CN112278104A - Permanent magnet adsorption foot type wall-climbing robot - Google Patents
Permanent magnet adsorption foot type wall-climbing robot Download PDFInfo
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- CN112278104A CN112278104A CN202011102323.3A CN202011102323A CN112278104A CN 112278104 A CN112278104 A CN 112278104A CN 202011102323 A CN202011102323 A CN 202011102323A CN 112278104 A CN112278104 A CN 112278104A
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- permanent magnet
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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
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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Abstract
The invention provides a permanent magnet adsorption foot type wall-climbing robot, and belongs to the technical field of wall-climbing robots. The lower side face of the rack of the wall climbing robot is provided with the plurality of walking leg mechanisms, when the wall climbing robot walks, the magnetic adsorption devices on the part of the walking leg mechanisms are adsorbed on the wall face, the magnetic adsorption devices on the other part of the walking leg mechanisms are separated from the wall face and move forwards along with the crank, the magnetic adsorption devices on the part of the walking leg mechanisms swing forwards are adsorbed on the wall face, the original magnetic adsorption devices adsorbed on the part of the walking leg mechanisms on the wall face are separated from the wall face and move forwards along with the crank, and the operation is repeated, so that the wall climbing robot walks on the wall face, and therefore a flaw detection tool can be carried on the wall climbing robot to perform flaw detection work, and the work efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of wall-climbing robots, and relates to a permanent magnet adsorption foot type wall-climbing robot.
Background
At present, flaw detection operation of large steel structural members such as large ships, petrochemical storage tanks and fan towers mainly adopts manual flaw detection, the traditional method is to build a scaffold or adopt an aerial work platform to perform manual flaw detection operation, workers operate on the scaffold or the aerial work platform, although the investment is low, the operation efficiency is low, and the risk degree is high. With the progress of the technology, some semi-automatic working methods such as rail installation have been developed, which improve the working efficiency, but the preparation time in the early stage is long, and there is a large limitation in non-planar working, and therefore, there is a need for a wall-climbing robot and a control system for the wall-climbing robot that can stably attach to such a wall surface and can mount other flaw detection tools.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a permanent magnet adsorption foot type wall-climbing robot, which aims to solve the technical problems that: how to realize the walking of the robot on the wall surface of the steel structure.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a sufficient formula of permanent magnetism adsorbs wall climbing robot, includes the frame, its characterized in that, the downside of frame is provided with a plurality of walking leg mechanisms, walking leg mechanism includes support, connecting rod, crank, bracing piece and driving motor, support fixed connection is in the downside of frame, the both ends of support are provided with a connecting portion respectively, the one end and the connecting portion of support of connecting rod are articulated mutually, the other end and a articulate tip of connecting rod are articulated mutually, the crank is provided with the flexion, the one end of bracing piece is articulated mutually with another connecting portion of support, the other end and the articulate bending portion of bracing piece are articulated mutually, driving motor installs in the frame, driving motor's output shaft links firmly with the connecting rod mutually, the one end that the connecting rod was kept away from to the crank is provided with magnetic force adsorption equipment.
The working principle is as follows: the driving motor is started, one end of the connecting rod is hinged to one connecting portion of the support, the other end of the connecting rod is hinged to one end portion of the crank, the crank is provided with a bending portion, one end of the supporting rod is hinged to the other connecting portion of the support, the other end of the supporting rod is hinged to the bending portion of the crank, the driving motor is installed on the rack, an output shaft of the driving motor is fixedly connected with the connecting rod, the driving motor drives the connecting rod to swing, meanwhile, the crank is driven to swing, and a magnetic adsorption device arranged at one end, far away from the connecting rod, of the crank. Because the downside of frame is provided with a plurality of walking leg mechanisms, during the walking, the magnetic adsorption device on some walking leg mechanisms adsorbs on the wall, the magnetic adsorption device on another part walking leg mechanism breaks away from the wall, and along with the crank moves forward, the magnetic adsorption device on this part walking leg mechanism after the forward swing of this part adsorbs on the wall, and the magnetic adsorption device that originally adsorbs on the some walking leg mechanisms of wall breaks away from the wall and moves before the crank, and in cycles, realize this wall climbing robot and walk on the wall, thereby can carry on the inspection instrument and carry out the work of detecting a flaw on this wall climbing robot, improve work efficiency greatly.
In the above permanent magnetic adsorption foot type wall-climbing robot, the magnetic adsorption device includes a mounting seat and a permanent magnet, the mounting seat is fixedly connected to one end of the crank, which is far away from the connecting rod, and the permanent magnet is mounted on the mounting seat.
In foretell sufficient wall climbing robot of permanent magnetism absorption, magnetic force adsorption equipment still includes rotating member and torsion steering wheel, rotating member fixed connection is on the permanent magnet, the output shaft of torsion steering wheel is connected with the rotating member.
In the permanent magnet adsorption foot type wall climbing robot, the rotating part is a connecting shaft, the connecting shaft is fixedly connected to the permanent magnet, and an output shaft of the torque steering engine is connected with the connecting shaft.
In the above permanent magnetic adsorption foot type wall-climbing robot, the wall-climbing robot further comprises a controller, and the controller is mounted on the upper side surface of the rack.
In foretell sufficient formula wall climbing robot of permanent magnetism absorption, wall climbing robot still includes the battery, the battery is installed in the side of going up of frame, battery and controller, driving motor and the equal electric connection of torsion steering wheel.
Preferably, the number of the walking leg mechanisms is 4, and the two walking leg mechanisms positioned on the diagonal have consistent pace.
Compared with the prior art, the invention has the following advantages:
1. the magnetic adsorption device on the part of the walking leg mechanism of the wall climbing robot is adsorbed on the wall surface, the magnetic adsorption device on the other part of the walking leg mechanism is separated from the wall surface, and moves forwards along with the crank, the magnetic adsorption device on the part of the walking leg mechanism swings forwards, and the magnetic adsorption device originally adsorbed on the part of the walking leg mechanism of the wall surface is separated from the wall surface and moves forwards along with the crank, and the operation is repeated, so that the wall climbing robot walks on the wall surface, and a flaw detection tool can be carried on the wall climbing robot to perform flaw detection work, and the work efficiency is greatly improved.
2. Through setting up the torsion steering wheel, realize that magnetic force adsorption equipment adsorbs or breaks away from the wall, make things convenient for this wall climbing robot's walking.
3. Through setting up the controller, control driving motor and torsion steering wheel for step is transferred unanimously when this wall climbing robot walks.
Drawings
FIG. 1 is a schematic structural diagram of the present wall-climbing robot;
FIG. 2 is a block diagram of the walking leg mechanism;
fig. 3 is a schematic structural view of the magnetic force adsorption device.
In the figure, 1, a frame; 2. a walking leg mechanism; 3. a support; 4. a connecting rod; 5. a crank; 6. a support bar; 7. a drive motor; 8. a connecting portion; 9. a bending section; 10. a magnetic force adsorption device; 11. a mounting seat; 12. A permanent magnet; 14. a torsion steering engine; 15. a controller; 16. and (4) a storage battery.
Detailed Description
The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1-2, the wall-climbing robot includes a frame 1, a plurality of walking leg mechanisms 2 are disposed on the lower side surface of the frame 1, each walking leg mechanism 2 includes a support 3, a connecting rod 4, a crank 5, a supporting rod 6 and a driving motor 7, the support 3 is fixedly connected to the lower side surface of the frame 1, two ends of the support 3 are respectively provided with a connecting portion 8, one end of the connecting rod 4 is hinged to one connecting portion 8 of the support 3, the other end of the connecting rod 4 is hinged to one end of the crank 5, the crank 5 is provided with a bending portion 9, one end of the supporting rod 6 is hinged to the other connecting portion 8 of the support 3, the other end of the supporting rod 6 is hinged to the bending portion 9 of the crank 5, the driving motor 7 is mounted on the frame 1, an output shaft of the driving motor 7 is fixedly connected to.
Starting a driving motor 7, wherein one end of a connecting rod 4 is hinged to a connecting part 8 of a support 3, the other end of the connecting rod 4 is hinged to one end of a crank 5, the crank 5 is provided with a bending part 9, one end of a supporting rod 6 is hinged to the other connecting part 8 of the support 3, the other end of the supporting rod 6 is hinged to the bending part 9 of the crank 5, the driving motor 7 is installed on a rack 1, an output shaft of the driving motor 7 is fixedly connected with the connecting rod 4, the driving motor 7 drives the connecting rod 4 to swing and drives the crank 5 to swing simultaneously, and a magnetic adsorption device 10 arranged at one end, far away from the connecting rod 4, of the crank 5 moves along with the. Because the lower side surface of the rack 1 is provided with the plurality of walking leg mechanisms 2, when the robot walks, the magnetic adsorption devices 10 on one part of the walking leg mechanisms 2 are adsorbed on the wall surface, the magnetic adsorption devices 10 on the other part of the walking leg mechanisms 2 are separated from the wall surface and move forwards along with the crank 5, the magnetic adsorption devices 10 on the part of the walking leg mechanisms 2 swing forwards are adsorbed on the wall surface, and the magnetic adsorption devices 10 on the part of the walking leg mechanisms 2 originally adsorbed on the wall surface are separated from the wall surface and move forwards along with the crank 5, and the operation is repeated, so that the robot walks on the wall surface, and thus, a flaw detection tool can be carried on the robot to perform flaw detection work, and the work efficiency is greatly improved.
As shown in fig. 2-3, in the present embodiment, the magnetic force adsorption device 10 includes a mounting seat 11 and a permanent magnet 12, the mounting seat 11 is fixedly connected to an end of the crank 5 far away from the connecting rod 4, and the permanent magnet 12 is mounted on the mounting seat 11. In this structure, the magnetic force adsorption device 10 includes a mounting seat 11 and a permanent magnet 12, and the permanent magnet 12 can make the wall-climbing robot firmly adsorb on the wall surface.
As shown in fig. 2-3, in this embodiment, the magnetic attraction device 10 further includes a rotating member and a torque steering engine 14, the rotating member is fixedly connected to the permanent magnet 12, and an output shaft of the torque steering engine 14 is connected to the rotating member. In this structure, rotating member fixed connection is on permanent magnet 12, the output shaft of torsion steering wheel 14 is connected with the rotating member, when needs break away from magnetic force adsorption equipment 10 wall face, start torsion steering wheel 14 and drive permanent magnet 12 and rotate, make the magnetic force between permanent magnet 12 and the wall slowly reduce, permanent magnet 12 finally breaks away from the wall face, when needs magnetic force adsorption equipment 10 adsorbs the wall face, torsion steering wheel 14 drives permanent magnet 12 and reverses, make the magnetic force between permanent magnet 12 and the wall slowly increase, permanent magnet 12 finally adsorbs the wall face.
As a preferred embodiment, the rotating part is a coupling shaft which is fixedly connected to the permanent magnet 12, and the output shaft of the torsion steering engine 14 is connected with the coupling shaft. As other embodiments, the rotating member may also be another type of shaft component, and the rotating member transmits the torque of the torque steering engine to the permanent magnet 12 to drive the permanent magnet 12 to rotate, so that the direction of the magnetic force of the permanent magnet 12 can be changed.
As shown in fig. 1, in the present embodiment, the wall-climbing robot further includes a controller 15, and the controller 15 is installed on the upper side surface of the frame 1. In the structure, the driving motor 7 and the torsion steering engine 14 are respectively electrically connected with the controller 15, and the controller 15 is used for controlling the driving motor 7 and the torsion steering engine 14 of the wall climbing robot, so that the wall climbing robot can walk in a consistent step and control the wall surface flaw detection work of the wall climbing robot.
As shown in fig. 1, in this embodiment, the wall-climbing robot further includes a storage battery 16, the storage battery 16 is installed on the upper side of the rack 1, and the storage battery 16 is electrically connected to the controller 15, the driving motor 7, and the torque steering engine 14.
As shown in fig. 1, in the present embodiment, the number of the walking leg mechanisms 2 is 4, and the two walking leg mechanisms 2 located on the diagonal line are in the same pitch. In this structure, the quantity of walking leg mechanism 2 is 4, the cadence that is located two walking leg mechanisms 2 of diagonal is unanimous, when this wall climbing robot walked, magnetic force adsorption equipment 10 that is located diagonal a pair of walking leg mechanism 2 through torsion steering wheel 14 control, make it adsorb on the wall, magnetic force adsorption equipment 10 that is located diagonal another pair of walking leg mechanism 2 through torsion steering wheel 14 control, make it break away from the wall, driving motor 7 that rethread control breaks away from walking leg mechanism 2 of wall makes it swing forward, should move forward simultaneously to walking leg mechanism 2, control this torsion steering wheel 14 to walking leg mechanism 2, make it adsorb on the wall, go round and begin again, this wall climbing robot can steadily walk on the wall.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (7)
1. The utility model provides a sufficient formula of permanent magnetism adsorbs wall climbing robot, includes frame (1), its characterized in that, the downside of frame (1) is provided with a plurality of walking leg mechanism (2), walking leg mechanism (2) are including support (3), connecting rod (4), crank (5), bracing piece (6) and driving motor (7), support (3) fixed connection is in the downside of frame (1), the both ends of support (3) are provided with a connecting portion (8) respectively, the one end of connecting rod (4) is articulated mutually with connecting portion (8) of support (3), the other end of connecting rod (4) is articulated mutually with an end of crank (5), crank (5) are provided with flexion (9), the one end of bracing piece (6) is articulated mutually with another connecting portion (8) of support (3), the other end of bracing piece (6) is articulated mutually with flexion (9) of crank (5), the driving motor (7) is installed on the rack (1), an output shaft of the driving motor (7) is fixedly connected with the connecting rod (4), and a magnetic adsorption device (10) is arranged at one end, far away from the connecting rod (4), of the crank (5).
2. The permanent magnet adsorption foot type wall-climbing robot is characterized in that the magnetic adsorption device (10) comprises a mounting seat (11) and a permanent magnet (12), the mounting seat (11) is fixedly connected to one end, away from the connecting rod (4), of the crank (5), and the permanent magnet (12) is mounted on the mounting seat (11).
3. The permanent magnet adsorption foot type wall-climbing robot is characterized in that the magnetic adsorption device (10) further comprises a rotating part and a torsion steering engine (14), the rotating part is fixedly connected to the permanent magnet (12), and an output shaft of the torsion steering engine (14) is connected with the rotating part.
4. The permanent magnet adsorption foot type wall-climbing robot according to claim 3, wherein the rotating part is a connecting shaft, the connecting shaft is fixedly connected to the permanent magnet (12), and an output shaft of the torsion steering engine is connected with the connecting shaft.
5. The permanent magnet adsorption foot type wall climbing robot is characterized by further comprising a controller (15), wherein the controller (15) is installed on the upper side face of the machine frame (1).
6. The permanent magnet adsorption foot type wall climbing robot is characterized by further comprising a storage battery (16), wherein the storage battery (16) is mounted on the upper side face of the rack (1), and the storage battery (16) is electrically connected with the controller (15), the driving motor (7) and the torsion steering engine (14).
7. The permanent magnet adsorption foot type wall climbing robot is characterized in that the number of the walking leg mechanisms (2) is 4, and the two walking leg mechanisms (2) positioned on the diagonal line have the same pace.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011102323.3A CN112278104A (en) | 2020-10-15 | 2020-10-15 | Permanent magnet adsorption foot type wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011102323.3A CN112278104A (en) | 2020-10-15 | 2020-10-15 | Permanent magnet adsorption foot type wall-climbing robot |
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| Publication Number | Publication Date |
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| CN112278104A true CN112278104A (en) | 2021-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011102323.3A Pending CN112278104A (en) | 2020-10-15 | 2020-10-15 | Permanent magnet adsorption foot type wall-climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113548125A (en) * | 2021-07-13 | 2021-10-26 | 天津大学 | Wheel-leg mixed quadruped robot |
| CN115351476A (en) * | 2022-07-26 | 2022-11-18 | 山东省公路桥梁建设集团有限公司 | Automatic welding robot for splicing steel box girders and using method |
-
2020
- 2020-10-15 CN CN202011102323.3A patent/CN112278104A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113548125A (en) * | 2021-07-13 | 2021-10-26 | 天津大学 | Wheel-leg mixed quadruped robot |
| CN113548125B (en) * | 2021-07-13 | 2022-04-19 | 天津大学 | Wheel-leg mixed quadruped robot |
| CN115351476A (en) * | 2022-07-26 | 2022-11-18 | 山东省公路桥梁建设集团有限公司 | Automatic welding robot for splicing steel box girders and using method |
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