Steering-shaped inner planetary combination obstacle-crossing magnetic wheel at steel structure joint, anti-derailing method and application

Abstract

This invention belongs to the field of mechanical engineering robot technology, and discloses a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at steel structure splicing points, an anti-derailment method, and its application. The rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at steel structure splicing points includes: an obstacle-crossing and primary anti-derailment mechanism formed by a disc-shaped lateral constraint wheel that can slide under pressure along the wheel axle; the disc-shaped lateral constraint wheel, combined with the rudder-shaped inner planetary wheel and lateral rollers, further forms a redundant obstacle-crossing and secondary anti-derailment mechanism to adapt to changes in the purlin track width and prevent derailment. The lateral rollers and rudder-shaped inner planetary wheels provided by this invention can be arranged relatively deep along the purlin web, avoiding the risk of derailment; the multi-stage obstacle-crossing provided by this invention ensures the absolute passability of the magnetic wheel.

Description

Technical Field

[0001] This invention belongs to the field of mechanical engineering robot technology, and particularly relates to the obstacle-crossing magnetic wheel with rudder-shaped inner planetary combination at the steel structure splicing point, the method for preventing derailment, and its application. Background Technology

[0002] Research and demonstration applications have been conducted on steel structure painting robots for high-altitude operations, particularly magnetic adsorption robots. These robots use purlins as guide rails for movement. However, magnetic adsorption robots encounter two main problems when moving along purlins: First, there's the issue of varying track width. Since purlin structures are composed of multiple purlins joined end-to-end, with joints typically connected by splicing plates, exposed bolts, uprights, and ribs at these joints create obstacles that the robot may have to overcome. Second, the purlin arrangement often features large curves and steep slopes, making it easy for the robot to derail. Because of these variations in track width and gauge, achieving purlin painting using robots remains a critical technical challenge that needs to be addressed.

[0003] Based on the above analysis, the problems and defects of the existing technology are as follows: the robot provided by the existing technology is prone to slipping on the purlin track and cannot effectively prevent derailment and overturning; the robot of the existing technology has poor passability in multi-level obstacle crossing. Summary of the Invention

[0004] To overcome the problems existing in related technologies, the embodiments disclosed in this invention provide a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing point, a method for preventing derailment, and its application.

[0005] The technical solution is as follows: a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing point, which overcomes the downward sliding force formed by the robot's own weight along the roof by using its own magnetic attraction; specifically including:

[0006] Used for obstacle crossing and primary anti-detachment mechanism formed by disc-shaped lateral restraint wheels that can slide under pressure along the wheel axle;

[0007] The disc-shaped lateral restraint wheel, combined with the rudder-shaped inner planetary gear and lateral roller, further forms a redundant obstacle-crossing and secondary anti-derailment mechanism to adapt to changes in the width of the purlin track and prevent derailment.

[0008] In one embodiment of the present invention, the rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splice further includes:

[0009] First nitrogen spring and fixing frame, first L-shaped shaft, second nitrogen spring and fixing frame, second L-shaped shaft, bearing box, side rollers and frame;

[0010] The riding frame is connected to the wheel axle, the wheel axle is equipped with a splined bushing, and a disc-shaped lateral constraint wheel is installed in sequence. The constraint wheel has a bearing box, a first wheel core, an arc magnet, and a second wheel core with a spline groove.

[0011] On the outer side of the riding frame, a first nitrogen spring and a fixing frame are connected to the axle. The fixing frame A is slidably connected to the first L-shaped shaft with a side roller installed.

[0012] On the other side of the riding frame, a second nitrogen spring and a fixing frame are connected to the axle; the second nitrogen spring and the fixing frame are slidably connected to the second L-shaped shaft on which the rudder-shaped inner planetary gear is installed.

[0013] In one embodiment of the present invention, when crossing an obstacle, the lateral roller moves to the lateral upright plate at the purlin splice, and the first L-shaped shaft drives the lateral roller to slide relative to the first nitrogen spring and the fixing frame; the sum of the initial compression force of the nitrogen spring is equal to the component of the robot's own weight along the roof slope direction.

[0014] In one embodiment of the present invention, when crossing an obstacle, the outer side of the rudder-shaped inner planetary gear is fan-shaped, and the inner planetary gear inside the rudder-shaped inner planetary gear rotates with the second L-shaped shaft.

[0015] In one embodiment of the present invention, springs are pressed between the disc-shaped lateral restraint wheel and the riding frame, between the disc-shaped lateral restraint wheel and the first wheel core, and between the disc-shaped lateral restraint wheel and the second wheel core with spline groove, for opening and closing of the disc-shaped lateral restraint wheel when the purlin crosses an obstacle.

[0016] In one embodiment of the present invention, the bearing housing contains a sliding bearing that is fitted onto the axle.

[0017] Another objective of this invention is to provide a method for preventing derailment of a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at a steel structure splice, comprising:

[0018] An obstacle-crossing and primary anti-detachment mechanism is formed by a disc-shaped lateral restraint wheel that can slide under pressure along the wheel axle;

[0019] The rudder-shaped inner planetary gear, disc-shaped lateral restraint wheel, and lateral roller form a redundant obstacle-crossing and secondary anti-derailment mechanism, which is used to adapt to changes in the width of the purlin track and to travel along the steeply sloping roof to prevent derailment.

[0020] Another objective of this invention is to provide a purlin spraying robot equipped with the aforementioned rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing joint.

[0021] Another objective of this invention is to provide a large curved surface equipment construction robot, equipped with the aforementioned rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing joint.

[0022] Another objective of this invention is to provide a construction robot for equipment with steep slopes, equipped with the aforementioned rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing joint.

[0023] Combining all the above technical solutions, the advantages and positive effects of this invention are as follows:

[0024] First, regarding the technical problems existing in the prior art and the difficulty in solving these problems, this invention, closely combining the technical solution to be protected by this invention with the results and data from the research and development process, analyzes in detail how the technical solution of this invention solves the technical problems and the creative technical effects brought about after solving the problems. Specifically, it describes as follows: This invention provides a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing point. Through the magnetic attraction of the obstacle-crossing magnetic wheel itself, it overcomes the downward sliding force formed by the robot's own weight along the roof. The obstacle-crossing magnetic wheel can adapt to the obstacles formed at the purlin splicing point, achieving obstacle crossing at the purlin splicing point, facilitating the robot's stable movement on the purlins and subsequent spraying operations.

[0025] This invention provides a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splice. During purlin spraying operations, the obstacle-crossing wheel is first suspended on the tracks of two adjacent purlins along with the robot body. The obstacle-crossing wheel is attached to the purlin track in a U-shape. Each magnetic wheel is hinged to the shaft at the end of the robot leg along the length of the purlin through a bushing. The magnetic wheel can adapt to changes in the curvature of the track surface. The magnetic force can not only prevent the walking robot from slipping on the purlin track, but also play a role in preventing derailment and overturning.

[0026] Secondly, considering the technical solution as a whole or from a product perspective, the technical effects and advantages of the technical solution protected by this invention are specifically described as follows: The lateral rollers and rudder-shaped inner planetary gears provided by this invention can be arranged deep along the purlin web, avoiding the risk of derailment; the multi-level obstacle-crossing mechanism provided by this invention ensures the absolute passability of the magnetic wheel. The rudder-shaped inner planetary combination obstacle-crossing magnetic wheel forms an obstacle-crossing and primary anti-derailment mechanism through a disc-shaped lateral constraint wheel that can slide under pressure along the wheel axle; the rudder-shaped inner planetary gear; and the disc-shaped lateral constraint wheel and lateral rollers form a redundant obstacle-crossing and secondary anti-derailment mechanism. It can adapt to changes in the width of the purlin track and ensure the stable movement of the robot along the steeply sloping roof, solving the derailment problem, facilitating subsequent operations, and providing a good foundation for high-altitude operations on corrugated roof purlins.

[0027] Third, as supplementary evidence of the inventiveness of the claims of this invention, it is also reflected in the following important aspects: the successful application of this invention can enable robots to operate stably and reliably on roof purlins, realizing the replacement of manual labor for fireproof coating spraying; the technical solution of this invention solves the problems of track lateral obstacles and variable wheel track technology. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure;

[0029] Figure 1 This is a schematic diagram of the rudder-shaped inner planetary combination obstacle-crossing magnetic wheel structure at the steel structure splicing point provided in an embodiment of the present invention;

[0030] Figure 2 This is an isometric view of the rudder-shaped inner planetary assembly obstacle-crossing magnetic wheel at the steel structure splicing point provided in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the side guide wheel provided in an embodiment of the present invention;

[0032] Figure 4(a) is a schematic diagram of the second L-shaped shaft provided in an embodiment of the present invention;

[0033] Figure 4(b) is a schematic diagram of the rudder-shaped inner planetary gear provided in an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the riding frame provided in an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the disc-type anti-detachment wheel provided in an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the magnetic wheel assembly provided in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the cross-section of the purlin track provided in an embodiment of the present invention;

[0038] Figure 9 This is a side axonometric drawing of the ribbed purlin track provided in an embodiment of the present invention;

[0039] Figure 10 This is a side axonometric drawing of the purlin track upright provided in an embodiment of the present invention;

[0040] Figure 11 This is a diagram of the state before obstacle crossing provided in an embodiment of the present invention;

[0041] Figure 12 These are two diagrams showing the state before obstacle crossing provided in this embodiment of the invention;

[0042] Figure 13 This is a diagram of the obstacle crossing state provided in an embodiment of the present invention;

[0043] Figure 14 These are two diagrams illustrating the obstacle crossing states provided in this embodiment of the invention;

[0044] In the diagram: 1. First nitrogen spring and fixing frame; 11. First L-shaped shaft; 12. Lateral roller; 2. Riding frame; 3. Second nitrogen spring and fixing frame; 31. Second L-shaped shaft; 32. Rudder-shaped inner planetary gear; 4. Disc-shaped lateral restraint wheel; 41. Bearing box; 5. Arc magnet; 51. First wheel core; 52. Second wheel core with spline groove; 53. Wheel axle; 54. Splined bushing. Detailed Implementation

[0045] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0046] I. Explanation of the Implementation Example:

[0047] This invention provides a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at a steel structure splice, comprising:

[0048] For use as an obstacle-crossing and primary anti-detachment mechanism formed by a disc-shaped lateral restraint wheel 4 that can slide under pressure along the wheel axle 53;

[0049] The disc-shaped lateral restraint wheel 4, combined with the rudder-shaped inner planetary gear 32 and the lateral roller 12, further forms a redundant obstacle crossing and secondary anti-derailment mechanism to adapt to changes in the width of the purlin track and prevent derailment.

[0050] Example 1

[0051] like Figure 1-10 As shown, this embodiment provides a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing point, comprising:

[0052] First nitrogen spring and fixing frame 1, first L-shaped shaft 11, second nitrogen spring and fixing frame 3, second L-shaped shaft 31, rudder-shaped inner planetary gear 32, disc-shaped lateral restraint wheel 4, bearing box 41, lateral roller 12 and riding frame 2;

[0053] The riding frame 2 is connected to the wheel axle 53. The wheel axle 53 is equipped with a splined bushing 54, and then a disc-shaped lateral constraint wheel 4 is installed in sequence. The constraint wheel 4 has a bearing box 41, a first wheel core 51, an arc magnet 5, and a second wheel core 52 with a spline groove.

[0054] On one side of the riding frame 2, a first nitrogen spring and a fixing bracket 1 are connected to the axle 53. The first nitrogen spring and the fixing bracket 1 are slidably connected to a first L-shaped shaft 11 on which a side roller 12 is mounted. This side is arranged on... Figure 8The right side of the purlin track shown; when it is necessary to overcome an obstacle, when the lateral roller 12 moves to the lateral upright plate at the purlin splice, the first L-shaped shaft 11 drives the lateral roller 12 to slide relative to the first nitrogen spring and the fixing frame 1, thereby overcoming the obstacle; the sum of the initial compression force of the nitrogen spring is equal to the component of the robot's own weight along the roof slope direction.

[0055] On the other side of the riding frame 2, a second nitrogen spring and a fixing bracket 3 are connected to the axle 53; the second nitrogen spring and the fixing bracket 3 are slidably connected to a second L-shaped shaft 31 on which a rudder-shaped inner planetary gear 32 is mounted, and this side is arranged Figure 8 As shown on the left side of the purlin track; when it is necessary to cross an obstacle, the outer side of the rudder-shaped inner planetary gear 32 presents a fan shape, which has the ability to cross obstacles. The inner planetary gear inside the rudder-shaped inner planetary gear 32 rotates with the second L-shaped shaft 31, which can further expand the obstacle crossing ability.

[0056] Springs (not shown) are pressed between the disc-shaped lateral restraint wheel 4 and the riding frame 2, between the disc-shaped lateral restraint wheel 4 and the first wheel core 51, and between the disc-shaped lateral restraint wheel 4 and the second wheel core 52 with spline groove. These springs ensure the opening and closing of the disc-shaped lateral restraint wheel 4 when the purlin crosses an obstacle. The disc-shaped lateral restraint wheel 4 is fan-shaped and can rotate to cross obstacles through the sliding bearing (not shown) sleeved on the wheel axle 53 inside the bearing box 41.

[0057] The bearing housing 41 is fixed to the disc-shaped lateral constraint wheel 4. When passively opening and closing, the sliding bearing moves together with the disc-shaped lateral constraint wheel 4. The disc-shaped lateral constraint wheel 4 is fan-shaped. When it encounters the obstacle node rib, because it is fan-shaped and can rotate freely along the wheel axle 53, it rotates in the direction when it encounters the obstacle, thus naturally forming an obstacle avoidance mechanism.

[0058] Example 2

[0059] This invention provides a method for preventing derailment of a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at a steel structure splice, comprising:

[0060] An obstacle-crossing and primary anti-detachment mechanism is formed by a disc-shaped lateral restraint wheel 4 that can slide under pressure along the wheel axle 53;

[0061] The diameter of the disc-shaped lateral constraint wheel 4 is larger than that of the track wheel. The obstacle-crossing magnetic wheel moves along the track as if it were stuck. When the track width increases and it reaches the purlin splicing point, the disc-shaped lateral constraint wheel 4 takes on a disc shape and makes tongue-and-groove contact with the node vertical plate. Due to the pressure during movement, the disc-shaped lateral constraint wheel 4 is passively moved outward along the wheel axle 53, thus playing the role of overcoming obstacles.

[0062] The rudder-shaped inner planetary gear 32 and the side roller 12 form a redundant obstacle-crossing and secondary anti-detachment mechanism.

[0063] The lateral roller 12 and the rudder-shaped inner planetary gear 3 are arranged on both sides of the track along with the magnetic wheel, and press laterally against the side of the track, naturally forming a lateral constraint between the magnetic wheel and the track. When the rudder-shaped inner planetary gear 32 encounters the vertical rib plate at the node splicing point, its fan shape can play a role in overcoming obstacles. Its inner planetary arrangement can make the center of mass of the rudder-shaped inner planetary gear 32 change along the wheel axis 53, further playing a role in overcoming obstacles.

[0064] It can adapt to changes in the width of the purlin track and ensure that the robot can move stably along the sloping roof, solving the problem of derailment and facilitating subsequent operations, thus providing a good foundation for high-altitude operations on corrugated roof purlins.

[0065] Example 3

[0066] This invention provides a method for preventing derailment of a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at a steel structure splicing point. The method includes: during purlin spraying, the obstacle-crossing wheel is first suspended on two adjacent purlin tracks along with the robot body. The obstacle-crossing wheel is U-shaped and adsorbed onto the purlin tracks. Each rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at a steel structure splicing point is hinged to the end of the robot leg along the length of the purlin via a bushing. The rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing point can adapt to changes in track surface curvature. The magnetic force can prevent the walking robot from slipping on the purlin tracks and also plays a role in preventing derailment and overturning.

[0067] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0068] II. Application Examples:

[0069] Application Examples

[0070] This invention features a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing point. When applied to high-altitude spraying operations on corrugated roof purlins, it can be placed on the double purlins of the roof along with the robot body. Before and after obstacle crossing... Figure 11 Pre-obstacle state one Figure 12 This is state two before overcoming the obstacle. Figure 13 State 1 during obstacle crossing. Figure 14 This is state two during obstacle crossing.

[0071] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at a steel structure splicing joint, characterized in that, The rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing point includes: For obstacle crossing and primary anti-detachment mechanism formed by a disc-shaped lateral restraint wheel (4) that can slide under pressure along the wheel axle (53); The disc-shaped lateral restraint wheel (4) combined with the rudder-shaped inner planetary gear (32) and the lateral roller (12) further forms a redundant obstacle crossing and secondary anti-derailment mechanism to adapt to changes in the width of the purlin track and prevent derailment; The rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing point also includes: First nitrogen spring and fixing frame (1), first L-shaped shaft (11), second nitrogen spring and fixing frame (3), second L-shaped shaft (31), bearing box (41), side roller (12) and riding frame (2); The riding frame (2) is connected to the axle (53). The axle (53) is equipped with a splined bushing (54), and a disc-shaped lateral restraint wheel (4) is installed in sequence. The disc-shaped lateral restraint wheel (4) has a bearing box (41), a first wheel core (51), an arc magnet (5), and a second wheel core (52) with a spline groove. Springs are pressed between the disc-shaped lateral restraint wheel (4) and the riding frame (2), between the disc-shaped lateral restraint wheel (4) and the first wheel core (51), and between the disc-shaped lateral restraint wheel (4) and the second wheel core (52) with a spline groove, for opening and closing of the disc-shaped lateral restraint wheel (4) when the purlin crosses an obstacle. On the outer side of the riding frame (2), a first nitrogen spring and a fixing frame (1) are connected to the axle (53), and the first nitrogen spring and the fixing frame (1) are slidably connected to the first L-shaped shaft (11) on which the side roller (12) is installed. On the other side of the riding frame (2), a second nitrogen spring and a fixing frame (3) are connected to the axle (53); the second nitrogen spring and the fixing frame (3) are slidably connected to the second L-shaped shaft (31) on which the rudder-shaped inner planetary gear (32) is installed. The method for preventing the derailment of the rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splice includes: A disc-shaped lateral restraint wheel (4) that slides under pressure along the wheel axle (53) forms an obstacle crossing and primary anti-detachment mechanism; The rudder-shaped inner planetary gear (32), the disc-shaped lateral restraint wheel (4) and the lateral roller (12) form a redundant obstacle crossing and secondary anti-derailment mechanism to adapt to the changes in the width of the purlin track and to travel along the steep slope of the roof to prevent derailment.

2. The rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splice according to claim 1, characterized in that, When crossing obstacles, the outer side of the rudder-shaped inner planetary gear (32) is fan-shaped, and the inner planetary gear inside the rudder-shaped inner planetary gear (32) rotates with the second L-shaped shaft (31).

3. The rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splice according to claim 1, characterized in that, The bearing housing (41) contains a sliding bearing that is fitted onto the axle (53).

4. A purlin spraying robot, equipped with a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splice as described in any one of claims 1-3.

5. A construction robot for large curved surfaces, equipped with a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing joint as described in any one of claims 1-3.

6. A construction robot for equipment with a large slope, equipped with a rudder-shaped inner planetary combination obstacle-crossing magnetic wheel at the steel structure splicing joint as described in any one of claims 1-3.

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