CN214648654U

CN214648654U - Magnetic attraction type wall-climbing robot

Info

Publication number: CN214648654U
Application number: CN202120133445.2U
Authority: CN
Inventors: 王均; 张寅�; 张宇
Original assignee: Anhui Xiangpin Intelligent Technology Co ltd
Current assignee: Anhui Xiangpin Intelligent Technology Co ltd
Priority date: 2021-01-18
Filing date: 2021-01-18
Publication date: 2021-11-09
Anticipated expiration: 2031-01-18

Abstract

The utility model belongs to the technical field of the robot, specifically disclose a formula wall climbing robot is inhaled to magnetism, including the robot, the robot front end is provided with horizontal migration mechanism, horizontal migration mechanism includes the slide rail, slidable mounting has the slider on the slide rail, the slider front end is fixed with the mounting panel, the mounting panel top is connected with the extension board through telescopic machanism, the extension board front end is provided with the mounting bracket that is used for installing the arm, the robot rear end is provided with magnetism and inhales the mechanism, the utility model discloses can be in the automatic walking of facility equipment inside and outside wall, possess angle modulation function, can adjust arm position in a flexible way, through the arm and the maintenance instrument of joining in marriage different functions, can accomplish work such as observation, repaired mouth, rust cleaning, spraying, washing, detection.

Description

Magnetic attraction type wall-climbing robot

Technical Field

The utility model relates to the technical field of robots, specifically be a formula wall climbing robot is inhaled to magnetism.

Background

A wall climbing robot (wall climbing robot) refers to an automated robot that can climb on a vertical wall and perform work, and is also called a wall moving robot, and is also called a limit operation robot abroad because the vertical wall work exceeds the limit of a human. The wall-climbing robot is mainly used for petrochemical enterprises to carry out flaw detection or paint spraying treatment on the cylindrical large tank or carry out cleaning and spraying on buildings. The device is used for thickness measurement in nuclear industry, and can also be used in fire fighting, shipbuilding and other industries. The existing wall climbing robot has the problems of complex structure, high operation difficulty, incapability of flexibly steering and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a formula wall climbing robot is inhaled to magnetism to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a formula wall climbing robot is inhaled to magnetism, includes the robot, the robot front end is provided with horizontal migration mechanism, horizontal migration mechanism includes the slide rail, slidable mounting has the slider on the slide rail, the slider front end is fixed with the mounting panel, the mounting panel top is connected with the extension board through telescopic machanism, the extension board front end is provided with the mounting bracket that is used for installing the arm, the robot rear end is provided with magnetism and inhales the mechanism.

Preferably, the camera is installed on the top of the robot body, a control module and a communication module are arranged inside the robot body, the camera is used for shooting images of climbing walls, the image data are processed by the control module and then sent to the communication module, and the images are transmitted to an external upper computer through the communication module.

Preferably, the top end of the robot body is provided with a plurality of lifting lugs.

Preferably, the slide rail comprises two fixing plates which are symmetrically distributed at the left and right, the fixing plates are fixed at the front end of the robot body, a first screw rod is rotatably connected between the two fixing plates, guide rods which are symmetrically distributed are arranged at the upper side and the lower side of the first screw rod and fixed between the two fixing plates, a threaded hole corresponding to the first screw rod and a guide hole corresponding to the guide rod are formed in the surface of the slide block, a first motor is installed inside the robot body, a driving bevel gear is connected to the output end of the first motor after penetrating through the surface of the robot body, a driven bevel gear is installed to one end of the first screw rod after penetrating through the fixing plates, and the driving bevel gear is meshed with the driven bevel gear.

Preferably, telescopic machanism includes the second motor, the output of second motor is connected with the second screw rod, the second motor is fixed inside the mounting panel, the second screw rod rotates and installs inside the mounting panel, extension board sliding connection is on the mounting panel, the inside top of extension board is provided with the connecting cylinder, the thread groove has been seted up on the connecting cylinder surface, the top of second screw rod extends to inside the thread groove.

Preferably, the mechanism is inhaled to magnetism includes cylinder, connecting seat, electro-magnet, the cylinder is installed inside the robot, the connecting seat includes the connecting plate, the flexible end of cylinder runs through the robot rear end lateral wall after be connected with the connecting plate, the front end of connecting plate is provided with a plurality of guide bars, robot rear end lateral wall surface is seted up with the corresponding guiding hole of guide bar, the rear end of connecting plate is rotated and is connected with the pivot, the rear end of pivot is fixed with the installation piece, electro-magnet fixed mounting is on the installation piece, the connecting plate rear end is fixed with support and third motor, rotate on the support and install the worm, the one end of worm is connected with the third motor, the fixed cover of pivot periphery is equipped with the worm wheel, the worm wheel is connected with the worm meshing.

Compared with the prior art, the beneficial effects of the utility model are that: different mechanical arms are arranged on the extension plate to realize different functions, the horizontal position of the mechanical arm can be changed through the horizontal moving mechanism, the vertical position of the mechanical arm can be changed through the telescopic mechanism, and the adjustment of the working range of the mechanical arm is realized; the robot can be stably adsorbed on the working surface through the magnetic attraction mechanism, and is driven to swing by a worm gear structure to a certain angle, so that the position of the mechanical arm can be adjusted more flexibly; shooting a real-time image of the working surface through a camera, so that a worker can remotely observe the working surface; the lifting lugs can be tied with steel wire ropes, the steel wire ropes are connected with external falling protectors and the like, and the protection effect is achieved when the robot falls accidentally. The utility model discloses can possess angle modulation function at the automatic walking of facility equipment inside and outside wall, can adjust the arm position in a flexible way, through the arm and the maintenance instrument of the different functions of wearing, can accomplish work such as observation, joint coating, rust cleaning, spraying, washing, detection.

Drawings

Fig. 1 is a schematic overall structure diagram of the present invention;

FIG. 2 is a schematic structural view of a driving bevel gear and a driven bevel gear according to the present invention;

fig. 3 is a schematic structural view of the telescopic mechanism of the present invention;

FIG. 4 is a schematic structural view of the middle magnetic attraction mechanism of the present invention;

fig. 5 is a schematic structural view of the middle worm wheel and the worm of the present invention.

In the figure: 1-a robot body, 2-a slide block, 3-a mounting plate, 4-an extension plate, 5-a camera, 6-a lifting lug, 7-a fixing plate, 8-a driven bevel gear, 9-a guide rod, 10-a first motor, 11-a driving bevel gear, 12-a second motor, 13-a second screw, 14-a connecting cylinder, 15-a thread groove, 16-a connecting plate, 17-a cylinder, 18-a rotating shaft, 19-a mounting block, 20-an electromagnet, 21-a worm wheel, 22-a bracket, 23-a worm, 24-a third motor and 25-a first screw.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a formula wall climbing robot is inhaled to magnetism, includes

robot

1, 1 front end of robot is provided with horizontal migration mechanism, horizontal migration mechanism includes the slide rail, slidable mounting has slider 2 on the slide rail, 2 front ends of slider are fixed with

mounting panel

3, 3 tops of mounting panel are connected with extension board 4 through telescopic machanism, 4 front ends of extension board are provided with the mounting bracket that is used for installing the arm, 1 rear end of robot is provided with magnetism and inhales the mechanism.

Camera 5 is installed on 1 top of robot, 1 inside control module and the communication module of being provided with of robot, camera 5 is used for shooing the image of climbing wall, and image data sends for communication module after control module handles, transmits for external host computer through communication module, shoots the real-time image of working surface through camera 5 for the staff can long-range observation working surface.

The top end of the robot body 1 is provided with a plurality of lifting lugs 6, steel wire ropes can be tied on the lifting lugs 6, the steel wire ropes are connected with external falling protectors and the like, and the robot body plays a role in protection when the robot falls accidentally.

The slide rail comprises two fixing plates 7 which are symmetrically distributed at the left and right, the fixing plates 7 are fixed at the front end of a robot body 1, a first screw rod 25 is rotatably connected between the two fixing plates 7, guide rods 9 which are symmetrically distributed are arranged at the upper side and the lower side of the first screw rod 25, the guide rods 9 are fixed between the two fixing plates 7, a threaded hole corresponding to the first screw rod 25 and a guide hole corresponding to the guide rods 9 are formed in the surface of a slide block 2, a first motor 10 is arranged in the robot body 1, the output end of the first motor 10 penetrates through the surface of the robot body 1 and is connected with a driving bevel gear 11, a driven bevel gear 8 is arranged at one end of the first screw rod 25 after penetrating through the fixing plates 7, the driving bevel gear 11 is meshed with the driven bevel gear 8, the driving bevel gear 11 rotates through the first motor 10, the driving bevel gear 11 drives the driven bevel gear 8 to rotate, the first screw 25 is driven to rotate, and the slider 2 is driven to horizontally move left and right by the relative rotation between the first screw 25 and the slider 2.

Telescopic machanism includes second motor 12, the output of second motor 12 is connected with second screw rod 13, second motor 12 is fixed inside mounting panel 3, second screw rod 13 rotates and installs inside

mounting panel

3, 4 sliding connection of extension board are on mounting panel 3, the inside top of extension board 4 is provided with connecting cylinder 14, thread groove 15 has been seted up on connecting cylinder 14 surface, the top of second screw rod 13 extends to inside 15 thread grooves, and it is rotatory through second motor 12 drive second screw rod 13, utilizes the relative rotation between second screw rod 13 and thread groove 15, and drive extension board 4 reciprocates on mounting panel 3.

The magnetic attraction mechanism comprises an air cylinder 17, a connecting seat and an electromagnet 20, the air cylinder 17 is installed inside the robot body 1, the connecting seat comprises a connecting plate 16, the telescopic end of the air cylinder 17 penetrates through the side wall of the rear end of the robot body 1 and then is connected with the connecting plate 16, a plurality of guide rods are arranged at the front end of the connecting plate 16, guide holes corresponding to the guide rods are formed in the side wall surface of the rear end of the robot body 1, the rear end of the connecting plate 16 is rotatably connected with a rotating shaft 18, the rear end of the rotating shaft 18 is fixedly provided with a mounting block 19, the electromagnet 20 is fixedly installed on the mounting block 19, the rear end of the connecting plate 16 is fixedly provided with a support 22 and a third motor 24, a worm 23 is rotatably installed on the support 22, one end of the worm 23 is connected with the third motor 24, a worm wheel 21 is fixedly sleeved on the periphery of the rotating shaft 18, and the worm wheel 21 is meshed with the worm 23, the electromagnet 20 generates magnetic force, so that the robot body 1 can be adsorbed on a wall surface, the connecting seat can be driven to move through the extension of the air cylinder 17, the electromagnet 20 is attached to the wall surface, then the third motor 24 is started to drive the worm 23 to rotate, the rotating shaft 18 is driven to rotate through the transmission of the worm 23 and the worm wheel 21, and the mounting block 19 cannot rotate due to the fixed connection with the electromagnet 20, so that the robot body 1 is driven to rotate integrally; the worm gear structure has a self-locking function, free rotation of the robot can be avoided, and structural stability is improved. The utility model also comprises a corresponding walking structure, wherein the walking wheel can be made of common materials, and the electromagnet 20 plays a main adsorption role at the moment; the traveling wheels can also adopt permanent magnets, at the moment, the electromagnets 20 only play a role in assisting steering, the air cylinder 17 contracts in a traveling state, the electromagnets 20 are far away from the wall surface, and the interference of the electromagnets 20 on the traveling of the robot can also be avoided; the two forms are determined according to specific working environments and the load of the robot.

The working principle is as follows:

the method comprises the steps of installing mechanical arms with corresponding functions on an extension plate 4 of the robot, such as a spraying gun, a sand blasting gun, a cleaning mechanical arm and the like, then selecting a stable fulcrum to install a falling protector, adsorbing the robot on a working surface, connecting the falling protector with a lifting lug 6 by using a steel wire rope, installing corresponding pipelines and other structures, then electrifying, starting the robot to move to a corresponding position, and carrying out spraying, sand blasting, cleaning and other works.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a formula wall climbing robot is inhaled to magnetism, includes robot body (1), its characterized in that: the robot comprises a robot body (1), and is characterized in that a horizontal moving mechanism is arranged at the front end of the robot body (1), the horizontal moving mechanism comprises a sliding rail, a sliding block (2) is slidably mounted on the sliding rail, a mounting plate (3) is fixed at the front end of the sliding block (2), the top end of the mounting plate (3) is connected with an extension plate (4) through a telescopic mechanism, a mounting frame for mounting a mechanical arm is arranged at the front end of the extension plate (4), and a magnetic suction mechanism is arranged at the rear end of the robot body (1).

2. The magnetic wall-climbing robot as claimed in claim 1, wherein: camera (5) are installed on robot (1) top, inside control module and the communication module of being provided with of robot (1), camera (5) are used for shooting the image of climbing wall, and image data sends for communication module after control module handles, transmits for external host computer through communication module.

3. The magnetic wall-climbing robot as claimed in claim 1, wherein: the top end of the robot body (1) is provided with a plurality of lifting lugs (6).

4. The magnetic wall-climbing robot as claimed in claim 1, wherein: the slide rail comprises two fixing plates (7) which are symmetrically distributed left and right, the fixing plates (7) are fixed at the front end of the robot body (1), a first screw rod (25) is rotatably connected between the two fixing plates (7), guide rods (9) which are symmetrically distributed are arranged on the upper side and the lower side of the first screw rod (25), the guide rod (9) is fixed between the two fixing plates (7), the surface of the sliding block (2) is provided with a threaded hole corresponding to the first screw rod (25) and a guide hole corresponding to the guide rod (9), a first motor (10) is arranged in the robot body (1), the output end of the first motor (10) penetrates through the surface of the robot body (1) and is connected with a driving bevel gear (11), one end of the first screw rod (25) penetrates through the fixing plate (7) and is provided with a driven bevel gear (8), the driving bevel gear (11) is in meshed connection with the driven bevel gear (8).

5. The magnetic wall-climbing robot as claimed in claim 1, wherein: telescopic machanism includes second motor (12), the output of second motor (12) is connected with second screw rod (13), second motor (12) are fixed inside mounting panel (3), second screw rod (13) rotate and are installed inside mounting panel (3), extension board (4) sliding connection is on mounting panel (3), the inside top of extension board (4) is provided with connecting cylinder (14), thread groove (15) have been seted up on connecting cylinder (14) surface, the top of second screw rod (13) extends to inside thread groove (15).

6. The magnetic wall-climbing robot as claimed in claim 1, wherein: the magnetic suction mechanism comprises a cylinder (17), a connecting seat and an electromagnet (20), the cylinder (17) is installed inside the robot body (1), the connecting seat comprises a connecting plate (16), the telescopic end of the cylinder (17) penetrates through the side wall of the rear end of the robot body (1) and then is connected with the connecting plate (16), a plurality of guide rods are arranged at the front end of the connecting plate (16), guide holes corresponding to the guide rods are formed in the side wall surface of the rear end of the robot body (1), a rotating shaft (18) is rotatably connected with the rear end of the connecting plate (16), a mounting block (19) is fixed at the rear end of the rotating shaft (18), the electromagnet (20) is fixedly installed on the mounting block (19), a support (22) and a third motor (24) are fixed at the rear end of the connecting plate (16), and a worm (23) is rotatably installed on the support (22), one end of the worm (23) is connected with a third motor (24), a worm wheel (21) is fixedly sleeved on the periphery of the rotating shaft (18), and the worm wheel (21) is meshed with the worm (23) for connection.