A wall-climbing robot suitable for large-curvature metal columns

Abstract

The application discloses a wall-climbing robot suitable for a metal column with large curvature, and mainly solves the technical problems that the wall-climbing robot with a magnetic attraction structure has a large weight, high energy consumption, a large volume, large wind resistance, poor stability in a harsh environment, and poor adsorption effect on a metal column with varying diameters. The wall-climbing robot comprises a mounting frame, two groups of magnetic attraction modules, four power wheels, two steering mechanisms and a jacking module for separating the magnetic attraction modules from the metal column, and is characterized in that: a mounting groove is arranged at the center of the mounting frame and used for mounting an external working device; the two groups of magnetic attraction modules are arranged at the two sides of the mounting frame and located on the connecting lines of the front end and the rear end of the two power wheels on the same side; the surfaces of the magnetic blocks in the two groups of magnetic attraction modules, which are in contact with the metal column, are respectively located in the tangent planes of the outer circumferential surface of the metal column; and the tread of the power wheel is an arc surface with a high middle and low sides.

Description

Technical Field

[0001] This invention relates to a wall-climbing robot, and more specifically to a wall-climbing robot suitable for metal columns with large curvature. Background Technology

[0002] Wall-climbing robots have broad application prospects in fields such as climbing rescue and extravehicular activity in spacecraft. Existing wall-climbing robots include those with vacuum adsorption structures, those with micro-nano adsorption structures, and those with magnetic adsorption structures. Among them, wall-climbing robots with vacuum adsorption structures consume too much energy and have a limited range of applications; wall-climbing robots with micro-nano adsorption structures are easily damaged and have a low reusability rate; while wall-climbing robots with magnetic adsorption structures have good adsorption effects, low energy consumption, and are not easily damaged, making them the mainstream design concept for future wall-climbing robots.

[0003] However, existing wall-climbing robots with magnetic structures usually place large magnets on the bottom of the robot body or use magnetic wheels to achieve adsorption. These methods have problems such as large weight, high energy consumption, large size, high wind resistance, poor stability in harsh environments, and poor adsorption effect on metal columns with varying diameters. Summary of the Invention

[0004] The purpose of this invention is to solve the technical problems of existing wall-climbing robots with magnetic structures, which have problems such as large weight, high energy consumption, large size, high wind resistance, poor stability in harsh environments, and poor adsorption effect on metal columns with varying diameters, by setting large magnets at the bottom of the robot body or using magnetic wheels. The invention provides a wall-climbing robot suitable for metal columns with large curvature.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A wall-climbing robot suitable for metal columns with large curvature is characterized by: including a mounting frame, two sets of magnetic adsorption modules mounted on the mounting frame, four power wheels, two steering mechanisms, and a lifting module for separating the magnetic adsorption modules from the metal column;

[0007] The mounting frame has a mounting groove at its center, which is used to mount external working devices.

[0008] The mounting frame is defined along the vertical direction of the metal column, with the upper end being the front end and the lower end being the rear end. Two steering mechanisms are respectively located at the front and rear ends of the mounting frame, and four drive wheels are respectively installed at the four corners of the mounting frame. The steering mechanism located at the front end of the mounting frame is connected to the two drive wheels at the front end and is used to drive the two drive wheels at the front end to turn synchronously. The steering mechanism located at the rear end of the mounting frame is connected to the two drive wheels at the rear end and is used to drive the two drive wheels at the rear end to turn synchronously.

[0009] The two sets of magnetic adsorption modules are respectively mounted on both sides of the frame, and on the line connecting the front and rear two power wheels on the same side. The surfaces of the magnetic blocks in the two sets of magnetic adsorption modules that contact the metal column are respectively located in the tangent plane of the outer peripheral surface of the metal column. The tread of the power wheel is an arc-shaped surface that is high in the middle and low on both sides. When the magnetic blocks in the magnetic adsorption module are attached to the outer peripheral surface of the metal column, the inner half of the tread of the power wheel is attached to the outer peripheral surface of the metal column.

[0010] The lifting module is mounted on the mounting frame and located between the mounting frame and the metal column.

[0011] Furthermore, the steering mechanism includes a steering motor, a ball screw, a steering slider, a brake disc, a guide assembly, and two steering linkages;

[0012] The steering motor is mounted on the mounting bracket and located between the two drive wheels at the same end; the output end of the steering motor is connected to one end of the ball screw, the brake disc is connected to the other end of the ball screw, the steering slider is fitted and threaded onto the ball screw, and the steering slider is connected to the mounting bracket through a guide assembly;

[0013] The two steering linkages are symmetrically arranged along the axial direction of the output shaft of the steering motor. One end of each steering linkage is hinged to the steering slider, and the other end is hinged to the two drive wheels at the same end.

[0014] Furthermore, the steering motor is mounted on one side surface of the mounting bracket where the magnetic adsorption module is located, and the steering linkage is located on the other side surface of the mounting bracket;

[0015] The mounting bracket has a through slot adapted to the movement trajectory of the steering slider, and the steering slider passes through the through slot and connects to one end of the steering linkage.

[0016] Furthermore, the steering mechanism also includes a contact sensor;

[0017] The contact sensor is mounted on the mounting bracket and located at one end of the steering slider's movement trajectory. It is used for zeroing the power wheel. When the steering slider contacts the contact sensor, the power wheel is in its initial position.

[0018] Furthermore, the magnetic adsorption module includes a connecting plate and several magnets;

[0019] One side of the connecting plate is connected to the mounting frame and located between the two front and rear drive wheels on the same side. Several magnets are arranged along the length of the connecting plate on the other side of the connecting plate and are connected to the connecting plate by lockable hinges, which are used to adjust the tilt angle of the magnets according to the diameter of the metal column.

[0020] Furthermore, the magnets are divided into two groups of magnets, which are located at the front and rear ends of the connecting plate and are symmetrically arranged about the connecting plate; each group of magnets includes two adjacent magnet blocks.

[0021] Furthermore, the drive wheel includes a wheel body, an encoder, a slewing bearing, a mounting housing, and a drive motor installed inside the mounting housing;

[0022] The output shaft of the power motor is connected to the wheel axle of the wheel body;

[0023] The mounting bracket has mounting holes that are compatible with the outer ring of the slewing bearing. The outer ring of the slewing bearing is connected to the mounting bracket through the mounting holes. The inner ring of the slewing bearing is connected to the mounting housing through a coupling. The rotor of the encoder is mounted on the inner ring of the slewing bearing, and the stator is mounted on the outer ring of the slewing bearing. The steering linkage is connected to the end face of the inner ring of the slewing bearing.

[0024] Furthermore, it also includes a path recording device for recording the walking path of the wall-climbing robot, and multiple vision devices for acquiring the surface state of the metal pillars around the location of the wall-climbing robot.

[0025] Furthermore, the vision device is a wide-angle camera, and there are four of them; the four vision devices are respectively set in four different positions on the mounting frame, and are used to acquire image information of the surface of the metal pillars around the wall-climbing robot.

[0026] The path recording device is a trackball device.

[0027] Furthermore, the lifting module includes four lifting motors, which are evenly mounted on the mounting frame.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] 1. The wall-climbing robot of the present invention achieves a compact layout by using two steering mechanisms to drive four power wheels respectively, placing a magnetic adsorption module on the line connecting the two power wheels on one side of the front and rear ends, and mounting the grinding and painting devices at the center of the mounting frame. This not only simplifies the structure, reduces the size and wind resistance, but also reduces weight and power consumption. Furthermore, by designing the magnets to be tangential to the outer circumference of the metal column and the tread of the power wheels to be an arc-shaped surface with a high center and low two points, it can better fit the surface of the large-curvature metal column and achieve stable movement within a certain range of diameter variation. At the same time, when the power wheels turn, the arc-shaped tread structure allows them to rotate at their highest point, preventing the distance between the wall-climbing robot and the metal column from changing during turning, which would cause the magnetic adsorption to fail.

[0030] 2. The present invention sets up a magnet connected to a connecting plate via a lockable hinge, so that the magnet can be adjusted according to metal columns of different diameters, and the magnet can move stably within the range of diameter variation on the surface of the metal column.

[0031] 3. This invention uses a steering motor to drive the ball screw to rotate, which in turn drives the two steering linkages to move via the steering slider. Compared with the method of using a linear motor, the structure used in this invention has a greater torsional force, can withstand a greater load, and is less prone to steering failure. At the same time, the brake disc can make the ball screw stop stably and accurately at a certain rotation angle, achieving precise steering control of the drive wheel and reducing the likelihood of wobbling.

[0032] 4. The present invention uses a contact sensor that emits an electrical signal when the steering slider contacts it, which can be used for zeroing and limiting the power wheel, improving steering accuracy, thereby enabling the wall-climbing robot to move stably horizontally and vertically; by setting an encoder, the steering angle of the power wheel can be monitored in real time, so as to accurately control the walking trajectory of the wall-climbing robot. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of a wall-climbing robot embodiment of the present invention, applicable to metal columns with large curvature.

[0034] Figure 2 This is a schematic diagram of the magnetic adsorption module in an embodiment of the present invention for a wall-climbing robot suitable for metal columns with large curvature; (a is the front view, b is the side view of a).

[0035] Figure 3 This is a front view of the steering mechanism in an embodiment of a wall-climbing robot suitable for large-curvature metal columns according to the present invention;

[0036] Figure 4 yes Figure 3 Top view;

[0037] Figure 5 This is a schematic diagram of the power wheel structure in an embodiment of a wall-climbing robot suitable for large-curvature metal columns according to the present invention.

[0038] In the picture:

[0039] 1-Mounting bracket;

[0040] 2-Magnetic adsorption module, 21-Connecting plate, 22-Magnet;

[0041] 3-Drive wheel, 31-Wheel body, 32-Encoder, 33-Slewing bearing, 34-Mounting housing, 35-Drive motor;

[0042] 4-Steering mechanism, 41-Steering motor, 42-Ball screw, 43-Steering slider, 44-Brake disc, 45-Guide assembly, 46-Steering linkage, 47-Contact sensor;

[0043] 5-Lifting motor, 6-Path recording device, 7-Vision device. Detailed Implementation

[0044] To make the objectives, advantages, and features of this invention clearer, the following detailed description of a wall-climbing robot suitable for large-curvature metal columns, in conjunction with the accompanying drawings and specific embodiments, is provided. The advantages and features of this invention will become clearer according to the following specific embodiments. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, used only to facilitate and clarify the explanation of the embodiments of this invention; furthermore, the structures shown in the drawings are often part of the actual structures.

[0045] like Figures 1-5 As shown, this invention discloses a wall-climbing robot suitable for metal columns with large curvature. It includes a mounting frame 1, two sets of magnetic adsorption modules 2, four power wheels 3, a steering mechanism 4, and a lifting module for separating the magnetic adsorption modules 2 from the metal column. To fully utilize the space of the mounting frame 1 and reduce the overall volume and weight of the wall-climbing robot, a mounting groove is provided in the center of the mounting frame 1, making the overall configuration of the mounting frame 1 "U"-shaped. The magnetic adsorption modules 2, power wheels 3, steering mechanism 4, and lifting module are arranged around the mounting groove of the mounting frame 1. Grinding devices, painting devices, or other working devices are installed in the mounting groove according to the working conditions, forming a relatively compact layout.

[0046] The mounting frame 1 is defined along the vertical direction of the metal column, with the upper end being the front end and the lower end being the rear end. Four drive wheels 3 are installed at the four corners of the mounting frame 1. Controlling the four drive wheels 3 individually would result in poor synchronization, and controlling them through a single steering mechanism 4 would affect the overall layout of the wall-climbing robot, preventing the creation of mounting slots in the middle of the mounting frame 1, leading to insufficient space utilization and an increased overall size. Therefore, in this embodiment, two steering mechanisms 4 are used, one at the front end and one at the rear end of the mounting frame 1. The steering mechanism 4 at the front end is connected to the two front drive wheels 3, driving them to turn synchronously. The steering mechanism 4 at the rear end is connected to the two rear drive wheels 3, driving them to turn synchronously. This satisfies the synchronization requirement while fully utilizing the space on the mounting frame 1, achieving a compact layout.

[0047] In a preferred embodiment of the present invention, such as Figure 3 and Figure 4 As shown, the steering mechanism 4 includes a steering motor 41, a ball screw 42, a steering slider 43, an electromagnetic brake disc 44, a contact sensor 47, a guide assembly 45, and two steering linkages 46 disposed within a first protective cover. The first protective cover and the steering motor 41 are mounted on the side surface of the mounting bracket 1 where the magnetic adsorption module 2 is located, and are situated between two drive wheels 3 at the same end. The output shaft of the steering motor 41 is parallel to the line connecting the two drive wheels 3 at the same end. The output end of the steering motor 41 is connected to one end of the ball screw 42, and the brake disc 44 is connected to the other end of the ball screw 42. By separately mounting the brake disc 44 and the steering motor 41 on the ball screw... The two ends of 42 not only enhance the stability of the ball screw 42 during rotation, but also lock the ball screw 42 stably through the brake disc 44 to prevent the power wheel 3 from shaking after positioning, thus affecting the overall working accuracy; the steering slider 43 is fitted and threaded onto the ball screw 42, and the mounting bracket 1 has a through groove adapted to the movement trajectory of the steering slider 43. Specifically, when the wall-climbing robot moves laterally, when the end face of the power wheel 3 is in a horizontal state, the wall-climbing robot will inevitably slide downwards under the action of gravity. Therefore, when the wall-climbing robot moves laterally, the power wheel 3 needs to be tilted upwards by 0-13° according to the overall weight, so as to generate a steering wheel during the lateral movement. The component force on the wall-climbing robot is used to counteract its own weight, enabling the robot to move laterally. Therefore, during the design process, the length of the through slot and the length of the ball screw 42 need to be adaptively designed according to the maximum steering angle of the power wheel 3. The second protective cover and the two steering linkages 46 are both set on the side surface of the mounting plate away from the steering motor 41. The two steering linkages 46 are arranged axially along the output shaft of the steering motor 41. The steering slider 43 passes through the through slot and is hinged to one end of the two steering linkages 46. The other end of the steering linkages 46 is respectively hinged to the two power wheels 3 at the same end. The steering slider 43 is connected to the mounting frame 1 through the guide assembly 45. The guide assembly 45 includes components connected to the steering slider 43. A guide block and a guide groove are provided on the steering mechanism 43. The direction of the guide groove is the same as the axial direction of the ball screw 42. The guide block is connected in the guide groove to prevent the steering slider 43 from rotating under the action of the ball screw 42. The contact sensor 47 is installed on the mounting bracket 1 and is located at one end of the movement trajectory of the steering slider 43. When the steering slider 43 contacts the contact sensor 47, the power wheel 3 is in the initial position and is used for zeroing and limiting the power wheel 3 to ensure the accuracy of subsequent work. It should be noted that the above steering mechanism 4 is only a preferred embodiment of the present invention. In other embodiments of the present invention, those skilled in the art can also use other steering mechanisms 4 to achieve synchronous control of the front and rear power wheels 3.

[0048] In a preferred embodiment of the present invention, such as Figure 4As shown, the power wheel 3 includes a wheel body 31, an encoder 32, a slewing bearing 33, a mounting housing 34, and a power motor 35 installed inside the mounting housing 34. The output shaft of the power motor 35 is connected to the axle of the wheel body 31. The mounting frame 1 has mounting holes that fit the outer ring of the slewing bearing 33. The outer ring of the slewing bearing 33 is connected to the mounting frame 1 through the mounting holes. The inner ring of the slewing bearing 33 is connected to the mounting housing 34 through a coupling. The rotor of the encoder 32 is installed on the inner ring of the slewing bearing 33, and the stator is installed on the outer ring of the slewing bearing 33. The steering linkage 46 is connected to the end face of the inner ring of the slewing bearing 33. By adopting a structure in which four power wheels 3 are driven separately, in actual use, even if the power motor 35 in one of the power wheels 3 malfunctions, the climbing robot can still be driven to move by the remaining power wheels 3.

[0049] In a preferred embodiment of the present invention, the lifting module includes four lifting motors 5, which are evenly connected to the mounting frame 1 and disposed adjacent to the connecting plate 21. When it is necessary to separate the wall-climbing robot from the surface of the metal column, the wall-climbing robot can be separated from the surface of the metal column by driving the lifting motors 5 to extend.

[0050] In a preferred embodiment of the present invention, such as Figure 2As shown, two sets of magnetic adsorption modules 2 are respectively set on both sides of the mounting frame 1, and located on the line connecting the front and rear two drive wheels 3 on the same side. The magnetic adsorption modules 2 tightly adhere the tire tread of the drive wheel 3 to the outer circumference of the metal column, which can prevent the tire from slipping and thus prevent the wall climbing function from failing. The magnetic adsorption module 2 includes a connecting plate 21 and several magnets 22. In this embodiment, strong magnets 22 are used. In other embodiments of the present invention, permanent magnets 22 and electromagnets 22 can also be used to enhance the adsorption effect and match the needs of wall climbing robots with larger loads, depending on the different loads. One side of the connecting plate 21 is connected to the mounting frame 1 and is located between the front and rear two drive wheels 3 on the same side. The several magnets 22 are divided into two groups of magnets, which are located at the front and rear of the connecting plate and are symmetrically arranged about the connecting plate 21. Each group of magnets includes two adjacent magnets 22, which are connected by lockable hinges. The component is connected to the connecting plate 21 and is used to adjust the tilt angle of the magnet 22 according to the diameter of the metal column. The surfaces of the two sets of magnetic adsorption modules 2 that contact the metal column are located in the tangent plane of the outer circumference of the metal column. In actual use, since the outer circumference diameter of the metal column is variable, the angle of the magnet 22 can be set by taking the middle value of the metal column diameter. Throughout the maintenance work, the contact effect between the magnet 22 and the surface of the metal column can always be maintained. The tread of the power wheel 3 is an arc-shaped surface that is high in the middle and low on both sides. That is, the overall outline of the tread is part of an arc. When the magnet 22 in the magnetic adsorption module 2 is attached to the outer circumference of the metal column, the inner half of the tread of the power wheel 3 is attached to the outer circumference of the metal column. When turning, the power wheel 3 rotates at the highest point to ensure that the radial distance between the wall-climbing robot and the surface of the metal column does not change when turning, thereby maintaining the adsorption effect of the magnetic adsorption module 2.

Claims

1. A wall-climbing robot suitable for metal columns with large curvature, characterized in that: It includes a mounting frame (1), two sets of magnetic adsorption modules (2) mounted on the mounting frame (1), four power wheels (3), two steering mechanisms (4), and a lifting module for separating the magnetic adsorption modules (2) from the metal column; The mounting bracket (1) has a mounting groove at its center, which is used to mount external working devices; The mounting frame (1) is defined along the vertical direction of the metal column, with the upper end being the front end and the lower end being the rear end; the two steering mechanisms (4) are respectively set at the front and rear ends of the mounting frame (1), and the four power wheels (3) are respectively installed at the four corners of the mounting frame (1); the steering mechanism (4) at the front end of the mounting frame (1) is connected to the two power wheels (3) at the front end, and is used to drive the two power wheels (3) at the front end to turn synchronously; the steering mechanism (4) at the rear end of the mounting frame (1) is connected to the two power wheels (3) at the rear end, and is used to drive the two power wheels (3) at the rear end to turn synchronously. The two sets of magnetic adsorption modules (2) are respectively set on both sides of the mounting frame (1) and located on the line connecting the front and rear two power wheels (3) on the same side. The surfaces of the magnetic blocks in the two sets of magnetic adsorption modules (2) that contact the metal column are respectively located in the tangent plane of the outer peripheral surface of the metal column. The tread of the power wheel (3) is an arc-shaped surface that is high in the middle and low on both sides. When the magnetic blocks in the magnetic adsorption module (2) are attached to the outer peripheral surface of the metal column, the inner half of the tread of the power wheel (3) is attached to the outer peripheral surface of the metal column. The lifting module is mounted on the mounting frame (1) and located between the mounting frame (1) and the metal column; The magnetic adsorption module (2) includes a connecting plate (21) and several magnets (22); The connecting plate (21) is connected to the mounting frame (1) on one side and located between the two power wheels (3) at the front and rear ends on the same side. Several magnets (22) are arranged along the length of the connecting plate (21) on the other side of the connecting plate (21) and are connected to the connecting plate (21) by lockable hinges, which are used to adjust the tilt angle of the magnets (22) according to the diameter of the metal column. The magnets (22) are divided into two groups of magnets, which are located at the front and rear ends of the connecting plate and are symmetrically arranged about the connecting plate (21); each group of magnets includes two adjacent magnet blocks.

2. The wall-climbing robot suitable for large-curvature metal columns according to claim 1, characterized in that: The steering mechanism (4) includes a steering motor (41), a ball screw (42), a steering slider (43), a brake disc (44), a guide assembly (45), and two steering linkages (46); The steering motor (41) is mounted on the mounting bracket (1) and located between the two drive wheels (3) at the same end; the output end of the steering motor (41) is connected to one end of the ball screw (42), the brake disc (44) is connected to the other end of the ball screw (42), the steering slider (43) is fitted and threaded onto the ball screw (42), and the steering slider (43) is connected to the mounting bracket (1) through the guide assembly (45); The two steering linkages (46) are arranged along the axial direction of the output shaft of the steering motor (41). One end of each steering linkage (46) is hinged to the steering slider (43), and the other end is hinged to the two power wheels (3) at the same end.

3. A wall-climbing robot suitable for large-curvature metal columns according to claim 2, characterized in that: The steering motor (41) is mounted on one side surface of the mounting bracket (1) where the magnetic adsorption module (2) is located, and the steering linkage (46) is located on the other side surface of the mounting bracket (1); The mounting bracket (1) has a through slot that matches the movement trajectory of the steering slider (43), and the steering slider (43) passes through the through slot and is connected to one end of the steering linkage (46).

4. A wall-climbing robot suitable for large-curvature metal columns according to claim 3, characterized in that: The steering mechanism (4) also includes a contact sensor (47); The contact sensor (47) is mounted on the mounting bracket (1) and located at one end of the movement trajectory of the steering slider (43). It is used for zeroing the limit of the power wheel (3). When the steering slider (43) contacts the contact sensor (47), the power wheel (3) is in the initial position.

5. A wall-climbing robot suitable for large-curvature metal columns according to any one of claims 2-4, characterized in that: The power wheel (3) includes a wheel body (31), an encoder (32), a slewing bearing (33), a mounting housing (34), and a power motor (35) installed inside the mounting housing (34); The output shaft of the power motor (35) is connected to the wheel axle of the wheel body (31); The mounting bracket (1) has mounting holes that are adapted to the outer ring of the slewing bearing (33). The outer ring of the slewing bearing (33) is connected to the mounting bracket (1) through the mounting holes. The inner ring of the slewing bearing (33) is connected to the mounting housing (34) through a coupling shaft. The rotor of the encoder (32) is mounted on the inner ring of the slewing bearing (33), and the stator is mounted on the outer ring of the slewing bearing (33). The steering linkage (46) is connected to the end face of the inner ring of the slewing bearing (33).

6. A wall-climbing robot suitable for large-curvature metal columns according to claim 5, characterized in that: It also includes a path recording device (6) for recording the walking path of the wall-climbing robot, and multiple vision devices (7) for acquiring the surface state of the metal pillars around the location of the wall-climbing robot.

7. A wall-climbing robot suitable for large-curvature metal columns according to claim 6, characterized in that: The vision device (7) is a wide-angle camera, and there are four of them. The four vision devices (7) are respectively set in four different positions of the mounting frame (1) to obtain image information of the metal column surface around the wall-climbing robot. The path recording device (6) is a trackball device.

8. A wall-climbing robot suitable for large-curvature metal columns according to claim 7, characterized in that: The lifting module includes four lifting motors (5), which are evenly mounted on the mounting frame (1).

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