WO2021128623A1 - 一种履带式钢质壁面攀爬机器人 - Google Patents

一种履带式钢质壁面攀爬机器人 Download PDF

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Publication number
WO2021128623A1
WO2021128623A1 PCT/CN2020/081572 CN2020081572W WO2021128623A1 WO 2021128623 A1 WO2021128623 A1 WO 2021128623A1 CN 2020081572 W CN2020081572 W CN 2020081572W WO 2021128623 A1 WO2021128623 A1 WO 2021128623A1
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Prior art keywords
plate
positioning
frame
shaped
assembly
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PCT/CN2020/081572
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English (en)
French (fr)
Inventor
陈广庆
杜燕飞
孙爱芹
王吉岱
袁亮
王智伟
魏军英
田群宏
王云霞
王晨宇
辛加旭
于晓晨
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山东科技大学
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Publication of WO2021128623A1 publication Critical patent/WO2021128623A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

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  • the invention relates to the field of machinery, in particular to a crawler-type steel wall climbing robot.
  • the purpose of the present invention is to provide a crawler-type steel wall climbing robot, which can automatically adapt to steel walls with different curvature radii, and can walk safely and reliably on the wall under the condition of carrying inspection or maintenance equipment.
  • a crawler-type steel wall climbing robot includes a shell, a suction walking device and a power supply control device.
  • a main frame is arranged in the shell, and a secondary frame is fixed longitudinally in the middle of the main frame.
  • the secondary frame includes a first positioning frame and a connection At the first support plate at the front end of the first positioning frame, the power supply control device is connected to the first positioning frame; there are two groups of suction walking devices, and the two groups of suction walking devices are respectively arranged on both sides of the secondary frame;
  • the suction walking device includes a worm gear motor, a rotary positioning plate, a suction walking shell, a magnetic chain transmission mechanism and a chain internal support mechanism.
  • the rotary positioning plate is rotatably connected between the main frame and the first positioning frame through the first positioning plate connecting mechanism.
  • the worm wheel The worm motor is connected in the rotating positioning plate;
  • the adsorption walking shell includes two sets of first tension adjusting plate assemblies, a first main transmission gear assembly and a second slave transmission gear assembly are connected between the two sets of first tension adjustment plate assemblies, the first main transmission gear assembly and the worm gear Motor connection;
  • the magnetic chain transmission mechanism is located between the two sets of first tension adjusting plate assemblies, and is sleeved on the outer ends of the first main transmission gear assembly and the second slave transmission gear assembly; the inner chain support mechanism is arranged inside the magnetic chain transmission mechanism and Positioning by the first tension adjustment plate assembly;
  • the magnetic chain transmission mechanism includes an adsorption magnet block, a transmission gear chain and a magnet block fixing plate assembly.
  • the transmission gear chain is bolted to a plurality of parallel magnet block fixing plate assemblies, and each magnet block fixing plate assembly is bolted to a plurality of adsorbers. Magnet block.
  • the main frame is in the shape of a square frame, the upper end of the main frame is connected with a rectangular shell-shaped housing, and two sides of the main frame are connected with carrying handles;
  • the power supply control device includes a battery, a controller, and a control positioning plate.
  • the first positioning frame is in the shape of a rectangular frame
  • the control positioning plate is in the shape of an L-shaped plate
  • the control positioning plate is connected in the first positioning frame
  • the battery and the controller are connected to Control the upper part of the positioning board.
  • the first supporting plate is U-shaped, there are two first supporting plates, and the two first supporting plates are arranged in mirror symmetry;
  • the front end of the first support plate is connected to the front of the main frame by bolts, and the rear end of the first support plate is connected to the front of the secondary frame by bolts; an anti-collision buffer is provided between the battery and the first positioning frame Block, the length of the control positioning plate is less than the length of the first positioning frame.
  • the rotating positioning plate is in the shape of a U-shaped plate, and the side end of the opening of the rotating positioning plate is connected to the first tension adjusting plate assembly through the first end connecting plate; the front end surface of the rotating positioning plate is provided with a first Plate positioning holes and second plate positioning holes, the rear surface of the rotating positioning plate is provided with a third plate positioning hole and a fourth plate positioning hole;
  • the front part of the main frame is provided with a first arc-shaped slot hole and a first frame positioning hole
  • the front part of the secondary frame is provided with a second arc-shaped slot hole and a second frame positioning hole.
  • the first positioning plate connection mechanism includes a first plate fixing rod, a second plate fixing rod, a first plate rotating rod and a second plate rotating rod, and both ends of the first plate fixing rod are connected to the first plate respectively.
  • the positioning hole and the first frame positioning hole, and the two ends of the second plate fixing rod are respectively connected to the third plate positioning hole and the second frame positioning hole;
  • the two ends of the first plate rotating rod are respectively connected to the second plate positioning hole and the first arc-shaped slot hole, and the two ends of the second plate rotating rod are respectively connected to the fourth plate positioning hole and the second arc-shaped slot hole.
  • the first tension adjustment plate assembly includes a first front adjustment plate, a first rear adjustment plate and a tension screw assembly, and a first gear for connecting the first main transmission gear assembly is opened in the front of the first front adjustment plate Shaft connection hole;
  • the middle of the first front adjustment plate is provided with a first support connection hole for connecting the inner support mechanism of the chain, and the rear of the first front adjustment plate is provided with two first strip-shaped slots arranged parallel to each other.
  • a first adjusting and positioning bolt is connected in the slotted hole.
  • the first front adjusting plate and the first rear adjusting plate are both rectangular plates, a first adjusting plate notch is opened on the front of the first rear adjusting plate, and the first rear adjusting plate is at the side end of the first adjusting plate notch.
  • a plurality of positioning holes for the first adjusting plate are provided on the adjusting plate;
  • the tightening screw assembly includes a first tightening positioning seat, a second tightening positioning seat and a tightening positioning screw.
  • the first tightening positioning seat is fixedly connected to the first front adjustment between the two first strip-shaped slots.
  • the second tightening positioning seat is fixedly connected to the first rear adjusting plate inside the slot of the first adjusting plate;
  • the first rear adjusting plate is connected to the first adjusting positioning bolt through the positioning hole of the first adjusting plate, the tightening positioning screw connects the first tightening positioning seat and the second tightening positioning seat, and the tightening positioning screw is connected to the tightening positioning bolt.
  • the first main transmission gear assembly includes a first main rotating shaft and a first main gear sleeved on the first main rotating shaft.
  • One end of the first main rotating shaft passes through the inner first tension adjusting plate assembly and connects with the worm gear.
  • the rotating worm of the worm motor is connected, the other end of the first main rotating shaft passes through the outer first tension adjusting plate assembly and then is fixedly positioned by the first rotating shaft positioning seat;
  • the second slave transmission gear assembly includes a second slave rotation shaft and a second slave gear sleeved on the second slave rotation shaft.
  • the end of the second slave rotation shaft passes through the first tension adjustment plate assembly and passes through the second rotation shaft positioning seat Secure positioning.
  • the inner chain support mechanism includes a first chain support plate and a plurality of auxiliary push wheel assemblies, and the first chain support plate is located at the lower end of the upper part of the magnetic chain transmission mechanism and is connected to the first tension adjustment plate assembly;
  • the two auxiliary push wheel assemblies are evenly distributed between the two sets of first tension adjusting plate assemblies;
  • the auxiliary push-wheel assembly includes a first push-rod fixing piece, a first T-shaped push-rod, and a first push-wheel.
  • the first push-rod fixing piece is in an inverted U shape, and the first push-rod fixing piece is connected to the two first pieces by screws. Between the tight adjustment plate components, the lower end of the middle of the first push rod fixing piece is connected with a first sleeve;
  • a first push rod positioning nut is connected, and the first T-shaped push rod under the first sleeve is sleeved with a first Compression spring; there are two first push wheels, and the two first push wheels are respectively connected to both ends of the first T-shaped push rod through the first flange bearing.
  • the magnet block fixing plate assembly includes two first L-shaped magnet block connecting plates, the first L-shaped magnet block connecting plate is connected to the inner end of the transmission gear chain, and the upper end of the first L-shaped magnet block connecting plate is connected The first U-shaped magnet block connecting plate, and the inner end of the first U-shaped magnet block connecting plate is connected with a plurality of adsorption magnet blocks through bolts.
  • the robot When the above-mentioned robot is working, the robot is placed on the wall of a large pressure vessel or the outer wall of the hull, the left side of the robot rotates around the axis, and the right side of the robot rotates around the axis, and the axis is located in the first arc groove Hole and the second arc-shaped slot.
  • the arc-shaped slot defines the rotation angle of the robot's adsorption and walking device, so that the robot can automatically adapt to the curvature of the pressure vessel or the outer wall of the hull to a certain extent along the central axis.
  • the crawler-type steel wall climbing robot is firstly provided with a simple structure shell and a corresponding frame structure, which is more compact in structure and reduces the weight of the overall supporting structure.
  • two sets of new suction walking devices are installed, and the first positioning plate connection mechanism is provided to realize the rotation and disguised walking of the suction walking device.
  • a chain internal support mechanism is provided in the magnetic chain transmission mechanism, which not only realizes the structural strengthening support of the chain, but also supports and locates the magnetic chain transmission mechanism, so that the magnet block of the magnetic chain transmission mechanism can be more effectively attached to the large The wall of the pressure vessel or the outer wall of the hull.
  • the body structure of the crawler-type steel wall climbing robot can automatically adapt the robot to steel walls with different curvature radii, and can walk safely and reliably on the wall under the condition of carrying inspection or maintenance equipment.
  • Figure 1 is a schematic diagram of the overall structure of a crawler-type steel wall climbing robot.
  • Figure 2 is a schematic diagram of the connection structure between the carrying handle and the main frame.
  • Fig. 3 is a schematic diagram of the structure of the suction walking device when it rotates.
  • Figure 4 is a schematic diagram of the connection structure between the housing and the main frame.
  • Fig. 5 is a schematic diagram of the connection structure of the first tension adjusting plate assembly.
  • Figure 6 is a schematic diagram of the overall structure of the internal support mechanism of the chain.
  • Figure 7 is a schematic diagram of the connection structure between the transmission gear chain and the magnet block fixing plate assembly.
  • Figure 8 is a schematic diagram of the overall structure of the auxiliary push wheel assembly.
  • Fig. 9 is a schematic diagram of the connection structure between the first rear adjusting plate and the second slave transmission gear assembly.
  • Figure 10 is a schematic diagram of the overall structure of the main frame.
  • Figure 11 is a schematic diagram of the overall structure of the first support plate.
  • Fig. 12 is a schematic diagram of the overall structure of the first positioning frame.
  • Figure 13 is a schematic diagram of the overall structure of a worm gear motor.
  • Figure 14 is a schematic diagram of the overall structure of the rotating positioning plate.
  • the present invention provides a crawler-type steel wall climbing robot.
  • the present invention will be described in further detail below. It should be understood that the specific embodiments described here are only used to explain the present invention, but not used to limit the present invention.
  • a crawler-type steel wall climbing robot includes a casing 1, a power supply control device 2 and a suction walking device 3.
  • the casing 1 is provided with a main frame 11, and the middle of the main frame 11 is longitudinally fixed
  • a secondary frame 12 is connected.
  • the secondary frame 12 includes a first positioning frame 121 and a first support plate 122 connected to the front end of the first positioning frame 121, and the power supply control device 3 is connected in the first positioning frame 121.
  • There are two groups of suction walking devices 2, and the two groups of suction walking devices 2 are respectively arranged in the main frame 11 on both sides of the secondary frame 12.
  • the suction walking device 3 includes a worm gear motor 31, a rotating positioning plate 32, a suction walking shell 33, a magnetic chain transmission mechanism 4 and a chain internal support mechanism 5.
  • the rotating positioning plate 32 is rotatably connected between the main frame 11 and the first positioning frame 121 through the first positioning plate connecting mechanism 6, and the worm gear motor 31 is connected in the rotating positioning plate 32.
  • the suction walking shell 33 includes two sets of first tension adjusting plate assemblies 7, and a first main transmission gear assembly 34 and a second slave transmission gear assembly 35 are connected between the two sets of first tension adjustment plate assemblies 7.
  • the gear assembly 34 is connected with the worm gear motor 31.
  • the magnetic chain transmission mechanism 4 is located between the two sets of first tension adjusting plate assemblies 7 and is sleeved on the outer ends of the first main transmission gear assembly 34 and the second slave transmission gear assembly 35.
  • the inner chain support mechanism 5 is arranged inside the magnetic chain transmission mechanism 4 and is positioned by the first tension adjustment plate assembly 7; the magnetic chain transmission mechanism 4 includes an adsorption magnet block 41, a transmission gear chain 42 and a magnet block fixing plate assembly 43, and a transmission gear
  • the chain 42 is bolted to a plurality of magnet block fixing plate assemblies 43 arranged in parallel, and each magnet block fixing plate assembly 43 is bolted to a plurality of adsorption magnet blocks 41.
  • the main frame 11 is in the shape of a square frame, the upper end of the main frame 11 is connected with a rectangular shell-shaped housing 1, and two sides of the main frame 11 are connected with carrying handles 13.
  • the power supply control device 2 includes a battery 21, a controller 22, and a control positioning plate 23.
  • the first positioning frame 121 is in the shape of a rectangular frame
  • the control positioning plate 23 is in the shape of an L-shaped plate
  • the control positioning plate 23 is connected to the first positioning frame 121 Inside, the battery 21 and the controller 22 are connected to the control positioning board.
  • the first supporting plate 122 is in the shape of a U-shaped plate. There are two first supporting plates 122, the two first supporting plates 122 are installed vertically, and the two first supporting plates 122 are arranged in mirror symmetry.
  • the front end of the first support plate 122 is connected to the front of the main frame 11 by bolts, and the rear end of the first support plate 122 is connected to the front of the secondary frame 12 by bolts; the battery 21 and the first positioning frame 121 are arranged between
  • the rotating positioning plate 32 is in the shape of a U-shaped plate, and the open side end of the rotating positioning plate 32 is connected to the first tension adjustment plate assembly 7 through a first end connecting plate; the front end surface of the rotating positioning plate 32 is provided with a first plate Positioning holes 301 and second plate positioning holes 302, a third plate positioning hole 303 and a fourth plate positioning hole 304 are opened on the rear surface of the rotating positioning plate;
  • the front of the main frame 11 is provided with a first arc-shaped slot 101 and a first frame positioning hole 102
  • the front of the secondary frame 12 is provided with a second arc-shaped slot 103 and a second frame positioning hole 104.
  • the first positioning plate connecting mechanism 6 includes a first plate fixing rod 61, a second plate fixing rod 62, a first plate rotating rod 63 and a second plate rotating rod 64.
  • the two ends of the first plate fixing rod 61 are respectively connected to the first plate
  • the plate positioning hole 301 and the first frame positioning hole 102, and the two ends of the second plate fixing rod 62 are respectively connected to the third plate positioning hole 303 and the second frame positioning hole 104.
  • the two ends of the first plate rotating rod 63 are respectively connected to the second plate positioning hole 302 and the first arc-shaped slot 101, and the two ends of the second plate rotating rod 64 are respectively connected to the fourth plate positioning hole 304 and the second arc. Slot hole 103.
  • the first tension adjustment plate assembly 7 includes a first front adjustment plate 71, a first rear adjustment plate 72, and a tension screw assembly 73.
  • the front of the first front adjustment plate 71 is provided with a first main transmission gear assembly 34.
  • a gear shaft connection hole, a first supporting connection hole for connecting the chain inner support mechanism 5 is opened in the middle of the first front adjusting plate 71, and two parallelly arranged first connecting holes are opened on the rear of the first front adjusting plate 71.
  • a strip-shaped slot 74 is connected with a first adjusting and positioning bolt 75 in the first strip-shaped slot 74.
  • Both the first front adjusting plate 71 and the first rear adjusting plate 72 are rectangular plates, the front of the first rear adjusting plate 72 is provided with a first adjusting plate notch, and the first rear adjusting plate at the side end of the first adjusting plate notch A plurality of first adjusting plate positioning holes 76 are provided on 72.
  • the tightening screw assembly 73 includes a first tightening positioning seat 77, a second tightening positioning seat 78, and a tightening positioning screw 79.
  • the first tightening positioning seat 77 is fixedly connected between the two first strip-shaped slots 74
  • the second tightening positioning seat 78 is fixedly connected to the first rear adjusting plate 72 inside the slot of the first adjusting plate.
  • the first tension positioning seat 77 and the second tension positioning seat 78 are connected by tightening the positioning screw 79 to tighten the positioning
  • the screw 79 is connected with a tightening positioning nut for positioning and tightening the positioning screw 79.
  • the first main transmission gear assembly 34 includes a first main shaft and a first main gear sleeved on the first main shaft.
  • One end of the first main shaft passes through the inner first tension adjusting plate assembly 7 and then connects with the worm gear motor 31.
  • the other end of the first main rotating shaft passes through the outer first tension adjusting plate assembly 7 and then is fixedly positioned by the first rotating shaft positioning seat.
  • the second slave transmission gear assembly 35 includes a second slave rotation shaft 35 and a second slave gear 351 sleeved on the second slave rotation shaft 35.
  • the end of the second slave rotation shaft 35 passes through the first tension adjustment plate assembly 7 The positioning is fixed by the second rotating shaft positioning seat.
  • the inner chain support mechanism 5 includes a first chain support plate 51 and a plurality of auxiliary push wheel assemblies 52.
  • the first chain support plate 51 is located at the lower end of the upper part of the magnetic chain transmission mechanism 4 and is connected to the first tension adjustment plate assembly 7;
  • a plurality of auxiliary push wheel assemblies 52 are evenly distributed between the two sets of first tension adjusting plate assemblies 7.
  • the auxiliary push wheel assembly 52 includes a first push rod fixing piece 53, a first T-shaped push rod 54 and a first push wheel 55.
  • the first push rod fixing piece 53 is in an inverted U shape, and the first push rod fixing piece 53 is connected by screws Between the two first tension adjustment plate assemblies 7, the lower end of the middle of the first push rod fixing piece 53 is connected with a first sleeve 56;
  • the rod end of the first T-shaped push rod 54 passes through the first sleeve 56 and the first push rod fixing piece 53 and is connected with a first push rod positioning nut 57.
  • the first T-shaped push rod under the first sleeve 56 A first compression spring 58 is sleeved on 54.
  • the magnet block fixing plate assembly 43 includes two first L-shaped magnet block connecting plates 431, the first L-shaped magnet block connecting plate 431 is connected to the inner end of the transmission gear chain 42, and the upper end of the first L-shaped magnet block connecting plate 431 is connected.
  • the first U-shaped magnet block connecting plate 432, and the inner end of the first U-shaped magnet block connecting plate 432 is connected to a plurality of attracting magnet blocks 41 by bolts.
  • the robot When the above-mentioned robot is working, the robot is placed on the wall of a large pressure vessel or the outer wall of the hull, the left side of the robot rotates around the axis, and the right side of the robot rotates around the axis, and the axis is located in the first arc groove Hole and the second arc-shaped slot.
  • the arc-shaped slot defines the rotation angle of the robot's adsorption and walking device, so that the robot can automatically adapt to the curvature of the pressure vessel or the outer wall of the hull to a certain extent along the central axis.
  • a chain inner support mechanism 5 is provided in the suction walking device, and the chain inner support mechanism 5 is arranged inside the magnetic chain transmission mechanism 4 and positioned by the first tension adjustment plate assembly 7.
  • the first compression spring 58 in the chain inner support mechanism 5 pushes the first T-shaped push rod 54 so that the first push wheel 55 on the first T-shaped push rod 54 always elastically pushes and supports the magnetic chain transmission mechanism 4.
  • the magnetic chain transmission mechanism 4 supports the gravity of the entire robot.
  • the controller controls the operation of the worm gear motor.
  • the worm gear motor drives the first main transmission gear assembly 34 to rotate, and the first main transmission gear assembly 34 drives the magnetic chain transmission mechanism 4 to rotate.
  • the chain supports The mechanism 5 is used as an auxiliary support to finally realize the robot's walking on the wall, change the rotation speed of the two worm gear motors of the robot to realize differential rotation, and then the robot can turn.
  • the length of the first tension adjustment plate assembly 7 can be adjusted to realize the tension of the magnet chain of the left suction walking device.
  • the crawler-type steel wall climbing robot is firstly provided with a simple structure shell and a corresponding frame structure, which is more compact in structure and reduces the weight of the overall supporting structure.
  • two sets of new suction walking devices are installed, and the first positioning plate connecting mechanism 6 is provided to realize the rotation and disguised walking of the suction walking device.
  • a chain internal support mechanism 5 is provided in the magnetic chain transmission mechanism 4, which not only realizes the structural strengthening support of the chain, but also supports and locates the magnetic chain transmission mechanism 4, so that the magnet block of the magnetic chain transmission mechanism 4 can be more effective It is fitted to the wall of a large pressure vessel or the outer wall of the hull.
  • the body structure of the aforementioned crawler-type steel wall climbing robot can automatically adapt to steel walls with different curvature radii, and can safely and reliably walk on the wall under the condition of carrying inspection or maintenance equipment.
  • a transport tank for holding and transporting the corrosive liquid can be installed on the casing, and the transport tank can be welded to the casing.

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Abstract

一种履带式钢质壁面攀爬机器人，包括壳体（1）、吸附行走装置（3）和供电控制装置（2），壳体内设置有主框架（11），主框架（11）的中部纵向固连有次框架（12）；吸附行走装置（3）有两组，两组吸附行走装置（3）分别设在次框架（12）的两侧；吸附行走装置（3）包括蜗轮蜗杆电机（31）、旋转定位板（32）、吸附行走壳（33）、磁性链条传动机构（4）和链条内支撑机构（5），旋转定位板（32）转动连接在主框架（11）和第一定位框（121）之间，蜗轮蜗杆电机（31）连接在旋转定位板（32）内；吸附行走壳（33）包括两组第一张紧调节板组件（7），两组第一张紧调节板组件（7）之间连接有第一主传动齿轮组件（34）和第二从传动齿轮组件（35）；磁性链条传动机构（4）套连在第一主传动齿轮组件（34）和第二从传动齿轮组件（35）的外端。该机器人可自动适应不同曲率半径的钢制壁面，行走时的稳定性好。

Description

一种履带式钢质壁面攀爬机器人 技术领域
本发明涉及机械领域，具体涉及一种履带式钢质壁面攀爬机器人。
背景技术
大型船舶长期处于淡水、海水等环境中，表层容易产生氧化，或者因为生产过程出现错误等各种原因需要对船体表层进行检测和修复，否则将引起船舶的安全问题。亦或是大型压力容器表面有储存的腐蚀性液体或者暴露于大气环境中而使其生锈，进而使材料失效，严重的可能使压力容器发生爆炸，因此需要定期对压力容器进行质量检查和维修。船舶和大型压力容器的质量检测和维修现阶段均为人工作业，工作量大、危险系数高，因此研发一款可以携带检测设备和维修设备在钢制壁面行走的移动平台具有十分重要的意义。
现阶段，许多国家都开始了钢制壁面攀爬移动平台的研究，并且研制出各种钢制壁面移动平台，为此，我们提出了一种履带式钢质壁面攀爬机器人。
发明概述
技术问题
问题的解决方案
技术解决方案
本发明的目的在于提供一种履带式钢质壁面攀爬机器人，该机器人可自动适应不同曲率半径的钢制壁面，并且可以在承载检测或者维修设备的条件下在壁面安全可靠的行走。
本发明为了实现上述目的，采用的技术解决方案是：
一种履带式钢质壁面攀爬机器人，包括壳体、吸附行走装置和供电控制装置，壳体内设置有主框架，主框架的中部纵向固连有次框架，次框架包括第一定位框和连接在第一定位框前端的第一支撑板，供电控制装置连接在第一定位框中；吸附行走装置有两组，两组吸附行走装置分别设置在次框架的两侧；
吸附行走装置包括蜗轮蜗杆电机、旋转定位板、吸附行走壳、磁性链条传动机 构和链条内支撑机构，旋转定位板通过第一定位板连接机构转动连接在主框架和第一定位框之间，蜗轮蜗杆电机连接在旋转定位板内；
吸附行走壳包括两组第一张紧调节板组件，两组第一张紧调节板组件之间连接有第一主传动齿轮组件和第二从传动齿轮组件，第一主传动齿轮组件与蜗轮蜗杆电机连接；
磁性链条传动机构位于两组第一张紧调节板组件之间，并且套连在第一主传动齿轮组件和第二从传动齿轮组件的外端；链条内支撑机构设置在磁性链条传动机构内侧并通过第一张紧调节板组件定位；
磁性链条传动机构包括吸附磁铁块、传动齿轮链条和磁铁块固定板组件，传动齿轮链条上螺栓连接多个平行排列的磁铁块固定板组件，每个磁铁块固定板组件上螺栓连接有多个吸附磁铁块。
优选的，所述主框架呈方形框状，主框架的上端连接长方形壳状的壳体，主框架的两侧连接有搬运把手；
所述供电控制装置包括电池、控制器和控制定位板，第一定位框呈长方形框状，控制定位板呈L形板状，控制定位板连接在第一定位框内，电池和控制器连接在控制定位板的上。
优选的，所述第一支撑板呈U形板状，第一支撑板有两个，两个第一支撑板镜像对称设置；
所述第一支撑板的前端通过螺栓与主框架的前部连接，第一支撑板的后端通过螺栓与次框架的前部连接；所述电池和第一定位框之间设置有防撞缓冲块，控制定位板的长度小于第一定位框的长度。
优选的，所述旋转定位板呈U形板状，旋转定位板的开口的侧端通过第一端部连接板与第一张紧调节板组件连接；旋转定位板的前端面上开设有第一板定位孔和第二板定位孔，旋转定位板的后端面上开设有第三板定位孔和第四板定位孔；
主框架的前部上设置有第一弧形槽孔和第一框定位孔，次框架的前部上设置有第二弧形槽孔和第二框定位孔。
优选的，所述第一定位板连接机构包括第一板固定杆、第二板固定杆、第一板 转动杆和第二板转动杆，第一板固定杆的两端部分别连接第一板定位孔和第一框定位孔，第二板固定杆的两端部分别连接第三板定位孔和第二框定位孔；
第一板转动杆的两端部分别连接第二板定位孔和第一弧形槽孔，第二板转动杆的两端部分别连接第四板定位孔和第二弧形槽孔。
优选的，所述第一张紧调节板组件包括第一前调节板、第一后调节板和拉紧螺杆组件，第一前调节板前部内开设有用于连接第一主传动齿轮组件的第一齿轮轴连接孔；
第一前调节板的中部内开设有用于连接链条内支撑机构的第一支撑连接孔，第一前调节板的后部上开设有两个相互平行设置的第一条形槽孔，第一条形槽孔内连接有第一调节定位螺栓。
优选的，所述第一前调节板和第一后调节板均为长方形板，第一后调节板的前部上开设有第一调节板槽口，第一调节板槽口侧端的第一后调节板上设置有多个第一调节板定位孔；
所述拉紧螺杆组件包括第一拉紧定位座、第二拉紧定位座和拉紧定位螺杆，第一拉紧定位座固连在两个第一条形槽孔之间的第一前调节板上，第二拉紧定位座固连在第一调节板槽口内侧的第一后调节板上；
第一后调节板的通过第一调节板定位孔与第一调节定位螺栓连接，拉紧定位螺杆连接第一拉紧定位座和第二拉紧定位座，拉紧定位螺杆上连接有拉紧定位螺母。
优选的，所述第一主传动齿轮组件包括第一主转轴和套在第一主转轴上的第一主齿轮，第一主转轴的一端穿过内侧的第一张紧调节板组件后与蜗轮蜗杆电机的转动蜗杆连接，第一主转轴的另一端穿过外侧的第一张紧调节板组件后通过第一转轴定位座固紧定位；
所述第二从传动齿轮组件包括第二从转轴和套在第二从转轴上的第二从齿轮，第二从转轴的端部穿过第一张紧调节板组件后通过第二转轴定位座固紧定位。
优选的，所述链条内支撑机构包括一个第一链条撑板和多个辅助推轮组件，第一链条撑板位于磁性链条传动机构的上部的下端并且与第一张紧调节板组件连接；多个辅助推轮组件均布在两组第一张紧调节板组件之间；
辅助推轮组件包括第一推杆固定片、第一T形推杆和第一推轮，第一推杆固定片呈倒U形，第一推杆固定片通过螺丝连接在两个第一张紧调节板组件之间，第一推杆固定片的中部的下端连接有第一套管；
第一T形推杆的杆端部穿过第一套管和第一推杆固定片后连接有第一推杆定位螺母，第一套管下方的第一T形推杆上套有第一压紧弹簧；第一推轮有两个，两个第一推轮通过第一法兰轴承分别连接在第一T形推杆的两端。
优选的，所述磁铁块固定板组件包括两个第一L形磁铁块连接板，第一L形磁铁块连接板与传动齿轮链条的内侧端连接，第一L形磁铁块连接板的上端连接第一U形磁铁块连接板，第一U形磁铁块连接板内端通过螺栓连接多个吸附磁铁块。
发明的有益效果
有益效果
本发明的有益效果是：
上述机器人工作时，将机器人放置到大型压力容器的壁面或者船体外壁面，机器人的左侧吸附行走装置绕轴旋转，机器人右侧的吸附行走装置机器人绕轴旋转，同时轴位于第一弧形槽孔和第二弧形槽孔内。弧形槽孔限定机器人吸附行走装置的旋转角度，使机器人沿中心轴方向在一定程度上自动适应压力容器或船体外壁面的弧度。
上述履带式钢质壁面攀爬机器人，首先设置了结构简单的壳体及相应的框架结构，结构更紧凑，降低了整体支撑结构的重量。同时设置了两组新型的吸附行走装置，并通过设置第一定位板连接机构，实现了吸附行走装置的转动变相行走。
并且在磁性链条传动机构中设置了链条内支撑机构，不仅实现了链条的结构加强支撑，而且还对磁性链条传动机构进行了支撑定位，使得磁性链条传动机构的磁铁块能够更有效的贴合大型压力容器的壁面或者船体外壁面。上述一种履带式钢质壁面攀爬机器人的本体结构，可以使机器人自动适应不同曲率半径的钢制壁面，并且可以在承载检测或者维修设备的条件下在壁面安全可靠的行走。
对附图的简要说明
附图说明
为了清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是履带式钢质壁面攀爬机器人整体结构示意图。
图2是搬运把手和主框架连接结构示意图。
图3是吸附行走装置旋转时的结构示意图。
图4是壳体和主框架连接结构示意图。
图5是第一张紧调节板组件连接结构示意图。
图6是链条内支撑机构整体结构示意图。
图7是传动齿轮链条和磁铁块固定板组件连接结构示意图。
图8是辅助推轮组件整体结构示意图。
图9是第一后调节板和第二从传动齿轮组件连接结构示意图。
图10是主框架整体结构示意图。
图11是第一支撑板整体结构示意图。
图12是第一定位框整体结构示意图。
图13是蜗轮蜗杆电机整体结构示意图。
图14是旋转定位板整体结构示意图。
发明实施例
本发明的实施方式
本发明提供了一种履带式钢质壁面攀爬机器人，为使本发明的目的、技术方案及效果更加清楚、明确，以下对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
下面结合附图对本发明进行详细说明：
实施例1
结合图1至图14，一种履带式钢质壁面攀爬机器人，包括壳体1、供电控制装置2和吸附行走装置3，壳体1内设置有主框架11，主框架11的中部纵向固连有次框 架12，次框架12包括第一定位框121和连接在第一定位框121前端的第一支撑板122，供电控制装置3连接在第一定位框121中。吸附行走装置2有两组，两组吸附行走装置2分别设置在次框架12两侧的主框架11内。
吸附行走装置3包括蜗轮蜗杆电机31、旋转定位板32、吸附行走壳33、磁性链条传动机构4和链条内支撑机构5。旋转定位板32通过第一定位板连接机构6转动连接在主框架11和第一定位框121之间，蜗轮蜗杆电机31连接在旋转定位板32内。
吸附行走壳33包括两组第一张紧调节板组件7，两组第一张紧调节板组7之间连接有第一主传动齿轮组件34和第二从传动齿轮组件35，第一主传动齿轮组件34与蜗轮蜗杆电机31连接。
磁性链条传动机构4位于两组第一张紧调节板组件7之间，并且套连在第一主传动齿轮组件34和第二从传动齿轮组件35的外端。
链条内支撑机构5设置在磁性链条传动机构4内侧并通过第一张紧调节板组件7定位；磁性链条传动机构4包括吸附磁铁块41、传动齿轮链条42和磁铁块固定板组件43，传动齿轮链条42上螺栓连接多个平行排列的磁铁块固定板组件43，每个磁铁块固定板组件43上螺栓连接有多个吸附磁铁块41。
主框架11呈方形框状，主框架11的上端连接长方形壳状的壳体1，主框架11的两侧连接有搬运把手13。
所述供电控制装置2包括电池21、控制器22和控制定位板23，第一定位框121呈长方形框状，控制定位板23呈L形板状，控制定位板23连接在第一定位框121内，电池21和控制器22连接在控制定位板的上。
第一支撑板122呈U形板状，第一支撑板122有两个，两个第一支撑板122垂直安装，两个第一支撑板122镜像对称设置。第一支撑板122的前端通过螺栓与主框架11的前部连接，第一支撑板122的后端通过螺栓与次框架12的前部连接；所述电池21和第一定位框121之间设置有防撞缓冲块24，控制定位板23的长度小于第一定位框121的长度，这样使得控制定位板23和第一定位框121留有一定的安装空间，便于后续的安装。
旋转定位板32呈U形板状，旋转定位板32的开口的侧端通过第一端部连接板与 第一张紧调节板组件7连接；旋转定位板32的前端面上开设有第一板定位孔301和第二板定位孔302，旋转定位板的后端面上开设有第三板定位孔303和第四板定位孔304；
主框架11的前部上设置有第一弧形槽孔101和第一框定位孔102，次框架12的前部上设置有第二弧形槽孔103和第二框定位孔104。
第一定位板连接机构6包括第一板固定杆61、第二板固定杆62、第一板转动杆63和第二板转动杆64，第一板固定杆61的两端部分别连接第一板定位孔301和第一框定位孔102，第二板固定杆62的两端部分别连接第三板定位孔303和第二框定位孔104。
第一板转动杆63的两端部分别连接第二板定位孔302和第一弧形槽孔101，第二板转动杆64的两端部分别连接第四板定位孔304和第二弧形槽孔103。
第一张紧调节板组件7包括第一前调节板71、第一后调节板72和拉紧螺杆组件73，第一前调节板71前部内开设有用于连接第一主传动齿轮组件34的第一齿轮轴连接孔，第一前调节板71的中部内开设有用于连接链条内支撑机构5的第一支撑连接孔，第一前调节板71的后部上开设有两个相互平行设置的第一条形槽孔74，第一条形槽孔74内连接有第一调节定位螺栓75。
第一前调节板71和第一后调节板72均为长方形板，第一后调节板72的前部上开设有第一调节板槽口，第一调节板槽口侧端的第一后调节板72上设置有多个第一调节板定位孔76。拉紧螺杆组件73包括第一拉紧定位座77、第二拉紧定位座78和拉紧定位螺杆79，第一拉紧定位座77固连在两个第一条形槽孔74之间的第一前调节板71上，第二拉紧定位座78固连在第一调节板槽口内侧的第一后调节板72上。第一后调节板72通过第一调节板定位孔76与第一调节定位螺栓75连接后，通过拉紧定位螺杆79连接第一拉紧定位座77和第二拉紧定位座78，拉紧定位螺杆79上连接有用于定位拉紧定位螺杆79的拉紧定位螺母。
第一主传动齿轮组件34包括第一主转轴和套在第一主转轴上的第一主齿轮，第一主转轴的一端穿过内侧的第一张紧调节板组件7后与蜗轮蜗杆电机31的转动蜗杆连接，第一主转轴的另一端穿过外侧的第一张紧调节板组件7后通过第一转轴定位座固紧定位。
所述第二从传动齿轮组件35包括第二从转轴35和套在第二从转轴35上的第二从齿轮351，第二从转轴35的端部穿过第一张紧调节板组件7后通过第二转轴定位座固紧定位。
链条内支撑机构5包括一个第一链条撑板51和多个辅助推轮组件52，第一链条撑板51位于磁性链条传动机构4的上部的下端并且与第一张紧调节板组件7连接；多个辅助推轮组件52均布在两组第一张紧调节板组件7之间。
辅助推轮组件52包括第一推杆固定片53、第一T形推杆54和第一推轮55，第一推杆固定片53呈倒U形，第一推杆固定片53通过螺丝连接在两个第一张紧调节板组件7之间，第一推杆固定片53的中部的下端连接有第一套管56；
第一T形推杆54的杆端部穿过第一套管56和第一推杆固定片53后连接有第一推杆定位螺母57，第一套管56下方的第一T形推杆54上套有第一压紧弹簧58。第一推轮55有两个，两个第一推轮55通过第一法兰轴承分别连接在第一T形推杆54的两端。
磁铁块固定板组件43包括两个第一L形磁铁块连接板431，第一L形磁铁块连接板431与传动齿轮链条42的内侧端连接，第一L形磁铁块连接板431的上端连接第一U形磁铁块连接板432，第一U形磁铁块连接板432的内端通过螺栓连接多个吸附磁铁块41。
实施例2
上述机器人工作时，将机器人放置到大型压力容器的壁面或者船体外壁面，机器人的左侧吸附行走装置绕轴旋转，机器人右侧的吸附行走装置机器人绕轴旋转，同时轴位于第一弧形槽孔和第二弧形槽孔内。弧形槽孔限定机器人吸附行走装置的旋转角度，使机器人沿中心轴方向在一定程度上自动适应压力容器或船体外壁面的弧度。
吸附行走装置中设置有链条内支撑机构5，链条内支撑机构5设置在磁性链条传动机构4内侧并通过第一张紧调节板组件7定位。链条内支撑机构5中的第一压紧弹簧58推动着第一T形推杆54，使得第一T形推杆54上的第一推轮55始终弹性推动支撑着磁性链条传动机构4，此时，磁性链条传动机构4支撑整个机器人的重力。
实施例3
控制器控制涡轮蜗杆电机工作，涡轮蜗杆电机带动第一主传动齿轮组件34转动，第一主传动齿轮组件34带动磁性链条传动机构4转动工作，在磁性链条传动机构4转动过程中，链条内支撑机构5作为辅助支撑，最终实现机器人在壁面的行走，改变机器人的两个蜗轮蜗杆电机的转速，实现差速转动，即可实现机器人的转弯。当机器人的吸附行走装置上的磁铁链条松动，可以调节第一张紧调节板组件7的长度，即可实现左吸附行走装置磁铁链条的张紧。
上述履带式钢质壁面攀爬机器人，首先设置了结构简单的壳体及相应的框架结构，结构更紧凑，降低了整体支撑结构的重量。同时设置了两组新型的吸附行走装置，并通过设置第一定位板连接机构6，实现了吸附行走装置的转动变相行走。
并且在磁性链条传动机构4中设置了链条内支撑机构5，不仅实现了链条的结构加强支撑，而且还对磁性链条传动机构4进行了支撑定位，使得磁性链条传动机构4的磁铁块能够更有效的贴合大型压力容器的壁面或者船体外壁面。上述一种履带式钢质壁面攀爬机器人的本体结构，可以自动适应不同曲率半径的钢制壁面，并且可以在承载检测或者维修设备的条件下在壁面安全可靠的行走。
实施例4
上述机器人搬运腐蚀性液体时，可在壳体上安装用于盛放搬运腐蚀性液体的搬运罐，搬运罐可焊接在壳体上。
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
当然，上述说明并非是对本发明的限制，本发明也并不仅限于上述举例，本技术领域的技术人员在本发明的实质范围内所做出的变化、改型、添加或替换，也应属于本发明的保护范围。

Claims (10)

  1. 一种履带式钢质壁面攀爬机器人，其特征在于，包括壳体、吸附行走装置和供电控制装置，壳体内设置有主框架，主框架的中部纵向固连有次框架，次框架包括第一定位框和连接在第一定位框前端的第一支撑板，供电控制装置连接在第一定位框中；吸附行走装置有两组，两组吸附行走装置分别设置在次框架的两侧；
    吸附行走装置包括蜗轮蜗杆电机、旋转定位板、吸附行走壳、磁性链条传动机构和链条内支撑机构，旋转定位板通过第一定位板连接机构转动连接在主框架和第一定位框之间，蜗轮蜗杆电机连接在旋转定位板内；
    吸附行走壳包括两组第一张紧调节板组件，两组第一张紧调节板组件之间连接有第一主传动齿轮组件和第二从传动齿轮组件，第一主传动齿轮组件与蜗轮蜗杆电机连接；
    磁性链条传动机构位于两组第一张紧调节板组件之间，并且套连在第一主传动齿轮组件和第二从传动齿轮组件的外端；链条内支撑机构设置在磁性链条传动机构内侧并通过第一张紧调节板组件定位；
    磁性链条传动机构包括吸附磁铁块、传动齿轮链条和磁铁块固定板组件，传动齿轮链条上螺栓连接多个平行排列的磁铁块固定板组件，每个磁铁块固定板组件上螺栓连接有多个吸附磁铁块。
  2. 根据权利要求1所述的一种履带式钢质壁面攀爬机器人，其特征在于，所述主框架呈方形框状，主框架的上端连接长方形壳状的壳体，主框架的两侧连接有搬运把手；
    所述供电控制装置包括电池、控制器和控制定位板，第一定位框呈长方形框状，控制定位板呈L形板状，控制定位板连接在第一定位框内，电池和控制器连接在控制定位板的上。
  3. 根据权利要求2所述的一种履带式钢质壁面攀爬机器人，其特征在于，所述第一支撑板呈U形板状，第一支撑板有两个，两个第一支 撑板镜像对称设置；
    所述第一支撑板的前端通过螺栓与主框架的前部连接，第一支撑板的后端通过螺栓与次框架的前部连接；所述电池和第一定位框之间设置有防撞缓冲块，控制定位板的长度小于第一定位框的长度。
  4. 根据权利要求1所述的一种履带式钢质壁面攀爬机器人，其特征在于，所述旋转定位板呈U形板状，旋转定位板的开口的侧端通过第一端部连接板与第一张紧调节板组件连接；旋转定位板的前端面上开设有第一板定位孔和第二板定位孔，旋转定位板的后端面上开设有第三板定位孔和第四板定位孔；
    主框架的前部上设置有第一弧形槽孔和第一框定位孔，次框架的前部上设置有第二弧形槽孔和第二框定位孔。
  5. 根据权利要求4所述的一种履带式钢质壁面攀爬机器人，其特征在于，所述第一定位板连接机构包括第一板固定杆、第二板固定杆、第一板转动杆和第二板转动杆，第一板固定杆的两端部分别连接第一板定位孔和第一框定位孔，第二板固定杆的两端部分别连接第三板定位孔和第二框定位孔；
    第一板转动杆的两端部分别连接第二板定位孔和第一弧形槽孔，
    第二板转动杆的两端部分别连接第四板定位孔和第二弧形槽孔。
  6. 根据权利要求1所述的一种履带式钢质壁面攀爬机器人，其特征在于，所述第一张紧调节板组件包括第一前调节板、第一后调节板和拉紧螺杆组件，第一前调节板前部内开设有用于连接第一主传动齿轮组件的第一齿轮轴连接孔；
    第一前调节板的中部内开设有用于连接链条内支撑机构的第一支撑连接孔，第一前调节板的后部上开设有两个相互平行设置的第一条形槽孔，第一条形槽孔内连接有第一调节定位螺栓。
  7. 根据权利要求6所述的一种履带式钢质壁面攀爬机器人，其特征在于，所述第一前调节板和第一后调节板均为长方形板，第一后调 节板的前部上开设有第一调节板槽口，第一调节板槽口侧端的第一后调节板上设置有多个第一调节板定位孔；
    所述拉紧螺杆组件包括第一拉紧定位座、第二拉紧定位座和拉紧定位螺杆，第一拉紧定位座固连在两个第一条形槽孔之间的第一前调节板上，第二拉紧定位座固连在第一调节板槽口内侧的第一后调节板上；
    第一后调节板的通过第一调节板定位孔与第一调节定位螺栓连接，拉紧定位螺杆连接第一拉紧定位座和第二拉紧定位座，拉紧定位螺杆上连接有拉紧定位螺母。
  8. 根据权利要求1所述的一种履带式钢质壁面攀爬机器人，其特征在于，所述第一主传动齿轮组件包括第一主转轴和套在第一主转轴上的第一主齿轮，第一主转轴的一端穿过内侧的第一张紧调节板组件后与蜗轮蜗杆电机的转动蜗杆连接，第一主转轴的另一端穿过外侧的第一张紧调节板组件后通过第一转轴定位座固紧定位；所述第二从传动齿轮组件包括第二从转轴和套在第二从转轴上的第二从齿轮，第二从转轴的端部穿过第一张紧调节板组件后通过第二转轴定位座固紧定位。
  9. 根据权利要求1所述的一种履带式钢质壁面攀爬机器人，其特征在于，所述链条内支撑机构包括一个第一链条撑板和多个辅助推轮组件，第一链条撑板位于磁性链条传动机构的上部的下端并且与第一张紧调节板组件连接；多个辅助推轮组件均布在两组第一张紧调节板组件之间；
    辅助推轮组件包括第一推杆固定片、第一T形推杆和第一推轮，第一推杆固定片呈倒U形，第一推杆固定片通过螺丝连接在两个第一张紧调节板组件之间，第一推杆固定片的中部的下端连接有第一套管；
    第一T形推杆的杆端部穿过第一套管和第一推杆固定片后连接有第一推杆定位螺母，第一套管下方的第一T形推杆上套有第一压紧弹 簧；第一推轮有两个，两个第一推轮通过第一法兰轴承分别连接在第一T形推杆的两端。
  10. 根据权利要求1所述的一种履带式钢质壁面攀爬机器人，其特征在于，所述磁铁块固定板组件包括两个第一L形磁铁块连接板，第一L形磁铁块连接板与传动齿轮链条的内侧端连接，第一L形磁铁块连接板的上端连接第一U形磁铁块连接板，第一U形磁铁块连接板内端通过螺栓连接多个吸附磁铁块。
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