Permanent magnetic wheeled wall climbing robot for tunnel casting template grinding

Abstract

The invention relates to the technical field of wall-climbing robots, and in particular to a permanent magnetic wheel-type wall-climbing robot used for grinding tunnel casting templates, and solves the problem that the permanent magnetic wheel absorbs too much material in the existing permanent magnetic wheel-type wall-climbing robot, which affects its adsorption effect and mobility, and reduces the working efficiency of the robot. The invention comprises a base, a rear wheel, a driving mechanism, a front wheel, a steering mechanism and a grinding mechanism, wherein the rear wheel and the front wheel both comprise a wheel body, the wheel body is made of non-magnetic material, an annular groove is provided in the middle of the outer periphery of the wheel body, a magnetic ring is embedded in the annular groove, a magnetic shielding coating is provided between the annular groove and the magnetic ring, an auxiliary sheet is provided above the vertical projection of the wheel body, a magnetic sheet is provided below the auxiliary sheet, the magnetic force of the magnetic sheet is greater than the magnetic force of the magnetic ring, and the driving mechanism, the steering mechanism and the middle grinding mechanism are controlled by a control system. The invention can effectively remove magnetic debris on the surface of the magnetic ring, ensure the cleanliness and adsorption effect of the magnetic ring, and ensure the continuous operation ability of the robot.

Description

Technical Field

[0001] The invention relates to the technical field of wall-climbing robots, and in particular to a permanent-magnetic-wheel-type wall-climbing robot used for grinding tunnel casting templates. Background Art

[0002] In recent years, the construction and opening of a large number of expressways have greatly reduced the transportation costs between people. As a mountainous country, my country has to build bridges over water and dig tunnels in mountains, which are necessary conditions for an efficient road network. During the tunnel construction process, when the shield machine is digging in the front, cement is poured in time to reinforce and repair the excavated area in the rear. In order to pour cement, it is necessary to build steel formwork inside the tunnel to facilitate cement pouring. In order to improve construction efficiency, most of the current steel formworks are integrated formworks, and the shape of the formwork is consistent with the shape of the interior of the completed tunnel. During the use of the integrated formwork, the surface of the steel formwork will rust, which will have a great impact on the tunnel, and there will be hidden dangers in the engineering quality of the inner wall. Therefore, it is necessary to regularly remove the rust on the surface of the formwork.

[0003] Existing patent publication number CN107321671A discloses an ultra-high pressure water rust removal vehicle, which is installed on a reciprocating mechanism through a high pressure rust removal device, and then the reciprocating mechanism is installed on the vehicle body, and finally the vehicle body is started to remove rust on the rusted surface. Although it plays a role in protecting the environment and improving work efficiency, the overall structure is relatively complex and the entire device is relatively bulky. Patent publication number CN107321671A discloses a wall-climbing mechanism of a wall-climbing rust removal robot, including a chassis integration, a driving structure arranged on the chassis integration is connected to four matrix-distributed rollers, and two rollers on the same side are connected to the same crawler, and the outer ring of the crawler is connected to a permanent magnet. The climbing mechanism of the wall-climbing rust removal robot changes the upper and lower positions of the upper roller by changing the overall length of the basket bolt, and has high adjustment accuracy. By adjusting the upper and lower positions of the upper roller, the upper roller and the inner wall of the track are pressed against each other to tighten the loose track, thereby preventing the loose track from slipping and other unstable running phenomena during walking. The upper roller is set to rotate in contact with the upper roller when the track is running, reducing the wear of the track and solving the problem of the current rust removal equipment being complex and bulky in structure. However, due to the setting of the permanent magnet, if too much material (such as rust residue, debris, etc.) is adsorbed on the permanent magnet, it will affect its adsorption effect and mobility, so it needs to be cleaned frequently, greatly reducing the working efficiency of the robot. Summary of the invention

[0004] Therefore, in order to solve the above problems, the present invention proposes a permanent magnetic wheel wall-climbing robot for use in tunnel casting formwork grinding.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical scheme: a permanent magnetic wheeled wall-climbing robot used for grinding tunnel casting templates, comprising a base, a rear wheel arranged at the rear side of the base, a driving mechanism for driving the rear wheel to rotate, a front wheel arranged at the front side of the base, a steering mechanism for controlling the steering of the front wheel and a grinding mechanism arranged in the middle of the base, the rear wheel and the front wheel both comprising a wheel body, the wheel body is made of non-magnetic material, an annular groove is provided in the middle of the outer periphery of the wheel body, a magnetic ring is embedded in the annular groove, a magnetic shielding coating is provided between the annular groove and the magnetic ring, the base is provided with an auxiliary plate above the vertical projection of the wheel body, a magnetic plate is provided below the auxiliary plate, the magnetic force of the magnetic plate is greater than the magnetic force of the magnetic ring, and the driving mechanism, the steering mechanism and the middle grinding mechanism are controlled by a control system.

[0006] As a further improvement, the outer ring diameter of the magnetic ring is smaller than the diameter of the wheel body.

[0007] As a further improvement, the magnetic sheet is an arc-shaped sheet coaxially arranged with the wheel body, and the arc-shaped sheet has a central angle of 45°-215°.

[0008] Further improvement, the steering mechanism includes a steering gear, a steering gear set, a steering shaft and a front axle, the front wheels are arranged at both ends of the front axle, one end of the steering shaft is fixed to the middle of the front axle, and the other end is connected to the steering gear through the steering gear set, the control system controls the rotation angle of the steering gear through pulse width modulation technology, and then controls the rotation of the steering shaft through the transmission of the steering gear to achieve front wheel steering.

[0009] According to a further improvement, the driving mechanism includes a driving motor, a driving gear set and a universal joint, one end of the universal joint is connected to the rear wheel, and the other end is connected to the driving gear set. The driving motor transmits power to the rear wheel through the driving gear set and the universal joint to drive the rear wheel.

[0010] As a further improvement, the grinding mechanism includes a grinding disc and a telescopic rotating motor for controlling the extension and rotation of the grinding disc.

[0011] As a further improvement, a plurality of groups of compression springs are spaced apart above the grinding disc, a pressure plate is provided at the upper end of the compression spring, and the working shaft of the telescopic rotating motor is fixed on the pressure plate.

[0012] As a further improvement, the base is provided with a dust cover around the grinding disc.

[0013] By adopting the above technical solution, the beneficial effects of the present invention are:

[0014] 1. By embedding the magnetic ring into the annular groove of the wheel body and providing a magnetic shielding coating between the two, the side of the wheel body is free of magnetic force, so as to avoid the side of the wheel body being full of magnetic chips due to the existence of magnetic force during operation, thereby affecting the normal operation of the robot;

[0015] 2. Through the magnetic sheet, when the wheel body rotates, if there is magnetic debris on the exposed surface of the magnetic ring, the magnetic debris adsorbed on the surface of the magnetic ring will be adsorbed by the magnetic sheet, thereby effectively removing the magnetic debris on the surface of the magnetic ring, ensuring the cleanliness and adsorption effect of the magnetic ring, thereby ensuring the continuous operation ability of the robot;

[0016] 3. The outer ring diameter of the magnetic ring is smaller than the diameter of the wheel body, that is, the outer surface of the magnetic ring is lower than the outer peripheral surface of the wheel body, so as to avoid direct contact between the magnetic ring and the wall surface to cause wear. At the same time, it is also to avoid the magnetic chips adsorbed on the magnetic ring to have no time to be adsorbed by the magnetic sheet, which will affect the flatness of the robot.

[0017] 4. The compression spring is set to generate moderate pressure between the grinding disc and the ground surface to ensure uniform grinding effect and avoid uneven grinding or damage to the ground surface due to excessive or insufficient pressure. In addition, the elastic characteristics of the compression spring can also absorb the vibration generated during the grinding process, reduce the impact on the robot body, and extend the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 2 It is a structural schematic diagram of the wheel body of the present invention.

[0020] Figure 3 It is a structural schematic diagram of the driving mechanism of the present invention.

[0021] Figure 4 It is a structural schematic diagram of the steering mechanism of the present invention.

[0022] Figure 5 It is a schematic diagram of the cross-sectional structure of the grinding mechanism of the present invention.

[0023] Figure 6 It is a schematic diagram of the cross-sectional structure of the adsorption box of the present invention.

[0024] icon:

[0025] 1. Base; 21. Rear wheel; 22. Front wheel; 201. Wheel body; 202. Annular groove; 203. Magnetic ring; 204. Magnetic shielding coating; 205. Auxiliary plate; 206. Magnetic plate; 3. Driving mechanism; 31. Driving motor; 32. Driving gear set; 33. Universal joint; 4. Steering mechanism; 41. Servo; 42. Steering gear set; 43. Steering shaft; 44. Front axle; 5. Grinding mechanism; 51. Grinding disc; 52. Telescopic rotating motor; 53. Compression spring; 54. Press plate; 551. Insertion tube; 552. Insertion rod; 56. Dust cover; 571. Dust box; 5711. Dust inlet; 5712. Air outlet; 5713. Filter; 572. Adsorption fan. DETAILED DESCRIPTION

[0026] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0027] refer to Figure 1-6 , this embodiment provides a permanent magnetic wheel wall-climbing robot used for grinding tunnel casting templates.

[0028] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a permanent magnetic wheeled wall-climbing robot used for grinding tunnel casting templates, comprising a base 1, a rear wheel 21 arranged at the rear side of the base 1, a driving mechanism 3 for driving the rear wheel 21 to rotate, a front wheel 22 arranged at the front side of the base 1, a steering mechanism 4 for controlling the steering of the front wheel 22 and a grinding mechanism 5 arranged in the middle of the base 1, wherein the rear wheel 21 and the front wheel 22 both include a wheel body 201, the wheel body 201 is made of non-magnetic material, an annular groove 202 is provided in the middle of the outer periphery of the wheel body 201, a magnetic ring 203 is embedded in the annular groove 202, and a magnetic shielding coating 204 is provided between the annular groove 202 and the magnetic ring 203, so that the side of the wheel body 201 does not have magnetic force, so as to avoid the side of the wheel body 201 being attracted due to the presence of magnetic force during operation. The wheel body 201 is covered with magnetic chips, which affects the normal operation of the robot. The base 1 is provided with an auxiliary sheet 205 above the vertical projection of the wheel body 201, and a magnetic sheet 206 is provided below the auxiliary sheet 205. The magnetic sheet 206 is an arc sheet coaxially arranged with the wheel body 201, and the central angle of the arc sheet is 45°-215°. The magnetic force of the magnetic sheet 206 is greater than the magnetic force of the magnetic ring 203. When the wheel body 201 rotates, if the exposed surface of the magnetic ring 203 has adsorbed magnetic chips, the magnetic chips adsorbed on the surface of the magnetic ring 203 here will be adsorbed by the magnetic sheet 206, thereby effectively removing the magnetic chips on the surface of the magnetic ring 203, ensuring the cleanliness and adsorption effect of the magnetic ring 203, thereby ensuring the continuous operation ability of the robot. The larger the central angle of the arc sheet, the better the cleaning effect on the magnetic ring 203.

[0029] In this embodiment, the outer ring diameter of the magnetic ring 203 is smaller than the diameter of the wheel body 201. Even if the outer surface of the magnetic ring 203 is lower than the outer peripheral surface of the wheel body 201, in practical applications, the gap between the two needs to be large enough to avoid direct contact between the magnetic ring 203 and the wall surface and cause wear, but it should not be too large to affect the effective adsorption area and adsorption force of the magnetic ring 203. Generally speaking, this distance should be comprehensively considered and set according to the size and strength of the magnetic ring 203 and the conditions of the wall surface.

[0030] In this embodiment, the steering mechanism 4 includes a steering gear 41, a steering gear set 42, a steering shaft 43 and a front axle 44, the front wheel 22 is arranged at both ends of the front axle 44, one end of the steering shaft 43 is fixed at the middle of the front axle 44, and the other end is connected to the steering gear 41 through the steering gear set 42, the control system controls the rotation angle of the steering gear 41 through the pulse width modulation technology, and then controls the rotation of the steering shaft 43 through the transmission of the steering gear to realize the steering of the front wheel 22; the driving mechanism 3 includes a driving motor 31, a driving gear set 32 ​​and a universal joint 33, one end of the universal joint 33 is connected to the rear wheel 21, and the other end is connected to the driving gear set 32, the driving motor 31 transmits power to the rear wheel 21 through the driving gear set 32 ​​and the universal joint 33, so as to drive the rear wheel 21, and the design of the universal joint 33 enables the robot to adapt to inclinations and irregular surfaces of different angles during wall climbing, thereby ensuring the stability of the drive and the stability of the robot.

[0031] In this embodiment, the grinding mechanism 5 includes a grinding disc 51 and a telescopic rotary motor 52 for controlling the extension and rotation of the grinding disc 51, wherein a plurality of groups of compression springs 53 are arranged at intervals above the grinding disc 51 to generate moderate pressure between the grinding disc 51 and the grinding surface to ensure uniform grinding effect, a pressing plate 54 is arranged at the upper end of the compression spring 53, and the working shaft of the telescopic rotary motor 52 is fixedly arranged on the pressing plate 54, and a telescopic mechanism is also arranged between the pressing plate 54 and the grinding disc 51, including a plurality of inserts 551 arranged below the pressing plate 54 and an insert rod 552 arranged on the grinding disc 51 and inserted in the insert rod 551, and when the insert rod 552 compresses the compression spring 53 to the maximum extent, its end still does not touch the pressing plate 54, and when in use, the setting of the telescopic mechanism can avoid radial distortion between the pressing plate 54 and the grinding disc 51, and ensure the normal operation of the grinding disc 51. In addition, the elastic characteristics of the compression spring 53 can also absorb the vibration generated during the grinding process, reduce the impact on the robot body, and extend the service life of the robot.

[0032] In this embodiment, the base 1 is provided with a dust cover 56 around the grinding disc 51, and the dust cover 56 is connected to a dust box 571, and the dust box 571 is connected to a suction fan 572. In the dust box 571, the opening connected to the dust cover 56 is a dust inlet 5711, and the opening connected to the suction fan 572 is an air outlet 5712. The dust box 571 is provided with a filter 5713 between the dust inlet 5711 and the air outlet 5712. When the grinding operation is in progress, the suction fan 572 is started, and the negative pressure generated will suck the dust generated by the grinding into the dust box 571, and perform preliminary filtration through the filter 573, thereby effectively reducing the dust pollution to the environment.

[0033] The driving mechanism 3, the steering mechanism 4, the middle grinding mechanism 5 and the filter box 564 are controlled by a control system.

[0034] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A permanent magnetic wheeled wall-climbing robot used for grinding tunnel casting templates, comprising a base, a rear wheel arranged at the rear side of the base, a driving mechanism for driving the rear wheel to rotate, a front wheel arranged at the front side of the base, a steering mechanism for controlling the steering of the front wheel, and a grinding mechanism arranged in the middle of the base, characterized in that: The rear wheel and the front wheel both include a wheel body, the wheel body is made of non-magnetic material, an annular groove is provided in the middle of the outer circumference of the wheel body, a magnetic ring is embedded in the annular groove, a magnetic shielding coating is provided between the annular groove and the magnetic ring, the base is provided with an auxiliary plate above the vertical projection of the wheel body, a magnetic plate is provided below the auxiliary plate, the magnetic force of the magnetic plate is greater than the magnetic force of the magnetic ring, and the driving mechanism, the steering mechanism and the middle grinding mechanism are controlled by a control system.

2. The permanent magnetic wheeled wall-climbing robot for tunnel casting template grinding according to claim 1 is characterized in that: The outer ring diameter of the magnetic ring is smaller than the diameter of the wheel body.

3. The permanent magnetic wheeled wall-climbing robot for tunnel casting template grinding according to claim 1 is characterized in that: The magnetic sheet is an arc-shaped sheet coaxially arranged with the wheel body, and the center angle of the arc-shaped sheet is 45°-215°.

4. The permanent magnetic wheeled wall-climbing robot for tunnel casting template grinding according to claim 1 is characterized in that: The steering mechanism includes a steering gear, a steering gear set, a steering shaft and a front axle. The front wheels are arranged at both ends of the front axle. One end of the steering shaft is fixed to the middle of the front axle, and the other end is connected to the steering gear through the steering gear set. The control system controls the rotation angle of the steering gear through pulse width modulation technology, and then controls the rotation of the steering shaft through the transmission of the steering gear to achieve front wheel steering.

5. The permanent magnetic wheeled wall-climbing robot for tunnel casting template grinding according to claim 1 is characterized in that: The driving mechanism includes a driving motor, a driving gear set and a universal joint. One end of the universal joint is connected to the rear wheel, and the other end is connected to the driving gear set. The driving motor transmits power to the rear wheel through the driving gear set and the universal joint to drive the rear wheel.

6. The permanent magnetic wheeled wall-climbing robot for tunnel casting template grinding according to claim 1 is characterized in that: The grinding mechanism comprises a grinding disc and a telescopic rotating motor for controlling the extension and rotation of the grinding disc.

7. The permanent magnetic wheeled wall-climbing robot for tunnel casting template grinding according to claim 6 is characterized in that: A plurality of groups of compression springs are arranged at intervals above the grinding disc, a pressure plate is arranged at the upper end of the compression spring, and the working shaft of the telescopic rotating motor is fixed on the pressure plate.

8. The permanent magnetic wheeled wall-climbing robot for tunnel casting template grinding according to claim 7 is characterized in that: The base is provided with a dust cover around the grinding disc.

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