CN114084242A - Curved surface self-adaptive wheel type wall-climbing robot and working method thereof - Google Patents
Curved surface self-adaptive wheel type wall-climbing robot and working method thereof Download PDFInfo
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- CN114084242A CN114084242A CN202111546706.4A CN202111546706A CN114084242A CN 114084242 A CN114084242 A CN 114084242A CN 202111546706 A CN202111546706 A CN 202111546706A CN 114084242 A CN114084242 A CN 114084242A
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- climbing robot
- wheel
- curved surface
- type wall
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- 238000000034 method Methods 0.000 title claims description 6
- 238000001179 sorption measurement Methods 0.000 claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 230000009194 climbing Effects 0.000 claims description 21
- 229910000838 Al alloy Inorganic materials 0.000 claims description 16
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 16
- 230000003044 adaptive effect Effects 0.000 claims description 8
- 229910052742 iron Inorganic materials 0.000 claims description 8
- 230000005389 magnetism Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 claims description 3
- 229910001209 Low-carbon steel Inorganic materials 0.000 claims description 3
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 13
- 230000008859 change Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 5
- 239000000725 suspension Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002567 autonomic effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
Abstract
The invention discloses a curved surface self-adaptive wheel type wall-climbing robot, and particularly relates to the technical field of industrial robot design, wherein the curved surface self-adaptive wheel type wall-climbing robot comprises a vehicle body, a walking moving mechanism, a wheel arm four-bar mechanism, a permanent magnetic adsorption force adjustable mechanism, a sensor and a control device; the walking and moving mechanism consists of three universal wheel moving modules which are independently driven and are respectively positioned at the right side and the left side of the front part and the rear part of the vehicle body; the wheel arm four-bar mechanism consists of a ball screw device, a pull rod, a connecting frame and a hinged fixing plate. The invention can enable the moving module to adapt to pipe diameters with different curvatures by matching with the laser diameter measuring instrument according to the adjustable range of the opening angle of the wheel arm, change the gap between the adsorption module and the wall surface through the ball screw mechanism, and adjust the size of the magnetic adsorption force, thereby further improving the overall adaptability and the motion performance of the wall-climbing robot.
Description
Technical Field
The invention relates to the technical field of industrial robot design, in particular to a curved surface self-adaptive wheel type wall-climbing robot.
Background
With the rapid development of mobile robots, wall-climbing robots that can be applied to moving pipes and walls have received a high level of attention from various countries and countries, and have gradually been widely used in the fields of military, industry, civilian use, and the like. In many large-scale petrochemical industry pipeline weld joint detection aspects, traditional manual work detects with high costs, inefficiency, danger coefficient height, consequently, uses wall climbing robot to replace artifical pipeline surface defect to detect has the significance.
At present, the research of the wall-climbing robot technology mainly focuses on the moving technology and the adsorption technology. In the aspect of mobile technology, the wheel type wall-climbing robot has the advantages of simple structure, good motion flexibility and wide application. In the aspect of adsorption technology, to the iron wall surface, the magnetism adsorbs for climbing the comparatively adsorption mode commonly used of wall robot. Wherein magnetic adsorption mainly divide into electromagnetic adsorption and permanent magnetic adsorption, and in the aspect of using, permanent magnetic adsorption is more stable than the magnetic adsorption power in electromagnetic adsorption, and need not extra power supply, consequently uses also more extensively.
The problem that exists to current permanent magnetism adsorption wheel formula wall climbing robot is studied, mainly can divide into following several:
(1) under the condition of meeting the adsorption force on the wall surface, the motion flexibility is poor, and the steering radius is large.
(2) When the wall climbing robot works, the load capacity is poor, and tools cannot be carried for working.
(3) The motion stability is poor, and the wall-climbing robot has poor adaptability to unconventional operation environments such as curved surfaces, concave-convex surfaces and the like, and is easy to overturn, fall and the like.
(4) The magnetic adsorption power is not adjustable, and in the face of the iron wall surface of different slope degrees, the required magnetic adsorption power of wall climbing robot is also different, adjusts the size of magnetic adsorption power according to the difference of the work wall surface position that wall climbing robot locates, can effectively reduce energy consumption, promotes the operating efficiency, convenient to detach.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, embodiments of the present invention provide a curved adaptive wheel type wall climbing machine to solve the above-mentioned problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a curved surface self-adaptive wheel type wall-climbing robot comprises a vehicle body, a walking moving mechanism, a wheel arm four-bar mechanism, a permanent magnetic adsorption force adjustable mechanism, a sensor and a control device.
The whole automobile body is a rectangular plate 350 x 280 x 5mm in size, 6061 aluminum alloy materials are adopted, the strength is good, the weight of the materials is light, lightening holes are formed in the automobile body, the whole weight is lightened, and control system wiring is facilitated.
The sensor and control device includes: the system comprises an integral control system, a laser diameter measuring instrument, a camera, a control antenna and a steering engine, wherein the integral control system is arranged in the middle of a vehicle body and used for receiving and sending command signals; the laser diameter measuring instrument is arranged behind the vehicle body and used for detecting the curvature of the tube wall; the camera is positioned right in front of the vehicle body, and the angle of the camera is adjusted through the steering engine to observe the road condition in front of the wall-climbing robot; a control antenna is arranged on the left side of the vehicle body and can be used for receiving and transmitting wireless radio frequency signals.
The main control chip CPU of the whole control system can adopt STM32F103VET6 to carry out remote control through 2.4G wireless radio frequency signals, and return data such as camera images, robot position signals and real-time speed monitoring to the remote control end.
The walking moving mechanism is composed of three independent driving universal wheel moving modules, and is respectively positioned at the front and the rear left and right sides of the vehicle body, and each universal wheel moving module comprises: the device comprises a mounting plate, a U-shaped frame, universal wheels, a driving motor, a reversing motor and a spring;
the universal wheel rotates and installs in the U-shaped frame, the driving motor output shaft is connected with the universal wheel, the switching-over motor is installed to U-shaped frame top, the spring housing is established the switching-over motor outside, the fixed setting in switching-over motor top is provided with the mounting panel, the universal wheel removal module in the dead ahead passes through mounting panel fixed mounting is at the automobile body lower surface.
The wheel arm four-bar mechanisms are symmetrically arranged on two sides of the rear part of the vehicle body and consist of ball screw devices, pull rods, connecting frames and hinged fixing plates;
further, the ball screw device comprises a first stepping motor, the first stepping motor is fixedly mounted on the vehicle body, an output shaft of the first stepping motor is rotatably connected with a first screw, and a first screw nut is sleeved on the surface of the first screw; one end of the pull rod is rotatably connected with one end of the screw nut through a bolt, the other end of the pull rod is connected with the lower end of the connecting frame, the connecting frame is perpendicular to the pull rod, the upper end of the connecting frame is fixedly connected with the hinged fixing plate, the mounting seat is fixedly mounted on the lower surface of the vehicle body, and the other end of the hinged fixing plate is fixedly connected with the mounting plate in the universal wheel moving module.
Further, the permanent magnetic adsorption force adjustable mechanism comprises a first flat plate and a second flat plate, the second flat plate is located right above the first flat plate, the first flat plate is fixedly installed on the upper surface of the vehicle body, two guide pillars are vertically arranged between the first flat plate and the second flat plate, a second stepping motor is fixedly installed on the lower surface of the first flat plate, a transmission shaft of the second stepping motor penetrates through the first flat plate and is connected with one end of a coupler, the other end of the coupler is connected with one end of a second lead screw, the other end of the second lead screw is rotatably connected with the second flat plate, a second lead screw nut is sleeved on the outer surface of the second lead screw, a lifting plate is fixedly installed on the outer side of the second lead screw nut, the lifting plate is connected with the two guide pillars in a sliding manner, four upright posts are fixedly installed on the lower surface of the lifting plate, the four upright posts are arranged symmetrically in pairs, and the lower ends of the two upright posts on the left side are fixedly connected with the upper surface of the aluminum alloy box body through bolts, the lower ends of the two right upright posts are also fixedly connected with the upper surface of the other aluminum alloy box body through bolts; and each aluminum alloy box body is internally provided with a permanent magnetic adsorption module.
Further, the screw pitch between the second lead screw and the second lead screw nut is 3 mm.
Further, the both sides of aluminum alloy box body are all fixed mounting have the slider, the slider is mutually supported with the slide rail of fixed mounting in automobile body below.
Further, the permanent magnet adsorption module includes: a yoke iron, a magnet fixed plate and four rectangular permanent magnet blocks with the same size. The permanent magnet adsorption modules are arranged by a B-shaped magnetic circuit, the permanent magnet blocks are rectangular magnetic blocks magnetized in the height direction, neodymium iron boron magnetic materials with high magnetic product energy are selected, the yoke and the magnet fixing plate are made of pure iron or low-carbon steel, the rectangular permanent magnet blocks are fixed below the yoke through the magnet fixing plate, a certain gap is kept between every two rectangular permanent magnet blocks, and the polarities of adjacent magnetic poles are different from each other.
A working method of a curved surface self-adaptive wheel type wall-climbing robot comprises the following steps:
the first step is as follows: the permanent magnetic adsorption force adjustable mechanism moves up and down by a command signal sent by the integral control system, so that the gap between the rectangular permanent magnet block and the wall surface of the pipeline is adjusted, and the magnetic adsorption force can meet the working requirement and has adjustability.
The second step is that: the detection of the curvature of the pipeline is completed through the laser diameter measuring instrument installed on the vehicle body, and the integral control system sends out an instruction, so that the wheel arm four-bar mechanism can automatically adjust the opening angle of the wheel arm, and the real-time fit between two rear wheels of the vehicle body and the pipe wall is ensured.
The third step: through the driving motor on every universal wheel removal module, the drive universal wheel rotates, makes wall climbing robot can accomplish and moves along the pipeline.
The fourth step: when the universal wheel needs to be steered, the reversing motor on each moving module is adjusted to work through the integral control system, and the U-shaped frame is driven to rotate through the reversing motor, so that the steering of the universal wheel is realized.
The invention has the technical effects and advantages that:
1. according to the invention, the laser diameter gauge on the vehicle body is used for autonomously detecting the curvature of the pipe diameter, so that the wheel arm four-bar mechanism receives an instruction signal sent by a control system and adjusts the opening angle of the wheel arm, thereby adjusting the pose of a wheel to be attached to the pipe wall, changing the gap between the adsorption module and the wall surface through the screw rod device, and adjusting the size of magnetic adsorption force, so that the overall adaptability and the motion performance of the wall climbing robot are further improved, compared with the prior art, the problems of poor motion stability, nonadjustable magnetic adsorption force and the like are effectively solved, the invention can adapt to unconventional operation environments such as curved surfaces, concave-convex surfaces and the like, and the size of the magnetic adsorption force can be adjusted according to different positions of the working wall surface, so that the energy consumption can be effectively reduced, the operation efficiency is improved, and the disassembly is convenient;
2. the wall climbing robot has the advantages that the three independent driving universal wheel moving modules are mounted to realize axial and circumferential motion along the pipe wall, a similar suspension structure can be formed by combining the vehicle body, vibration on the vehicle body can be reduced, and the walking stability of the wall climbing robot on the uneven curved surface can be kept.
Drawings
Fig. 1 is a schematic structural view of a curved surface adaptive wheel type wall-climbing robot according to the present invention.
Fig. 2 is a schematic view of another directional structure of the curved surface adaptive wheel type wall-climbing robot of the present invention.
Fig. 3 is a schematic structural view of a walking and moving mechanism of the curved surface self-adaptive wheel type wall-climbing robot of the present invention.
Fig. 4 is a schematic structural view of a wheel arm four-bar mechanism and a walking and moving mechanism of the curved surface self-adaptive wheel type wall-climbing robot of the present invention.
Fig. 5 is a schematic structural view of an upright ball screw mechanism of a curved surface adaptive wheel type wall-climbing robot according to the present invention.
Fig. 6 is a schematic structural view of a permanent magnetic adsorption module auxiliary device of a curved surface self-adaptive wheel type wall-climbing robot according to the present invention.
Fig. 7 is a main sectional view of a permanent magnetic adsorption module of the curved surface self-adaptive wheel type wall-climbing robot of the present invention.
Fig. 8 is a bottom view of a permanent magnetic adsorption module of the curved surface adaptive wheel type wall-climbing robot according to the present invention.
Fig. 9 is a schematic view of the curved surface adaptive wheel type wall-climbing robot walking along the axial direction of the cylindrical pipeline.
Fig. 10 is a schematic view of the curved surface adaptive wheel type wall-climbing robot walking along the circumferential direction of the cylindrical pipeline.
The reference signs are: 1. a vehicle body;
2. a traveling mechanism; 201. a universal wheel; 202. a drive motor; 203. a commutation motor; 204. a spring;
3. a wheel arm four-bar mechanism; 301. a pull rod; 302. a connecting frame; 303. a hinged fixing plate; 304. a first stepping motor; 305. a first lead screw; 306. a first lead screw nut;
4. a permanent magnetic adsorption force adjustable mechanism; 401. a second stepping motor; 402. a drive shaft; 403. a coupling; 404. a second screw rod; 405. a second lead screw nut; 406. a guide post; 407. a lifting plate; 408. a column; 409. an aluminum alloy box body; 410. a slider; 411. a guide rail; 412. a yoke; 413. a magnet fixing plate; 414. a rectangular permanent magnet block;
5. a sensor and a control device; 501. an overall control system; 502. a laser diameter gauge; 503. a camera; 504. controlling the antenna; 505. a steering engine;
6. a pipeline.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-10, the overall structure of the curved surface self-adaptive wheel type wall-climbing robot of the present invention mainly comprises a vehicle body 1, a walking movement mechanism 2, a wheel arm four-bar mechanism 3, a permanent magnetic adsorption force adjustable mechanism 4, a sensor and a control device 5.
The whole automobile body 1 is a rectangular plate 350 multiplied by 280 multiplied by 5mm in size, 6061 aluminum alloy materials are adopted, the strength is good, the weight of the materials is light, and lightening holes are formed in the automobile body 1, so that the whole weight is lightened, and the control system is convenient to wire. In order to meet the requirement that the wall climbing robot can realize the function of flexible steering on the pipe wall, the walking moving module is provided with three independently driven universal wheel moving modules to realize the axial and circumferential movement along the pipe wall. Each universal wheel moving module comprises a universal wheel 201, a driving motor 202, a reversing motor 203 and a spring 204, wherein the reversing motor 203 and the spring 204 are installed at the upper end of the universal wheel 201 and connected with the vehicle body 1 to form a similar suspension structure, and the suspension structure is used for reducing vibration on the vehicle body and keeping the stability of the wall-climbing robot walking on the uneven curved surface.
As shown in fig. 2, the sensor and control device 5 includes: the system comprises an overall control system 501, a laser diameter measuring instrument 502, a camera 503, a control antenna 504 and a steering engine 505, wherein the overall control system 501 is arranged in the middle of the vehicle body 1 and used for receiving and sending command signals; the laser diameter gauge 502 is installed behind the vehicle body 1 and used for detecting the curvature of the pipe wall; the camera 503 is positioned right in front of the vehicle body 1, and the angle of the camera is adjusted through the steering engine 505, so that the road condition in front of the wall-climbing robot can be observed; a control antenna 504 is mounted on the left side of the vehicle body 1 and is used for receiving and transmitting radio frequency signals.
The main control chip CPU of the overall control system 501 can adopt STM32F103VET6 to perform remote control through 2.4G wireless radio frequency signals, and return data such as camera images, robot position signals, real-time speed monitoring and the like to the remote control end.
As shown in fig. 3, which is a schematic structural diagram of the traveling mechanism 2 of the present invention, the traveling mechanism 2 is composed of three independent driving universal wheel moving modules, which are respectively located at the right front side, the left rear side and the right rear side of the vehicle body, and each universal wheel moving module includes: the device comprises a mounting plate, a U-shaped frame, a universal wheel 201, a driving motor 202, a reversing motor 203 and a spring 204;
A similar suspension structure is formed by the reversing motor 203 and the spring 204, the suspension structure is used for reducing the vibration received when the vehicle body walks, the obstacle crossing performance of wheels is improved to a certain extent, and the stability of the wall climbing robot walking on the uneven curved surface is maintained.
As shown in fig. 4, which is a schematic structural diagram of a wheel arm four-bar mechanism 3 and a walking movement mechanism 2 of the present invention, the wheel arm four-bar mechanism 3 is similar to a crank-slider mechanism, and the whole structure is composed of a ball screw device, a pull rod 301, a connecting frame 302 and a hinged fixing plate 303;
the ball screw device comprises a first stepping motor 304, a first screw 305 and a first screw nut 306. Pass through the bolt with pull rod 301 both ends respectively with a lead screw nut 306 and link 302 fixed connection, link 302 upper end and articulated fixed plate 303 are by bolted connection, and be located articulated fixed plate 303 below, the articulated shaft is passed through to the one end of articulated fixed plate 303 and is installed in the below of automobile body 1, the universal wheel removal module of automobile body 1 rear wheel is connected to the other end, when lead screw nut 306 reciprocates through step motor 304, pull rod 301 receives the effort and can make the relative swing of universal wheel removal module on the articulated fixed plate 303, carry out autonomic detection to the pipe diameter curvature through laser diameter measuring appearance 502 on automobile body 1, make wheel arm four-bar linkage 3 receive the command signal that control system 501 sent and adjust wheel arm opening angle, thereby the position of adjustment wheel makes its pipe wall laminating.
As shown in fig. 5, which is a schematic structural diagram of the vertical ball screw mechanism of the present invention, the vertical ball screw mechanism is used for adjusting a gap between a permanent magnetic adsorption module and a pipe wall, so as to adjust an adsorption force of a wall-climbing robot, and the vertical ball screw mechanism includes: a second stepping motor 401, a transmission shaft 402, a coupler 403, a second lead screw 404, a second lead screw nut 405, guide posts 406, a lifting plate 407 and upright posts 408, wherein the upper and lower ends of the four upright posts 408 are respectively fixedly connected with the upper surface of an aluminum alloy box 409 and the lifting plate 407 through bolts, the second lead screw 404 and the guide posts 406 are positioned in the middle of the lifting plate 407, the positioning is carried out by a base arranged on the vehicle body 1, a second stepping motor 401 is arranged below the vehicle body 1, and transmits torque for the second lead screw 404 through the transmission shaft 402 and the coupler 403, the second lead screw nut 405 is fixed with the lifting plate 407 through bolt connection, the screw pitch between the second lead screw 404 and the second lead screw nut 405 is 3mm, and forms a kinematic pair, drives the lifting plate 407 to move up and down through the lead screw nut II 405, thereby realize the oscilaltion of permanent magnetism adsorption module, make the adsorption affinity size of climbing robot to the pipe wall change.
Fig. 6 is a schematic structural diagram of an auxiliary device of a permanent magnetic adsorption module according to the present invention, the auxiliary device includes: aluminum alloy box 409, slider 410 and guide rail 411, consider that pipeline surface or inside can produce impurity such as iron rust and adsorb on the permanent magnet because the corruption, consequently place whole adsorption module in aluminum alloy box 409, aluminum alloy box 409 thickness sets up about 1mm, make impurity such as iron rust can not direct adsorption on the permanent magnet surface, aluminum alloy box 409 can hardly cause the influence to magnetism adsorption affinity simultaneously, consider that adsorption module needs to reciprocate, consequently, install a guide rail 411 respectively in the aluminum alloy box 409 left and right sides, the adsorption module of being convenient for adjusts from top to bottom.
Fig. 7 and 8 are a main sectional view and a bottom view of the permanent magnetic adsorption module, respectively, in this embodiment, a non-contact permanent magnetic adsorption mode is adopted, and the permanent magnetic adsorption module includes: two yokes 412, four magnet fixing plates 413, and eight rectangular permanent magnet blocks 414 of the same size. The permanent magnetism adsorbs the module and divide into two sets of bottoms left and right sides in the middle of being located automobile body 1, and permanent magnetism adsorbs module below and pipe wall and keeps certain clearance, and whole permanent magnetism adsorbs the module and places inside aluminum alloy box 409.
The adsorption modules are arranged by adopting a B-shaped magnetic circuit, the permanent magnet blocks 414 are rectangular magnetic blocks magnetized in the height direction and are made of neodymium iron boron magnetic materials with high magnetic energy, the yoke 412 and the magnet fixing plate 413 are made of pure iron or low carbon steel, the rectangular permanent magnet blocks 414 are fixed below the yoke 412 by the magnet fixing plate 413, a certain gap is kept between each rectangular permanent magnet block 414, and the polarities of adjacent magnetic poles are different.
Fig. 9 is a schematic view of the present invention moving axially along a cylindrical pipe, wherein the diameter of the pipe 6 is 1000mm, the rear wheel of the vehicle body 1 completes autonomous detection of the curvature of the pipe wall through the laser diameter measuring instrument 502, so that the wheel arm four-bar mechanism 3 receives the instruction sent by the control system 501, and the opening angle of the wheel arm four-bar mechanism 3 is adjusted accordingly, so that the universal wheel moving module can make corresponding adjustment along with the change of the curvature of the pipe wall, and the real-time attachment of the wall climbing robot to the pipe wall is realized.
Fig. 10 is a schematic view of the present invention traveling along a cylindrical pipe in a circumferential direction, and the present embodiment uses a universal wheel as a traveling moving module, which has the advantages of being capable of realizing omnidirectional movement, flexible steering and small steering radius without changing its posture.
The working method of the invention is shown in figures 1-10 and comprises the following steps:
the first step is as follows: the permanent magnetic adsorption force adjusting mechanism 4 is moved up and down by a command signal sent by the overall control system 501, so that the gap between the rectangular permanent magnet block 414 and the wall surface of the pipeline is adjusted, and the magnetic adsorption force can meet the working requirement and has adjustability.
The second step is that: the detection of the curvature of the pipeline is completed through the laser diameter measuring instrument 502 installed on the vehicle body 1, and the integral control system 501 sends out an instruction, so that the wheel arm four-bar mechanism 3 can automatically adjust the opening angle of the wheel arm, and the real-time fit between two rear wheels of the vehicle body 1 and the pipe wall is ensured.
The third step: the universal wheels 201 are driven to rotate by the driving motor 202 on each universal wheel moving module, so that the embodiment can complete the axial movement along the pipeline 6, and the movement forwards and backwards. When steering is needed, the overall control system 501 adjusts the reversing motor 203 on each mobile module to work and drives the U-shaped frame to steer the universal wheel 201.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (9)
1. The utility model provides a wheeled wall climbing robot of curved surface self-adaptation, includes automobile body (1), walking moving mechanism (2), wheel arm four-bar linkage (3), permanent magnetism adsorption affinity adjustable mechanism (4), sensor and controlling means (5), its characterized in that:
the sensor and control device (5) comprises: the device comprises an overall control system (501), a laser diameter measuring instrument (502), a camera (503), a control antenna (504) and a steering engine (505), wherein the overall control system (501) is arranged in the middle of a vehicle body (1); the laser diameter measuring instrument (502) is arranged behind the vehicle body (1); the camera (503) is positioned right in front of the vehicle body (1), and the angle of the camera is adjusted through the steering engine (505); a control antenna (504) is arranged on the left side of the vehicle body (1);
the walking moving mechanism (2) is composed of three independently driven universal wheel moving modules, which are respectively positioned at the front and the rear left and right sides of the vehicle body, and each universal wheel moving module comprises: the device comprises a mounting plate, a U-shaped frame, a universal wheel (201), a driving motor (202), a reversing motor (203) and a spring (204);
the universal wheel (201) is rotatably installed in the U-shaped frame, an output shaft of the driving motor (202) is connected with the universal wheel (201), a reversing motor (203) is installed above the U-shaped frame, the spring (204) is sleeved on the outer side of the reversing motor (203), the mounting plate is fixedly arranged above the reversing motor (203), and a universal wheel moving module in front is fixedly installed on the lower surface of the vehicle body (1) through the mounting plate; the wheel arm four-bar mechanism (3) is provided with two groups, the two groups are symmetrically arranged on two sides of the rear part of the vehicle body (1), and the wheel arm four-bar mechanism (3) is composed of a ball screw device, a pull rod (301), a connecting frame (302) and a hinged fixing plate (303).
2. The curved surface self-adaptive wheel type wall climbing robot according to claim 1, wherein the ball screw device comprises a first stepping motor (304), the first stepping motor (304) is fixedly installed on the vehicle body (1), an output shaft of the first stepping motor (304) is rotatably connected with a first screw (305), and a first screw nut (306) is sleeved on the surface of the first screw (305); the one end of pull rod (301) is passed through the bolt and is rotated with screw nut (306) and be connected, and the other end is connected with the lower extreme of link (302), link (302) with pull rod (301) set up perpendicularly, link (302) upper end and articulated fixed plate (303) fixed connection, mount pad fixed mounting is at automobile body (1) lower surface, the other end and the mounting panel fixed connection in the universal wheel removal module of articulated fixed plate (303).
3. The curved surface self-adaptive wheel type wall climbing robot according to claim 2, wherein the permanent magnetic adsorption force adjustable mechanism (4) comprises a first flat plate and a second flat plate, the second flat plate is located right above the first flat plate, the first flat plate is fixedly installed on the upper surface of the vehicle body (1), two guide posts (406) are vertically arranged between the first flat plate and the second flat plate, a second stepping motor (401) is fixedly installed on the lower surface of the first flat plate, a transmission shaft (402) of the second stepping motor (401) penetrates through the first flat plate and is connected with one end of a coupler (403), the other end of the coupler (403) is connected with one end of a second lead screw (404), the other end of the second lead screw (404) is rotatably connected with the second flat plate, a second lead screw nut (405) is sleeved on the outer surface of the second lead screw (404), and a lifting plate (407) is fixedly installed on the outer side of the second lead screw nut (405), the lifting plate (407) is connected with the two guide columns (406) in a sliding manner, four upright posts (408) are fixedly mounted on the lower surface of the lifting plate (407), the four upright posts (408) are arranged in a pairwise symmetrical manner, the lower ends of the two upright posts on the left side are fixedly connected with the upper surface of the aluminum alloy box body (409) through bolts, and the lower ends of the two upright posts on the right side are also fixedly connected with the upper surface of the other aluminum alloy box body (409) through bolts; permanent magnetic adsorption modules are placed in the aluminum alloy box bodies (409).
4. The curved surface self-adaptive wheel type wall climbing robot according to claim 3, wherein the thread pitch between the second lead screw (404) and the second lead screw nut (405) is 3 mm.
5. The curved surface self-adaptive wheel type wall climbing robot according to claim 1, wherein sliding blocks (410) are fixedly mounted on two sides of the aluminum alloy box body (409), and the sliding blocks (410) are matched with sliding rails (411) fixedly mounted below the vehicle body (1).
6. The curved surface self-adaptive wheel type wall-climbing robot of claim 3, wherein the permanent magnet adsorption module comprises: a yoke (412), a magnet fixing plate (413) and four rectangular permanent magnet blocks (414) with the same size; the permanent magnet adsorption modules are arranged by adopting a B-shaped magnetic circuit, the permanent magnet blocks (414) are rectangular magnetic blocks magnetized in the height direction, neodymium iron boron magnetic materials with high magnetic product energy are selected, the yoke (412) and the magnet fixing plate (413) are made of pure iron or low carbon steel, the rectangular permanent magnet blocks (414) are fixed below the yoke (412) through the magnet fixing plate (413), a certain gap is kept between every two rectangular permanent magnet blocks (414), and the polarities of adjacent magnetic poles are different.
7. The curved surface self-adaptive wheel type wall-climbing robot of claim 1,
the main control chip CPU of the whole control system (501) adopts STM32F103VET6, remote control is carried out through 2.4G wireless radio frequency signals, and data such as camera images, robot position signals and real-time speed monitoring are transmitted back to the remote control end.
8. The curved surface self-adaptive wheel type wall-climbing robot is characterized in that the whole body (1) is a rectangular plate with the size of 350 x 280 x 5mm, 6061 aluminum alloy material is adopted, and weight-reducing holes are formed in the body (1).
9. A method for operating a curved adaptive wheel-type wall-climbing robot according to any one of claims 1-8, comprising the steps of:
the first step is as follows: the permanent magnetic adsorption force adjustable mechanism (4) is moved up and down by a command signal sent by the integral control system (501), so that the gap between the rectangular permanent magnet block (414) and the wall surface of the pipeline is adjusted, and the magnetic adsorption force can meet the working requirement and has adjustability;
the second step is that: the detection of the curvature of the pipeline is finished through a laser diameter measuring instrument (502) arranged on the vehicle body (1), and an integral control system (501) sends an instruction, so that the wheel arm four-bar mechanism (3) can automatically adjust the opening angle of a wheel arm, and the real-time fit of two rear wheels of the vehicle body (1) and the pipe wall is ensured;
the third step: the universal wheels (201) are driven to rotate through the driving motors (202) on the universal wheel moving modules, so that the wall climbing robot can move along the pipeline (6);
the fourth step: when steering is needed, the reversing motor (203) on each mobile module is adjusted to work through the integral control system (501), and the U-shaped frame is driven to rotate through the reversing motor (203), so that steering of the universal wheel (201) is achieved.
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| CN115027589A (en) * | 2022-06-22 | 2022-09-09 | 江苏镌极特种设备有限公司 | Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force |
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| CN115257994A (en) * | 2022-08-25 | 2022-11-01 | 浙江工业大学 | Four-footed wall-climbing robot for nondestructive detection of inner and outer walls of storage tank |
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