Ball-track composite permanent magnetic adsorption type wall-climbing robot for rust removal

Abstract

This invention discloses a ball-tracked composite permanent magnet adsorption rust removal wall-climbing robot. A cleaning disc is housed within a cleaning disc mounting base, which is connected to a cleaning disc connecting frame. A ball-tracked composite permanent magnet adsorption track is connected to each side of the cleaning disc connecting frame. A self-spinning high-pressure nozzle is installed within the cleaning disc. The ball-tracked composite permanent magnet adsorption track includes a front driving sprocket, a rear driven sprocket, chain links, chain link connecting rods, a servo motor, and a harmonic reducer. The chain links are formed by alternating connections of magnetic chain links and universal ball chain links via the chain link connecting rods. The chain links are mounted on the front driving sprocket and the rear driven sprocket via the chain link connecting rods. The servo motor drives the sprockets to rotate via the harmonic reducer and sprocket shaft. This invention effectively reduces the output torque of the motor when the wall-climbing robot turns, improving the robot's movement flexibility while ensuring reliable adsorption. It also reduces the size and cost of the rust removal wall-climbing robot, showing broad application prospects and facilitating its widespread application.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a ball-tracked composite permanent magnet adsorption rust removal and wall-climbing robot. Background Technology

[0002] Currently, wall-climbing robots used for rust removal on ship and petrochemical storage tank walls generally employ wheeled or tracked permanent magnet adsorption structures due to their heavy load and high requirements for adsorption reliability. While wheeled wall-climbing robots are agile, their magnetic adsorption force decreases sharply when crossing obstacles such as weld seams, as the distance between the permanent magnets and the wall increases, potentially causing the robot to detach. Tracked wall-climbing robots, with their dispersed permanent magnet adsorption devices and large adsorption area against the wall, only increase the distance between a few devices when crossing obstacles like weld seams, while the rest remain in contact with the wall. This results in higher adsorption reliability compared to wheeled robots, preventing detachment during obstacle crossing. However, the large contact area between the permanent magnets and the wall in tracked wall-climbing robots requires more torque from the motors when turning, reducing the robot's maneuverability. Therefore, there is an urgent need to develop a ball-tracked composite permanent magnet adsorption rust removal wall-climbing robot to solve these technical problems.

[0003] In view of this, the present invention is hereby proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a ball-tracked composite permanent magnet adsorption rust removal wall-climbing robot, which effectively reduces the output torque of the motor when the wall-climbing robot turns. This not only improves the flexibility of the robot's movement while ensuring reliable adsorption, but also reduces the size and cost of the rust removal wall-climbing robot. It has broad application prospects and is conducive to its widespread application.

[0005] To achieve the above objectives, the present invention provides a ball-tracked composite permanent magnet adsorption rust removal wall-climbing robot, comprising a ball-tracked composite permanent magnet adsorption track, a cleaning disc, a cleaning disc fixing seat, and a cleaning disc connecting frame. The cleaning disc is disposed in the cleaning disc fixing seat, the cleaning disc fixing seat is connected to the cleaning disc connecting frame, and a ball-tracked composite permanent magnet adsorption track is connected to each side of the cleaning disc connecting frame. A self-rotating high-pressure nozzle is installed in the cleaning disc.

[0006] The ball-tracked composite permanent magnet adsorption track includes a front driving sprocket, a rear driven sprocket, chain links, chain link connecting rods, a servo motor, and a harmonic reducer. The chain links are formed by alternating connections of magnetic chain links and universal ball chain links through chain link connecting rods. The chain links are mounted on the front driving sprocket and the rear driven sprocket through the chain link connecting rods. The servo motor drives the sprocket to rotate through the harmonic reducer and the sprocket shaft, thereby driving the robot to move.

[0007] The front drive sprocket and the rear driven sprocket are respectively mounted on track side plate 1 and track side plate 2 via sprocket shaft 1, sprocket shaft 2 and bearings. The magnetic link includes an optimized Halbach array permanent magnet, which consists of five neodymium iron boron permanent magnets and a yoke. The five neodymium iron boron permanent magnets are arranged alternately with three wide main magnets and two narrow auxiliary magnets. The width of the auxiliary magnets is 0.4 times the width of the main magnets, and the thickness of the yoke is 0.5 times the thickness of the neodymium iron boron permanent magnets. The optimized Halbach array permanent magnet is connected to a magnet polyurethane support block and a magnetic link bracket on both sides in sequence, and a magnetic guide plate is connected to its bottom. The omnidirectional ball link includes two sets of omnidirectional balls, which are fixed in an omnidirectional ball fixing seat. The omnidirectional ball fixing seat is connected to an omnidirectional ball polyurethane support block and an omnidirectional ball link bracket on both sides in sequence.

[0008] Preferably, both track side plate one and track side plate two have grooves in the middle, and track side plate one and track side plate two are fixedly connected by four side plate connecting rods.

[0009] Preferably, the bearing of the rear driven sprocket is installed in two tensioning blocks, which are fixed in track side plate one and track side plate two. The tensioning blocks are provided with threaded holes for installing screws, and nuts are installed on the screws. The nuts are respectively attached to track side plate one and track side plate two. The tensioning of the ball track composite permanent magnet adsorption track is achieved by adjusting the position of the nuts on the screws.

[0010] Preferably, both the first sprocket shaft and the second sprocket shaft adopt a two-half-shaft structure.

[0011] Preferably, the height of the polyurethane magnet support block is higher than the surface of the optimized Halbach array permanent magnet.

[0012] Preferably, the height of both the magnetic polyurethane support block and the omnidirectional ball polyurethane support block is higher than the top of the omnidirectional ball.

[0013] Preferably, the universal ball and the universal ball mounting base are connected by an interference fit, and the other parts of the universal ball link are fixed together by screws.

[0014] Preferably, the various structures of the magnet chain link are fixed together by screws.

[0015] Preferably, the cleaning tray is a cleaning tray with a recycling function.

[0016] This invention provides a ball-tracked composite permanent magnet adsorption rust removal and wall-climbing robot, which has the following beneficial effects.

[0017] 1. This invention can effectively reduce the output torque of the motor when the wall-climbing robot turns, which not only improves the flexibility of the robot's movement while ensuring reliable adsorption, but also reduces the size and cost of the rust-removing wall-climbing robot. It has broad application prospects and is conducive to its widespread application.

[0018] 2. The composite permanent magnet adsorption track of the present invention adds omnidirectional balls, which can change the sliding friction of some links of the wall-climbing robot into rolling friction when the robot moves. Since the rolling friction coefficient of the omnidirectional balls is much smaller than the sliding friction coefficient of the magnet links, the movement flexibility of the wall-climbing robot is improved.

[0019] 3. The magnet chain links of the present invention adopt optimized Halbach array permanent magnets, which can improve the magnetic energy utilization rate of the permanent magnet adsorption device, thereby ensuring the adsorption reliability of the rust removal wall climbing robot. Attached Figure Description

[0020] Figure 1 This invention provides a schematic diagram of the structure of a ball-tracked composite permanent magnet adsorption rust removal and wall-climbing robot.

[0021] Figure 2 A schematic diagram of the ball-tracked composite permanent magnet adsorption track structure of a rust-removing wall-climbing robot provided by the present invention. Figure 1 ;

[0022] Figure 3 A schematic diagram of the ball-tracked composite permanent magnet adsorption track structure of a rust-removing wall-climbing robot provided by the present invention. Figure 2 ;

[0023] Figure 4 A schematic diagram of the ball-tracked composite permanent magnet adsorption track structure of a rust-removing wall-climbing robot provided by the present invention. Figure 3 ;

[0024] Figure 5 A schematic diagram of the magnet chain structure of a ball-tracked composite permanent magnet adsorption rust removal and wall-climbing robot provided by the present invention;

[0025] Figure 6 A schematic diagram of the universal ball chain link structure of a ball-tracked composite permanent magnet adsorption rust removal and wall-climbing robot provided by the present invention;

[0026] Figure 7 A schematic diagram of the optimized Halbach array magnetic circuit structure of a ball-tracked composite permanent magnet adsorption rust removal and wall-climbing robot provided by the present invention;

[0027] Figure 8 A schematic diagram of the pre-optimized Halbach array magnetic circuit structure;

[0028] Figure 9This is a schematic diagram of a commonly used type B magnetic circuit structure.

[0029] In the picture:

[0030] 1. Ball-type composite permanent magnet adsorption track 2. Cleaning disc connecting frame 3. Cleaning disc fixing seat 4. Cleaning disc 5. Front drive sprocket 6. Rear driven sprocket 7. Chain 701. Magnet link 702. Universal ball link 8. Link connecting rod 9. Servo motor 10. Harmonic reducer 11. Optimized Halbach array permanent magnet 12. Magnet link bracket 13. Magnet polyurethane support block 14. Magnetic guide plate 15. Universal ball 16. Universal ball fixing seat 17. Universal ball link bracket 18. Universal ball polyurethane support block 19. Sprocket shaft one 20. Sprocket shaft two 21. Track side plate one 22. Track side plate two 23. Side plate connecting rod 24. Tensioning block 25. Main magnet 26. Secondary magnet 27. Yoke 28. Magnet. Detailed Implementation

[0031] The present invention will be further described below with reference to specific embodiments and accompanying drawings to help understand the content of the present invention.

[0032] like Figure 1 The diagram shown is a structural schematic of a ball-tracked composite permanent magnet adsorption rust removal wall-climbing robot provided by the present invention. This robot includes a ball-tracked composite permanent magnet adsorption track 1, a cleaning disc 4, a cleaning disc 4 fixing seat 3, and a cleaning disc connecting frame 2. The cleaning disc 4 is disposed within the cleaning disc fixing seat 3, which is connected to the cleaning disc connecting frame 2. A ball-tracked composite permanent magnet adsorption track 1 is connected to each side of the cleaning disc connecting frame 2. A self-rotating high-pressure nozzle is installed in the cleaning disc 4. The wall-climbing robot uses high-pressure water for rust removal. The cleaning disc 4 has a recycling function, which can reduce the pollution caused by waste rust to the environment.

[0033] like Figure 2-4 The diagram shows a schematic of the ball-tracked composite permanent magnet adsorption track 1 of a rust-removing and wall-climbing robot provided by the present invention. The ball-tracked composite permanent magnet adsorption track 1 includes a front driving sprocket 5, a rear driven sprocket 6, chain links 7, chain link connecting rods 8, a servo motor 9, and a harmonic reducer 10. The chain 7 is formed by alternating connections of magnetic chain links 701 and universal ball chain links 702 via the chain link connecting rods 8. The chain links 7 are mounted on the front driving sprocket 5 and the rear driven sprocket 6 via the chain link connecting rods 8. The servo motor 9 drives the sprockets to rotate via the harmonic reducer 10 and the sprocket shaft, thereby moving the robot.

[0034] The front drive sprocket 5 and the rear driven sprocket 6 are respectively mounted on track side plate 21 and track side plate 22 via sprocket shaft 19, sprocket shaft 20, and bearings. Both sprocket shaft 19 and sprocket shaft 20 adopt a two-half-shaft structure to reduce the robot's overall size and prevent interference between the motor assembly and the cleaning disc 4. Grooves are provided in the middle of both track side plate 21 and track side plate 22. Track side plate 21 and track side plate 22 are fixed together by four side plate connecting rods 23 to prevent them from getting stuck on obstacles when the wall-climbing robot is overcoming them, thus reducing the robot's magnetic attraction and affecting its obstacle-crossing performance. The bearing of the rear driven sprocket 6 is installed in two tensioning blocks 24. The tensioning blocks 24 are fixed in the track side plate 1 21 and the track side plate 22. The tensioning blocks 24 are provided with threaded holes for installing screws. Nuts are installed on the screws. The nuts are respectively attached to the track side plate 1 21 and the track side plate 22. By adjusting the position of the nuts on the screws, the ball-track composite permanent magnet adsorption track 1 is tensioned, thereby improving the rigidity of the track and preventing the track chain and sprocket from skipping teeth during the movement of the wall-climbing robot.

[0035] like Figure 5 The diagram shows a schematic of the magnet link structure of a ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot provided by the present invention. The magnet link 701 includes an optimized Halbach array permanent magnet 11, which consists of five neodymium iron boron permanent magnets and a yoke 27. The five neodymium iron boron permanent magnets are arranged alternately with three wide main magnets 25 and two narrow auxiliary magnets 26. The width of the auxiliary magnets 26 is 0.4 times the width of the main magnets 25, and the thickness of the yoke 27 is 0.5 times the thickness of the neodymium iron boron permanent magnets. A schematic diagram of the original Halbach array magnetic circuit is shown below. Figure 8 As shown, the five magnets 28 have the same thickness. The optimized Halbach array permanent magnet 11 has a polyurethane magnet support block 13 and a magnet link bracket 12 connected sequentially to both sides, with a magnetic guide plate 14 connected to its bottom. Since the optimized Halbach array permanent magnet 11 is made of neodymium iron boron bonded together, to prevent direct contact with the wall surface and damage to the permanent magnet, the polyurethane magnet support block 13 needs to be a certain distance above the surface of the optimized Halbach array permanent magnet 11. The magnet links 701 are fixed together with screws.

[0036] Figure 6The diagram shows a schematic of the universal ball link structure of a ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot provided by the present invention. The universal ball link 702 includes two sets of universal balls 15, which are fixed within a universal ball mounting base 16. Universal ball polyurethane support blocks 18 and universal ball link brackets 17 are sequentially connected to both sides of the universal ball mounting base 16. Considering the compression deformation of polyurethane, the heights of the magnet polyurethane support block 13 and the universal ball polyurethane support block 18 are both slightly higher than the top of the universal balls 15. The universal balls 15 and the universal ball mounting base 16 are connected by an interference fit, and the other parts of the universal ball link 702 are fixed together by screws. Because the universal balls 15 are added to the ball-tracked composite permanent magnet adsorption track 1, the sliding friction of some links 7 during the wall-climbing robot's movement can be converted into rolling friction. Furthermore, since the rolling friction coefficient of the universal balls 15 is much smaller than the sliding friction coefficient of the magnet links 701, the movement flexibility of the wall-climbing robot is improved.

[0037] Currently, tracked permanent magnet adsorption wall-climbing robots used in ships and petrochemical storage tanks employ a track structure that incorporates a type B magnetic circuit (such as...) Figure 9 As shown, the magnetic adsorption device is fixed to the chain, and a rubber protective cover is wrapped around the outside of the permanent magnet adsorption device. When this type of tracked wall-climbing robot turns, the motor needs to output a large torque. The ball-tracked composite permanent magnet adsorption track 1 of the present invention uses an optimized Halbach array permanent magnet 11, which can improve the magnetic energy utilization rate of the permanent magnet adsorption device, thereby ensuring the adsorption reliability of the rust removal wall-climbing robot.

[0038] This invention can effectively reduce the output torque of the motor when the wall-climbing robot turns, which not only improves the flexibility of the robot's movement while ensuring reliable adsorption, but also reduces the size and cost of the rust-removing wall-climbing robot. It has broad application prospects and is conducive to its widespread application.

[0039] This article uses specific examples to illustrate the inventive concept in detail. The description of the above embodiments is only for the purpose of helping to understand the core idea of ​​the present invention. It should be noted that any obvious modifications, equivalent substitutions or other improvements made by those skilled in the art without departing from the inventive concept should be included within the protection scope of the present invention.

Claims

1. A ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot, characterized in that, The device includes a ball-tracked composite permanent magnet adsorption track, a cleaning disc, a cleaning disc mounting base, and a cleaning disc connecting frame. The cleaning disc is disposed in the cleaning disc mounting base, and the cleaning disc mounting base is connected to the cleaning disc connecting frame. A ball-tracked composite permanent magnet adsorption track is connected to each side of the cleaning disc connecting frame. A self-rotating high-pressure nozzle is installed in the cleaning disc. The ball-tracked composite permanent magnet adsorption track includes a front driving sprocket, a rear driven sprocket, chain links, chain link connecting rods, a servo motor, and a harmonic reducer. The chain links are formed by alternating connections of magnetic chain links and universal ball chain links through chain link connecting rods. The chain links are mounted on the front driving sprocket and the rear driven sprocket through the chain link connecting rods. The servo motor drives the sprocket to rotate through the harmonic reducer and the sprocket shaft, thereby driving the robot to move. The front drive sprocket and the rear driven sprocket are respectively mounted on track side plate 1 and track side plate 2 via sprocket shaft 1, sprocket shaft 2 and bearings. The magnetic link includes an optimized Halbach array permanent magnet, which consists of five neodymium iron boron permanent magnets and a yoke. The five neodymium iron boron permanent magnets are arranged alternately with three wide main magnets and two narrow auxiliary magnets. The width of the auxiliary magnets is 0.4 times the width of the main magnets, and the thickness of the yoke is 0.5 times the thickness of the neodymium iron boron permanent magnets. The optimized Halbach array permanent magnet is connected to a magnet polyurethane support block and a magnetic link bracket on both sides in sequence, and a magnetic guide plate is connected to its bottom. The omnidirectional ball link includes two sets of omnidirectional balls, which are fixed in an omnidirectional ball fixing seat. The omnidirectional ball fixing seat is connected to an omnidirectional ball polyurethane support block and an omnidirectional ball link bracket on both sides in sequence.

2. The ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot according to claim 1, characterized in that, The track side plate 1 and track side plate 2 are both provided with grooves in the middle, and the track side plate 1 and track side plate 2 are fixedly connected by four side plate connecting rods.

3. The ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot according to claim 2, characterized in that, The bearing of the rear driven sprocket is installed in two tensioning blocks. The tensioning blocks are fixed in track side plate one and track side plate two. The tensioning blocks are provided with threaded holes for installing screws. Nuts are installed on the screws. The nuts are respectively attached to track side plate one and track side plate two. The tensioning of the ball track composite permanent magnet adsorption track is achieved by adjusting the position of the nuts on the screws.

4. The ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot according to claim 3, characterized in that, Both sprocket shaft one and sprocket shaft two adopt a two-half shaft structure.

5. The ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot according to claim 4, characterized in that, The height of the polyurethane support block for the magnet is higher than the surface of the optimized Halbach array permanent magnet.

6. The ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot according to claim 5, characterized in that, The heights of both the magnetic polyurethane support block and the omnidirectional ball polyurethane support block are higher than the top of the omnidirectional ball.

7. The ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot according to claim 6, characterized in that, The universal ball and the universal ball mounting base are connected by an interference fit, and the other parts of the universal ball link are fixed together by screws.

8. The ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot according to claim 7, characterized in that, The various structures of the magnet chain link are fixed together with screws.

9. A ball-tracked composite permanent magnet adsorption rust-removing wall-climbing robot according to claim 8, characterized in that, The cleaning tray is a cleaning tray with a recycling function.

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