CN114013531A - Magnetic adsorption wall-climbing spraying robot with curved surface adaptability and use method thereof - Google Patents
Magnetic adsorption wall-climbing spraying robot with curved surface adaptability and use method thereof Download PDFInfo
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- CN114013531A CN114013531A CN202111419934.5A CN202111419934A CN114013531A CN 114013531 A CN114013531 A CN 114013531A CN 202111419934 A CN202111419934 A CN 202111419934A CN 114013531 A CN114013531 A CN 114013531A
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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
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
Abstract
The invention discloses a magnetic adsorption wall-climbing spraying robot with curved surface adaptability and a using method thereof. The wall-climbing robot adopts wheel type adsorption walking, the movement is more flexible, the magnetic wheels are arranged in the large-radius wheels, so that the adsorption force is larger, and the walking is more stable. The robot adopts an independent suspension structure, has light weight, stronger obstacle crossing capability and shock absorption capability, and is easy to process and convenient to disassemble. The lifting screw rod is arranged below the spring suspension for adjustment, and the spring suspension is connected with the hexagonal structure hinged with the rod piece, so that the four magnetic wheels of the wall-climbing robot can walk perpendicular to the curved-surface tangent plane no matter what pose the robot is in. The magnetic wheel is perpendicular to the section of the curved surface, the magnetic utilization rate of the magnetic wheel is the highest, and the magnetic adsorption force on the wall surface is kept the largest. Therefore, the robot body can be firmly adsorbed on the wall surface, and the spraying work of the robot is completed.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a magnetic adsorption wall-climbing spraying robot with curved surface adaptability and a using method thereof.
Background
The wall-climbing robot is a special robot which can climb on a non-horizontal wall surface and perform operation to replace manpower. The method is mainly applied to the operation tasks of spraying, cleaning, ship body detection, welding, derusting and the like of the surface of a ship body, the operation of spraying, sand blasting, polishing and detecting the surface of a large-scale oil storage tank, the cleaning of the outer surface of a high-rise building, paint spraying and the like. With the continuous development of scientific technology, the research of the wall-climbing robot has important significance and application value.
The wall-climbing robot adopts a spring suspension structure, so that the wall-climbing robot has good obstacle-crossing capability when climbing a wall, and the angle of a magnetic adsorption wheel of the robot can be adjusted by a lifting screw structure, so that the wall-climbing robot always keeps the maximum magnetic adsorption force on the wall surface. In practical engineering application, the wall climbing robot mostly does not realize good shock absorption and obstacle crossing capability, does not have adaptability when meeting a curved surface, and is not flexible enough in movement, so that the wall climbing robot is low in operation efficiency and cannot perform large-area spraying operation.
Disclosure of Invention
In view of the above problems, the invention aims to provide a magnetic adsorption wall-climbing spraying robot with curved surface adaptability, which has a tank wall-climbing spraying function and simultaneously adopts a spring suspension structure, so that the robot has stronger obstacle-crossing capability, more flexible movement and higher spraying efficiency, and a lifting screw of the wall-climbing robot can adjust the direction of a magnetic wheel, so that the magnetic adsorption wheel can keep the maximum adsorption force on the tank surface, and the walking is more stable.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a wall spraying machine people is climbed in magnetism adsorption with curved surface adaptability, including main automobile body, independent spring suspension structure, lifting screw, magnetism adsorbs the wheel, motor fixing device, spraying arm, the control lid, motor fixing device is respectively installed to four wheel positions of main automobile body, built-in motor, magnetism adsorbs the wheel and installs on motor fixing device, the control lid is located main automobile body intermediate position, the mobilizable installation in control lid of spraying arm is equipped with a lifting screw between a pair of magnetism adsorbs the wheel, lifting screw passes through independent spring suspension structural connection in magnetism and adsorbs the wheel.
As a further preferred scheme, the independent spring suspension structure comprises a spring shock absorber, an arched hanging plate, a suspension support, a sliding block, a first rod piece, a second rod piece, a third rod piece and a fourth rod piece, wherein the suspension support is installed on the main body, the arched hanging plate is installed on the suspension support, the sliding block is located on a lifting screw rod, the first rod piece is hinged to two sides of a magnetic adsorption wheel on the sliding block, the first rod piece is hinged to the upper portion of the motor fixing device through the third rod piece, the first rod piece is hinged to the third rod piece, the bottom of the main body is hinged to the lower portion of the motor fixing device through the fourth rod piece, the second rod piece is hinged to a hinge point of the first rod piece and the third rod piece and a hinge point of the main body and the fourth rod piece, and the spring shock absorber is arranged between one end of the arched hanging plate and the top of the motor fixing device.
The sliding block is hinged with the first rod piece, the second rod piece and the third rod piece to form an adjustable independent spring suspension structure. The both sides of independent spring suspension structure with adjustable are connected with motor fixing device, and every motor fixing device all connects a magnetism and adsorbs the wheel, and main automobile body has constituted the overall structure of automobile body through being connected with independent spring suspension structure with adjustable, motor fixing device, magnetism and adsorb the wheel. The control box cover is matched with the control box in the middle of the main body and used for protecting and controlling the control system in the main body. And a spraying mechanical arm is arranged above the control box cover.
The two suspension supports are fixedly connected above the main vehicle body and support two bow-shaped hanging plates, the left and the right of each bow-shaped hanging plate are respectively connected with a spring shock absorber, and the other ends of the spring shock absorbers are connected with a handle on the motor fixing device. The first connecting rod, the second connecting rod and the third connecting rod are hinged with each other, the other end of the first connecting rod is connected with the sliding block, one end of the third connecting rod is connected with four support lugs of a motor cover plate of the motor fixing device, and the other end of the third connecting rod is hinged with the main vehicle body.
As a further preferred scheme, elevating screw includes the lead screw fixed plate, the lead screw rod, screw nut, including a motor, synchronous pulley, the lead screw fixed plate links firmly on bow-shaped link plate, the lead screw rod is vertical, rotatable setting is between main automobile body and lead screw fixed plate, screw nut threaded connection is on the lead screw rod, the slider overlaps on screw nut, screw nut can rotate the slider relatively, the lead screw rod bottom is fixed with synchronous pulley, the lead screw rod below of an elevating screw is equipped with the motor, around there being the belt between two elevating screw's synchronous pulley.
As a further preferred scheme, the magnetic adsorption wheel comprises a wheel shell, a flange fixing shaft, a large copper ring, a large magnet suspension ring, a magnet, a bearing, a fixing flange, a small copper ring, a small magnet suspension ring and a wheel cover, wherein the wheel shell is a thin-wall shell, a boss penetrates through the middle of the wheel shell, an outer shell on the outer side of the wheel shell is fixedly connected with a flange surface of the flange fixing shaft, two deep groove angle bearings are installed on the flange fixing shaft, one end of the fixing flange is sealed with the boss of the wheel shell, the other end of the fixing flange is fixedly connected with the wheel cover, the wheel shell, the flange fixing shaft, the fixing flange and the wheel cover are fixedly connected into a whole, the large copper ring and the small copper ring are respectively installed on the boss of the wheel shell and the fixing flange, the large magnet suspension ring and the small magnet suspension ring are respectively suspended on the surfaces of the large copper ring and the small magnet suspension ring, and a suspension magnet is arranged between the large magnet suspension ring and the small magnet suspension ring.
As a further preferred scheme, the motor fixing device comprises a motor support, a motor cover plate, a motor fixing plate, a handle and a speed reducing motor, wherein the motor fixing plate is installed in the motor support, the speed reducing motor is fixed through the motor fixing plate, the motor cover plate is buckled on the motor support, the handle is fixedly connected above the cover plate, and the handle is hinged to the spring shock absorber.
As a further preferable scheme, the motor fixing device further comprises a first wheel shaft sleeve and a second wheel shaft sleeve, two deep groove ball bearings are sealed in the first wheel shaft sleeve and the second wheel shaft sleeve, and the position of a flange fixing shaft of the magnetic adsorption wheel is fixed through flanges of the first wheel shaft sleeve and the second wheel shaft sleeve.
As a further preferred scheme, the spraying mechanical arm comprises a mechanical arm base, a large arm, a pneumatic push rod, a pneumatic motor, a pneumatic push rod fixing plate, a nozzle and a nozzle connecting plate, wherein a motor is arranged in the mechanical arm base to drive the mechanical arm base to rotate on a control box cover, the upper part of the mechanical arm base is connected with the large arm, the side part of the mechanical arm base is connected with one end of the pneumatic push rod, the other end of the pneumatic push rod is connected with the pneumatic push rod fixing plate, the pneumatic push rod fixing plate is fixed at the middle section of the large arm, the pneumatic motor is fixed at the tail end of the large arm, one end of the nozzle connecting plate is connected with an output shaft of the pneumatic motor, and the other end of the nozzle connecting plate fixes the nozzle.
A use method of a magnetic adsorption wall-climbing spraying robot with curved surface adaptability comprises the following steps:
the method comprises the following steps: when the wall climbing robot is adsorbed on the surface of the tank wall with the arc-shaped wall surface, the screw of the lifting screw rod is rotated through the transmission of the motor and the synchronous belt wheel arranged on the main body, so that the lifting of the screw rod nut and the lifting of the sliding block are adjusted, the posture of the magnetic adsorption wheels is controlled through the movement of the rod piece of the rack, each magnetic adsorption wheel is always kept vertical to the tangent plane of the surface of the tank wall, and the magnetic adsorption force on the tank wall is maximum;
step two: when climbing wall robot and meetting the barrier, spring damper's damping spring takes place compression deformation for the wheel upwards lifts up and crosses the barrier, and other three magnetism adsorb the wheel and do not receive the influence, and damping spring has certain pretightning force when the installation, can guarantee climbing wall robot's the ability of crossing the barrier like this, can guarantee again that climbing wall robot has sufficient rigidity. The shock absorption spring is prevented from being unstable in movement due to too large deformation.
Has the advantages that: compared with the prior art, the invention has the advantages that: the wall-climbing robot is wheeled to walk, and is light in weight, large in adsorption force, flexible in movement and easy to process. This wall climbing robot adopts independent spring suspension structure with adjustable, and the robot has stronger obstacle-crossing ability and curved surface adaptability, can adsorb on the cambered surface of arbitrary radian, and four magnetism of robot adsorb the wheel can both be perpendicular to curved surface tangent plane. When the magnetic adsorption wheel is perpendicular to the curved surface tangent plane, the adsorption force of the magnetic adsorption wheel to the wall surface is the largest, the magnetic utilization rate is also the highest, and the adsorption is stable. The outer surface of the magnetic adsorption wheel is provided with a layer of anti-slip rubber, so that the anti-slip coefficient of the magnetic adsorption wheel and the wall surface can be increased, the friction force is increased, and the robot is prevented from slipping in the movement process.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a schematic diagram of an adjustable independent spring suspension of the present invention;
FIG. 5 is a schematic representation of an independent spring suspension obstacle crossing of the present invention;
FIG. 6 is a schematic view of a robot of the present invention engaging a wall;
FIG. 7 is a schematic side view of a magnetic attachment hub of the present invention;
FIG. 8 is a cross-sectional view showing the internal structure of the magnetic attraction wheel of the present invention;
FIG. 9 is a schematic structural view of a motor fixing device according to the present invention;
FIG. 10 is a schematic view of the internal structure of the motor fixing device of the present invention;
fig. 11 is a schematic view of the spraying robot arm of the present invention.
Detailed Description
The present invention will be further illustrated with reference to the following figures and specific examples, which are to be understood as merely illustrative and not restrictive of the scope of the invention.
The utility model provides a magnetic adsorption wall-climbing spraying robot with curved surface adaptability, as shown in fig. 1 ~ 6, including main automobile body 7, independent spring suspension structure 3, elevating screw 4, magnetic adsorption wheel 1, motor fixing device 2, spraying arm 6, control lid 5, motor fixing device 2 is respectively installed to four wheel positions of main automobile body 7, built-in motor, magnetic adsorption wheel 1 is installed on motor fixing device 2, control lid 5 is located main automobile body 7 intermediate position, 6 mobilizable the installing on control lid 5 of spraying arm, be equipped with an elevating screw 4 between a pair of magnetic adsorption wheel 1, elevating screw 4 connects in magnetic adsorption wheel 1 through independent spring suspension structure 3.
The main body 7 is a whole, the middle is a control box, a control box cover 5 is arranged on the control box to protect a control system of the robot, the front end and the rear end of the main body 7 are respectively connected with an independent spring suspension structure 3 and a lifting screw 4 to jointly form a main body structure of the wall-climbing robot, the independent spring suspension structure 3 comprises a spring damper 9 arch-shaped hanging plate 10, a suspension support 11, a sliding block 12, a rod piece I13, a rod piece II 14, a rod piece III 15 and a rod piece IV 21, the suspension support 11 is arranged on the main body 7, the arch-shaped hanging plate 10 is arranged on the suspension support 11, the sliding block 12 is positioned on the lifting screw 4, the sliding block 12 is hinged with the rod piece I13 towards two sides of the magnetic adsorption wheel 1, the rod piece I13 is hinged with the upper part of the motor fixing device 2 through the rod piece III 15, the rod I13 is also hinged with the rod piece III 15, the bottom of the main body 7 is hinged with the lower part of the motor fixing device 2 through the rod piece IV 21, a second rod piece 14 is hinged between a hinge point of the first rod piece 13 and the third rod piece 15 and a hinge point of the main body 7 and the fourth rod piece 21, wherein the slide block 12, the first rod piece 13 and the second rod piece 14 are hinged to form a hexagonal structure, the left side and the right side of the hexagonal structure are connected with the motor fixing device through the third rod piece 15, the left side and the right side of the arched hanging plate 10 are respectively connected with a spring damper 9, the other end of the spring damper 9 is connected with a handle 2-4 of the motor fixing device 2, when the robot encounters an obstacle, the spring damper 9 is compressed, and the magnetic adsorption wheel 1 is lifted to complete obstacle crossing. The schematic diagram is shown in figure four.
The lifting screw rod 4 comprises a screw rod fixing plate 16, a screw rod 17, a screw rod nut 18, a motor 19 and a synchronous pulley 20, the screw rod fixing plate 16 is fixedly connected to the upper surfaces of the two arched hanging plates 10, the screw rod is installed between the screw rod fixing plate 16 and the main body 7 and is driven to rotate by the motor 19, the synchronous pulley 20 is arranged on the lower portion of one screw rod 17, the synchronous pulley 20 and the screw rod 17 of the other lifting screw rod 4 are driven to rotate through synchronous belt transmission, so that the lifting of the screw rod nut 18 and the sliding block 12 is controlled, and the posture adjustment of the magnetic adsorption wheel 1 is completed.
The magnetic adsorption wheel 1 comprises a wheel shell 1-1, a flange fixing shaft 1-2, a large copper ring 1-3, a large magnet suspension ring 1-4, a magnet 1-5, a bearing 1-6, a fixing flange 1-7, a small copper ring 1-8, a small magnet suspension ring 1-9 and a wheel cover 1-10, the wheel shell 1-1 is a thin-wall shell, a boss penetrates through the middle of the wheel shell, a shell on the left side of the wheel shell 1-1 is fixedly connected with a flange face of a flange fixing shaft 1-2, two deep groove angle bearings 1-6 are mounted on the flange fixing shaft 1-2, one end of a fixing flange 1-7 is sealed with the boss of the wheel shell 1-1, and the other end of the fixing flange is fixedly connected with a wheel cover 1-10, so that the wheel shell 1-1, the flange fixing shaft 1-2, the fixing flange 1-7 and the wheel cover 1-10 are fixedly connected into a whole. The wheel shell 1-1 boss and the fixed flange 1-7 are respectively provided with a large copper ring 1-3 and a small copper ring 1-8, the surfaces of the large copper ring and the small copper ring are respectively hung with a large magnet hanging ring 1-4 and a small magnet hanging ring 1-9, and magnets 1-5 are hung under the large magnet hanging ring and the small magnet hanging ring. When the gear motor drives the flange fixing shaft 1-2 to rotate, the whole wheel shell 1-1 is driven to rotate through the flange fixing shaft 1-2, a magnet 1-5 is arranged below the magnet hanging ring hung on the boss of the flange fixing shaft 1-2 and the boss of the fixing flange 1-7, when the wheel shell 1-1 rotates, the magnet 1-5 keeps still, and the two copper rings are mainly used for reducing friction force.
The motor fixing device 2 comprises a motor support 2-1, a motor cover plate 2-2, a motor fixing plate 2-3, a handle 2-4 and a speed reducing motor 2-5, wherein the motor fixing plate 2-3 is installed on the motor support 2-1, the speed reducing motor 2-5 is fixed through the motor fixing plate 2-3, a bevel gear installed on the speed reducing motor 2-5 is meshed with a bevel gear on a flange fixing shaft 1-2 on the magnetic adsorption wheel 1 to perform transmission, the motor cover plate 2-2 is buckled on the motor support 2-1, and the handle 2-4 is fixedly connected above the cover plate.
The spraying mechanical arm 6 comprises a mechanical arm base 6-1, a large arm 6-2, a pneumatic push rod 6-3, a pneumatic motor 6-4, a pneumatic push rod fixing plate 6-5, a nozzle 6-6 and a nozzle connecting plate 6-7, wherein the upper part of the mechanical arm base 6-1 is connected with the large arm 6-2, the lower part of the mechanical arm base is connected with one end of the pneumatic push rod 6-3, the other end of the pneumatic push rod 6-3 is connected with the pneumatic push rod fixing plate 6-5, the pneumatic push rod 6-3 is controlled to move in a telescopic mode through the integrated pneumatic motor, and the pneumatic push rod fixing plate 6-5 is fixed to the middle section of the large arm 6-2. The tail end of the large arm 6-2 is fixed with a pneumatic motor 6-4, one end of a nozzle connecting plate 6-7 is connected with an output shaft of the pneumatic motor 6-4, and the other end of the nozzle connecting plate is fixed with the nozzle 6-6, so that the pitching motion of the nozzle 6-6 is realized. The spraying mechanical arm has 3 degrees of freedom, including the rotational degree of freedom of a mechanical arm base 6-1 and the pitching degree of freedom controlled by a pneumatic push rod 6-3, and the angle of a nozzle 6-6 controlled by an output end of a pneumatic motor 6-4 is the third degree of freedom.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides a magnetism adsorbs wall-climbing spraying machine people with curved surface adaptability which characterized in that: including main automobile body (7), independent spring suspension structure (3), elevating screw (4), magnetism adsorbs wheel (1), motor fixing device (2), spraying arm (6), control lid (5), motor fixing device (2) are respectively installed to four wheel positions of main automobile body (7), internal motor, magnetism adsorbs wheel (1) and installs on motor fixing device (2), control lid (5) are located main automobile body (7) intermediate position, mobilizable the installing on control lid (5) of spraying arm (6), be equipped with one elevating screw (4) between a pair of magnetism adsorbs wheel (1), elevating screw (4) are connected in magnetism through independent spring suspension structure (3) and are adsorbed wheel (1).
2. The magnetic adsorption wall-climbing spraying robot with the curved surface adaptability according to claim 1, characterized in that: the independent spring suspension structure (3) comprises a spring shock absorber (9), an arch-shaped hanging plate (10), a suspension support (11), a sliding block (12), a first rod piece (13), a second rod piece (14), a third rod piece (15) and a fourth rod piece (21), wherein the suspension support (11) is installed on a main vehicle body (7), the arch-shaped hanging plate (10) is installed on the suspension support (11), the sliding block (12) is positioned on a lifting lead screw (4), the first rod piece (13) is hinged to two sides of a magnetic adsorption wheel (1) on the sliding block (12), the first rod piece (13) is hinged to the upper part of a motor fixing device (2) through the third rod piece (15), the first rod piece (13) is hinged to the third rod piece (15), the bottom of the main vehicle body (7) is hinged to the lower part of the motor fixing device (2) through the fourth rod piece (21), the second rod piece (14) is hinged to the hinging point of the first rod piece (13) and the third rod piece (15) and the hinging point of the main vehicle body (7) and the fourth rod piece (21), a spring shock absorber (9) is arranged between one end of the bow-shaped hanging plate (10) and the top of the motor fixing device (2).
3. The magnetic adsorption wall-climbing spraying robot with the curved surface adaptability according to claim 1, characterized in that: lifting screw (4) include lead screw fixed plate (16), lead screw rod (17), screw nut (18), motor (19), synchronous pulley (20), screw fixed plate (16) links firmly on bow-shaped link plate (10), screw rod (17) are vertical, rotatable setting is between main automobile body (7) and screw fixed plate (16), screw nut (18) threaded connection is on screw rod (17), slider (12) cover is on screw nut (18), screw nut (18) can rotate slider (12) relatively, screw rod (17) bottom is fixed with synchronous pulley (20), the screw rod (17) below of a lifting screw (4) is equipped with motor (19), around having the belt between synchronous pulley (20) of two lifting screw (4).
4. The magnetic adsorption wall-climbing spraying robot with the curved surface adaptability according to claim 1, characterized in that: the magnetic adsorption wheel (1) comprises a wheel shell (1-1), a flange fixing shaft (1-2), a large copper ring (1-3), a large magnet hanging ring (1-4), a magnet (1-5), a bearing (1-6), a fixing flange (1-7), a small copper ring (1-8), a small magnet hanging ring (1-9) and a wheel cover (1-10), wherein the wheel shell is a thin-walled shell, a boss penetrates through the middle of the wheel shell, an outer shell of the wheel shell (1-1) is fixedly connected with a flange surface of the flange fixing shaft (1-2), two deep groove angle bearings (1-6) are arranged on the flange fixing shaft (1-2), one end of the fixing flange (1-7) is sealed with the boss of the wheel shell (1-1), the other end of the fixing flange (1-7) is fixedly connected with the wheel cover (1-10), and the wheel shell (1-1), The wheel hub is characterized in that a flange fixing shaft (1-2), a fixing flange (1-7) and a wheel cover (1-10) are fixedly connected into a whole, a boss of a wheel shell (1-1) and the fixing flange (1-7) are respectively provided with a large copper ring (1-3) and a small copper ring (1-8), the surfaces of the large copper ring (1-3) and the small copper ring (1-8) are respectively hung with a large magnet hanging ring (1-4) and a small magnet hanging ring (1-9), and a hanging magnet (1-5) is arranged between the large magnet hanging ring (1-4) and the small magnet hanging ring (1-9).
5. The magnetic adsorption wall-climbing spraying robot with the curved surface adaptability according to claim 2, characterized in that: the motor fixing device (2) comprises a motor support (2-1), a motor cover plate (2-2), a motor fixing plate (2-3), a handle (2-4) and a speed reducing motor (2-5), wherein the motor fixing plate (2-3) is installed in the motor support (2-1), the speed reducing motor (2-5) is fixed through the motor fixing plate (2-3), the motor cover plate (2-2) is buckled on the motor support (2-1), the handle (2-4) is fixedly connected above the cover plate, and the handle (2-4) is hinged to a spring shock absorber (9).
6. The magnetic adsorption wall-climbing spraying robot with the curved surface adaptability is characterized in that: the motor fixing device (2) further comprises a first wheel axle sleeve (2-6) and a second wheel axle sleeve (2-7), flange faces of the first wheel axle sleeve (2-6) and the second wheel axle sleeve (2-7) are fixedly installed on the motor cover plate (2-2), two deep groove ball bearings (2-8) are sealed in the first wheel axle sleeve (2-6) and the second wheel axle sleeve (2-7), and a flange fixing shaft (1-2) of the fixed magnetic adsorption wheel (1) penetrates through the first wheel axle sleeve (2-6) and the deep groove ball bearings (2-8) in the second wheel axle sleeve (2-7), so that the position of the magnetic adsorption wheel (1) is fixed.
7. The magnetic adsorption wall-climbing spraying robot with the curved surface adaptability according to claim 1, characterized in that: the spraying mechanical arm (6) comprises a mechanical arm base (6-1), a large arm (6-2), a pneumatic push rod (6-3), a pneumatic motor (6-4), a pneumatic push rod fixing plate (6-5), a nozzle (6-6) and a nozzle connecting plate (6-7), wherein a motor is arranged in the mechanical arm base (6-1) to drive the mechanical arm base (6-1) to rotate on a control box cover (5), the upper part of the mechanical arm base (6-1) is connected with the large arm (6-2), the side part of the mechanical arm base (6-1) is connected with one end of the pneumatic push rod (6-3), the other end of the pneumatic push rod (6-3) is connected with the pneumatic push rod fixing plate (6-5), the pneumatic push rod fixing plate (6-5) is fixed at the middle section of the large arm (6-2), the tail end of the large arm (6-2) is fixedly provided with an air motor (6-4), one end of a nozzle connecting plate (6-7) is connected with an output shaft of the air motor (6-4), the other end of the nozzle connecting plate is fixedly provided with the nozzle (6-6), and the output shaft of the air motor (6-4) drives the nozzle connecting plate (6-7) to rotate to control the nozzle (6-6) to change the angle.
8. The use method of the magnetic adsorption wall-climbing spraying robot with the curved surface adaptability according to any one of claims 1-7, is characterized by comprising the following steps:
the method comprises the following steps: when the wall climbing robot is adsorbed on the surface of the tank wall with the arc-shaped wall surface, the screw of the lifting screw rod is rotated through the transmission of the motor and the synchronous belt wheel arranged on the main body, so that the lifting of the screw rod nut and the lifting of the sliding block are adjusted, the posture of the magnetic adsorption wheels is controlled through the movement of the rod piece of the rack, each magnetic adsorption wheel is always kept vertical to the tangent plane of the surface of the tank wall, and the magnetic adsorption force on the tank wall is maximum;
step two: when climbing wall robot and meetting the barrier, spring damper's damping spring takes place compression deformation for the wheel upwards lifts up and crosses the barrier, and other three magnetism adsorb the wheel and do not receive the influence, and damping spring has certain pretightning force when the installation, can guarantee climbing wall robot's the ability of crossing the barrier like this, can guarantee again that climbing wall robot has sufficient rigidity, avoids damping spring because the deformation volume is too big and leads to the motion unstability.
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| CN202111419934.5A CN114013531A (en) | 2021-11-26 | 2021-11-26 | Magnetic adsorption wall-climbing spraying robot with curved surface adaptability and use method thereof |
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| CN202111419934.5A CN114013531A (en) | 2021-11-26 | 2021-11-26 | Magnetic adsorption wall-climbing spraying robot with curved surface adaptability and use method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114871033A (en) * | 2022-04-25 | 2022-08-09 | 西安热工研究院有限公司 | On-site automatic remanufacturing system and method for protective layer of outer wall of in-service wind power tower |
| CN115535108A (en) * | 2022-10-25 | 2022-12-30 | 西南科技大学 | Magnetic adsorption robot for curved surface detection and control method thereof |
| CN115591709A (en) * | 2022-12-14 | 2023-01-13 | 成都工业职业技术学院（Cn） | Automobile part spraying device and running state early warning method thereof |
| CN117341408A (en) * | 2023-12-06 | 2024-01-05 | 成都睿乐达机器人科技有限公司 | Buffering suspension and robot |
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| CN214565773U (en) * | 2021-04-07 | 2021-11-02 | 青岛黄海学院 | Non-surrounding permanent magnet adsorption type obstacle-crossing pipe climbing robot |
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| CN114871033A (en) * | 2022-04-25 | 2022-08-09 | 西安热工研究院有限公司 | On-site automatic remanufacturing system and method for protective layer of outer wall of in-service wind power tower |
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| CN115591709A (en) * | 2022-12-14 | 2023-01-13 | 成都工业职业技术学院（Cn） | Automobile part spraying device and running state early warning method thereof |
| CN115591709B (en) * | 2022-12-14 | 2023-04-07 | 成都工业职业技术学院 | Automobile accessory spraying device and running state early warning method thereof |
| CN117341408A (en) * | 2023-12-06 | 2024-01-05 | 成都睿乐达机器人科技有限公司 | Buffering suspension and robot |
| CN117341408B (en) * | 2023-12-06 | 2024-02-02 | 成都睿乐达机器人科技有限公司 | Buffering suspension and robot |
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