Napping mechanism and wall-climbing robot

Abstract

The embodiment of the invention provides a galling mechanism and a wall-climbing robot. The galling mechanism comprises a grinding disc assembly, a mounting plate assembly and an overturning assembly. The mounting plate assembly is connected with the grinding disc assembly. The millstone assembly comprises a millstone, a first adjusting assembly and a second adjusting assembly. The first adjusting assembly is used for controlling the grinding disc to move in the vertical direction. The second adjusting assembly is used for controlling the grinding disc to rotate in the first horizontal direction and the second horizontal direction, and the first horizontal direction and the second horizontal direction are both perpendicular to the vertical direction. The overturning assembly is connected with the millstone assembly and the mounting plate assembly and used for driving the millstone assembly and the mounting plate assembly to rotate in the first horizontal direction so that the millstone can be close to or away from the working wall face. When the galling mechanism meets an uneven wall surface, the first adjusting assembly adjusts the height of the grinding disc, and the second adjusting assembly rotates the grinding disc at multiple angles so as to be tightly attached to the working wall surface, so that the adaptability of the galling mechanism to the complex wall surface is improved, and the galling quality is improved.

Description

Technical Field

[0001] The present application relates to the technical field of wall-climbing robots, and in particular to a roughening mechanism of a wall-climbing robot and a wall-climbing robot. Background Art

[0002] In the field of maintenance of large industrial facilities, such as oil tanks, ships, and building exterior walls, the metal vertical walls are often exposed to harsh environments, which will cause corrosion over time and require coatings to be attached to protect them. In order to make anti-rust paint and anti-corrosion coatings adhere better to the wall surface and enhance the protective effect, the wall surface needs to be roughened before the coating is attached.

[0003] The existing roughening mechanism has a relatively simple structure. When it is mounted on a wall-climbing robot for operation, it generally relies on compression springs to adjust the fit between the grinding disc or roughening disc and the working wall surface. The grinding disc or roughening disc is difficult to fit well with the wall surface, making it difficult to ensure the roughening quality. Summary of the invention

[0004] The embodiment of the present application provides a roughening mechanism and a wall-climbing robot, which utilizes a first adjusting component and a second adjusting component to enable the grinding disc to flexibly adapt to working wall surfaces of different shapes. When encountering an uneven wall surface, the grinding disc can adjust the height by utilizing the first adjusting component, and rotate at multiple angles by utilizing the second adjusting component to achieve a close fit with the wall surface, thereby greatly improving the adaptability of the roughening mechanism to complex wall surfaces, ensuring that the roughening operation can be carried out stably under various wall conditions, and effectively improving the roughening quality.

[0005] The embodiment of the present application provides a hair pulling mechanism for a wall climbing robot, the hair pulling mechanism comprising:

[0006] Grinding disc assembly, including:

[0007] grinding disc;

[0008] A first adjusting component is installed on the grinding disc, and the first adjusting component is used to control the grinding disc to move in a vertical direction;

[0009] a second adjusting assembly mounted on the grinding disc, the second adjusting assembly being used to control the grinding disc to rotate about a first horizontal direction and a second horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction, and the first horizontal direction and the second horizontal direction being perpendicular to the vertical direction;

[0010] A mounting plate assembly connected to the grinding disc assembly;

[0011] A flip assembly is connected to the grinding disc assembly and the mounting plate assembly, and the flip assembly is used to drive the grinding disc assembly and the mounting plate assembly to rotate around the first horizontal direction so that the grinding disc approaches or moves away from the working wall.

[0012] In some embodiments, the second adjustment component includes:

[0013] A first rotating shaft connected to the grinding disc, wherein the axis direction of the first rotating shaft is parallel to the first horizontal direction;

[0014] The second rotating shaft is vertically connected to the first rotating shaft, the axial direction of the second rotating shaft is parallel to the second horizontal direction, and the grinding wheel can rotate around the axial direction of the first rotating shaft and the axial direction of the second rotating shaft.

[0015] In some embodiments, the flip assembly includes:

[0016] A mounting seat connected to the walking mechanism of the wall-climbing robot;

[0017] A push rod, rotatably connected to the mounting seat via a rotating shaft, the push rod is also connected to the mounting plate assembly, and the push rod can be telescopically movable along its own axis to drive the mounting plate assembly to rotate around the first horizontal direction;

[0018] A support member, one end of which is connected to a mounting seat, and the grinding disc assembly is rotatably connected to the other end of the support member.

[0019] In some embodiments, the grinding disc assembly comprises:

[0020] A mounting frame, mounted on the grinding disc and connected to the second adjusting assembly, wherein a side of the mounting frame away from the grinding disc is used for mounting the first adjusting assembly;

[0021] A connecting rod is connected to the mounting frame and is rotatably connected to the supporting member so that the grinding disc can rotate around the axis of the connecting rod, and the axis direction of the connecting rod is parallel to the first horizontal direction.

[0022] In some embodiments, there are multiple grinding disc assemblies, which are arranged at intervals and connected to the mounting plate assembly. The support member is rotatably connected to the connecting rod of at least one of the grinding disc assemblies, and the flipping assembly is used to drive the multiple grinding disc assemblies to rotate around the first horizontal direction.

[0023] In some embodiments, the mounting plate assembly includes a main body and a double-ear piece arranged on the main body, the push rod is provided with a shoulder pin, the shoulder pin passes through a mounting hole on the double-ear piece, and the push rod telescopically moves along its own axis to drive the mounting plate assembly to rotate around the shoulder pin.

[0024] In some embodiments, a avoidance hole is provided on the main body, and the avoidance hole is used to avoid the push rod when the mounting plate assembly rotates around the shoulder pin.

[0025] In some embodiments, the grinding disc assembly includes a pressure sensor, which is connected to the turning assembly and the grinding disc, and is used to detect the pressure between the grinding disc and the working wall.

[0026] In some embodiments, the first adjustment component includes:

[0027] a guide rod, one end of which is connected to a side of the mounting frame away from the grinding disc, and the other end of which is connected to the mounting plate assembly; and

[0028] An elastic member is sleeved on the guide rod along the vertical direction.

[0029] The present application also provides a wall-climbing robot, comprising:

[0030] Walking mechanism;

[0031] In the hair-pulling mechanism described in any of the above embodiments, the flipping assembly of the hair-pulling mechanism is connected to the walking mechanism.

[0032] In the roughening mechanism and wall-climbing robot provided in the embodiments of the present application, when encountering an uneven wall surface, the height of the grinding disc can be adjusted by using the first adjustment component, and the grinding disc can be rotated at multiple angles by the second adjustment component to achieve close fit with the working wall surface, which greatly improves the adaptability of the roughening mechanism to complex wall surfaces, ensures that the roughening operation can be carried out stably under various wall conditions, and effectively improves the roughening quality. The flipping component can assist the first adjustment component and the second adjustment component to make the grinding disc adapt to the complex wall surface, and can also control the rotation angle of the grinding disc component by the flipping component to facilitate the replacement of sandpaper or abrasive discs on the grinding disc, thereby improving the quality and efficiency of the roughening operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0034] Figure 1 A schematic diagram of the structure of a wall-climbing robot provided in an embodiment of the present application.

[0035] Figure 2 A schematic diagram of the structure of the roughening mechanism provided in an embodiment of the present application.

[0036] Figure 3 A schematic diagram of the structure of the grinding disc assembly provided in an embodiment of the present application.

[0037] Figure 4 for Figure 3 An exploded schematic diagram of the grinding disc assembly is shown.

[0038] Figure 5 A schematic diagram of a scene of a roughening mechanism on a curved wall provided in an embodiment of the present application.

[0039] Figure 6 A schematic diagram of another scenario of the roughening mechanism on a curved wall provided in an embodiment of the present application.

[0040] Figure 7 A schematic diagram of the structure of the flip assembly provided in an embodiment of the present application.

[0041] Figure 8 A schematic structural diagram of the mounting plate assembly provided in an embodiment of the present application.

[0042] Description of reference numerals:

[0043] Wall-climbing robot 100, walking mechanism 20;

[0044] The roughening mechanism 10, the grinding disc assembly 11, the grinding disc 111, the first adjustment assembly 112, the guide rod 1121, the elastic member 1122, the second adjustment assembly 113, the first rotating shaft 1131, the second rotating shaft 1132, the mounting frame 114, the first connecting plate 1141, the second connecting plate 1142, the connecting rod 115, and the pressure sensor 116;

[0045] The mounting plate assembly 12, the body 121, the avoidance hole 1211, the double ear piece 122, and the mounting hole 1221;

[0046] The flip assembly 13 , the mounting seat 131 , the push rod 132 , the shoulder pin 1321 , the support member 133 , the first support plate 1331 , the second support plate 1332 , the first long tube 134 , the second long tube 135 , the fixing bracket 136 , the limit plate 137 , and the rotating shaft 138 . DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0048] Please also read Figure 1-Figure 3 , Figure 1A schematic diagram of the structure of the wall-climbing robot 100 provided in an embodiment of the present application. Figure 2 This is a schematic diagram of the structure of the roughening mechanism 10 provided in an embodiment of the present application. Figure 3 This is a schematic structural diagram of the grinding disc assembly 11 provided in an embodiment of the present application.

[0049] The wall-climbing robot 100 provided in the embodiment of the present application includes a walking mechanism 20 and a hair-pulling mechanism 10 , and the flipping component 13 of the hair-pulling mechanism 10 is connected to the walking mechanism 20 .

[0050] The roughening mechanism 10 provided in the embodiment of the present application is used for a wall-climbing robot 100, and the roughening mechanism 10 includes a grinding disc assembly 11, a mounting plate assembly 12, and a flip assembly 13. The mounting plate assembly 12 is connected to the grinding disc assembly 11.

[0051] When the wall-climbing robot 100 moves along the working wall, the walking mechanism 20 is used for stable adhesion and mobility. For example, a magnetic, vacuum or bionic foot walking mechanism can be used to adapt to walls of different materials. The walking mechanism 20 drives the wall-climbing robot 100 to move on a large wall surface. The flip assembly 13 can adjust the roughening mechanism 10 to a suitable angle when the wall-climbing robot 100 reaches different areas to avoid collision between the roughening mechanism 10 and wall obstacles such as protrusions, and at the same time ensure that the roughening mechanism 10 is closely attached to the wall surface, thereby improving the quality and efficiency of the roughening operation.

[0052] Specifically, the grinding disc assembly 11 includes a grinding disc 111, a first adjustment assembly 112, and a second adjustment assembly 113. The first adjustment assembly 112 is mounted on the grinding disc 111, and the first adjustment assembly 112 is used to control the grinding disc 111 to move along the vertical direction Z. The second adjustment assembly 113 is mounted on the grinding disc 111, and the second adjustment assembly 113 is used to control the grinding disc 111 to rotate around a first horizontal direction X and a second horizontal direction Y, wherein the first horizontal direction X is perpendicular to the second horizontal direction Y, and the first horizontal direction X and the second horizontal direction Y are both perpendicular to the vertical direction Z.

[0053] The flip assembly 13 is connected to the grinding disc assembly 11 and the mounting plate assembly 12, and is used to drive the grinding disc assembly 11 and the mounting plate assembly 12 to rotate around the first horizontal direction X so that the grinding disc 111 approaches or moves away from the working wall.

[0054] The mounting plate assembly 12 may be rectangular or circular or other irregular flat plate structures to facilitate connection with the grinding disc assembly 11. The mounting plate assembly 12 may be made of a lightweight and high-strength aluminum alloy material, which can reduce the overall weight of the roughening mechanism 10 while ensuring strength. The mounting plate assembly 12 may also be provided with reinforcing ribs to improve the strength and rigidity of the mounting plate assembly 12.

[0055] The mounting plate assembly 12 can be connected to the grinding disc assembly 11 by bolts, pins and other connecting parts to ensure a firm connection and facilitate disassembly and maintenance. The mounting plate assembly 12 can be rotatably connected to the corresponding part of the flip assembly 13 by a rotating shaft, a hinge seat and other parts to achieve rotation around the first horizontal direction X.

[0056] The grinding disc 111 is usually made of high-strength wear-resistant alloy material, such as high-chromium cast iron, to ensure that the grinding disc 111 has good wear resistance and impact resistance during the roughening operation. Abrasives, such as corundum, ceramic abrasives, etc., are attached to the side of the grinding disc 111 away from the first adjustment component 112. When the roughening mechanism 10 is in operation, the grinding disc 111 rotates to cause the abrasive to rub against the working wall surface, cutting and grinding the wall surface to form a rough texture on the wall surface, that is, the roughening work is completed. In addition, the drive for the rotation of the grinding disc 111 can be electric drive, or it can be air source drive, etc.

[0057] According to different working wall surface processing requirements, the abrasive on the surface of the grinding disc 111 can use diamond abrasives of different coarse grains. For example, for wall surface processing with higher precision requirements, fine-grained ceramic abrasives can be used. For wall surface processing with higher precision requirements, fine-grained ceramic abrasives are used.

[0058] In some embodiments, the side of the grinding disc 111 away from the first adjustment component 112 may be fitted with consumables used for roughening, such as sandpaper or abrasive discs, and when the sandpaper or abrasive discs are worn to a certain extent, they can be simply replaced directly. Compared with directly replacing the entire grinding disc 111, it is cheaper to only replace the sandpaper and abrasive discs. Of course, different consumables can also be directly replaced to better complete roughening according to different operation requirements.

[0059] The first adjustment component 112 mainly controls the movement of the grinding disc 111 along the vertical direction Z to adjust the contact pressure and position between the grinding disc 111 and the working wall surface. The first adjustment component 112 can adaptively adjust the height of the grinding disc 111 according to the condition of the wall surface to ensure that the pressure between the grinding disc 111 and each point of the wall surface is uniform, so that the grinding disc 111 fits the wall surface with appropriate pressure for roughening, thereby improving the roughening quality.

[0060] The first adjustment component 112 may be a spring and guide rod structure, wherein the spring maintains a natural state to provide basic pressure, and compresses or stretches when encountering a bulge or depression to drive the grinding disc 111 to move along the vertical direction Z. The first adjustment component 112 may also be an electric push rod structure, and the extension and retraction of the electric push rod drives the grinding disc 111 to move along the vertical direction Z. The first adjustment component 112 may also be composed of an air pump, an air pipe, an air cylinder, and a pressure regulating valve. The air pump generates compressed air and delivers it to the air cylinder through the air pipe. The piston rod of the air cylinder is connected to the grinding disc 111. The pressure regulating valve may adjust the air pressure in the air cylinder according to the wall surface conditions, thereby controlling the extension and retraction of the piston rod to achieve the movement of the grinding disc 111 along the vertical direction Z.

[0061] The second adjustment component 113 is mainly used to control the grinding disc 111 to rotate around the first horizontal direction X and the second horizontal direction Y, so that the grinding disc 111 fits the angle and shape of the wall surface and improves the roughening quality. The second adjustment component 113 can be a double rotating shaft structure, a universal joint structure or a spherical joint, etc., which is not limited here.

[0062] When encountering a curved wall or an uneven wall, in addition to the first adjusting component 112 and the second adjusting component 113 adjusting the grinding disc 111, the flipping component 13 can also control the grinding disc 111 to rotate to adapt to the complex wall surface, that is, the flipping component 13 can also assist the first adjusting component 112 and the second adjusting component 113 to make the grinding disc 111 adapt to the complex wall surface.

[0063] In addition, the flip assembly 13 can also drive the mounting plate assembly 12 and the grinding disc assembly 11 to rotate relatively significantly around the first horizontal direction X, and the rotation angle can be greater than or equal to the rotation angle range of the grinding disc 111 controlled by the second assembly around the first horizontal direction X. When consumables such as sandpaper or abrasive discs attached to the grinding disc 111 need to be replaced, the flip assembly 13 can rotate the grinding disc 111 at a relatively large angle to an angle that is convenient for the user to operate.

[0064] The roughening mechanism 10 provided in the embodiment of the present application is applied to the wall-climbing robot 100, and mainly uses the first adjustment component 112 and the second adjustment component 113 to realize the control of the working state of the grinding disc 111. The first adjustment component 112 in the grinding disc component 11 controls the grinding disc 111 to move along the vertical direction Z to adjust the distance between the grinding disc 111 and the wall surface, and the second adjustment component 113 allows the grinding disc 111 to rotate around two mutually perpendicular horizontal directions, so that the grinding disc 111 can better fit the complex wall surface, such as the metal wall surface with large drop caused by deformation, welds, concave and convex shapes, etc., to ensure that the grinding disc 111 roughens the complex wall surface.

[0065] It should be noted that the roughening mechanism 10 provided in the embodiment of the present application can be used for, but not limited to, roughening and grinding operations of metal walls in industries such as shipping, petrochemicals, and wind power, and can also be applied to other non-metallic walls.

[0066] In some embodiments, the first adjustment assembly 112 includes a guide rod 1121 and an elastic member 1122. One end of the guide rod 1121 is connected to the side of the mounting frame 114 away from the grinding disc 111, and the other end is connected to the mounting plate assembly 12. The elastic member 1122 is sleeved on the guide rod 1121 along the vertical direction Z.

[0067] Wherein, both ends of the guide rod 1121 may be provided with threads, and during installation, one end of the guide rod 1121 with threads is screwed into the threaded hole of the mounting frame 114. The other end of the guide rod 1121 with threads is connected to the mounting plate assembly 12. The guide rod 1121 is arranged between the mounting frame 114 and the mounting plate assembly 12 along the vertical direction Z to guide the mounting frame 114, the grinding disc 111 and the elastic member 1122.

[0068] The elastic member 1122 can be a compression spring, and the specific stiffness coefficient of the spring is designed according to the weight of the grinding disc 111 and the pressure adjustment range required during the roughening operation. In the initial state, the elastic member 1122 is in a certain pre-compression state, providing an initial downward pressure for the grinding disc 111.

[0069] It can be understood that when the wall-climbing robot 100 performs roughening operation on a flat wall surface, the grinding disc 111 contacts the working wall surface, and the elastic member 1122 is in an initial pre-compression state to provide basic downward pressure for the grinding disc 111, so that the abrasive on the grinding disc 111 can fully contact the working wall surface and perform normal roughening work.

[0070] When the grinding disc 111 moves to a protruding part of the wall, such as a protruding weld, the wall generates a force on the grinding disc 111, and the force is transmitted to the mounting frame 114 through the grinding disc 111, and the mounting frame 114 moves upward along the guide rod 1121, thereby compressing the elastic member 1122. The degree to which the elastic member 1122 is compressed will change accordingly with the height of the protrusion on the wall and the magnitude of the force applied to the grinding disc 111. When the grinding disc 111 encounters a concave area on the wall, the force applied to the grinding disc 111 is reduced, and the elastic member 1122 will gradually recover its deformation. The elastic force generated by the elastic member 1122 recovering its deformation will push the mounting frame 114 and the grinding disc 111 to move downward, so that the grinding disc 111 can be pressed down into the concave area of ​​the working wall in time, maintain contact with the wall, and ensure that the concave area can also be effectively roughened.

[0071] Therefore, no matter whether the wall-climbing robot 100 is performing roughening work on a flat wall, a curved wall or an uneven wall, the elastic part 1122 can automatically adjust the pressure between the grinding disc 111 and the wall according to the actual conditions of different wall surfaces, ensuring that the grinding disc 111 fits the wall surface and achieves high-quality roughening.

[0072] In addition, when the grinding disc 111 encounters a protrusion or other obstacle on the wall, the elastic member 1122 can also play a buffering role and absorb part of the impact force generated, which not only protects the grinding disc 111 and the wall surface, reduces the wear and damage of the two caused by excessive impact force, but also prevents the grinding disc 111 from shifting due to impact, thereby ensuring the continuity and stability of the roughening process.

[0073] The elastic member 1122 can also work in conjunction with the pressure sensor. The elastic member 1122 adjusts the downward pressure of the grinding disc 111 in real time according to the wall surface conditions, and the pressure sensor monitors the pressure between the grinding disc 111 and the wall surface in real time and feeds back to the control system of the flip assembly 13. The control system controls the push rod 132 and indirectly adjusts the compression degree of the elastic member 1122 to maintain a suitable and stable fit between the grinding disc 111 and the wall surface, thereby ensuring the quality of the roughening operation.

[0074] In some embodiments, a bushing is provided on one end of the guide rod 1121 away from the mounting frame 114, and the bushing is sleeved on the guide rod 1121 and contacts the elastic member 1122. The bushing can guide the elastic member 1122 to move in a specific direction during the expansion and contraction process, and prevent the elastic member 1122 from deflecting or twisting. In addition, the bushing can also act as an isolation layer, reduce the friction between the elastic member 1122 and other components, and extend the service life of the elastic member 1122 and other components.

[0075] See also Figure 4 , Figure 4 for Figure 3 Schematic diagram of the decomposition of the grinding disc assembly 11 shown. In some embodiments, the second adjustment assembly 113 includes a first rotating shaft 1131 and a second rotating shaft 1132. The first rotating shaft 1131 is connected to the grinding disc 111, and the axis direction of the first rotating shaft 1131 is parallel to the first horizontal direction X. The second rotating shaft 1132 is vertically connected to the first rotating shaft 1131, and the axis direction of the second rotating shaft 1132 is parallel to the second horizontal direction Y, and the grinding disc 111 can rotate around the axis direction of the first rotating shaft 1131 and the axis direction of the second rotating shaft 1132.

[0076] There are two first rotating shafts 1131 and one second rotating shaft 1132. The second rotating shaft 1132 is vertically connected to the two first rotating shafts 1131 at the same time, and the two first rotating shafts 1131 are connected to the grinding disc 111. The first rotating shaft 1131 cooperates with the second rotating shaft 1132, so that the grinding disc 111 has the ability to flexibly rotate in the first horizontal direction X and the second horizontal direction Y to better fit the wall surface. The coordinated rotation of the first rotating shaft 1131 and the second rotating shaft 1132 enables the grinding disc 111 to flexibly adjust its posture when facing a complex working wall surface (for example, an uneven wall surface with multi-directional concave and convex changes), so as to better fit the wall surface for roughening treatment.

[0077] Specifically, on the curved wall, the grinding disc 111 can rotate around the axis direction of the first rotating shaft 1131 or the axis direction of the second rotating shaft 1132 to adapt to the curvature of the curved surface in one direction. For example, the grinding disc 111 can be adapted according to the condition of the wall and can be rotated around the first horizontal direction X by a certain angle to adapt to the curved surface, such as Figure 5 As shown; it can also be rotated around the second horizontal direction Y by a certain angle to adapt to the curved surface, such as Figure 6 As shown. Among them, Figure 5 This is a schematic diagram of a scene where the roughening mechanism 100 provided in an embodiment of the present application is on a curved wall surface. Figure 6 A schematic diagram of another scenario of the roughening mechanism 100 provided in an embodiment of the present application on a curved wall.

[0078] In addition, the grinding wheel 111 can also rotate around the axial direction of the first rotating shaft 1131 and the axial direction of the second rotating shaft 1132 to adapt to the curved surface, ensuring that the grinding wheel 111 fits tightly against the curved wall, allowing the abrasive to act evenly on every part of the working wall surface, thereby improving the roughening effect.

[0079] When the grinding disc 111 encounters a protrusion, it can be rotated around the axis direction of the first rotating shaft 1131 and the axis direction of the second rotating shaft 1132 to adjust the angle to smoothly pass over the protrusion, thereby avoiding damage to the grinding disc 111 caused by excessive impact force generated by the collision. When the grinding disc 111 encounters a depression, the grinding disc 111 can be rotated around the axis direction of the first rotating shaft 1131 and the axis direction of the second rotating shaft 1132 to go deep into the depressed area for roughening treatment. The provision of two second rotating shafts 1132 increases the adjustment flexibility of the grinding disc 111 in complex terrain, and the posture of the grinding disc 111 can be fine-tuned from multiple directions, so that the grinding disc 111 can effectively roughen various areas of the uneven wall surface.

[0080] See also Figure 7 , Figure 7 A schematic diagram of the structure of the flip assembly 13 provided in an embodiment of the present application. In some embodiments, the flip assembly 13 may include a mounting seat 131, a push rod 132 and a support member 133. The mounting seat 131 is connected to the walking mechanism 20 of the wall-climbing robot 100. The push rod 132 is rotatably connected to the mounting seat 131 through a rotating shaft 138, and the push rod 132 is also connected to the mounting plate assembly 12. The push rod 132 can be telescopically moved along its own axis to drive the mounting plate assembly 12 to rotate around the first horizontal direction X. One end of the support member 133 is connected to the mounting seat 131, and the grinding disc assembly 11 is rotatably connected to the other end of the support member 133.

[0081] When the flip assembly 13 is working, the mounting seat 131 is mounted on the walking mechanism 20 of the wall-climbing robot 100 to provide stable support for the entire flip assembly 13 and ensure the stability of the movement of other components. The mounting seat 131 can be made of cast steel. In some embodiments, the mounting seat 131 can be provided with reinforcing ribs to improve the strength of the mounting seat 131.

[0082] Among them, the push rod 132 can be an electric push rod, and a motor can be provided inside the push rod 132. The rotational motion of the motor is converted into a linear telescopic motion of the push rod 132 along its own axis through a screw nut mechanism. When it is necessary to increase the downward pressure of the grinding disc 111 on the working wall, the motor is controlled to rotate forward, and the screw rotates to extend the push rod 132. Since the push rod 132 is rotatably connected to the mounting plate assembly 12, the extension of the push rod 132 pushes the mounting plate assembly 12 to rotate downward around the first horizontal direction X, thereby driving the grinding disc assembly 11 close to the working wall and increasing the pressure of the grinding disc 111 on the wall. On the contrary, if it is necessary to reduce the downward pressure, the motor is controlled to reverse, the push rod 132 is shortened and the mounting plate assembly 12 is pulled to rotate upward around the first horizontal direction X, that is, the grinding disc assembly 11 is away from the working wall.

[0083] It is understandable that when the grinding disc assembly 11 needs to be flipped at a larger angle in order to replace consumables on the grinding disc 111, such as setting sandpaper or abrasive discs, the push rod 132 is shortened, driving the mounting plate assembly 12 to rotate upward, thereby flipping the grinding disc assembly 11 upward, exposing the consumables on the grinding disc 111, and facilitating the operator to replace them. In this process, due to the movement resistance of the mounting plate assembly 12 and the connection relationship with the mounting seat 131, the push rod 132 can rotate relative to the mounting seat 131 around the rotating shaft 138 to adjust the posture to ensure the transmission of force.

[0084] The push rod 132 may be driven by a hydraulic pressure or a gas source in addition to being driven by a motor. There is no limitation here, and a suitable push rod driving method may be selected according to different requirements.

[0085] The grinding wheel assembly 11 can be connected to the flip assembly 13 through the support 133. One end of the support 133 is firmly connected to the mounting seat 131 by welding or bolting to ensure the stability of the support 133. The other end can be provided with a mounting hole for installing the grinding wheel assembly 11.

[0086] In some embodiments, the support member 133 may include a first support plate 1331 and a second support plate 1332 that are relatively arranged, one end of the first support plate 1331 and the second support plate 1332 are connected to the mounting seat 131, and the other end of the first support plate 1331 and the second support plate 1332 are connected to the grinding wheel assembly 11.

[0087] Among them, the first support plate 1331 and the second support plate 1332 can be connected by the first long tube 134 and the second long tube 135. The first long tube 134 and the second long tube 135 play a role in strengthening the structural stability of the support member 133 and enhancing the rigidity of the entire support member 133. When the push rod 132 drives the mounting plate assembly 12 to rotate, it helps to reduce the deformation of the support member 133 and the mounting seat 131.

[0088] The axial directions of the first long tube 134 and the second long tube 135 are parallel to the first horizontal direction X, and the first support plate 1331 and the second support plate 1332 can rotate around the axis of the second long tube 135 at a certain angle. Because there is a certain radial gap at the connection between the second long tube 135 and the first support plate 1331 and the second support plate 1332, this gap allows the support member 133 to rotate around the axis without generating excessive friction resistance due to an overly tight fit with the second long tube 135, thereby being able to rotate at a small angle more smoothly and adapt to wall changes in a timely manner.

[0089] A fixing ring may be provided on the outer side of the portion where the first long tube 134 and the second long tube 135 are connected to the first support plate 1331 and the second support plate 1332, and the fixing ring is used to fix the first long tube 134 and the second long tube 135 to prevent the first long tube 134 and the second long tube 135 from falling off during the movement of the flip assembly 13.

[0090] In some embodiments, the flip assembly 13 may further include a fixed bracket 136 and a limit plate 137, the limit plate 137 is disposed between the mounting frame 114 and the fixed bracket 136, and one end of the fixed bracket 136 away from the limit plate 137 is used to connect the first long tube 134 to achieve connection with the support member 133. The fixed bracket 136 and the limit plate 137 are connected to the walking mechanism 20 of the wall-climbing robot 100 to ensure that the flip assembly 13 is firmly connected to the walking mechanism 20 of the wall-climbing robot 100. The limit plate 137 cooperates with the fixed bracket 136 to limit the movement range of the push rod 132 or other components, prevent excessive movement, and ensure the accuracy and safety of the movement of the flip assembly 13.

[0091] In some embodiments, the grinding disc assembly 11 includes a mounting frame 114 and a connecting rod 115. The mounting frame 114 is mounted on the grinding disc 111 and connected to the second adjustment assembly 113, and the side of the mounting frame 114 away from the grinding disc 111 is used to mount the first adjustment assembly 112. The connecting rod 115 is connected to the mounting frame 114, and the connecting rod 115 is rotatably connected to the support member 133 so that the grinding disc 111 can rotate around the axis of the connecting rod 115, and the axis direction of the connecting rod 115 is parallel to the first horizontal direction X.

[0092] The mounting frame 114 serves to connect the grinding disc 111, the first adjustment component 112 and the second adjustment component 113, and provides a mounting support point for the connecting rod 115. The mounting frame 114 can ensure the reliability of the first adjustment component 112, the second adjustment component and the connecting rod 115 during operation, so that the grinding disc 111 can move along the vertical direction Z under the control of the first adjustment component 112, rotate around the first horizontal direction X and the second horizontal direction Y under the action of the second adjustment component, and rotate around its axis under the action of the connecting rod 115. The mounting frame 114 can be made of high-strength alloy steel to further improve the stability of the grinding disc 111, the first adjustment component 112 and the connecting rod 115 during operation.

[0093] In some embodiments, the mounting frame 114 may include a first connecting plate 1141 and a second connecting plate 1142 that are arranged opposite to each other, and the distance between the two is determined according to the size and working requirements of the grinding disc 111. The connecting rod 115 is connected to the first connecting plate 1141 and the second connecting plate 1142, and the second adjusting member 113 is also connected to the first connecting plate 1141 and the second connecting plate 1142 at the same time. The connecting rod 115, the first connecting plate 1141, the second adjusting member 113 and the second connecting plate 1142 are connected in sequence to form a rectangle.

[0094] The two first rotating shafts 1131 and the second rotating shaft 1132 in the second adjustment assembly 113 are installed between the first connecting plate 1141 and the second connecting plate 1142. One of the first rotating shafts 1131 is installed on the first connecting plate 1141 through a deep groove ball bearing, and the other first rotating shaft 1131 is installed on the second connecting plate 1142 through a deep groove ball bearing, so that the axis direction of the first rotating shaft 1131 is parallel to the first horizontal direction X. The second rotating shaft 1132 is vertically connected to the two first rotating shafts 1131 at the same time, and the axis direction of the second rotating shaft 1132 is parallel to the second horizontal direction Y, thereby realizing the function of the grinding disc 111 rotating around two horizontal directions.

[0095] The guide rod 1121 in the first adjustment component 112 is connected to the first connecting plate 1141 and the second connecting plate 1142, and an external thread is processed on the guide rod 1121. The guide rod 1121 is connected to the first connecting plate 1141 and the second connecting plate 1142 on the side away from the grinding disc 111 through threads, and internal threaded holes are processed at corresponding positions on the first connecting plate 1141 and the second connecting plate 1142. When connecting, the guide rod 1121 is screwed into the hole and reinforced with a lock nut.

[0096] The number of the guide rods 1121 can be one, two, three or four, etc., which is not limited here, and the elastic members 1122 correspond to the guide rods 1121 one by one. Figure 4As shown, the grinding disc assembly 11 of the roughening mechanism 10 in the embodiment of the present application includes four guide rods 1121 and four elastic members 1122, wherein two guide rods 1121 are arranged at intervals on the first connecting plate 1141, and two guide rods 1121 are arranged at intervals on the second connecting plate 1142, and the four guide rods 1121 form a rectangular support structure to provide better support and guiding effects.

[0097] See also Figure 8 , Figure 8 A schematic diagram of the structure of the mounting plate assembly 12 provided in an embodiment of the present application. In some embodiments, the mounting plate assembly 12 includes a body 121 and a double-ear member 122 disposed on the body 121, and a shoulder pin 1321 is disposed on the push rod 132, and the shoulder pin 1321 passes through a mounting hole 1221 on the double-ear member 122. The push rod 132 telescopically moves along its own axis to drive the mounting plate assembly 12 to rotate around the shoulder pin 1321.

[0098] The double-ear member 122 is a plate body with two roughly ear-shaped bodies arranged on the main body 121. One end of the push rod 132 is rotatably connected to the mounting seat 131 through the rotating shaft 138, and the other end is connected to the mounting plate assembly 12 through the shoulder pin 1321, driving the push rod 132 to telescopically move along its own axis. When the downward pressure of the grinding disc 111 on the wall needs to be increased, the push rod 132 extends to push the mounting plate assembly 12 to rotate downward around the axis of the shoulder pin 1321 (that is, the first horizontal direction X), driving the grinding disc assembly 11 to approach the working wall. When the downward pressure needs to be reduced, the push rod 132 shortens and pulls the mounting plate assembly 12 to rotate upward, so that the grinding disc assembly 11 is away from the working wall. When the grinding disc 111 needs to be turned over to replace consumables, the push rod 132 shortens and drives the mounting plate assembly 12 and the grinding disc assembly 11 to flip upward to a certain angle for easy replacement.

[0099] The support member 133 is fixed on the mounting seat 131 and does not move. The connecting rod 115 on the grinding disc 111 is installed in the mounting hole of the support member 133. When the mounting plate assembly 12 rotates under the action of the push rod 132 to drive the grinding disc assembly 11 to move, the grinding disc 111 rotates with the connecting rod 115 as the axis to adjust its own angle to complete the actions of approaching or moving away from the wall, replacing consumables, etc. When the wall surface is uneven during work, the grinding disc assembly 11 can also adjust the angle and position in a small range through the first adjustment assembly 112 and the second adjustment assembly 113 to ensure good contact with the wall surface and roughening effect.

[0100] In some embodiments, the number of the grinding disc assemblies 11 can be multiple, and the multiple grinding disc assemblies 11 are arranged at intervals and are all connected to the mounting plate assembly 12. The multiple grinding disc assemblies 11 are linearly spaced on the mounting plate assembly 12, and the spacing between adjacent grinding disc assemblies 11 is determined according to the diameter of the grinding disc 111 and the actual roughening operation requirements to avoid mutual interference of the grinding discs 111 during operation, while ensuring that the multiple grinding disc assemblies 11 can cover a larger wall area.

[0101] The support member 133 is rotatably connected to the connecting rod 115 of at least one grinding disc assembly 11, and the flip assembly 13 is used to drive the multiple grinding disc assemblies 11 to rotate around the first horizontal direction X. When the push rod 132 in the flip assembly 13 is extended and retracted, it will drive the mounting plate assembly 12 to rotate around the shoulder pin 1321. Since the multiple grinding disc assemblies 11 are all connected to the mounting plate assembly 12, the rotation of the mounting plate assembly 12 will synchronously drive the multiple grinding disc assemblies 11 to rotate around the first horizontal direction X. When the push rod 132 is extended, the mounting plate assembly 12 drives the multiple grinding disc assemblies 11 to rotate in the direction close to the working wall surface; when the push rod 132 is shortened, the multiple grinding disc assemblies 11 rotate in the direction away from the working wall surface.

[0102] In some embodiments, the grinding disc assembly 11 includes a pressure sensor 116, which is connected to the flip assembly 13 and the grinding disc 111, and the pressure sensor 116 is used to detect the pressure between the grinding disc 111 and the working wall surface.

[0103] In this way, the pressure sensor 116 is used to feedback the pressure between the grinding disc 111 and the working wall surface, so that the flip component 13 can adjust the downward pressure and downward pressure angle of the grinding disc 111 according to the pressure, so that the overall roughening quality of the working wall surface by the grinding disc 111 remains consistent, thereby improving the roughening quality of the working wall surface.

[0104] The pressure sensor 116 may be a strain gauge pressure sensor 116, a piezoelectric pressure sensor 116, or a piezoresistive pressure sensor 116, etc., and is not limited here. The number of the pressure sensors 116 may be one, two, three, or four, etc.

[0105] When the number of pressure sensors 116 is greater than or equal to two, multiple sensors are arranged at intervals on the grinding disc 111, or are evenly distributed along the circumference of the grinding disc 111. The multiple pressure sensors 116 can obtain pressure data at different positions of the grinding disc 111 in real time, so as to further determine whether the fitting state of the grinding disc 111 and the wall meets the working requirements.

[0106] A pressure sensor mounting seat may also be provided on the mounting frame 114 for placing the pressure sensor 116 . The pressure sensor mounting seat provides a mounting point for the connecting rod 115 to ensure the reliability of the pressure sensor 116 during operation.

[0107] In some embodiments, a avoidance hole 1211 is opened on the body 121 , and the avoidance hole 1211 is used to avoid the push rod 132 when the mounting plate assembly 12 rotates around the shoulder pin 1321 .

[0108] It is understandable that when the mounting plate assembly 12 rotates around the shoulder pin 1321, the push rod 132 will change position and angle with the movement of the mounting plate assembly 12. The avoidance hole 1211 provides a specific space for the movement of the push rod 132, ensuring that the push rod 132 will not collide or rub with the body 121 of the mounting plate assembly 12 during the movement, thereby ensuring that the entire roughening mechanism 10 can operate smoothly and avoid interference between components that may cause movement obstruction, jamming, or even damage to the equipment.

[0109] The avoidance hole 1211 is opened at the edge of the body 121 and close to one side of the push rod 132. The size of the avoidance hole 1211 can be determined according to the position of the push rod 132 when the push rod 132 is in the maximum extension and maximum contraction state, and when the mounting plate assembly 12 rotates to the maximum angle around the shoulder pin 1321. The shape of the avoidance hole 1211 can be circular, rectangular or semicircular, etc., which is not limited here.

[0110] In the description of this application, it should be understood that terms such as "first" and "second" are only used to distinguish similar objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0111] The above is a detailed introduction to the hair pulling mechanism and the wall climbing robot provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the present application. At the same time, for those skilled in the art, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A roughening mechanism for a wall-climbing robot, characterized in that: The hair pulling mechanism comprises: Grinding disc assembly, including: grinding disc; A first adjusting component is installed on the grinding disc, and the first adjusting component is used to control the grinding disc to move in a vertical direction; a second adjusting assembly mounted on the grinding disc, the second adjusting assembly being used to control the grinding disc to rotate about a first horizontal direction and a second horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction, and the first horizontal direction and the second horizontal direction being perpendicular to the vertical direction; A mounting plate assembly connected to the grinding disc assembly; A flip assembly is connected to the grinding disc assembly and the mounting plate assembly, and the flip assembly is used to drive the grinding disc assembly and the mounting plate assembly to rotate around the first horizontal direction so that the grinding disc approaches or moves away from the working wall.

2. The hair pulling mechanism according to claim 1, characterized in that: The second adjustment component comprises: A first rotating shaft connected to the grinding disc, wherein the axis direction of the first rotating shaft is parallel to the first horizontal direction; The second rotating shaft is vertically connected to the first rotating shaft, the axial direction of the second rotating shaft is parallel to the second horizontal direction, and the grinding wheel can rotate around the axial direction of the first rotating shaft and the axial direction of the second rotating shaft.

3. The hair pulling mechanism according to claim 1, characterized in that: The flip assembly comprises: A mounting seat connected to the walking mechanism of the wall-climbing robot; A push rod, rotatably connected to the mounting seat via a rotating shaft, the push rod is also connected to the mounting plate assembly, and the push rod can be telescopically movable along its own axis to drive the mounting plate assembly to rotate around the first horizontal direction; A support member, one end of which is connected to a mounting seat, and the grinding disc assembly is rotatably connected to the other end of the support member.

4. The hair pulling mechanism according to claim 3, characterized in that: The grinding disc assembly comprises: A mounting frame, mounted on the grinding disc and connected to the second adjusting assembly, wherein a side of the mounting frame away from the grinding disc is used for mounting the first adjusting assembly; A connecting rod is connected to the mounting frame and is rotatably connected to the supporting member so that the grinding disc can rotate around the axis of the connecting rod, and the axis direction of the connecting rod is parallel to the first horizontal direction.

5. The hair pulling mechanism according to claim 4, characterized in that: There are multiple grinding disc assemblies, which are arranged at intervals and connected to the mounting plate assembly. The support member is rotatably connected to a connecting rod of at least one of the grinding disc assemblies, and the flip assembly is used to drive the multiple grinding disc assemblies to rotate around the first horizontal direction.

6. The hair pulling mechanism according to claim 3, characterized in that: The mounting plate assembly includes a main body and a double-ear piece arranged on the main body, a shoulder pin is arranged on the push rod, and the shoulder pin passes through a mounting hole on the double-ear piece. The push rod telescopically moves along its own axis to drive the mounting plate assembly to rotate around the shoulder pin.

7. The hair pulling mechanism according to claim 6, characterized in that: The main body is provided with an avoidance hole, and the avoidance hole is used to avoid the push rod when the mounting plate assembly rotates around the shoulder pin shaft.

8. The napping mechanism according to any one of claims 1 to 7, characterized in that: The grinding disc assembly comprises a pressure sensor, which is connected to the turning assembly and the grinding disc, and is used to detect the pressure between the grinding disc and the working wall surface.

9. The napping mechanism according to any one of claims 1 to 7, characterized in that: The first adjustment component comprises: a guide rod, one end of which is connected to a side of the mounting frame away from the grinding disc, and the other end of which is connected to the mounting plate assembly; and An elastic member is sleeved on the guide rod along the vertical direction.

10. A wall-climbing robot, characterized in that: include: Traveling mechanism; The roughening mechanism described in any one of claims 1 to 9, wherein the flipping assembly of the roughening mechanism is connected to the walking mechanism.

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