CN219382650U

CN219382650U - Wall climbing robot

Info

Publication number: CN219382650U
Application number: CN202223299926.4U
Authority: CN
Inventors: 陈超; 杨勇; 赵厚程
Original assignee: Sichuan Geely University
Current assignee: Sichuan Geely University
Priority date: 2022-12-09
Filing date: 2022-12-09
Publication date: 2023-07-21
Anticipated expiration: 2032-12-09

Abstract

The utility model belongs to the technical field of wall climbing robots, and discloses a wall climbing robot which comprises a wall climbing robot body, wherein two connecting grooves are formed in the wall climbing robot body, movable rods are movably connected in the two connecting grooves, tooth-shaped grooves are formed in the upper surface of each movable rod, gears are meshed with the tooth-shaped grooves, a hydraulic rod is fixedly arranged in a power bin, and a steering magnetic attraction mechanism is fixedly arranged at the bottom of each hydraulic rod.

Description

Wall climbing robot

Technical Field

The utility model belongs to the technical field of wall climbing robots, and particularly relates to a wall climbing robot.

Background

The wall climbing robot can climb on a vertical wall and complete an automatic robot of the operation. Wall climbing robots are also known as wall moving robots, and are also known as extreme work robots abroad because the vertical wall work exceeds the limits of a person. The wall climbing robot has two basic functions of adsorption and movement, and the common adsorption mode has two types of negative pressure adsorption and permanent magnetic adsorption. Wherein, the negative pressure mode can be absorbed on the wall surface by generating negative pressure in the sucker, and is not limited by the wall surface material; the permanent magnet adsorption mode is provided with a permanent magnet mode and an electromagnet mode, and is only suitable for adsorbing the magnetic permeability wall surface. The wall climbing robot is mainly used for carrying out flaw detection or paint spraying treatment on a cylindrical large tank or cleaning and spraying a building by petrochemical enterprises. The method is used for checking thickness measurement and the like in the nuclear industry, and can also be used in the industries of fire fighting, shipbuilding and the like.

A wall climbing robot according to the publication No. CN217320570U is proposed in which a magnet is mounted on a crawler belt, and the magnet is attached to a metal wall surface to perform a wall climbing operation, but since the crawler belt is required to be magnetically attached to the wall surface, a part of power is required to be consumed to pull up the crawler belt magnetically attached to the wall surface when the crawler belt moves, thereby causing a problem of large power consumption.

Disclosure of Invention

The utility model aims at: in order to reduce the power consumption of the wall climbing robot.

The technical scheme adopted by the utility model is as follows: the utility model provides a wall climbing robot, includes wall climbing robot body, two spread grooves have been seted up to wall climbing robot body inside, two equal swing joint in spread groove has the movable rod, the movable rod upper surface is provided with the tooth groove, equal fixed mounting connecting rod in movable rod both sides bottom, connecting rod bottom fixed mounting has first magnet, wall climbing robot body inside is provided with motor storehouse and power storehouse, motor storehouse quantity is two, is located respectively power storehouse left and right sides, motor storehouse internally mounted has servo motor, servo motor's output shaft end part fixed mounting has the gear, gear and tooth groove meshing, power storehouse internally mounted has the hydraulic stem, hydraulic stem bottom fixed mounting has the magnetism that turns to and inhale the mechanism.

Through the technical scheme, when the wall climbing robot climbs the wall, the wall climbing robot is firstly adsorbed on the metal wall surface through the first magnet, the gear is driven to rotate clockwise through the servo motor at the moment, the wall climbing robot body moves upwards to the uppermost end of the movable rod along the movable rod, the steering magnetic attraction mechanism is exposed from the power bin through the extension of the hydraulic rod at the moment, the robot is adsorbed on the wall surface through the magnetic attraction mechanism, the magnetic force of the first magnet disappears at the moment, the hydraulic rod continues to extend to jack up the robot, the movable rod moves upwards through the anticlockwise rotation of the servo motor, the operation is repeated, the wall climbing robot body can move upwards along the wall plate, and meanwhile, the force for pulling the magnetic attraction is not required to be additionally consumed in the moving process, so that the electric energy consumption of the robot is reduced.

In a preferred embodiment, the steering magnetic attraction mechanism comprises a second magnet and a rotating motor, wherein the second magnet is fixedly arranged at the bottom of an output shaft of the rotating motor, and the upper surface of the rotating motor is fixedly connected with the end part of the output shaft of the hydraulic rod.

Through above-mentioned technical scheme, make magnetism inhale the mechanism and adsorb on metal wall through the second magnet, when wall climbing robot need turn, only need make the rotating electrical machines circular telegram drive wall climbing robot body rotatory can.

In a preferred embodiment, a camera is fixedly arranged at the top of the wall climbing robot body.

Through above-mentioned technical scheme, creep the state through the camera to the robot and shoot.

In a preferred embodiment, the front side of the wall climbing robot body is fixedly provided with an illuminating lamp.

Through above-mentioned technical scheme, provide night illumination through the light.

In a preferred embodiment, the first magnet and the second magnet are bistable electromagnets.

Through the technical scheme, after the bistable electromagnet is activated, the armature is kept at the tail end position of the bistable electromagnet, and power supply is not needed to keep the state, so that the robot can still be adsorbed on a wall surface when the power is off, and the return spring is activated through reverse polarity electric pulse, so that the armature returns to the original position of the armature, and the magnetism of the magnet is vanished.

In a preferred embodiment, the left outer wall of the wall climbing robot body is provided with a detachable battery.

Through above-mentioned technical scheme, the battery of being convenient for changes.

In a preferred embodiment, the hydraulic rod, the servo motor and the steering magnet are all driven by a PLC.

In summary, due to the adoption of the technical scheme, the beneficial effects of the utility model are as follows: the utility model provides a wall climbing robot, which aims to reduce the electric energy consumption of the wall climbing robot.

Through first magnet absorption on the metal wall, drive the clockwise rotation of gear through servo motor this moment, make wall climbing robot body upwards move to the movable rod top along the movable rod, the mechanism is inhaled to the steering magnetism in the power storehouse to the hydraulic stem extension this moment exposes, adsorb the robot on the wall through the magnetism mechanism of inhaling, first magnet magnetic force disappears this moment, the hydraulic stem continues the extension and jack-up the robot, servo motor anticlockwise rotation makes the movable rod upwards move, repeat above-mentioned operation makes wall climbing robot body can be along the wallboard upwards move, do not need the extra power that consumes to be used for pulling the magnetism in the removal process simultaneously, thereby the electric energy consumption of robot has been reduced.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of the internal structure of the wall climbing robot body according to the present utility model;

fig. 3 is a schematic structural view of the steering magnet mechanism in the present utility model.

The marks in the figure: 1-a wall climbing robot body; 2-connecting grooves; 3-a movable rod; 4-tooth grooves; 5-connecting rods; 6-a first magnet; 7-a motor bin; 8-a power bin; 9-a servo motor; 10-gear; 11-a hydraulic rod; 12-steering magnetic attraction mechanism; 13-a second magnet; 14-a camera; 15-lighting lamp; 16-a rotating electric machine; 17-removable battery.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions in the embodiments of the present utility model will be clearly and completely described in the following in conjunction with the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

A wall climbing robot according to an embodiment of the present utility model will be described in detail with reference to fig. 1 to 3.

Examples

The utility model provides a wall climbing robot, includes wall climbing robot body 1, wall climbing robot body 1 top fixed mounting has camera 14, shoots the robot state of crawling through camera 14, wall climbing robot body 1 front side fixed mounting has light 15, provides night illumination through light 15, wall climbing robot body 1 left side outer wall is provided with detachable battery 17, is convenient for change the battery.

Two connecting grooves 2 are formed in the wall climbing robot body 1, movable rods 3 are movably connected in the two connecting grooves 2, tooth-shaped grooves 4 are formed in the upper surface of each movable rod 3, connecting rods 5 are fixedly arranged at the bottoms of two sides of each movable rod 3, first magnets 6 are fixedly arranged at the bottoms of the connecting rods 5, a motor bin 7 and a power bin 8 are arranged in the wall climbing robot body 1, the number of the motor bins 7 is two, the two motor bins 7 are respectively positioned at the left side and the right side of the power bin 8, a servo motor 9 is fixedly arranged in the motor bin 7, gears 10 are fixedly arranged at the end parts of output shafts of the servo motor 9, the gears 10 are meshed with the tooth-shaped grooves 4, a hydraulic rod 11 is fixedly arranged in the power bin 8, a steering magnetic attraction mechanism 12 is fixedly arranged at the bottom of each hydraulic rod 11, the servo motor 9 and the steering magnetic attraction mechanism 12 are all driven by a PLC, when the wall climbing robot climbs the wall, first the first magnet 6 is adsorbed on the metal wall, at this moment, the gear 10 is driven to rotate clockwise through the servo motor 9, the wall climbing robot body 1 moves upwards to the uppermost end of the movable rod 3 along the movable rod 3, at this moment, the hydraulic rod 11 stretches to expose the steering magnetic attraction mechanism 12 from the power bin 8, the robot is adsorbed on the wall through the magnetic attraction mechanism 12, at this moment, the magnetic force of the first magnet 6 disappears, the hydraulic rod 11 continues to stretch to jack the robot up, the servo motor 9 rotates anticlockwise to enable the movable rod 3 to move upwards, the wall climbing robot body 1 can move upwards along the wallboard by repeating the operation, and meanwhile, the force for pulling the magnetic attraction is not required to be additionally consumed in the moving process, so that the electric energy consumption of the robot is reduced.

The steering magnetic attraction mechanism 12 comprises a second magnet 12 and a rotating motor 16, the first magnet 6 and the second magnet 13 are bistable electromagnets, after the bistable electromagnets are activated, the armature is kept at the tail end position of the bistable electromagnets, no power supply is needed to keep the state, so that the robot can be attracted to a wall surface when the robot is powered off, a return spring is activated through electric pulses with opposite polarities, the armature returns to the original position of the armature, the magnetism of the magnet disappears, the second magnet 13 is fixedly arranged at the bottom of an output shaft of the rotating motor 16, the upper surface of the rotating motor 16 is fixedly connected with the end part of the output shaft of the hydraulic rod 11, the magnetic attraction mechanism 12 is attracted to the metal wall surface through the second magnet 13, and when the wall climbing robot needs to turn, the rotating motor 16 is electrified to drive the wall climbing robot body 1 to rotate.

Working principle:

when the wall climbing robot climbs the wall, first the first magnet 6 is adsorbed on the metal wall, at this moment, the gear 10 is driven to rotate clockwise through the servo motor 9, the wall climbing robot body 1 moves upwards to the uppermost end of the movable rod 3 along the movable rod 3, at this moment, the hydraulic rod 11 stretches to expose the steering magnetic attraction mechanism 12 from the power bin 8, the robot is adsorbed on the wall through the magnetic attraction mechanism 12, at this moment, the magnetic force of the first magnet 6 disappears, the hydraulic rod 11 continues to stretch to jack the robot up, the servo motor 9 rotates anticlockwise to enable the movable rod 3 to move upwards, the wall climbing robot body 1 can move upwards along the wallboard by repeating the operation, and meanwhile, the force for pulling the magnetic attraction is not required to be additionally consumed in the moving process, so that the electric energy consumption of the robot is reduced.

The above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. The utility model provides a wall climbing robot, includes wall climbing robot body (1), its characterized in that: the wall climbing robot comprises a wall climbing robot body (1), wherein two connecting grooves (2) are formed in the wall climbing robot body (1), two movable rods (3) are movably connected inside the connecting grooves (2), toothed grooves (4) are formed in the upper surfaces of the movable rods (3), connecting rods (5) are fixedly installed at the bottoms of the two sides of the movable rods (3), first magnets (6) are fixedly installed at the bottoms of the connecting rods (5), motor bins (7) and power bins (8) are arranged inside the wall climbing robot body (1), the number of the motor bins (7) is two, the motor bins (7) are respectively located at the left side and the right side of the power bins (8), servo motors (9) are fixedly installed inside the end portions of output shafts of the servo motors (9) are fixedly provided with gears (10), the gears (10) are meshed with the toothed grooves (4), hydraulic rods (11) are fixedly installed inside the power bins (8), and steering magnetic attraction mechanisms (12) are fixedly installed at the bottoms of the hydraulic rods (11).

2. The wall climbing robot according to claim 1, wherein: the steering magnetic attraction mechanism (12) comprises a second magnet (13) and a rotating motor (16), wherein the second magnet (13) is fixedly arranged at the bottom of an output shaft of the rotating motor (16), and the upper surface of the rotating motor (16) is fixedly connected with the end part of the output shaft of the hydraulic rod (11).

3. The wall climbing robot according to claim 1, wherein: the camera (14) is fixedly arranged at the top of the wall climbing robot body (1).

4. The wall climbing robot according to claim 1, wherein: the front side of the wall climbing robot body (1) is fixedly provided with an illuminating lamp (15).

5. The wall climbing robot according to claim 1, wherein: the first magnet (6) and the second magnet (13) are bistable electromagnets.

6. The wall climbing robot according to claim 1, wherein: the outer wall of the left side of the wall climbing robot body (1) is provided with a detachable battery (17).

7. The wall climbing robot according to claim 1, wherein: the hydraulic rod (11), the servo motor (9) and the steering magnetic attraction mechanism (12) are all driven by a PLC.