CN216070248U - Conical surface self-adaptive wall-climbing robot - Google Patents
Conical surface self-adaptive wall-climbing robot Download PDFInfo
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- CN216070248U CN216070248U CN202122171679.9U CN202122171679U CN216070248U CN 216070248 U CN216070248 U CN 216070248U CN 202122171679 U CN202122171679 U CN 202122171679U CN 216070248 U CN216070248 U CN 216070248U
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Abstract
The utility model relates to a conical surface self-adaptive wall-climbing robot which comprises a robot body and a remote controller in wireless communication with the robot body, wherein the robot body comprises a cross brace and a support frame hinged to two ends of the cross brace through a cross universal joint, a power supply module is arranged on the cross brace, a double-row chain is rotatably arranged on the support frame through a transmission mechanism, the transmission mechanism is connected with a driving motor electrically connected with the power supply module on the support frame through a worm gear speed reducer, and a movable magnet assembly used for being in contact with a wind power tower cylinder is arranged between every two opposite chain links in the double-row chain. The double-row chain type wind power tower can freely move on the wind power tower, and the movable magnet assembly is matched with the double-row chain to be attached and adsorbed with the conical surface, so that the running stability is ensured.
Description
Technical Field
The utility model relates to the technical field of wind power tower drum maintenance robots, in particular to a conical surface self-adaptive wall-climbing robot.
Background
In recent years, wind power plays an important role in constructing a low-carbon clean and sustainable new energy system; however, the operation and maintenance cost of wind power is always high, the daily operation and maintenance mainly comprising tower cleaning, flaw detection, rust removal and tower top head inspection belong to special high-altitude dangerous operations, and the cost control of renting large-scale hoisting elevator equipment is a main factor for preventing the popularization of the conventional operation and maintenance of wind power.
Wind power tower cylinder is conical structure, and the current crawler-type wall climbing robot in market can not adapt to the circular cone surface, drops easily, and wind power tower cylinder height all is more than 60 meters, leans on remote control and naked eye to judge that the robot climbs the height, can not the accurate determination robot high position. The insufficient climbing height causes incomplete work, climbing beyond the height of a tower barrel and easily causing the robot to incline and fall. Once dropped, it is extremely dangerous and therefore a safety sling must be used, increasing the difficulty of installation and use. Therefore, the conventional crawler-type wall-climbing robot is not suitable for the wind power tower. Therefore, for a high-altitude operation robot, accurate monitoring robot climbing is necessary.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects of the prior art, the utility model provides the conical surface self-adaptive wall-climbing robot which can self-adjust the inclination angles of two supporting frames, realize greater attachment with the surface of a wind power tower cylinder, increase the adsorption force and ensure the stability of the maintenance work of the tower cylinder of the robot.
The utility model is realized by the following technical scheme:
the utility model provides a conical surface self-adaptation wall climbing robot, including the robot and with the remote controller of robot wireless communication, the robot includes the stull and articulates the braced frame who installs at the stull both ends through the cross universal joint, install power module on the stull, braced frame is last to rotate through drive mechanism and to install double chain, drive mechanism is connected with the driving motor who is connected with the power module electricity through worm gear reducer on braced frame, all install a movable magnet subassembly that is used for with the contact of wind power tower section of thick bamboo between per two just right chain links in the double chain.
This scheme carries out the communication through remote controller and robot, and robot utilizes the double chain cooperation drive mechanism and the movable magnet subassembly of installing on the carriage to realize self-adaptation walking on wind power tower cylinder, and the robot can move such as go forward, move back, turn on the circular cone surface, when guaranteeing the flexibility, reduces the risk that drops, and work efficiency improves greatly.
Furthermore, the transmission mechanism comprises a driving shaft and a driven shaft which are respectively rotatably arranged at two ends of the supporting frame, two driving chain wheels matched with the double-row chains are respectively arranged on the driving shaft, and two driven chain wheels matched with the double-row chains are respectively arranged on the driven shaft.
The driving shaft is driven by the driving motor to be matched with the double-row chain to drive the driven chain to rotate, so that transmission is realized.
Further, the chain tensioner is mounted in the support frame and is respectively abutted against the double-row chain.
The chain tensioner is used for keeping the double-row chain wheel tensioned, improving the transmission efficiency and ensuring the stable operation of the equipment.
Further, activity magnet subassembly includes the fixed plate, there is the magnet of cladding anti-skidding rubber through the bolt fastening on the fixed plate, the fixed strip hole that sets up along fixed plate length direction is seted up at the both ends of fixed plate, the installation folded plate that the cross-section is right angle shape is installed in the outside of chain link, the locating hole is just seted up to the fixed strip hole to the one side of installation folded plate, the activity is pegged graft in fixed strip hole and the locating hole has movable pull rod, movable pull rod's bottom is connected with locknut, movable pull rod's top is fixed with the stopper, movable pull rod overlaps between locating hole below and locknut top and is equipped with compression spring.
Magnet is used for adsorbing with wind power tower cylinder, and frictional force when outside cladding antiskid rubber is used for the increase walking, and magnet passes through the fixed plate to be connected with double chain, cooperates the movable pull rod and the compression spring of chain both sides for movable magnet subassembly can remain throughout and the laminating of wind power tower cylinder, guarantees the stability of equipment operation.
Furthermore, the movable pull rod is sleeved with a gasket at one end far away from the locknut, and the gasket is arranged between the compression spring and the mounting folded plate.
The gasket is used for spacing the end part of the compression spring, so that the compression spring can be matched with the movable pull rod to keep continuously pressing outwards.
Furthermore, a height measuring sensor is arranged on the cross arm.
The height measuring sensor is additionally arranged, the purpose of monitoring the climbing height in real time is achieved through wireless communication with the remote controller, the function of setting the limit of the climbing height by using the remote controller is achieved through a program, and the moving range of the wall climbing robot is controlled within the safe height.
The utility model has the beneficial effects that:
the robot body of this scheme designs according to the circular conical surface to wind power tower cylinder, adopts the type track structure of circular conical surface self-adaptation, but the braced frame that specially designed self-interacting inclination forms similar track structure with movable magnet subassembly, and movable magnet drives track structure through adsorbing the laminating that cooperates the transmission structure to drive track structure rotation make its and wind power tower cylinder surface bigger degree with wind power tower cylinder, and the increase adsorption affinity ensures the stability of robot tower cylinder maintenance work. Articulated braced frame is passed through to robot stull both sides, can move such as go forward, retreat, turn on the circular cone surface, when guaranteeing the flexibility, reduces the risk that drops, and work efficiency improves greatly. Increase height measurement sensor on the stull, through with remote controller wireless communication, reach the purpose of real-time supervision height of climbing, realize using the remote controller to set up the function of the height limit of climbing through the procedure, will climb wall robot home range control in safe height.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a side sectional view of the present invention;
FIG. 4 is a top view of the support frame of the present invention;
FIG. 5 is a schematic view of the mounting structure of the double row chain and moving magnet assembly of the present invention;
FIG. 6 is a perspective view of the movable magnet assembly of the present invention;
fig. 7 is a sectional view of the mounting structure of the double row chain and movable magnet assembly of the present invention.
Shown in the figure:
1. a robot body; 2. a cross brace; 3. a cross universal joint; 4. a worm gear reducer; 5. a support frame; 6. a drive motor; 7. a chain link; 8. a driven sprocket; 9. a driven bearing; 10. a driven shaft; 11. a drive sprocket; 12. a drive shaft; 13. a drive bearing; 14. a chain tensioner; 15. a connecting member; 16. double rows of chains; 17. a movable magnet assembly; 18. a magnet; 19. anti-skid rubber; 20. a screw; 21. a fixing plate; 22. a movable pull rod; 23. a gasket; 24. a compression spring; 25. a locknut; 26. a height measurement sensor; 27. a remote controller; 28. a limiting head; 29. a fixing bar hole; 30. and (5) mounting a folded plate.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
A conical surface self-adaptive wall climbing robot comprises a robot body 1 and a remote controller 27 in wireless communication with the robot body 1, wherein the remote controller 27 is provided with a display screen, and the climbing height of the robot can be displayed on the screen of the remote controller in real time. The robot body 1 comprises a cross brace 2 and a support frame 5 which is hinged to two ends of the cross brace 2 through a cross universal joint 3, a power supply module is installed on the cross brace 2, and a height measuring sensor 26 which is electrically connected with the power supply module is arranged on the support frame 5, a double-row chain 16 is installed on the support frame 5 through a transmission mechanism in a rotating mode, the transmission mechanism comprises a driving shaft 12 and a driven shaft 10 which are installed at two ends of the support frame 5 in a rotating mode respectively, the driving shaft 12 is installed on the support frame 5 through a driving bearing 11 in a rotating mode, the driven shaft 10 is installed on the support frame 5 through a driven bearing 9 in a rotating mode, two driving chain wheels 11 matched with the double-row chain 16 are installed on the driving shaft 12 respectively, and two driven chain wheels 8 matched with the double-row chain 16 are installed on the driven shaft 10 respectively. The support frame 5 has mounted therein chain tensioners 14 that are respectively abutted against the double row chains 16.
Drive mechanism is connected with driving motor 6 of being connected with the power module electricity through worm gear speed reducer 4 on braced frame 5, wherein: the driving motor 6 is provided with a controller which is electrically connected with the height detection sensor, the controller and the remote controller can be in wireless communication, and a movable magnet assembly 17 is arranged between every two opposite chain links 7 in the double-row chain 16. Wherein: activity magnet subassembly 17 includes fixed plate 21, be fixed with cladding antiskid rubber 19's magnet 18 through bolt 20 on the fixed plate 21, the fixed strip hole 29 that sets up along fixed plate 21 length direction is seted up at the both ends of fixed plate 21, the installation folded plate 31 that the cross-section is right angle shape is installed in the outside of chain link 7, the locating hole is just seted up to fixed strip hole 29 to the one side of installation folded plate 30, fixed strip hole 29 is pegged graft with the downthehole activity of locating hole and is had activity pull rod 22, activity pull rod 22 can be in fixed slot hole 29 translation slip, the bottom of activity pull rod 22 is connected with lock nut 25, the top of activity pull rod 22 is fixed with spacing head 28, activity pull rod 22 overlaps between locating hole below and lock nut 25 top and is equipped with compression spring 24. The movable pull rod 22 is sleeved with a gasket 23 at one end far away from the locknut 25, and the gasket 23 is arranged between the compression spring 24 and the mounting folded plate 30. The movable pull rod 22 can move axially and translate to achieve the purpose of self-adjusting the angle.
The overall working process of the utility model is as follows:
when in use, the magnet assembly is manually placed on the surface of the wind power tower and is adsorbed on the wind power tower through the magnet 18 in the movable magnet assembly 17. The double-row chains 16 on the supporting frames 5 at the two ends of the cross brace 2 are driven by respective driving motors 6 through respective worm gear reducers 4, so that the integral forward, backward and turning actions are realized.
When the robot body 1 vertically walks on the conical surface, the left and right groups of supporting frames 5 realize integral angle adjustment through the cross universal joints 3 at the two ends of the cross support 2, so that a crawler structure formed by the movable magnet assembly 17 and the double rows of chains 16 is adapted to the joint angle of the conical surface. When the robot body turns on the conical surface, the double-row chain 16 of the crawler structure is changed into a curve along with the shape of the arc surface, the direction of the movable magnet assembly 17 is changed along with the chain, so that the curved surface of the wind power tower barrel is attached, the robot moves on the surface of the tower barrel, the conical surface of the wind power tower barrel is adapted through angle self-adjustment, and attachment and adsorption force are guaranteed.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (6)
1. The utility model provides a conical surface self-adaptation wall climbing robot, includes robot body and the remote controller with robot body wireless communication, its characterized in that: the robot body comprises a cross brace and a supporting frame which is hinged to the two ends of the cross brace through a cross universal joint, a power module is installed on the cross brace, a double-row chain is installed on the supporting frame in a rotating mode through a transmission mechanism, the transmission mechanism is connected with a driving motor which is electrically connected with the power module through a worm gear speed reducer on the supporting frame, and a movable magnet assembly which is used for being in contact with a wind power tower cylinder is installed between every two opposite chain links in the double-row chain.
2. The conical surface adaptive wall-climbing robot according to claim 1, wherein: the transmission mechanism comprises a driving shaft and a driven shaft which are respectively and rotatably arranged at two ends of the supporting frame, two driving chain wheels matched with the double-row chains are respectively arranged on the driving shaft, and two driven chain wheels matched with the double-row chains are respectively arranged on the driven shaft.
3. The conical surface adaptive wall-climbing robot according to claim 2, wherein: the chain tensioner is arranged in the support frame and is respectively abutted with the double-row chain.
4. The conical surface adaptive wall-climbing robot according to claim 1, wherein: the movable magnet assembly comprises a fixing plate, a magnet coated with anti-slip rubber is fixed on the fixing plate through bolts, fixing strip holes arranged along the length direction of the fixing plate are formed in the two ends of the fixing plate, an installation folded plate with a right-angle-shaped cross section is installed on the outer side of each single chain link, a positioning hole is formed in one side of the installation folded plate and is opposite to the fixing strip holes, a movable pull rod is movably inserted in the fixing strip holes and the positioning hole, the bottom of the movable pull rod is connected with a check nut, a limiting head is fixed at the top of the movable pull rod, and a compression spring is sleeved on the movable pull rod between the lower portion of the positioning hole and the upper portion of the check nut.
5. The conical surface adaptive wall-climbing robot according to claim 4, wherein: one end of the movable pull rod, which is far away from the locknut, is sleeved with a gasket, and the gasket is arranged between the compression spring and the mounting folded plate.
6. The conical surface adaptive wall-climbing robot according to claim 1, wherein: and a height measuring sensor electrically connected with the power module is arranged on the cross arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122171679.9U CN216070248U (en) | 2021-09-09 | 2021-09-09 | Conical surface self-adaptive wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122171679.9U CN216070248U (en) | 2021-09-09 | 2021-09-09 | Conical surface self-adaptive wall-climbing robot |
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| CN216070248U true CN216070248U (en) | 2022-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122171679.9U Active CN216070248U (en) | 2021-09-09 | 2021-09-09 | Conical surface self-adaptive wall-climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117163845A (en) * | 2023-10-31 | 2023-12-05 | 南通庞源机械工程有限公司 | Climbing device of internal climbing tower crane |
-
2021
- 2021-09-09 CN CN202122171679.9U patent/CN216070248U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117163845A (en) * | 2023-10-31 | 2023-12-05 | 南通庞源机械工程有限公司 | Climbing device of internal climbing tower crane |
| CN117163845B (en) * | 2023-10-31 | 2024-01-23 | 南通庞源机械工程有限公司 | Climbing device of internal climbing tower crane |
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