CN114670945A - Wall-climbing robot and wall-climbing robot walking method - Google Patents
Wall-climbing robot and wall-climbing robot walking method Download PDFInfo
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- CN114670945A CN114670945A CN202210314577.4A CN202210314577A CN114670945A CN 114670945 A CN114670945 A CN 114670945A CN 202210314577 A CN202210314577 A CN 202210314577A CN 114670945 A CN114670945 A CN 114670945A
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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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Abstract
The invention discloses a wall climbing robot and a wall climbing robot walking method, wherein the wall climbing robot comprises a controller, a linear motion platform capable of reciprocating and a rotary platform provided with a plurality of working tools, the linear motion platform comprises an X-axis platform and a Y-axis platform which are vertical to each other, and a sliding table and a base of the rotary platform are respectively connected with a sliding table of the X-axis platform and a sliding table of the Y-axis platform; the two ends of the base of the linear motion platform are respectively provided with a variable magnetic force device, and the variable magnetic force devices are connected with the controller so that the controller can control the variable magnetic force devices to be adsorbed on or separated from the wall surface; the side of the linear motion platform is at least provided with two laser sensors which are arranged in parallel and connected with the controller, the laser sensors are used for emitting laser to the reflecting surface so as to obtain the distance from the laser sensors to the reflecting surface, and the controller obtains the deflection angle according to the difference value of the distances and controls the rotary platform to rotate the deflection angle. The deviation of the advancing route can be corrected through the ranging and positioning of the laser sensor, and the obstacle crossing capability is strong and the positioning accuracy is high.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot. In addition, the invention also relates to a wall-climbing robot walking method for the wall-climbing robot.
Background
The wall climbing robot is used as special operation equipment and widely applied to the industries of petrochemical industry, ships, nuclear power and the like.
Because the operation environment is wide and the wall surface is smooth, the existing wall-climbing robot does not have the capacity of path planning by adopting remote control operation or adopts machine vision, modeling, an encoder and the like to position the wall-climbing robot.
However, in the drilling and blasting construction, the operation environment of the secondary lining trolley is narrow, the steel mould is horizontal, the condition of the top wall surface is difficult to observe from the ground by visual operation, and the rust removal and oil coating operation of the secondary lining trolley is difficult to complete in a remote control operation mode; the light in the tunnel is dark, dust exists in the steel die during polishing, the visual recognition of the machine is greatly influenced, and the positioning precision is poor; the secondary lining trolley is large in size and complex in structure, and the overall modeling operation is complex and has no reference object by adopting a traversal method; the encoder is easily influenced by factors such as steel die surface lining windows, residual oil stains and the like, and positioning errors are accumulated continuously, so that the positioning deviation is large.
In summary, an urgent need exists in the art to provide a wall-climbing robot with convenient control and high positioning accuracy.
Disclosure of Invention
In view of the above, the present invention provides a wall-climbing robot, which uses a laser sensor to measure and position distance and correct a traveling route, and has certain obstacle-crossing capability and high positioning accuracy.
In addition, the invention also provides a wall-climbing robot traveling method for the wall-climbing robot.
In order to achieve the above purpose, the invention provides the following technical scheme:
a wall climbing robot comprises a controller, a linear motion platform capable of reciprocating and a rotary platform provided with a plurality of working tools, wherein the linear motion platform comprises an X-axis platform and a Y-axis platform which are vertical to each other, and a sliding table and a base of the rotary platform are respectively connected with the sliding table of the X-axis platform and the sliding table of the Y-axis platform;
variable magnetic force devices are arranged at two ends of a base of the linear motion platform and connected with the controller, so that the controller can control the variable magnetic force devices to be adsorbed on or separated from the wall surface;
the side surface of the linear motion platform is at least provided with two laser sensors which are arranged in parallel and connected with the controller, the laser sensors are used for emitting laser to a reflecting surface to obtain the distance from the laser sensors to the reflecting surface, and the controller obtains a deflection angle according to the difference value of the distances and controls the rotary platform to rotate the deflection angle.
Preferably, the linear motion platform includes the base, follow the slide rail that the length direction of base set up, with slide rail sliding connection's slip table, speed reducer and driving motor, driving motor with controller signal connection, driving motor's output shaft with the input shaft of speed reducer, the output shaft of speed reducer with the slip table is connected.
Preferably, the sliding table is provided with a limit baffle, the side surface of the base is provided with at least two limit switches, and when the limit baffle is in contact with the limit switches, the driving motor receives a stop signal of the limit switches and stops rotating.
Preferably, the driving motor is provided with a brake.
Preferably, the variable magnetic force device comprises a sliding rod, an elastic element, a yoke, an electro-permanent magnet connected to the lower end surface of the yoke, and a fixed sleeve connected to the base of the linear motion platform, the upper end of the sliding rod is sleeved in the fixed sleeve, the lower end of the sliding rod is hinged to the yoke, one end of the elastic element is connected to the fixed sleeve, and the other end of the elastic element is connected to the sliding rod;
when the power is off, the electro-permanent magnet is electrified and adsorbed on the wall surface, and when the power is on reversely, the electro-permanent magnet is demagnetized, and the elastic piece drives the electro-permanent magnet to be far away from the wall surface.
Preferably, the slide bar is provided with a positioning step surface, a height adjusting nut is arranged between the lower end surface of the fixing sleeve and the positioning step surface of the slide bar, and when the electro-permanent magnet is adsorbed on the wall surface, the upper end surface of the height adjusting nut is not in contact with the lower end surface of the fixing sleeve.
Preferably, the rotary platform is provided with a plurality of quick-change devices for mounting the working tool.
A wall-climbing robot walking method is used for any one of the wall-climbing robot walking methods, and comprises the following steps,
step S: the method comprises the steps that a laser sensor emits laser to a reflecting surface to obtain the distance S from the laser sensor to the reflecting surface;
step S: the controller calculates a deflection angle alpha, wherein alpha is arctan (delta S/L), wherein delta S is the difference value of the distances from the two laser sensors to the reflecting surface, and L is the distance from the two laser sensors;
step S: if alpha is equal to alpha, the controller controls the linear motion platform to step, and the step S is returned; and if alpha is not equal, the controller controls the rotary platform to rotate alpha and returns to the step S.
Taking derusting and oiling operation of a secondary lining trolley as an example, a thin steel plate is paved on the wall surface of a steel mold in advance before the operation, and an XY-direction continuous reflecting surface is formed; when the device works, the controller controls the wall-climbing robot to step along the Y-axis or X-axis direction, the laser sensor is used for detecting the current movement direction during the step, and the rotary platform is controlled to correct the deviation when the deviation exists; and after stepping to a set distance, controlling the wall-climbing robot to step along a direction vertical to the previous movement direction, detecting whether the current movement direction has deviation by using a laser sensor in the stepping process, and controlling the rotary platform to correct the deviation when the movement direction has deviation.
Taking stepping along the Y-axis direction as an example, the controller controls the variable magnetic force devices at the two ends of the X-axis platform to be adsorbed on the wall surface and the variable magnetic force devices at the two ends of the Y-axis platform to be separated from the wall surface; controlling a driving motor of the Y-axis platform to rotate forwards to complete the longitudinal stepping of the Y-axis platform; the variable magnetic force devices at two ends of the X-axis platform are controlled to be separated from the wall surface, and the variable magnetic force devices at two ends of the Y-axis platform are adsorbed on the wall surface; and controlling a driving motor of the Y-axis platform to rotate reversely to complete the follow-up of the X-axis platform.
Taking the deflection angle between the advancing direction and the Y-axis direction as beta as an example, firstly, a controller controls variable magnetic force devices at two ends of an X-axis platform to be adsorbed on a wall surface and variable magnetic force devices at two ends of a Y-axis platform to be separated from the wall surface; controlling the rotary platform to rotate-beta to enable the extension direction of the Y-axis platform to be parallel to the Y-axis direction; the variable magnetic force devices at the two ends of the X-axis platform are controlled to be separated from the wall surface, and the variable magnetic force devices at the two ends of the Y-axis platform are adsorbed on the wall surface; and controlling the rotary platform to rotate beta to enable the extension direction of the X-axis platform to be parallel to the X-axis direction, thereby realizing the deviation correction of the wall-climbing robot.
Because the variable magnetic force devices at two ends of at least one linear motion platform are adsorbed on the wall surface in the stepping process, the adsorption force is strong, and the wall-climbing robot is prevented from slipping in the walking process; the laser sensor is used for measuring the distance and calculating the deflection angle, so that the wall-climbing robot is prevented from deviating in the walking process, the positioning precision is high, the wall-climbing robot has certain obstacle-crossing capability, and the wall-climbing robot is strong in applicability and wide in application range.
In addition, the invention also provides a wall-climbing robot walking method for the wall-climbing robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a wall-climbing robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a linear motion platform;
FIG. 3 is a schematic structural diagram of a variable magnetic force device;
FIG. 4 is a schematic cross-sectional view of FIG. 3;
FIG. 5 is a schematic diagram illustrating the principle of deviation correction of a laser sensor;
fig. 6 is a schematic view of the walking principle of the wall-climbing robot.
In fig. 1-6:
the device comprises a controller 1, a linear motion platform 2, a base 21, a slide rail 22, a sliding table 23, a driving motor 24, a speed reducer 25, a limit baffle 26, a limit switch 27, a laser sensor 3, a variable magnetic force device 4, a fixing sleeve 41, a sliding rod 42, a height adjusting nut 43, a tension spring 44, a yoke 45, an electro-permanent magnet 46, a rotary platform 5, a quick-change device 6, a reflecting surface 7, S1 and S2, wherein the distances from the two laser sensors to the reflecting surface are respectively, delta S is the difference value of the distances from the two laser sensors to the reflecting surface, L is the distance from the two laser sensors, alpha is a deflection angle, and X and Y are coordinate axes of a linear coordinate system.
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.
The core of the invention is to provide a wall-climbing robot, which utilizes a laser sensor to measure distance and position and correct the deviation of a traveling route, has certain obstacle-crossing capability and high positioning precision.
In addition, the invention also provides a wall-climbing robot traveling method for the wall-climbing robot.
Please refer to fig. 1-6.
It should be noted that the wall surface provided in the present document generally refers to a magnetic conductive wall surface such as a steel mold wall surface.
The wall climbing robot provided by the invention comprises a controller 1, a linear motion platform 2 capable of reciprocating and a rotary platform 5 provided with a plurality of working tools, wherein the linear motion platform 2 comprises an X-axis platform and a Y-axis platform which are vertical to each other, and a sliding table and a base of the rotary platform 5 are respectively connected with a sliding table 23 of the X-axis platform and a sliding table 23 of the Y-axis platform; the two ends of the base 21 of the linear motion platform 2 are respectively provided with a variable magnetic force device 4, and the variable magnetic force devices 4 are connected with the controller 1, so that the controller 1 controls the variable magnetic force devices 4 to be adsorbed on or separated from the wall surface; the side of the linear motion platform 2 is at least provided with two laser sensors 3 which are arranged in parallel and connected with the controller 1, the laser sensors 3 are used for emitting laser to the reflecting surface 7 to obtain the distance from the laser sensors 3 to the reflecting surface 7, and the controller 1 obtains the deflection angle according to the difference value of the distances and controls the rotary platform 5 to rotate the deflection angle.
The controller 1 is used for controlling the walking of the wall climbing robot and the on-off of the variable magnetic force device 4, and the controller 1 is in signal connection with the driving motor 24 of the X-axis platform, the driving motor 24 of the Y-axis platform and the driving motor of the rotary platform 5. The type and model of the controller 1 are determined according to the requirements in actual production, and are not described in detail herein.
The linear motion platform 2 is used for driving the operation tools arranged on the rotary platform 5 to move on the wall surface, and the X-axis platform and the Y-axis platform are respectively used for driving the operation tools to move in the X-axis direction and the Y-axis direction. The linear motion platform 2 may be specifically configured as a common linear displacement mechanism such as a rail-slider mechanism, a rack-and-pinion structure, and a synchronous belt structure.
The variable magnetic force device 4 can be adsorbed to or separated from the wall surface, and when the variable magnetic force device 4 is adsorbed to the wall surface, the variable magnetic force device 4 can overcome the gravity of the wall-climbing robot through attraction force, so that the wall-climbing robot is prevented from sliding downwards; when the variable magnetic force device 4 is separated from the wall surface, the wall climbing robot can walk. The variable magnetic force device 4 may be specifically an electromagnet or a mechanical magnetic switch.
Revolving platform 5 is used for rectifying the direction of motion of climbing wall robot, and revolving platform 5's slip table and base are revolving platform 5's rotation portion and fixed part respectively, and revolving platform 5's slip table can rotate around the axis circumference of fixed part under driving motor's drive.
The rotary platform 5 is provided with working tools such as a rust removal assembly and a spraying assembly, and the specific types of the working tools are related to the working purpose of the wall-climbing robot and are not described in detail herein.
Preferably, in order to facilitate the quick replacement of the work tool, the rotary platform 5 is provided with a plurality of quick-change devices 6 for mounting the work tool. The quick-change device 6 is simply and conveniently connected with the operation tool, so that the tool is convenient to disassemble, assemble and replace, the wall-climbing robot is also favorable for replacing operation work according to specific working environment, and the applicability of the wall-climbing robot is enhanced.
The reflecting surface 7 is pre-disposed on the working ground or on a continuous plane of the plane, so as to facilitate the distance measurement and positioning of the laser sensor 3, please refer to fig. 6, the reflecting surface 7 is disposed on two planes perpendicular to each other to construct a rectangular plane coordinate system. Two reflecting surfaces 7 are generally provided, and the two reflecting surfaces 7 are respectively parallel to the moving direction of the X-axis platform and the moving direction of the Y-axis platform.
Taking the secondary lining trolley as an example, the reflecting surface 7 is a fan-shaped thin steel plate attached to the wall surface of the steel die, and the fan-shaped thin steel plate and the wall surface of the steel die are attracted by a magnet. In addition, the reflective surface 7 can be formed by connecting a stainless steel thin plate and a steel mold wall surface by using a chain lug.
Referring to fig. 5, the distances from the two parallel laser sensors 3 to the reflecting surface 7 are S1 and S2, respectively, and when the traveling path of the wall climbing robot is not deviated, S1 is S2; on the contrary, when an obstacle exists on the wall surface, the wall surface is curved or the wall-climbing robot slips, the walking path of the wall-climbing robot deviates from the moving direction of the linear motion platform 2, the difference value between the distances from the two laser sensors 3 to the reflecting surface 7 is Δ S, the deflection angle α of the wall-climbing robot is calculated by using a trigonometric function, wherein L is the distance between the two laser sensors 3, and then the controller 1 controls the rotary platform 5 to rotate by the deflection angle.
The laser sensors 3 may be vertically installed on the side of the linear motion platform 2, and may also form a certain included angle with the side of the linear motion platform 2, preferably, please refer to fig. 1, in order to facilitate installation and ensure the parallelism of the emitted laser of each laser sensor 3, the laser sensors 3 are vertically connected to the side of the linear motion platform 2.
The number of the laser sensors 3 corresponding to the same reflecting surface 7 is at least two, and only two laser sensors may be provided as shown in fig. 1, or two or more laser sensors may be provided. When the number n of the laser sensors 3 is larger than 2, two laser sensors 3 can be used as a group, and the arithmetic mean value of the deflection angle alpha calculated by n-1 groups of data is taken to reduce the deviation of the orientation arrangement of each laser sensor 3.
Taking derusting and oiling operation of a secondary lining trolley as an example, a thin steel plate is paved on the wall surface of a steel mold in advance before the operation, and an XY-direction continuous reflecting surface is formed; when the device works, the controller 1 controls the wall-climbing robot to step along the Y-axis or X-axis direction, the laser sensor 3 is used for detecting the current movement direction during the step, and the rotary platform 5 is controlled to correct the deviation when the deviation exists; and after stepping to a set distance, controlling the wall-climbing robot to step along a direction vertical to the previous movement direction, detecting whether the current movement direction has deviation by using the laser sensor 3 in the stepping process, and controlling the rotary platform 5 to correct the deviation when the movement direction has deviation.
Taking stepping along the Y-axis direction as an example, the controller 1 controls the variable magnetic force devices 4 at the two ends of the X-axis platform to be adsorbed on the wall surface, and the variable magnetic force devices 4 at the two ends of the Y-axis platform to be separated from the wall surface; controlling a driving motor 24 of the Y-axis platform to rotate forwards to complete the longitudinal stepping of the Y-axis platform; the variable magnetic force devices 4 at the two ends of the X-axis platform are controlled to be separated from the wall surface, and the variable magnetic force devices 4 at the two ends of the Y-axis platform are adsorbed on the wall surface; and controlling a driving motor 24 of the Y-axis platform to rotate reversely to complete the follow-up of the X-axis platform.
Taking the deflection angle between the advancing direction and the Y-axis direction as beta as an example, firstly, the controller 1 controls the variable magnetic force devices 4 at the two ends of the X-axis platform to be adsorbed on the wall surface, and the variable magnetic force devices 4 at the two ends of the Y-axis platform to be separated from the wall surface; controlling the rotary platform 5 to rotate-beta to enable the extension direction of the Y-axis platform to be parallel to the Y-axis direction; the variable magnetic force devices 4 at the two ends of the X-axis platform are controlled to be separated from the wall surface, and the variable magnetic force devices 4 at the two ends of the Y-axis platform are adsorbed on the wall surface; the rotary platform 5 is controlled to rotate beta, so that the extension direction of the X-axis platform is parallel to the X-axis direction, and the deviation rectification of the wall-climbing robot is realized.
In the embodiment, the variable magnetic force devices 4 at two ends of at least one linear motion platform 2 are adsorbed to the wall surface in the step process, the adsorption force is strong, and the sliding of the wall climbing robot in the step process is avoided; the laser sensor 3 is used for measuring the distance and calculating the deflection angle, so that the wall-climbing robot is prevented from deviating in the walking process, the positioning precision is high, the wall-climbing robot has certain obstacle-crossing capability, and the wall-climbing robot is strong in applicability and wide in application range.
On the basis of the above embodiment, the structure of the linear motion platform 2 is defined, the linear motion platform 2 includes a base 21, a slide rail 22 arranged along the length direction of the base 21, a slide table 23 connected with the slide rail 22 in a sliding manner, a speed reducer 25 and a driving motor 24, the driving motor 24 is in signal connection with the controller 1, an output shaft of the driving motor 24 is connected with an input shaft of the speed reducer 25, and an output shaft of the speed reducer 25 is connected with the slide table 23.
The slide rail 22 may be provided along the longitudinal direction of the inner side surface of the base 21 as shown in fig. 2, or may be vertically connected between both end surfaces of the base 21; the number of the slide rails 22 may be one, two, or multiple; the specific number, cross-sectional shape, arrangement position and connection mode of the slide rails 22 are determined according to the actual production requirements by referring to the prior art, and are not described herein again.
Taking stepping along the Y-axis direction as an example, the controller 1 controls two ends of the X-axis platform to be adsorbed on the wall surface and two ends of the Y-axis platform to be separated from the wall surface; the controller 1 controls a driving motor 24 of the Y-axis platform to rotate, and because the X-axis platform is fixed relative to the wall surface and the position of a sliding table 23 of the Y-axis platform connected with the X-axis platform through the rotary platform 5 is opposite to the wall surface, a base 21 of the Y-axis platform slides towards the positive direction of the Y axis under the action of a reaction force, and the sliding table 23 slides to one end of the base 21 relatively close to the negative direction of the Y axis; the controller 1 controls two ends of the X-axis platform to be separated from the wall surface and two ends of the Y-axis platform to be adsorbed on the wall surface; the controller 1 controls the driving motor 24 of the Y-axis platform to rotate, and the sliding table 23 drives the X-axis platform to slide towards the positive direction of the Y axis, so that the follow-up of the X-axis platform is completed.
It should be noted that, the driving motor 24 drives the sliding table 23 to move, and the on-off of the driving motor 24 can be adjusted by controlling the rotation time of the driving motor 24 through a timer; a stroke control mechanism such as a proximity switch and a limit switch 27 for controlling the stroke of the slide table 23 may be provided on the linear motion platform 2.
In this embodiment, the linear motion platform 2 adopts a linear guide rail and slider mechanism, has a simple structure, is convenient to assemble, and is beneficial to simplifying the overall structure of the wall-climbing robot.
Preferably, the sliding table 23 is provided with a limit baffle 26, the side surface of the base 21 is provided with at least two limit switches 27, and when the limit baffle 26 contacts with the limit switches 27, the driving motor 24 receives a stop signal of the limit switches 27 and stops rotating. Compared with an internal or external timer of the driving motor 24, the travel cost for controlling the sliding table 23 by using the limit baffle 26 and the limit switch 27 is lower, and the control is convenient.
Preferably, the driving motor 24 is provided with a brake to prevent the wall-climbing robot from sliding down the wall surface under the action of its own weight. The type, model, setting position and connection mode of the brake are determined according to the actual production requirements by referring to the prior art, and are not described again.
On the basis of the above embodiment, the structure of the variable magnetic force device 4 is limited, the variable magnetic force device 4 includes a sliding rod 42, an elastic element, a yoke 45, an electro-permanent magnet 46 connected to the lower end surface of the yoke 45, and a fixing sleeve 41 connected to the base 21 of the linear motion platform 2, the upper end of the sliding rod 42 is sleeved in the fixing sleeve 41, the lower end of the sliding rod 42 is hinged to the yoke 45, one end of the elastic element is connected to the fixing sleeve 41, and the other end of the elastic element is connected to the sliding rod 42; when the power is off, the electro-permanent magnet 46 is electrified and is adsorbed on the wall surface, and when the power is on reversely, the electro-permanent magnet 46 is demagnetized, and the elastic piece drives the electro-permanent magnet 46 to be far away from the wall surface.
Referring to fig. 3 and 4, the fixing sleeve 41 is used for fixing the position of the variable magnetic force device 4; the sliding rod 42 is arranged in the fixed sleeve 41 and can drive the electro-permanent magnet 46 to move along the length direction of the fixed sleeve 41; two ends of the elastic element are respectively connected with the fixed sleeve 41 and the sliding rod 42, wherein the fixed sleeve 41 is fixed on the end surface of the linear motion platform 2, so that the elastic element is used for driving the sliding rod 42 to move by utilizing elastic potential energy; the yoke 45 is used to connect the slide rod 42 and the electro-permanent magnet 46, and to improve the attracting force of the electro-permanent magnet 46.
Preferably, in order to position the elastic member, the fixing sleeve 41 includes a cylindrical body and a position limiting plate uniformly connected to a circumferential surface of the cylindrical body, and the position limiting plate is used for limiting the displacement of the elastic member in the axial direction of the cylindrical body.
The structure, shape, material and connection of the fixing sleeve 41, the sliding rod 42, the elastic element, the yoke 45 and the electro-permanent magnet 46 are determined according to the actual production requirements, and are not described in detail herein.
When the variable magnetic force device 4 is powered off, the electro-permanent magnet 46 is in a magnetic state, the electro-permanent magnet 46 has magnetism and is attracted with the wall surface, and because the electro-permanent magnet 46 is connected with the lower end of the sliding rod 42, the sliding rod 42 moves downwards along the axial direction of the fixed sleeve 41, and the elastic piece connected with the sliding rod 42 is pulled to accumulate elastic potential energy.
On the contrary, when the variable magnetic force device 4 is reversely electrified, the electro-permanent magnet 46 is demagnetized, the elastic member does not receive the attraction force of the electro-permanent magnet 46 perpendicular to the wall surface, the elastic member is reset under the action of elastic potential energy and drives the sliding rod 42 to move upwards along the axial direction of the fixed sleeve 41, and further drives the electro-permanent magnet 46 connected with the sliding rod 42 to be separated from the wall surface, so that the linear motion platform 2 moves and the possibility of collision between the electro-permanent magnet 46 and the obstacle on the wall surface in the motion process is reduced.
In the embodiment, the elastic member is used to drive the sliding rod 42 and the electro-permanent magnet 46 to move along the axial direction of the fixed sleeve 41, so that the structure is simple and the production cost is reduced.
Preferably, the elastic member may be provided as a tension spring 44, and one end of the tension spring 44 is connected to the circumferential surface of the fixing sleeve 41 and the other end is connected to the circumferential surface of the sliding rod 42. The inner diameter of the tension spring 44 is larger than or equal to the outer diameter of the slide rod 42, and the wire diameter, material, length and the like of the tension spring 44 are determined according to the actual production requirements, and are not described in detail herein.
Preferably, the sliding rod 42 is provided with a positioning step surface, the sliding rod 42 is provided with a height adjusting nut 43 between the lower end surface of the fixing sleeve 41 and the positioning step surface, and when the electro-permanent magnet 46 is attached to the wall surface, the upper end surface of the height adjusting nut 43 is not in contact with the lower end surface of the fixing sleeve 41.
When the elastic member drives the sliding rod 42 away from the wall surface, the sliding rod 42 cannot move upward when the upper end surface of the height adjusting nut 43 contacts the lower end surface of the fixing sleeve 41. Therefore, the connection position of the height adjusting nut 43 on the sliding rod 42 can affect the stroke of the sliding rod 42, and the stroke of the sliding rod 42 is the distance from the upper end surface of the height adjusting nut 43 to the lower end surface of the fixed sleeve 41 when the electro-permanent magnet 46 is attracted with the wall surface.
In addition to the wall-climbing robot, the present invention also provides a wall-climbing robot walking method for the wall-climbing robot disclosed in the above embodiments, including,
step S1: the laser sensor 3 emits laser to the emitting surface 7 to obtain the distance S from the laser sensor 3 to the reflecting surface 7;
step S2: the controller 1 calculates a deflection angle α, α is arctan (Δ S/L), where Δ S is a difference between distances from the two laser sensors to the reflection surface, and L is a distance between the two laser sensors;
step S3: if α is equal to 0, the controller 1 controls the linear motion platform 2 to step, and returns to step S1; if α ≠ 0, the controller 1 controls the rotary platform 5 to rotate α, and returns to step S1.
It should be noted that in step S1, the laser sensors 3 corresponding to the same reflecting surface 7 are a group of laser sensors 3, the laser sensors 3 of the same group are mounted in parallel on the same mounting plane, and the number of the laser sensors 3 in each group is at least two.
Referring to fig. 6, two X-axis laser reflectors are disposed on the side of the X-axis platform close to the X-axis reflection surface, and two Y-axis laser reflectors are disposed on the side of the Y-axis platform close to the Y-axis reflection surface.
It should be noted that in step S3, when the controller 1 controls the linear motion platform 2 to step, the controller 1 first converts the working point to be derusted and oiled into coordinates (x, y) in a rectangular plane coordinate system with the two reflecting surfaces 7 as the reference; then, the controller 1 controls the linear motion platform 2 to move along the Y axis and then move X along the X axis, controls the linear motion platform 2 to move along the Y axis and then move Y along the X axis, or controls the linear motion platform 2 to move in a zigzag manner continuously, namely, the linear motion platform moves along the X axis and moves along the Y axis to move delta Y alternately until reaching the (X, Y) point, wherein the delta X and the delta Y are respectively the single stepping stroke of the X axis platform and the single stepping stroke of the Y axis platform.
The specific stepping step of the linear motion platform 2 and the specific deflection step of the rotary platform 5 are related to the structure of the linear motion platform 2, the structure of the rotary platform 5 and the connection mode of the two, and are not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The wall-climbing robot and the wall-climbing robot walking method provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, it is possible to make various improvements and modifications to the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (8)
1. The wall climbing robot is characterized by comprising a controller (1), a linear motion platform (2) capable of reciprocating and a rotary platform (5) provided with multiple working tools, wherein the linear motion platform (2) comprises an X-axis platform and a Y-axis platform which are perpendicular to each other, and a sliding table and a base of the rotary platform (5) are respectively connected with a sliding table (23) of the X-axis platform and a sliding table (23) of the Y-axis platform;
variable magnetic force devices (4) are arranged at two ends of a base (21) of the linear motion platform (2), and the variable magnetic force devices (4) are connected with the controller (1) so that the controller (1) can control the variable magnetic force devices (4) to be adsorbed on or separated from the wall surface;
the side face of the linear motion platform (2) is at least provided with two laser sensors (3) which are arranged in parallel and connected with the controller (1), the laser sensors (3) are used for emitting laser to a reflecting surface (7) to obtain the distance from the laser sensors (3) to the reflecting surface (7), and the controller (1) obtains a deflection angle according to the difference value of the distances and controls the rotary platform (5) to rotate the deflection angle.
2. The wall climbing robot according to claim 1, wherein the linear motion platform (2) comprises the base (21), a slide rail (22) arranged along the length direction of the base (21), a sliding table (23) connected with the slide rail (22) in a sliding manner, a speed reducer (25) and a driving motor (24), the driving motor (24) is in signal connection with the controller (1), an output shaft of the driving motor (24) is connected with an input shaft of the speed reducer (25), and an output shaft of the speed reducer (25) is connected with the sliding table (23).
3. The wall climbing robot according to claim 2, characterized in that the sliding table (23) is provided with a limit baffle (26), the side surface of the base (21) is provided with at least two limit switches (27), and when the limit baffle (26) is in contact with the limit switches (27), the driving motor (24) receives a stop signal of the limit switches (27) and stops rotating.
4. A wall-climbing robot according to claim 2, characterized in that the drive motor (24) is provided with a brake.
5. The wall-climbing robot according to claim 1, wherein the variable magnetic force device (4) comprises a sliding rod (42), an elastic element, a yoke (45), an electro-permanent magnet (46) connected to the lower end surface of the yoke (45), and a fixing sleeve (41) connected with the base (21) of the linear motion platform (2), the upper end of the sliding rod (42) is sleeved in the fixing sleeve (41), the lower end of the sliding rod (42) is hinged with the yoke (45), one end of the elastic element is connected with the fixing sleeve (41), and the other end of the elastic element is connected with the sliding rod (42);
when the power is off, the electro-permanent magnet (46) is electrified and is adsorbed on the wall surface, and when the power is on reversely, the electro-permanent magnet (46) is demagnetized, and the elastic piece drives the electro-permanent magnet (46) to be far away from the wall surface.
6. A wall-climbing robot as claimed in claim 5, characterized in that the slide rod (42) is provided with a positioning step surface, the slide rod (42) is provided with a height adjusting nut (43) between the lower end surface of the fixing sleeve (41) and the positioning step surface, and the upper end surface of the height adjusting nut (43) is not in contact with the lower end surface of the fixing sleeve (41) when the electro-permanent magnet (46) is attracted to the wall surface.
7. A wall-climbing robot according to any of claims 1-6, characterized in that the revolving platform (5) is provided with several quick-change devices (6) for mounting the work tool.
8. A wall-climbing robot walking method for the wall-climbing robot walking method according to any one of claims 1 to 7, comprising,
step S1: the method comprises the following steps that a laser sensor (3) emits laser to a reflecting surface (7) so as to obtain the distance S between the laser sensor (3) and the reflecting surface (7);
step S2: the controller (1) calculates a deflection angle alpha, alpha is arctan (delta S/L), wherein delta S is the difference value of the distances between the two laser sensors and the reflecting surface, and L is the distance between the two laser sensors;
step S3: if alpha is equal to 0, the controller (1) controls the linear motion platform (2) to step and returns to the step S1; if alpha is not equal to 0, the controller (1) controls the rotary platform (5) to rotate alpha, and the step S1 is returned.
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| CN114670945B (en) | 2023-08-18 |
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