CN211494305U

CN211494305U - Modular wall climbing robot

Info

Publication number: CN211494305U
Application number: CN201922011609.XU
Authority: CN
Inventors: 蒋念恒
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-20
Filing date: 2019-11-20
Publication date: 2020-09-15
Anticipated expiration: 2029-11-20

Abstract

The utility model discloses a modular wall-climbing robot, which comprises a movable workbench and a control module, wherein the movable workbench consists of a plurality of wall-climbing robot modules, the control module is arranged on the movable workbench, the wall-climbing robot modules are connected through connecting rods with universal joints at two ends, and each wall-climbing robot module comprises a frame, a driving device, a magnetic adsorption device, a controller and a power supply; the rack is of a rectangular frame structure, two groups of driving devices are arranged and are respectively positioned at two ends of the rack, the magnetic adsorption devices are fixedly arranged inside a rectangular frame of the rack, and the controller is connected with a communication assembly which is communicated with the control module; and a communication system for sharing data with the main server is integrated on the control module. The utility model discloses a wall climbing robot can be according to the reasonable quantity of selecting wall climbing robot module of task load, and wall climbing robot load capacity before having solved is low, and a wall climbing robot can only carry on the problem of a set of rust cleaning system.

Description

Modular wall climbing robot

Technical Field

The utility model relates to a wall climbing robot technical field, concretely relates to modular wall climbing robot.

Background

The wall climbing robot can climb on a vertical wall and complete the automatic robot of operation. The wall climbing robot is also called a wall moving robot, and is also called a limit operation robot abroad because the vertical wall operation exceeds the limit of people. The wall-climbing robot has two basic functions of adsorption and movement, and the common adsorption modes include negative pressure adsorption and permanent magnet adsorption. The negative pressure mode can be absorbed on the wall surface by generating negative pressure in the sucking disc and is not limited by the wall surface material; the permanent magnet adsorption mode has two modes of a permanent magnet and an electromagnet and is only suitable for adsorbing the magnetic conductivity wall surface.

When the ship is subjected to rust removal, paint spraying and cleaning projects, the load capacity of the existing wall-climbing robot is limited, and the existing integrated wall-climbing robot cannot work normally on the curved wall surface due to the fact that the outer wall surface of the ship is a curved surface.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model provides a wall climbing robot of modular can select the wall climbing robot module of suitable quantity to carry out reasonable equipment according to the load capacity of job task to improve load capacity, and the shift table of constitution can adapt to boats and ships curved surface drive operation.

The utility model discloses an above-mentioned technical problem is solved to following technical means:

a modular wall-climbing robot comprises a movable workbench and a control module, wherein the movable workbench is composed of a plurality of wall-climbing robot modules, the control module is arranged on the movable workbench, the wall-climbing robot modules are connected through connecting rods with universal joints at two ends, and each wall-climbing robot module comprises a rack, a driving device, a magnetic adsorption device, a controller and a power supply; the rack is of a rectangular frame structure, two groups of driving devices are arranged and are respectively positioned at two ends of the rack, the magnetic adsorption devices are fixedly arranged inside the rectangular frame of the rack, and the controller is connected with a communication assembly which is communicated with the control module; and a communication system for sharing data with the main server is integrated on the control module.

Further, drive arrangement includes driving motor, gearbox, electromagnetic braking ware, drive shaft and walking wheel, driving motor passes through gearbox drive shaft and rotates, the both ends at the drive shaft are established to the walking wheel cover, electromagnetic braking ware sets up in order to brakie the drive shaft in the drive shaft, driving motor, electromagnetic braking ware all are connected with the controller.

Further, magnetism adsorption equipment includes that electro-magnet and cover establish the cage outside the electro-magnet, the cage encloses the cuboid box structure that closes and form for the polylith magnetism-isolating plate, and the uncovered setting in bottom surface, the cage is fixed to be set up in the frame, power and controller setting are on the cage, the electro-magnet is connected with external power cord and power.

Furthermore, the magnetic adsorption device comprises a permanent magnet and an isolation cover covered outside the permanent magnet, the isolation cover is a cuboid box structure formed by enclosing a plurality of magnetic isolation plates, the bottom surface of the isolation cover is open, the isolation cover is fixedly arranged on the body of the wall-climbing robot, an isolation plate is arranged at the open end of the isolation cover, the isolation plate is positioned on the surface of the wall-climbing robot, which is contacted with the ship wall, the isolation plate and the isolation cover are enclosed to form a cavity for mounting the permanent magnet, and a magnetic force blocking component for blocking the magnetic force of the permanent magnet towards one side of the isolation plate is arranged in the cavity; the power supply and the controller are arranged on the isolation hood.

Furthermore, the magnetic force blocking component is two parallel threaded screws, the threaded screws are inserted into the isolation cover from one side of the isolation cover opposite to the isolation plate, one inserted end of each threaded screw is rotatably installed on the isolation plate, and the permanent magnet is sleeved on the threaded screws through screw rod sliding blocks.

Furthermore, the threaded screw rod is rotatably installed in the isolation cover through a bearing, and a hand wheel used for driving the threaded screw rod to rotate around the axis of the threaded screw rod is arranged at one end of the threaded screw rod, which is positioned outside the isolation cover.

Further, the magnetic force blocking component is an outer inserting magnetism isolating plate movably inserted between the isolating plate and the permanent magnet, one side of the isolating cover is provided with a sliding groove for the outer inserting magnetism isolating plate to be inserted, and the outer inserting magnetism isolating plate is inserted in the sliding groove.

Furthermore, each connecting column is arranged on the top of the isolation cover of the wall-climbing robot module and the outer side wall of the rack, and a connecting shaft connected with a universal joint of the connecting rod is arranged on each connecting column.

Furthermore, a driving system, a navigation system, a positioning system, a laser system and a shaking sensing system are further integrated on the control module, and the control module is fixedly arranged on one of the wall-climbing robot modules.

Further, the power supply is a storage battery.

The beneficial effects of the utility model are embodied in:

(1) the wall-climbing robot of the utility model can reasonably select the number of the wall-climbing robot modules according to the task load, and the mobile workbench formed after combination can be matched with a plurality of groups of rust removing systems (sand blasting, ultrahigh pressure water and the like) according to the needs, can be matched with a plurality of automatic paint spraying devices, and solves the problems that the prior wall-climbing robot has low load capacity and only one group of rust removing systems can be carried by one wall-climbing robot;

(2) the movable workbench of the utility model can move on the surface of the outer wall of the ship well, and is well suitable for the working environment of the curved surface of the outer wall of the ship;

(3) the magnetic adsorption device in the utility model can not adsorb rust iron after rust removal, and can conveniently clean up the sundries such as rust adsorbed on the electromagnet;

(4) the utility model provides a wall climbing robot module is from electrified pond, and obstructed outer electricity also can independently creep and adsorb on boats and ships outer wall during operation.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a schematic structural diagram of a modular wall-climbing robot according to an embodiment of the present invention;

fig. 2 is a first schematic structural diagram of a wall-climbing robot module of a modular wall-climbing robot according to a first embodiment of the present invention;

fig. 3 is a schematic structural diagram ii of a wall-climbing robot module of a modular wall-climbing robot according to a first embodiment of the present invention;

fig. 4 is a schematic structural diagram of a driving device of a modular wall-climbing robot according to an embodiment of the present invention;

fig. 5 is a schematic cross-sectional structure view of a magnetic adsorption device of a modular wall-climbing robot according to a second embodiment of the present invention;

fig. 6 is a first schematic structural diagram of a magnetic adsorption device of a modular wall-climbing robot according to a third embodiment of the present invention;

fig. 7 is a structural schematic view of a magnetic adsorption device of a modular wall-climbing robot according to a third embodiment of the present invention;

fig. 8 is a schematic sectional structure view of a magnetic adsorption device of a modular wall-climbing robot according to a third embodiment of the present invention.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.

Example one

As shown in fig. 1 to 4, a modular wall-climbing robot provided in this embodiment includes a movable workbench composed of a plurality of wall-climbing robot modules 1 and a control module 22 disposed on the movable workbench, the plurality of wall-climbing robot modules 1 are connected by a connecting rod 2 with universal joints at two ends, each wall-climbing robot module 1 includes a frame 3, a driving device 4, a magnetic adsorption device 5, a controller 6 and a power supply 7, the controller 6 may be a PLC or a single chip microcomputer, and the power supply 7 is a storage battery; the rack 3 is of a rectangular frame structure, two groups of driving devices 4 are arranged and are respectively positioned at two ends of the rack 3, the magnetic adsorption device 5 is fixedly arranged inside the rectangular frame of the rack 3, and the controller 6 is connected with a communication assembly which is communicated with the control module 22, wherein the communication assembly is a Bluetooth module; a communication system for data sharing with the main server is integrated on the control module 22.

Specifically, drive arrangement 4 includes driving motor 8, gearbox 9, electromagnetic braking ware 10, drive shaft 11 and walking wheel 12, driving motor 8 passes through gearbox 9 drive shaft 11 and rotates, walking wheel 12 cover is established at 11 both ends of drive shaft, the both ends that drive shaft 11 passes through are passed through the bearing and are rotated and install on mounting bracket 24, mounting bracket 24 passes through the fix with screw in frame 3, electromagnetic braking ware 10 sets up on 11 in order to brake 11 drive shafts, driving motor 8, electromagnetic braking ware 10 all is connected with controller 6.

In this embodiment, the magnetic adsorption device 5 includes an electromagnet 13 and a shielding case 14 covering the electromagnet 13, the shielding case 14 is a rectangular box structure formed by enclosing a plurality of magnetic isolation plates, the bottom surface is open, the shielding case 14 is fixedly arranged on the frame 3 through screws, the magnetic isolation plate is one of a copper plate, a stainless steel plate or an aluminum plate, the copper plate, the stainless steel plate or the aluminum plate is made of a non-magnetic material, and the thickness of the magnetic isolation plate is 10 mm; the magnetic properties of the electromagnet 13 except the bottom surface are shielded by the isolating cover 14, so that the magnetic impurities such as rust are prevented from being adsorbed on other surfaces of the wall-climbing robot module 1, the internal structure of the wall-climbing robot module 1 is damaged, and the wall-climbing robot module is convenient to clean after the operation is completed. The power supply 7 and the controller 6 are arranged on the isolation cover 14, and the electromagnet 13 is connected with an external power line and the power supply 7. Power 7 and external power cord are the power supply of electro-magnet 13, after electro-magnet 13 circular telegram, produce magnetic force, make every wall climbing robot module 1 can magnetism inhale on the outer wall of hull, and, after cutting off the power supply to electro-magnet 13, electro-magnet 13 magnetism disappears, can take off wall climbing robot module 1 from the outer wall of hull, because electro-magnet 13 magnetism disappears after cutting off the power supply, impurity such as iron rust of absorption on electro-magnet 13 can be cleared up fast, keep electro-magnet 13's cleanness. If the power line is powered off during working, the power supply 7 can continuously supply power to the electromagnet 13, so that the wall-climbing robot module 1 which is in operation is prevented from falling off from the outer wall of the ship body.

The top of the isolation cover 14 of each wall-climbing robot module 1 and the outer side wall of the frame 3 are both provided with a connecting column 20, and the connecting column 20 is provided with a connecting shaft 21 connected with the universal joint of the connecting rod 2. During the equipment, connect through connecting rod 2 of both ends area universal joint between the adjacent wall climbing robot module 1, the other end spiro union of universal joint realizes connecting on connecting rod 2.

The control module 22 is further integrated with a driving system, a navigation system, a positioning system, a laser system and a shaking sensing system, and the control module 22 is fixedly arranged on one of the wall-climbing robot modules 1. The driving system, the navigation system, the positioning system, the laser system and the shaking sensing system are all provided with existing integrated modules, the Bluetooth module on each wall-climbing robot module 1 is automatically adaptive to the control module 22, the control module 22 is transmitted to the background server through the communication system, the background server integrates and adjusts the wireless remote control part to be adaptive to module requirements, and the working rule and the working motion track of the wall-climbing robot are automatically planned according to the working condition.

The wall-climbing robot of the utility model can reasonably select the number of the wall-climbing robot modules according to the task load, and the mobile workbench formed after combination can be matched with a plurality of groups of rust removing systems (sand blasting, ultrahigh pressure water and the like) according to the needs, can be matched with a plurality of automatic paint spraying devices, and solves the problems that the prior wall-climbing robot has low load capacity and only one group of rust removing systems can be carried by one wall-climbing robot; and, the utility model discloses a moving workbench can remove at boats and ships outer wall surface well, has adapted to the operational environment of boats and ships outer wall curved surface well.

Example two

Compared with the modular wall climbing robot in the first embodiment, the modular wall climbing robot in the first embodiment is different in that, as shown in fig. 5, the magnetic adsorption device 5 in the first embodiment includes a permanent magnet 23 and an isolation cover 14 covering the permanent magnet 23, the isolation cover 14 is a cuboid box structure formed by enclosing a plurality of magnetic isolation plates, the bottom surface is open, the isolation cover 14 is fixedly arranged on the body of the wall climbing robot through screws, an isolation plate 15 is arranged on the open end of the isolation cover 14, the isolation plate 15 is arranged on the surface of the wall climbing robot contacting with the ship wall, a cavity for installing the permanent magnet 23 is enclosed by the isolation plate 15 and the isolation cover 14, and a magnetic force blocking component for blocking the magnetic force of the permanent magnet 23 towards one side of the isolation plate 15 is arranged in the cavity. The magnetic isolation plate is one of a copper plate, a stainless steel plate or an aluminum plate, the copper plate, the stainless steel plate or the aluminum plate is made of a non-magnetic material, and the thickness of the magnetic isolation plate is 10 mm; the division board 15 is the steel sheet, and the thickness dimension is 0.5mm, and the steel sheet is for inhaling magnetic material, and the wall climbing robot of being convenient for is inhaled through the magnetic force of permanent magnet 23 ground magnetism steadily and is crawled on the boats and ships wall when the operation.

In this embodiment, the magnetic force blocking component is two parallel threaded screws 16, the threaded screws 16 are inserted into the isolation hood 14 from one side of the isolation hood 14 opposite to the isolation plate 15, one inserted end is rotatably installed on the isolation plate 15, and the permanent magnet 23 is sleeved on the threaded screws 16 through screw sliders. The threaded screw rod 16 is rotatably installed in the isolation cover 14 through a bearing, and a hand wheel 17 for driving the threaded screw rod 16 to rotate around the axis of the threaded screw rod is arranged at one end of the threaded screw rod 16, which is positioned outside the isolation cover 14.

The hand wheel 17 is rotated to drive the threaded screw rod 16 to rotate, so that the permanent magnet 23 is far away from the isolation plate 15 under the driving of the screw rod sliding block, the magnetic force on the isolation plate 15 is greatly reduced, and cleaning personnel can clean up sundries such as iron rust adsorbed on the isolation plate 15 after the wall-climbing robot works conveniently.

EXAMPLE III

The difference between the modular wall climbing robot in this embodiment and the modular wall climbing robot in the second embodiment is that, as shown in fig. 6-8, the magnetic force blocking member in the magnetic adsorption device 5 in this embodiment is an outer inserted magnetic isolation plate 18 movably inserted between the isolation plate 15 and the permanent magnet 23, one side of the isolation cover 14 is provided with a sliding groove 19 for inserting the outer inserted magnetic isolation plate 18, and the outer inserted magnetic isolation plate 18 is inserted in the sliding groove 19. An annular boss is arranged at the bottom of the inner wall of the isolation cover 14 and close to the isolation plate 15, the permanent magnet 23 is placed on the annular boss, and the sliding groove is arranged at the bottom of the annular boss.

The pulling-out end of the outer inserting magnetism isolating plate 18 is provided with a handle, so that the outer inserting magnetism isolating plate can be conveniently pulled out from the chute when the wall climbing robot works, the magnetic force of the isolating plate 15 is greatly enhanced, and the wall climbing robot can stably magnetically attract the ship wall to climb through the magnetic force of the permanent magnet 23 during operation. The outer inserting magnetism isolating plate 18 is one of a copper plate, a stainless steel plate or an aluminum plate, and the thickness is 10 mm.

When clearing up climbing wall robot module 1, insert in spout 19 with outer insertion magnetism barrier 18, keep apart between permanent magnet 23 and division board 15 to make the magnetic force on the division board 15 reduce by a wide margin, make things convenient for the cleanup crew to adsorb debris such as the iron rust on division board 15 fast clean up after climbing wall robot operation.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.

Claims

1. A modular wall climbing robot, its characterized in that: the wall-climbing robot comprises a mobile workbench and a control module (22) arranged on the mobile workbench, wherein the mobile workbench is composed of a plurality of wall-climbing robot modules (1), the wall-climbing robot modules (1) are connected through connecting rods (2) with universal joints at two ends, and each wall-climbing robot module (1) comprises a rack (3), a driving device (4), a magnetic adsorption device (5), a controller (6) and a power supply (7); the rack (3) is of a rectangular frame structure, two groups of driving devices (4) are arranged and are respectively positioned at two ends of the rack (3), the magnetic adsorption device (5) is fixedly arranged inside a rectangular frame of the rack (3), and the controller (6) is connected with a communication assembly which is communicated with the control module (22); and a communication system for sharing data with the main server is integrated on the control module (22).

2. The modular wall-climbing robot as claimed in claim 1, wherein: drive arrangement (4) include driving motor (8), gearbox (9), electromagnetic braking ware (10), drive shaft (11) and walking wheel (12), driving motor (8) are rotated through gearbox (9) drive shaft (11), walking wheel (12) cover is established at the both ends of drive shaft (11), electromagnetic braking ware (10) set up on drive shaft (11) in order to brake drive shaft (11), driving motor (8), electromagnetic braking ware (10) all are connected with controller (6).

3. The modular wall-climbing robot as claimed in claim 1, wherein: magnetic adsorption device (5) include that electro-magnet (13) and cover establish cage (14) outside electro-magnet (13), cage (14) are that the polylith magnetism-isolating plate encloses the cuboid box structure that closes and form, the uncovered setting in bottom surface, cage (14) are fixed to be set up in frame (3), power (7) and controller (6) set up on cage (14), electro-magnet (13) are connected with external power cord and power (7).

4. The modular wall-climbing robot as claimed in claim 1, wherein: the magnetic adsorption device (5) comprises a permanent magnet (23) and an isolation cover (14) covering the permanent magnet (23), the isolation cover (14) is a cuboid box structure formed by enclosing a plurality of magnetic isolation plates, the bottom surface of the isolation cover is arranged in an open manner, the isolation cover (14) is fixedly arranged on a machine body of the wall climbing robot, an isolation plate (15) is arranged at the open end of the isolation cover (14), the isolation plate (15) is positioned on the surface, contacting with a ship wall, of the wall climbing robot, the isolation plate (15) and the isolation cover (14) are enclosed to form a cavity for mounting the permanent magnet (23), and a magnetic force blocking component for blocking magnetic force of the permanent magnet (23) towards one side of the isolation plate (15) is arranged in the cavity; the power supply (7) and the controller (6) are arranged on the isolation cover (14).

5. The modular wall-climbing robot as claimed in claim 4, wherein: the magnetic force blocking component is composed of two parallel threaded screw rods (16), the threaded screw rods (16) are inserted into the isolation cover (14) from one side, opposite to the isolation plate (15), of the isolation cover (14), one end of each threaded screw rod (16) inserted into the isolation cover (14) is rotatably installed on the isolation plate (15), and the permanent magnets (23) are sleeved on the threaded screw rods (16) through screw rod sliding blocks.

6. The modular wall-climbing robot as claimed in claim 5, wherein: the threaded screw rod (16) is rotatably installed in the isolation cover (14) through a bearing, and a hand wheel (17) used for driving the threaded screw rod (16) to rotate around the axis of the threaded screw rod is arranged at one end, located outside the isolation cover (14), of the threaded screw rod (16).

7. The modular wall-climbing robot as claimed in claim 4, wherein: the magnetic blocking component is an outer inserted magnetism isolating plate (18) movably inserted between the isolating plate (15) and the permanent magnet (23), one side of the isolating cover (14) is provided with a sliding groove (19) for inserting the outer inserted magnetism isolating plate (18), and the outer inserted magnetism isolating plate (18) is inserted in the sliding groove (19).

8. A modular wall-climbing robot according to any one of claims 3 to 7, characterized in that: every all be provided with spliced pole (20) on cage (14) top of climbing robot module (1) and the lateral wall of frame (3), be provided with connecting axle (21) of being connected with the universal joint of connecting rod (2) on spliced pole (20).

9. The modular wall-climbing robot as claimed in claim 1, wherein: the wall climbing robot is characterized in that a driving system, a navigation system, a positioning system, a laser system and a shaking sensing system are further integrated on the control module (22), and the control module (22) is fixedly arranged on one of the wall climbing robot modules (1).

10. The modular wall-climbing robot as claimed in claim 1, wherein: the power supply (7) is a storage battery.