CN113787869A - Magnetic wheel structure, wall-climbing robot and magnetic force adjusting method and advancing deviation rectifying method thereof - Google Patents
Magnetic wheel structure, wall-climbing robot and magnetic force adjusting method and advancing deviation rectifying method thereof Download PDFInfo
- Publication number
- CN113787869A CN113787869A CN202111105721.5A CN202111105721A CN113787869A CN 113787869 A CN113787869 A CN 113787869A CN 202111105721 A CN202111105721 A CN 202111105721A CN 113787869 A CN113787869 A CN 113787869A
- Authority
- CN
- China
- Prior art keywords
- magnetic
- magnetic wheel
- heat treatment
- climbing robot
- wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001179 sorption measurement Methods 0.000 claims abstract description 45
- 238000010438 heat treatment Methods 0.000 claims description 97
- 238000003466 welding Methods 0.000 claims description 77
- 230000007246 mechanism Effects 0.000 claims description 49
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000009194 climbing Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 11
- 230000008859 change Effects 0.000 abstract description 6
- 238000004804 winding Methods 0.000 description 10
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/006—Magnetic wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a magnetic wheel structure, a wall-climbing robot, a magnetic force adjusting method of the wall-climbing robot and a traveling deviation correcting method of the wall-climbing robot, wherein the magnetic wheel structure comprises permanent magnets, a position adjusting structure and a cylindrical magnetic wheel shell, the position adjusting structure is arranged in the magnetic wheel shell, the permanent magnets are arranged at intervals along the circumferential direction of the magnetic wheel shell, and the position adjusting structure is suitable for being connected with the permanent magnets and adjusting the vertical distance from the permanent magnets to the axis of the magnetic wheel shell. The magnetic wheel structure adjusts the vertical distance from all the permanent magnets to the axis of the magnetic wheel shell through the position adjusting structure so as to adjust the vertical distance from the permanent magnets to the operation medium, thereby adjusting the magnetic adsorption force of the magnetic wheel structure to the operation medium, and enabling the magnetic adsorption force of the magnetic wheel structure to the operation medium to be suitable for adjustment, so that the magnetic adsorption force of the magnetic wheel structure to the operation medium can be conveniently adjusted to be suitable according to the load size and the change of the operation medium, and the application range of the magnetic wheel structure is expanded.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a magnetic wheel structure, a wall-climbing robot, a magnetic force adjusting method and a traveling deviation rectifying method of the wall-climbing robot.
Background
Welding operation is an important processing mode of large-scale steel structural members, and the welding stress eliminating operation after the welding operation is mainly carried out by heat treatment in a manual mode at present, so that the welding operation not only needs more preparation work, but also is accompanied by certain operation risk, the operation efficiency is low, and the consistency of the operation quality is difficult to guarantee. The appearance of magnetism adsorbs wall climbing robot has improved the degree of automation of this type of operation to a certain extent, but the robot on the existing market mostly can only walk fixed orbit or walk along the track through its magnetic wheel, and its magnetic wheel can not adjust the size of magnetic adsorption power according to the operation steel sheet thickness of reality and robot load size, the not enough or surplus condition of magnetic force appears easily, is unfavorable for the robot and adsorbs to march on the operation steel sheet steadily and in a flexible way.
Disclosure of Invention
The invention solves the problems that: how to provide a magnetic wheel structure with the magnetic adsorption force suitable for adjustment.
In order to solve the problems, the invention provides a magnetic wheel structure which comprises permanent magnets, a position adjusting structure and a cylindrical magnetic wheel shell, wherein the position adjusting structure is arranged in the magnetic wheel shell, a plurality of permanent magnets are arranged at intervals along the circumferential direction of the magnetic wheel shell, and the position adjusting structure is suitable for connecting the permanent magnets and adjusting the vertical distance from the permanent magnets to the axis of the magnetic wheel shell.
Optionally, the magnetic wheel structure further comprises an outer wheel coaxially arranged with the magnetic wheel housing, and the outer wheel is sleeved on the magnetic wheel housing.
Optionally, the position adjusting structure includes a first driving structure and a transmission mechanism, the transmission structure is connected to the first driving structure and the permanent magnet, and the first driving structure is adapted to drive the permanent magnet to move relative to the axis of the magnetic wheel housing through the transmission structure.
Optionally, the transmission structure includes a connecting cable and a winding drum coaxially disposed with the magnetic wheel housing and rotatably connected to the magnetic wheel housing, the connecting cable connects the winding drum and the permanent magnet, and the first driving structure is adapted to drive the winding drum to rotate.
Optionally, the transmission structure comprises a screw, and the permanent magnet is in threaded connection with the screw; the first drive structure is adapted to drive the screw to rotate about an axis of the screw.
In order to solve the above problems, the present invention further provides a wall climbing robot for automatic seam tracking heat treatment, including the above magnetic wheel structure, a frame and a second driving structure, wherein the magnetic wheel structure is arranged on the frame through the second driving structure, and the second driving structure is adapted to drive the magnetic wheel structure to rotate.
Optionally, the welding seam automatic tracking heat treatment wall-climbing robot further comprises a welding seam tracking mechanism and a heat treatment mechanism which are arranged on the rack at intervals along the moving direction of the rack, and the heat treatment mechanism is connected with the rack in a sliding manner; the heat treatment mechanism is suitable for sliding back and forth along the direction perpendicular to the moving direction of the rack.
Optionally, the welding seam automatic tracking heat treatment wall-climbing robot further comprises a sliding table arranged on the rack in the direction perpendicular to the moving direction of the rack, and the heat treatment mechanism is connected with the rack through the sliding table in a sliding manner.
In order to solve the above problems, the present invention further provides a magnetic force adjusting method for a wall climbing robot for automatic seam tracking heat treatment, the wall climbing robot for automatic seam tracking heat treatment is adopted, the wall climbing robot for automatic seam tracking heat treatment further includes a magnetic attraction force detection structure adapted to be disposed on a magnetic wheel housing of a magnetic wheel structure, and the magnetic force adjusting method includes:
acquiring a preset value of the magnetic adsorption force of the magnetic wheel structure, and acquiring an actual value of the magnetic adsorption force of the magnetic wheel structure through the magnetic adsorption force size detection structure;
comparing the preset magnetic adsorption force value with the actual magnetic adsorption force value;
when the preset value of the magnetic adsorption force is larger than the actual value of the magnetic adsorption force, the vertical distance from the permanent magnet of the magnetic wheel structure to the axis of the magnetic wheel shell is increased through the position adjusting structure of the magnetic wheel structure; when the preset value of the magnetic adsorption force is smaller than the actual value of the magnetic adsorption force, the vertical distance from the permanent magnet to the axis of the magnetic wheel shell is reduced through the position adjusting structure.
In order to solve the above problems, the present invention further provides a weld seam tracking and advancing deviation rectifying method for a weld seam automatic tracking heat treatment wall-climbing robot, which adopts the above weld seam automatic tracking heat treatment wall-climbing robot, and the weld seam tracking and advancing deviation rectifying method comprises:
acquiring welding seam position image information;
comparing the position of the welding seam in the welding seam position image information with the position of the central line of the image;
when the position of the image center line deviates leftwards relative to the position of the welding seam, controlling the welding seam to automatically track the heat treatment wall-climbing robot to move rightwards; and when the position of the image center line deviates to the right relative to the position of the welding line, controlling the welding line to automatically track the heat treatment wall-climbing robot to move to the left.
Compared with the prior art, the invention has the following beneficial effects: the magnetic wheel structure is suitable for serving as a wheel of the welding seam automatic tracking heat treatment wall-climbing robot or arranged on the wheel of the welding seam automatic tracking heat treatment wall-climbing robot, so that the welding seam automatic tracking heat treatment wall-climbing robot can stably and flexibly adsorb and advance on working media such as working steel plates. A plurality of permanent magnets set up along magnetic wheel shell circumference interval, and the perpendicular distance of preferred all permanent magnets to magnetic wheel shell axis equals to guarantee that the magnetic wheel structure is when the magnetism adsorption affinity size of adjustment to the operation medium need not, the wheel rotation of welding seam automatic tracking heat treatment wall climbing robot can not change the magnetism adsorption affinity size of magnetic wheel structure to the operation medium, thereby guarantee magnetic wheel structure and welding seam automatic tracking heat treatment wall climbing robot and adsorb the stability of marcing on the operation medium. The position adjusting structure is arranged inside the magnetic wheel shell and is used for connecting the magnetic wheel shell and the permanent magnet to improve the stability of the whole structure of the magnetic wheel structure; on the other hand, be used for adjusting the perpendicular distance of all permanent magnets to magnetic wheel shell axis, in order to adjust the perpendicular distance of permanent magnet to the operation medium, thereby adjust the magnetic attraction power size of magnetic wheel structure to the operation medium, so, make the magnetic attraction power size of magnetic wheel structure to the operation medium be suitable for the adjustment, thereby be convenient for the magnetic attraction power of magnetic wheel structure to the operation medium according to the change adjustment of load size and operation medium to suitable, guaranteed that the magnetic wheel structure can adsorb stably and in a flexible way on the operation medium and advance, the application scope of magnetic wheel structure has been promoted.
Drawings
FIG. 1 is a schematic structural diagram of a magnetic wheel structure according to an embodiment of the present invention;
FIG. 2 is a schematic view of another magnetic wheel structure according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a wall-climbing robot for automatic seam tracking heat treatment according to an embodiment of the present invention;
FIG. 4 is a flowchart of a magnetic force adjusting method of a wall-climbing robot for automatic seam tracking heat treatment according to an embodiment of the present invention;
FIG. 5 is a flowchart of a deviation rectifying method for tracking and advancing a weld seam of a wall-climbing robot for automatically tracking and heat-treating the weld seam according to an embodiment of the present invention.
Description of reference numerals:
1-a permanent magnet; 2-position adjustment structure, 21-first drive structure, 22-transmission mechanism, 221-connecting cable, 222-winding drum; 3-magnetic wheel shell, 31-support ring, 32-guide tube; 4-outer wheel; 5-a frame; 6-a weld tracking mechanism; 7-heat treatment mechanism, 71-ignition mechanism, 72-heating mechanism; 8-sliding table.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
Referring to fig. 1 to 3, an embodiment of the present invention provides a magnetic wheel structure, including a permanent magnet 1, a position adjustment structure 2, and a cylindrical magnetic wheel housing 3, where the position adjustment structure 2 is disposed in the magnetic wheel housing 3, the permanent magnets 1 are circumferentially spaced along the magnetic wheel housing 3, and the position adjustment structure 2 is adapted to connect the permanent magnets 1 and adjust a vertical distance between the permanent magnets 1 and an axis of the magnetic wheel housing 3.
In this embodiment, the magnetic wheel structure is suitable for being used as a wheel of the welding seam automatic tracking heat treatment wall-climbing robot or being arranged on the wheel of the welding seam automatic tracking heat treatment wall-climbing robot, so as to ensure that the welding seam automatic tracking heat treatment wall-climbing robot can stably and flexibly adsorb and advance on working media such as working steel plates. Specifically, the magnetic wheel housing 3 of the magnetic wheel structure is a cylindrical structure with two closed ends and one or two open ends, and the magnetic wheel housing 3 can be a wheel hub of a wheel of the welding seam automatic tracking heat treatment wall-climbing robot or can be coaxially arranged with the wheel hub of the wheel of the welding seam automatic tracking heat treatment wall-climbing robot (namely the magnetic wheel housing 3 is arranged on the wheel of the welding seam automatic tracking heat treatment wall-climbing robot); a plurality of permanent magnets 1 set up along 3 circumference intervals of magnetic wheel shell, and the perpendicular distance of preferred all permanent magnets 1 to 3 axes of magnetic wheel shell equals to guarantee that the magnetic wheel structure need not the adjustment when to the magnetic adsorption power size of operation medium, the wheel of welding seam automatic tracking heat treatment wall climbing robot rotates and can not change the magnetic adsorption power size of magnetic wheel structure to the operation medium, thereby guarantee magnetic wheel structure and welding seam automatic tracking heat treatment wall climbing robot and adsorb the stability of marcing on the operation medium. The position adjusting structure 2 is arranged inside the magnetic wheel shell 3 and is used for connecting the magnetic wheel shell 3 and the permanent magnet 1 to improve the stability of the whole structure of the magnetic wheel structure; on the other hand, be used for adjusting the perpendicular distance of all permanent magnets 1 to 3 axes of magnetic wheel shell, in order to adjust the perpendicular distance of permanent magnet 1 to the operation medium, thereby adjust the magnetic attraction power size of magnetic wheel structure to the operation medium, so, make the magnetic attraction power size of magnetic wheel structure to the operation medium be suitable for the adjustment, thereby be convenient for the magnetic attraction power of magnetic wheel structure according to the change (for example operation medium thickness, the change of material) adjustment to the operation medium of load size and operation medium to suitable, guaranteed that the magnetic wheel structure can adsorb stably and in a flexible way on the operation medium and advance, the application scope of magnetic wheel structure has been promoted.
Optionally, as shown in fig. 3, the magnetic wheel structure further includes an outer wheel 4 coaxially disposed with the magnetic wheel housing 3, and the outer wheel 4 is sleeved on the magnetic wheel housing 3.
In the embodiment, the outer wheel 4 of the magnetic wheel structure is sleeved on the magnetic wheel shell 3, the magnetic wheel shell 3 is contacted with the working medium through the outer wheel 4, on one hand, the outer wheel 4 is arranged to protect the magnetic wheel shell 3 and the permanent magnet 1, and abrasion consumption of the magnetic wheel shell 3 and the permanent magnet 1 is avoided; on the other hand, the outer wheel 4 can be made of an elastic body such as rubber, so that the vibration generated when the welding seam automatic tracking heat treatment wall-climbing robot moves in a working medium is attenuated, and parts of the welding seam automatic tracking heat treatment wall-climbing robot are protected to a certain extent.
Optionally, as shown in fig. 1 and fig. 2, the position adjustment structure 2 includes a first driving structure 21 and a transmission mechanism 22, the transmission structure connects the first driving structure 21 and the permanent magnet 1, and the first driving structure 21 is adapted to drive the permanent magnet 1 to move relative to the axis of the magnet wheel housing 3 through the transmission structure.
In this embodiment, a plurality of transmission mechanisms 22 are provided, and each transmission mechanism 22 is used to connect the first driving structure 21 with one permanent magnet 1, so that the first driving structure 21 drives the permanent magnet 1 to move towards or away from the axis of the magnetic wheel housing 3 through the driving transmission mechanism 22, even if the first driving structure 21 drives the permanent magnet 1 to move along the radial direction of the magnetic wheel housing 3 through the driving transmission mechanism 22.
Optionally, as shown in fig. 1 and 2, the transmission structure includes a connecting cable 221 and a drum 222 coaxially disposed and rotatably connected with the magnetic wheel housing 3, the connecting cable 221 connects the drum 222 with the permanent magnet 1, and the first driving structure 21 is adapted to drive the drum 222 to rotate.
In the embodiment, the winding drum 222 is disposed in the magnetic wheel housing 3 and is coaxially disposed and rotatably connected with the magnetic wheel housing 3, and the first driving mechanism 21 (e.g., a motor) is adapted to drive the winding drum 222 to rotate relative to the magnetic wheel housing 3. The connecting cable 221 is provided with a plurality of connecting cables, and both ends of each connecting cable 221 are respectively connected with the winding drum 222 and one permanent magnet 1. In this way, when the first driving structure 21 drives the winding drum 222 to wind, the permanent magnet 1 moves towards the axis of the magnetic wheel housing 3 under the action of the connecting cable 221, and the magnetic adsorption force of the magnetic wheel structure on the working medium is reduced; when the first driving structure 21 drives the winding drum 222 to unwind, the permanent magnet 1 moves away from the axis of the magnetic wheel housing 3 under the action of the magnetic force between the permanent magnet 1 and the working medium or the side wall of the magnetic wheel housing 3 (the side wall of the magnetic wheel housing 3 is preferably made of a material suitable for being adsorbed by a magnet), and the magnetic adsorption force of the magnetic wheel structure on the working medium is increased.
Optionally, as shown in fig. 1 and fig. 2, based on a transmission structure, a winding drum 222 and a connecting cable 221 are adopted, a support ring 31 and a guide pipe 32 are arranged on the magnetic wheel housing 3, the support ring 31 is arranged in the magnetic wheel housing 3 in a protruding manner and is arranged coaxially with the magnetic wheel housing 3, and the guide pipe 32 is arranged at one end of the permanent magnet 1 facing the axis of the magnetic wheel housing 3 and is in a tubular shape; first guide holes which are arranged along the circumferential direction of the magnetic wheel shell 3 at intervals and penetrate through the side wall of the magnetic wheel shell 3 are formed in the side wall of the magnetic wheel shell 3, and the permanent magnet 1 is suitable for being in clearance fit with the first guide holes; the support ring 31 is provided with second guide holes (the first guide holes and the second guide holes are coaxially arranged along the radial direction of the magnetic wheel shell 3) which are in one-to-one correspondence with the first guide holes on the side wall of the magnetic wheel shell 3, and one end of the guide tube 32 far away from the permanent magnet 1 is connected with the second guide holes in a sliding manner; one end of the connecting cable 221 remote from the reel 222 is connected to the guide tube 32 or penetrates the guide tube 32 to be connected to the permanent magnet 1. Thus, by arranging the support ring 31 and the guide pipe 32, the permanent magnets 1 are only suitable for moving along the radial direction of the magnetic wheel shell 3 under the action of the connecting cable 221, the occurrence of the mutual interference between the adjacent permanent magnets 1 is avoided, and the stability and the reliability of the magnetic wheel structure operation are improved. Furthermore, the first drive structure 21 is adapted to be arranged on the support ring 31, avoiding that the first drive structure 21 interferes with the guide tube 32 or the connecting cable 221.
Optionally, the transmission structure comprises a screw, and the permanent magnet 1 is in threaded connection with the screw; the first drive arrangement 21 is adapted to drive the screw in rotation about the axis of the screw.
In the embodiment, a plurality of screw rods are arranged, and the plurality of screw rods are all arranged along the radial direction of the magnetic wheel shell 3 and correspond to the plurality of permanent magnets 1 one by one; the two ends of each screw are respectively connected with a first driving structure 21 and a permanent magnet 1, wherein the first driving structure 21 is suitable for driving the screw to rotate around the axis of the screw (for example, the first driving structure 21 is a motor which drives the screw to rotate through a gear), and the permanent magnet 1 is in threaded connection with the screw, so that the permanent magnet 1 is suitable for moving along the screw towards or away from the axis of the magnetic wheel housing 3 along with the rotation of the screw.
Another embodiment of the present invention provides a wall-climbing robot for automatic seam tracking heat treatment, which includes the above-mentioned magnetic wheel structure, a frame 5 and a second driving structure, wherein the magnetic wheel structure is disposed on the frame 5 through the second driving structure, and the second driving structure is adapted to drive the magnetic wheel structure to rotate.
In this embodiment, the magnetic wheel structure of the welding seam automatic tracking heat treatment wall-climbing robot is arranged on the frame 5 through the second driving structure, and the second driving structure is suitable for driving the magnetic wheel structure to rotate. And the welding seam automatic tracking heat treatment wall-climbing robot is provided with at least two magnetic wheel structures so as to ensure the stability of adsorption and advancing of the welding seam automatic tracking heat treatment wall-climbing robot on an operation medium. Moreover, the second driving structure is provided with one or more magnetic wheel structures, namely, the magnetic wheel structures can be all driving wheels; or a part of the driving wheel and a part of the driven wheel. In some embodiments, four magnetic wheel structures are provided, each arranged at a corner of the frame 5. Therefore, the welding seam automatic tracking heat treatment wall-climbing robot can stably and flexibly adsorb and advance on working media such as working steel plates by arranging the magnetic wheel structure and other components.
Optionally, as shown in fig. 3, the wall-climbing robot for automatic seam tracking heat treatment further includes a seam tracking mechanism 6 and a heat treatment mechanism 7 that are disposed on the frame 5 at intervals along the moving direction of the frame 5, and the heat treatment mechanism 7 is slidably connected to the frame 5; the heat treatment mechanism 7 is adapted to slide reciprocally in a direction perpendicular to the moving direction of the frame 5.
In this embodiment, the seam tracking mechanism 6 and the heat treatment mechanism 7 are disposed on one side of the frame 5 in a direction perpendicular to the moving direction of the frame 5 (i.e., the traveling direction of the seam automatic tracking heat treatment wall-climbing robot), or the seam tracking mechanism 6 and the heat treatment mechanism 7 are disposed on the upper end of the frame 5 and extend in a direction perpendicular to the moving direction of the frame 5, so as to ensure that there is no obstacle between the seam tracking mechanism 6 and the heat treatment mechanism 7 and the working medium, thereby ensuring the normal operation of the seam tracking mechanism 6 and the heat treatment mechanism 7. The welding seam tracking mechanism 6 and the heat treatment mechanism 7 are arranged at intervals along the moving direction of the rack 5, namely the welding seam tracking mechanism 6 and the heat treatment mechanism 7 are arranged front and back, so that the welding seam tracking mechanism 6 tracks the welding seam firstly, the position of the welding seam is collected in real time, and the heat treatment mechanism 7 carries out heat treatment on the welding seam according to the collected welding seam position, so that the precision and the efficiency of the heat treatment of the corresponding welding seam of the welding seam automatic tracking heat treatment wall-climbing robot are improved. The heat treatment mechanism 7 is connected with the frame 5 in a sliding way and is suitable for sliding back and forth along the direction vertical to the moving direction of the frame 5 so as to realize covering heat treatment of a welding seam area and effectively eliminate welding stress; and the precision requirement for covering the welding seam area is reduced to a certain extent, and the reliability of the welding seam heat treatment of the welding seam automatic tracking heat treatment wall-climbing robot is improved.
Alternatively, as shown in fig. 3, the heat treatment mechanism 7 includes a heating structure 72 and an ignition structure 71, wherein the heating structure 72 is used for heating the position waiting for the weld seam to be treated, and the ignition structure 71 is used for igniting the heating structure 72. In some embodiments, the heating structure 72 is heated by means including, but not limited to, flame heat and arc heat.
Optionally, as shown in fig. 3, the automatic seam tracking heat treatment wall-climbing robot further includes a sliding table 8 disposed on the frame 5 in a direction perpendicular to the moving direction of the frame 5, and the heat treatment mechanism 7 is slidably connected to the frame 5 through the sliding table 8.
In this embodiment, the heat treatment mechanism 7 is slidably connected to the frame 5 through the sliding table 8, so that the heat treatment mechanism 7 can slide back and forth in a direction perpendicular to the moving direction of the frame 5, and the covering heat treatment of the weld seam area can be realized. The sliding table 8 comprises a guide rail, a sliding block and a third driving structure, the guide rail is arranged on the rack 5 along a direction perpendicular to the moving direction of the rack 5, the sliding block and the third driving structure are arranged on the guide rail, the third driving structure is suitable for driving the sliding block to slide along the guide rail, and the heat treatment mechanism 7 is arranged on the sliding block.
With reference to fig. 3 and 4, another embodiment of the present invention provides a magnetic force adjusting method for a wall-climbing robot for automatic seam tracking heat treatment, where the wall-climbing robot for automatic seam tracking heat treatment further includes a magnetic attraction force detection structure adapted to be disposed on a magnetic wheel housing 3 of a magnetic wheel structure, and the magnetic force adjusting method specifically includes the following steps:
t100, acquiring a preset value of magnetic adsorption force, and acquiring an actual value of the magnetic adsorption force of the magnetic wheel structure through a magnetic adsorption force size detection structure;
step T200, comparing the preset value of the magnetic adsorption force with the actual value of the magnetic adsorption force;
step T300, when the preset value of the magnetic adsorption force is larger than the actual value of the magnetic adsorption force, increasing the vertical distance from the permanent magnet 1 of the magnetic wheel structure to the axis of the magnetic wheel shell 3 through the position adjusting structure 2 of the magnetic wheel structure; when the preset value of the magnetic adsorption force is smaller than the actual value of the magnetic adsorption force, the position adjusting structure 2 of the magnetic wheel structure reduces the vertical distance from the permanent magnet 1 of the magnetic wheel structure to the axis of the magnetic wheel shell 3.
Specifically, for step T100, the preset value of the magnetic attraction force is obtained, that is, the preset value of the magnetic attraction force is obtained, which is adapted to the working medium where the welding seam automatic tracking heat treatment wall-climbing robot is located, so as to determine whether the magnetic attraction force of the current magnetic wheel structure to the working medium is too large or too small. The magnetic adsorption force actual value of the magnetic wheel structure is acquired through the magnetic adsorption force detection structure, and specifically, the magnetic adsorption force detection structure is used for detecting the magnetic adsorption force of the magnetic wheel structure (permanent magnet 1) to the operation medium. Then, by step T200, the preset value of the magnetic attraction force is compared with the actual value of the magnetic attraction force. Finally, through step T300, when the magnetic attraction force detection structure detects that the magnetic attraction force of the magnetic wheel structure (permanent magnet 1) to the working medium is insufficient or too large, the magnetic attraction force of the magnetic wheel structure (permanent magnet 1) to the working medium is adjusted by controlling the adjustment position adjustment structure 2. Specifically, when the magnetic attraction default value is less than the magnetic attraction actual value, when magnetic wheel structure (permanent magnet 1) was too big to the magnetic attraction of operation medium promptly, position adjustment structure 2 pulled permanent magnet 1 toward 3 axis place directions of magnetic wheel shell to increase the distance between permanent magnet 1 and the operation medium, reduce the magnetic force between magnetic wheel structure (permanent magnet 1) and the operation medium. When the magnetic attraction default value is greater than the magnetic attraction actual value, when magnetic wheel structure (permanent magnet 1) was inclined to the magnetic attraction of operation medium promptly, position adjustment structure 2 pulled permanent magnet 1 toward the direction of deviating from 3 axes of magnetic wheel shell to reduce the distance between permanent magnet 1 and the operation medium, increase the magnetic force between magnetic wheel structure (permanent magnet 1) and the operation medium. In some embodiments, the magnetic attraction force detection structure determines the magnetic attraction force between the permanent magnet 1 and the working medium by monitoring the position of the permanent magnet 1, the position of the permanent magnet 1 in the magnetic wheel housing 3 and the corresponding magnetic attraction force can be calibrated through a laboratory, and then the corresponding magnetic attraction force value can be obtained by detecting the position of the permanent magnet 1 in the magnetic wheel housing 3.
Optionally, in the operation process of the welding seam automatic tracking heat treatment wall-climbing robot, the magnetic force size detection mechanism monitors the magnetic adsorption force of the magnetic wheel structure in real time, and if the magnetic adsorption force of the magnetic wheel structure to the operation medium is detected to have large fluctuation and exceeds a set threshold value, intervention of the magnetic force is performed, so that stable operation of the welding seam automatic tracking heat treatment wall-climbing robot is ensured.
Referring to fig. 3 and 5, a further embodiment of the present invention provides a method for correcting a weld seam tracking and traveling deviation of a wall-climbing robot for automatic weld seam tracking and heat treatment, where the method for correcting a weld seam tracking and traveling deviation of a wall-climbing robot for automatic weld seam tracking and heat treatment specifically includes the following steps:
s100, acquiring welding seam position image information;
s200, comparing the position of the welding seam in the welding seam position image information with the position of the central line of the image;
step S300, when the position of the central line of the image deviates leftwards relative to the position of the welding line, controlling the welding line to automatically track the heat treatment wall-climbing robot to move rightwards; and when the position of the central line of the image deviates to the right relative to the position of the welding line, controlling the welding line to automatically track the heat treatment wall-climbing robot to move to the left.
Specifically, first, in step S100, the position of the weld is acquired in real time by a camera of the weld tracking mechanism 6 of the heat treatment wall-climbing robot; then, transmitting the acquired welding seam position image information to a welding seam tracking module of a corresponding software system of the welding seam automatic tracking heat treatment wall-climbing robot for processing through step S200, and comparing the welding seam position with the image center line position; finally, the deviation between the position of the welding seam and the position of the image center line is determined through the step S300, the deviation is corrected according to the deviation between the position of the welding seam and the position of the image center line, and the advancing direction of the heat treatment wall-climbing robot automatically tracked by the welding seam is corrected so as to advance to the position of the welding seam. When the position of the welding seam is not deviated from the position of the image center line, the welding seam automatic tracking heat treatment wall-climbing robot keeps the current advancing direction.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. The utility model provides a magnetic wheel structure, its characterized in that includes permanent magnet (1), position adjustment structure (2) and is cylindric magnetic wheel shell (3), position adjustment structure (2) set up in magnetic wheel shell (3), it is a plurality of permanent magnet (1) is followed magnetic wheel shell (3) circumference interval sets up, position adjustment structure (2) are suitable for and connect permanent magnet (1) and regulation permanent magnet (1) extremely the perpendicular distance of magnetic wheel shell (3) axis.
2. A magnetic wheel structure according to claim 1, characterized by further comprising an outer wheel (4) arranged coaxially with said magnetic wheel housing (3), said outer wheel (4) being fitted over said magnetic wheel housing (3).
3. A magnet wheel structure according to claim 1 or 2, characterized in that the position adjustment structure (2) comprises a first drive structure (21) and a transmission mechanism (22), which connects the first drive structure (21) with the permanent magnet (1), and the first drive structure (21) is adapted to drive the permanent magnet (1) to move relative to the axis of the magnet wheel housing (3) via the transmission structure.
4. A magnetic wheel structure according to claim 3, characterized in that said transmission structure comprises a connecting cable (221) and a drum (222) coaxially arranged and rotatably connected with said magnetic wheel housing (3), said connecting cable (221) connecting said drum (222) with said permanent magnet (1), said first driving structure (21) being adapted to drive said drum (222) in rotation.
5. A magnetic wheel structure according to claim 3, characterized in that the transmission structure comprises a screw, the permanent magnet (1) being in threaded connection with the screw; the first drive structure (21) is adapted to drive the screw in rotation about its axis.
6. A wall climbing robot for weld seam auto-tracking heat treatment, characterized by comprising a magnetic wheel structure according to any of claims 1-5 and a frame (5) and a second driving structure, the magnetic wheel structure being arranged on the frame (5) by the second driving structure, and the second driving structure being adapted to drive the magnetic wheel structure to rotate.
7. The weld seam automatic tracking heat treatment wall-climbing robot according to claim 6, characterized by further comprising a weld seam tracking mechanism (6) and a heat treatment mechanism (7) which are arranged on the frame (5) at intervals along the moving direction of the frame (5), wherein the heat treatment mechanism (7) is connected with the frame (5) in a sliding way; the heat treatment mechanism (7) is suitable for sliding in a reciprocating manner along a direction perpendicular to the moving direction of the rack (5).
8. The weld seam automatic tracking heat treatment wall-climbing robot according to claim 7, characterized by further comprising a sliding table (8) arranged on the frame (5) in a direction perpendicular to the moving direction of the frame (5), wherein the heat treatment mechanism (7) is slidably connected with the frame (5) through the sliding table (8).
9. A magnetic force adjusting method of a wall climbing robot for automatic seam tracking heat treatment, which adopts the wall climbing robot for automatic seam tracking heat treatment according to any one of claims 6 to 8, characterized in that the wall climbing robot for automatic seam tracking heat treatment further comprises a magnetic attraction force detection structure adapted to be disposed on a magnetic wheel housing (3) of a magnetic wheel structure, the magnetic force adjusting method comprising:
acquiring a preset value of the magnetic adsorption force of the magnetic wheel structure, and acquiring an actual value of the magnetic adsorption force of the magnetic wheel structure through the magnetic adsorption force size detection structure;
comparing the preset magnetic adsorption force value with the actual magnetic adsorption force value;
when the preset value of the magnetic adsorption force is larger than the actual value of the magnetic adsorption force, the vertical distance from a permanent magnet (1) of the magnetic wheel structure to the axis of the magnetic wheel shell (3) is increased through a position adjusting structure (2) of the magnetic wheel structure; when the preset value of the magnetic adsorption force is smaller than the actual value of the magnetic adsorption force, the vertical distance from the permanent magnet (1) to the axis of the magnetic wheel shell (3) is reduced through the position adjusting structure (2).
10. A welding seam tracking and advancing deviation rectifying method of a welding seam automatic tracking heat treatment wall-climbing robot, which adopts the welding seam automatic tracking heat treatment wall-climbing robot as claimed in any one of claims 6-8, and is characterized by comprising the following steps:
acquiring welding seam position image information;
comparing the position of the welding seam in the welding seam position image information with the position of the central line of the image;
when the position of the image center line deviates leftwards relative to the position of the welding seam, controlling the welding seam to automatically track the heat treatment wall-climbing robot to move rightwards; and when the position of the image center line deviates to the right relative to the position of the welding line, controlling the welding line to automatically track the heat treatment wall-climbing robot to move to the left.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111105721.5A CN113787869A (en) | 2021-09-22 | 2021-09-22 | Magnetic wheel structure, wall-climbing robot and magnetic force adjusting method and advancing deviation rectifying method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111105721.5A CN113787869A (en) | 2021-09-22 | 2021-09-22 | Magnetic wheel structure, wall-climbing robot and magnetic force adjusting method and advancing deviation rectifying method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113787869A true CN113787869A (en) | 2021-12-14 |
Family
ID=78879000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111105721.5A Pending CN113787869A (en) | 2021-09-22 | 2021-09-22 | Magnetic wheel structure, wall-climbing robot and magnetic force adjusting method and advancing deviation rectifying method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113787869A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115654333A (en) * | 2022-11-18 | 2023-01-31 | 山东科华电力技术有限公司 | Hanging rail type inspection robot based on Internet of things |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107255927A (en) * | 2017-08-02 | 2017-10-17 | 中国石油化工股份有限公司 | The permanent magnetic suck force adaptive control device and its method of climbing robot |
| US20200132784A1 (en) * | 2018-10-26 | 2020-04-30 | General Electric Company | Magnetic adhesive force monitoring system for magnetic wheeled robot |
| CN210680278U (en) * | 2019-10-23 | 2020-06-05 | 江苏海洋大学 | Axle connecting structure of magnetic suspension tire of remote control car |
| CN113002653A (en) * | 2021-04-26 | 2021-06-22 | 彼合彼方机器人(天津)有限公司 | Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading |
| CN113025808A (en) * | 2021-03-10 | 2021-06-25 | 广东省科学院智能制造研究所 | Welding seam heat treatment robot and control method and control system thereof |
-
2021
- 2021-09-22 CN CN202111105721.5A patent/CN113787869A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107255927A (en) * | 2017-08-02 | 2017-10-17 | 中国石油化工股份有限公司 | The permanent magnetic suck force adaptive control device and its method of climbing robot |
| US20200132784A1 (en) * | 2018-10-26 | 2020-04-30 | General Electric Company | Magnetic adhesive force monitoring system for magnetic wheeled robot |
| CN210680278U (en) * | 2019-10-23 | 2020-06-05 | 江苏海洋大学 | Axle connecting structure of magnetic suspension tire of remote control car |
| CN113025808A (en) * | 2021-03-10 | 2021-06-25 | 广东省科学院智能制造研究所 | Welding seam heat treatment robot and control method and control system thereof |
| CN113002653A (en) * | 2021-04-26 | 2021-06-22 | 彼合彼方机器人(天津)有限公司 | Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115654333A (en) * | 2022-11-18 | 2023-01-31 | 山东科华电力技术有限公司 | Hanging rail type inspection robot based on Internet of things |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207406986U (en) | A kind of pipe robot | |
| WO2020113956A1 (en) | Crawling welding robot and control method thereof | |
| CN102689100B (en) | Autonomous mobile robot system for plasma metal-inert-gas (MIG) composite welding | |
| CN102672311B (en) | Electro-gas vertical welding automatic moving type robot system | |
| CN102699893B (en) | Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom | |
| CN102672315A (en) | Autonomous mobile double-sided double-arc welding robot system | |
| CN202622192U (en) | Autonomous mobile robot system for plasma metal-inert gas welding (MIG) hybrid welding | |
| US20180281120A1 (en) | Pipe crawling welding device and method of welding pipes with such device | |
| CN113787869A (en) | Magnetic wheel structure, wall-climbing robot and magnetic force adjusting method and advancing deviation rectifying method thereof | |
| CN202752729U (en) | Autonomous moving type two-sided two-arc welding robot system | |
| CN110370247A (en) | A kind of travelling robot walking device | |
| CN202752728U (en) | Autonomous mobile robot system for electro-gas welding | |
| CN102489839B (en) | Fully-automatic gas-shielded welding robot with single gun, double wires and high speed | |
| CN208841451U (en) | A kind of 360 degree rotation holder robot chassis based on conducting slip ring | |
| CN107719513A (en) | A kind of cross-country vehicle chassis component and robot assembly | |
| CN113733073B (en) | Robot | |
| CN215635741U (en) | Integral type automatically regulated pipeline robot wheel device | |
| CN214612671U (en) | Welding seam heat treatment robot | |
| CN111623192B (en) | Pipeline robot and system | |
| JPH05220689A (en) | Cable guide device for industrial robot | |
| CN208417968U (en) | A kind of small pipeline special single-way robot | |
| CN107120491B (en) | A kind of new pipeline robot | |
| CN215848182U (en) | Mechanical arm transmission device and robot | |
| CN213921202U (en) | Electromagnetic adsorption steering device for steering in narrow space | |
| CN216398471U (en) | Extensible six-axis robot for welding |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211214 |