CN117601981A - Wall climbing robot and displacement method thereof - Google Patents
Wall climbing robot and displacement method thereof Download PDFInfo
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- CN117601981A CN117601981A CN202311783245.1A CN202311783245A CN117601981A CN 117601981 A CN117601981 A CN 117601981A CN 202311783245 A CN202311783245 A CN 202311783245A CN 117601981 A CN117601981 A CN 117601981A
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- 230000009194 climbing Effects 0.000 title claims abstract description 55
- 238000011549 displacement method Methods 0.000 title abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 80
- 238000001179 sorption measurement Methods 0.000 claims description 27
- 210000001015 abdomen Anatomy 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 238000005507 spraying Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wall climbing robot and a displacement method of the wall climbing robot, comprising a first linear driving piece and a second driving wheel travelling mechanism, wherein two first driving wheel travelling mechanisms are respectively arranged on two sides of a vehicle body, and the first driving wheel travelling mechanisms are used for driving the vehicle body to vertically move on the surface of a ship; the invention discloses a wall climbing robot, which is suitable for special operation on the surface of a ship with obstacles.
Description
Technical Field
The invention relates to the technical field of special robots, in particular to a wall climbing robot and a displacement method of the wall climbing robot.
Background
The wall climbing robot belongs to one kind of special operation robot, and it can adsorb and creep at the metal wall, replaces the manual work to accomplish the special operation of high altitude or facade, like petrochemical industry storage tank washs the detection, hull rust cleaning spraying, welding flaw detection etc. special operation, and the direction of creeping of wall climbing robot on the working face includes lateral shifting and vertical shifting.
The invention patent with publication number CN104959258B discloses a wall climbing robot device connected with a paint spraying pipe for painting the surface of a ship, which is characterized by comprising: the adsorption unit is used for being adsorbed on the surface of the ship; a frame body comprising: a bottom layer surface which is in fit connection with the adsorption unit and a top layer surface which is far away from the surface of the ship; the adsorption unit is adsorbed on the surface of the ship and is arranged on the bottom surface; a plurality of driving wheel running gear sets up on with the basal plane, contains: a driving wheel moving on the surface of the ship; the supporting wheel is connected with the bottom layer surface on the same side surface of the adsorption unit and supports the frame body.
In general, a wall climbing robot for special work needs to work at different positions on a working surface, but sometimes there is an obstacle at the position of the working surface, the obstacle easily hinders the displacement of the wall climbing robot, as in the above technical scheme, the wall climbing robot needs to be realized by a steering mode when changing the position of the work, the mode needs a large turning diameter change, the special work is not suitable for the ship surface with the obstacle, and in order to solve the technical problem, it is necessary to provide a wall climbing robot suitable for special work on the ship surface with the obstacle and a displacement method of the wall climbing robot.
Disclosure of Invention
In view of the above, the present invention provides a wall climbing robot and a displacement method of the wall climbing robot, which are realized in a translational manner when changing the operation position, and are suitable for performing special operations on the surface of a ship with an obstacle.
The technical scheme of the invention is realized as follows:
in one aspect, the invention provides a wall climbing robot comprising a vehicle body, an adsorption unit and a first driving wheel travelling mechanism, wherein,
the adsorption unit is fixedly arranged on the belly of the vehicle body and used for adsorbing the vehicle body on the surface of the ship;
the device also comprises a first linear driving piece and a second driving wheel travelling mechanism, wherein,
the two sides of the vehicle body are provided with first driving wheel travelling mechanisms which are used for driving the vehicle body to vertically move on the surface of the ship;
the abdomen of the vehicle body is provided with a storage groove at a position close to the first driving wheel travelling mechanism, a first linear driving piece is arranged in the storage groove, one end of the first linear driving piece is fixedly connected with the bottom of the storage groove, and the output end of the first linear driving piece extends along the normal direction of the bottom of the storage groove;
the second driving wheel travelling mechanism is arranged at the output end of the first linear driving piece, the first linear driving piece is used for driving the second driving wheel travelling mechanism to contact the surface of the ship, and is used for separating the first driving wheel travelling mechanism from the surface of the ship, and then the vehicle body is driven to transversely move on the surface of the ship through the second driving wheel travelling mechanism.
On the basis of the technical proposal, preferably, the first driving wheel travelling mechanism comprises a first driving motor and a first travelling wheel, wherein,
the first driving motor is arranged in the vehicle body;
the first travelling wheel is arranged at the output end of the first driving motor;
the first driving motor is arranged at the side of the storage groove.
On the basis of the technical proposal, preferably, the second driving wheel travelling mechanism comprises a wheel frame, a second driving motor and a second travelling wheel, wherein,
one end of the wheel frame is in clearance fit in the accommodating groove, and the other end of the wheel frame is provided with a second driving motor;
the second driving motor and the second travelling wheel are arranged outside the storage groove, and the second travelling wheel is arranged at the output end of the second driving motor.
On the basis of the technical scheme, preferably, the first travelling wheel and the second travelling wheel are rubber wheels, and anti-skid lines are uniformly distributed on the wheel surfaces of the rubber wheels.
On the basis of the technical proposal, preferably, the adsorption unit comprises a base and a magnet, wherein,
one end of the base is fixedly arranged on the abdomen of the vehicle body, and the other end of the base is fixedly connected with the magnet;
one end of the magnet, which is far away from the base, is provided with a V-shaped groove in a penetrating way along the vertical moving direction of the vehicle body.
On the basis of the technical proposal, preferably, one end of the magnet far away from the base is provided with a plurality of avoidance grooves in a penetrating way along the vertical moving direction of the vehicle body, wherein,
the avoidance grooves are equidistantly arranged along the transverse moving direction of the vehicle body;
the avoidance grooves are communicated with the V-shaped grooves.
On the basis of the technical proposal, the device also preferably comprises an obstacle avoidance sensor, a lifting handle, a monitoring camera and a laser measuring instrument, wherein,
obstacle avoidance sensors are arranged on the periphery of the vehicle body;
the handle is fixedly arranged at the back of the vehicle body;
the monitoring camera is fixedly arranged on the handle;
the laser measuring instrument is fixedly arranged on the vehicle body.
On the basis of the technical proposal, the device preferably further comprises a linear sliding table, a second linear driving mechanism and a clamp, wherein,
the guide rail part of the linear sliding table is fixedly arranged on the vehicle body;
the driving directions of the second linear driving mechanism and the first linear driving piece are the same, and one end of the second linear driving mechanism is fixedly arranged on the sliding block part of the linear sliding table;
one end of the clamp is rotatably arranged on the output end of the second linear driving mechanism.
On the basis of the technical proposal, the second linear driving mechanism preferably comprises a connecting frame, a second linear driving piece, a sliding block, a sliding rail and a hand-screwed screw, wherein,
one end of the connecting frame is fixedly arranged on the sliding block part of the linear sliding table;
the side part of the second linear driving piece is fixedly arranged on one side of the connecting frame, and the sliding block is fixedly arranged on the other side of the connecting frame;
the sliding rail is arranged on the sliding block in a sliding manner along the driving direction of the second linear driving piece, one end of the sliding rail is fixedly connected with the output end of the second linear driving piece, and the other end of the sliding rail is connected with the clamp through a hand screwing screw.
On the other hand, the invention also provides a displacement method of the wall climbing robot, which is applied to the wall climbing robot and comprises the following steps:
s1, magnetically adsorbing a vehicle body on the surface of a ship through an adsorption unit on the abdomen of the vehicle body, wherein after adsorption, a first travelling wheel is contacted with the surface of the ship;
s2, driving the first travelling wheel to rotate through a first driving motor, and driving the vehicle body to vertically move on the surface of the ship;
s3, when the operation position needs to be changed, driving the second driving wheel travelling mechanism to move towards the surface of the ship through the first linear driving piece, supporting the second driving wheel travelling mechanism on the surface of the ship through the magnetic attraction of the attraction unit, and supporting the first driving wheel travelling mechanism away from the surface of the ship, wherein at the moment, the second travelling wheel is in contact with the surface of the ship, the first travelling wheel is not in contact with the surface of the ship, and driving the second travelling wheel to rotate through the second driving motor, and driving the vehicle body to transversely move on the surface of the ship;
and S4, after the ship moves transversely in place, the first linear driving piece drives the second driving wheel travelling mechanism to be separated from the surface of the ship, and meanwhile, the first travelling wheel is contacted with the surface of the ship again.
Compared with the prior art, the wall climbing robot and the displacement method thereof have the following beneficial effects:
(1) Through setting up first drive wheel running gear and being used for driving the automobile body and vertically moving on the surface of boats and ships, second drive wheel running gear installs on the output of first linear drive spare, and first linear drive spare is used for driving second drive wheel running gear contact boats and ships's surface to be used for breaking away from first drive wheel running gear on the boats and ships ' surface, rethread second drive wheel running gear drive automobile body lateral shifting on the boats and ships ' surface, be convenient for realize wall climbing robot's position change through the mode of translation, make wall climbing robot be fit for carrying out special operation on the boats and ships ' surface that has the obstacle.
(2) Through setting up the one end that the base was kept away from to the magnet and link up along the vertical direction of movement of automobile body and be provided with the V-arrangement groove, the one end that the base was kept away from to the magnet link up along the vertical direction of movement of automobile body and be provided with a plurality of grooves of dodging, a plurality of grooves of dodging are arranged along the lateral movement direction equidistance of automobile body for climb wall robot when carrying out special operation on curved hull surface, magnet is difficult for bumping with the hull, in-process, cooperation arc working face that magnet can be better improves magnetic force absorbing's effect, makes wall climbing robot be difficult for droing when carrying out special operation on curved hull surface.
(3) Two first driving wheel running mechanisms are respectively arranged on two sides of the vehicle body, the adsorption unit is fixedly arranged on the abdomen of the vehicle body, and second driving wheel running mechanisms are arranged at the positions of each first driving wheel running mechanism, so that the wall climbing robot has good stability and is not easy to fall off when the surface of the arc-shaped ship body is displaced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a wall climbing robot of the present invention;
FIG. 2 is an exploded view of the present invention at a second drive wheel running gear;
FIG. 3 is a cross-sectional view of the second drive wheel running gear of the present invention;
FIG. 4 is a schematic view showing the internal structure of the vehicle body of the present invention;
FIG. 5 is a perspective view of another view of a wall climbing robot of the present invention;
fig. 6 is a front view of the vehicle body of the present invention;
fig. 7 is a schematic diagram of the abdominal structure of the vehicle body of the present invention;
FIG. 8 is a schematic view of the structure of the receiving slot of the present invention;
FIG. 9 is a perspective view of a clamp of the present invention;
FIG. 10 is a schematic view of the connection structure of the clamp and the slide rail of the present invention;
fig. 11 is a side view of the vehicle body lateral traveling state of the present invention;
fig. 12 is a plan view of the vehicle body vertical walk state of the present invention;
in the figure: the robot comprises a robot body 1, an adsorption unit 2, a first driving wheel travelling mechanism 3, a first linear driving member 4, a second driving wheel travelling mechanism 5, an obstacle avoidance sensor 6, a lifting handle 7, a monitoring camera 8, a laser measuring instrument 9, a linear sliding table 10, a second linear driving mechanism 11, a clamp 12, a base 21, a magnet 22, a first driving motor 31, a first travelling wheel 32, a wheel frame 51, a second driving motor 52, a second travelling wheel 53, a storage groove 101, a V-shaped groove 201, an avoidance groove 202, a connecting frame 1101, a second linear driving member 1102, a sliding block 1103, a sliding rail 1104 and a hand screw 1105.
Detailed Description
The following description of the embodiments of the present invention will be made in detail and with reference to specific embodiments of the present invention, but it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
As shown in fig. 1 to 12, the wall climbing robot of the present invention includes a vehicle body 1, an adsorption unit 2, a first driving wheel traveling mechanism 3, a first linear driving member 4, and a second driving wheel traveling mechanism 5.
The adsorption unit 2 is fixedly arranged on the abdomen of the vehicle body 1, the adsorption unit 2 is used for adsorbing the vehicle body 1 on the surface of a ship, a power supply, a wireless control transceiver, a circuit board, a connecting circuit of other electrical components and the like are further arranged in the vehicle body 1, the adsorption unit 2 comprises a base 21 and a magnet 22, one end of the base 21 is fixedly arranged on the abdomen of the vehicle body 1 through bolts, the other end of the base 21 is fixedly connected with the magnet 22 through bolts, the magnet 22 is a permanent magnet, and an electromagnet can be adopted to adsorb the vehicle body 1 on the surface of the ship through the magnet 22.
The surface of the ship is a cambered surface, in order to improve the adsorption effect of the adsorption unit 2, the V-shaped groove 201 is arranged at one end of the magnet 22 far away from the base 21 along the vertical moving direction of the vehicle body 1, the vertical moving direction is the Z-axis direction of the coordinate axis shown in fig. 1, a plurality of avoidance grooves 202 are arranged at one end of the magnet 22 far away from the base 21 along the vertical moving direction of the vehicle body 1, the plurality of avoidance grooves 202 are equidistantly arranged along the transverse moving direction of the vehicle body 1, the transverse moving direction is the X-axis direction of the coordinate axis shown in fig. 1, the plurality of avoidance grooves 202 are communicated with the V-shaped groove 201, the magnet 22 is not easy to collide and interfere with the surface of the ship through the V-shaped groove 201 and the avoidance grooves 202, the magnet 22 can be matched with the surface of the ship better, and then the magnet 22 can be matched with the arc-shaped working surface better when the surface of the arc-shaped ship is subjected to special operation, the effect of magnetic adsorption is improved, and the wall-climbing robot is not easy to fall off when the arc-shaped ship surface is subjected to special operation.
Two first driving wheel travelling mechanisms 3 are respectively arranged on two sides of the vehicle body 1, the first driving wheel travelling mechanisms 3 are used for driving the vehicle body 1 to vertically move on the surface of a ship, namely, move along the Z-axis direction of a coordinate axis shown in fig. 1, and concretely, as shown in fig. 4, the first driving wheel travelling mechanisms 3 comprise a first driving motor 31 and a first travelling wheel 32, the first driving motor 31 is arranged in the vehicle body 1 through bolts, the first travelling wheel 32 is arranged at the output end of the first driving motor 31, when the first driving motor 31 is electrified and works, the output end of the first driving motor 31 drives the first travelling wheel 32 to rotate and drives the vehicle body 1 to vertically move on the surface of the ship, and the four first travelling wheels 32 are matched with the adsorption unit 2, so that the vehicle body 1 can be stably adsorbed on the surface of the ship, and the wall climbing robot is not easy to fall off when working on the surface of the arc-shaped hull.
The abdomen of the vehicle body 1 is provided with storage grooves 101 at positions close to the first linear driving pieces 4, the bottoms of the storage grooves 101 are arranged in the vehicle body 1, the first driving motor 31 is arranged at the side of the storage grooves 101, specifically, as shown in fig. 4, the first driving motor 31 is positioned between two adjacent storage grooves 101, each storage groove 101 is provided with a first linear driving piece 4, one end of each first linear driving piece 4 is fixedly connected with the bottoms of the storage grooves 101, and the output ends of the first linear driving pieces 4 extend along the normal direction of the bottoms of the grooves; the second driving wheel travelling mechanism 5 is installed on the output end of the first linear driving member 4, the first linear driving member 4 is used for driving the second driving wheel travelling mechanism 5 to contact the surface of the ship and separating the first driving wheel travelling mechanism 3 from the surface of the ship, and then the vehicle body 1 is driven by the second driving wheel travelling mechanism 5 to move transversely on the surface of the ship, namely, move along the X-axis direction of the coordinate axis shown in fig. 1, specifically, as shown in fig. 1-3, the second driving wheel travelling mechanism 5 comprises a wheel frame 51, a second driving motor 52 and a second travelling wheel 53, one end of the wheel frame 51 is in clearance fit in the accommodating groove 101, and the second driving motor 52 is installed at the other end; the second driving motor 52 and the second travelling wheel 53 are both disposed outside the receiving groove 101, the second travelling wheel 53 is mounted on an output end of the second driving motor 52, as shown in fig. 12, when the wall climbing robot vertically moves on the surface of the ship through the first driving wheel travelling mechanism 3, the second travelling wheel 53 is not in contact with the surface of the ship, when the lateral displacement is required, the first linear driving member 4 drives the second driving wheel travelling mechanism 5 to move towards the surface of the ship, the second driving wheel travelling mechanism 5 is supported on the surface of the ship through the magnetic attraction of the attraction unit 2, and the first driving wheel travelling mechanism 3 is supported away from the surface of the ship, in this state, the second travelling wheel 53 is in contact with the surface of the ship, the first travelling wheel 32 is not in contact with the surface of the ship, the second travelling wheel 53 is driven to rotate through the second driving motor 52, and the vehicle body 1 is driven to laterally move on the surface of the ship.
In the structure, the first travelling wheel 32 and the second travelling wheel 53 are rubber wheels, the wheel surfaces of the rubber wheels are uniformly provided with anti-skidding lines, the anti-skidding effect is good, the structure realizes the translational displacement of the wall climbing robot, so that the wall climbing robot can move in a small range, the wall climbing robot is suitable for special operation on the surface of a ship with an obstacle, meanwhile, the existing wall climbing robot is of a three-wheel structure, as in the wall climbing robot device disclosed by CN104959258B, the abdomen of the wall climbing robot is provided with three travelling wheel mechanisms, the stability in turning is poor, two sides of the vehicle body 1 are respectively provided with two first driving wheel travelling mechanisms 3, the adsorption unit 2 is fixedly arranged on the abdomen of the vehicle body 1, and each first driving wheel travelling mechanism 3 is provided with a second driving wheel travelling mechanism 5, so that the wall climbing robot has good stability in the displacement of the surface of an arc-shaped ship body and is not easy to fall off.
In the initial state, the second traveling wheel 53 is not in contact with the working surface, the wall climbing robot travels on the working surface by the four first driving wheel traveling mechanisms 3, and in the lateral displacement state, the first traveling wheels 32 of the four first driving wheel traveling mechanisms 3 are not in contact with the working surface, and the wall climbing robot travels on the working surface by the four second driving wheel traveling mechanisms 5.
The wall climbing robot also comprises a plurality of obstacle avoidance sensors 6, a lifting handle 7, a monitoring camera 8 and a laser measuring instrument 9.
The obstacle avoidance sensors 6 are TF-Luna laser sensors, the TF-Luna is a single-point ranging radar based on the TOF principle, and the obstacle avoidance sensors are matched with unique optical and electrical designs, so that stable, accurate and high-sensitivity distance measurement can be realized, and a plurality of obstacle avoidance sensors 6 are distributed around the vehicle body 1 and fixedly arranged on the side part of the vehicle body 1 for multidirectional detection and used for obstacle avoidance during transverse crawling and vertical crawling of the wall climbing robot.
The handle 7 is fixedly arranged on the back of the vehicle body 1, and the turnover vehicle body 1 is convenient to use through the handle 7.
The monitoring camera 8 is fixedly arranged on the lifting handle 7, the laser measuring instrument 9 is fixedly arranged on the vehicle body 1, the monitoring camera 8 and the laser measuring instrument 9 are arranged at the same end of the vehicle body 1, the monitoring camera 8 is used for collecting an environmental image of a working area, and the laser measuring instrument 9 is used for measuring the flatness of a working surface.
Referring to fig. 9 and 10, in order to facilitate external connection of special operation equipment such as a welding gun, a detector, a spray head and the like, the wall climbing robot of the invention has the capability of other special operations such as cleaning and detecting of petrochemical storage tanks, rust removal and spraying of a ship body, welding, flaw detection and the like, and the wall climbing robot of the invention also comprises a linear sliding table 10, a second linear driving mechanism 11 and a clamp 12.
The linear sliding table 10 adopts an electric linear module, such as an HST80 module, or a manual module with a HYHT40A-DB35 module, wherein the conventional module has a guide rail portion and a slider portion, the slider portion can slide on the guide rail portion, the guide rail portion of the linear sliding table 10 is fixedly arranged at the head position of the vehicle body 1 through bolts, and the linear sliding table 10 is used for driving the clamp 12 to translate and change positions.
The driving direction of the second linear driving mechanism 11 is the same as that of the first linear driving member 4, one end of the second linear driving mechanism 11 is fixedly arranged on the sliding block part of the linear sliding table 10 and used for driving the clamp 12 to lift and change positions, specifically, the second linear driving mechanism 11 comprises a connecting frame 1101, a second linear driving member 1102, a sliding block 1103, a sliding rail 1104 and a screwing screw 1105, one end of the connecting frame 1101 is fixedly arranged on the sliding block part of the linear sliding table 10, the side part of the second linear driving member 1102 is fixedly arranged on one side of the connecting frame 1101, the sliding block 1103 is fixedly arranged on the other side of the connecting frame 1101, the sliding rail 1104 is arranged on the sliding block 1103 in a sliding manner along the driving direction of the second linear driving member 1102, one end of the sliding rail 1104 is fixedly connected with the output end of the second linear driving member 1102, the other end of the sliding rail 1104 is connected with the clamp 12 through the screwing screw, the output end of the second linear driving member 1104 drives the sliding rail 1104 to reciprocate on the sliding block 1103 when the second linear driving member 1102 works to stretch, and the clamp 12 is driven to lift.
One end of the clamp 12 is rotatably installed at the output end of the second linear driving mechanism 11, the other end of the clamp is used for installing special operation equipment such as a welding gun, a detector, a spray head and the like, specifically, the clamp 12 is U-shaped, two ends of the clamp are respectively provided with a hand-screwed bolt, the external equipment is fixed on the clamp 12 through the hand-screwed bolt, one end of the clamp 12 far away from the hand-screwed bolt is connected with the output end of the second linear driving mechanism 11 through a hand-screwed screw 1105, a screw rod of the hand-screwed screw 1105 penetrates through the clamp 12, the penetrating end of the hand-screwed screw 1105 is in threaded connection with the output end of the second linear driving mechanism 11, when the hand-screwed screw 1105 loosens, the clamp 12 can rotate at the output end of the second linear driving mechanism 11, and the clamp 12 is used for adjusting the use angle of the clamp 12.
The displacement method of the wall climbing robot comprises the following steps:
s1, magnetically adsorbing the car body 1 on the surface of a ship through an adsorption unit 2 at the belly of the car body, wherein after adsorption, the first travelling wheel 32 is in contact with the surface of the ship;
s2, driving the first travelling wheel 32 to rotate through the first driving motor 31 and driving the vehicle body 1 to vertically move on the surface of the ship, namely move along the Z-axis direction shown in FIG. 1;
s3, when the operation position needs to be changed, the second driving wheel travelling mechanism 5 is driven to move towards the surface of the ship through the first linear driving piece 4, the second driving wheel travelling mechanism 5 is supported on the surface of the ship through the magnetic attraction of the attraction unit 2, the first driving wheel travelling mechanism 3 is supported away from the surface of the ship, at the moment, the second travelling wheel 53 is in contact with the surface of the ship, the first travelling wheel 32 is not in contact with the surface of the ship, the second travelling wheel 53 is driven to rotate through the second driving motor 52, and the vehicle body 1 is driven to move transversely on the surface of the ship, namely, move along the X-axis direction shown in FIG. 1;
and S4, after the first linear driving piece 4 transversely moves in place, the second driving wheel travelling mechanism 5 is driven to be separated from the surface of the ship, and meanwhile, the first travelling wheel 32 is contacted with the surface of the ship again.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. A wall climbing robot comprises a vehicle body (1), an adsorption unit (2) and a first driving wheel travelling mechanism (3), wherein,
the adsorption unit (2) is fixedly arranged at the belly of the vehicle body (1) and is used for adsorbing the vehicle body (1) on the surface of the ship;
the method is characterized in that: also comprises a first linear driving piece (4) and a second driving wheel travelling mechanism (5), wherein,
the two sides of the vehicle body (1) are provided with first driving wheel travelling mechanisms (3), and the first driving wheel travelling mechanisms (3) are used for driving the vehicle body (1) to vertically move on the surface of the ship;
a storage groove (101) is formed in the position, close to the first driving wheel travelling mechanism (3), of the belly of the vehicle body (1), a first linear driving piece (4) is arranged in the storage groove (101), one end of the first linear driving piece (4) is fixedly connected with the groove bottom of the storage groove (101), and the output end of the first linear driving piece (4) extends along the normal direction of the groove bottom;
the second driving wheel travelling mechanism (5) is arranged at the output end of the first linear driving piece (4), the first linear driving piece (4) is used for driving the second driving wheel travelling mechanism (5) to contact the surface of the ship, the first driving wheel travelling mechanism (3) is separated from the surface of the ship, and the vehicle body (1) is driven to transversely move on the surface of the ship through the second driving wheel travelling mechanism (5).
2. The wall climbing robot according to claim 1, wherein: the first driving wheel running gear (3) comprises a first driving motor (31) and a first running wheel (32), wherein,
the first driving motor (31) is arranged in the vehicle body (1);
the first travelling wheel (32) is arranged at the output end of the first driving motor (31);
the bottom of the storage groove (101) is arranged inside the vehicle body (1), and the first driving motor (31) is arranged at the side of the storage groove (101).
3. The wall climbing robot according to claim 2, wherein: the second driving wheel travelling mechanism (5) comprises a wheel frame (51), a second driving motor (52) and a second travelling wheel (53), wherein,
one end of the wheel frame (51) is in clearance fit in the accommodating groove (101), and the other end of the wheel frame is provided with a second driving motor (52);
the second driving motor (52) and the second travelling wheel (53) are arranged outside the storage groove (101), and the second travelling wheel (53) is arranged at the output end of the second driving motor (52).
4. A wall climbing robot according to claim 3, wherein: the first travelling wheel (32) and the second travelling wheel (53) are rubber wheels, and anti-skid lines are uniformly distributed on the wheel surfaces of the rubber wheels.
5. The wall climbing robot according to claim 1, wherein: the adsorption unit (2) comprises a base (21) and a magnet (22), wherein,
one end of the base (21) is fixedly arranged on the abdomen of the vehicle body (1), and the other end is fixedly connected with the magnet (22);
one end of the magnet (22) far away from the base (21) is provided with a V-shaped groove (201) in a penetrating manner along the vertical moving direction of the vehicle body (1).
6. The wall climbing robot according to claim 5, wherein: one end of the magnet (22) far away from the base (21) is provided with a plurality of avoidance grooves (202) in a penetrating way along the vertical moving direction of the vehicle body (1), wherein,
the avoidance grooves (202) are equidistantly arranged along the transverse moving direction of the vehicle body (1);
the avoidance grooves (202) are communicated with the V-shaped grooves (201).
7. The wall climbing robot according to claim 2, wherein: the device also comprises an obstacle avoidance sensor (6), a handle (7), a monitoring camera (8) and a laser measuring instrument (9), wherein,
obstacle avoidance sensors (6) are arranged around the vehicle body (1);
the handle (7) is fixedly arranged at the back of the vehicle body (1);
the monitoring camera (8) is fixedly arranged on the handle (7);
the laser measuring instrument (9) is fixedly arranged on the vehicle body (1).
8. The wall climbing robot according to claim 7, wherein: also comprises a linear sliding table (10), a second linear driving mechanism (11) and a clamp (12), wherein,
the guide rail part of the linear sliding table (10) is fixedly arranged on the vehicle body (1);
the driving direction of the second linear driving mechanism (11) is the same as that of the first linear driving piece (4), and one end of the second linear driving mechanism (11) is fixedly arranged on the sliding block part of the linear sliding table (10);
one end of the clamp (12) is rotatably arranged on the output end of the second linear driving mechanism (11).
9. The wall climbing robot according to claim 8, wherein: the second linear driving mechanism (11) comprises a connecting frame (1101), a second linear driving piece (1102), a sliding block (1103), a sliding rail (1104) and a hand-screwed screw (1105), wherein,
one end of the connecting frame (1101) is fixedly arranged on the sliding block part of the linear sliding table (10);
the side part of the second linear driving piece (1102) is fixedly arranged on one side of the connecting frame (1101), and the sliding block (1103) is fixedly arranged on the other side of the connecting frame (1101);
the sliding rail (1104) is arranged on the sliding block (1103) in a sliding manner along the driving direction of the second linear driving piece (1102), one end of the sliding rail (1104) is fixedly connected with the output end of the second linear driving piece (1102), and the other end of the sliding rail (1104) is connected with the clamp (12) through a hand-screwed screw (1105).
10. A method of displacement of a wall climbing robot using a wall climbing robot according to claim 7 or 9, comprising the steps of:
s1, magnetically adsorbing a vehicle body (1) on the surface of a ship through an adsorption unit (2) at the belly of the vehicle body, wherein after adsorption, a first travelling wheel (32) is contacted with the surface of the ship;
s2, driving the first travelling wheel (32) to rotate through the first driving motor (31) and driving the vehicle body (1) to vertically move on the surface of the ship;
s3, when the operation position needs to be changed, driving the second driving wheel travelling mechanism (5) to move towards the surface of the ship through the first linear driving piece (4), supporting the second driving wheel travelling mechanism (5) on the surface of the ship through magnetic attraction of the attraction unit (2), and supporting the first driving wheel travelling mechanism (3) away from the surface of the ship, wherein at the moment, the second travelling wheel (53) is in contact with the surface of the ship, the first travelling wheel (32) is not in contact with the surface of the ship, and driving the second travelling wheel (53) to rotate through the second driving motor (52), and driving the vehicle body (1) to transversely move on the surface of the ship;
and S4, after the ship moves transversely in place, the first linear driving piece (4) drives the second driving wheel travelling mechanism (5) to be separated from the surface of the ship, and meanwhile, the first travelling wheel (32) is contacted with the surface of the ship again.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311783245.1A CN117601981A (en) | 2023-12-22 | 2023-12-22 | Wall climbing robot and displacement method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311783245.1A CN117601981A (en) | 2023-12-22 | 2023-12-22 | Wall climbing robot and displacement method thereof |
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