys 1-9, guide rods 1-8 and springs 1-7, central holes of the pulleys 1-9 penetrate through the upper parts of the guide rods 1-8 and can freely rotate, the lower parts of the guide rods 1-8 penetrate through circular slotted holes of a lower platform 1-4 and are movably connected with the lower platform 1-4 through the springs 1-7, the upper ends of the springs 1-7 penetrate through limiting parts of the lower parts of the guide rods 1-8 and are in contact, and the lower ends of the springs 1-7 are in contact with the bottoms of the circular slotted holes of the lower platform 1-4. The sucking disc mechanism comprises a sucking disc table 1-3, a small magnet 1-2 and three abalone-imitated short corrugated sucking discs 1-1, a central threaded hole of the sucking disc table 1-3 is fixedly connected with a screw rod at the lower part of a guide rod 1-8, the small magnet 1-2 is positioned in a circular groove at the lower end of the sucking disc table 1-2 and is connected through interference fit, and the abalone-imitated short corrugated sucking discs 1-1 are positioned in a partition plate at the lower end of the sucking disc table 1-2 and are fixed through bolts. The sucking disc hand device 1 realizes the functions of hovering and moving of the ship body magnetic adsorption type wall-climbing robot through the switching of the states of adsorption and separation of the sucking discs and the contact surfaces.
The telescopic arm device 2 comprises a fixed seat 2-1 and an electric support rod 2-2, the lower portion of the fixed seat 2-1 is fixedly connected with an upper platform 1-14 of the sucker hand device 1, a circular hole groove of the fixed seat 2-1 penetrates through the front end of the electric support rod 2-2 to be fixedly connected through a bolt, and the tail end of the electric support rod 2-2 is located in an upper clamping plate of a shoulder portion 4-1 of the steering device 4 to be fixedly connected through a bolt. The telescopic arm device 2 can control the linear movement of the sucker hand device 1.
The electric control device 3 comprises an upper triangular plate 3-3, four limiting clamps 3-5, three supporting columns 3-1, a power supply 3-4 and a control panel 3-2, the four limiting clamps 3-5 are fixed on the upper triangular plate 3-1 through bolts, the power supply 3-4 is fixedly installed in a limiting space formed, the control panel 3-2 is fixed in a groove below the upper triangular plate 3-1 through bolts, and the upper triangular plate 3-1 is fixed through upper sections of the three supporting columns 3-1 through threads. The electric control device 3 can control the sucker hand device 1 and the steering device 4 to realize the movement of the ship body magnetic adsorption type wall-climbing robot.
Wherein, the steering gear 4 comprises a shoulder 4-1, a short shaft 4-2, a bearing I4-3, a bearing II 4-4, a bevel gear I4-5, a bevel gear II 4-6, a baffle 4-7 and a servo motor 4-8, the lower end of the shoulder 4-1 is fixedly connected with the short shaft 4-2 through threads, the short shaft 4-2 is fixed on a triangular bottom plate 5-6 of the walking device 5 through the bearing I4-3 and the bearing II 4-4, the two mutually meshed bevel gears I4-5 and the bevel gear II 4-6, one bevel gear is the bevel gear I4-5, the other bevel gear II 4-6 is a driven bevel gear, the driven bevel gear is in transmission connection with the short shaft 4-2, an output shaft of the servo motor 4-8 is in transmission connection with a driving swing bevel gear, the servo motors 4-8 are fixedly connected with the baffle plates 4-7 through bolts, and the baffle plates 4-7 are welded to the lower parts of the triangular bottom plates 5-6. The rotation of the servo motors 4-8 in the steering device 4 can enable the telescopic arm device 2 to rotate within the range of 150 degrees.
The walking device 5 comprises a triangular bottom plate 5-6, three wheel seats left 5-6, three wheel seats right 5-3, three balls 5-1, a supporting groove 5-4 and a magnetic steel 5-5, wherein the triangular bottom plate 5-6 is fixed with the lower part of a pillar 3-1 of the electric control device 3 through threads, the wheel seats are formed by connecting the wheel seats left 5-6 and the wheel seats right 5-3 through buckles, the upper ends of the wheel seats are fixed with the bottom surfaces of the triangular bottom plate 5-6 through bolts, the balls 5-1 are positioned and limited by spherical spaces at the lower ends of the wheel seats and can freely roll, the supporting groove 5-4 is fixed with the lower ends of the triangular bottom plate 5-6 through bolts, and the magnetic steel 5-5 is positioned and limited and fixed in the supporting groove 5-4. The walking device 5 can realize full-angle linear running on the surface of the ship body under the matching of the telescopic arm device 2 and the sucker hand device 1.
Example 2:
hull magnetic adsorption type wall climbing robot, the structure is as embodiment 1, its difference lies in that parallel arm mode moves:
the rotation of servo motors 4-8 in the steering device 4 enables the two telescopic arm devices 2 to be in a parallel state, then the two telescopic arm devices 2 are contracted to be in a shortest contraction state, and the cams 1-12 rotate to enable the two abalone-imitated short corrugated suckers 1-1 to descend to be adsorbed on the surface of the ship body to be fixed. This step is the initial state of motion.
The support moving system is linearly moved to a desired position by extending the two electric struts 2, and this step is a motion state.
Keeping the sucker of one sucker hand device 1 fixed, rotating and lifting the sucker of the other sucker hand device 1 through the cams 1-12, then contracting the electric support rod 2-2 connected with the sucker, controlling the rotation of the servo motor 4-8 in the steering device 4 to adjust the advancing direction of the telescopic arm device 2, rotating and descending the sucker through the cams 1-12 to fix the sucker hand device 1, repeating the above manner to ensure that the previous sucker hand device 1 also completes the contraction fixation, and the step is in a steering state.
And after the initial state is started, the last two steps are continuously repeated to realize the parallel arm type linear movement of the ship body magnetic adsorption type wall-climbing robot.
Example 3: hull magnetic adsorption type wall climbing robot has the structure as in embodiment 1, and is different in that two arm modes move in a linear mode:
(1) the servo motors 4-8 in the steering device 4 rotate to enable the two telescopic arm devices 2 to be in a linear state, then the front telescopic arm device 2 extends to the longest extension state, the rear telescopic arm device 2 contracts to the shortest contraction state, and the cams 1-12 rotate to enable the two abalone-imitated short corrugated suckers 1-1 to descend to be adsorbed on the surface of the ship body to be fixed. This step is the initial state of motion.
(2) The arm is contracted by the telescopic arm device 2 in the front extension state to pull the walking device, and the arm is extended by the telescopic arm device 2 in the rear extension state to push the walking device to move to the expected position in a straight line, and the step is a motion state.
(3) Keeping the suckers of the sucker hand device 1 behind fixed, lifting the sucker of the sucker hand device 1 in front by rotating the cams 1-12, controlling the rotation of the servo motor 4-8 in the steering device to adjust the advancing direction of the telescopic arm device, extending the electric support rod 2-2 connected with the sucker to an extension state, descending the sucker by rotating the cam 1-12 to fix the sucker hand device 1, and repeating the above steps to fix the sucker hand device behind to a contraction and contraction state, wherein the step is to restore the steering state.
And the two last steps are continuously repeated after the initial state is started to realize the parallel arm mode movement of the ship body magnetic adsorption type wall-climbing robot.
To sum up, the invention designs a hull magnetic adsorption type wall-climbing robot, which is designed to freely move on the surface of a hull in a full displacement way, and the structure of the wall-climbing robot comprises: the sucking disc hand device comprises a frame, a cam mechanism, a sliding guide rod mechanism and a sucking disc mechanism; the telescopic arm device comprises a fixed seat and an electric stay bar; steering devices, i.e., shoulders, stub shafts, bearings, bevel gears, baffles and servo motors; the electric control device comprises an upper triangular plate, a limiting clamp, a support, a power supply and a control panel; the running gear, namely the triangle bottom plate, the left wheel seat, the right wheel seat, the ball, the bracket and the magnetic steel. The above parts form the ship body magnetic adsorption type wall-climbing robot through close fit. The ship body magnetic adsorption type wall-climbing robot is ingenious in structural design, simple and practical, and combines magnetic adsorption and sucker adsorption, wherein the sucker is an abalone-imitated short corrugated sucker and has the advantage of strong adsorption force, so that the ship body magnetic adsorption type wall-climbing robot has the advantages of being large in load and small in size. Through reasonable combination and matching operation of a plurality of mechanisms, the hull magnetic adsorption type wall-climbing robot can effectively realize free linear walking, turning and hovering at any angle, and compared with the hull magnetic adsorption type wall-climbing robot on the current market, the hull magnetic adsorption type wall-climbing robot has the advantages of low cost, stable and reliable operation, no need of a lead external power supply, convenience in maintenance, capability of realizing operation in various complex occasions such as uneven hull surface, obstacle on hull surface, large hull surface gradient and the like, obvious effect, and good economic value and market benefit.
Claims (7)
1. The utility model provides a hull magnetism adsorbs formula wall climbing robot which characterized in that: the electric control device is arranged above the walking device, the steering devices are provided with two devices which are symmetrically arranged on two sides of the walking device, the telescopic arm devices and the sucking disc hand devices are also provided with two devices, one end of each telescopic arm device is connected to the steering device, and the other end of each telescopic arm device is connected with the sucking disc hand device.
2. The hull magnetic adsorption type wall-climbing robot of claim 1, characterized in that: each sucking disc hand device comprises an upper platform, a direct current motor arranged on the upper platform, a cam arranged on the output end of the direct current motor, a lower platform arranged below the upper platform through a support, a sliding guide rod mechanism and a sucking disc mechanism, wherein the sliding guide rod mechanism comprises a pulley, a guide rod and a spring, the pulley is in contact with the cam, a central hole of the pulley penetrates through the upper part of the guide rod and can rotate freely, the lower part of the guide rod penetrates through a circular slotted hole of the lower platform and is movably connected with the lower platform through the spring, the upper end of the spring is in contact with a limiting part of the lower part of the guide rod, the lower end of the spring is in contact with the bottom of the circular slotted hole of the lower platform, the sucking disc mechanism comprises a sucking disc platform connected with the lower end of the guide rod, a small magnet arranged at the middle position of.
3. The hull magnetic adsorption type wall-climbing robot of claim 2, wherein: the abalone-imitated short corrugated sucking disc is provided with three different texture areas, namely an outer multi-lip edge area, a middle large pattern area and an inner dense small pattern area.
4. The hull magnetic adsorption type wall-climbing robot of claim 1, 2 or 3, wherein: the walking device comprises a triangular bottom plate, three wheel seats symmetrically arranged at the lower end of the triangular bottom plate, a ball arranged in each wheel seat, and magnetic steel arranged in the middle of the lower end of the triangular bottom plate.
5. The hull magnetic adsorption type wall-climbing robot of claim 4, wherein: the electric control device comprises an upper triangular plate arranged above the triangular bottom plate through a support, a power supply arranged above the upper triangular plate, and a control panel arranged below the upper triangular plate.
6. The hull magnetic adsorption type wall-climbing robot of claim 5, wherein: each steering device comprises a short shaft arranged on the triangular bottom plate through a bearing, a shoulder arranged at the upper end of the triangular bottom plate and fixedly connected with one end of the short shaft, a first bevel gear arranged at the other end of the short shaft, a servo motor arranged on the lower end face of the triangular bottom plate, and a second bevel gear arranged on an output shaft of the servo motor, wherein the first bevel gear is meshed with the second bevel gear.
7. The hull magnetic adsorption type wall-climbing robot of claim 6, wherein: every flexible arm includes the electronic vaulting pole that links firmly with the shoulder, sets up the fixing base at electronic vaulting pole output, and the fixing base is installed on the upper mounting plate of the sucking disc hand device that corresponds.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011100592.6A CN112224297B (en) | 2020-10-15 | 2020-10-15 | Hull magnetic adsorption type wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011100592.6A CN112224297B (en) | 2020-10-15 | 2020-10-15 | Hull magnetic adsorption type wall-climbing robot |
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| CN112224297A true CN112224297A (en) | 2021-01-15 |
| CN112224297B CN112224297B (en) | 2021-11-05 |
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| US4785902A (en) * | 1987-02-06 | 1988-11-22 | Ishikawajima Kensa Keisoku Kabushiki Kaisha | Suction type traveling carriage |
| US20070235239A1 (en) * | 2004-05-01 | 2007-10-11 | Fukashi Urakami | Device Movable Along Surface of Object |
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| CN112224297B (en) | 2021-11-05 |
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