Wall-climbing robot with adaptive function

Abstract

The application relates to a wall-climbing robot with an adaptive function, which comprises a wall-climbing platform body, the wall-climbing platform body comprises a shell, a driven magnetic suction wheel and two groups of active magnetic suction components, the driven magnetic suction wheel is arranged at one end of the shell, the active magnetic suction components are arranged at the other end of the shell, the two groups of active magnetic suction components are symmetrically arranged at two sides of the shell, each group of the active magnetic suction components comprises a magnetic rolling body assembly, a flexible plate and a driving motor, one end of the flexible plate is connected with the shell, the other end of the flexible plate is connected with the driving motor, an output shaft of the driving motor is in transmission connection with the magnetic rolling body assembly, and the driving motor is in communication connection with a controller. The active magnetic suction components are connected with the shell through the flexible plate, adaptive adjustment is realized on iron metal surfaces with various radii, optimal adsorption effect is achieved, and the problem that the existing wall-climbing platform has poor adaptability to iron metal surfaces with curved surfaces is effectively solved.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and more specifically to a wall-climbing robot with adaptive function. Background Technology

[0002] In recent years, wall-climbing robots have been applied in many special and high-risk industries. They can replace operators to enter confined spaces such as tanks to perform operations, effectively reducing the probability of safety accidents. They are of great significance for building inherently safe enterprises and have received widespread attention from domestic and foreign research institutions in recent years.

[0003] However, existing wall-climbing robots mostly use a rigid connection between their drive wheels and the robot's shell, resulting in poor contact between the platform wheels and the curved surface of the tank. This severely weakens the robot's adhesion to the tank, making the platform prone to falling. Therefore, improving the wall-climbing robot's ability to adhere to curved surfaces, increasing operational reliability, and solving the problem of probing the interior of confined metal containers with curved surfaces, such as high-speed mixed beds, have become issues that need to be addressed. Summary of the Invention

[0004] This invention addresses the technical problem of existing wall-climbing robots having poor adhesion to curved surfaces and being prone to falling, by providing a wall-climbing robot with adaptive functionality.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A wall-climbing robot with adaptive function includes a wall-climbing platform body. The wall-climbing platform body includes a shell, a driven magnetic chuck, and two sets of active magnetic chuck components. The driven magnetic chuck is disposed at one end of the shell, and the active magnetic chuck components are disposed at the other end of the shell. The two sets of active magnetic chuck components are symmetrically disposed on both sides of the shell. Each set of active magnetic chuck components includes a magnetic rolling element assembly, a flexible plate, and a drive motor. One end of the flexible plate is connected to the shell, and the other end is connected to the drive motor. The output shaft of the drive motor is drively connected to the magnetic rolling element assembly, and the drive motor is communicatively connected to a controller.

[0006] Based on the above technical solution, in order to achieve ease of use and stability of the equipment, the present invention can also make the following improvements to the above technical solution:

[0007] Preferably, the flexible plate is made of polyurethane.

[0008] Preferably, the magnetic rolling element assembly includes a first circular iron plate, an active magnetic suction wheel, and a second circular iron plate. The active magnetic suction wheel is annular, the first circular iron plate is disposed on one side of the active magnetic suction wheel, and the second circular iron plate is disposed on the other side of the active magnetic suction wheel.

[0009] Preferably, the magnetic rolling element assembly includes an active magnetic sphere.

[0010] Preferably, the active magnetic wheel and the magnetic sphere are made of N52 neodymium iron boron magnets.

[0011] Preferably, the driven magnetic chuck is a universal wheel structure.

[0012] Preferably, the climbing platform body has at least one component.

[0013] Preferably, the climbing platform body is provided in two parts, and the housing is provided with lugs for connection. The active magnetic attraction component of one climbing platform body is located at one end, and the active magnetic attraction component of the other climbing platform body is located at the other end.

[0014] Preferably, the climbing platform body is used for wireless communication connection with a wireless base station, and the wireless base station is connected to the controller via a network cable.

[0015] The beneficial effects of this invention are: by connecting the active magnetic attraction component to the shell through a flexible plate, adaptive adjustment can be achieved on ferrous metal surfaces of various curvatures to achieve the best adsorption effect, effectively solving the problem of poor adaptability of existing wall-climbing robots on curved ferrous metal surfaces, reducing the probability of the wall-climbing robot falling, and improving the reliability of the wall-climbing robot during use. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of Embodiment 1 of the present invention;

[0017] Figure 2 This is a bottom view of Embodiment 1 of the present invention;

[0018] Figure 3 This is a schematic diagram illustrating the use of Embodiment 1 of the present invention;

[0019] Figure 4 This is a schematic diagram of Embodiment 2 of the present invention;

[0020] Figure 5 This is a schematic diagram of Embodiment 3 of the present invention.

[0021] The attached diagram is labeled as follows: 1. Magnetic rolling element assembly; 101. Circular iron plate one; 102. Active magnetic chuck wheel; 103. Circular iron plate two; 2. Flexible plate; 3. Shell; 4. Driven magnetic chuck wheel; 5. Drive motor; 6. Motor bracket; 7. Wireless base station; 8. Tank; 9. Controller. Detailed Implementation

[0022] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0023] Example 1

[0024] like Figures 1 to 3 As shown, this invention discloses an adaptive wall-climbing robot, including a wall-climbing platform body. The wall-climbing platform body includes a shell 3, driven magnetic wheels 4, and two sets of active magnetic components. The driven magnetic wheels 4 are disposed at one end of the shell 3, and the active magnetic components are disposed at the other end of the shell 3. The two sets of active magnetic components are symmetrically arranged on both sides of the shell 3. The shell 3 can be used to place various electrical components. Each set of active magnetic components includes a magnetic rolling element assembly 1, a flexible plate 2, and a drive motor 5. One end of the flexible plate 2 is connected to the shell 3, and the other end is connected to the drive motor 5. The drive motor 5 is mounted on the flexible plate 2 through a motor bracket 6. The output shaft of the drive motor 5 is drively connected to the magnetic rolling element assembly 1, and the drive motor 5 is communicatively connected to a controller 9. Specifically, power is directly input to the magnetic rolling element assembly 1 through the keyway on the output shaft of the drive motor 5, simplifying the transmission system and ensuring the reliability of the power. Each magnetic rolling element assembly 1 corresponds to one drive motor 5, enabling individual control of each magnetic rolling element assembly 1, reducing the difficulty of control, and allowing the wall-climbing robot to move arbitrarily.

[0025] Furthermore, the climbing platform body has at least one component.

[0026] The flexible plate 2 is made of polyurethane. The length, thickness, and width of the flexible plate 2 can be adjusted according to specific application scenarios, thereby adjusting the stiffness of the flexible connection to adapt to curved magnetic metals with different curvatures.

[0027] The magnetic rolling element assembly 1 includes a circular iron plate 101, an active magnetic roller 102, and a circular iron plate 103. The active magnetic roller 102 is annular and made of N52 neodymium iron boron magnet. The circular iron plate 101 is located on one side of the active magnetic roller 102, and the circular iron plate 103 is located on the other side. The circular iron plates 101 and 103 are made of Q235 steel, which is readily available and inexpensive. The circular iron plate 103 has a positioning boss inside for positioning the active magnetic roller 102, ensuring that the active magnetic roller 102 is stably installed between the two circular iron plates. The rollers are then fastened together through threaded holes on the two circular iron plates, ensuring the stability of the installation of the active magnetic roller 102.

[0028] The driven magnetic wheel 4 is a universal wheel structure. Specifically, the driven magnetic wheel 4 adopts a bullseye bearing structure, and the balls of the bullseye bearing are magnetic balls, which reduces the overall weight and volume of the vehicle while ensuring smooth steering. The driven magnetic wheel 4 is rigidly connected to the housing 3 by bolts. According to the principle that three points determine a surface, although the driven magnetic wheel 4 and the housing 3 are rigidly connected, the magnetic rolling element assembly 1 is flexibly connected to the housing 3. Therefore, the entire wall-climbing robot can still achieve good contact with the curved wall panel.

[0029] In general, the iron containers in thermal power plants are tanks 8. When the wall-climbing robot moves inside the tank 8, the iron tank has a shielding effect on wireless signals. In order to ensure the normal transmission of signals of the wall-climbing robot, this invention adopts a combination of wired and wireless communication. When the wall-climbing robot is working inside the tank 8, a wireless base station 7 is placed at the entrance of the tank 8. The invalid receiver inside the wall-climbing robot is wirelessly connected to the wireless base station 7. The wireless base station 7 is connected to the controller 9 through a network cable, thereby enabling the operator to control the wall-climbing robot to move and work inside the tank 8 by operating the controller 9.

[0030] Example 2

[0031] like Figure 4 As shown, the structure of the magnetic rolling element assembly differs from that of Embodiment 1.

[0032] The magnetic rolling body assembly 1 includes an active magnetic ball made of N52 neodymium iron boron magnet. This magnetic ball can not only adhere to the arc-shaped inner wall of the tank 8, but also ensure smooth movement and rotation of the wall-climbing robot. It has a simple structure and low cost.

[0033] Example 3

[0034] like Figure 5 As shown, the difference from Embodiment 1 is the number of climbing platform bodies.

[0035] In this embodiment, two climbing platform bodies are provided. The housing 3 is provided with lugs for connection. The active magnetic attraction component of one climbing platform body is located at one end, and the active magnetic attraction component of the other climbing platform body is located at the other end. The two climbing platform bodies are installed together by the lugs, which is simple in structure and easy to install. With the active magnetic attraction components located at both ends, a whole with four drive wheels is formed. When the climbing robot accidentally falls for some reason, it is ensured that the climbing robot can move normally inside the tank 8, further ensuring that the climbing robot can be used normally.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wall-climbing robot with adaptive function, characterized in that, The system includes a wall-climbing platform body, which comprises a housing (3), driven magnetic wheels (4), and two sets of active magnetic components. The driven magnetic wheels (4) are located at one end of the housing (3) and are universal wheels. The active magnetic components are located at the other end of the housing (3). The two sets of active magnetic components are symmetrically arranged on both sides of the housing (3). Each set of active magnetic components includes a magnetic rolling element assembly (1), a flexible plate (2), and a drive motor (5). One end of the flexible plate (2) One end is connected to the housing (3), and the other end is connected to the drive motor (5). The output shaft of the drive motor (5) is connected to the magnetic rolling element assembly (1) for transmission. The drive motor (5) is connected to the controller (9) for communication. There are two climbing platform bodies. The housing (3) is provided with lugs for connection. One active magnetic attraction component of the climbing platform body is located at one end, and the other active magnetic attraction component of the climbing platform body is located at the other end. The active magnetic attraction components are located at both ends, forming an integral body with four drive wheels.

2. The wall-climbing robot according to claim 1, characterized in that, The flexible plate (2) is made of polyurethane.

3. The wall-climbing robot according to claim 2, characterized in that, The magnetic rolling element assembly (1) includes a circular iron plate one (101), an active magnetic chuck wheel (102), and a circular iron plate two (103). The active magnetic chuck wheel (102) is annular. The circular iron plate one (101) is disposed on one side of the active magnetic chuck wheel (102), and the circular iron plate two (103) is disposed on the other side of the active magnetic chuck wheel (102).

4. The wall-climbing robot according to claim 2, characterized in that, The magnetic rolling element assembly (1) includes an active magnetic ball.

5. The wall-climbing robot according to claim 3, characterized in that, The active magnetic chuck (102) is made of N52 neodymium iron boron magnet.

6. The wall-climbing robot according to claim 4, characterized in that, The active magnetic sphere is made of N52 neodymium iron boron magnet.

7. The wall-climbing robot according to claim 1 or 2, characterized in that, The wall-climbing platform body is used for wireless communication connection with the wireless base station (7), and the wireless base station (7) is connected to the controller (9) via a network cable.

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