CN209888978U

CN209888978U - AGV platform for climbing wall of circular inner cylinder

Info

Publication number: CN209888978U
Application number: CN201920592930.9U
Authority: CN
Inventors: 宋军; 李新友; 陈德强; 刘福建; 宋东辉; 李刚; 陈宏野; 柴璇; 王涛
Original assignee: Tianjin Hagong Lingsheng Robot Co Ltd
Current assignee: Tianjin Hagong Lingsheng Robot Co Ltd
Priority date: 2019-04-28
Filing date: 2019-04-28
Publication date: 2020-01-03
Anticipated expiration: 2029-04-28

Abstract

The utility model discloses a AGV platform for wall is climbed to circular inner tube, include: including the AGV automobile body, install at the permanent magnet of the bottom of AGV automobile body, lean out according to predetermined angle through the support and install 4 mecanum wheels in four wheel mounting grooves of AGV automobile body, the internal face that corresponds circular inner tube on the permanent magnet is with the coaxial complex arcwall face of circular inner tube inner wall to there is predetermined clearance with the internal face of circular inner tube, the magnetic line of force of permanent magnet is perpendicular with the circular internal face of circular inner tube. The utility model discloses a AGV platform for circular inner tube wall climbing realizes crawling on the inner tube wall as actuating mechanism's carrier to can lateral shifting reach the section of thick bamboo wall on the optional position. Different actuating mechanisms can be installed on the AGV platform, so that different operation purposes are realized.

Description

AGV platform for climbing wall of circular inner cylinder

Technical Field

The utility model relates to the technical field of robot, especially, relate to a AGV platform that is used for circular inner tube to climb wall.

Background

Robots are widely used and developed in various fields. Among them, the wall-climbing robot is a robot capable of performing work on a vertical steep wall, and is increasingly paid more attention by people as an automatic mechanical device for high-altitude limit work. The research on the wall-climbing robot in various fields at home and abroad has achieved a lot of achievements. However, in terms of working conditions, the working object mainly takes a plane as a main part, and a part of the working object has a certain radian relative to the other object, but the radian is small, so that the robot can walk along any track to reach any position. The pipeline robot can crawl in a pipeline with a small diameter, mainly supports the inner wall by the circumferential direction, then crawls and turns, and can realize circumferential operation of 360 degrees; for the robot which does not adopt the circumferential supporting mode, the robot can only crawl in a straight line but can not realize turning or transverse movement, and the robot can hardly walk to any position along any track. For a cylinder wall with a slightly larger diameter, such as a cylinder with a diameter of 2m to 10 m and a length of 10 m or more, the operation processes such as detection, cleaning, rust removal, paint spraying and the like are mainly completed manually at present. The wall-climbing robot is difficult to complete at present, and compared with the robot, the robot is too large in a circumferential supporting mode; the turning or traversing function is difficult to realize without adopting a circumferential supporting mode, and the walking on any track to reach any position is difficult to realize.

SUMMERY OF THE UTILITY MODEL

The utility model aims at the technical defect who exists among the prior art, and provide one kind and can creep wantonly and reach the AGV platform that is used for circular inner tube of optional position and climbs the wall at 2 meters to 10 meters level section of thick bamboo inner walls diameter, this an AGV platform that is used for circular inner tube to climb the wall, as actuating mechanism's carrier, realize crawling on the section of thick bamboo wall including, and can transverse movement reach the section of thick bamboo wall on the optional position can install different actuating mechanism on the AGV platform, can realize different operation purposes.

For realizing the utility model discloses a technical scheme that the purpose adopted is:

an AGV platform for use in a circular inner cylinder wall climb, comprising: including the AGV automobile body, install at the permanent magnet of the bottom of AGV automobile body, lean out according to predetermined angle through the support and install 4 mecanum wheels in four wheel mounting grooves of AGV automobile body, the internal face that corresponds circular inner tube on the permanent magnet is with the coaxial complex arcwall face of circular inner tube inner wall to there is predetermined clearance with the internal face of circular inner tube, the magnetic line of force of permanent magnet is perpendicular with the circular internal face of circular inner tube.

The Mecanum wheel connecting and driving mechanism comprises a servo motor and a speed reducer, wherein the servo motor is connected with the speed reducer, the speed reducer is connected with the Mecanum wheel, the Mecanum wheel comprises a wheel hub and a plurality of rollers which are arranged on the outer surface of the wheel hub at intervals of preset distances, and the axes of the rollers and the axes of the wheel hub are obliquely arranged at preset angles.

The speed reducer is fixedly connected with the support, and the support is connected with the AGV body through bolts.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a AGV platform for circular inner tube wall climbing realizes crawling on the inner tube wall as actuating mechanism's carrier to can lateral shifting reach the section of thick bamboo wall on the optional position. Different actuating mechanisms can be installed on the AGV platform, so that different operation purposes are realized.

The AGV platform for climbing the wall by the circular inner cylinder can realize the operation of any position of the inner wall of the cylinder, realizes the adsorption and climbing functions on the inner wall of the steel cylinder, can reach any position of the inner wall of the cylinder, and solves the problem that a wall-climbing robot cannot reach any position on the cylinder wall with smaller diameter through turning;

the utility model discloses simple structure, convenient to use has solved the difficult problem that the wall climbing robot can not reach the optional position through the turn on the less section of thick bamboo wall of diameter effectively.

Drawings

FIG. 1 is a schematic structural diagram of an AGV platform for climbing a circular inner cylinder wall according to the present invention;

FIG. 2 is a schematic diagram of a Mecanum Wheel (Mecanum Wheel) configuration;

FIG. 3 is an isometric view of an AGV platform climbing the circular inner cylinder wall;

FIG. 4 is a top view of the AGV platform climbing the circular inner cylinder wall;

in the figure: 1. an AGV body; 2. a permanent magnet; 3. a first Mecanum wheel; 4. a second Mecanum wheel; 5. a servo motor; 6. a speed reducer; 7. a support; 8. a hub; 9. a roller; 10. a circular steel cylinder with a diameter of 2 meters;

Detailed Description

The present invention will be described in further detail with reference to the following drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in FIG. 1, the utility model discloses an AGV platform for circular inner tube wall climbing, include AGV automobile body 1, install permanent magnet 2 in the bottom of AGV automobile body, install 4 Mecanum wheels in four wheel mounting grooves of AGV automobile body.

Wherein, the AGV automobile body can be formed by the steel sheet welding, also can be by the section bar concatenation. The shape structure of the permanent magnet is determined according to the AGV body bottom structure and the diameter of the cylinder, the permanent magnet is fixedly connected with the AGV body bottom, the connection surface structure is determined according to the AGV body bottom structure, the connection can be attached, and the connection can be realized through bolts and the like.

In the utility model, the surface of the permanent magnet corresponding to the cylinder is required to be a cylindrical surface coaxial with the inner wall of the cylinder, and the clearance between the two surfaces is 1 mm; for example, a cylinder of 2m (2000mm) in diameter, the face of the permanent magnet corresponding to the cylinder is a cylindrical face of 1998mm in diameter. The gap between the both surfaces can be adjusted as appropriate, but the amount of the gap is as small as possible, and the smaller the gap, the larger the suction force.

The function of permanent magnet mainly be provide the adsorption affinity for the AGV platform adsorbs on perpendicular steel section of thick bamboo wall, the utility model discloses in, AGV platform and section of thick bamboo wall between not produce relative motion, the magnetic line of force that requires the permanent magnet is perpendicular with section of thick bamboo wall face of cylinder.

The utility model discloses in, 4 actuating mechanism is connected to mecanum, actuating mechanism all include servo motor 5, speed reducer 6, the support 7 of 6 welded connection L of speed reducer shape, and the support 7 and the bolted connection for the AGV automobile body of L shape, wherein, mecanum wheel all includes wheel hub 8 and roller 9.

It should be noted that, in the present invention, 4 the mecanum wheel structure is divided into: first mecanum wheel 3 and second mecanum wheel 4 first mecanum is installed to two positions in the left place ahead of AGV platform, right back the AGV platform two positions in the right place ahead of AGV platform, left back two positions second mecanum wheel. Similarly, the second Mecanum wheels can be arranged at the left front part and the right rear part of the AGV platform, and the first Mecanum wheels can be arranged at the right front part and the left rear part of the AGV platform.

The first mecanum wheel 3 differs from the second mecanum wheel 4 in that the mounting direction of the rollers 9 on the hub 8 is different, as shown in fig. 1, the mounting direction of the rollers 9 on the first mecanum wheel 3 is exactly opposite, and if the central axis of the hub 8 is taken as a reference, the axes of the rollers 9 on the first mecanum wheel 3 and the axes of the rollers 9 on the second mecanum wheel 3 are both obliquely arranged with respect to the central axis of the hub 8 and are obliquely opposite, so that the rollers are symmetrically arranged.

It should be noted that, in the utility model discloses, 4 mecanum wheel structure installation angle, need confirm according to a diameter and AGV body structure size, ensure that 4 wheels can with a section of thick bamboo inner wall laminating.

During the use, the gesture is placed to the AGV platform in a section of thick bamboo, and AGV automobile body direction of advance needs to be parallel with a section of thick bamboo axis, ensures that 4 wheels can laminate with a section of thick bamboo inner wall.

The utility model discloses a 4 Mecanum wheel structures of installation on the AGV platform, its driving principle is similar with ordinary AGV, and the rotational speed through controlling each Mecanum wheel promptly and turn to and accomplish and go forward, sideslip, slant walking.

The utility model discloses a can realize following a section of thick bamboo axis direction walking when the AGV platform gos forward, when the AGV platform becomes arbitrary angular displacement with a section of thick bamboo axis, can reach a section of thick bamboo inner wall optional position. The AGV body always needs to be parallel to the cylinder axis in the moving process, namely the AGV body does not rotate.

1. the utility model discloses an at the absorption of steel section of thick bamboo inner wall and the function of crawling, can reach a section of thick bamboo inner wall optional position, solved and climbed the difficult problem that the wall robot can not reach the optional position through the turn on the less section of thick bamboo wall of diameter.

2. The utility model discloses a face that corresponds the drum on the permanent magnet is the face of cylinder, can guarantee that the permanent magnet is great and even with the adsorption affinity of section of thick bamboo wall.

3.4 Mecanum wheel is the angle installation with the AGV automobile body, ensures that 4 wheels can laminate with a section of thick bamboo inner wall.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a AGV platform for wall is climbed to circular inner tube, a serial communication port, include the AGV automobile body, install the permanent magnet in the bottom of AGV automobile body, lean out according to predetermined angle through the support and install 4 mecanum wheels in four wheel mounting grooves of AGV automobile body, the internal face that corresponds circular inner tube on the permanent magnet is with the coaxial complex arcwall face of circular inner tube inner wall to there is predetermined clearance with the internal face of circular inner tube, the magnetic line of force of permanent magnet is perpendicular with the circular internal face of circular inner tube.

2. An AGV platform for climbing a circular inner cylinder according to claim 1, wherein said Mecanum wheel is connected to a driving mechanism, which includes a servo motor and a reducer, said servo motor is connected to the reducer, said reducer is connected to the Mecanum wheel, said Mecanum wheel includes a hub and a plurality of rollers mounted on the outer surface of said hub and spaced apart from each other by a predetermined distance, the axes of said rollers are inclined at a predetermined angle to the axis of said hub.

3. The AGV platform for the circular inner cylinder climbing wall according to claim 2, wherein the speed reducer is fixedly connected with a bracket, and the bracket is connected with the AGV body through a bolt.