A wall-climbing robot

Abstract

The present invention relates to the technical field of tunnel construction, and in particular to a wall-climbing robot, which includes a magnetic chassis and a grinding and dust collection mechanism, an oiling mechanism and an electric control mechanism arranged on the magnetic chassis: the magnetic chassis can be adsorbed on the steel mold of the second lining trolley and can be turned; the grinding and dust collection mechanism includes a first quick-change component, which is detachably connected to the magnetic chassis; the oiling mechanism includes a second quick-change component, which is detachably connected to the magnetic chassis; the electric control mechanism is electrically connected to the magnetic chassis, the grinding and dust collection mechanism and the oiling mechanism. The first quick-change component and the second quick-change component can realize the rapid disassembly and assembly of the grinding and dust collection mechanism and the oiling mechanism, so that the grinding and dust collection mechanism and the oiling mechanism can be quickly disassembled, assembled and replaced, thereby improving the operating efficiency of the wall-climbing robot.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel construction, and in particular to a wall-climbing robot. Background Art

[0002] At present, wall-climbing robots can be applied to industries such as petrochemical industry, shipbuilding, and nuclear power, but the working surfaces of wall-climbing robots in these fields are mostly open facades with good vision, and manual visual control is mostly adopted. For the field of tunnel construction of secondary lining, the secondary lining trolley is located in the drill-and-blast tunnel, the working environment is narrow, the steel mold is a horizontal curved surface, and the steel mold is located on the outer surface of the secondary lining trolley. Visual operation cannot observe the top situation from the ground, so it is difficult to control it manually by visual control. A wall-climbing robot with a plannable path is needed, and it can automatically complete rust removal and oiling operations. Existing path planning methods mostly use machine vision, laser radar modeling, inclination sensors, encoders and other methods. Due to the dark light in the tunnel and the dust when the steel mold is polished, it will affect the camera recognition trajectory, causing the wall-climbing robot to deviate from the original planned path; the secondary lining trolley is large in size, and the traversal method is used for overall modeling, which is complicated to operate and has no reference objects; due to the presence of lining windows and residual oil stains on the surface of the steel mold, the wall-climbing robot will slip; the encoder count has errors and will continue to accumulate.

[0003] The wall-climbing robot has two basic functions: adsorption and movement. It is used for special operations on vertical or curved walls and is also called a wall-moving robot. It is widely used in flaw detection or painting of large petrochemical storage tanks, building cleaning and spraying, ship rust removal, inspection and thickness measurement in the nuclear industry, etc. It can also be used in bridges, tunnels and wind power industries. In order to ensure the lining quality of the inner wall of the tunnel during tunnel construction, it is required to regularly grind, remove rust and oil the steel mold surface of the lining trolley. Due to the extremely narrow operating space of the second lining trolley (narrow means the narrow gap between the outer wall of the second lining trolley and the inner wall of the tunnel), large dust during construction, and harsh working environment, existing products and technologies are not applicable, and manual work is still the main method.

[0004] To sum up, there is an urgent need for a wall-climbing robot with a compact structure, reliable and stable, complete functions, convenient operation, high degree of automation, and adaptability to complex and harsh working conditions. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a wall-climbing robot, which solves the technical problem of the wall-climbing robot performing automated grinding and oiling operations on the secondary lining trolley.

[0007] (II) Technical solution

[0008] In order to achieve the above object, the wall-climbing robot of the present invention comprises:

[0009] Magnetic chassis and a grinding and dust collection mechanism, an oiling mechanism and an electric control mechanism arranged on the magnetic chassis:

[0010] The magnetic chassis can be adsorbed on the metal structure of the secondary lining trolley and can be turned;

[0011] The grinding and dust collection mechanism comprises a first quick-change assembly, and the first quick-change assembly is detachably connected to the magnetic chassis;

[0012] The oiling mechanism comprises a second quick-change assembly, and the second quick-change assembly is detachably connected to the magnetic chassis;

[0013] The electric control mechanism is electrically connected to the magnetic chassis, the grinding and dust collection mechanism and the oiling mechanism.

[0014] Optionally, the magnetic chassis comprises a chassis and a plurality of rotary drive units mounted on the chassis;

[0015] The chassis can be steered by cooperative driving of a plurality of the slewing drive units;

[0016] The slewing drive unit can be adsorbed onto a metal structure.

[0017] Optionally, the slewing drive unit comprises a slewing drive, a rubber wheel and a magnetic wheel;

[0018] The rotary drive is arranged on the chassis;

[0019] The output shaft of the rotary drive is coaxially connected to the rubber wheel and the magnetic wheel. The rubber wheel and the magnetic wheel are arranged along the axis of the output shaft of the rotary drive. The outer diameter of the rubber wheel is greater than the outer diameter of the magnetic wheel.

[0020] Optionally, the magnetic chassis further includes an auxiliary magnetic attraction component;

[0021] The auxiliary magnetic attraction assembly includes a crossbeam and two magnetic attraction units connected at two ends of the crossbeam, and the crossbeam is installed on the chassis;

[0022] The magnetic attraction unit comprises a permanent magnet, a hanging rod and a hanging rod fixing piece. The hanging rod is suspended at the end of the crossbeam through the hanging rod fixing piece, and the permanent magnet is sleeved on the hanging rod.

[0023] Optionally, the first quick-change assembly and the second quick-change assembly each include at least two fixing plates, a fixing plate connector and an adapter bracket;

[0024] The at least two fixing plates are connected to the magnetic chassis;

[0025] The adapter bracket includes a concave bracket, and the concave bracket can be inserted between two adjacent fixing plates;

[0026] The fixing plate and the concave bracket are detachably connected via the fixing plate connecting piece.

[0027] Optionally, the first quick-change assembly and the second quick-change assembly further include a buckle rod, a clamping plate and a clamping plate fixing member;

[0028] The buckle rod passes through the fixing plate and the concave bracket to limit the concave bracket in the vertical direction;

[0029] The buckle rod is provided with a clamping slot, the clamping plate is clamped into the clamping slot, and is connected to the concave bracket through the clamping plate fixing piece.

[0030] Optionally, the polishing and dust collection mechanism and the oiling mechanism both include a height adjustment component;

[0031] The adapter bracket further includes a first connecting block, wherein the first connecting block is connected to the concave bracket;

[0032] The height adjustment assembly includes a lifting bracket, a lifting rod and a fastener;

[0033] The lifting rod vertically passes through the lifting bracket and is threadedly connected to the first connecting block;

[0034] The fastener is arranged on the lifting rod to lock or unlock the lifting rod.

[0035] Optionally, the lifting rod includes a hand wheel and a support seat;

[0036] The hand wheel is arranged at the top end of the lifting rod, the support seat is arranged at the bottom end of the lifting rod, and the support seat is connected to the grinding and dust collection mechanism.

[0037] Optionally, the polishing and dust collection mechanism further includes a polishing bracket and a polishing component and a dust collection component mounted on the polishing bracket;

[0038] The lifting bracket is fixedly connected to the polishing bracket;

[0039] The polishing assembly comprises a polishing drive unit and a polishing piece, wherein the polishing drive unit is arranged on the polishing bracket, the polishing piece is arranged in the polishing bracket, and both ends of the polishing piece are rotatably connected to the polishing bracket and are transmission-connected to the polishing drive unit;

[0040] The dust collection assembly includes a centrifugal fan, a filter, a rubber cover and a cover mounting plate. The centrifugal fan is connected to the filter and both are arranged on the polishing bracket. The rubber cover is connected to the polishing bracket through the cover mounting plate.

[0041] Optionally, the oiling mechanism further includes an oiling bracket, a booster pump, an oil tank and a spray head;

[0042] The oiling bracket can be fixedly connected to the lifting bracket, and the booster pump is connected to the oil tank and both are arranged on the oiling bracket;

[0043] The nozzle is communicated with the booster pump.

[0044] Optionally, the electric control mechanism includes an electrical cabinet and a distance measuring sensor and a controller built into the electrical cabinet;

[0045] The electrical cabinet is arranged on the magnetic chassis;

[0046] The controller is connected with the distance measuring sensor and the magnetic chassis.

[0047] Optionally, the wall-climbing robot further comprises a reference surface tooling;

[0048] The reference surface tooling includes a reference plate and a permanent magnet mounting bracket;

[0049] The bottom end of the permanent magnet mounting bracket can be adsorbed on the metal structure, and the reference plate is connected to the permanent magnet mounting bracket;

[0050] The distance measuring sensor can measure the distance between the distance measuring sensor and the reference plate;

[0051] The electric control mechanism is provided with a pair of distance measuring sensors, and the pair of distance measuring sensors can transmit the measured distances to the controller respectively, so that the controller can correct the walking direction of the magnetic chassis.

[0052] (III) Beneficial effects

[0053] The beneficial effects of the present invention are as follows: the magnetic chassis has magnetic force, the steel mold of the second lining trolley is a metal structure, and the magnetic chassis can be directly adsorbed on the steel mold. Compared with the existing vacuum adsorption and negative pressure adsorption, the magnetic adsorption has high stability, does not require an air source, and is strong and durable.

[0054] The grinding and dust suction mechanism is arranged on the magnetic chassis. The grinding and dust suction mechanism integrates grinding and dust suction, and can directly collect the dust generated by grinding during the grinding process, which not only protects the environment, but also reduces the impact of dust on the various structures and sensors of the wall-climbing robot, prolongs the service life of the wall-climbing robot, and improves the detection accuracy of the sensor.

[0055] The first quick-change assembly can be detachably connected to the magnetic chassis, and the second quick-change assembly can be detachably connected to the magnetic chassis, thereby enabling rapid disassembly and assembly of the grinding and dust collection mechanism and the oiling mechanism, allowing the grinding and dust collection mechanism and the oiling mechanism to be rapidly disassembled, assembled, and replaced, thereby improving the operating efficiency of the wall-climbing robot.

[0056] The electric control mechanism is arranged on the magnetic chassis and is connected with the magnetic chassis, the grinding and dust collection mechanism and the oiling mechanism, so as to realize the automatic grinding and oiling operations of the wall-climbing robot, so that the wall-climbing robot can perform automated operations in the narrow working space between the tunnel and the secondary lining trolley, reducing the labor intensity and risk factor of manual operations. Compared with manual operations, the automated operations of the wall-climbing robot have higher work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a structural schematic diagram of the wall-climbing robot of the present invention;

[0058] Figure 2 It is a structural schematic diagram of the magnetic chassis of the present invention;

[0059] Figure 3 It is a structural schematic diagram of the auxiliary magnetic attraction component of the present invention;

[0060] Figure 4 It is a structural schematic diagram of the quick-change assembly of the present invention;

[0061] Figure 5 It is a structural schematic diagram of the height adjustment assembly of the present invention;

[0062] Figure 6 It is a structural schematic diagram of the grinding and dust collection mechanism of the present invention;

[0063] Figure 7 It is a schematic structural diagram of the grinding piece of the present invention;

[0064] Figure 8 It is a structural schematic diagram of the oiling mechanism of the present invention;

[0065] Fig. 9 It is a structural schematic diagram of the electric control mechanism of the present invention;

[0066] Fig.10 It is a structural schematic diagram of the reference surface tooling of the present invention;

[0067] Fig.11 The figure is a schematic diagram of the principle of deviation correction of the wall-climbing robot of the present invention.

[0068] [Description of Reference Numerals]

[0069] 1: magnetic chassis; 11: chassis; 12: slewing drive unit; 121: slewing drive; 122: rubber wheel; 123: magnetic wheel; 13: auxiliary magnetic assembly; 131: crossbeam; 132: permanent magnet; 133: hanging rod; 134: hanging rod fixing piece; 135: crossbeam screw; 136: cover;

[0070] 2: grinding and dust collection mechanism; 21: first quick-change assembly; 211: fixing plate; 212: fixing plate connecting piece; 213: concave bracket; 214: first connecting block; 215: buckle rod; 216: card plate; 217: card plate fixing piece;

[0071] 22: height adjustment assembly; 221: lifting bracket; 222: lifting rod; 2221: hand wheel; 2222: support seat; 223: fastener; 224: sleeve; 225: second connecting block; 226: screw rod; 23: grinding bracket; 24: grinding drive unit; 25: grinding part; 26: centrifugal fan; 27: filter; 28: rubber cover; 29: cover mounting plate;

[0072] 3: Electric control mechanism; 31: Electrical cabinet; 32: Distance sensor; 33: Controller; 34: Wireless remote control; 35: Battery; 36: Driver;

[0073] 4: oiling mechanism; 41: second quick-change assembly; 42: oiling bracket; 43: booster pump; 44: oil tank; 45: nozzle;

[0074] 5: reference surface tooling; 51: reference plate; 52: permanent magnet mounting bracket. DETAILED DESCRIPTION

[0075] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0076] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0077] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0078] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; "connection" can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0079] See also Figure 1 and Figure 8 The present invention provides a wall-climbing robot, which includes a magnetic chassis 1 and a grinding and dusting mechanism 2, an oiling mechanism 4 and an electric control mechanism 3 arranged on the magnetic chassis 1: the magnetic chassis 1 can be adsorbed on the steel mold of the secondary lining trolley and can be turned; the grinding and dusting mechanism 2 includes a first quick-change assembly 21, which is detachably connected to the magnetic chassis 1; the oiling mechanism 4 includes a second quick-change assembly 41, which is detachably connected to the magnetic chassis 1; the electric control mechanism 3 is electrically connected to the magnetic chassis 1, the grinding and dusting mechanism 2 and the oiling mechanism 4. The present invention first grinds the steel mold through the grinding and dusting mechanism 2, and the grinding is mainly to remove rust on the steel mold and residues such as concrete attached to the steel mold during the past construction process. After grinding, the surface accuracy of the construction concrete after the secondary lining can be improved; after grinding, the oiling mechanism 4 is used to apply oil, mainly to spray a release agent, so that the secondary lining trolley can be easily separated from the construction concrete after construction.

[0080] The magnetic chassis 1 has magnetic force, and the steel mold of the second lining trolley is a metal structure, and the magnetic chassis 1 can be directly adsorbed on the steel mold. Compared with the existing vacuum adsorption and negative pressure adsorption, the magnetic adsorption has high stability, does not require an air source, and is sturdy and durable. The grinding and dust collection mechanism 2 is arranged on the magnetic chassis 1. The grinding and dust collection mechanism 2 integrates grinding and dust collection, and can directly collect the dust generated by grinding during the grinding process, which not only protects the environment, but also reduces the impact of dust on the various structures and sensors of the wall-climbing robot, prolongs the service life of the wall-climbing robot, and improves the detection accuracy of the sensor. The first quick-change component 21 can be detachably connected to the magnetic chassis 1, and the second quick-change component 41 can be detachably connected to the magnetic chassis 1, so that the grinding and dust collection mechanism 2 and the oiling mechanism 4 can be quickly disassembled and replaced, so that the grinding and dust collection mechanism 2 and the oiling mechanism 4 can be quickly disassembled and replaced, thereby improving the operating efficiency of the wall-climbing robot. The electric control mechanism 3 is arranged on the magnetic chassis 1 and is connected to the magnetic chassis 1, the grinding and dust collection mechanism 2 and the oiling mechanism 4, so as to realize the automatic grinding and oiling operations of the wall-climbing robot, so that the wall-climbing robot can perform automated operations in the narrow working space between the tunnel and the secondary lining trolley, reducing the labor intensity and risk factor of manual operations. Compared with manual operations, the automated operations of the wall-climbing robot have higher work efficiency.

[0081] The wall-climbing robot of the present invention can be applied to the secondary lining trolley, but is not limited to being applied to the secondary lining trolley. Any environment that can be matched with the wall-climbing robot of the present invention is within the protection scope of the present invention.

[0082] like Figure 2 As shown, the magnetic chassis 1 includes a chassis 11 and a plurality of rotary drive units 12 mounted on the chassis 11; the chassis 11 can be turned by the cooperative driving of the plurality of rotary drive units 12; the rotary drive units 12 can be adsorbed on the steel mold. Specifically, in the present embodiment, a total of four rotary drive units 12 are provided, or six or eight rotary drive units 12 can be provided, which can be provided according to the actual adsorption force requirements of the magnetic chassis 1 on the steel mold. Even if a few rotary drive units 12 are separated from the steel mold when traversing obstacles, the remaining rotary drive units 12 can be firmly adsorbed on the steel mold, so that the wall-climbing robot can operate stably.

[0083] Furthermore, the rotary drive unit 12 includes a rotary drive 121, a rubber wheel 122 and a magnetic wheel 123; the rotary drive 121 is arranged on the chassis 11, and the rotary drive 121 can be a servo motor; the output shaft of the rotary drive 121 is coaxially connected to the rubber wheel 122 and the magnetic wheel 123, the rubber wheel 122 and the magnetic wheel 123 are rigidly fixed and arranged along the axis of the output shaft of the rotary drive 121, and the outer diameter of the rubber wheel 122 is greater than the outer diameter of the magnetic wheel 123. In this embodiment, the rubber wheel 122 is arranged close to the inner side of the chassis 11, and the magnetic wheel 123 is arranged close to the outer side of the chassis 11. Of course, the rubber wheel 122 can also be arranged close to the outer side of the chassis 11, and the magnetic wheel 123 can be arranged close to the inner side of the chassis 11. Among them, the outer diameter of the rubber wheel 122 is larger than the outer diameter of the magnetic wheel 123, so that after the rubber wheel 122 contacts the steel mold, it can be further compressed due to the adsorption force of the magnetic wheel 123, so that a larger pressure can be obtained, thereby increasing the friction between the rubber wheel 122 and the steel mold, so as to enhance the stability and obstacle surmounting ability of the wall-climbing robot during operation.

[0084] In this embodiment, there are four wheels (wheels are collectively referred to as rubber wheels 122 and magnetic wheels 123), each wheel is driven by a rotary driver 121, and the rotary driver 121 is electrically connected to the electric control mechanism 3, so that the electric control mechanism 3 can control the four rotary drivers 121 respectively, so that by controlling the speed ratio and other parameters of each rotary driver 121, the turning of the wall-climbing robot can be realized; by controlling the forward and reverse rotation of each rotary driver 121, the wall-climbing robot can turn in place, ensuring flexibility, and then perform automated operations according to the planned path of the electric control mechanism 3. And because the wheels of the present invention are not connected by a rotating shaft, but each wheel corresponds to an output shaft (i.e., rotating shaft) of a rotary driver 121, even if some wheels are separated from the steel mold, the impact on the remaining wheels is very small, thereby further improving the adsorption force of the magnetic chassis 1.

[0085] See also Figure 3 , the magnetic chassis 1 also includes an auxiliary magnetic component 13; the auxiliary magnetic component 13 includes a crossbeam 131 and two magnetic units connected at both ends of the crossbeam 131, and the crossbeam 131 is installed on the chassis 11; the magnetic unit is in indirect contact with the steel mold, but because the magnetic unit itself has magnetic force, it can enhance the adsorption force of the magnetic chassis 1, and the installation quantity of the auxiliary magnetic component 13 can be set according to the actual adsorption force requirement of the magnetic chassis 1. The magnetic unit includes a permanent magnet 132, a hanging rod 133 and a hanging rod fixing 134, and the hanging rod 133 is suspended at the end of the crossbeam 131 by the hanging rod fixing 134, and the permanent magnet 132 is mounted on the hanging rod 133. The crossbeam 131 and the chassis 11 are detachably connected by a crossbeam screw 135. Specifically, Figure 3For example, the hanging rod 133 includes a threaded rod, a connecting rod and a tray from top to bottom; the outer diameter of the threaded rod is smaller than the outer diameter of the connecting rod, so a first table is formed at the top of the connecting rod; the outer diameter of the connecting rod is smaller than the outer diameter of the tray, so a second table is formed at the top of the tray. A through hole is provided at the center of the permanent magnet 132, and the diameter of the through hole matches the outer diameter of the connecting rod, so that the permanent magnet 132 can be sleeved on the hanging rod 133, and the bottom end of the permanent magnet 132 can abut against the second table due to the magnetic force. The hanging rod fixing member 134 uses a double nut, which can be self-locking and has a strong limiting ability; the threaded rod is threadedly connected to the crossbeam 131, and then the threaded rod is locked by the double nut, so that the installation of the magnetic unit can be completed. At the same time, before fixing with the hanging rod fixing member 134, the height of the permanent magnet 132 can be adjusted by the hanging rod 133, and then fixed with the hanging rod fixing member 134, so that the height of the permanent magnet 132 is easy to adjust. The installation height of the permanent magnet 132 is related to the magnitude of the increased adsorption force of the auxiliary magnetic attraction component 13. The closer the installation height of the permanent magnet 132 is to the steel mold, the greater the adsorption force, the stronger the adsorption force of the magnetic chassis 1, the more stable the operation, and the increased bearing capacity of the magnetic chassis 1. The installation height of the auxiliary magnetic attraction component 13 is set according to the material and wall thickness of the steel mold.

[0086] Optionally, the magnetic unit also includes a cover 136, which can be mounted on the permanent magnet 132 and can be connected by glue or other means. The cover 136 can play a protective role, can block particles and dust during the grinding process, and can also reduce the collision force occurring during the obstacle crossing process to protect the permanent magnet 132.

[0087] like Figure 4 As shown, the first quick-change assembly 21 and the second quick-change assembly 41 each include at least two fixed plates 211, a fixed plate connector 212 and an adapter bracket; at least two fixed plates 211 are fixedly connected to the magnetic chassis 1; the adapter bracket includes a concave bracket 213, and the concave bracket 213 can be inserted between two adjacent fixed plates 211; the fixed plate 211 and the concave bracket 213 are detachably connected via the fixed plate connector 212. Specifically, during installation, first insert the adapter bracket between two adjacent fixed plates 211, and then connect the adapter bracket and the fixed plate 211 via the fixed plate connector 212. The fixed plate connector 212 can be a bolt. In this embodiment, a ball head locking pin is selected. Compared with a bolt, the locking pin can achieve disassembly and assembly faster. The ball head locking pin limits the adapter bracket in the vertical direction, and the fixing plate 211 limits the adapter bracket in the horizontal direction, thereby enabling the rapid disassembly and assembly of the adapter bracket, and further enabling the rapid disassembly and assembly of the grinding and dust collection mechanism 2 and the oiling mechanism 4, so as to improve the working efficiency of the wall-climbing robot.

[0088] Furthermore, the first quick-change assembly 21 and the second quick-change assembly 41 also include a buckle rod 215, a clamping plate 216 and a clamping plate fixing member 217; the buckle rod 215 passes through the fixing plate 211 and the concave bracket 213 to limit the concave bracket 213 in the vertical direction; the buckle rod 215 is provided with a clamping groove, the clamping plate 216 is clamped into the clamping groove, and is connected to the concave bracket 213 through the clamping plate fixing member 217. Specifically, the clamping plate fixing member 217 uses a bolt, and the clamping plate fixing member 217 can pass through the clamping plate 216 and be threadedly connected to the concave bracket 213. The buckle rod 215 can further limit the concave bracket 213 in the vertical direction, and is the main limiting structure to reduce the shear stress of the fixing plate connecting member 212 and extend the service life of the fixing plate connecting member 212. When the buckle rod 215 is worn and damaged, it can be replaced, which is very convenient and quick.

[0089] See also Figure 5 , the grinding and dust collection mechanism 2 and the oiling mechanism 4 both include a height adjustment component 22; the adapter bracket also includes a first connecting block 214, and the first connecting block 214 is connected to the concave bracket 213; the height adjustment component 22 is threadedly connected to the first connecting block 214, and when the adapter bracket is disassembled, the grinding and dust collection mechanism 2 or the oiling mechanism 4 can also be disassembled synchronously; the height adjustment component 22 includes a lifting bracket 221, a lifting rod 222 and a fastener 223; the lifting bracket 221 is fixedly connected to the grinding bracket 23 or the oiling bracket 42; the lifting rod 222 vertically passes through the lifting bracket 221 and is threadedly connected to the first connecting block 214; the fastener 223 is arranged on the lifting rod 222 to lock or unlock the lifting rod 222. The fastener 223 can be a locking bolt. The fastener 223 is an annular locking structure. The fastener 223 can be arranged on the periphery of the lifting rod 222. The lifting rod 222 can be locked by tightening the fastener 223, and the lifting rod 222 can be unlocked by loosening the fastener 223. A sleeve 224 is fixedly arranged below the fastener 223. The sleeve 224 is fixedly connected to the lifting bracket 221. The sleeve 224 can limit the position of the fastener 223, thereby realizing the position limitation of the fastener 223 on the lifting rod 222. The sleeve 224 may not be arranged, and the fastener 223 is directly fixedly connected to the lifting bracket 221.

[0090] Optionally, the height adjustment assembly 22 further includes a second connection block 225 and a screw rod 226 that are threadedly connected; the second connection block 225 is fixedly connected to the concave bracket 213; one end of the screw rod 226 is fixedly connected to the lifting bracket 221, and the other end is fixedly connected to the polishing bracket 23 or the oiling bracket 42. The provision of the second connection block 225 and the screw rod 226 can further enhance the stability of the polishing bracket 23 or the oiling bracket 42 during the lifting and lowering adjustment process.

[0091] Furthermore, the lifting rod 222 includes a hand wheel 2221 and a support seat 2222; the hand wheel 2221 is arranged at the top end of the lifting rod 222, the support seat 2222 is arranged at the bottom end of the lifting rod 222, and the support seat 2222 is fixedly connected to the grinding bracket 23 or the oiling bracket 42. In actual operation, the fastener 223 is first unlocked, and the hand wheel 2221 is turned to make the grinding bracket 23 or the oiling bracket 42 rise or fall, and the fastener 223 is locked after the adjustment; thereby, the height of the grinding dust suction mechanism 2 and the oiling mechanism 4 relative to the steel mold can be adjusted, and then the grinding and oiling operations can be performed according to actual needs.

[0092] like Figure 6 and Figure 7 As shown, the grinding and dust collection mechanism 2 also includes a grinding bracket 23 and a grinding assembly and a dust collection assembly installed on the grinding bracket 23; the lifting bracket 221 is fixedly connected to the grinding bracket 23; the grinding assembly includes a grinding drive unit 24 and a grinding piece 25, the grinding drive unit 24 is arranged on the grinding bracket 23, the grinding piece 25 is arranged in the grinding bracket 23, and both ends of the grinding piece 25 are rotatably connected to the grinding bracket 23 and are transmission-connected to the grinding drive unit 24; specifically, the grinding piece 25 uses a wire brush, the wire brush is spiral-shaped and the bristles are thin and easy to deform, and the hand wheel 2221 is turned to compress the wire brush to deform, and the height of the wire brush can be adjusted in real time according to the grinding intensity and strength required for different working conditions, so as to meet different grinding needs. In this embodiment, the grinding piece 25 is provided with a rotating shaft, and the rotating shaft is rotatably connected to the grinding bracket 23. The grinding drive unit 24 uses a motor, the output shaft of the motor is fixedly connected to the driving wheel, the driving wheel is connected to the driven wheel through a belt (or chain), and the driven wheel is fixedly connected to the rotating shaft of the grinding piece 25, so that the grinding drive unit 24 can drive the grinding piece 25 to rotate, thereby realizing the grinding of the steel mold.

[0093] The dust collection assembly includes a centrifugal fan 26, a filter 27, a rubber cover 28 and a cover mounting plate 29. The centrifugal fan 26 is connected to the filter 27 and both are arranged on the polishing bracket 23. The rubber cover 28 is connected to the polishing bracket 23 through the cover mounting plate 29. Specifically, after the centrifugal fan 26 is turned on, the dust enters the filter 27 due to the negative pressure and is filtered. The filter 27 collects the dust, thereby effectively preventing the diffusion of dust, protecting the environment, improving the polishing effect, and reducing the dust entering the internal components of the wall-climbing robot, thereby extending the service life of the wall-climbing robot; at the same time, providing a low-dust working environment can also reduce the interference of dust on sensors and other detection elements caused by dust, thereby improving the measurement accuracy. The collection chamber of the filter 27 can be made of transparent materials to visually check the amount of dust collected and clean it in time.

[0094] The rubber cover 28 is an integrally formed annular baffle, or it can be formed by connecting four rectangular plates. The top of the rubber cover 28 is fixed by screws through the cover mounting plate 29. The rubber cover 28 is made of rubber and can withstand certain deformation. For example, when adjusting the grinding and dust collection mechanism 2 to descend, the rubber cover 28 contacts the steel mold before the grinding piece 25. Therefore, when the grinding piece 25 contacts the steel mold, the rubber cover 28 has been squeezed, thereby ensuring the airtightness of the rubber cover 28 and effectively preventing dust from spreading outward. The lower part of the rubber cover 28 is lower than the walking surface of the rubber wheel 122, so as to ensure the airtightness of the rubber cover 28 during curved surface operation.

[0095] See again Figure 8 , the oiling mechanism 4 also includes an oiling bracket 42, a booster pump 43, an oil tank 44 and a nozzle 45; the oiling bracket 42 can be fixedly connected to the lifting bracket 221, the booster pump 43 is connected to the oil tank 44, and both are arranged on the oiling bracket 42; the nozzle 45 is connected to the booster pump 43. The grinding and dust collection mechanism 2 and the oiling mechanism 4 can be installed on the magnetic chassis 1 at the same time, respectively installed at the head end and the tail end of the magnetic chassis 1, the head end is the forward end of the wall-climbing robot, and the grinding is first performed and then oiled. For the second lining trolley that is difficult to grind or has high grinding accuracy requirements, only the grinding and dust collection mechanism 2 can be installed first, and then the grinding and dust collection mechanism 2 can be removed after the grinding is completed, and the oiling mechanism 4 can be installed for oiling. The first quick-change assembly 21 and the second quick-change assembly 41 can respectively realize the quick disassembly and assembly of the grinding and dust collection mechanism 2 and the oiling mechanism 4, and finally improve the operating efficiency of the wall-climbing robot. The oiling effect is changed by adjusting the pressure of the booster pump 43, the type and height of the nozzle 45, and can be set according to actual needs.

[0096] like Fig. 9 As shown, the electric control mechanism 3 includes an electric cabinet 31 and a distance sensor 32 and a controller 33 built in the electric cabinet 31; the electric cabinet 31 is arranged on the magnetic chassis 1; the controller 33 is connected to the distance sensor 32 and the magnetic chassis 1. The electric control mechanism 3 also includes a driver 36 built in the electric cabinet 31, a wireless remote control 34 and a battery 35. The specific connection method of the circuit of the electric control mechanism 3 and the control method of the controller 33 are prior art, and the present invention will not make too many explanations.

[0097] The operation flow of the wall-climbing robot of the present invention is: before the operation begins, the wall-climbing robot is first installed on the steel mold in steps. Specifically, the operator integrally adsorbs the magnetic chassis 1 and the electric control mechanism 3 on the steel mold, and then installs the grinding and dust collection mechanism 2 through the first quick-change assembly 21 to grind the steel mold; after the grinding is completed, the grinding and dust collection mechanism 2 is removed, and the oiling mechanism 4 is installed through the second quick-change assembly 41 to perform the oiling operation. After the operation is completed, the oiling mechanism 4 is first disassembled and transported, and then the magnetic chassis 1 is disassembled and transported. The purpose of this operation is to ensure that under the condition of reliable adsorption, a single person can independently complete the disassembly, assembly and transportation of the robot in a narrow space, thereby reducing the labor intensity and risk factor of manual operations. Of course, as mentioned above, for steel molds that are easy to grind, the grinding and dust collection mechanism 2 and the oiling mechanism 4 can also be installed at the same time, and the operation is performed at the same time, which is more efficient.

[0098] See also Fig.10 The wall-climbing robot also includes a reference surface fixture 5; the reference surface fixture 5 includes a reference plate 51 and a permanent magnet mounting bracket 52; the bottom end of the permanent magnet mounting bracket 52 can be adsorbed on the steel mold, and the reference plate 51 is connected to the permanent magnet mounting bracket 52; the distance sensor 32 can measure the distance between the distance sensor 32 and the reference plate 51. A pair of distance sensors 32 are arranged in the electric control mechanism 3, and the pair of distance sensors 32 can transmit the measured distance to the controller 33 respectively, so that the controller 33 can correct the walking direction of the magnetic chassis 1. In actual operation, the reference surface fixture 5 is first adsorbed on the steel mold, and the reference plate 51 can be used as a reference object to cooperate with the distance sensor 32 to measure the distance in real time, and finally the walking path of the wall-climbing robot can be corrected.

[0099] The principle of wall climbing robot correction is as follows Fig.11 As shown, during operation, the two distance measuring sensors 32 can respectively measure the straight-line distances S1 and S2 from the reference plate 51, and transmit the data information of S1 and S2 to the controller 33; the installation spacing L between the two distance measuring sensors 32 is fixed, and the controller 33 can automatically calculate the offset angle of the wall-climbing robot arcα=(S1-S2) / L by combining S1, S2, L and the forward direction of the wall-climbing robot. The controller 33 can thus control the operation of multiple rotary drive units 12 according to the calculated offset angle, so as to perform real-time deviation correction on the wall-climbing robot, so that the wall-climbing robot always keeps walking in a straight line.

[0100] Secondly, the present invention plans the walking path of the wall-climbing robot. For example, A1: The wall-climbing robot moves in a direction parallel to the reference plane to a certain position (such as moving for a certain duration); A2: The controller 33 controls the wall-climbing robot to turn clockwise by 90°, and move a certain distance (or duration); A3: Then turn clockwise by 90° again and move a certain distance (or duration); A4: Turn counterclockwise by 90°, and then turn clockwise by 90° after moving a certain distance (or duration). Among them, the movement directions of steps A1 and A3 are parallel but opposite, the movement directions of steps A2 and A4 are parallel and in the same direction, and the path trajectory is in the shape of a "Ji" character; the wall-climbing robot only polishes in steps A1 and A3, and there is an intersection in the polishing path, and steps A2 and A4 are only used for the turning of the wall-climbing robot. Repeating the above steps A1 to A4 in a cycle can achieve full coverage of the surface of the steel mold, and the overall path trajectory is equivalent to a large number of "Ji" characters arranged in an array in the horizontal direction.

[0101] During the polishing operation, according to the above polishing path, the rotation axis of the polishing part 25 can always polish in a direction parallel to the axis of the steel mold, so that the polishing part 25 can fully contact the surface of the steel mold and improve the polishing effect. The principle of the oiling operation is the same, except that there may be no intersection in the paths of A1 and A3; by walking through the above paths, the wall-climbing robot can avoid the paths that have been oiled during the operation process, so as to effectively avoid wheel slippage.

[0102] In addition, considering job safety, the wall-climbing robot of the present invention further includes a magnetic switch seat and a safety net; one side of the safety net is connected to the steel mold through the magnetic switch seat, and the other side is connected to the tunnel wall surface. The safety net is kept at a certain height from the ground. If the wall-climbing robot slips, it can protect the wall-climbing robot from impact and also protect the personnel below the safety net, improving the safety of the operation. If the wall-climbing robot needs maintenance, only a single magnetic switch seat needs to be removed to expose the operation area.

[0103] It should be understood that the above description of the specific embodiments of the present invention is only for explaining the technical route and features of the present invention, and its purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. However, the present invention is not limited to the above specific embodiments. Any changes or modifications made within the scope of the claims of the present invention should be covered by the protection scope of the present invention.

Claims

1. A wall-climbing robot, characterized in that: The wall-climbing robot comprises a magnetic chassis (1), and a grinding and dust collection mechanism (2), an oiling mechanism (4), and an electric control mechanism (3) arranged on the magnetic chassis (1): The magnetic chassis (1) can be adsorbed on a metal structure and can be turned; The grinding and dust collection mechanism (2) comprises a first quick-change assembly (21), and the first quick-change assembly (21) is detachably connected to the magnetic chassis (1); The oiling mechanism (4) comprises a second quick-change assembly (41), and the second quick-change assembly (41) is detachably connected to the magnetic chassis (1); The electric control mechanism (3) is electrically connected to the magnetic chassis (1), the grinding and dust collection mechanism (2) and the oiling mechanism (4); The first quick-change assembly (21) and the second quick-change assembly (41) both comprise at least two fixing plates (211), a fixing plate connecting piece (212) and an adapter bracket; the at least two fixing plates (211) are connected to the magnetic chassis (1); the adapter bracket comprises a concave bracket (213), and the concave bracket (213) can be inserted between two adjacent fixing plates (211); the fixing plate (211) and the concave bracket (213) are detachably connected via the fixing plate connecting piece (212); The first quick-change assembly (21) and the second quick-change assembly (41) both further comprise a snap-in rod (215), a snap-in plate (216) and a snap-in plate fixing member (217); the snap-in rod (215) passes through the fixing plate (211) and the concave bracket (213) to limit the concave bracket (213) in the vertical direction; a snap-in groove is provided on the snap-in rod (215), the snap-in plate (216) is snapped into the snap-in groove, and is connected to the concave bracket (213) via the snap-in plate fixing member (217).

2. The wall-climbing robot according to claim 1, characterized in that: The magnetic chassis (1) comprises a chassis (11) and a plurality of rotary drive units (12) mounted on the chassis (11); The chassis (11) can be steered by cooperative driving of a plurality of the slewing drive units (12); The rotary drive unit (12) can be adsorbed on a metal structure.

3. The wall-climbing robot according to claim 2, characterized in that: The rotary drive unit (12) comprises a rotary drive (121), a rubber wheel (122) and a magnetic wheel (123); The rotary driver (121) is arranged on the chassis (11); The output shaft of the rotary drive (121) is coaxially connected to the rubber wheel (122) and the magnetic wheel (123); the rubber wheel (122) and the magnetic wheel (123) are arranged along the axis of the output shaft of the rotary drive (121); and the outer diameter of the rubber wheel (122) is greater than the outer diameter of the magnetic wheel (123).

4. The wall-climbing robot according to claim 2, characterized in that: The magnetic suction chassis (1) further comprises an auxiliary magnetic suction component (13); The auxiliary magnetic attraction component (13) comprises a crossbeam (131) and two magnetic attraction units connected to two ends of the crossbeam (131), and the crossbeam (131) is installed on the chassis (11); The magnetic attraction unit comprises a permanent magnet (132), a hanging rod (133) and a hanging rod fixing member (134); the hanging rod (133) is suspended at the end of the crossbeam (131) through the hanging rod fixing member (134); and the permanent magnet (132) is sleeved on the hanging rod (133).

5. The wall-climbing robot according to claim 1, characterized in that: The grinding and dust collection mechanism (2) and the oiling mechanism (4) both include a height adjustment component (22); The adapter bracket further comprises a first connection block (214), wherein the first connection block (214) is connected to the concave bracket (213); The height adjustment assembly (22) comprises a lifting bracket (221), a lifting rod (222) and a fastener (223); The lifting rod (222) vertically passes through the lifting bracket (221) and is threadedly connected to the first connecting block (214); The fastener (223) is arranged on the lifting rod (222) to lock or unlock the lifting rod (222).

6. The wall-climbing robot according to claim 5, characterized in that: The lifting rod (222) comprises a hand wheel (2221) and a support seat (2222); The hand wheel (2221) is arranged at the top end of the lifting rod (222), the support seat (2222) is arranged at the bottom end of the lifting rod (222), and the support seat (2222) is connected to the grinding and dust collection mechanism (2).

7. The wall-climbing robot according to claim 5, characterized in that: The polishing and dust collection mechanism (2) further comprises a polishing bracket (23) and a polishing component and a dust collection component mounted on the polishing bracket (23); The lifting bracket (221) is fixedly connected to the polishing bracket (23); The polishing assembly comprises a polishing drive unit (24) and a polishing piece (25), wherein the polishing drive unit (24) is arranged on the polishing bracket (23), and the polishing piece (25) is arranged in the polishing bracket (23), and both ends of the polishing piece (25) are rotatably connected to the polishing bracket (23) and are transmission-connected to the polishing drive unit (24); The dust collection assembly comprises a centrifugal fan (26), a filter (27), a rubber cover (28) and a cover mounting plate (29); the centrifugal fan (26) is in communication with the filter (27) and both are arranged on the polishing bracket (23); the rubber cover (28) is connected to the polishing bracket (23) via the cover mounting plate (29).

8. The wall-climbing robot according to claim 5, characterized in that: The oiling mechanism (4) further comprises an oiling bracket (42), a booster pump (43), an oil tank (44) and a spray head (45); The oiling bracket (42) can be fixedly connected to the lifting bracket (221); the booster pump (43) is in communication with the oil tank (44) and both are arranged on the oiling bracket (42); The nozzle (45) is connected to the booster pump (43).

9. The wall-climbing robot according to any one of claims 1 to 4, characterized in that: The electric control mechanism (3) comprises an electric cabinet (31) and a distance measuring sensor (32) and a controller (33) built into the electric cabinet (31); The electrical cabinet (31) is arranged on the magnetic chassis (1); The controller (33) is connected to the distance measuring sensor (32) and the magnetic chassis (1).

10. The wall-climbing robot according to claim 9, characterized in that: The wall-climbing robot also includes a reference surface tooling (5); The reference surface tooling (5) comprises a reference plate (51) and a permanent magnet mounting bracket (52); The bottom end of the permanent magnet mounting bracket (52) can be adsorbed on a metal structure, and the reference plate (51) is connected to the permanent magnet mounting bracket (52); The distance measuring sensor (32) is capable of measuring the distance between the distance measuring sensor (32) and the reference plate (51); The electric control mechanism (3) is provided with a pair of distance measuring sensors (32), and the pair of distance measuring sensors (32) can respectively transmit the measured distances to the controller (33), so that the controller (33) can correct the walking direction of the magnetic chassis (1).

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