CN114670945B - 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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- CN114670945B CN114670945B CN202210314577.4A CN202210314577A CN114670945B CN 114670945 B CN114670945 B CN 114670945B CN 202210314577 A CN202210314577 A CN 202210314577A CN 114670945 B CN114670945 B CN 114670945B
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application discloses a wall climbing robot and a wall climbing robot walking method, wherein the wall climbing robot comprises a controller, a reciprocating linear motion platform 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 mutually vertical, 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 magnetic force changing device, and the magnetic force changing devices are connected with the controller so that the controller can control the magnetic force changing devices to be adsorbed or separated from the wall surface; the side of the linear motion platform is at least provided with two parallel laser sensors which are connected with the controller, the laser sensors are used for emitting laser to the reflecting surface 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 travel route can be rectified through laser sensor ranging and positioning, obstacle crossing capability is strong, and positioning accuracy is high.
Description
Technical Field
The application relates to the technical field of wall climbing robots, in particular to a wall climbing robot. In addition, the application 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 petrochemical industry, ships, nuclear power and other industries.
Because the working environment is wide and the wall surface is flat, the existing wall climbing robot does not have the path planning capability by adopting remote control operation or positions the wall climbing robot by adopting machine vision, modeling, an encoder and the like.
However, in the construction of the drilling and blasting method, the secondary lining trolley has a narrow working environment, a horizontal steel mould, the condition of the top wall surface is difficult to observe by visual operation from the ground, and the rust removal and oiling operation of the secondary lining trolley is difficult to complete in a remote control operation mode; the light in the tunnel is darker, dust exists when the steel mould is polished, the machine vision identification is greatly affected, and the positioning accuracy is poor; the secondary lining trolley has large size and complex structure, and the whole modeling operation is complex and has no reference object by adopting a traversing method; the encoder is easily affected by factors such as lining windows on the surface of the steel mould, residual oil stains and the like, and the positioning error is accumulated continuously, so that the positioning deviation is larger.
In summary, how to provide a wall climbing robot with high positioning accuracy and convenient control is a problem to be solved by those skilled in the art.
Disclosure of Invention
Therefore, the application aims to provide the wall climbing robot which has certain obstacle crossing capability and high positioning precision by utilizing the laser sensor to measure distance and position and correct the traveling route.
In addition, the application also provides a wall climbing robot travelling method for the wall climbing robot.
In order to achieve the above object, the present application provides the following technical solutions:
the wall climbing robot comprises a controller, a reciprocating linear motion platform 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 mutually perpendicular, 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 magnetic force changing device, and the magnetic force changing devices are connected with the controller so that the controller can control the magnetic force changing devices to be adsorbed 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 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 comprises a base, a sliding rail arranged along the length direction of the base, a sliding table slidably connected with the sliding rail, a speed reducer and a driving motor, wherein the driving motor is in signal connection with the controller, an output shaft of the driving motor is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with the sliding table.
Preferably, the sliding table is provided with a limit baffle, at least two limit switches are arranged on the side face of the base, and when the limit baffle contacts with the limit switches, the driving motor receives stop signals of the limit switches and stops rotating.
Preferably, the driving motor is provided with a brake.
Preferably, the magnetic force changing device comprises a sliding rod, an elastic piece, a yoke, an electro-permanent magnet connected to the lower end face of the yoke and a fixed sleeve connected with 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 with the yoke, one end of the elastic piece is connected with the fixed sleeve, and the other end of the elastic piece is connected with the sliding rod;
when the power is off, the electro-permanent magnet is magnetized and adsorbed on the wall surface, and when the power is on in the reverse direction, 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 sliding rod 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, and when the electro-permanent magnet is adsorbed on the wall surface, the upper end surface of the height adjusting nut is not contacted 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 for use in a wall climbing robot walking method as described in any preceding claim, comprising,
step S: the laser sensor emits laser to the reflecting surface to acquire a distance S from the laser sensor to the reflecting surface;
step S: the controller calculates a deflection angle α, α=arctan (Δs/L), where Δs is the difference in the distances of the two laser sensors to the reflecting surface, and L is the distance of the two laser sensors;
step S: if α=, the controller controls the linear motion platform to step, and returns to step S; and if the alpha is not equal to the alpha, the controller controls the rotary platform to rotate alpha and returns to the step S.
Taking the rust removal and oiling operation of the secondary lining trolley as an example, paving a thin steel plate on the wall surface of a steel mould in advance before working to form an XY continuous reflecting surface; when the robot works, the controller controls the wall climbing robot to step along the Y-axis or X-axis direction, and the current movement direction is detected by the laser sensor during the step and the rotary platform is controlled to rectify when the deviation exists; after the robot steps to a set distance, the robot is controlled to step along the direction perpendicular to the previous movement direction, the laser sensor is used for detecting whether the current movement direction is offset in the step, and the rotary platform is controlled to rectify the deviation when the movement direction is offset.
Taking stepping along the Y-axis direction as an example, the controller controls the variable magnetic devices at the two ends of the X-axis platform to be adsorbed on the wall surface and the variable magnetic 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 positively to finish longitudinal stepping of the Y-axis platform; controlling the variable magnetic devices at the two ends of the X-axis platform to be separated from the wall surface, and adsorbing the variable magnetic devices at the two ends of the Y-axis platform on the wall surface; and controlling a driving motor of the Y-axis platform to rotate reversely, and completing follow-up of the X-axis platform.
Taking the deflection angle beta between the travelling direction and the Y-axis direction as an example, firstly, a controller controls the variable magnetic devices at two ends of an X-axis platform to be adsorbed on a wall surface and the variable magnetic devices at two ends of the Y-axis platform to be separated from the wall surface; controlling the rotation beta of the rotary platform to enable the extending direction of the Y-axis platform to be parallel to the Y-axis direction; controlling the variable magnetic devices at the two ends of the X-axis platform to be separated from the wall surface, and adsorbing the variable magnetic devices at the two ends of the Y-axis platform on the wall surface; and controlling the rotary platform to rotate beta, so that the extending direction of the X-axis platform is parallel to the X-axis direction, and thus, the correction of the wall climbing robot is realized.
Because the variable magnetic devices at the two ends of at least one linear motion platform are adsorbed with 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 deflection angle is calculated by utilizing the laser sensor to measure distance, so that the wall climbing robot is prevented from shifting and has high positioning precision in the walking process, and the wall climbing robot has certain obstacle crossing capability, strong applicability and wide application range.
In addition, the application 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 application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a specific embodiment of a wall climbing robot provided by the present application;
FIG. 2 is a schematic view of a linear motion stage;
FIG. 3 is a schematic diagram of a variable magnetic force device;
FIG. 4 is a schematic cross-sectional view of FIG. 3;
FIG. 5 is a schematic diagram of the correction principle of the laser sensor;
fig. 6 is a schematic diagram 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 slide 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 fixed sleeve 41, a slide rod 42, a height adjusting nut 43, a tension spring 44, a yoke 45, an electric permanent magnet 46, a rotary platform 5, a quick-change device 6, a reflecting surface 7, the distances between two laser sensors and the reflecting surface S1 and S2, the difference between the distances between the two laser sensors and the reflecting surface delta S, the distance between the two laser sensors L, the alpha, the deflection angle X and Y are coordinate axes of a linear coordinate system.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The application has the core of providing a wall climbing robot which utilizes a laser sensor to measure distance and position and rectify the traveling route, has certain obstacle crossing capability and has high positioning precision.
In addition, the application also provides a wall climbing robot travelling method for the wall climbing robot.
Please refer to fig. 1-6.
The wall surface provided in the present document generally refers to a magnetically permeable wall surface such as a steel mold wall surface.
The application provides a wall climbing robot, which comprises a controller 1, a linear motion platform 2 capable of reciprocating motion 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 mutually vertical, 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 magnetic force changing device 4, and the magnetic force changing devices 4 are connected with the controller 1 so that the controller 1 controls the magnetic force changing devices 4 to be adsorbed or separated from the wall surface; the side of the linear motion platform 2 is provided with at least two parallel laser sensors 3 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 rotation deflection angle of the rotary platform 5.
The controller 1 is used for controlling the walking of the wall climbing robot and the on-off of the magnetic force changing device 4, and the controller 1 is in signal connection with a driving motor 24 of the X-axis platform, a driving motor 24 of the Y-axis platform and a driving motor of the rotary platform 5. The type and model of the controller 1 are determined according to the actual production requirements, and will not be described in detail herein.
The linear motion platform 2 is used for driving a working tool 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 working tool to move in the X-axis direction and the Y-axis direction. The linear motion platform 2 can be specifically configured as a common linear displacement mechanism such as a guide rail sliding block mechanism, a gear rack structure, a synchronous belt structure and the like.
The variable magnetic force device 4 can be adsorbed or separated from the wall surface, and when the variable magnetic force device 4 is adsorbed on the wall surface, the variable magnetic force device 4 can overcome the gravity of the wall climbing robot by the attractive force so as to avoid the wall climbing robot from sliding downwards; when the magnetic force changing device 4 is separated from the wall surface, the wall climbing robot can walk. The magnetic force changing device 4 can be an electromagnet or a mechanical magnetic force switch and other structures.
The rotary platform 5 is used for correcting the movement direction of the wall climbing robot, the sliding table and the base of the rotary platform 5 are a rotating part and a fixing part of the rotary platform 5 respectively, and the sliding table of the rotary platform 5 can rotate circumferentially around the axis of the fixing part under the drive of the driving motor.
The rotary platform 5 is provided with a rust removing component, a spraying component and other working tools, and the specific types of the working tools are related to the working purpose of the wall climbing robot and are not described herein.
Preferably, for facilitating quick change of the work tool, the swivel platform 5 is provided with several quick change devices 6 for mounting the work tool. The quick change device 6 is connected with the working tool simply and conveniently, is convenient for the disassembly and replacement of the working tool, is also beneficial to the replacement work of the wall climbing robot according to the specific working environment, and enhances the applicability of the wall climbing robot.
In order to facilitate the ranging positioning of the laser sensor 3, please refer to fig. 6, the reflecting surface 7 is disposed in two planes perpendicular to each other to construct a rectangular planar coordinate system. Two reflecting surfaces 7 are usually provided, and the two reflecting surfaces 7 are parallel to the movement direction of the X-axis platform and the movement direction of the Y-axis platform, respectively.
Taking a 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 mould, and the fan-shaped thin steel plate and the wall surface of the steel mould are attracted through a magnet. The reflecting surface 7 may be a stainless steel sheet and a steel die wall surface connected by 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 s1=s2 when the traveling path of the wall climbing robot is not deviated; conversely, when there is an obstacle on the wall, the wall is curved or the wall climbing robot slips, the traveling path of the wall climbing robot deviates from the moving direction of the linear motion platform 2, the difference between the distances from the two laser sensors 3 to the reflecting surface 7 is Δs, and the deflection angle α=arctan (Δs/L) of the wall climbing robot can be calculated by using a trigonometric function, where L is the distance between the two laser sensors 3, and then the controller 1 controls the rotary platform 5 to rotate the deflection angle.
The laser sensors 3 may be vertically installed on the side of the linear motion platform 2, or may form a certain included angle with the side of the linear motion platform 2, and preferably, please refer to fig. 1, in order to facilitate installation and ensure parallelism of the outgoing laser beams 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 as shown in fig. 1, only two or more laser sensors may be provided. When the number n of the laser sensors 3 is greater than 2, two laser sensors 3 may be used as a group, and the deflection angle α calculated from the n-1 group data may be averaged to reduce the deviation of the azimuth setting of each laser sensor 3.
Taking the rust removal and oiling operation of the secondary lining trolley as an example, paving a thin steel plate on the wall surface of a steel mould in advance before working to form an XY continuous reflecting surface; when the robot is in operation, the controller 1 controls the wall climbing robot to step along the Y-axis or X-axis direction, and the laser sensor 3 is used for detecting the current movement direction in the step and controlling the rotary platform 5 to correct the deviation when the deviation exists; after the robot steps to a set distance, the robot is controlled to step along the direction perpendicular to the previous movement direction, the laser sensor 3 is used for detecting whether the current movement direction is offset in the step, and the rotary platform 5 is controlled to correct the deviation when the movement direction is offset.
Taking stepping along the Y-axis direction as an example, the controller 1 controls the variable magnetic devices 4 at the two ends of the X-axis platform to be adsorbed on the wall surface and the variable magnetic 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 positively to finish longitudinal stepping of the Y-axis platform; the variable magnetic devices 4 at the two ends of the X-axis platform are controlled to be separated from the wall surface, and the variable magnetic devices 4 at the two ends of the Y-axis platform are adsorbed on the wall surface; and controlling the driving motor 24 of the Y-axis platform to rotate reversely, and completing the follow-up of the X-axis platform.
Taking the deflection angle beta between the travelling direction and the Y-axis direction as an example, firstly, the controller 1 controls the variable magnetic devices 4 at the two ends of the X-axis platform to be adsorbed on the wall surface, and the variable magnetic devices 4 at the two ends of the Y-axis platform to be separated from the wall surface; controlling the rotation-beta of the rotary platform 5 to enable the extending direction of the Y-axis platform to be parallel to the Y-axis direction; the variable magnetic devices 4 at the two ends of the X-axis platform are controlled to be separated from the wall surface, and the variable magnetic 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 extending direction of the X-axis platform is parallel to the X-axis direction, and the correction of the wall climbing robot is realized.
In the embodiment, the variable magnetic force devices 4 at the two ends of at least one linear motion platform 2 are adsorbed with the wall surface in the stepping process, so that the adsorption force is strong, and the wall climbing robot is prevented from slipping in the walking process; the deflection angle is calculated by using the laser sensor 3 for ranging, so that the wall climbing robot is prevented from shifting and has high positioning precision in the walking process, and the wall climbing robot has certain obstacle crossing capability, strong applicability and wide 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 the base 21, the slide rail 22 provided along the length direction of the base 21, the slide table 23 slidably connected with the slide rail 22, the speed reducer 25, and the driving motor 24, the driving motor 24 is in signal connection with the controller 1, the output shaft of the driving motor 24 is connected with the input shaft of the speed reducer 25, and the output shaft of the speed reducer 25 is connected with the slide table 23.
The slide rail 22 may be disposed along the length direction of the inner side surface of the base 21 as shown in fig. 2, or may be vertically connected between two end surfaces of the base 21; the number of the slide rails 22 may be one, two or a plurality of; the specific number, cross-sectional shape, arrangement position and connection manner of the slide rails 22 are determined according to the actual production requirements with reference to the prior art, and will not be described herein.
Taking stepping along the Y-axis direction as an example, the controller 1 controls the two ends of the X-axis platform to be adsorbed on the wall surface and the two ends of the Y-axis platform to be separated from the wall surface; the controller 1 controls the driving motor 24 of the Y-axis platform to rotate, and as the X-axis platform is fixed relative to the wall surface and the sliding table 23 of the Y-axis platform connected with the X-axis platform through the rotary platform 5 is positioned relative to the wall surface, the base 21 of the Y-axis platform slides towards the positive direction of the Y-axis under the action of the 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 the two ends of the X-axis platform to be separated from the wall surface, and the 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 Y-axis positive direction, 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 state of the driving motor 24 can be adjusted by controlling the rotation time of the driving motor 24 through a timer; the linear motion stage 2 may be provided with a travel control mechanism such as a proximity switch or a limit switch 27 for controlling the travel of the slide table 23.
In the embodiment, the linear motion platform 2 adopts a linear guide rail sliding block mechanism, has a simple structure, is convenient to assemble, and is beneficial to simplifying the integral structure of the wall climbing robot.
Preferably, the sliding table 23 is provided with a limit baffle 26, at least two limit switches 27 are arranged on the side face of the base 21, 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 a timer arranged in or outside the driving motor 24, the travel cost of the sliding table 23 is low by utilizing the limit baffle 26 and the limit switch 27, and the control is convenient.
Preferably, the drive motor 24 is provided with a brake to prevent the wall climbing robot from sliding down the wall under its own weight. The type, model, setting position and connection mode of the brake are determined according to the actual production requirement with reference to the prior art, and are not described herein.
On the basis of the above embodiment, the structure of the variable magnetic force device 4 is defined, the variable magnetic force device 4 includes a slide bar 42, an elastic member, a yoke 45, an electric permanent magnet 46 connected to the lower end surface of the yoke 45, and a fixed sleeve 41 connected to the base 21 of the linear motion platform 2, the upper end of the slide bar 42 is sleeved in the fixed sleeve 41, the lower end of the slide bar 42 is hinged with the yoke 45, one end of the elastic member is connected with the fixed sleeve 41, and the other end of the elastic member is connected with the slide bar 42; when the power is off, the electro-permanent magnet 46 is electrified and adsorbed on the wall surface, and when the power is on in the reverse direction, 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, a fixing sleeve 41 is used to fix 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; the two ends of the elastic piece are respectively connected with the fixed sleeve 41 and the sliding rod 42, wherein the fixed sleeve 41 is fixed on the end face of the linear motion platform 2, so that the elastic piece 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 on the one hand, and to increase the attraction force of the electro-permanent magnet 46 on the other hand.
Preferably, in order to facilitate positioning of the elastic member, the fixing sleeve 41 includes a cylinder and a limiting plate uniformly connected to a circumferential surface of the cylinder, the limiting plate being used for limiting displacement of the elastic member in an axial direction of the cylinder.
The structure, shape, material, and connection manner of the fixing sleeve 41, the slide rod 42, the elastic member, the yoke 45, and the electro-permanent magnet 46 are determined according to actual production requirements, and will not be described herein.
When the magnetic force changing device 4 is powered off, the electro-permanent magnet 46 is in a magnetic state, the electro-permanent magnet 46 is magnetic and is attracted to the wall surface, and the sliding rod 42 moves downwards along the axial direction of the fixed sleeve 41 due to the fact that the electro-permanent magnet 46 is connected with the lower end of the sliding rod 42, and the elastic piece connected with the electro-permanent magnet 46 is pulled to store elastic potential energy.
Conversely, when the magnetic force changing device 4 is reversely electrified, the electric permanent magnet 46 is demagnetized, the elastic element is not subjected to the attraction force of the electric permanent magnet 46 perpendicular to the wall surface, and the elastic element 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, so that the electric permanent magnet 46 connected with the sliding rod 42 is driven to be separated from the wall surface, and the linear motion platform 2 is conveniently moved and the possibility of collision of the electric permanent magnet 46 and an obstacle on the wall surface in the motion process is reduced.
In the embodiment, the elastic member is utilized 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, 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 slide bar 42. The inner diameter of the tension spring 44 is greater than or equal to the outer diameter of the slide rod 42, and the wire diameter, material, length, etc. of the tension spring 44 are determined according to the actual production requirements, and will not be described herein.
Preferably, the slide bar 42 is provided with a positioning step surface, the slide bar 42 is provided with a height adjusting nut 43 between the lower end surface of the fixed sleeve 41 and the positioning step surface, and when the electro-permanent magnet 46 is adsorbed on the wall surface, the upper end surface of the height adjusting nut 43 is not contacted with the lower end surface of the fixed sleeve 41.
When the elastic member drives the slide bar 42 away from the wall surface, the slide bar 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 slide bar 42 can affect the travel of the slide bar 42, and the travel of the slide bar 42 is the distance from the upper end surface of the height adjusting nut 43 to the lower end surface of the fixing sleeve 41 when the electro-permanent magnet 46 is attracted to the wall surface.
In addition to the above described wall climbing robot, the present application also provides a wall climbing robot walking method for the wall climbing robot disclosed in the above described embodiment, comprising,
step S1: the laser sensor 3 emits laser light to the emission surface 7 to acquire a distance S from the laser sensor 3 to the reflection surface 7;
step S2: the controller 1 calculates a deflection angle α, α=arctan (Δs/L), where Δs is the difference in the distances of the two laser sensors to the reflecting surface, and L is the distance of the two laser sensors;
step S3: if α=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 rotating 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 same group of laser sensors 3 are mounted parallel to the same mounting plane, and the number of each group of laser sensors 3 is at least two.
Referring to fig. 6, two X-axis laser reflectors are disposed on the side of the X-axis platform near the X-axis reflecting surface, and two Y-axis laser reflectors are disposed on the side of the Y-axis platform near the Y-axis reflecting surface.
The step S3 needs to be described, when the controller 1 controls the linear motion platform 2 to step, the controller 1 firstly converts the working point to be derusted and oiled into coordinates (x, y) in a rectangular plane coordinate system taking the two reflecting surfaces 7 as the reference; then, the controller 1 controls the linear motion platform 2 to move along the Y axis first and then move along the X axis first, or controls the linear motion platform 2 to move along the X axis first and then move along the Y axis first, or controls the linear motion platform 2 to move continuously in a zigzag manner, that is, move along the X axis Δx and move along the Y axis Δy alternately until reaching the (X, Y) point, wherein Δx and Δy are respectively a single stepping stroke of the X axis platform and a single stepping stroke of the Y axis platform.
The specific step of the linear motion platform 2 and the specific 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 manner of the two, and will not be described herein.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The wall climbing robot and the walking method of the wall climbing robot provided by the application are described in detail. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.
Claims (4)
1. The wall climbing robot is characterized by comprising a controller (1), a reciprocating linear motion platform (2) 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 mutually perpendicular, 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;
both ends of a base (21) of the linear motion platform (2) are provided with magnetic force changing devices (4), and the magnetic force changing devices (4) are connected with the controller (1) so that the controller (1) can control the magnetic force changing devices (4) to be adsorbed or separated from the wall surface;
the side surface of the linear motion platform (2) is provided with at least 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 a deflection angle according to the difference value of the distance and controls the rotary platform (5) to rotate the deflection angle;
the magnetic force changing device (4) comprises a sliding rod (42), an elastic piece, a yoke (45), an electro-permanent magnet (46) connected to the lower end face of the yoke (45) and a fixed 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 fixed sleeve (41), the lower end of the sliding rod (42) is hinged with the yoke (45), one end of the elastic piece is connected with the fixed sleeve (41), and the other end of the elastic piece is connected with the sliding rod (42);
the electro-permanent magnet (46) is magnetized and adsorbed on the wall surface when the power is off, and 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 when the power is reversely on;
the sliding rod (42) is provided with a positioning step surface, a height adjusting nut (43) is arranged between the lower end surface of the fixed sleeve (41) and the positioning step surface, and when the electro-permanent magnet (46) is adsorbed on the wall surface, the upper end surface of the height adjusting nut (43) is not contacted with the lower end surface of the fixed sleeve (41);
the linear motion platform (2) comprises a base (21), a sliding rail (22) arranged along the length direction of the base (21), a sliding table (23) which is in sliding connection with the sliding rail (22), a speed reducer (25) and a driving motor (24), wherein 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);
the sliding table (23) is provided with a limit baffle (26), the side face 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 stop signals of the limit switches (27) and stops rotating.
2. The wall climbing robot according to claim 1, wherein the drive motor (24) is provided with a brake.
3. Wall-climbing robot according to claim 1 or 2, characterized in that the swivel platform (5) is provided with several quick-change devices (6) for mounting the work tool.
4. A wall climbing robot walking method as described in any one of claims 1 to 3, comprising,
step S1: the laser sensor (3) emits laser light to the reflecting surface (7) to acquire a distance S from the laser sensor (3) to the reflecting surface (7);
step S2: the controller (1) calculates a deflection angle alpha, alpha=arctan (delta S/L), wherein delta S is the difference between the distances of the two laser sensors to the reflecting surface, and L is the distance of the two laser sensors;
step S3: if alpha=0, the controller (1) controls the linear motion platform (2) to step, and returns to the step S1; if α is not equal to 0, the controller (1) controls the rotary platform (5) to rotate α, and returns to step S1.
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| CN114670945A (en) | 2022-06-28 |
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