CN113060251A - Wall-climbing robot - Google Patents
Wall-climbing robot Download PDFInfo
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- CN113060251A CN113060251A CN202110437734.6A CN202110437734A CN113060251A CN 113060251 A CN113060251 A CN 113060251A CN 202110437734 A CN202110437734 A CN 202110437734A CN 113060251 A CN113060251 A CN 113060251A
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- 238000004140 cleaning Methods 0.000 claims abstract description 104
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000009471 action Effects 0.000 claims abstract description 13
- 230000005291 magnetic effect Effects 0.000 claims abstract description 11
- 230000009194 climbing Effects 0.000 claims description 29
- 239000003638 chemical reducing agent Substances 0.000 claims description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 19
- 239000007921 spray Substances 0.000 claims description 15
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 abstract description 10
- 238000011089 mechanical engineering Methods 0.000 abstract description 2
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- 238000001179 sorption measurement Methods 0.000 description 12
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- 238000005260 corrosion Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229920001875 Ebonite Polymers 0.000 description 1
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B57/00—Tank or cargo hold cleaning specially adapted for vessels
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical engineering and discloses a wall-climbing robot. The wall-climbing robot comprises a rack, a cleaning mechanism, a driving mechanism, a permanent magnet universal wheel and an arc magnet; the cleaning mechanism is arranged on the rack; the driving mechanism comprises two driving wheels, and the two driving wheels are arranged at the front end of the rack and are symmetrically distributed on two opposite sides of the rack; the permanent magnet universal wheel is arranged at the tail end of the rack; arc magnet install in the front end of frame just is located two between the action wheel, the cambered surface of arc magnet sets up just forward the magnetic force of arc magnet is followed the cambered surface is from top to bottom degressively, the bottom of arc magnet highly be higher than the height of the bottom of action wheel. The wall-climbing robot provided by the invention can be used for cleaning the cabin, can walk on the complex surface of the cabin and can transit between wall surfaces with a certain inclination angle, and has high safety and strong transition capability.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a wall-climbing robot.
Background
In the long-term operation process of the cargo ship, large-area paint falling, corrosion and rust are easy to occur on the surface of the cabin due to the corrosion of sewage, and even the cargo in the cabin is polluted in serious conditions; in addition, when the cargo ship stops at the wharf to change the loaded cargo, the cleanness of the cabin is also required to be ensured. Therefore, the cargo ship needs to be cleaned periodically.
In the related art, the ship cleaning mainly comprises two means of manual cleaning and robot cleaning. Wherein, when relying on artifical washing, need the handheld cleaning means high altitude of workman to suspend in midair in the cabin, this kind of cleaning mode danger coefficient is big, and the operation risk is high, and cleaning performance is poor. When relying on the robot to wash, be subject to factors such as the structure of equipment self, lead to robot equipment only to be fit for creeping on the even or little camber wall in surface, but can't pass through between the wall that has certain inclination, can't be in the cargo hold complex surface walking, robot equipment adaptability is poor, and the cleaning range receives the restriction, and cleaning efficiency hangs down.
Therefore, it is necessary to design a robot device for cabin cleaning with high safety and strong transient capability.
Disclosure of Invention
The invention aims to provide a wall climbing robot which can walk on a complex surface of a cabin, can transit between wall surfaces with a certain inclination angle, and has high safety and strong transition capability.
In order to solve the above problems, the present invention provides a wall-climbing robot, comprising:
a frame;
the cleaning mechanism is arranged on the rack;
the driving mechanism comprises two driving wheels, and the two driving wheels are arranged at the front end of the rack and are symmetrically distributed on two opposite sides of the rack;
the permanent magnet universal wheel is arranged at the tail end of the rack;
arc magnet, install in the front end of frame just is located two between the action wheel, the cambered surface of arc magnet sets up forward just the magnetic force of arc magnet is followed the cambered surface and is decreased progressively from top to bottom, the bottom of arc magnet highly be higher than the height of the bottom of action wheel.
In one embodiment, the arc of the arc-shaped magnet is 110-130 degrees.
In one embodiment, the arc-shaped magnet comprises a shell, and a front magnet, a middle magnet and a bottom magnet which are sequentially arranged in the shell, wherein the magnetic force of the front magnet, the middle magnet and the bottom magnet is decreased progressively.
In one embodiment, the driving mechanism further comprises two power motors and two speed reducers, and the two power motors and the two speed reducers are both mounted on the rack and are symmetrically distributed on two opposite sides of the rack; the two power motors are connected to the input shafts of the two speed reducers in a one-to-one correspondence mode, and the two driving wheels are connected to the output shafts of the two speed reducers in a one-to-one correspondence mode.
In one embodiment, two speed reducers are arranged between the two driving wheels, and the arc-shaped magnet is connected below the speed reducers; the driving mechanism further comprises a flange shaft and a clamping piece, the flange shaft is connected between the two speed reducers, and the clamping piece is used for fixing the flange shaft to the rack.
In one embodiment, the cleaning mechanism comprises:
the mounting rack is rotatably arranged on the rack;
the swing arm motor is arranged on the rack, is connected with the mounting rack and is used for driving the mounting rack to rotate around a shaft;
the swing arm assembly is arranged on the mounting frame;
and the cleaning assembly is arranged on the swing arm assembly.
In one embodiment, the swing arm assembly comprises:
the supporting rod is fixedly arranged on the mounting rack;
the electric push rod is hinged to one end of the supporting rod;
the first connecting rod is hinged to one end, far away from the supporting rod, of the electric push rod;
one end of the second connecting rod is hinged to one end, far away from the electric push rod, of the supporting rod, the other end of the second connecting rod is hinged to one end, far away from the electric push rod, of the first connecting rod, and the cleaning assembly is connected to the second connecting rod;
one end of the third connecting rod is fixedly connected to the second connecting rod, and the other end of the third connecting rod is hinged to the hinged position of the electric push rod and the first connecting rod;
when the electric push rod stretches, the first connecting rod, the second connecting rod and the third connecting rod can be driven to rotate, so that the cleaning assembly is driven to lift.
In one embodiment, the cleaning assembly includes a water connection and a high pressure spray head connected to the water connection, the high pressure spray head being operable to spray high pressure water.
In one embodiment, the high-pressure spray head comprises a plurality of groups of cleaning tool holders, the cleaning tool holders are rotatably connected to the water pipe connector, and a plurality of high-pressure spray nozzles are arranged on the cleaning tool holders.
In one embodiment, the cleaning assembly further comprises a protective cover covering the high-pressure spray head.
The wall-climbing robot provided by the invention can be used for cleaning the cabin and can walk among a plurality of wall surfaces of the cabin. Specifically, the arc-shaped magnet arranged at the front end of the rack and the permanent magnet universal wheel arranged at the tail end of the rack have certain adsorption force on the wall surface to be cleaned, so that the wall-climbing robot can be attached to the wall surface to be cleaned, and meanwhile, the wall surface to be cleaned can be cleaned by the cleaning assembly; the driving mechanism is matched with the permanent magnet universal wheel, so that the wall-climbing robot can freely move on the wall surface to be cleaned. Wherein, because arc magnet installs between the action wheel and the height that highly is higher than the bottom of action wheel of the bottom of arc magnet, like this, when climbing wall robot attaches to and waits to wash on the wall, under the support of action wheel, arc magnet's bottom is apart from waiting to have a determining deviation between the wall of wasing, does benefit to the climbing wall robot and advances forward, can also promote the obstacle crossing ability of climbing wall robot simultaneously. Because the cambered surface of arc magnet sets up forward and the magnetic force of arc magnet from top to bottom descends along the cambered surface, when climbing wall robot attaches to and waits to wash on the wall, the front end cambered surface and the bottom surface of arc magnet all can treat and wash the wall and produce the adsorption affinity, and when climbing wall robot passes through between different walls, the adsorption affinity of arc magnet to the front end wall is far greater than the adsorption affinity to the back end wall (climbing wall robot place wall before the transition, namely the bottom surface), frictional force between front end wall and action wheel can provide transition drive power for climbing wall robot simultaneously, make climbing wall robot can be in the stable transition between the wall that has certain angle of inclination, and difficult emergence topples and drops in the transition, thereby can realize the removal of climbing wall robot between complicated wall. To sum up, adopt the wall climbing robot of above-mentioned structural design, can be used to wash the cabin, can freely walk between the wall at complicated wall and have certain angle of inclination, stability and reliability are high, possess higher practicality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a wall-climbing robot according to an embodiment of the present invention;
FIG. 2 is a side view of the wall-climbing robot shown in FIG. 1;
fig. 3 is a schematic view of a wall-climbing robot provided in an embodiment of the present invention in a use state;
FIG. 4 is a schematic structural diagram of an arc-shaped magnet in the wall-climbing robot shown in FIG. 1;
fig. 5 is an enlarged view of a reduction gear coupling position in the wall-climbing robot shown in fig. 1;
FIG. 6 is a top view of the wall-climbing robot shown in FIG. 1;
FIG. 7 is a front view of the wall-climbing robot of FIG. 1;
fig. 8 is a bottom view of the wall-climbing robot shown in fig. 1.
Description of the main element symbols:
100. a wall climbing robot;
10. a frame;
21. a mounting frame; 22. a swing arm motor; 23. a swing arm assembly; 24. cleaning the assembly; 25. a swing arm reducer; 231. a support bar; 232. an electric push rod; 233. a first link; 234. a second link; 235. a third link; 241. a water pipe joint; 242. a high pressure spray head; 243. a connecting rod; 245. a protective cover; 2421. cleaning the tool rest; 24211. a high pressure nozzle;
30. a drive mechanism; 31. a driving wheel; 32. a power motor; 33. a speed reducer; 34. a flange shaft; 35. clamping pieces are embraced;
40. a permanent magnet universal wheel;
50. an arc-shaped magnet; 51. a front magnet; 52. a middle magnet; 53. a bottom magnet;
60. a control cabinet;
70. a magnet connector.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", 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 do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, are not to be construed as limiting the patent. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
The invention provides a wall-climbing robot. As shown in fig. 1 and 2, the wall-climbing robot 100 includes a frame 10, a cleaning mechanism, a driving mechanism 30, a permanent magnet universal wheel 40, and an arc magnet 50. Wherein the cleaning mechanism is mounted on the frame 10. The driving mechanism 30 includes two driving wheels 31, and the two driving wheels 31 are mounted at the front end of the frame 10 and symmetrically distributed on two opposite sides of the frame 10. The permanent magnet universal wheel 40 is mounted at the end of the frame 10. Arc magnet 50 installs in the front end of frame 10 and is located between two action wheels 31, and the cambered surface of arc magnet 50 sets up forward and the magnetic force of arc magnet 50 descends from top to bottom along the cambered surface progressively, and the height that highly is higher than the bottom of action wheel 31 of the bottom of arc magnet 50.
The wall-climbing robot 100 according to the present invention can be used for cleaning a cabin and can travel between a plurality of walls of the cabin. Specifically, the arc-shaped magnet 50 mounted at the front end of the frame 10 and the permanent magnet universal wheel 40 mounted at the tail end of the frame 10 have a certain adsorption force on the wall surface to be cleaned, so that the wall-climbing robot 100 can be attached to the wall surface to be cleaned, and meanwhile, the wall surface to be cleaned can be cleaned by the cleaning assembly 24; the driving mechanism 30 and the permanent magnet universal wheel 40 are matched to realize the free movement of the wall-climbing robot 100 on the wall surface to be cleaned. As shown in fig. 1 and 3, the arc-shaped magnet 50 is installed between the driving wheels 31, and the height of the bottom of the arc-shaped magnet 50 is higher than that of the bottom of the driving wheel 31, so that when the wall climbing robot 100 is attached to a wall surface to be cleaned, a certain distance is formed between the bottom of the arc-shaped magnet 50 and the wall surface to be cleaned under the support of the driving wheel 31, which is beneficial for the wall climbing robot 100 to move forward, and meanwhile, the obstacle crossing capability of the wall climbing robot 100 can be improved. Because the arc surface of the arc magnet 50 is arranged forward and the magnetic force of the arc magnet 50 decreases gradually from top to bottom along the arc surface, when the wall-climbing robot 100 is attached to the wall surface to be cleaned, the front arc surface and the bottom surface of the arc magnet 50 generate an adsorption force on the wall surface to be cleaned, and when the wall-climbing robot 100 transits between different wall surfaces, the attraction force of the arc-shaped magnet 50 to the front wall surface (for example, a shown in fig. 3) is much larger than the attraction force to the rear wall surface (the wall surface where the wall-climbing robot 100 is located before the transition, that is, the bottom surface, for example, B shown in fig. 3), meanwhile, the friction force between the front end wall surface and the driving wheel 31 can provide transition driving force for the wall-climbing robot 100, so that the wall-climbing robot 100 can stably transition between the wall surfaces with a certain inclination angle, and the overturning and falling are not easy to occur in the transition process, so that the wall-climbing robot 100 can move between the complex wall surfaces. To sum up, the wall-climbing robot 100 adopting the above structural design can be used for cleaning cabins, can freely walk between a complex wall surface and a wall surface with a certain inclination angle, and has high stability and reliability and higher practicability.
In addition, the wall climbing robot 100 is equipped with the arc-shaped magnet 50 and the permanent magnet universal wheel 40 at the same time, and the magnetic energy utilization rate of the arc-shaped magnet 50 and the permanent magnet universal wheel 40 is effectively improved through reasonable arrangement, so that the wall climbing robot 100 has larger adsorption force and can bear larger load, and various types of cleaning mechanisms can be matched. In the moving process of the wall climbing robot 100, the permanent magnet universal wheels 40 always keep good adsorption force with the wall surface to be cleaned, so that the wall climbing robot 100 can be effectively prevented from slipping and overturning, the reliability is high, the permanent magnet universal wheels 40 can rotate along with the rotation of the wall climbing robot 100, and the flexibility is high.
It should be noted that, as shown in fig. 1 and fig. 2, the wall-climbing robot 100 according to the embodiment of the present invention further includes a control cabinet 60, the control cabinet 60 is electrically connected to the driving mechanism 30 and the cleaning mechanism, and can be used to control the wall-climbing robot 100 to move on the wall to be cleaned and to perform the cleaning operation, and the control cabinet 60 may adopt a structure commonly used in the prior art, and will not be described in detail herein.
It is understood that the wall-climbing robot 100 according to the embodiment of the present invention may be used not only for cleaning ships, but also for cleaning equipment such as large oil tanks and wind towers, or may be equipped with other types of mechanisms to perform operations such as painting and inspection of metal wall surfaces, and will not be described in detail herein.
According to the wall-climbing robot 100 provided by the embodiment of the invention, according to actual use requirements, the distance between the bottom of the arc-shaped magnet 50 and the wall surface can be designed to be 4mm-10mm, namely the height of the bottom of the arc-shaped magnet 50 higher than the bottom of the driving wheel 31 is 4mm-10 mm.
In one embodiment of the present invention, the arc of the arcuate magnet 50 is in the range of 110-130. The arc-shaped magnet 50 designed by the structure has a large vertical coverage range, can provide enough adsorption force, and can assist the wall-climbing robot 100 to move between wall surfaces with an included angle of 135-180 degrees. It can be understood that, in the existing ship design, the minimum included angle between the cabin walls can be designed to be 120 °, and therefore, in order to further optimize the structures of the arc-shaped magnet 50 and the wall-climbing robot 100, the arc-shaped magnet 50 with the radian of 120 ° can be selected.
In one embodiment of the present invention, as shown in fig. 4, the arc-shaped magnet 50 includes a housing (not shown), and a front magnet 51, a middle magnet 52, and a bottom magnet 53 disposed in the housing, wherein the front magnet 51, the middle magnet 52, and the bottom magnet 53 are disposed in the housing along an arc-shaped surface from top to bottom, and the magnetic force decreases progressively.
In some embodiments, as shown in fig. 4, the front magnet 51, the middle magnet 52, and the bottom magnet 53 are fan-shaped magnets of the same material and different sizes, and the volumes of the front magnet 51, the middle magnet 52, and the bottom magnet 53 are sequentially reduced. Alternatively, in some embodiments, the front magnet 51, the middle magnet 52, and the bottom magnet 53 may also be fan-shaped magnets of different materials and same size, and the ferromagnetic force per unit volume of the front magnet 51, the middle magnet 52, and the bottom magnet 53 decreases sequentially.
To facilitate securing the arc-shaped magnet 50, in one embodiment of the present invention, as shown in fig. 1, the wall-climbing robot 100 further includes a magnet connector 70 disposed on the frame 10.
In one embodiment of the present invention, the driving wheel 31 is a rubber wheel. The rubber wheel has high friction coefficient and large friction force, is not easy to slip and overturn in the using process, and has high reliability. In addition, when the front wheel climbs over the obstacle, for example, the weld seam on the wall surface, the contact area between the driving wheel 31 and the wall surface is reduced, the pressure intensity is increased, because rubber possesses elasticity, certain degree of deformation can take place for the rubber wheel when contacting with the obstacle, make the compression of contact position department increase, and like this, can guarantee that the interval between arc magnet 50 and the wall surface changes lessly, arc magnet 50 can provide sufficient adsorption affinity so that wall climbing robot 100 firmly adheres to on waiting to wash the wall surface, thereby can guarantee that wall climbing robot 100 hinders smoothly and walking stability.
Further, in some embodiments, the hub of the driving wheel 31 is made of an aluminum alloy. The aluminum alloy wheel hub has high strength, is not easy to deform and damage in the using process, can bear large load and has high safety. In addition, the aluminum alloy wheel hub is light in weight, convenient to process and high in practicability.
In one embodiment of the present invention, the permanent magnet universal wheel 40 is made of a cylindrical neodymium iron boron permanent magnet, and the outer ring of the permanent magnet universal wheel is wrapped with a layer of hard rubber. Set up the rubber layer in permanent magnet universal wheel 40 outer lane, can avoid magnet long-term use to appear wearing and tearing and avoid magnet to collide with and damage, simultaneously, set up the rubber layer and can also increase the frictional force between permanent magnet universal wheel 40 and wall, effectively avoid appearing skidding and the phenomenon of toppling, and then can effectively promote the reliability of climbing wall robot 100.
In an embodiment of the present invention, as shown in fig. 1 and fig. 6, the driving mechanism 30 further includes two power motors 32 and two speed reducers 33, wherein the two power motors 32 and the two speed reducers 33 are both mounted on the rack 10 and symmetrically distributed on two opposite sides of the rack 10; the two power motors 32 are connected to the input shafts of the two speed reducers 33 in a one-to-one correspondence, and the two drive wheels 31 are connected to the output shafts of the two speed reducers 33 in a one-to-one correspondence. By adopting the modular design, the independence among all parts is higher, the maintenance and the replacement are easy, and the assembly is convenient. In addition, the above assembly method is compact in structure, and the overall size of the wall-climbing robot 100 can be relatively reduced, so that the flexibility of the wall-climbing robot 100 is effectively improved, the wall-climbing robot 100 can freely walk on each wall surface and narrow rib plates of the cabin, and the cleaning range of the wall-climbing robot 100 can be further expanded.
In one embodiment of the present invention, as shown in fig. 1, 5 and 7, two reducers 33 are disposed between two driving wheels 31, and an arc-shaped magnet 50 is connected below the reducers 33; the driving mechanism 30 further includes a flange shaft 34 and a clasping member 35, the flange shaft 34 is connected between the two speed reducers 33, and the clasping member 35 is used for fixing the flange shaft 34 to the rack 10. By adopting the above assembling mode, the structural design is reasonable, each part is relatively compact, the width and the whole size of the wall-climbing robot 100 can be relatively reduced, so that the flexibility of the wall-climbing robot 100 is effectively improved, the wall-climbing robot 100 can freely walk on each wall surface and narrow rib plates of the cabin, and the cleaning range of the wall-climbing robot 100 can be further expanded.
In one embodiment provided by the present invention, as shown in fig. 1 and 2, the cleaning mechanism includes a mounting frame 21, a swing arm motor 22, a swing arm assembly 23, and a cleaning assembly 24. Wherein, the mounting bracket 21 is rotatably installed on the frame 10, the swing arm motor 22 is installed on the frame 10, and the swing arm motor 22 is connected with the mounting bracket 21 for driving the mounting bracket 21 to rotate around the shaft. The swing arm assembly 23 is mounted on the mounting frame 21, and the cleaning assembly 24 is mounted on the swing arm assembly 23. By adopting the structure design, the mounting frame 21 can be driven to rotate around the shaft by the swing arm motor 22, the swing arm assembly 23 and the cleaning assembly 24 arranged on the swing arm assembly 23 can be driven to rotate on a plane parallel to the wall surface to be cleaned in the process of rotating around the shaft by the mounting frame 21, and therefore the coverage range and the cleaning range of the cleaning assembly 24 can be enlarged.
Wherein the structure of the mounting frame 21 is not exclusive. In some embodiments, as shown in fig. 1, the mounting frame 21 may be a single mounting bar; alternatively, in some embodiments, the mounting frame 21 may also be a triangular support frame, which may be designed according to practical situations, and is not limited herein.
In one embodiment of the present invention, as shown in fig. 1 and 2, the swing arm assembly 23 includes a support rod 231, an electric push rod 232, a first link 233, a second link 234, and a third link 235. Wherein, the support rod 231 is fixedly installed on the installation frame 21; the electric push rod 232 is hinged to one end of the support rod 231 (as shown in a in fig. 3); the first link 233 is hinged to one end (shown as b in fig. 3) of the electric push rod 232 away from the support rod 231; one end (shown as c in fig. 3) of the second link 234 is hinged to one end (shown as d in fig. 3) of the supporting rod 231 away from the electric push rod 232, and the other end (shown as e in fig. 3) is hinged to one end (shown as f in fig. 3) of the first link 233 away from the electric push rod 232, and the cleaning assembly 24 is connected to the second link 234; one end of the third link 235 is fixedly connected to the second link 234, and the other end is hinged to the hinge of the electric push rod 232 and the first link 233 (shown as X in fig. 3); when the electric push rod 232 extends, the first connecting rod 233, the second connecting rod 234 and the third connecting rod 235 are driven to rotate, so as to drive the cleaning assembly 24 to lift. By adopting the structural design, the lifting and descending actions of the cleaning assembly 24 can be realized through the push-pull movement of the electric push rod 232, so that the cleaning assembly 24 can be prevented from colliding with the wall surface, and the wall-climbing robot 100 can cross obstacles and transit between multi-wall surfaces.
The specific motion process of the swing arm assembly 23 is as follows: when climbing wall robot 100 and need surmounting or remove between different walls, need raise cleaning component 24, at this moment, steerable electric putter 232 contracts, under electric putter's 232 pulling force effect, third connecting rod 235 can be rotatory towards electric putter 232 place direction around pin joint X, and then can drive first connecting rod 233 and second connecting rod 234 and rotate around pin joint X syntropy for second connecting rod 234 is used for installing the ascending lifting of one end of cleaning component 24, and cleaning component 24 is raised. When climbing wall robot 100 and wasing the operation, need reduce cleaning assembly 24 to operating position, at this moment, steerable electric putter 232 stretches out, under electric putter 232's thrust effect, third connecting rod 235 can deviate from electric putter 232 place direction rotation around pin joint X orientation, and then can drive first connecting rod 233 and second connecting rod 234 and wind pin joint X syntropy rotation for second connecting rod 234 is used for installing the one end downstream of cleaning assembly 24, and cleaning assembly 24 is reduced. The sizes of the electric push rod 232, the first connecting rod 233, the second connecting rod 234 and the third connecting rod 235 are reasonably designed, so that the large-angle rotation of the swing arm assembly 23 can be realized, the lifting angle of the second connecting rod 234 can reach 80 degrees (compared with the initial setting position), and the reciprocating swing angle of the swing arm assembly 23 can be adjusted according to the actual working condition.
The swing arm assembly 23 with the structural design is simple in structure, convenient to control, relatively large in lifting angle range and capable of adapting to movement of the wall-climbing robot 100 on a complex wall surface. In addition, in the swing process of the swing arm assembly 23, the rotation of the first connecting rod 233, the second connecting rod 234 and the third connecting rod 235 is mainly relied on, and the support rod 231 and the mounting frame 21 are kept stable, so that the first connecting rod 233, the second connecting rod 234 and the third connecting rod 235 do not drag the rack 10 to swing when rotating, the wall-climbing robot 100 is not easy to slip and overturn in the lifting process of the cleaning assembly 24, and the stability is high.
It is understood that the second link 234 and the third link 235 may be integrally formed as an L-shaped link for simplicity. The electric push rod 232 may be driven to extend and retract by a servo motor, or may be driven to extend and retract by an air cylinder, but is not limited thereto.
To improve control accuracy, the cleaning mechanism may further include a swing arm reducer 25 connected between the swing arm motor 22 and the mounting frame 21, as shown in fig. 1.
In one embodiment of the present invention, as shown in fig. 1, the cleaning assembly 24 includes a water connection 241 and a high pressure spray head 242 connected to the water connection 241, and the high pressure spray head 242 may be used to spray high pressure water. The high-pressure water jet can effectively remove rust on the wall surface, does not damage the inner metal wall surface, and has a good cleaning effect.
Of course, in some embodiments, the cleaning assembly 24 may further include a cleaning sponge, etc. according to different cleaning objects and different cleaning requirements, which may be designed according to actual situations and is not limited herein.
To further enhance the structure of the cleaning mechanism, the cleaning assembly 24 is removably attached to the swing arm assembly 23. For example, in one embodiment of the present invention, as shown in fig. 1 and 2, the cleaning assembly 24 further includes a connecting rod 243, one end of the connecting rod 243 is detachably connected to the second connecting rod 234 by a bolt-and-clip structure, the other end is used for mounting the high pressure nozzle 242, and the high pressure nozzle 242 is detachably connected to the connecting rod 243 by a bolt-and-clip structure. The cleaning assembly 24 is designed to be detachable so as to be convenient to overhaul and replace, and cleaning heads of different types and sizes can be replaced according to cleaning requirements, so that multiple cleaning functions are realized.
In one embodiment of the present invention, as shown in fig. 1 and 8, the high pressure nozzle 242 includes a plurality of cleaning blade holders 2421, the plurality of cleaning blade holders 2421 are rotatably connected to the water pipe connector 241, and a plurality of high pressure nozzles 24211 are disposed on the cleaning blade holders 2421. When the high-pressure water is sprayed, the cleaning tool rest 2421 is driven to rotate, so that the coverage area of the water spraying of the cleaning tool rest 2421 can be enlarged, and the cleaning effect of the cleaning tool rest 2421 is ensured.
In order to improve the cleaning effect and efficiency, in one embodiment of the present invention, as shown in fig. 1 and 8, the cleaning assembly 24 further includes a protective cover 245 covering the high pressure nozzle 242. Through setting up protection casing 245, can effectively prevent the water smoke diffusion, improve cleaning quality.
The shield 245 may be composed of an aluminum alloy casing and a rubber bottom ring.
When the cleaning is performed by using high-pressure water, in order to ensure the safety of the power motor 32 and the swing arm motor 22, waterproof cases (not shown) may be disposed outside the power motor 32 and the swing arm motor 22, so that the power motor 32 and the swing arm motor 22 can work in a water mist environment for a long time.
The wall-climbing robot 100 provided by the invention specifically works as follows: firstly, the remote control wall-climbing robot 100 walks along the cabin wall surface, and when the wall-climbing robot 100 reaches the position of the wall surface to be cleaned, the cleaning mechanism can be controlled to be opened to execute the cleaning task. When the wall-climbing robot 100 needs to cross over obstacles such as welding seams or move between walls with a certain inclination angle, the electric push rod 232 is utilized to lift the cleaning component 24, so that the wall-climbing robot 100 can normally advance, after the wall-climbing robot 100 smoothly crosses the obstacles or smoothly transits, the electric push rod 232 is utilized to enable the cleaning component 24 to fall back, the cleaning component 24 and the wall to be cleaned are kept at a reasonable cleaning distance, and the cleaning component 24 can normally execute a cleaning task. According to the wall-climbing robot 100 provided by the invention, the arc-shaped magnet 50 and the permanent magnet universal wheel 40 are arranged on the rack 10, so that the size and the direction of the adsorption force of the wall-climbing robot 100 in the moving process can be optimized, and the wall-climbing robot 100 can freely walk on a complex wall surface. Meanwhile, the arc-shaped magnets 50 and the permanent magnet universal wheels 40 are reasonably arranged, so that the magnetic energy utilization rate of the arc-shaped magnets 50 and the permanent magnet universal wheels 40 can be effectively improved, the adsorption force of the wall-climbing robot 100 is improved, and the wall-climbing robot can bear larger load, so that various cleaning mechanisms can be matched, and various cleaning functions can be realized. Secondly, the modular design is adopted, the connection among all parts is compact, the width and the whole size of the wall-climbing robot 100 can be relatively reduced, so that the flexibility of the wall-climbing robot 100 can be effectively improved, the wall-climbing robot 100 can freely walk on all wall surfaces and narrow rib plates of a cabin, and the cleaning range of the wall-climbing robot 100 can be further expanded. Finally, by designing the swing arm assembly 23 and the cleaning assembly 24, the height adjustment and the angle adjustment of the cleaning mechanism can be realized, and the cleaning quality and the use convenience are effectively improved. To sum up, the wall-climbing robot 100 adopting the above structural design can be used for cleaning cabins, can freely walk between a complex wall surface and a wall surface with a certain inclination angle, and has high stability and reliability and higher practicability.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A wall climbing robot, comprising:
a frame;
the cleaning mechanism is arranged on the rack;
the driving mechanism comprises two driving wheels, and the two driving wheels are arranged at the front end of the rack and are symmetrically distributed on two opposite sides of the rack;
the permanent magnet universal wheel is arranged at the tail end of the rack;
arc magnet, install in the front end of frame just is located two between the action wheel, the cambered surface of arc magnet sets up just forward the magnetic force of arc magnet is followed the cambered surface is from top to bottom degressively, the bottom of arc magnet highly be higher than the height of the bottom of action wheel.
2. The wall-climbing robot as recited in claim 1, wherein the arc of the arcuate magnet is between 110 ° and 130 °.
3. The wall-climbing robot as claimed in claim 1, wherein the arc-shaped magnet comprises a housing, and a front magnet, a middle magnet and a bottom magnet which are sequentially arranged in the housing, and the magnetic force of the front magnet, the middle magnet and the bottom magnet is decreased progressively.
4. The wall-climbing robot as claimed in any one of claims 1 to 3, wherein the driving mechanism further comprises two power motors and two speed reducers, and the two power motors and the two speed reducers are both mounted on the frame and are both symmetrically distributed on two opposite sides of the frame; the two power motors are connected to the input shafts of the two speed reducers in a one-to-one correspondence mode, and the two driving wheels are connected to the output shafts of the two speed reducers in a one-to-one correspondence mode.
5. The wall-climbing robot as recited in claim 4, wherein two speed reducers are disposed between the two driving wheels, and the arc-shaped magnet is connected below the speed reducers; the driving mechanism further comprises a flange shaft and a clamping piece, the flange shaft is connected between the two speed reducers, and the clamping piece is used for fixing the flange shaft to the rack.
6. A wall-climbing robot according to any one of claims 1-3, wherein the cleaning mechanism comprises:
the mounting rack is rotatably arranged on the rack;
the swing arm motor is arranged on the rack, is connected with the mounting rack and is used for driving the mounting rack to rotate around a shaft;
the swing arm assembly is arranged on the mounting frame;
and the cleaning assembly is arranged on the swing arm assembly.
7. The wall-climbing robot of claim 6, wherein the swing arm assembly comprises:
the supporting rod is fixedly arranged on the mounting rack;
the electric push rod is hinged to one end of the supporting rod;
the first connecting rod is hinged to one end, far away from the supporting rod, of the electric push rod;
one end of the second connecting rod is hinged to one end, far away from the electric push rod, of the supporting rod, the other end of the second connecting rod is hinged to one end, far away from the electric push rod, of the first connecting rod, and the cleaning assembly is connected to the second connecting rod;
one end of the third connecting rod is fixedly connected to the second connecting rod, and the other end of the third connecting rod is hinged to the hinged position of the electric push rod and the first connecting rod;
when the electric push rod stretches, the first connecting rod, the second connecting rod and the third connecting rod can be driven to rotate, so that the cleaning assembly is driven to lift.
8. A wall climbing robot as claimed in claim 6, wherein the cleaning assembly comprises a water connection and a high pressure spray head connected to the water connection, the high pressure spray head being operable to spray high pressure water.
9. The wall climbing robot of claim 8, wherein the high pressure spray head comprises a plurality of cleaning blade holders rotatably connected to the water pipe joint, the cleaning blade holders having a plurality of high pressure nozzles thereon.
10. The wall climbing robot of claim 8, wherein the cleaning assembly further comprises a protective cover covering the high pressure spray head.
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| CN202110437734.6A CN113060251A (en) | 2021-04-22 | 2021-04-22 | Wall-climbing robot |
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| CN202110437734.6A CN113060251A (en) | 2021-04-22 | 2021-04-22 | Wall-climbing robot |
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| CN113060251A true CN113060251A (en) | 2021-07-02 |
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