Magnetic force adjustable polishing wall-climbing robot and use method

Abstract

The application provides a magnetic force adjustable polishing wall-climbing robot and a use method. The polishing wall-climbing robot comprises a wall-climbing trolley, a lifting polishing device and an adjustable adsorption device. The lifting polishing device can be switched between a working state and a non-working state through height adjustment. Meanwhile, the magnetic adsorption force of the adjustable adsorption device is adjusted through lifting. The polishing work and the magnetic adsorption force adjustment are integrated and designed simultaneously, and the polishing wall-climbing robot is realized. The application optimizes the structure of the robot, reduces the weight, improves the movement flexibility and adsorption stability of the polishing wall-climbing robot.

Description

Technical Field

[0001] This application relates to the technical field of wall-climbing robots, and more specifically, to a magnetically adjustable grinding wall-climbing robot and its usage method. Background Technology

[0002] Due to prolonged seawater erosion, the use of shipboard galleys, and the intermittent use of water curtain systems, rust and stains can accumulate on the hull plating, superstructure, and bulkheads of ships, severely affecting their cleanliness. If left untreated for a long time, this can even lead to rust on the hull plating, impacting ship performance. Given the unique environmental conditions in these areas, manual cleaning is inefficient and dangerous. Therefore, it is crucial to develop a wall-climbing robot that can adapt to this special environment and perform its designated functions.

[0003] As a type of special robot, wall-climbing robots have broad application prospects. They can climb vertical walls and, when equipped with different devices, can perform high-altitude operations. Compared with manual labor, wall-climbing robots can stably adhere to high-altitude walls, and are highly efficient and fast when working. They not only avoid the harm to people caused by high-altitude operations, but also save costs and improve efficiency.

[0004] However, the working environment of wall-climbing robots is extremely special, with high walls, large inclination angles, and significant obstacles. This unique working environment and tasks determine the diversity and complexity of wall-climbing robots, and also limit their large-scale application speed. Not only must suitable adsorption methods be considered to provide stable adhesion for the application environment, but also reasonable walking methods need to be designed to enable flexible movement on the wall. After meeting basic performance requirements, the feasibility of functional implementation needs to be considered. This involves challenges such as lightweight design of wall-climbing robots, design of functional modes, and whether to carry a power supply. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a magnetically adjustable grinding wall-climbing robot and a method of use, which can adjust the magnetic force according to work requirements and is equipped with a grinding module in the middle to meet the work requirements.

[0006] The embodiments of this application are implemented as follows:

[0007] This application provides a magnetically adjustable grinding wall-climbing robot, characterized in that it includes a wall-climbing trolley, a lifting grinding device, and an adjustable adsorption device. The wall-climbing trolley includes a trolley body and a walking mechanism. The walking mechanism is a three-wheeled omnidirectional walking mechanism that drives the wall-climbing trolley to move.

[0008] The lifting grinding device includes a grinding mechanism, a lifting mechanism, and a grinding guide mechanism. The grinding mechanism is connected to the lifting mechanism. The lifting mechanism is fixed to the vehicle body and drives the grinding mechanism to move up and down. The grinding guide mechanism is fixed to the vehicle body and connected to the lifting mechanism.

[0009] The adjustable adsorption device includes a magnetic adsorption mechanism, a height adjustment mechanism, and an adsorption guide mechanism. The magnetic adsorption mechanism is connected to the height adjustment mechanism, which is connected to the grinding mechanism, thereby driving the magnetic adsorption mechanism to move up and down along the grinding mechanism. The adsorption guide mechanism is fixed to the vehicle body and connected to the magnetic adsorption mechanism.

[0010] In some alternative implementations, the grinding mechanism includes a grinding motor, a grinding brush, and a coupling, with the upper and lower ends of the coupling connected to the output shaft of the grinding motor and the grinding brush, respectively.

[0011] In some alternative implementations, the lifting mechanism includes a lifting screw and a lifting plate. The lifting screw is fixed to the vehicle body, and the screw nut on the lifting screw is connected to one side of the lifting plate to drive the lifting plate to move up and down. The center of the lifting plate is connected to and fixed to the grinding motor, and the other side of the lifting plate is installed on the grinding guide mechanism.

[0012] In some alternative implementations, the grinding guide mechanism includes a grinding guide shaft, a grinding linear bearing, and a grinding retaining ring. The grinding linear bearing is fixed to the other side of the lifting plate. The top end of the grinding guide shaft passes through the grinding linear bearing, the lifting plate, and the vehicle body, and is connected to the grinding retaining ring, which is fixed to the vehicle body.

[0013] In some alternative implementations, the height adjustment mechanism includes a fixed bearing, a fixed ring, and a connecting chain. The fixed bearing is sleeved on the coupling, the fixed ring is sleeved on the fixed bearing, and multiple connecting chains are evenly spaced along the outer wall of the fixed ring, with both ends connected to the fixed ring and the magnetic attraction mechanism, respectively.

[0014] In some alternative implementations, the adsorption guiding mechanism includes an adsorption guide shaft, an adsorption linear bearing, and an adsorption fixing ring. The adsorption linear bearing is fixed to the vehicle body. The top end of the adsorption guide shaft passes through the adsorption linear bearing and the vehicle body and is connected to the adsorption fixing ring. The bottom end of the adsorption guide shaft is threadedly connected to the magnetic attraction mechanism.

[0015] In some alternative implementations, the magnetic attraction mechanism includes multiple arc-shaped outer shells and a magnet built into the arc-shaped outer shells. The multiple arc-shaped outer shells are evenly spaced circumferentially to form an annular magnetic attraction structure, which is aligned with the center of the polishing brush.

[0016] In some alternative implementations, the arc-shaped outer shell is provided with a threaded hole that is screwed to the bottom end of the adsorption guide shaft, and a connecting ring is provided at the position corresponding to the threaded hole, the connecting ring being press-fitted with the adsorption guide shaft.

[0017] In some alternative implementations, the vehicle body is also provided with a lifting plate proximity switch and a controller. The lifting plate proximity switch is suspended below the vehicle body by a bracket. The proximity switch is connected to the input terminal of the controller, and the output terminal of the controller is connected to the walking mechanism, the grinding motor and the lifting screw respectively.

[0018] A method for using a magnetically adjustable wall-climbing grinding robot, characterized by the following steps:

[0019] Step a, the wall-climbing robot is in a non-working state:

[0020] The wall-climbing robot is placed on the wall and stably attached by magnetic attraction. When the wall-climbing robot needs to climb to a certain place to work, the lifting grinding device is in the raised state, requiring less magnetic attraction force. At this time, the adjustable adsorption device is pulled up to the highest point by chain tension. Under this condition, the wall-climbing robot can walk quickly and cross high weld seams.

[0021] Step b, working status of the wall-climbing robot:

[0022] Once the wall-climbing robot quickly reaches the work point, the lifting and polishing device descends, and the polishing brush comes into close contact with the wall surface to begin working. This process causes the lifting and polishing device to descend further, increasing the magnetic adsorption force.

[0023] The beneficial effects of this application are: This invention provides a magnetically adjustable wall-climbing grinding robot and its usage method. The wall-climbing trolley, the lifting grinding device, and the adjustable adsorption device are integrated into a design, which enables the lead screw motor to control the movement of the two mechanisms simultaneously, optimizes the robot structure, and reduces weight. With the use of a proximity switch, the lifting distance of the adsorption device and the grinding device can be precisely controlled, improving the movement flexibility and adsorption stability of the wall-climbing robot. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of the lifting and polishing device according to an embodiment of this application;

[0027] Figure 3 This is an assembly diagram of the lifting grinding device and the adjustable adsorption device according to an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the height adjustment mechanism according to an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of the adsorption guiding mechanism according to an embodiment of this application;

[0030] Figure 6 This is a bottom view of the adjustable adsorption device according to an embodiment of this application. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0034] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] The features and performance of this application will be further described in detail below with reference to the embodiments.

[0039] like Figure 1 As shown, this invention proposes a magnetically adjustable wall-climbing grinding robot, comprising a wall-climbing trolley, a lifting grinding device, and an adjustable adsorption device. The wall-climbing trolley includes a trolley body 1 and a walking mechanism 2, which is a three-wheeled omnidirectional walking mechanism that drives the wall-climbing trolley to move. The wall-climbing robot adopts a three-wheeled omnidirectional wheel walking mechanism, enabling it to move flexibly on the wall surface.

[0040] like Figure 2 As shown, the lifting grinding device includes a grinding mechanism, a lifting mechanism, and a grinding guide mechanism. The grinding mechanism is connected to the lifting mechanism. The lifting mechanism is fixed on the vehicle body and drives the grinding mechanism to move up and down. The grinding guide mechanism is fixed on the vehicle body and connected to the lifting mechanism.

[0041] The grinding mechanism includes a grinding motor 3, a grinding brush 4, and a coupling 5. The upper and lower ends of the coupling are connected to the output shaft of the grinding motor and the grinding brush, respectively.

[0042] The lifting mechanism includes a lifting screw 6 and a lifting plate 7. The lifting screw is fixed to the vehicle body. The screw nut 8 on the lifting screw is connected to one side of the lifting plate, which drives the lifting plate to move up and down. The center of the lifting plate is connected to and fixed to the grinding motor. The other side of the lifting plate is installed on the grinding guide mechanism.

[0043] The grinding guide mechanism includes a grinding guide shaft 9, a grinding linear bearing 10, and a grinding fixing ring 11. The grinding linear bearing is fixed on the other side of the lifting plate. The top end of the grinding guide shaft passes through the grinding linear bearing, the lifting plate, and the vehicle body, and is connected to the grinding fixing ring, which is fixed to the vehicle body.

[0044] The entire grinding mechanism is fixed on the lifting plate. As the lifting plate rises and falls, the grinding working state and non-working state are switched. The lifting screw drives the lifting plate to rise and fall. Due to the vibration that exists during the grinding process, the vibration effect is eliminated by the grinding guide mechanism to ensure the stability of the lifting stroke.

[0045] like Figure 3 As shown, the adjustable adsorption device includes a magnetic attraction mechanism, a height adjustment mechanism, and an adsorption guide mechanism. The magnetic attraction mechanism is connected to the height adjustment mechanism, which is connected to the grinding mechanism, thereby driving the magnetic attraction mechanism to move up and down along the grinding mechanism. The adsorption guide mechanism is fixed on the vehicle body and connected to the magnetic attraction mechanism.

[0046] like Figure 4 As shown, the height adjustment mechanism includes a fixed bearing 12, a fixed ring 13, and a connecting chain 14. The fixed bearing is sleeved on the coupling, and the fixed ring is sleeved on the fixed bearing. Multiple connecting chains are evenly spaced along the outer wall of the fixed ring, with both ends connected to the fixed ring and the magnetic attraction mechanism, respectively. The fixed bearing is fixed to the coupling of the grinding motor, and the fixed ring is mounted on the fixed bearing. The connecting chain connects the fixed ring and the magnetic attraction mechanism. The lifting distance of the magnetic attraction mechanism is controlled by the flexibility of the connecting chain when not under stress and its rigidity when under tension. The smoothness and axial bearing capacity of the fixed bearing allow it to be fixed to the coupling without restricting the use of the grinding mechanism.

[0047] like Figure 5 , Figure 6 As shown, the adsorption guiding mechanism includes an adsorption guide shaft 15, an adsorption linear bearing 16, and an adsorption fixing ring 17. The adsorption linear bearing is fixed to the vehicle body. The top end of the adsorption guide shaft passes through the adsorption linear bearing and the vehicle body and is connected to the adsorption fixing ring. The bottom end of the adsorption guide shaft is threadedly connected to the magnetic attraction mechanism.

[0048] The magnetic attraction mechanism includes multiple arc-shaped outer shells 18 and magnets built into the arc-shaped outer shells. The multiple arc-shaped outer shells are evenly spaced along the circumference to form a ring magnetic attraction structure, which is aligned with the center of the polishing brush.

[0049] The arc-shaped outer casing has threaded holes that are screwed to the bottom end of the adsorption guide shaft. A connecting ring 19 is provided at the position corresponding to the threaded holes, and the connecting ring is press-fitted into the adsorption guide shaft. The connecting ring improves the installation stability of the adsorption guide shaft.

[0050] When the wall-climbing robot is climbing on the wall, the magnetic attraction mechanism, grinding mechanism, and height adjustment mechanism work together as follows: When the wall-climbing robot is not working, the grinding mechanism is raised and suspended in the air by the lifting screw. At this time, the magnetic attraction force required by the wall-climbing robot is small, so the height adjustment mechanism rises along with the grinding device. The connecting chain is under tension. When the component of the tension force in the opposite direction of the magnetic attraction force is greater than the sum of the magnetic attraction force and the weight of the magnetic attraction mechanism, the connecting chain drives the magnetic attraction mechanism to rise, thus adjusting the magnetic attraction force. When the wall-climbing robot is working, the grinding mechanism needs to descend, the grinding brush contacts the wall surface, and the wall-climbing robot is supported. At this time, the required magnetic attraction force increases. When the grinding mechanism descends by the lifting screw, the connecting chain loosens, and the magnetic attraction mechanism descends. When the descent distance of the grinding mechanism is large, in order to prevent the magnetic attraction mechanism from contacting the wall surface, the end face of the adsorption fixing ring contacts the end face of the vehicle body, restricting the downward movement of the magnetic attraction mechanism. Since the connecting chain is flexible, it is in a state of being unloaded and rolled up at this time.

[0051] Choosing the circular brush polishing method eliminates the need for the robot to carry high-pressure water. The polishing motor (external rotor motor) is used in conjunction with a special circular brush for direct polishing and cleaning, greatly reducing the robot's load. The arrangement of the magnetic attraction mechanism ensures that the largest surface of the internal magnet faces the wall, increasing the effective magnetic attraction area and improving the utilization rate of the magnet. This reduces the mass of the magnetic attraction mechanism while providing the same attraction force, achieving a lightweight design.

[0052] The vehicle body is also equipped with a lifting plate proximity switch 20 and a controller 21. The lifting plate proximity switch is suspended below the vehicle body via a bracket. The proximity switch is connected to the input terminal of the controller, and the output terminal of the controller is connected to the traveling mechanism, the grinding motor, and the lifting screw, respectively. The control distance of the proximity switch is set. When the lifting screw controls the lifting plate to rise or fall, the lifting screw will stop moving when the lifting plate reaches the specified distance from the proximity switch. The downward stop position of the lifting plate is determined based on the grinding force. The distance between the proximity switch and the lifting plate is determined based on the grinding force, so that the lifting plate stops falling when it reaches the specified distance from the proximity switch. The upward stop position of the lifting plate is determined based on the magnetic attraction force required in the non-working state. When rising, it will drive the magnetic attraction mechanism to rise, thereby reducing the magnetic attraction force. The distance between the proximity switch and the lifting plate is determined by the magnetic attraction force required in the non-working state. When the lifting plate rises, it stops rising when it reaches the specified distance from the proximity switch.

[0053] The above-described method of using the wall-climbing robot includes the following:

[0054] When the wall-climbing robot is not in operation:

[0055] The wall-climbing robot is placed on the wall and stably adhered to by magnetic attraction. When the wall-climbing robot needs to climb to a certain place to work, the lifting grinding device is in the raised state, and the required magnetic attraction force is small. At this time, the adjustable adsorption device is pulled to the high point by the chain tension. Under this condition, the wall-climbing robot can walk quickly and cross high weld seams.

[0056] When the wall-climbing robot is in operation:

[0057] Once the wall-climbing robot quickly reaches the work point, the lifting and polishing device descends, and the polishing brush comes into close contact with the wall surface to begin working. This process causes the lifting and polishing device to descend further, increasing the magnetic adsorption force.

[0058] To improve operability, the control algorithm is optimized to achieve integrated control of all functions except linear and steering movements. Specifically, when the robot is not in operation, the grinding mechanism is suspended, and the connecting chain pulls the magnetic suction mechanism upward, reducing motion resistance. When operation is required, the control switch is activated, and the grinding motor starts to rotate. When the speed reaches a certain level, the lifting screw automatically rotates, controlling the grinding mechanism to descend. At this time, the magnetic suction mechanism follows the connecting chain downward, increasing the magnetic attraction force during operation. When the magnetic suction mechanism reaches its descent limit, the suction fixing ring restricts it. The connecting chain then rolls up, and the grinding mechanism continues to descend until the grinding brush contacts the wall and generates a certain working force. At this point, the lifting screw stops working, and the grinding brush continues to rotate for operation.

[0059] When the machine stops working, to prevent the grinding motor from suddenly stopping and jamming, the grinding motor continues to operate after the stop switch is activated. The lifting screw rotates in the opposite direction to raise the grinding mechanism. During the ascent, the connecting chain gradually straightens, driving the magnetic attraction mechanism upward and reducing the magnetic attraction force when not in operation. When the grinding mechanism resets, the lifting screw stops rotating, and the grinding motor also stops working, ending the operating mode. This achieves one-button control of the operating mode, improving operability for non-professionals.

Claims

1. A magnetically adjustable wall-climbing grinding robot, characterized in that, It includes a wall-climbing trolley, a lifting grinding device, and an adjustable adsorption device. The wall-climbing trolley includes a vehicle body and a walking mechanism. The walking mechanism is a three-wheeled omnidirectional walking mechanism that drives the wall-climbing trolley to move. The lifting grinding device includes a grinding mechanism, a lifting mechanism, and a grinding guide mechanism. The grinding mechanism is connected to the lifting mechanism, which is fixed to the vehicle body and drives the grinding mechanism to move up and down. The grinding guide mechanism is fixed to the vehicle body and connected to the lifting mechanism. The grinding mechanism includes a grinding motor, a grinding brush, and a coupling. The upper and lower ends of the coupling are respectively connected to the output shaft of the grinding motor and the grinding brush. The adjustable adsorption device includes a magnetic attraction mechanism, a height adjustment mechanism, and an adsorption guide mechanism. The magnetic attraction mechanism is connected to the height adjustment mechanism, which in turn is connected to a grinding mechanism, causing the magnetic attraction mechanism to move up and down along the grinding mechanism. The adsorption guide mechanism is fixed to the vehicle body and connected to the magnetic attraction mechanism. The height adjustment mechanism includes a fixed bearing, a fixed ring, and a connecting chain. The fixed bearing is sleeved on the coupling, and the fixed ring is sleeved on the fixed bearing. Multiple connecting chains are evenly spaced along the outer wall of the fixed ring, with both ends connected to the fixed ring and... The magnetic attraction mechanism is connected; the adsorption guide mechanism includes an adsorption guide shaft, an adsorption linear bearing, and an adsorption fixing ring. The adsorption linear bearing is fixed to the vehicle body. The top end of the adsorption guide shaft passes through the adsorption linear bearing and the vehicle body and is connected to the adsorption fixing ring. The bottom end of the adsorption guide shaft is threadedly connected to the magnetic attraction mechanism. The magnetic attraction mechanism includes multiple arc-shaped outer shells and magnets built into the arc-shaped outer shells. The multiple arc-shaped outer shells are evenly spaced along the circumference to form a ring magnetic attraction structure. The ring magnetic attraction structure is aligned with the center of the polishing brush.

2. The magnetically adjustable grinding wall-climbing robot according to claim 1, characterized in that, The lifting mechanism includes a lifting screw and a lifting plate. The lifting screw is fixed to the vehicle body. The screw nut on the lifting screw is connected to one side of the lifting plate, which drives the lifting plate to move up and down. The center of the lifting plate is connected to the grinding motor, and the other side of the lifting plate is installed on the grinding guide mechanism.

3. The magnetically adjustable grinding wall-climbing robot according to claim 2, characterized in that, The grinding guide mechanism includes a grinding guide shaft, a grinding linear bearing, and a grinding fixing ring. The grinding linear bearing is fixed to the other side of the lifting plate. The top end of the grinding guide shaft passes through the grinding linear bearing, the lifting plate, and the vehicle body, and is connected to the grinding fixing ring, which is fixed to the vehicle body.

4. The magnetically adjustable grinding wall-climbing robot according to claim 3, characterized in that, The arc-shaped outer shell has a threaded hole that is screwed to the bottom end of the adsorption guide shaft. A connecting ring is provided at the position corresponding to the threaded hole, and the connecting ring is press-fitted with the adsorption guide shaft.

5. A magnetically adjustable grinding wall-climbing robot according to claim 4, characterized in that, The vehicle body is also equipped with a lifting plate proximity switch and a controller. The lifting plate proximity switch is suspended below the vehicle body by a bracket. The proximity switch is connected to the input terminal of the controller, and the output terminal of the controller is connected to the walking mechanism, the grinding motor and the lifting screw respectively.

6. The method of using the magnetically adjustable grinding wall-climbing robot as described in claim 5, characterized in that, Includes the following steps: Step a, the wall-climbing robot is in a non-working state: The wall-climbing robot is placed on the wall and stably attached by magnetic attraction. When the wall-climbing robot needs to climb to a certain place to work, the lifting grinding device is in the raised state, requiring less magnetic attraction force. At this time, the adjustable adsorption device is pulled up to the highest point by chain tension. Under this condition, the wall-climbing robot can walk quickly and cross high weld seams. Step b, working status of the wall-climbing robot: Once the wall-climbing robot quickly reaches the work point, the lifting and polishing device descends, and the polishing brush comes into close contact with the wall surface to begin working. This process causes the lifting and polishing device to descend further, increasing the magnetic adsorption force.

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