Space steel roof can high frequency obstacle adaptation variable wheelbase operating robot

Abstract

The present application belongs to the field of mechanical engineering robot technology, and particularly relates to a high-frequency obstacle-surmounting adaptive variable wheel track operation robot for a space steel roof, which comprises a machine body, a walking mechanism and a rolling mechanism. The machine body comprises a machine box and a frame structure; the walking mechanism is arranged at one side of the frame structure as a power end, and comprises a chain box structure, a magnetic wheel mechanism, a power mechanism and a transmission mechanism; the magnetic wheel mechanism and the power mechanism are drivingly connected through the transmission mechanism; the rolling mechanism is arranged at the other side of the frame structure as a rolling matching end; when the magnetic wheel mechanism is adsorbed on a purlin, the rolling mechanism is overlapped on the adjacent purlin. In the present application, the machine body is provided with the magnetic wheel mechanism as the power end at one side, which can continuously surmount obstacles; the machine body is provided with the rolling mechanism as the rolling matching end at the other side, which has no obstacle-surmounting problem; the unique mechanical arrangement can adapt to the change of the purlin track width and the curved surface, and provides a reliable platform for the stable operation of the robot.

Description

Technical Field

[0001] This invention belongs to the field of mechanical engineering robot technology, and more particularly to the field of high-altitude steel structure spraying robot technology, specifically relating to a space steel roof high-frequency obstacle-crossing adaptive variable wheel track operation robot. Background Technology

[0002] When robots operate on steel roofs, they typically use purlins as their guide rails. Since steel purlins are magnetic, using them as guide rails for magnetically attached robots has become a new option. This type of rail has two characteristics: first, the purlin spacing varies from 5 to 30 cm; second, at the joints of the purlins, there are continuous obstacles formed by lateral connecting panels; furthermore, the roofs are mostly sloping, posing a risk of overturning. Because of the curved surface arrangement and variable track gauge of the purlins, several technical challenges arise for robots operating on roofs.

[0003] Based on the above problems, designing a work robot that can adapt to changes in purlin track width and curvature, and can overcome obstacles at high frequency and adapt to variable wheel track is of great practical significance. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a space steel roof robot that can cross obstacles at high frequency and adapt to variable wheel track. Its unique mechanical arrangement can adapt to changes in purlin track width and curvature, providing a reliable platform for stable robot operation.

[0005] This invention is achieved through the following technical solution: a space steel roof high-frequency obstacle-crossing adaptive variable wheelbase robot, comprising:

[0006] The fuselage, which includes the chassis and frame structure;

[0007] The walking mechanism, which serves as the power end, is located on one side of the frame structure. The walking mechanism includes a chain box structure, a magnetic wheel mechanism located outside the chain box structure, a power mechanism, and a transmission mechanism located inside the chain box structure. The magnetic wheel mechanism and the power mechanism are connected by the transmission mechanism.

[0008] The rolling mechanism, which serves as the rolling engagement end, is located on the other side of the frame structure. When the magnetic wheel mechanism is attached to the purlin, the rolling mechanism overlaps with the adjacent purlin.

[0009] In one embodiment, the outer side of the chain box structure is provided with two sets of magnetic wheel mechanisms arranged symmetrically about the center of the chain box structure, and the magnetic wheel mechanism includes:

[0010] An inner support shaft has threads at both ends, which are fixedly connected to the cover and the inner wheel cover respectively by threads. The space between the cover and the inner wheel cover is the wheel assembly space.

[0011] The wheel body includes an outer flower wheel, an inner flower wheel, a rubber wheel one, a yoke one, a magnet, a yoke two, and a rubber wheel two arranged sequentially in the wheel body assembly space. All of the above wheel bodies are fixedly connected to the inner support shaft by extrusion.

[0012] The shaft passes through the inner support shaft and is fixedly connected to the inner support shaft by compression.

[0013] In one embodiment, a second bearing is fitted inside the outer flower wheel, and the second bearing is fixedly connected to the inner support shaft by compression. The outer circumference of the outer flower wheel has convex and concave umbrella teeth evenly distributed radially relative to the center, similar to an umbrella frame. The outer circumference of the inner flower wheel has convex and concave arc teeth evenly distributed radially relative to the center. The diameter of the outer flower wheel is larger than the diameter of the inner flower wheel. The outer circumferences of the first rubber wheel and the second rubber wheel have anti-slip patterns evenly distributed radially relative to the center.

[0014] In one embodiment, the chain box structure includes a left chain box and a right chain box that are fastened together, and the power mechanism includes a motor and a reducer arranged in the middle of the left chain box.

[0015] In one embodiment, the transmission mechanism includes:

[0016] A short chain disc, which is fixedly connected to one of the shafts by bolts;

[0017] A long chain disc, which is fixedly connected to the shaft of another magnetic wheel by bolts;

[0018] The drive chain is fixedly connected to the actuator of the motor and reducer by bolts. The drive chain has two chain discs that are aligned with the long chain disc and the short chain disc respectively.

[0019] The number of chains is the same as the number of magnetic wheel mechanisms. One chain is paired with the drive chain disc and the long chain disc, while the other chain is paired with the drive chain disc and the short chain disc.

[0020] In one embodiment, the frame structure includes a third frame, the chassis is fixedly connected to the third frame by bolts, and the third frame is fixedly connected to the right chain box by bolts.

[0021] In one embodiment, the frame structure includes a first frame and a second frame arranged in parallel. The chassis is fixedly connected to the first frame and the second frame by bolts. The axis of the magnetic wheel mechanism extends beyond the right chain box and is rotatably connected to the first frame and the second frame. A third frame perpendicular to the first frame is fixedly connected to the first frame by bolts.

[0022] In one embodiment, the rolling mechanism includes a roller disposed at the end of the frame three away from the body.

[0023] In one embodiment, the system further includes a support mechanism for controlling the vertical translation of the fuselage relative to the purlin and a translation mechanism for controlling the lateral translation of the fuselage relative to the purlin, wherein the support mechanism and the translation mechanism are arranged symmetrically about the front and rear of the fuselage.

[0024] In one embodiment, the support mechanism includes:

[0025] Two gear shafts are arranged symmetrically about the front and rear of the fuselage. The gear shafts are parallel to the frame three. A rack is fixedly installed on the gear shafts along their axial direction.

[0026] The crank arm structure consists of two crank arms arranged symmetrically about the front and rear of the fuselage. The crank arm structure includes a crank arm 1 hinged to a frame 1 and a crank arm 2 hinged to a frame 2. One end of the crank arm 1 and the crank arm 2 is hinged to a long connecting rod. The other end of the crank arm 1 is fixedly connected to a motor base 1, and the other end of the crank arm 2 is fixedly connected to a sleeve shaft. A gear shaft passes through the motor base 1, the crank arm 1, the crank arm 2, and the sleeve shaft. The rack of the gear shaft corresponds to the groove of the motor base 1.

[0027] Motor 1 is fixedly installed inside the housing, and a rotating shaft 1 is fixedly connected to the motor shaft of Motor 1;

[0028] The connecting structure consists of two components arranged symmetrically about the front and rear of the fuselage. Each connecting structure includes a short connecting rod with two connectors hinged at both ends. One connector is hinged to a long connecting rod on the same side, and the other is hinged to a rotating shaft.

[0029] The translation mechanism includes a second motor fixedly connected to a first motor base. A second rotating shaft is fixedly connected to the motor shaft of the second motor. The second rotating shaft is rotatably connected to the groove cavity of the first motor base. The second rotating shaft is provided with a gear that meshes with a rack and pinion.

[0030] In one embodiment, one end of the gear shaft is fixedly connected to an L-shaped limiting support rod, the free end of the limiting support rod is fixedly connected to a sleeve, and the other end is fixedly connected to an L-shaped vertical support rod.

[0031] In one embodiment, a limiting structure is further included for hooking onto the purlin to prevent the robot from slipping when the robot translates, the limiting structure comprising:

[0032] The limiting rod is hinged to the sleeve;

[0033] The hydraulic rod has its front end hinged to the lug of the limit rod and its rear end hinged to the pin on the limit support rod. When the robot moves horizontally, the limit rod hooks onto the purlin to prevent the robot from slipping.

[0034] The advantages and positive effects of this invention are:

[0035] 1. In this invention, a magnetic wheel mechanism serving as the power end is provided on one side of the robot's body, which can continuously overcome obstacles. A rolling mechanism serving as the rolling engagement end is provided on the other side of the robot's body, which eliminates the obstacle-crossing problem. When the magnetic wheel mechanism is magnetically attracted to the purlin, the rolling mechanism overlaps with the adjacent purlin, ensuring that the robot has an adaptive suspension function.

[0036] 2. In this invention, the power mechanism can drive the robot to move forward and backward to perform maintenance operations. The unique mechanical arrangement can adapt to changes in the width and curvature of the purlin track, providing a reliable platform for stable robot operation. Attached Figure Description

[0037] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that these drawings are designed for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, unless specifically indicated, these drawings are intended only to conceptually illustrate the structural construction described herein and are not necessarily drawn to scale.

[0038] Figure 1 This is a three-dimensional schematic diagram of the body and walking mechanism of the purlin maintenance robot described in Embodiment 1 of the present invention;

[0039] Figure 2 for Figure 1 Overall exploded view;

[0040] Figure 3 This is an enlarged view of part A of the purlin maintenance robot described in this invention;

[0041] Figure 4 This is a schematic diagram of the transmission mechanism in the purlin maintenance robot described in this invention;

[0042] Figure 5 This is an exploded view of the transmission mechanism in the purlin maintenance robot described in this invention;

[0043] Figure 6 This is an exploded view of the magnetic wheel in the purlin maintenance robot described in this invention;

[0044] Figure 7 This is a three-dimensional schematic diagram of the purlin maintenance robot described in Embodiment 2 of the present invention;

[0045] Figure 8 for Figure 7 The front view;

[0046] Figure 9 This is a perspective view of the purlin maintenance robot described in Embodiment 2 of the present invention in an upward translational state;

[0047] Figure 10 for Figure 9 The front view;

[0048] Figure 11 for Figure 10 A front view of the purlin spraying robot described above in a lateral translation state;

[0049] Figure 12 for Figure 11 A 3D view of the purlin spraying robot described above in a downward translational state;

[0050] Figure 13 This is an exploded view of the purlin maintenance robot described in Embodiment 2 of the present invention;

[0051] Figure 14 for Figure 15 Exploded view of section B in the middle;

[0052] Figure 15 This is a cross-sectional view of the translation mechanism in the purlin spraying robot described in Embodiment 2 of the present invention;

[0053] Figure 16 This is an exploded view of the translation mechanism in the purlin spraying robot described in Embodiment 2 of the present invention.

[0054] In the diagram: 1. Motor and reducer; 11. Bearing housing; 12. Bearing 1; 13. Left chain box; 14. Long chain sprocket; 15. Chain; 16. Short chain sprocket; 17. Drive chain sprocket; 18. Right chain box; 2. Chassis; 21. Frame 1; 22. Frame 2; 23. Frame 3; 3. Gear shaft; 31. Sleeve; 32. Limiting rod; 33. Hydraulic rod; 34. Motor housing 1; 35. Crank arm 1; 36. Crank arm 2; 37. Sleeve shaft. 4. Long connecting rod; 41. Connector; 42. Short connecting rod; 43. Rotating shaft one; 44. Motor one; 5. Outer flower wheel; 51. Cover; 52. Bearing two; 53. Inner flower wheel; 54. Inner support shaft; 55. Rubber wheel one; 56. Yoke one; 57. Magnet; 58. Yoke two; 59. Rubber wheel two; 510. Inner wheel cover; 511. Shaft; 6. Translation motor; 61. Translation rotating shaft; 7. Spraying mechanism; 8. Roller. Detailed Implementation

[0055] First, it should be noted that the specific structure, features, and advantages of the present invention will be described in detail below by way of examples. However, all descriptions are for illustrative purposes only and should not be construed as limiting the present invention in any way. Furthermore, any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the accompanying drawings, can still be arbitrarily combined or deleted among these technical features (or their equivalents) to obtain more other embodiments of the present invention that may not be directly mentioned herein. Additionally, for the sake of simplifying the drawings, the same or similar technical features may be indicated only in one place in the same drawing.

[0056] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," and "screw-in" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. The invention will now be described in detail with reference to the accompanying drawings.

[0057] Example 1:

[0058] like Figure 1-3 As shown, a space steel roof-mounted, high-frequency obstacle-crossing, variable-wheelbase adaptive robot includes a body, a walking mechanism, and a rolling mechanism, wherein:

[0059] The fuselage includes a chassis 2 and a frame structure, the frame structure including a frame 3 23, the chassis 2 and the frame 3 23 are fixedly connected by bolts, and the frame 3 23 is fixedly connected to the right chain box 18 by bolts;

[0060] The walking mechanism, which serves as the power end, is located on one side of the frame structure. The walking mechanism includes a chain box structure, a magnetic wheel mechanism located outside the chain box structure, a power mechanism, and a transmission mechanism located inside the chain box structure. The chain box structure includes a left chain box 13 and a right chain box 18 that are fastened together. The power mechanism includes a motor and a reducer 1 arranged in the middle of the left chain box 13. The magnetic wheel mechanism and the power mechanism are connected by a transmission mechanism.

[0061] The rolling mechanism, which serves as the rolling engagement end, is located on the other side of the frame structure. When the magnetic wheel mechanism is attached to the purlin, the rolling mechanism overlaps with the adjacent purlin.

[0062] In this embodiment, one side of the robot body is powered and equipped with a magnetic wheel mechanism as the power end, which can continuously overcome obstacles. The other side of the robot body is tubular and equipped with a rolling mechanism as the rolling engagement end, eliminating obstacle-crossing issues and enabling continuous obstacle crossing. It is also adaptable to changes in purlin spacing. When the magnetic wheel mechanism magnetically adheres to the purlin, the rolling mechanism overlaps with the adjacent purlin, ensuring that the robot has an adaptive suspension function. After power-on, the power mechanism can drive the robot to move forward and backward to perform maintenance operations. The unique mechanical arrangement can adapt to changes in purlin track width and curvature, providing a reliable platform for stable robot operation.

[0063] Furthermore, in this embodiment, two sets of magnetic wheel mechanisms symmetrically arranged about the center of the chain box structure can be considered on the outside of the chain box structure. The magnetic wheel mechanism includes:

[0064] The inner support shaft 54 ​​has threads at both ends and is fixedly connected to the cover 51 and the inner wheel cover 510 by threads, respectively. The space between the cover 51 and the inner wheel cover 510 is the wheel assembly space.

[0065] The wheel body includes an outer flower wheel 5, an inner flower wheel 53, a rubber wheel 55, a yoke 56, a magnet 57, a yoke 58, and a rubber wheel 59 arranged sequentially in the wheel body assembly space. All of the above wheel bodies are fixedly connected to the inner support shaft 54 ​​by compression. The above design enables the wheel body to fit stably with the rail surface, increasing the stability of the robot's operation.

[0066] A shaft 511 passes through an inner support shaft 54 ​​and is fixedly connected to the inner support shaft 54 ​​by compression.

[0067] Furthermore, in this embodiment, a bearing 52 is fitted inside the outer flower wheel. The bearing 52 is fixedly connected to the inner support shaft 54 ​​by compression. The outer flower wheel 5 has convex and concave umbrella teeth evenly distributed radially relative to the center (the outer circumference has conical teeth similar to an umbrella frame). The outer flower wheel 53 has convex and concave arc teeth evenly distributed radially relative to the center. The diameter of the outer flower wheel 5 is larger than the diameter of the inner flower wheel 53. The rubber wheel 55 and the rubber wheel 59 have anti-slip patterns evenly distributed radially relative to the center on their outer circumferences.

[0068] like Figure 6As shown, the shaft 511 passes through the inner support shaft 54 ​​and is fixedly connected by compression. The inner support shaft 54 ​​has threads at both ends, which are fixedly connected to the cover 51 and the inner wheel cover 510 respectively. The space between the cover 51 and the inner wheel cover 510, from left to right, contains the outer flower wheel 5 (with an inner bearing 52 for free movement), the inner flower wheel 53, the first rubber wheel 55, the first yoke 56, the magnet 57, the second yoke 58, and the second rubber wheel 59, all of which are fixedly connected to the inner support shaft 54 ​​by compression. This design ensures that the magnetic wheel mechanism does not deviate from the track and allows it to overcome obstacles through the gaps in the outer flower wheel 5. The magnet's magnetism enables the robot to move on the purlins of a sloping roof.

[0069] Furthermore, in this embodiment, the transmission mechanism may include:

[0070] Short chain disc 16 is fixedly connected to one of the shafts 511 by bolts;

[0071] Long chain disc 14, which is fixedly connected to another magnetic wheel shaft 511 by bolts;

[0072] The drive chain 17 is fixedly connected to the actuator of the motor and reducer 1 by bolts. The drive chain 17 is provided with two chain discs that are aligned with the long chain disc 14 and the short chain disc 16 respectively.

[0073] Chains 15, the number of which is the same as the number of magnetic wheel mechanisms, one of which is engaged with drive chain 17 and long chain 14, and the other chain 15 is engaged with drive chain 17 and short chain 16.

[0074] like Figure 4 , 5 As shown, two sets of magnetic wheel mechanisms are arranged symmetrically front and rear. The motor and reducer 1 are positioned in the middle of the left chain box 13, and are bolted to the left chain box 13. Bearing 12 is placed in the space formed by two bearing seats 11, with the left chain box 13 sandwiched between them and bolted to it. The drive chain 17 is bolted to the motor and reducer 1. The short chain 16 is bolted to the shaft 511, and the long chain 14 is bolted to the shaft 511 of another magnetic wheel. The two chain discs on the drive chain 17 are aligned with the long chain 14 and the short chain 16, respectively. The chain 15 engages with the drive chain 17 and the short chain 16. With this design, one motor can drive the movement of both sets of magnetic wheel mechanisms. The right chain box 18 is bolted to the left chain box 13, enclosing the transmission mechanism within a space for dust protection. Simultaneously, the use of a transverse synchronous gear design allows for adaptation to changes in wheel track.

[0075] Furthermore, in this embodiment, the rolling mechanism may include a roller 8 disposed on the end of frame 3 23 away from the machine body.

[0076] The robot in Example 1 is mainly used for purlin maintenance, and its working process is as follows:

[0077] The robot is hoisted onto the purlin, and the magnets of the magnetic wheel mechanism are attracted to the purlin. The distal end of frame 323 has rollers that overlap with adjacent purlins. After power-on, a single motor drives the two sets of magnetic wheel mechanisms, which in turn propels the robot forward and backward for maintenance work. This robot is powered on one side, allowing it to continuously overcome obstacles, while the other side is tubular, eliminating obstacle-crossing issues and ensuring adaptive suspension.

[0078] Example 2:

[0079] like Figure 7-16 As shown, a space steel roof-mounted, high-frequency obstacle-crossing, variable-wheelbase adaptive robot includes a body, a walking mechanism, and a rolling mechanism, wherein:

[0080] The fuselage includes a housing 2 and a frame structure. The frame structure includes a first frame 21 and a second frame 22 arranged in parallel. The housing 2 is fixedly connected to the first frame 21 and the second frame 22 by bolts. The shaft 511 of the magnetic wheel mechanism extends out of the right chain box 18 and is rotatably connected to the first frame 21 and the second frame 22. A third frame 23 perpendicular to the first frame 21 is fixedly connected to the first frame 21 by bolts.

[0081] The walking mechanism, which serves as the power end, is located on one side of the frame structure. The walking mechanism includes a chain box structure, a magnetic wheel mechanism located outside the chain box structure, a power mechanism, and a transmission mechanism located inside the chain box structure. The chain box structure includes a left chain box 13 and a right chain box 18 that are fastened together. The power mechanism includes a motor and a reducer 1 arranged in the middle of the left chain box 13. The magnetic wheel mechanism and the power mechanism are connected by a transmission mechanism.

[0082] A rolling mechanism, which serves as a rolling engagement end, is located on the other side of the frame structure. When the magnetic wheel mechanism is attached to the purlin, the rolling mechanism overlaps with the adjacent purlin.

[0083] The robot also includes a support mechanism for controlling the vertical translation of the robot body relative to the purlin and a translation mechanism for controlling the horizontal translation of the robot body relative to the purlin. Both the support mechanism and the translation mechanism are arranged symmetrically about the front and rear of the robot body.

[0084] The robot in this embodiment is mainly used for purlin maintenance and has the functions of longitudinal translation, lateral translation, and obstacle crossing. Its working process is as follows:

[0085] When the robot is working, the walking mechanism can drive the robot to move forward and backward as a whole. When it needs to move laterally or overcome obstacles, the support mechanism first rotates, and the support mechanism controls the body to move vertically upward, so that the magnetic wheel mechanism is detached from the purlin. The toothed shaft 3 is perpendicular to the plane of the purlin and hooks onto the purlin through the limiting mechanism to prevent the robot from falling off during the translation. Then, the translation mechanism controls the body to move laterally. After the body moves to the working position of the next purlin, the limiting mechanism retracts, the support mechanism rotates, and the support mechanism controls the body to move vertically downward, so that the magnetic wheel mechanism is attracted to the purlin again, and the toothed shaft 3 is retracted to the initial position, realizing the lateral translation and obstacle crossing.

[0086] Furthermore, in this embodiment, the support mechanism may include:

[0087] There are two gear shafts 3, which are arranged symmetrically about the front and rear of the fuselage. The gear shafts 3 are parallel to each other and the frame 23. A rack is fixedly installed on the gear shafts 3 along its axial direction.

[0088] The crank arm structure consists of two crank arms arranged symmetrically about the front and rear of the fuselage. The crank arm structure includes a crank arm 35 hinged to a frame 21 and a crank arm 36 hinged to a frame 22. One end of the crank arm 35 and the crank arm 36 is hinged to a long connecting rod 4. The other end of the crank arm 35 is fixedly connected to a motor base 34. The other end of the crank arm 36 is fixedly connected to a sleeve shaft 37. A gear shaft 3 passes through the motor base 34, the crank arm 35, the crank arm 36, and the sleeve shaft 37. The rack of the gear shaft 3 corresponds to the groove of the motor base 34.

[0089] Motor 44 is fixedly installed inside the housing 2, and a rotating shaft 43 is fixedly connected to the motor shaft of motor 44;

[0090] The connecting structure consists of two components arranged symmetrically about the front and rear of the fuselage. The connecting structure includes a short connecting rod 42, with two connecting heads 41 hinged at both ends of the short connecting rod 42. One connecting head 41 is hinged to a long connecting rod 4 on the same side, and the other is hinged to a rotating shaft 43.

[0091] like Figure 13-14As shown, motor base 34 and crank arm 35 are fixedly connected by bolts, and sleeve shaft 37 and crank arm 36 are fixedly connected by bolts. Crank arm 35 is hinged to frame 21, and crank arm 36 is hinged to frame 22. Long connecting rod 4 is hinged to crank arm 35 and crank arm 36. Gear shaft 3 passes through motor base 34, crank arm 35, crank arm 36, and sleeve shaft 37. The rack of gear shaft 3 corresponds to the groove of motor base 34. The two ends of short connecting rod 42 are hinged to two connectors 41. One of the two connectors 41 is connected to... The long connecting rod 4 is hinged, and the other is hinged to the rotating shaft 43. The rotating shaft 43 is fixedly connected to the motor 44 by bolts, and the motor 44 is fixedly connected to the housing 2 by bolts. This forms the support mechanism in the support translation mechanism. With this design, the rotation of the motor 44 causes the rotating shaft 43 to push the short connecting rod 42, and the short connecting rod 42 pushes the long connecting rod 4, which drives the crank arm 35 and the second crank arm 36 to rotate around the hinge point in the middle, so that the ends of the crank arm 35 and the second crank arm 36 change from being parallel to the purlin to being perpendicular to the purlin.

[0092] It should be noted that: when the ends of crank arm 35 and crank arm 36 are parallel to the purlin, the gear shaft 3, the L-shaped limiting support rod 38, and the L-shaped vertical support rod 39 are all parallel to the plane of the purlin, and the magnetic wheel mechanism is attracted to the purlin; when the ends of crank arm 35 and crank arm 36 are perpendicular to the purlin, the gear shaft 3, the L-shaped limiting support rod 38, and the L-shaped vertical support rod 39 are all perpendicular to the plane of the purlin, the machine body moves vertically upward relative to the purlin, and the magnetic wheel mechanism disengages from the purlin; when the ends of crank arm 35 and crank arm 36 are parallel to the purlin again, the machine body moves vertically downward relative to the purlin, and the magnetic wheel mechanism is attracted to the purlin again. The magnetic wheel mechanism contains magnets that magnetically attract the steel structure.

[0093] Furthermore, in this embodiment, the translation mechanism may include a second motor 5 fixedly connected to a motor base 34, a second rotating shaft 51 fixedly connected to the motor shaft of the second motor 5, the second rotating shaft 51 being rotatably connected to the groove cavity of the motor base 34, and the second rotating shaft 51 being provided with a gear that meshes with the rack of the gear shaft 3.

[0094] like Figure 15-16 As shown, motor 2 5 is fixedly connected to motor base 1 34 by bolts, and rotating shaft 2 51 is fixedly connected to motor 2 5 by bolts. There is a groove in motor base 1 34 for placing bearing 52. The bearing 52 is placed in the groove. Rotating shaft 2 51 is hinged to bearing 52. The gear of rotating shaft 2 51 is engaged with the rack of gear shaft 3. With this design, motor base 1 34 can slide on gear shaft 3 when motor 2 5 rotates. When motor 2 5 on both sides of the machine body rotates synchronously, the machine body can move laterally.

[0095] Furthermore, in this embodiment, one end of the gear shaft 3 is fixedly connected to an L-shaped limiting support rod 38, the free end of the limiting support rod is fixedly connected to a sleeve 31, and the other end is fixedly connected to an L-shaped vertical support rod 39.

[0096] Furthermore, in this embodiment, the robot may also include a limiting structure for hooking onto the purlin to prevent the robot from slipping when it translates, the limiting structure comprising:

[0097] The limiting rod 32 is hinged to the sleeve 31;

[0098] The hydraulic rod 33 is hinged at its front end to the ear plate of the limiting rod 32 and at its rear end to the pin on the limiting support rod. When the robot moves horizontally, the limiting rod 32 hooks onto the purlin to prevent the robot from slipping.

[0099] like Figure 7 , 9 As shown, the limiting rod 32 is hinged to the sleeve 31, the front end of the hydraulic rod 33 is hinged to the ear plate of the limiting rod 32, and the rear end is hinged to the pin on the limiting support rod 38 of the gear shaft 3. When the robot moves horizontally, the limiting rod 32 hooks onto the purlin to prevent the robot from slipping.

[0100] Furthermore, in this embodiment, a spray head 7 can be mounted on frame 3 23, so that the robot can also perform purlin spraying function.

[0101] The above embodiments have provided a detailed description of the present invention, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent variations and improvements made within the scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A space steel roof-mounted, high-frequency obstacle-crossing, variable-wheelbase adaptive robot, characterized in that: include: The fuselage includes a chassis (2) and a frame structure, the frame structure including frame three (23). The walking mechanism, which serves as the power end, is located on one side of the frame structure. The walking mechanism includes a chain box structure, a magnetic wheel mechanism located outside the chain box structure, a power mechanism, and a transmission mechanism located inside the chain box structure. The magnetic wheel mechanism and the power mechanism are connected by the transmission mechanism. The rolling mechanism is set on the other side of the frame structure as a rolling engagement end. When the magnetic wheel mechanism is adsorbed on the purlin, the rolling mechanism overlaps on the adjacent purlin. The rolling mechanism includes a roller set on the end of the frame three (23) away from the machine body. The chain box structure is externally provided with two sets of magnetic wheel mechanisms arranged symmetrically about the center of the chain box structure. The magnetic wheel mechanism includes: The inner support shaft (54) has threads at both ends and is fixedly connected to the cover (51) and the inner wheel cover (510) by threads respectively. The space between the cover (51) and the inner wheel cover (510) is the wheel assembly space. The wheel body includes an outer flower wheel (5), an inner flower wheel (53), a rubber wheel one (55), a yoke one (56), a magnet (57), a yoke two (58), and a rubber wheel two (59) arranged sequentially in the wheel body assembly space. All of the above wheel bodies are fixedly connected to the inner support shaft (54) by extrusion. A shaft (511) passes through an inner support shaft (54) and is fixedly connected to the inner support shaft (54) by compression. The outer flower wheel is fitted with a bearing two (52), which is fixedly connected to the inner support shaft (54) by compression. The outer flower wheel (5) has convex and concave bevel teeth evenly distributed radially relative to the center. The outer flower wheel (53) has convex and concave arc teeth evenly distributed radially relative to the center. The diameter of the outer flower wheel (5) is larger than the diameter of the inner flower wheel (53). The outer circumference of the rubber wheel one (55) and the rubber wheel two (59) have anti-slip patterns evenly distributed radially relative to the center.

2. The space steel roof high-frequency obstacle-crossing adaptive variable wheelbase operation robot according to claim 1, characterized in that: The chain box structure includes a left chain box (13) and a right chain box (18) that are fastened together, and the power mechanism includes a motor and a reducer (1) arranged in the middle of the left chain box (13).

3. The space steel roof high-frequency obstacle-crossing adaptive variable wheelbase operation robot according to claim 2, characterized in that: The transmission mechanism includes: A short chain disc (16) is fixedly connected to one of the shafts (511) by bolts; A long chain disc (14) is fixedly connected to another magnetic wheel shaft (511) by bolts; The power chain (17) is fixedly connected to the actuator of the motor and reducer (1) by bolts. The power chain (17) is provided with two chain discs that are aligned with the long chain disc (14) and the short chain disc (16) respectively. Chains (15) are the same number as the number of magnetic wheel mechanisms. One chain (15) is paired with the power chain disc (17) and the long chain disc (14), while the other chain (15) is paired with the power chain disc (17) and the short chain disc (16).

4. The space steel roof high-frequency obstacle-crossing adaptive variable wheelbase operation robot according to claim 2, characterized in that: The chassis (2) and frame three (23) are fixedly connected by bolts, and the frame three (23) and right chain box (18) are fixedly connected by bolts.

5. The space steel roof high-frequency obstacle-crossing adaptive variable wheelbase operation robot according to claim 2, characterized in that: The frame structure includes a first frame (21) and a second frame (22) arranged in parallel. The chassis (2) is fixedly connected to the first frame (21) and the second frame (22) by bolts. The shaft (511) of the magnetic wheel mechanism extends out of the right chain box (18) and is rotatably connected to the first frame (21) and the second frame (22). The first frame (21) is fixedly connected to a third frame (23) perpendicular to it by bolts.

6. The space steel roof high-frequency obstacle-crossing adaptive variable wheelbase operation robot according to claim 1, characterized in that: It also includes a support mechanism for controlling the vertical translation of the fuselage relative to the purlin and a translation mechanism for controlling the lateral translation of the fuselage relative to the purlin, both of which are arranged symmetrically about the front and rear of the fuselage.

7. The space steel roof high-frequency obstacle-crossing adaptive variable wheelbase operation robot according to claim 6, characterized in that: It also includes a limiting structure used to hook onto the purlins to prevent the robot from slipping when it translates.

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