Magnetic adsorption walking device

Abstract

The invention relates to a magnetic adsorption walking device. The magnetic adsorption walking device comprises a device frame; the two sets of main moving mechanisms are arranged on the two sides of the device frame, each main moving mechanism comprises a mounting frame, a circulating transmission assembly, a driving piece and a plurality of first magnetic attraction pieces, the mounting frames are rotationally connected to the device frame, the circulating transmission assemblies and the driving pieces are arranged on the mounting frames, and the first magnetic attraction pieces are evenly distributed on the circulating transmission assemblies; the driving piece drives the circulating transmission assembly to operate, and the circulating transmission assembly drives the first magnetic attraction piece to circularly move; the at least one auxiliary moving mechanism is arranged between the two sets of main moving mechanisms; the auxiliary moving mechanism is fixedly connected with the device frame, or the auxiliary moving mechanism is adjustably arranged relative to the device frame; and at least one auxiliary wheel is arranged on the auxiliary moving mechanism. The device can rapidly and stably walk on a magnetic metal surface, manual operation can be replaced after the device carries a functional device, construction is safer and faster, and in addition, the device is small in power consumption and higher in high-temperature adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent equipment for building construction, and in particular to a magnetic adsorption walking device. Background Art

[0002] Both industrial and civilian scenarios are filled with many high-altitude and high-risk work scenes. In the industrial field, such as the maintenance of wind turbine steel towers, inspection and flaw detection of thermal power boilers, and in daily civilian fields, such as Spider-Man on building curtain walls, scaffolding and hanging basket operations, they bring huge difficulties and challenges to workers. At the same time, related companies and institutions also bear great risks to the safety of workers' lives.

[0003] If a wall-climbing robot is used to perform some relatively simple high-altitude tasks instead of manual labor, the potential safety hazards of high-altitude operations can be effectively reduced. Wall-climbing robots need to be equipped with batteries or cables for power supply, and most of the current mainstream wall-climbing robots use vacuum adsorption. Even when the robot stays at high altitudes, it still needs to maintain a vacuum, which consumes a lot of power. In addition, a large part of the scenes of high-altitude operations are on steel structures, and the vacuum adsorption head is usually made of flexible rubber and other materials. Under the sun, the temperature of the metal surface is very high, and the adsorption head is in contact with it for a long time, which has a greater impact on its service life. Therefore, it is urgent to develop a wall-climbing robot that can adapt to metal surfaces. Summary of the invention

[0004] The purpose of the present invention is to provide a magnetic adsorption walking device, which can walk quickly and stably on a magnetic metal surface, so that the functional devices it carries (such as cleaning equipment, flaw detectors, etc.) can replace manual operations, making construction safer and faster. In addition, the device has low power consumption and stronger high temperature adaptability.

[0005] In order to achieve the above object, the present invention discloses a magnetic adsorption walking device, which comprises: Device rack; Two sets of main moving mechanisms are arranged on both sides of the device frame, and the main moving mechanism includes a mounting frame, a circulating transmission assembly, a driving member and a plurality of first magnetic members. The mounting frame is rotatably connected to the device frame, the circulating transmission assembly and the driving member are both arranged on the mounting frame, the first magnetic members are evenly arranged on the circulating transmission assembly, the driving member drives the circulating transmission assembly to operate, and the circulating transmission assembly drives the first magnetic members to circulate; At least one auxiliary moving mechanism is placed between the two sets of the main moving mechanisms; the auxiliary moving mechanism is fixedly connected to the device frame, or the auxiliary moving mechanism is adjustably arranged relative to the device frame; the auxiliary moving mechanism is provided with at least one auxiliary wheel.

[0006] Furthermore, the circulating transmission assembly includes a conveyor belt, a driving wheel and at least one driven wheel, the driving wheel and the driven wheel are arranged in a row and rotatably connected to the mounting frame, the conveyor belt connects the driving wheel and the driven wheel, and the driving member is transmission-connected to the driving wheel; the first magnetic attraction member is evenly arranged on the outside of the transmission belt.

[0007] Furthermore, the conveyor belt is provided with a plurality of mounting components for fixing the first magnetic component, the mounting components include a mounting plate and two clamping plates, the two clamping plates are placed on the edge positions on both sides of the inner surface of the conveyor belt, and the clamping plates do not interfere with the driving wheel and the driven wheel, and the mounting plate is placed outside the conveyor belt; the mounting plate and / or the clamping plate are limitedly matched with the conveyor belt, and the mounting plate is connected with the clamping plate bolts; the first magnetic component is installed on the mounting plate.

[0008] Furthermore, the mounting frame is provided with an adjusting shaft, two oblong holes, two limiting holes, two adjusting screws and two adjusting nuts. The oblong holes, limiting holes, adjusting screws and adjusting nuts correspond to each other one by one. The limiting holes are connected to the oblong holes. Both ends of the adjusting shaft are respectively slidably connected to an oblong hole; one end of the adjusting screw is threadedly connected to the adjusting nut, and the other end passes through the limiting hole and is threadedly connected to the adjusting shaft. The adjusting shaft is provided with a screw hole that matches the adjusting screw; the driven wheel farthest from the driving wheel is rotatably connected to the adjusting shaft.

[0009] Furthermore, it also includes a first set for improving friction, and the contact surface of each of the first magnetic suction parts is covered with a first set; the first set is made of non-magnetic isolation material, or the first set is provided with a plurality of hollows.

[0010] Furthermore, a rotating member is provided on the mounting frame, and the rotating member includes a limit plate and a rotating shaft, and the rotating shaft includes a limit part and two rotating parts, and the rotating parts are located at both ends of the limit part, and the diameter of the rotating part is smaller than the diameter of the limit part, and the limit plate is locked with the limit part; two shaft seats are provided on both sides of the device frame, and the shaft seats are provided with a limit opening and a shaft hole matched with the rotating part, the limit opening is connected to the shaft hole, the rotating part and the shaft seat correspond one to one, the rotating part is rotatably connected in the shaft hole, the shaft hole is limitedly matched with the limit part, and the shaft hole limits the rotating part; the limit plate is placed in the limit opening, and the thickness of the limit plate is smaller than the width of the limit opening.

[0011] Furthermore, one of the walls of the limiting opening is parallel to the device frame.

[0012] Furthermore, the auxiliary mechanism also includes a support frame, the device frame is provided with a slide and at least one locking screw for locking the support frame, one end of the support frame is slidably connected in the slide, the locking screw is threadedly connected to the device frame, and the locking screw can extend into the slide and abut the support frame; the auxiliary wheel is rotatably connected to the other end of the support frame.

[0013] Furthermore, along the connecting direction of the two sets of the main moving mechanisms, the auxiliary wheels are arranged in two rows.

[0014] Furthermore, the auxiliary wheel is made of magnetic material, or a plurality of second magnetic parts are evenly distributed on the periphery of the auxiliary wheel, or a magnetic ring made of magnetic material is fixed on the periphery of the auxiliary wheel; the outside of the auxiliary wheel is also wrapped with a second set for buffering, the second set is made of non-magnetic isolation material, or a plurality of hollows are provided on the second set.

[0015] The present invention has the following beneficial effects: 1. The present invention arranges a magnetic suction piece on the circulating transmission component, and the magnetic suction piece can be adsorbed on the magnetic metal surface such as iron, nickel, etc., and the device frame can be moved on the magnetic metal surface by circulating the transmission magnetic suction piece. Because of the magnetic suction effect, the present invention does not need to consume energy to maintain the device gripping the magnetic metal surface during operation, which is more energy-saving, and the high temperature (far below the Curie temperature) of the magnetic metal surface caused by exposure to the sun will basically not affect the magnetic force of the magnetic suction piece, and the high temperature adaptability is better. In addition, because the main moving mechanism is rotatably connected relative to the device frame, the angle of the two main moving mechanisms can be adjusted, so that the main moving mechanism can adapt to non-planar magnetic metal surfaces, and the applicability is stronger. In addition, the setting of the auxiliary moving mechanism can effectively play an auxiliary supporting role when walking on non-planar magnetic metal surfaces, ensuring the stability of the device frame during walking, and the device frame can be used to carry automatic spray painting equipment, welding equipment, etc. The setting of the auxiliary moving mechanism can make painting, welding and other operations more stable and ensure the construction quality.

[0016] 2. The auxiliary moving mechanism is adjustable relative to the device frame, so that the distance that the auxiliary wheel extends out of the device frame can be adjusted to better adapt to the magnetic metal surface in different situations.

[0017] 3. The auxiliary wheels have magnetic properties, which can further improve the fit between the device and the magnetic metal surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the present invention.

[0019] Figure 2 A schematic diagram of the shaft seat.

[0020] Figure 3Schematic diagram of the main mobile device.

[0021] Figure 4 A partial cross-sectional view of the main moving device.

[0022] Figure 5 It is a cross-sectional view of the installation component, the first magnetic attraction component and the first kit when they are assembled.

[0023] Figure 6 This is a schematic diagram of the installation of the auxiliary mobility device.

[0024] Main component symbols: Device frame 10, shaft seat 11, shaft hole 12, limit opening 13, slideway 14, locking screw 15; Main moving mechanism 20, mounting frame 21, limiting plate 211, limiting portion 213, rotating portion 214, adjusting shaft 215, oblong hole 216, limiting hole 217, adjusting screw 218, adjusting nut 219, conveyor belt 221, driving wheel 222, driven wheel 223, driving member 23, first magnetic member 24, mounting assembly 25, mounting plate 251, clamping plate 252, first set 26; Auxiliary moving mechanism 30 , support frame 31 , auxiliary wheels 32 , second set 33 . DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0026] like Figures 1 to 6 As shown, the present invention discloses a magnetic adsorption walking device, which includes: a device frame 10, two sets of main moving mechanisms 20 and two sets of auxiliary moving mechanisms 30. The two sets of main moving mechanisms 20 are symmetrically installed on both sides of the device frame 10, and the two sets of auxiliary moving mechanisms 30 are placed between the two sets of main moving mechanisms 20. It is best that the four sets of mechanisms are symmetrical about the device frame 10. And along the connecting direction of the two sets of main moving mechanisms 20, the auxiliary moving mechanisms 30 are arranged in two rows. The device frame 10 is designed as a frame structure, which is conducive to reducing the weight. The device frame 10 is used to carry functional devices, such as a painting device, a welding device, a drilling device, etc.

[0027] The main moving mechanism 20 includes a mounting frame 21, a circulating transmission assembly, a driving member 23 and a plurality of first magnetic members 24. The mounting frame 21 is rotatably connected to the device frame 10. Specifically, a rotating member is provided on the mounting frame 21, and the rotating member includes a limit plate 211 and a rotating shaft. The rotating shaft includes an integrally formed limit portion 213 and two rotating portions 214. The rotating portion 214 is located at both ends of the limit portion 213, and the diameter of the rotating portion 214 is smaller than the diameter of the limit portion 213. After such an arrangement, a step surface can be formed between the rotating portion 214 and the limit portion 213. The limit plate 211 and the limit portion 213 are locked by bolts or directly welded. Two shaft seats 11 are provided on both sides of the device frame 10. A limit opening 13 and a shaft hole 12 adapted to the rotating portion 214 are provided on the shaft seat 11, and the limit opening 13 is connected to the shaft hole 12. The two shaft seats 11 arranged on the same side have their shaft holes 12 arranged coaxially, the rotating part 214 corresponds to the shaft seat 11 one by one, and the rotating part 214 is rotatably connected in the shaft hole 12, requiring that the rotating part 214 can only enter and exit in the axial direction of the shaft hole 12, and cannot escape from the shaft hole 12 in the circumferential direction of the shaft hole 12. In addition, the shaft hole 12 is limitedly matched with the limiting part 213, that is, the step surface will abut the outer edge of the shaft hole 12 to prevent the limiting part 213 from passing through the shaft hole 12. The shaft seat 11 limits the rotating shaft at both ends, so that the rotating part can only rotate in place.

[0028] The limit plate 211 is placed in the limit opening 13, and the thickness of the limit plate 211 is less than the width W of the limit opening 13, and the limit plate 211 can have a certain range of movement in the limit opening 13. The limit plate 211 is connected to the mounting frame 21. In particular, it is required that one of the walls of the limit opening 13 is parallel to the device frame 10, so that one of the extreme positions of the rotation of the mounting frame 21 is parallel to the device frame 10, because during use, it is rare for the magnetic metal surface to change from a convex arc to a concave arc, and it is usually a constant convex arc (such as the outer tube wall) or a concave arc (such as the inner tube wall), and making one of the extreme positions of the main moving mechanism 20 parallel to the device frame 10 can avoid excessive activity of the main moving mechanism 20, so that the device can maintain better stability when a sudden wind blows at high altitude.

[0029] The circulating transmission assembly and the driving member 23 are both arranged on the mounting frame 21. The circulating transmission assembly includes a conveyor belt 221, a driving wheel 222 and at least one driven wheel 223. The driving wheel 222 and the driven wheel 223 are arranged in a row at equal intervals and are rotatably connected to the mounting frame 21. The conveyor belt 221 connects the driving wheel 222 and the driven wheel 223, and the driving member 23 is connected to the driving wheel 222. The driving member 23 is a motor. The arrangement of multiple driven wheels 223 can support the conveyor belt 221. In addition, in order to adjust the tightness of the conveyor belt 221, an adjusting shaft 215, two oblong holes 216, two limiting holes 217, two adjusting screws 218 and two adjusting nuts 219 are provided on the mounting frame 21. The oblong holes 216, the limiting holes 217, the adjusting screws 218 and the adjusting nuts 219 correspond to each other. The limiting hole 217 is connected to the oblong hole 216, and the two ends of the adjusting shaft 215 are respectively slidably connected to an oblong hole 216. One end of the adjusting screw 218 is threadedly connected to the adjusting nut 219, and the other end passes through the limiting hole 217 and is threadedly connected to the adjusting shaft 215. The adjusting shaft 215 is provided with a screw hole adapted to the adjusting screw 218. The driven wheel 223 farthest from the driving wheel 222 is rotatably connected to the adjusting shaft 215. The tightness of the conveyor belt 221 can be adjusted by rotating the adjusting nut 219.

[0030] The first magnetic members 24 are evenly arranged outside the transmission belt, and the driving member 23 drives the circulating transmission assembly to operate, thereby driving the first magnetic members 24 to move in a circular manner. In order to facilitate the installation of the first magnetic member 24, a plurality of mounting components 25 are provided on the conveyor belt 221. The mounting components 25 include a mounting plate 251 and two clamping plates 252. The two clamping plates 252 are placed at the edge positions on both sides of the inner surface of the conveyor belt 221, and the clamping plates 252 do not interfere with the driving wheel 222 and the driven wheel 223. The mounting plate 251 is placed outside the conveyor belt 221. The mounting plate 251 is bolted to the clamping plates 252, and then clamped and fixed on the conveyor belt 221. In addition, in order to prevent the mounting component 25 from sliding relative to the conveyor belt 221, the mounting plate 251 and / or the clamping plates 252 are required to be limitedly matched with the conveyor belt 221. It can be that nail holes are set on the transmission belt, and nails are set on the mounting plate 251 and / or the clamping plates 252. The mounting component 25 is further locked by inserting the nails into the nail holes. The first magnetic member 24 is fixed to the mounting plate 251 by screws. The first magnetic member 24 can be a magnet. In order to increase the friction between the first magnetic member 24 and the magnetic metal surface, reduce noise, and prevent the first magnetic member 24 from scratching the magnetic metal surface, each contact surface of the first magnetic member 24 is covered with a first set 26, and the first set 26 is made of non-magnetic isolation material, such as PU. Alternatively, a number of hollows are provided on the first set 26 so that the magnetic force can absorb the magnetic metal surface. The first set 26 can be directly bolted to the mounting seat.

[0031] The auxiliary moving mechanism 30 is adjustable relative to the device frame 10. Specifically, the auxiliary moving mechanism 30 includes a support frame 31 and two auxiliary wheels 32. The connection direction of the two auxiliary wheels 32 is parallel to the conveying direction of the cyclic conveying assembly. A slideway 14 and at least one locking screw 15 for locking the support frame 31 are provided on the device frame 10. One end of the support frame 31 is slidably connected to the slideway 14. The locking screw 15 is threadedly connected to the device frame 10, and the locking screw 15 can extend into the slideway 14 and abut the support frame 31. The support frame 31 is locked by tightening the locking screw 15. The auxiliary wheel 32 is rotatably connected to the other end of the support frame 31. Of course, the auxiliary moving mechanism 30 can also be fixed relative to the device frame 10. In particular, the auxiliary wheel 32 is made of magnetic material, or a plurality of second magnetic suction members are evenly arranged on the outer periphery of the auxiliary wheel 32, or a magnetic ring made of magnetic material is fixed on the outer periphery of the auxiliary wheel 32. The auxiliary wheel 32 can also be adsorbed on the magnetic metal surface, further improving the adhesion between the device and the magnetic metal surface. In addition, in order to prevent the magnetic hard material on the auxiliary wheel 32 from scratching the working surface, a second set 33 for buffering is wrapped on the outside of the auxiliary wheel 32. The second set 33 is made of non-magnetic isolation material, or a plurality of hollows are provided on the second set 33.

[0032] The auxiliary moving mechanism 30 can act as a fulcrum on the device. Because the working surface of the device is uncertain, the magnetic parts cannot be adapted to each working surface. The contact surface of the magnetic parts is usually set as a plane, that is, the magnetic parts are generally in the shape of a cuboid and do not need to be customized. For example, when the working surface is a curved surface, the contact surface of the magnetic parts cannot completely adhere to the curved surface. When working at high altitudes, the wind will blow the device from time to time. If the wind is strong, the device as a whole will swing. After the auxiliary moving mechanism 30 is set, the amplitude of the device swing can be effectively reduced, so that the functional device can be better used and the construction quality can be guaranteed.

[0033] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A magnetic adsorption walking device, characterized in that: include: Device rack; Two sets of main moving mechanisms are arranged on both sides of the device frame, and the main moving mechanism includes a mounting frame, a circulating transmission assembly, a driving member and a plurality of first magnetic members. The mounting frame is rotatably connected to the device frame, the circulating transmission assembly and the driving member are both arranged on the mounting frame, the first magnetic members are evenly arranged on the circulating transmission assembly, the driving member drives the circulating transmission assembly to operate, and the circulating transmission assembly drives the first magnetic members to circulate; At least one auxiliary moving mechanism is placed between the two sets of the main moving mechanisms; the auxiliary moving mechanism is fixedly connected to the device frame, or the auxiliary moving mechanism is adjustably arranged relative to the device frame; the auxiliary moving mechanism is provided with at least one auxiliary wheel.

2. The magnetic adsorption walking device according to claim 1, characterized in that: The circulating transmission assembly includes a conveyor belt, a driving wheel and at least one driven wheel. The driving wheel and the driven wheel are arranged in a row and are rotatably connected to a mounting frame. The conveyor belt connects the driving wheel and the driven wheel, and the driving member is transmission-connected to the driving wheel. The first magnetic attraction member is evenly arranged on the outside of the transmission belt.

3. The magnetic adsorption walking device according to claim 2, characterized in that: The conveyor belt is provided with a plurality of mounting components for fixing the first magnetic attraction component, and the mounting components include a mounting plate and two clamping plates, the two clamping plates are placed on the edge positions of both sides of the inner surface of the conveyor belt, and the clamping plates do not interfere with the driving wheel and the driven wheel, and the mounting plate is placed outside the conveyor belt; the mounting plate and / or the clamping plate are limitedly matched with the conveyor belt, and the mounting plate is connected with the clamping plate bolts; the first magnetic attraction component is installed on the mounting plate.

4. The magnetic adsorption walking device according to claim 2, characterized in that: The mounting frame is provided with an adjusting shaft, two oblong holes, two limiting holes, two adjusting screws and two adjusting nuts. The oblong holes, limiting holes, adjusting screws and adjusting nuts correspond to each other one by one. The limiting holes are connected to the oblong holes. Both ends of the adjusting shaft are respectively slidably connected to an oblong hole. One end of the adjusting screw is threadedly connected to the adjusting nut, and the other end passes through the limiting hole and is threadedly connected to the adjusting shaft. The adjusting shaft is provided with a screw hole matched with the adjusting screw. The driven wheel farthest from the driving wheel is rotatably connected to the adjusting shaft.

5. The magnetic adsorption walking device according to claim 1, characterized in that: It also includes a first set for improving friction, and the contact surface of each of the first magnetic suction parts is covered with a first set; the first set is made of non-magnetic isolation material, or the first set is provided with a plurality of hollows.

6. The magnetic adsorption walking device according to claim 1, characterized in that: A rotating member is provided on the mounting frame, and the rotating member includes a limit plate and a rotating shaft, and the rotating shaft includes a limit part and two rotating parts, the rotating parts are located at both ends of the limit part, and the diameter of the rotating part is smaller than the diameter of the limit part, and the limit plate is locked with the limit part; two shaft seats are provided on both sides of the device frame, and a limit opening and a shaft hole matched with the rotating part are provided on the shaft seat, the limit opening is connected to the shaft hole, the rotating part and the shaft seat correspond one to one, the rotating part is rotatably connected in the shaft hole, the shaft hole is limitedly matched with the limit part, and the shaft hole limits the rotating part; the limit plate is placed in the limit opening, and the thickness of the limit plate is smaller than the width of the limit opening.

7. The magnetic adsorption walking device according to claim 6, characterized in that: One of the walls of the limiting opening is parallel to the device frame.

8. The magnetic adsorption walking device according to claim 1, characterized in that: The auxiliary mechanism also includes a support frame, the device frame is provided with a slide and at least one locking screw for locking the support frame, one end of the support frame is slidably connected to the slide, the locking screw is threadedly connected to the device frame, and the locking screw can extend into the slide and abut the support frame; the auxiliary wheel is rotatably connected to the other end of the support frame.

9. The magnetic adsorption walking device according to claim 1 or 8, characterized in that: Along the connecting direction of the two sets of the main moving mechanisms, the auxiliary wheels are arranged in two rows.

10. The magnetic adsorption walking device according to claim 1 or 8, characterized in that: The auxiliary wheel is made of magnetic material, or a plurality of second magnetic parts are evenly distributed on the periphery of the auxiliary wheel, or a magnetic ring made of magnetic material is fixed on the periphery of the auxiliary wheel; the outside of the auxiliary wheel is also wrapped with a second set for buffering, the second set is made of non-magnetic isolation material, or a plurality of hollows are provided on the second set.

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