CN113619704B - Magnetic force self-adaptive amphibious wall-climbing robot - Google Patents
Magnetic force self-adaptive amphibious wall-climbing robot Download PDFInfo
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- CN113619704B CN113619704B CN202110996055.2A CN202110996055A CN113619704B CN 113619704 B CN113619704 B CN 113619704B CN 202110996055 A CN202110996055 A CN 202110996055A CN 113619704 B CN113619704 B CN 113619704B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
Abstract
The invention relates to the technical field of underwater robots, in particular to a magnetic force self-adaptive amphibious wall-climbing robot. The device comprises two walking frame modules which are arranged in bilateral symmetry, wherein the two walking frame modules are detachably connected through a middle frame module; the walking frame module comprises a walking frame, the walking frame comprises two hinged vehicle plates which are arranged in a bilateral symmetry mode, the hinged vehicle plates comprise a front longitudinal beam and a rear longitudinal beam which are arranged in the front and the rear directions, the rear end of the front longitudinal beam and the front end of the rear longitudinal beam are connected in a hinged mode through a first hinged bolt, and a first long-strip-shaped limiting bolt hole is formed in the front longitudinal beam in the height direction. The invention adopts a self-adaptive frame structure, and the walking frame and the middle frame module adopt a hinged connection form, so that the wall-climbing robot can adapt to various curvatures and uneven surfaces, and the working capacity of the wall-climbing robot is greatly improved.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a magnetic force self-adaptive amphibious wall-climbing robot.
Background
The underwater wall-climbing robot integrates an underwater sealing technology, a wall-climbing technology and a mobile robot technology, can flexibly move on an inclined, vertical or inverted wall surface, can carry related equipment to complete work tasks, can effectively solve the task which is difficult to or cannot be completed by manpower, realizes automatic operation in an underwater high-intensity and high-risk environment, greatly improves the production efficiency, saves the labor force of workers, and effectively reduces the labor risk. At present, the underwater wall-climbing robot has been applied to underwater maintenance and cleaning operations of civil ships, naval vessels, ocean platforms, submarine pipelines and dams to a certain extent.
According to different adsorption modes, the wall-climbing robot can be divided into magnetic adsorption, negative pressure adsorption, thrust adsorption and the like. The magnetic adsorption is divided into permanent magnetic adsorption and electromagnetic adsorption, the electromagnetic adsorption type structure is complex, the safety is poor, and the permanent magnet has the advantages of high reliability, small size and the like, and gradually becomes the main development direction in the future.
In practical application, the working surface of the wall-climbing robot is a multi-curvature and multi-obstacle space curved surface, such as a hull surface and an ocean pipeline, which can cause the change of the adsorption force of the wall-climbing robot, thereby affecting the load and the operation capacity of the wall-climbing robot, and in addition, the uneven working surface and the obstacle can also cause the change of the ground clearance of the chassis of the wall-climbing robot, and if the ground clearance of the chassis is too low, the chassis can be blocked by the obstacle; suspension of the drive wheel may result in drive failure, etc. Therefore, the wall-climbing robot is required to have a curved surface adaptive capability. Most of the existing magnetic adsorption wall-climbing robots are adsorbed by adopting crawler belts or magnetic wheel types. The crawler-type magnetic adsorption can generate great adsorption force, but the steering capacity is poor, the adaptability to curved surfaces is poor, and the obstacle climbing capacity is insufficient. The magnetic wheel type wall climbing robot has good steering performance and curved surface adaptability, but the adsorption capacity is insufficient due to the limitation of the size of the magnetic wheel.
Disclosure of Invention
The utility model provides a shortcoming among the above-mentioned prior production technology is directed against to the amphibious wall climbing robot of magnetic force self-adaptation, adopts self-adaptation structure's walking frame module, and the frame part all adopts articulated form for wall climbing robot can adapt to various curvatures and unevenness's surface, has improved wall climbing robot's working ability greatly.
The technical scheme adopted by the invention is as follows:
a magnetic force self-adaptive amphibious wall-climbing robot comprises two walking frame modules which are arranged in bilateral symmetry, the two walking frame modules are detachably connected through a middle frame module, a sealing control box is arranged at the rear part of the upper end of each walking frame module, and a camera is arranged at the front end of each walking frame module; the walking frame module comprises a walking frame, the walking frame comprises two hinged vehicle plates which are arranged in bilateral symmetry, the hinged vehicle plates comprise a front longitudinal beam and a rear longitudinal beam which are arranged in the front and the rear, the rear end of the front longitudinal beam and the front end of the rear longitudinal beam are connected in a hinged mode through a first hinged bolt, a first limiting bolt hole which is long in strip shape is formed in the front longitudinal beam along the height direction, a first limiting bolt is connected to the position, corresponding to the first limiting bolt hole, of the rear longitudinal beam, the front end of the first limiting bolt extends into the first limiting bolt hole, the rear end of the front longitudinal beam and the rear longitudinal beam can rotate relative to each other around the first hinged bolt, and the limitation of the rotation range is achieved through the first limiting bolt hole and the first limiting bolt.
Furthermore, the front and the rear parts of the walking frame are respectively connected with a driven shaft and a driving shaft in a rotating mode, two ends of the driven shaft and two ends of the driving shaft are respectively connected with walking wheels, the output end of a speed reducer is connected onto the driving shaft, the input end of the speed reducer is connected with a watertight motor, a driving chain wheel is connected onto the driving shaft, a driven chain wheel is connected onto the driven shaft, the driving chain wheel is connected with the driven chain wheel through a transmission chain, the rear end of a rear longitudinal beam is detachably connected with a speed reducer shell through a connecting piece, and the front end of a front longitudinal beam is connected with the driven shaft through a shaft sleeve structure in a rotating mode.
Furthermore, set up the first locking bolt hole that link up each other jointly on front longitudinal back end and the back longeron, can set up first locking bolt in the first locking bolt hole, first locking bolt can become rigid connection with articulated sweep.
Furthermore, a front lightening hole is formed in the front longitudinal beam along the length direction, and a rear lightening hole is formed in the rear longitudinal beam along the length direction.
Furthermore, the middle frame module comprises two butt joint assemblies arranged in the front and at the back, two ends of each butt joint assembly are connected to the rear longitudinal beams of the two walking frame modules respectively, each butt joint assembly comprises a first butt joint plate and a second butt joint plate, the first butt joint plate and the second butt joint plate are connected in a hinged mode through a second hinge bolt, one end of the first butt joint plate is perpendicularly provided with a first support plate, one end of the second butt joint plate is perpendicularly provided with a second support plate, a second limit bolt hole in a long strip shape is formed in the first butt joint plate in the height direction, a second limit bolt is arranged in the position, corresponding to the second limit bolt hole, of the second butt joint plate, the front end of the second limit bolt extends into the second limit bolt hole, the first butt joint plate and the second butt joint plate can rotate around the second hinge bolt, and the second limit bolt hole can limit the rotation amplitude.
Furthermore, a second locking bolt hole which is through from front to back is formed in the first butt joint plate and the second butt joint plate, a second locking bolt can be arranged in the second locking bolt hole, and the first butt joint plate and the second butt joint plate are connected to the rear longitudinal beam.
Furthermore, a cleaning module is arranged at the upper end of the walking frame module.
Furthermore, the cleaning module comprises a cleaning connecting plate, the cleaning connecting plate is detachably connected with a cleaning mounting plate through a connecting piece, the cleaning mounting plate is detachably connected to the middle frame module through a connecting piece, a bearing seat is arranged on the cleaning connecting plate, the bearing seat is rotatably connected with a rotating shaft, the upper end of the rotating shaft is fixedly connected with one end of a swing arm, the other end of the swing arm is connected with a cleaning gun, a reciprocating motion driving mechanism is arranged on the cleaning connecting plate and connected with the swing arm, and the reciprocating motion driving mechanism can drive the swing arm to reciprocate; the reciprocating motion driving mechanism comprises an underwater steering engine fixed at the bottom of the cleaning connecting plate, the driving end of the underwater steering engine penetrates through the cleaning connecting plate and is connected with one end of a crank, the other end of the crank is connected with one end of a connecting rod through a pin shaft, the other end of the connecting rod is connected with the lower end of a swing shaft, and the upper end of the swing shaft is rotatably connected with a swing arm.
Furthermore, the bottom end faces of the front part and the rear part of the walking frame module are respectively provided with an adsorption module, and the adsorption modules can be automatically adjusted to the position with the maximum suction force according to the shape of the curved surface.
Furthermore, the adsorption module comprises a permanent magnet, the lower end and the left and right sides of the permanent magnet are coated with a wrapping plate, the upper end of the permanent magnet is coated with a top plate, the front end and the rear end of the permanent magnet are respectively coated with a side plate, the wrapping plate, the top plate and the side plates are detachably connected through connecting pieces and completely coat the permanent magnet, the side plates are provided with through positioning holes, the two ends of the top plate are respectively provided with a convex positioning insertion block, the positioning insertion blocks at the two ends of the top plate respectively correspondingly extend into the positioning holes of the side plates at the two sides, connect the magnet connecting plate through fastening bolt on the curb plate, the magnet connecting plate passes through axle sleeve connection walking frame module, connects fastening bolt position department on the curb plate and sets up the altitude mixture control hole of rectangular shape along the direction of height, and magnet connecting plate side is through connecting piece detachable connection magnet regulating plate, and adjusting bolt is connected to magnet regulating plate upper end, and the adjusting bolt front end stretches into in the adjusting bolt hole of curb plate.
The invention has the following beneficial effects:
the wall-climbing robot adopts a self-adaptive frame structure, and the walking frame and the middle frame module adopt a hinged connection mode, so that the wall-climbing robot can adapt to various curvatures and uneven surfaces, and the working capacity of the wall-climbing robot is greatly improved; the self-adaptive chassis system is provided with the self-adaptive adsorption module, the ground clearance of the permanent magnet is adjustable, the adsorption module can rotate around the shaft, and when the working surface is not flat, the adsorption module can be automatically adjusted to the position with the maximum adsorption force, so that the self-adaptive chassis system is effectively formed with the self-adaptive chassis, and the obstacle crossing capability and the curved surface adaptive capability are obviously improved; the invention adopts differential steering, is provided with 8 wheels simultaneously, and can provide driving force and braking force, so that the driving force distribution of the whole vehicle is balanced, the influence caused by partial wheel slip during obstacle crossing is effectively reduced, and the walking stability and reliability are improved.
Drawings
Fig. 1 is a perspective view of the present invention.
FIG. 2 is a block diagram of the cleaning module according to the present invention.
Fig. 3 is a view of the walking frame module according to the present invention.
FIG. 4 is a structural view of the frame of the traveling carriage of the present invention.
FIG. 5 is a schematic view of a center frame module according to the present invention.
FIG. 6 is a block diagram of a cleaning module according to the present invention.
FIG. 7 is a view showing the structure of an adsorption module according to the present invention.
Fig. 8 is a view showing an installation structure of an adsorption module according to the present invention.
Fig. 9 is a schematic diagram of the obstacle crossing of the present invention.
FIG. 10 is a schematic view of the present invention walking on a convex surface.
FIG. 11 is a schematic view of the present invention walking on a concave surface.
FIG. 12 is a schematic view of the present invention walking on a convex curved surface.
FIG. 13 is a schematic view of the present invention walking on a concave surface.
Wherein: 100. a walking frame module; 110. a traveling carriage frame; 111. a front longitudinal beam; 112. a rear stringer; 113. a first hinge bolt; 114. a first limit bolt; 115. a first limit bolt hole; 116. a first lock bolt hole; 117. a front lightening hole; 118. a rear lightening hole; 120. a driven shaft; 130. a drive shaft; 140. a watertight motor; 150. a speed reducer; 160. a drive chain; 170. a drive sprocket; 180. a driven sprocket; 190. a traveling wheel; 200. a center frame module; 210. a first butt plate; 220. a first support plate; 230. a second butt joint plate; 240. a second support plate; 250. a second hinge bolt; 260. a second limit bolt; 270. a second limit bolt hole; 280. a second lock bolt hole; 300. an adsorption module; 310. wrapping a plate; 320. a top plate; 330. a side plate; 340. a magnet connecting plate; 350. a magnet adjusting plate; 360. adjusting the bolt; 370. a height adjustment hole; 380. fastening a bolt; 390. positioning the insert block; 400. a cleaning module; 410. cleaning the connecting plate; 420. cleaning the mounting plate; 430. a reciprocating drive mechanism; 431. an underwater steering engine; 432. a crank; 433. a connecting rod; 434. a pendulum shaft; 440. a bearing seat; 450. a rotating shaft; 460. swinging arms; 470. cleaning a gun; 500. sealing the control box; 600. a camera is provided.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
In the embodiment shown in fig. 1 and fig. 2, a magnetic adaptive amphibious wall-climbing robot mainly comprises two walking frame modules 100 arranged in bilateral symmetry, and the two walking frame modules 100 are detachably connected through an intermediate frame module 200. The front and rear bottom end surfaces of the traveling frame module 100 are respectively provided with the adsorption modules 300, and the adsorption modules 300 can be automatically adjusted to the position with the maximum suction force according to the curved surface shape, so that the stable operation of the wall-climbing robot is ensured. The upper end of the traveling carriage module 100 is provided with a cleaning module 400, and the cleaning module 400 can complete the cleaning work of the work surface. The rear part of the upper end of the walking frame module 100 is provided with a sealing control box 500, and the front end of the walking frame module 100 is provided with a camera 600.
In the embodiment shown in fig. 3, the traveling carriage module 100 includes a traveling carriage frame 110, the traveling carriage frame 110 is rotatably connected to the driven shaft 120 and the driving shaft 130 at front and rear portions thereof, respectively, and the driven shaft 120 and the driving shaft 130 are connected to traveling wheels 190 at both ends thereof, respectively. The driving shaft 130 is connected with the output end of a speed reducer 150, and the input end of the speed reducer 150 is connected with a watertight motor 140. The driving shaft 130 is connected to a driving sprocket 170, the driven shaft 120 is connected to a driven sprocket 180, and the driving sprocket 170 is connected to the driven sprocket 180 through a driving chain 160.
The watertight motor 140 amplifies torque through the speed reducer 150 and then provides power to the driving shaft 130, the driving shaft 130 drives the two driving rear wheels to rotate, and then the power of the rear wheels is transmitted to the front wheels through the chain wheel and chain transmission mechanism, so that the four traveling wheels 190 of the single-group driving unit are guaranteed to have power and braking force. The arrangement forms of the other group of driving units are the same, the whole wall-climbing robot is provided with 8 walking wheels 190, and both the driving force and the braking force can be provided, so that the driving force distribution of the whole robot is balanced, the influence caused by slipping of part of the wheels when obstacles are crossed is effectively reduced, and the walking stability and reliability are improved.
In order to realize the adaptability of curved surface crawling, in the embodiment shown in fig. 4, the walking frame 110 includes two hinged vehicle plates symmetrically arranged left and right, the hinged vehicle plates include a front longitudinal beam 111 and a rear longitudinal beam 112 arranged front and rear, the rear end of the rear longitudinal beam 112 is detachably connected with the casing of the speed reducer 150 through a connecting piece, and the front end of the front longitudinal beam 111 is rotatably connected with the driven shaft 120 through a shaft sleeve structure. The rear end of the front longitudinal beam 111 and the front end of the rear longitudinal beam 112 are hinged by a first hinge bolt 113. The front longitudinal beam 111 is provided with a first elongated limiting bolt hole 115 along the height direction, the rear longitudinal beam 112 is connected with a first limiting bolt 114 at a position corresponding to the first limiting bolt hole 115, the front end of the first limiting bolt 114 extends into the first limiting bolt hole 115, the rear end of the front longitudinal beam 111 and the rear longitudinal beam 112 can rotate relatively around the first hinge bolt 113, the walking surface is curved and spherical, the adaptability is stronger, and the limitation of the rotation range is realized through the first limiting bolt hole 115 and the first limiting bolt 114. The rear end of the front longitudinal beam 111 and the rear longitudinal beam 112 are provided with a first locking bolt hole 116 which is mutually communicated, a first locking bolt can be arranged in the first locking bolt hole 116, and the first locking bolt can change the hinged vehicle plate into rigid connection.
In the embodiment shown in fig. 4, the front longitudinal beam 111 is provided with a front lightening hole 117 along the length direction, the rear longitudinal beam 112 is provided with a rear lightening hole 118 along the length direction, and the front lightening hole 117 and the rear lightening hole 118 can lighten the whole weight of the walking frame 110, so that the wall climbing robot can walk more easily.
In the embodiment shown in fig. 5, the middle frame module 200 includes two docking assemblies disposed in tandem, and the two docking assemblies are connected at opposite ends to the rear side rails 112 of the two traveling frame modules 100, respectively. The docking assembly comprises a first docking plate 210 and a second docking plate 230, the first docking plate 210 and the second docking plate 230 are hinged through a second hinge bolt 250, a first support plate 220 is vertically arranged at one end of the first docking plate 210, and a second support plate 240 is vertically arranged at one end of the second docking plate 230.
In the embodiment shown in fig. 5, the first butt plate 210 is provided with an elongated second limit bolt hole 270 along the height direction, the second butt plate 230 is provided with a second limit bolt 260 at a position corresponding to the second limit bolt hole 270, the front end of the second limit bolt 260 extends into the second limit bolt hole 270, the first butt plate 210 and the second butt plate 230 can rotate around the second hinge bolt 250, and the second limit bolt 260 and the second limit bolt hole 270 can limit the rotation range. The first butt plate 210 and the second butt plate 230 are provided with a second locking bolt hole 280 which is through from front to back, a second locking bolt can be arranged in the second locking bolt hole 280, and the second locking bolt can change the hinge structure into rigid connection. The first butt plate 210 and the second butt plate 230 are both connected to the rear longitudinal beam 112, so that the transverse rotational freedom degree and the longitudinal rotational freedom degree of the carriage frame 110 are not affected by each other, and the adaptability to curved surfaces and spherical surfaces is stronger.
In the embodiment shown in FIG. 6, the wash module 400 includes a wash attachment plate 410, a wash attachment plate 420 removably attached to the wash attachment plate 410 by an attachment member, and the wash attachment plate 420 removably attached to the center frame module 200 by an attachment member. The cleaning connection plate 410 is provided with a bearing seat 440, the bearing seat 440 is connected with a rotating shaft 450 in a rotating manner, the upper end of the rotating shaft 450 is fixedly connected with one end of a swing arm 460, and the other end of the swing arm 460 is connected with a cleaning gun 470. The cleaning connection plate 410 is provided with a reciprocating drive mechanism 430, the reciprocating drive mechanism 430 is connected with a swing arm 460, and the reciprocating drive mechanism 430 can drive the swing arm 460 to reciprocate.
In the embodiment shown in fig. 6, the reciprocating driving mechanism 430 includes an underwater steering engine 431 fixed at the bottom of the cleaning connection plate 410, a driving end of the underwater steering engine 431 passes through the cleaning connection plate 410 and is connected to one end of a crank 432, the other end of the crank 432 is connected to one end of a connecting rod 433 through a pin, the other end of the connecting rod 433 is connected to the lower end of a swing shaft 434, and the upper end of the swing shaft 434 is rotatably connected to a swing arm 460.
The cleaning gun 470 at the front end of the swing arm 460 can emit high-pressure water jet to clean the working surface, and the reciprocating driving mechanism 430 can drive the cleaning gun 470 at the front end of the swing arm 460 to perform reciprocating cleaning.
In the embodiment shown in fig. 7, the adsorption module 300 includes a permanent magnet, the lower end and the left and right sides of the permanent magnet are covered with a covering plate 310, the upper end of the permanent magnet is covered with a top plate 320, the front and rear ends of the permanent magnet are covered with side plates 330, respectively, and the covering plate 310, the top plate 320 and the side plates 330 are detachably connected by a connecting member and completely cover the permanent magnet.
In order to ensure the connection strength of the side plates 330, as shown in fig. 7, through positioning holes are disposed on the side plates 330, protruding positioning insertion blocks 390 are disposed at two ends of the top plate 320, and the positioning insertion blocks 390 at two ends of the top plate 320 correspondingly extend into the positioning holes of the side plates 330 at two sides, respectively, so as to realize the positioning connection between the side plates 330 and the top plate 320.
As shown in fig. 7 and 8, the side plate 330 is connected to the magnet connecting plate 340 through a fastening bolt 380, the magnet connecting plate 340 is connected to the traveling carriage module 100 through a shaft sleeve, a strip-shaped height adjusting hole 370 is formed in the side plate 330 at a position where the fastening bolt 380 is connected, and the connecting position between the magnet connecting plate 340 and the side plate 330 can be adjusted by the height adjusting hole 370. The side surface of the magnet connecting plate 340 is detachably connected with a magnet adjusting plate 350 through a connecting piece, the upper end of the magnet adjusting plate 350 is connected with an adjusting bolt 360, and the front end of the adjusting bolt 360 extends into an adjusting bolt hole of the side plate 330.
During normal work, adjust through adjusting bolt 360 and lock behind the permanent magnet ground clearance, can carry out the operation, when climbing wall robot walks on the curved surface, adsorption module 300 realizes the free rotation through the fitting surface with the axle sleeve, according to the curved surface shape automatically regulated to the biggest position of suction, guarantees the smooth operation of climbing wall robot.
The working principle of the invention is as follows: when the wall climbing robot works normally, the two walking frame modules 100 are driven by the driving shafts to rotate by the respective watertight motors 140 respectively, and then the driving force is transmitted to the driven shafts through the chain wheel and chain transmission mechanism, so that 8 driving wheels of the two walking frame modules 100 have driving force when the wall climbing robot runs. When braking, the braking force of two watertight motors is transmitted to 8 drive wheels through the same mode, and the suction of the wall-climbing robot is ensured not to be wasted, the friction is maximized, and the wall-climbing robot can be stably adsorbed on a vertical wall surface. When the automobile steers, the rotating speeds of the two watertight motors are adjusted to be different, so that the rotating speeds of the left wheel and the right wheel are inconsistent to achieve the purpose of steering. During cleaning, the underwater steering engine 431 drives the crank-rocker mechanism to realize reciprocating motion of the swing arm, the cleaning gun 470 emits high-pressure water jet, and the cleaning area can completely cover the working surface on the traveling route in front of the wheels.
As shown in fig. 9, when the obstacle crossing is performed, when there is an obstacle at the front left corner of the headstock, because the walking frame and the middle frame module are hinged, the two walking wheels 190 at the front left corner can be lifted up independently, and the rest three groups (six) of walking wheels 190 are not affected and still cling to the working surface to walk.
Fig. 10 to 13 show the driving condition of the wall climbing robot on working surfaces with different curvatures, in fig. 10 to 11, the front longitudinal beam and the rear longitudinal beam of the wall climbing robot are hinged to form a certain angle when the wall climbing robot runs on the surfaces with the curvatures, so that the self-adaption in the longitudinal direction is realized, and the trafficability of a chassis is ensured, in fig. 12 to 13, the left part and the right part of the wall climbing robot are hinged through the first connecting plate and the second connecting plate, and 8 driving wheels can be ensured to be tightly attached to the working surfaces on the concave-convex surfaces, so that the ground clearance of the adsorption units is kept consistent, the uneven distribution of the magnetic attraction force is avoided, and the maximization of the attraction force is ensured.
When the vehicle runs on a flat surface, the direction of the suction force of the adsorption module is vertical to the working surface, the adsorption force provided at the moment is the largest, when the working surface is uneven and has a certain curvature, the hinged front and rear longitudinal beams form a certain angle at the moment, the trafficability of the chassis is ensured, meanwhile, the adsorption module can be acted by magnetic force and automatically rotates to the direction of the largest magnetic force around the shaft sleeve, namely, the direction of the magnetic force is along the normal direction of the working surface, the maximum utilization of the suction force of the magnet is ensured, and the adaptability of the curved surface is obviously improved.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (6)
1. The utility model provides a dual-purpose wall climbing robot of land and water of magnetic force self-adaptation, includes two bilateral symmetry's the walking frame module (100) that set up, its characterized in that: the two walking frame modules (100) are detachably connected through the middle frame module (200), the rear part of the upper end of each walking frame module (100) is provided with the sealing control box (500), and the front end of each walking frame module (100) is provided with the camera (600); the walking frame module (100) comprises a walking frame (110), the walking frame (110) comprises two hinged vehicle plates which are arranged in bilateral symmetry, each hinged vehicle plate comprises a front longitudinal beam (111) and a rear longitudinal beam (112) which are arranged in front and at back, the rear end of each front longitudinal beam (111) is hinged with the front end of each rear longitudinal beam (112) through a first hinged bolt (113), a first elongated limiting bolt hole (115) is arranged on each front longitudinal beam (111) along the height direction, a first limiting bolt (114) is connected to the position, corresponding to the first limiting bolt hole (115), on each rear longitudinal beam (112), the front end of each first limiting bolt (114) extends into the corresponding first limiting bolt hole (115), the rear end of the front longitudinal beam (111) and the rear longitudinal beam (112) can rotate relatively around the first hinge bolt (113), the rotation amplitude is limited through a first limit bolt hole (115) and a first limit bolt (114); the front and rear parts of the walking frame (110) are respectively connected with a driven shaft (120) and a driving shaft (130) in a rotating mode, two ends of the driven shaft (120) and two ends of the driving shaft (130) are respectively connected with walking wheels (190), the driving shaft (130) is connected with an output end of a speed reducer (150), an input end of the speed reducer (150) is connected with a watertight motor (140), the driving shaft (130) is connected with a driving chain wheel (170), the driven shaft (120) is connected with a driven chain wheel (180), the driving chain wheel (170) is connected with the driven chain wheel (180) through a transmission chain (160), the rear end of a rear longitudinal beam (112) is detachably connected with a shell of the speed reducer (150) through a connecting piece, and the front end of a front longitudinal beam (111) is connected with the driven shaft (120) in a rotating mode through a shaft sleeve structure; the rear end of the front longitudinal beam (111) and the rear longitudinal beam (112) are provided with first locking bolt holes (116) which are mutually communicated, first locking bolts can be arranged in the first locking bolt holes (116), and the first locking bolts can change the hinged vehicle plates into rigid connection; the bottom end surfaces of the front part and the rear part of the walking frame module (100) are respectively provided with an adsorption module (300), and the adsorption modules (300) can be automatically adjusted to the position with the maximum suction force according to the curved surface shape; the adsorption module (300) comprises a permanent magnet, the lower end and the left and right sides of the permanent magnet are coated with a wrapping plate (310), the upper end of the permanent magnet is coated with a top plate (320), the front end and the rear end of the permanent magnet are respectively coated with a side plate (330), the wrapping plate (310), the top plate (320) and the side plate (330) are detachably connected through connecting pieces and completely coat the permanent magnet, the side plate (330) is provided with a through positioning hole, the two ends of the top plate (320) are respectively provided with a convex positioning insertion block (390), the positioning insertion blocks (390) at the two ends of the top plate (320) respectively and correspondingly extend into the positioning holes of the side plates (330) at the two sides, the side plates (330) are connected with a magnet connecting plate (340) through fastening bolts (380), the magnet connecting plate (340) is connected with the traveling frame module (100) through a shaft sleeve, and the position of the side plate (330) connected with the fastening bolts (380) is provided with a strip-shaped height adjusting hole (370) along the height direction, the side surface of the magnet connecting plate (340) is detachably connected with a magnet adjusting plate (350) through a connecting piece, the upper end of the magnet adjusting plate (350) is connected with an adjusting bolt (360), and the front end of the adjusting bolt (360) extends into an adjusting bolt hole of the side plate (330);
When the wall climbing robot works normally, the two walking frame modules (100) are respectively driven by the driving shafts of the respective watertight motors to rotate, then the driving force is transmitted to the driven shaft through a chain wheel and chain transmission mechanism, so that 8 driving wheels of the two walking frame modules (100) have the driving force when the bicycle runs, when braking, the braking force of the two watertight motors is transmitted to 8 driving wheels in the same way, thereby ensuring that the suction force of the wall-climbing robot is not wasted and the friction force is maximized, can stable absorption simultaneously at vertical wall, when turning to, through adjusting the rotational speed difference of two watertight motors, guarantee that the rotational speed of left and right sides wheel is inconsistent realizes turning to, and during the washing, steering wheel drive crank rocker mechanism realizes the reciprocating motion of swing arm under water, and the cleaning gun sends high-pressure water jet, and the working surface on the route of marcing in front of the wheel can be covered completely to the clearance area.
2. The magnetic force adaptive amphibious wall-climbing robot of claim 1, characterized in that: front lightening holes (117) are formed in the front longitudinal beam (111) along the length direction, and rear lightening holes (118) are formed in the rear longitudinal beam (112) along the length direction.
3. The magnetic force adaptive amphibious wall-climbing robot of claim 1, characterized in that: the middle frame module (200) comprises two butt joint assemblies which are arranged front and back, two ends of each butt joint assembly are respectively connected to rear longitudinal beams (112) of the two walking frame modules (100), each butt joint assembly comprises a first butt joint plate (210) and a second butt joint plate (230), the first butt joint plate (210) and the second butt joint plate (230) are connected in a hinged mode through a second hinge bolt (250), a first support plate (220) is vertically arranged at one end of the first butt joint plate (210), a second support plate (240) is vertically arranged at one end of the second butt joint plate (230), a second elongated limiting bolt hole (270) is formed in the first butt joint plate (210) in the height direction, a second limiting bolt (260) is arranged on the second butt joint plate (230) in a position corresponding to the second limiting bolt hole (270), the front end of the second limiting bolt (260) extends into the second limiting bolt hole (270), and the first butt joint plate (210) and the second butt joint plate (230) can rotate around the second hinge bolt (250), the second limit bolt (260) and the second limit bolt hole (270) can limit the rotation amplitude.
4. The magnetic force adaptive amphibious wall-climbing robot of claim 3, characterized in that: the first butt joint plate (210) and the second butt joint plate (230) are provided with second locking bolt holes (280) which are through from front to back, second locking bolts can be arranged in the second locking bolt holes (280), and the first butt joint plate (210) and the second butt joint plate (230) are connected to the rear longitudinal beam (112).
5. The magnetic adaptive amphibious wall-climbing robot of claim 1, wherein: the upper end of the walking frame module (100) is provided with a cleaning module (400).
6. The magnetic adaptive amphibious wall-climbing robot of claim 5, wherein: the cleaning module (400) comprises a cleaning connecting plate (410), the cleaning connecting plate (410) is detachably connected with a cleaning mounting plate (420) through a connecting piece, the cleaning mounting plate (420) is detachably connected to the middle frame module (200) through a connecting piece, a bearing seat (440) is arranged on the cleaning connecting plate (410), the bearing seat (440) is rotatably connected with a rotating shaft (450), one end of a swing arm (460) is fixedly connected to the upper end of the rotating shaft (450), the other end of the swing arm (460) is connected with a cleaning gun (470), a reciprocating movement driving mechanism (430) is arranged on the cleaning connecting plate (410), the reciprocating movement driving mechanism (430) is connected with the swing arm (460), and the reciprocating movement driving mechanism (430) can drive the swing arm (460) to reciprocate; reciprocating motion actuating mechanism (430) are including fixing steering wheel (431) under water in washing connecting plate (410) bottom, and steering wheel (431) drive end is passed and is washd connecting plate (410) and connect crank (432) one end under water, and the other end of crank (432) is through round pin hub connection connecting rod (433) one end, and pendulum shaft (434) lower extreme is connected to connecting rod (433) other end, and pendulum shaft (434) upper end is rotated and is connected swing arm (460).
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| JP2013147088A (en) * | 2012-01-18 | 2013-08-01 | Mitsubishi Heavy Ind Ltd | Amphibious vehicle |
| CN109436119B (en) * | 2018-11-15 | 2020-02-07 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Non-contact wheel type wall-climbing robot chassis device |
| CN111661192B (en) * | 2020-07-13 | 2021-09-17 | 上海工程技术大学 | Permanent-magnet adsorption wheel-leg composite wall-climbing robot |
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| CN110143268A (en) * | 2019-05-06 | 2019-08-20 | 中国科学院深圳先进技术研究院 | Wall detection robot is climbed under water |
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