CN115257993A - Curved surface self-adaptive wheel-foot type wall-climbing robot capable of being used for K-TIG welding - Google Patents
Curved surface self-adaptive wheel-foot type wall-climbing robot capable of being used for K-TIG welding Download PDFInfo
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- CN115257993A CN115257993A CN202210971666.6A CN202210971666A CN115257993A CN 115257993 A CN115257993 A CN 115257993A CN 202210971666 A CN202210971666 A CN 202210971666A CN 115257993 A CN115257993 A CN 115257993A
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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
Abstract
The invention relates to the technical field of wall climbing robots, and discloses a curved surface self-adaptive wheel-foot type wall climbing robot for K-TIG welding, which comprises a robot body and three groups of lifting moving wheel sets, wherein each lifting moving wheel set comprises a bottom plate, the bottom plates are arranged below the robot body at intervals, and magnetic adsorption components are arranged on the left side and the right side of the lower surface; the upper part of the lifting mechanism is connected with the machine body, the lower part of the lifting mechanism penetrates through the bottom plate and extends to the lower side of the bottom plate, and a lifting plate is fixed at the bottom of the lifting mechanism; two groups of driving wheel assemblies which are respectively arranged at the left side and the right side of the bottom plate; one end of each gas spring is arranged on the machine body, and the other end of each gas spring is arranged on the bottom plate; the lifting mechanism and the driving wheel assembly are electrically connected with the controller; the lifting mechanism can drive the lifting plate to move up and down, and the bottom plate moves upwards to compress the gas spring, so that the driving wheel is attached to the wall surface. The invention is suitable for curved surface wall surfaces with multiple curvatures and large curvatures, improves the curved surface adaptability and the motion stability of the wall-climbing robot, and reduces the operation risk of the wall-climbing robot.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a curved surface self-adaptive wheel-foot type wall-climbing robot for K-TIG welding.
Background
The wall-climbing robot is an important branch in the research field of mobile robots, can replace people to work in high-risk high-altitude and other limited environments, and has very wide application prospects in various industries, such as the fields of ships, petrochemicals, nuclear power, fire fighting and the like. At present, the technology of applying a wall-climbing robot to carry out nondestructive detection on pipelines and rust removal and paint spraying on the wall surface of a ship is quite mature, but the application of the wall-climbing robot in the field of welding is limited to a certain extent, on one hand, higher requirements are put forward on the performance of welding equipment due to the complexity of welding operation and the environment harshness, and on the other hand, the welding quality and efficiency cannot be effectively improved due to the combination of the traditional welding method and the wall-climbing robot. However, with the continuous development of the technology, the wall surface adsorption technology, the ground moving technology and the K-TIG welding method can be organically combined, the welding gun can crawl on an inclined, vertical or inverted wall surface, and a K-TIG welding gun can be carried in the moving process to execute certain welding operation tasks. The K-TIG welding method can weld the stainless steel plate with the thickness of 12mm and realize double-sided forming under the conditions of no groove opening and no welding material filling, so the method has obvious advantages in the aspects of operation flexibility, flexibility and the like, greatly widens the application range of the robot, and has important practical application values for improving the welding operation quality, reducing the manufacturing cost, improving the working environment of workers and the like.
At present, the wall-climbing robot combining the magnetic adsorption technology and the moving technology mainly comprises a magnetic wheel type, a magnetic crawler type and a non-contact magnetic adsorption wheel foot type. The magnetic wheel type wall climbing robot embeds the permanent magnet into the driving wheel, and the magnetic wheel generates adsorption force to ensure the safety of the wall climbing movement of the robot; the contact area between the magnetic track of the magnetic track type wall-climbing robot and the wall surface is large, so that larger adsorption force can be generated, and the walking stability of the robot is superior; the non-contact magnetic adsorption wheel-foot type wall-climbing robot has wheel-type flexibility and foot-type obstacle-crossing capability. Although the existing magnetic wheel type and magnetic crawler type wall-climbing robot is compact in structure and stable in magnetic adsorption force, the motion performance of the existing magnetic wheel type and magnetic crawler type wall-climbing robot is poor due to the characteristics of difficulty in control, uncontrollable magnetic adsorption force and the like, the function of flexible motion of the existing magnetic wheel type and magnetic crawler type wall-climbing robot on a wall surface cannot be met, and the existing magnetic wheel type and magnetic crawler type wall-climbing robot is difficult to install and disassemble. Therefore, the non-contact magnetic-adsorption wheel-foot type wall-climbing robot is more widely applied.
The existing non-contact magnetic adsorption crawling robot can realize the adjustability of magnetic adsorption force, but the self-adaptive capacity of the curved surface has certain limitation, can only be generally suitable for the curved surfaces with planes and small curvatures, and is difficult to be suitable for the curved surfaces with large curvatures.
Disclosure of Invention
The invention provides a curved surface self-adaptive wheel-foot type wall climbing robot for K-TIG welding, which aims to solve the problem that the existing non-contact magnetic adsorption climbing robot can only adapt to a plane and a curved surface with small curvature and is difficult to adapt to a curved surface with large curvature.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a curved surface self-adaptive wheel-foot type wall-climbing robot for K-TIG welding, which comprises a body and three groups of lifting moving wheel sets arranged on the lower side of the body at intervals, wherein the lifting moving wheel sets comprise:
the bottom plate is arranged below the machine body at intervals, and the left side and the right side of the lower surface of the bottom plate are provided with magnetic adsorption components;
the upper part of the lifting mechanism is connected with the machine body, the lower part of the lifting mechanism penetrates through the bottom plate and extends to the lower side of the bottom plate, and a lifting plate is fixed at the bottom of the lifting mechanism;
the two groups of driving wheel assemblies are respectively arranged on the left side and the right side of the bottom plate, and each driving wheel assembly comprises a driving wheel used for moving on a wall surface;
one end of each gas spring is mounted on the machine body, and the other end of each gas spring is mounted on the bottom plate;
the lifting mechanism and the driving wheel assembly are electrically connected with the controller;
the lifting mechanism can drive the lifting plate to move up and down, the lifting plate drives the bottom plate to move upwards when moving upwards, and the bottom plate compresses the gas spring, so that the driving wheel is attached to the wall surface.
Preferably, the radius of curvature of the wall surface and the amount of compression of the gas spring satisfy the following formula:
wherein R represents a radius of curvature of the wall surface; s represents the compression amount of the gas spring; l represents the center distance between adjacent lifting movable wheel sets, and r represents the radius of a driving wheel; when the wall surface is a convex curved surface, the mark is taken, and when the wall surface is a concave curved surface, the mark is taken.
Preferably, when the wall surface is a convex curved surface, the minimum curvature radius of the wall surface is 1280mm; when the wall surface is a concave curved surface, the minimum curvature radius of the wall surface is 2260mm.
Preferably, the organism front side liftable remove the wheelset still includes laser range finding sensor and range finding sensor support, respectively install one in the left and right sides of bottom plate upper surface the range finding sensor support, laser range finding sensor installs on the range finding sensor support, laser range finding sensor with the controller electricity is connected.
Preferably, a laser radar is installed at the front side of the body.
Preferably, the bottom plate includes left bottom plate and right bottom plate, the right side of left side bottom plate with the left side releasable connection of right bottom plate, the right side of left side bottom plate is provided with first breach, the left side of right bottom plate all is provided with the second breach, first breach with the second breach surrounds and forms the confession the through-hole that elevating system passed.
Preferably, the magnetic adsorption assembly comprises a yoke plate and permanent magnets, the yoke plate is fixed on the lower surface of the base plate, and the permanent magnets are fixed on the left side and the right side of the lower surface of the yoke plate respectively.
Preferably, the driving wheel assembly comprises wheels, a motor and a motor support, the motor support is fixed on the upper surface of the bottom plate, the motor is installed on the motor support, and the motor is in transmission connection with the wheels.
Preferably, a connecting plate is arranged on the lower side of the machine body, and the lifting mechanism and the gas spring are both mounted on the connecting plate.
Compared with the prior art, the curved surface self-adaptive wheel-foot type wall-climbing robot for K-TIG welding has the beneficial effects that:
according to the curved surface self-adaptive wheel foot type wall climbing robot for K-TIG welding, three groups of lifting moving wheel sets are arranged on the lower side of a machine body, driving wheel assemblies of the lifting moving wheel sets are mounted on a bottom plate, the bottom plate and the machine body are connected through a plurality of air springs, a lifting plate is driven to move through a lifting mechanism, the bottom plate is driven to move upwards when the lifting plate moves upwards, the air springs are compressed by the bottom plate, the driving wheels can be attached to the wall surface all the time, the curved surface self-adaptive wheel foot type wall climbing robot is suitable for curved surface wall surfaces with multiple curvatures and large curvatures, the curved surface self-adaptive property and the motion stability of the wall climbing robot are improved, and the operation risk of the wall climbing robot is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a curved surface adaptive wheel-foot type wall-climbing robot which can be used for K-TIG welding according to an embodiment of the invention;
FIG. 2 is a schematic front view of a curved surface adaptive wheel-foot type wall climbing robot which can be used for K-TIG welding according to the embodiment of the invention;
FIG. 3 is a schematic top view of a curved surface adaptive wheel-foot type wall climbing robot capable of being used for K-TIG welding according to the embodiment of the invention;
FIG. 4 is a schematic side view of a curved surface adaptive wheel-foot type wall climbing robot which can be used for K-TIG welding according to the embodiment of the invention;
FIG. 5 is a schematic structural view of a magnetic attachment assembly of the present invention;
FIG. 6 is a schematic structural view of a drive wheel assembly of the present invention;
FIG. 7 is a schematic diagram of the adaptation of the wall-climbing robot of the present invention to a convex curved wall surface;
FIG. 8 is a schematic diagram of the adaptation of the wall-climbing robot of the present invention to a concave curved wall surface;
in the figure, 1, a machine body; 11. a connecting plate; 2. a lifting moving wheel set; 21. a base plate; 211. a left bottom plate; 212. a right base plate; 22. a lifting mechanism; 221. a lifting plate; 23. a drive wheel assembly; 231. a wheel; 232. a motor; 2321. a motor driver; 233. a motor bracket; 24. a magnetic adsorption assembly; 241. a yoke iron plate; 242. a permanent magnet block; 25. a gas spring; 251. a gas spring connector; 3. a laser ranging sensor; 4. a ranging sensor support; 5. a laser radar; 6. a relay control board; 7. a junction box.
Detailed Description
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
As shown in fig. 1-4, the curved surface adaptive wheel-foot type wall-climbing robot for K-TIG welding according to the embodiment of the present invention includes a body 1 and three sets of liftable moving wheel sets 2 spaced front and back on the lower side of the body 1. The structures of the sets of lifting and moving wheel sets 2 are basically the same, and the structure of one of the lifting and moving wheel sets 2 is taken as an example for explanation.
The lifting movable wheel set 2 comprises a bottom plate 21, a lifting mechanism 22, two groups of driving wheel assemblies 23 and a plurality of air springs 25, wherein the bottom plate 21 is arranged below the machine body 1 at intervals, the left side and the right side of the lower surface of the bottom plate 21 are respectively provided with a magnetic adsorption assembly 24, and the stability and the safety of the wall climbing robot in wall surface operation are ensured by the adsorption force generated by the magnetic adsorption assemblies 24; the upper part of the lifting mechanism 22 is connected with the machine body 1, the lower part of the lifting mechanism 22 passes through the bottom plate 21 and extends to the lower side of the bottom plate 21, a lifting plate 221 is fixed at the bottom of the lifting mechanism 22, a gap is formed between the lifting mechanism 22 and the bottom plate 21, when the lifting mechanism 22 drives the lifting plate 221 to ascend, the lifting plate 221 abuts against the lower surface of the bottom plate 21, and the lifting plate 221 drives the bottom plate 21 to ascend synchronously; the lifting mechanism 22 is preferably an electric lifting mechanism 22, and the invention does not limit the specific structure of the lifting mechanism 22; two sets of driving wheel assemblies 23 are respectively installed at the left and right sides of the bottom plate 21, and the driving wheel assemblies 23 comprise driving wheels for moving on a wall surface; one end of the gas spring 25 is mounted on the machine body 1, the other end of the gas spring 25 is mounted on the bottom plate 21, and the plurality of gas springs 25 are uniformly distributed on the bottom plate 21 to provide uniform acting force for the bottom plate 21 and ensure that the bottom plate 21 is stably arranged at the lower side of the machine body 1; the lifting mechanism 22 and the driving wheel assembly 23 are both electrically connected with the controller, and the lifting mechanism 22 and the driving wheel assembly 23 are controlled to lift through the controller; the lifting mechanism 22 can drive the lifting plate 221 to move up and down, when the lifting plate 221 moves up, the lifting plate 21 is driven to move up, and the gas spring 25 is compressed by the bottom plate 21, so that the driving wheel is attached to the wall surface.
The bottom plate 21 is connected with the machine body 1 through the gas spring 25, the bottom plate 21 is elastically connected with the machine body 1, the situations that the driving wheel assemblies 23 on the two sides of the bottom plate 21 cannot be suitable for curved-surface wall surface operation and are easy to drive to lose efficacy, turn over, fall and the like due to the fact that the bottom plate 21 is directly and rigidly connected with the machine body 1 are avoided, the wall climbing robot is suitable for the curved-surface wall surface operation with multiple curvatures and large curvatures, the curved-surface adaptability and the motion stability of the wall climbing robot are improved, and the operation risk of the wall climbing robot is reduced. And, magnetic adsorption subassembly 24 installs on bottom plate 21, can follow bottom plate 21 motion, and the adjustable magnetic adsorption power's of lift through bottom plate 21 size combines the use of air spring 25 for wall climbing robot can be according to the unsmooth degree regulation magnetic adsorption power size of the operation face of locating when adapting to operation face camber.
In this embodiment, gas spring coupling 251 is mounted on both base plate 21 and housing 1, and each gas spring 25 is mounted on a corresponding gas spring coupling 251.
In this embodiment, four gas springs 25 are respectively disposed in each set of lifting and moving wheel set 2, the four gas springs 25 are arranged in a quadrilateral shape, the four gas springs 25 provide balanced supporting force for the bottom plate 21, and two gas springs 25 are respectively disposed on two sides of the lifting mechanism 22. Two gas springs 25 located on the same side of the lifting mechanism 22 are respectively disposed at the front and rear sides of the driving wheel assembly 23, so that the four gas springs 25 are distributed close to the four vertex angles of the bottom plate 21.
When climbing wall robot in the motion of plane wall surface, three groups liftable remove the sufficient magnetic absorption subassembly 24's of wheel suction direction perpendicular to wall surface, and the adsorption affinity that each magnetic absorption subassembly 24 provided is the same, and at this moment, air spring 25 mainly plays bradyseism supporting role to guarantee robot's stability and flexibility. When the wall climbing robot moves on the curved surface wall surface, the posture of each driving wheel needs to be adjusted to enable the wall climbing robot to be tightly attached to the curved surface, the air springs 25 can be compressed, self-adaption of the robot in the longitudinal direction is achieved by the aid of the characteristics that the expansion speed of the air springs 25 is relatively slow, dynamic force changes are small and the like, curvature matching of the 6 driving wheels and the curved surface where the driving wheels are located is guaranteed, and the driving wheels are prevented from being suspended.
The curvature radius of the wall surface and the compression amount of the gas spring satisfy the following formula:
wherein R represents a radius of curvature of the wall surface; s represents the compression amount of the gas spring; l represents the center distance between adjacent lifting moving wheel sets (specifically the distance between the centers of two driving wheels), and r represents the radius of the driving wheels; when the wall surface is a convex curved surface, the mark is taken, and when the wall surface is a concave curved surface, the mark is taken.
Further, in order to ensure that the chassis of the wall-climbing robot does not interfere with the curved wall surface, it is preferable that the shortest distance l between the lifting plate 221 at the bottom of the lifting mechanism 22 of each set of lifting and moving wheel set 2 and the curved wall surface is greater than or equal to 3mm, wherein the shortest distance l between the lifting plate 221 of the front lifting and moving wheel set 2 and the curved wall surface is represented as l according to the front-to-rear direction of the machine body 1 1 The shortest distance between the lifting plate 221 of the middle lifting moving wheel set 2 and the curved wall surface is represented as l 2 The shortest distance between the lifting plate 221 of the rear lifting movable wheel set 2 and the curved wall surface is represented as l 3 Then:
l 1 ≥3mm (2)
l 2 ≥3mm (3)
l 3 ≥3mm (4)
as shown in fig. 7, on the convex curved wall surface, the shortest distance l between the lifting plate 221 of the lifting moving wheel set 2 at the middle part and the curved wall surface 2 The following formula is satisfied:
l 2 ＝H-S (5)
wherein H represents a gap between the lifting plate 221 and the wall surface when the lifting mechanism is in the initial setting state, and the maximum value of H is 28mm; s represents the amount of compression of the gas spring.
On the convex curved surface wall surface, the shortest distance l between the lifting plate 221 of the lifting moving wheel set 2 at the middle part and the curved surface is ensured 2 Satisfy the requirement, then 1 And l 3 The requirements must be met. As can be seen from the formulas (1), (3) and (5), the minimum curvature radius of the wall climbing robot capable of adapting to the curved wall surface mainly depends on the compression amount S of the gas spring 25 of the middle lifting movable wheel set 2. The larger the compression amount S of the gas spring 25, the smaller the radius of curvature of the convex curved surface. Take L =259mm, r =74mm, h =28mm 2 And the gas spring 25 of the wheel set 2 is compressed only in the middle part, and at the moment, the minimum curvature radius R of the convex curved wall surface which can be adapted by the wall-climbing robot can be calculated to be 1280mm, and the maximum compression S of the gas spring 25 is 25mm.
As shown in fig. 8, the shortest distance between the lifting plate 221 of the front lifting/lowering wheel set 2 and the curved wall surface on the concave curved wall surface is represented by l 1 And the shortest distance between the lifting plate 221 of the lifting moving wheel set 2 at the rear side and the curved wall surface is expressed as l 3 The following formula is satisfied:
wherein L is 1 The width of the lifting plate is shown, R is the curvature radius of the curved wall surface, H is the clearance between the lifting plate and the wall surface when the lifting mechanism is in an initial setting state, and the maximum value of H is 28mm; l represents the center-to-center spacing of adjacent sets of elevatably movable wheels.
On the concave curved wall surface, as long as l is ensured 1 、l 3 The shortest distance l between the lifting plate 221 of the lifting moving wheel set 2 at the middle part and the curved wall surface is satisfied 2 The requirements must be met. As can be seen from the formulas (1), (2), (4) and (6), the minimum curvature radius of the wall-climbing robot capable of adapting to the concave curved surface mainly depends on the shortest distance l between the electric lifting device of the front-back moving wheel set and the curved surface 1 And l 3 . When l is 1 And l 3 The smaller the compression amount S of the gas spring, the smaller the curvature radius of the concave curved surface. Take L =259mm, L 1 ＝152mm，r＝74mm，H＝28mm，l 1 ＝l 3 And the gas spring 25 only moving the wheel set back and forth is compressed by 3mm, the compression amount is the same, the minimum curvature radius R of the wall climbing robot adapting to the concave curved wall surface can be calculated to be 2260mm, and the maximum compression amount S of the gas spring 25 is 15mm.
In this embodiment, the bottom plate 21 includes a left bottom plate 211 and a right bottom plate 212, the right side of the left bottom plate 211 with the left side releasable connection of the right bottom plate 212, the right side of the left bottom plate 211 is provided with a first notch, the left side of the right bottom plate 212 is provided with a second notch, the first notch and the second notch surround to form a through hole for the lifting mechanism 22 to pass through. The bottom plate 21 is provided with a structure form that the left bottom plate 211 and the right bottom plate 212 are butted, so that the bottom plate 21 and the lifting mechanism 22 can be conveniently mounted and dismounted. The right side edge of the left bottom plate 211 can be extended upwards to form a first protruding plate, the left side edge of the right bottom plate 212 is extended upwards to form a second protruding plate, and the first protruding plate and the second protruding plate are connected through bolts.
It should be noted that the aperture of the through hole formed by the first notch and the second notch is larger than the cross-sectional dimension of the middle part of the lifting mechanism 22 and smaller than the cross-sectional dimension of the lifting plate 221 at the bottom of the lifting mechanism 22, so that the middle part of the lifting mechanism 22 can pass through the through hole, and the lifting plate 221 can abut against the bottom plate 21 when rising, thereby driving the bottom plate 21 to rise.
In this embodiment, the lower side of the machine body 1 is provided with a connecting plate 11, and the lifting mechanism 22 and the gas spring 25 are both mounted on the connecting plate 11, so that the mounting of the lifting mechanism 22 and the gas spring 25 is facilitated. The upper part of the lifting mechanism 22 and the connecting plate 11 can be fixedly connected through bolts. Further, a junction box 7 for protecting the electric wire is provided on the connection plate 11.
In this embodiment, the two driving wheel assemblies 23 of the same lifting moving wheel set 2 are arranged in bilateral symmetry. The construction of each drive wheel assembly 23 is identical. As shown in fig. 6, in this embodiment, the driving wheel assembly 23 includes a wheel 231, a motor 232, and a motor bracket 233, the motor bracket 233 is fixed on the upper surface of the base plate 21, the motor 232 is mounted on the motor bracket 233, and the motor 232 is in transmission connection with the wheel 231. The wheels 231 are driven to rotate by the motor 232. Preferably, each motor 232 is provided with an independent motor driver 2321 for independently driving each wheel 231, so that the wall-climbing robot can move flexibly during walking, turning and the like, and the robot can move on the wall surface in all directions conveniently. Optionally, the motor bracket 233 is an L-shaped connecting plate 11, which is conveniently fixed to the bottom plate 21. The motor support 233 is connected with the bottom plate 21 through bolts, so that the motor support is convenient to disassemble and assemble. The motor 232 is a direct current speed reducing motor 232, and an output shaft of the motor 232 is connected with a wheel hub of the wheel 231.
The wall-climbing robot of the invention not only can be suitable for the curved surface wall surface movement with multiple curvatures and large curvature, but also has the obstacle-crossing capability. The lifting mechanisms 22 in the lifting movement theory group at the front side, the middle part and the rear side are controlled by the controller to lift in sequence, so that the obstacle can be crossed, and the obstacle crossing function is realized. Preferably, 1 front side of organism liftable remove wheelset 2 still includes laser range sensor 3 and range finding sensor support 4, respectively one is installed to the left and right sides of bottom plate 21 upper surface range finding sensor support 4, laser range sensor 3 is installed range finding sensor support 4 is last, laser range finding sensor 3 with the controller electricity is connected. The laser distance measuring sensor 3 has the advantages of strong anti-interference capability, high measuring precision and the like, and can measure the distance of the front environment of the machine body 1 in real time when the robot works. The laser ranging sensor 3 may measure a distance between the front side of the robot and an obstacle, and transmit a detected distance signal to the controller, and the controller controls the lifting of each lifting mechanism 22 according to the distance signal detected by the laser ranging sensor 3. In this embodiment, the laser distance measuring sensors 3 are respectively installed on the left and right sides of the bottom plate 21, so that the driving wheels on the left and right sides can be controlled respectively to cross the obstacle conveniently.
In this embodiment, the controller is a relay control board 6 installed at the lower side of the machine body 1. The laser ranging sensor 3 feeds information such as distance signals back to the relay control panel 6 to judge whether start and stop of the motor 232 are needed, the industrial personal computer is fed back through the CAN bus, the industrial personal computer transmits control signals to the relay control panel 6 through the CAN bus, the relay control panel 6 adjusts the anode and the cathode of output current, and the wheel set is controlled to be sequentially lifted and descended and moved by the vehicle body in the obstacle crossing process, so that the obstacle crossing function is realized.
Further, a laser radar 5 is mounted on the front side of the body 1. The environmental information of the robot is acquired in real time at the optimal angle through the laser radar 5, the robot is navigated and positioned, and a K-TIG welding gun is conveniently carried on the top of the machine body 1 for operation.
As shown in fig. 5, the magnetic attraction member 24 includes a yoke plate 241 and permanent magnets 242, the yoke plate 241 is fixed to the lower surface of the base plate 21, and the permanent magnets 242 are fixed to the left and right sides of the lower surface of the yoke plate 241. The yoke plate 241 has a plate shape and the permanent magnet pieces 242 have a block shape. The yoke plate 241 is a magnetic attracting member of the magnetic attraction unit 24, and is connected to the permanent magnet 242 by a countersunk screw. The yoke plate 241 is connected to the base plate 21 by bolts. Permanent magnet block 242 is preferably a neodymium iron boron permanent magnet. In this embodiment, the magnetic attraction assembly 24 is fixed on the lower surface of the bottom plate 21 and can move up and down synchronously with the bottom plate 21. When the lifting mechanism 22 drives the bottom plate 21 to move up and down, the magnetic adsorption component 24 moves up and down synchronously, so that the distance between the magnetic adsorption component 24 and the wall surface is adjusted, the size of the magnetic adsorption force is adjusted, and the magnetic adsorption force is controllable. When the wall climbing robot is used, the size of the adsorption force is adjusted according to the actual load requirement of the wall climbing robot, the problem of contradiction between reliable adsorption and flexible movement of the existing wall climbing robot is effectively solved, the operation quality of the robot is guaranteed, and the operation efficiency is improved.
The working process of the invention is as follows:
when no obstacle exists, the robot can walk on the wall at all positions through the differential motion of the three groups of lifting moving wheel sets 2, wherein the robot can adapt to the running of curved surfaces with multiple curvatures and large curvatures through the plurality of gas springs 25.
When the robot meets an obstacle, the distance signal of the obstacle is identified through the laser ranging sensor 3, the distance signal is transmitted to the controller, and the controller controls the lifting of each lifting movable wheel set 2 and the movement of the driving wheel assembly 23 according to the distance signal fed back by the laser ranging sensor 3, so that the obstacle crossing function is realized. The obstacle crossing height of the wall climbing robot is determined by the initial setting of the lifting mechanism 22, and the obstacle crossing width is determined by the distance between the adjacent lifting movable wheel sets 2.
To sum up, the embodiment of the invention provides a curved surface self-adaptive wheel-foot type wall climbing robot for K-TIG welding, which adopts a gas spring matched with a lifting mechanism to realize a curved surface self-adaptive effect, can adapt to a convex curved surface with the minimum curvature radius R being more than or equal to 1280mm, can adapt to a concave curved surface with the minimum curvature radius R being more than or equal to 2260mm, and can perform stable motion on a multi-curvature curved surface, so that the curved surface self-adaptive capacity and the utilization rate of magnetic adsorption force of the robot are effectively improved, the operation risk of the robot is reduced, and the reliability of the performance of the robot and the working stability are more ensured.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a curved surface self-adaptation wheel sufficient wall climbing robot that can be used to K-TIG welding which characterized in that includes the organism and sets up in the interval three groups liftable removal wheelsets of organism downside around, liftable removal wheelset includes:
the bottom plate is arranged below the machine body at intervals, and the left side and the right side of the lower surface of the bottom plate are both provided with magnetic adsorption assemblies;
the upper part of the lifting mechanism is connected with the machine body, the lower part of the lifting mechanism penetrates through the bottom plate and extends to the lower side of the bottom plate, and a lifting plate is fixed at the bottom of the lifting mechanism;
the two groups of driving wheel assemblies are respectively arranged on the left side and the right side of the bottom plate, and each driving wheel assembly comprises a driving wheel used for moving on a wall surface;
one end of each gas spring is mounted on the machine body, and the other end of each gas spring is mounted on the bottom plate;
the lifting mechanism and the driving wheel assembly are electrically connected with the controller;
the lifting mechanism can drive the lifting plate to move up and down, the lifting plate drives the bottom plate to move upwards when moving upwards, and the bottom plate compresses the gas spring, so that the driving wheel is attached to the wall surface.
2. The curved adaptive wheel foot type wall climbing robot applicable to K-TIG welding according to claim 1, wherein the radius of curvature of the wall surface and the compression amount of the gas spring satisfy the following formula:
wherein R represents a radius of curvature of the wall surface; s represents the compression amount of the gas spring; l represents the center distance between adjacent lifting moving wheel sets, and r represents the radius of a driving wheel; when the wall surface is a convex curved surface, the mark is taken, and when the wall surface is a concave curved surface, the mark is taken.
3. The curved adaptive wheel-foot type wall climbing robot applicable to K-TIG welding according to claim 2, wherein when the wall surface is a convex curved surface, the minimum curvature radius of the wall surface is 1280mm; when the wall surface is a concave curved surface, the minimum curvature radius of the wall surface is 2260mm.
4. The curved surface adaptive wheel foot type wall climbing robot capable of being used for K-TIG welding according to claim 1, wherein the lifting moving wheel group on the front side of the machine body further comprises a laser ranging sensor and a ranging sensor support, the ranging sensor support is mounted on each of the left side and the right side of the upper surface of the bottom plate, the laser ranging sensor is mounted on the ranging sensor support, and the laser ranging sensor is electrically connected with the controller.
5. A curved adaptive wheel foot type wall climbing robot according to claim 1, wherein a laser radar is mounted on the front side of the machine body.
6. The curved surface self-adaptive wheel-foot type wall climbing robot capable of being used for K-TIG welding according to claim 1, wherein the bottom plate comprises a left bottom plate and a right bottom plate, the right side of the left bottom plate is detachably connected with the left side of the right bottom plate, a first notch is formed in the right side of the left bottom plate, second notches are formed in the left sides of the right bottom plate, and the first notch and the second notch are encircled to form a through hole for the lifting mechanism to pass through.
7. The curved adaptive wheel-foot type wall climbing robot capable of being used for K-TIG welding according to claim 1, wherein the magnetic adsorption assembly comprises a yoke plate and permanent magnet blocks, the yoke plate is fixed on the lower surface of the base plate, and the permanent magnet blocks are fixed on the left side and the right side of the lower surface of the yoke plate respectively.
8. The curved surface self-adaptive wheel-foot type wall climbing robot applicable to K-TIG welding according to claim 1, wherein the driving wheel assembly comprises a wheel, a motor and a motor bracket, the motor bracket is fixed on the upper surface of the bottom plate, the motor is installed on the motor bracket, and the motor is in transmission connection with the wheel.
9. A curved adaptive wheel foot type wall climbing robot according to claim 1, characterized in that the lower side of the machine body is provided with a connecting plate, and the lifting mechanism and the gas spring are both mounted on the connecting plate.
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| CN115837979A (en) * | 2023-02-24 | 2023-03-24 | 浙江省交通工程管理中心 | Climbing robot adapting to curvature of cross section of tunnel |
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