CN115973304A - Ball-track composite permanent magnet adsorption type rust removal wall climbing robot - Google Patents
Ball-track composite permanent magnet adsorption type rust removal wall climbing robot Download PDFInfo
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- CN115973304A CN115973304A CN202211720339.XA CN202211720339A CN115973304A CN 115973304 A CN115973304 A CN 115973304A CN 202211720339 A CN202211720339 A CN 202211720339A CN 115973304 A CN115973304 A CN 115973304A
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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 invention discloses a ball-track composite permanent magnetic adsorption type derusting wall-climbing robot.A cleaning disc is arranged in a cleaning disc fixing seat, the cleaning disc fixing seat is connected with a cleaning disc connecting frame, two sides of the cleaning disc connecting frame are respectively connected with a ball-track composite permanent magnetic adsorption crawler, and a self-rotating high-pressure sprayer is arranged in the cleaning disc; the ball-track composite permanent magnetic adsorption crawler comprises a front driving sprocket, a rear driven sprocket, chain links, a chain link connecting rod, a servo motor and a harmonic reducer, wherein the chain links are formed by alternately connecting magnet chain links and universal ball chain links through the chain link connecting rod; the invention effectively reduces the output torque of the motor when the wall-climbing robot turns, improves the flexibility of the robot movement on the premise of ensuring reliable adsorption, reduces the size and the cost of the rust removal wall-climbing robot, has wide application prospect and is beneficial to popularization and application.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a ball-track composite permanent magnet adsorption type rust removal wall climbing robot.
Background
At present, the wall climbing robot applied to the wall surface of ships and petrochemical storage tanks for derusting operation generally adopts a wheel type permanent magnet adsorption structure or a crawler type permanent magnet adsorption structure because of large load and high requirement on adsorption reliability. The wheel type wall climbing robot is flexible in operation, but when an obstacle such as a welding seam is crossed, the magnetic adsorption force is rapidly reduced due to the fact that the distance between the permanent magnet and the adsorption wall surface is increased, and even the phenomenon that the wall climbing robot falls off is caused. The crawler-type wall climbing robot is because permanent magnetism adsorption equipment distributes dispersedly, and big with the adsorption area between the wall, when crossing obstacles such as welding seam, only a few permanent magnetism adsorption equipment can increase with the distance between the wall, and the permanent magnetism adsorption equipment of the rest part still keeps in contact with the wall, compares wheeled wall climbing robot absorption reliability higher, has avoided climbing the wall robot when surmounting the obstacle and has taken place the condition that drops. However, the crawler-type wall-climbing robot has a large contact area between the permanent magnet adsorption device and the wall surface, so that the motor needs to output more torque when the robot turns, and the flexibility of the movement of the robot is reduced. Therefore, it is urgently needed to develop a ball-and-shoe composite permanent magnet adsorption type rust removal wall climbing robot to solve the technical problems.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a ball-track composite permanent magnet adsorption type derusting wall-climbing robot, which effectively reduces the output torque of a motor when the wall-climbing robot turns, improves the flexibility of the robot movement on the premise of ensuring reliable adsorption, reduces the size and the cost of the derusting wall-climbing robot, has wide application prospect, and is beneficial to popularization and application.
In order to achieve the purpose, the invention provides a ball-track composite permanent magnetic adsorption type rust removal wall climbing robot which comprises a ball-track composite permanent magnetic adsorption crawler belt, a cleaning disc fixing seat and a cleaning disc connecting frame, wherein the cleaning disc is arranged in the cleaning disc fixing seat, the cleaning disc fixing seat is connected with the cleaning disc connecting frame, two sides of the cleaning disc connecting frame are respectively connected with a ball-track composite permanent magnetic adsorption crawler belt, and a self-rotating high-pressure spray head is arranged in the cleaning disc;
the ball-track composite permanent magnetic adsorption crawler comprises a front driving sprocket, a rear driven sprocket, chain links, a chain link connecting rod, a servo motor and a harmonic reducer, wherein the chain links are formed by alternately connecting magnet chain links and universal ball chain links through the chain link connecting rod;
preceding drive sprocket and back driven sprocket pass through sprocket shaft one respectively, and sprocket shaft two and bearing are installed on track curb plate one and track curb plate two, the magnet chain link is including optimizing back Halbach array permanent magnet, optimize back Halbach array permanent magnet and constitute by five neodymium iron boron permanent magnets and a yoke, five neodymium iron boron permanent magnets are formed by three wide-size's main magnet and two narrow-size's vice magnet alternative arrangement, vice magnet width is 0.4 times of main magnet width, yoke thickness is 0.5 times of neodymium iron boron permanent magnet thickness, optimize the both sides of back Halbach array permanent magnet and have connected gradually magnet polyurethane supporting shoe and magnet chain link support, and its bottom is connected with the magnetic conduction board, universal ball chain link includes two sets of universal balls, and two sets of universal balls are fixed in universal ball fixing base, the both sides of universal ball fixing base have connected gradually universal ball polyurethane supporting shoe and universal ball chain link support.
Preferably, the middle positions of the first crawler side plate and the second crawler side plate are both provided with grooves, and the first crawler side plate and the second crawler side plate are fixedly connected through four side plate connecting rods.
Preferably, the bearing of back driven sprocket installs in two tensioning pieces, the tensioning piece is fixed in track curb plate one and track curb plate two, be equipped with the screw hole in the tensioning piece for the installation screw, install the nut on the screw, the nut laminates with track curb plate one and track curb plate two respectively, realizes the tensioning of the compound permanent magnetism adsorption track of ball track through adjusting nut position on the screw.
Preferably, the first sprocket shaft and the second sprocket shaft both adopt a two-half shaft structure.
Preferably, the height of the magnet polyurethane supporting block is higher than the optimized Halbach array permanent magnet surface.
Preferably, the heights of the magnet polyurethane supporting block and the universal ball polyurethane supporting block are higher than the top of the universal ball.
Preferably, the universal ball is connected with the universal ball fixing seat in an interference fit mode, and other parts of the universal ball chain link are fixedly connected through screws.
Preferably, the structures of the magnet chain link are fixedly connected through screws.
Preferably, the cleaning disc is a cleaning disc with a recycling function.
The invention provides a ball-track composite permanent magnet adsorption type derusting wall climbing robot which has the following beneficial effects.
1. The invention can effectively reduce the output torque of the motor when the wall-climbing robot turns, not only improves the flexibility of the robot movement on the premise of ensuring reliable adsorption, but also reduces the size and the cost of the rust removal wall-climbing robot, has wide application prospect and is beneficial to popularization and application.
2. The universal ball is added in the composite permanent magnetic adsorption crawler belt, so that the sliding friction of partial chain links can be changed into rolling friction when the wall-climbing robot moves, and the rolling friction coefficient of the universal ball is far smaller than that of the magnet chain links, so that the motion flexibility of the wall-climbing robot is improved.
3. The optimized Halbach array permanent magnet is adopted by the magnet chain link, so that the magnetic energy utilization rate of the permanent magnet adsorption device can be improved, and the adsorption reliability of the rust removal wall-climbing robot is ensured.
Drawings
Fig. 1 is a schematic structural diagram of a ball-track composite permanent magnetic adsorption type rust removal wall climbing robot provided by the invention;
fig. 2 is a first structural schematic diagram of a ball-track composite permanent magnetic adsorption crawler of the ball-track composite permanent magnetic adsorption type rust removal wall climbing robot provided by the invention;
fig. 3 is a structural schematic diagram of a ball-track composite permanent magnetic adsorption crawler of the ball-track composite permanent magnetic adsorption type rust removal wall climbing robot provided by the invention;
fig. 4 is a schematic structural diagram of a third ball-track composite permanent magnetic adsorption crawler of the ball-track composite permanent magnetic adsorption type rust removal wall climbing robot provided by the invention;
FIG. 5 is a schematic structural diagram of a magnet link of the ball-track composite permanent magnet adsorption type rust removal wall climbing robot provided by the invention;
FIG. 6 is a schematic structural view of a universal ball chain link of the ball-track composite permanent magnet adsorption type rust removal wall climbing robot provided by the invention;
FIG. 7 is a schematic structural diagram of an optimized Halbach array magnetic circuit of the ball-track composite permanent magnetic adsorption type rust removal wall-climbing robot provided by the invention;
FIG. 8 is a schematic diagram of a Halbach array magnetic circuit structure before optimization;
fig. 9 is a schematic diagram of a b-type magnetic circuit structure commonly used at present.
In the figure:
1. the device comprises a ball-track composite permanent magnet adsorption track 2, a cleaning disk connecting frame 3, a cleaning disk fixing seat 4, a cleaning disk 5, a front driving sprocket 6, a rear driven sprocket 7, a chain 701, a magnet chain link 702, a universal ball chain link 8, a chain link connecting rod 9, a servo motor 10, a harmonic reducer 11, an optimized Halbach array permanent magnet 12, a magnet chain link support 13, a magnet polyurethane support block 14, a magnetic conduction plate 15, a universal ball 16, a universal ball fixing seat 17, a universal ball chain link support 18, a universal ball polyurethane support block 19, a chain wheel shaft I20, a chain wheel shaft II 21, a track side plate I22, a track side plate II 23, a side plate connecting rod 24, a tensioning block 25, a main magnet 26, an auxiliary magnet 27, a yoke 28 and a magnet.
Detailed Description
The present invention will be further described with reference to the following specific embodiments and accompanying drawings to assist in understanding the contents of the invention.
As shown in fig. 1, the invention provides a schematic structural diagram of a ball-track composite permanent magnet adsorption type rust removal wall climbing robot. This ball-track composite permanent magnetic adsorption type rust removal wall climbing robot includes ball-track composite permanent magnetic adsorption track 1, washs dish 4, washs 4 fixing bases of dish 3 and washing dish link 2, it sets up in washing dish fixing base 3 to wash dish 4, it is connected with washing dish link 2 to wash dish fixing base 3, the both sides of wasing dish link 2 are connected with a ball-track composite permanent magnetic adsorption track 1 respectively, install spin high pressure nozzle in the washing dish 4, the wall climbing robot utilizes the water under high pressure to carry out the rust cleaning operation, and this washing dish 4 has recovery function, can reduce the pollution that iron rust caused to the environment.
As shown in fig. 2-4, the present invention provides a schematic structural diagram of a ball-track composite permanent magnetic adsorption crawler 1 of a ball-track composite permanent magnetic adsorption type rust removal wall climbing robot. The ball-track composite permanent magnetic adsorption crawler 1 comprises a front driving sprocket 5, a rear driven sprocket 6, a chain link 7, a chain link connecting rod 8, a servo motor 9 and a harmonic reducer 10, wherein the chain 7 is formed by alternately connecting a magnet chain link 701 and a universal ball chain link 702 through the chain link connecting rod 8, the chain link 7 is installed on the front driving sprocket 5 and the rear driven sprocket 6 through the chain link connecting rod 8, and the servo motor 9 drives the sprockets to rotate through the harmonic reducer 10 and a sprocket shaft, so that the robot is driven to move;
the front driving sprocket 5 and the rear driven sprocket 6 are respectively installed on the first crawler belt side plate 21 and the second crawler belt side plate 22 through the first sprocket shaft 19, the second sprocket shaft 20 and a bearing, and the first sprocket shaft 19 and the second sprocket shaft 20 both adopt a two-half-shaft structure, so that the overall dimension of the robot is reduced, and the motor assembly and the cleaning disc 4 are prevented from interfering. The intermediate position of track curb plate one 21 and track curb plate two 22 all sets up flutedly, track curb plate one 21 and track curb plate two 22 are through four curb plate connecting rods 23 rigid couplings to when preventing that wall climbing robot hinders more, track curb plate one 21 and track curb plate two 22 card are on the barrier, reduce wall climbing robot's magnetic attraction, influence wall climbing robot's the performance of hindering more. The bearing of back driven sprocket 6 is installed in two tensioning pieces 24, tensioning piece 24 is fixed in track curb plate 21 and track curb plate two 22, be equipped with the screw hole in the tensioning piece 24 for the mounting screw, install the nut on the screw, the nut laminates with track curb plate 21 and track curb plate two 22 respectively, realizes the tensioning of compound permanent magnetism adsorption track 1 of ball track through the position of adjusting nut on the screw, thereby has improved the rigidity of track, prevents to climb wall robot and appear jumping the tooth phenomenon with the sprocket in the motion process track chain.
Fig. 5 is a schematic structural diagram of a magnet link of the ball-track composite permanent magnet adsorption type rust removal wall climbing robot provided by the invention. Magnet link 701 is including optimizing back Halbach array permanent magnet 11, optimize back Halbach array permanent magnet 11 and constitute by five blocks of neodymium iron boron permanent magnets and a yoke 27, five blocks of neodymium iron boron permanent magnets are formed by three wide-size's main magnet 25 and two narrow-size's vice magnet 26 NULL, vice magnet 26 width is 0.4 times of main magnet 25 width, yoke 27 thickness is 0.5 times of neodymium iron boron permanent magnet thickness, and the structural schematic diagram of Halbach array magnetic circuit is shown in figure 8 before optimizing, and five blocks of magnet 28's thickness is the same completely. The both sides of optimizing back Halbach array permanent magnet 11 connect gradually magnet polyurethane supporting shoe 13 and magnet chain link support 12, and its bottom is connected with magnetic conduction board 14, because optimize back Halbach array permanent magnet 11 and form by neodymium iron boron bonding, for preventing that it is direct to cause the permanent magnet to damage with the wall contact, magnet polyurethane supporting shoe 13 needs to exceed and optimizes back Halbach array permanent magnet 11 surperficial certain distance, adopt the screw rigid coupling between each structure of magnet chain link 701.
Fig. 6 is a schematic structural view of a universal ball joint of the ball-track composite permanent magnet adsorption type rust removal wall climbing robot provided by the invention. The universal ball chain link 702 comprises two groups of universal balls 15, the two groups of universal balls 15 are fixed in a universal ball fixing seat 16, and two sides of the universal ball fixing seat 16 are sequentially connected with a universal ball polyurethane supporting block 18 and a universal ball chain link support 17. The heights of the magnet polyurethane support block 13 and the ball-and-socket polyurethane support block 18 are slightly higher than the tops of the balls 15 in consideration of the compressive deformation of polyurethane. The universal ball 15 is connected with the universal ball fixing seat 16 in an interference fit mode, and other parts of the universal ball chain link 702 are fixedly connected through screws. Because the universal ball 15 is added in the ball-track composite permanent magnetic adsorption track 1, the sliding friction of part of the chain links 7 can be changed into rolling friction when the wall-climbing robot moves, and the rolling friction coefficient of the universal ball 15 is far smaller than the sliding friction coefficient of the magnet chain links 701, the motion flexibility of the wall-climbing robot is improved.
At present, be applied to crawler-type permanent magnetism of boats and ships, petrochemical industry storage tank wall and adsorb wall robot, its track structure adopts on being fixed in the chain with type B magnetic circuit (as shown in fig. 9) magnetism adsorption equipment to the cladding has the rubber safety cover in the permanent magnetism adsorption equipment outside, and the great moment of torsion of motor needs output when this kind of crawler-type wall robot that climbs turns to. The optimized Halbach array permanent magnet 11 is adopted by the ball-track composite permanent magnet adsorption track 1, so that the magnetic energy utilization rate of the permanent magnet adsorption device can be improved, and the adsorption reliability of the rust removal wall climbing robot is ensured.
The invention can effectively reduce the output torque of the motor when the wall-climbing robot turns, not only improves the flexibility of the robot movement on the premise of ensuring reliable adsorption, but also reduces the size and the cost of the rust removal wall-climbing robot, has wide application prospect and is beneficial to popularization and application.
The inventive concept is explained in detail herein using specific examples, which are only provided to help understanding the core idea of the present invention. It should be understood that any obvious modifications, equivalents and other improvements made by those skilled in the art without departing from the spirit of the present invention are included in the scope of the present invention.
Claims (9)
1. The ball-track composite permanent magnetic adsorption type derusting wall-climbing robot is characterized by comprising a ball-track composite permanent magnetic adsorption crawler belt, a cleaning disc fixing seat and a cleaning disc connecting frame, wherein the cleaning disc is arranged in the cleaning disc fixing seat, the cleaning disc fixing seat is connected with the cleaning disc connecting frame, two sides of the cleaning disc connecting frame are respectively connected with a ball-track composite permanent magnetic adsorption crawler belt, and a self-rotating high-pressure spray head is arranged in the cleaning disc;
the ball-track composite permanent magnetic adsorption crawler comprises a front driving sprocket, a rear driven sprocket, chain links, a chain link connecting rod, a servo motor and a harmonic reducer, wherein the chain links are formed by alternately connecting magnet chain links and universal ball chain links through the chain link connecting rod;
preceding driving sprocket passes through sprocket shaft one respectively with back driven sprocket, and sprocket shaft two and bearing installation are on track curb plate one and track curb plate two, the magnet chain link is including optimizing back Halbach array permanent magnet, optimize back Halbach array permanent magnet and constitute by five neodymium iron boron permanent magnets and a yoke, five neodymium iron boron permanent magnets are formed by three wide size's main magnet and two narrow size's vice magnet alternative arrangement, vice magnet width is 0.4 times of main magnet width, yoke thickness is 0.5 times of neodymium iron boron permanent magnet thickness, optimize back Halbach array permanent magnet's both sides and have connected gradually magnet polyurethane supporting shoe and magnet chain link support, and its bottom is connected with the magnetic conduction board, universal ball chain link includes two sets of universal balls, and two sets of universal balls are fixed in universal ball fixing base, universal ball fixing base's both sides have connected gradually universal ball polyurethane supporting shoe and universal ball chain link support.
2. The ball-track composite permanent magnetic adsorption type rust removal wall climbing robot is characterized in that grooves are formed in the middle positions of the first track side plate and the second track side plate, and the first track side plate and the second track side plate are fixedly connected through four side plate connecting rods.
3. The ball-track composite permanent magnetic adsorption type rust removal wall climbing robot is characterized in that bearings of the rear driven sprocket are installed in two tensioning blocks, the tensioning blocks are fixed in a first track side plate and a second track side plate, threaded holes are formed in the tensioning blocks and used for installing screws, nuts are installed on the screws and are respectively attached to the first track side plate and the second track side plate, and the ball-track composite permanent magnetic adsorption track is tensioned through the positions of the adjusting nuts on the screws.
4. The ball-track composite permanent magnetic adsorption type rust removal wall climbing robot according to claim 3, characterized in that the first chain wheel shaft and the second chain wheel shaft both adopt a two-half shaft structure.
5. The ball-track composite permanent magnet adsorption type rust removal wall climbing robot according to claim 4, wherein the height of the magnet polyurethane supporting block is higher than the surface of the optimized Halbach array permanent magnet.
6. The ball-track composite permanent magnetic adsorption type rust removal wall climbing robot according to claim 5, wherein the heights of the magnet polyurethane support blocks and the universal ball polyurethane support blocks are higher than the tops of the universal balls.
7. The ball-track composite permanent magnetic adsorption type rust removal wall climbing robot according to claim 6, wherein the universal ball is connected with the universal ball fixing seat in an interference fit manner, and other parts of the universal ball chain link are fixedly connected through screws.
8. The ball-track composite permanent magnetic adsorption type rust removal wall climbing robot according to claim 7, wherein structures of the magnet chain links are fixedly connected through screws.
9. The ball-track composite permanent magnetic adsorption type rust removal wall climbing robot according to claim 8, wherein the cleaning disc is a cleaning disc with a recycling function.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211238993 | 2022-10-11 | ||
| CN2022112389937 | 2022-10-11 |
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| CN115973304A true CN115973304A (en) | 2023-04-18 |
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| CN202211720339.XA Pending CN115973304A (en) | 2022-10-11 | 2022-12-30 | Ball-track composite permanent magnet adsorption type rust removal wall climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116674671A (en) * | 2023-07-28 | 2023-09-01 | 国机传感科技有限公司 | Wind power tower defect sensing and detecting device |
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- 2022-12-30 CN CN202211720339.XA patent/CN115973304A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116674671A (en) * | 2023-07-28 | 2023-09-01 | 国机传感科技有限公司 | Wind power tower defect sensing and detecting device |
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