Wall-climbing robot

Abstract

A wall-climbing robot belongs to the technical field of automatic robots. The device comprises a center connecting plate, an X-axis moving plate and a Y-axis moving plate are arranged on the upper side and the lower side of the center connecting plate in a matched mode respectively, a first driving motor and a second driving motor are arranged at the two ends of the X-axis moving plate respectively, an output shaft of the first driving motor is connected with a first toothed driving wheel, and an output shaft of the second driving motor is connected with a second toothed driving wheel. A toothed auxiliary wheel and a belt tensioning device are arranged on the two sides of the Y-axis moving plate respectively, the two ends of a conveying toothed belt are connected with the belt tensioning device, the conveying toothed belt is wound around the first toothed driving wheel, the toothed auxiliary wheel and the second toothed driving wheel at the same time, and lifting suction cup mechanisms are connected to the two ends of the X-axis moving plate and the two ends of the Y-axis moving plate respectively. The flexible movement on the curved surface is realized, the labor burden is obviously reduced, the operation precision and efficiency are improved, the operation continuity and quality are ensured, the operation difficulty is effectively reduced, and the operation safety is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automated robots, and in particular relates to a wall-climbing robot. Background Art

[0002] In aircraft manufacturing and maintenance, there are always extremely high requirements for operational efficiency and safety. Traditional operations rely on manual operation of equipment on the fuselage surface, which is not only unsafe but also slow to move. In curved areas such as the wing transition zone, it is easy to repeat operations due to inaccurate equipment positioning. Although existing wall-climbing robots have replaced some manpower, there are still obvious defects in actual applications: In the prior art, most wall-climbing robots use a fixed vacuum suction cup group. When encountering a sudden change in curvature at the connection between the fuselage and the wing, it is easy to trigger a safety alarm due to local air leakage, forcing the device to return to a flat area for repositioning. Its mobile mechanism mostly adopts a single drive mode. For example, when a device equipped with only omnidirectional wheels moves on a longitudinal curved surface, repeated cycles of "slipping-braking" often occur, resulting in a decrease in positioning accuracy. A more prominent problem is that when the operation needs to be transferred from the vertical tail to the horizontal tail area, the existing equipment often requires manual remote control to adjust the center of gravity, and the operation is interrupted for at least 10-15 minutes during the process. In addition, in order to increase the load capacity, some manufacturers use a metal frame structure, which makes the weight of the whole machine exceed 40kg, causing obvious deformation to the wing surface during movement, which in turn affects the quality of the operation. Summary of the invention

[0003] The present invention aims at the above-mentioned problems, makes up for the deficiencies of the prior art, and provides a wall-climbing robot; the present invention can adapt to complex curved surfaces, realize flexible movement on the curved surfaces, and significantly reduce the manpower burden, improve operation accuracy and efficiency, ensure operation continuity and quality, effectively reduce the operation difficulty, and improve operation safety.

[0004] To achieve the above purpose, the present invention adopts the following technical solution.

[0005] The present invention provides a wall-climbing robot, comprising a central connecting plate, characterized in that an X-axis moving plate and a Y-axis moving plate are respectively provided on the upper and lower sides of the central connecting plate, the X-axis moving plate and the Y-axis moving plate can respectively move along the X-axis and the Y-axis on the central connecting plate, a first driving motor and a second driving motor are respectively provided at both ends of the X-axis moving plate, the output shaft of the first driving motor is connected to a first toothed driving wheel, the output shaft of the second driving motor is connected to a second toothed driving wheel, toothed auxiliary wheels and belt tensioning devices are respectively provided on both sides of the Y-axis moving plate, both ends of the transmission toothed belt are connected to the belt tensioning device, the transmission toothed belt is simultaneously wound around the first toothed driving wheel, the toothed auxiliary wheel and the second toothed driving wheel, and both ends of the X-axis moving plate and the Y-axis moving plate are connected to lifting suction cup mechanisms.

[0006] Furthermore, an X-axis guide rail is connected to the bottom of the X-axis movable plate, a Y-axis guide rail is connected to the top of the Y-axis movable plate, an X-axis slider is provided on the center connecting plate corresponding to the X-axis guide rail, the X-axis slider is restricted on the X-axis guide rail, so that the X-axis movable plate and the center connecting plate are connected to each other, a Y-axis slider is provided corresponding to the Y-axis guide rail, the Y-axis slider is restricted on the Y-axis guide rail, so that the Y-axis movable plate and the center connecting plate are connected to each other, the X-axis movable plate slides along the X-axis on the center connecting plate through the mutual sliding of the X-axis guide rail and the X-axis slider, and the Y-axis movable plate slides along the Y-axis on the center connecting plate through the mutual sliding of the Y-axis guide rail and the Y-axis slider.

[0007] Furthermore, four tensioning wheels are arranged at the four corners of the lower side of the central connecting plate, and the transmission toothed belt forms a cross structure after passing through the tensioning wheels.

[0008] Furthermore, the lifting suction cup mechanism includes a lifting cylinder, a suction cup connecting plate and a vacuum suction cup, the telescopic rod of the lifting cylinder is connected to the suction cup connecting plate, and the vacuum suction cup is connected below the suction cup connecting rod.

[0009] Furthermore, the lifting cylinder corresponding to the X-axis moving plate is connected to the bottom of the two ends of the X-axis moving plate by bolts, and reinforcing connecting plates are provided on the sides of the two ends of the Y-axis moving plate. The lifting cylinder corresponding to the Y-axis moving plate is connected to the sides of the reinforcing connecting plates to compensate for the height difference between the X-axis moving plate and the Y-axis moving plate.

[0010] Furthermore, each of the lifting suction cup mechanisms has at least two vacuum suction cups.

[0011] Beneficial effects of the present invention.

[0012] The present invention adopts an independent moving area design for the X-axis and the Y-axis, and with the precision guide rail and the tensioning mechanism, it can achieve high-precision smooth stepless movement, ensuring the positioning and operating accuracy of the machine on complex curved surfaces; it enhances the stability during adsorption operation, can maintain a stable adsorption effect on vertical or inclined surfaces, and adapt to a variety of working environments; by driving the pulley driven by the driving motor, smooth stepless movement along the X-axis and the Y-axis is achieved, which not only improves the flexibility of movement, but also reduces energy consumption and noise, providing users with a more comfortable working environment; it reduces dependence on manual operation, reduces labor costs, and improves the safety and efficiency of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described herein are only used to explain the present invention and are not used to limit the present invention.

[0014] Figure 1 It is a schematic diagram of the overall axial side structure of the present invention.

[0015] Figure 2 It is a schematic diagram of the overall structure of the present invention from another axial side.

[0016] Figure 3 It is a partial structural schematic diagram of the present invention.

[0017] Markings in the figure: 1 is the center connecting plate, 2 is the X-axis moving plate, 3 is the Y-axis moving plate, 4 is the first driving motor, 5 is the second driving motor, 6 is the first toothed driving wheel, 7 is the second toothed driving wheel, 8 is the toothed auxiliary wheel, 9 is the belt tensioning device, 10 is the transmission toothed belt, 11 is the X-axis guide rail, 12 is the Y-axis guide rail, 13 is the X-axis slider, 14 is the Y-axis slider, 15 is the tensioning wheel, 16 is the lifting cylinder, 17 is the suction cup connecting plate, 18 is the vacuum suction cup, and 19 is the reinforcement connecting plate. DETAILED DESCRIPTION

[0018] As shown in the accompanying drawings, this embodiment provides a wall-climbing robot, including a central connecting plate 1, which is the main supporting point. An X-axis slider 13 is bolted to the upper side of the central connecting plate 1 in the X-axis direction, and a Y-axis slider 14 is bolted to the lower side in the Y-axis direction.

[0019] An X-axis moving plate 2 and a Y-axis moving plate 3 are respectively provided on the upper and lower sides of the center connecting plate 1. An X-axis guide rail 11 is connected to the bottom of the X-axis moving plate 2, and a Y-axis guide rail 12 is connected to the top of the Y-axis moving plate 3. An X-axis slider 13 is embedded in the X-axis guide rail 11 and is restricted on the X-axis guide rail 11, so that the X-axis moving plate 2 and the center connecting plate 1 are connected to each other and the X-axis moving plate 2 can move along the X-axis on the center connecting plate 1. A Y-axis slider 14 is embedded in the Y-axis guide rail 12 and is restricted on the Y-axis guide rail 12, so that the Y-axis moving plate 3 and the center connecting plate 1 are connected to each other and the Y-axis moving plate 3 can move along the Y-axis on the center connecting plate 1. The accuracy of transmission is guaranteed by the guide rails and the sliders.

[0020] A first drive motor 4 and a second drive motor 5 are respectively provided at both ends of the X-axis moving plate 2 as drive devices for the X-axis and Y-axis of the robot movement. The first drive motor 4 is close to the negative direction of the X-axis, and the second drive motor 5 is close to the positive direction of the X-axis. The output shaft of the first drive motor 4 is connected to a first toothed drive wheel 6, and the output shaft of the second drive motor 5 is connected to a second toothed drive wheel 7.

[0021] A toothed auxiliary wheel 8 and a belt tensioning device 9 are respectively provided on both sides of the Y-axis moving plate 3 , and both ends of the transmission toothed belt 10 are connected to the belt tensioning device 9 .

[0022] Four tensioning wheels 15 are arranged at the four corners of the lower side of the center connecting plate 1 for adjusting the tightness of the transmission toothed belt 10. The transmission toothed belt 10 passes through the tensioning wheel 15 and is wound around the first toothed driving wheel 6, the toothed auxiliary wheel 8 and the second toothed driving wheel 7 to form a cross structure. The transmission toothed belt 10 is driven by the coordinated rotation of the first drive motor 4 and the second drive motor 5 to realize the transmission of the transmission toothed belt 10, so as to realize the movement of the X-axis moving plate 2 and the Y-axis moving plate 3 of the robot.

[0023] Both ends of the X-axis moving plate 2 and the Y-axis moving plate 3 are connected with a lifting suction cup mechanism. The lifting suction cup mechanism includes a lifting cylinder 16, a suction cup connecting plate 17 and a vacuum suction cup 18. The telescopic rod of the lifting cylinder 16 is connected to the suction cup connecting plate 17. Each lifting suction cup mechanism has at least two vacuum suction cups 18. The vacuum suction cups 18 are connected under the suction cup connecting rod by high-strength bolts to ensure the stability and balance of adsorption. By lifting and lowering the lifting cylinder 16 of the lifting suction cup mechanism, the vacuum suction cups 18 are driven to move downward to adsorb the working surface, or move upward to contact and adsorb.

[0024] The lifting cylinder 16 corresponding to the X-axis moving plate 2 is connected to the bottom of the two ends of the X-axis moving plate 2 through bolts, and reinforcement connecting plates 19 are arranged on the sides of the two ends of the Y-axis moving plate 3. The lifting cylinder 16 corresponding to the Y-axis moving plate 3 is connected to the side of the reinforcement connecting plate 19 to make up for the height difference between the X-axis moving plate 2 and the Y-axis moving plate 3, ensuring the stable operation of the lifting suction cup mechanism at different heights.

[0025] During installation and debugging, first connect the X-axis moving plate 2 and the Y-axis moving plate 3 to the center connecting plate 1 through sliders and guide rails to ensure that the X-axis moving plate 2 and the Y-axis moving plate 3 can move smoothly on the center connecting plate 1. Adjust the position of each lifting cylinder 16 so that the lifting cylinder 16 is connected to the suction cup connecting plate 17, thereby driving the vacuum suction cup 18 to rise and fall. When the vacuum suction cup 18 is adsorbed, by observing the threaded holes on the center connecting plate 1, adjust the extension length of the lifting cylinder 16 so that the lifting suction cup mechanism is tightly connected to the center connecting plate 1 to ensure a firm connection.

[0026] Then install the driving wheel and the tensioning wheel 15 in the corresponding position, and adjust the tension of the transmission toothed belt 10 by the belt tensioning device 9. At the same time, start the first driving motor 4 and the second driving motor 5, and set the motor speed and direction according to different needs. For example, if the same direction and same speed mode is selected, the two motors rotate at the same speed and the same direction, driving the driving wheel and the tensioning wheel 15, and running synchronously, so that the transmission toothed belt 10 can be smoothly transmitted; if the reverse same speed mode is selected, the two motors rotate at the same speed but in opposite directions, which can also make the transmission toothed belt 10 transmitted, but the direction of movement is different. By observing the fit between the transmission toothed belt 10 and the driving wheel and the tensioning wheel 15, the belt tensioning device 9 is fine-tuned again to ensure that the transmission toothed belt 10 will not slip during the transmission process.

[0027] Next, the toothed auxiliary wheel 8 is installed so that it contacts the transmission toothed belt 10 to assist the transmission toothed belt 10 to run better. During the installation process, ensure that the contact angle and pressure of the auxiliary wheel and the belt are appropriate to further improve the stability of the belt drive.

[0028] Finally, after the entire device is installed, a test run is performed. The running state of the transmission toothed belt 10 is observed. If there is a problem such as deviation, the position of the transmission toothed belt 10 can be quickly corrected by adjusting the connection position of the X-axis moving plate 2 and the Y-axis moving plate 3 with the X-axis guide rail 11 and the axis guide rail, and using each lifting cylinder 16 to push the vacuum suction cup 18 and the center connecting plate 1 to make a slight position adjustment, without the need to disassemble and reinstall, thereby improving the efficiency of installation and debugging.

[0029] Since the X-axis moving plate 2 and the Y-axis moving plate 3 of the wall-climbing robot will not move at the same time, one moving plate is required for adsorption support and the other moving plate is required for movement. The specific working methods are divided into the following situations.

[0030] 1. The lifting suction cup mechanism on the Y-axis moving plate 3 of the wall-climbing robot absorbs the surface and moves the X-axis moving plate 2: 1. When the first drive motor 4 and the second drive motor 5 rotate clockwise at the same speed, the X-axis moving plate 2 moves along the negative direction of the X-axis.

[0031] 2. When the first drive motor 4 and the second drive motor 5 rotate counterclockwise at the same speed, the X-axis moving plate 2 moves along the positive direction of the X-axis.

[0032] 3. When the first drive motor 4 rotates clockwise and the second drive motor 5 rotates counterclockwise at the same speed, the X-axis moving plate 2 moves along the negative direction of the Y-axis.

[0033] 4. When the first drive motor 4 rotates counterclockwise and the second drive motor 5 rotates clockwise at the same speed, the X-axis moving plate 2 moves along the positive direction of the Y-axis.

[0034] 5. When the first drive motor 4 and the second drive motor 5 rotate clockwise at the same time, the X-axis moving plate 2 moves in the direction between the negative direction of the X-axis and the negative direction of the Y-axis. The specific moving angle needs to be determined according to the differential ratio of the two motors.

[0035] 6. When the first drive motor 4 and the second drive motor 5 rotate counterclockwise at the same time, the X-axis moving plate 2 moves in the direction between the positive direction of the X-axis and the positive direction of the Y-axis. The specific moving angle needs to be determined according to the differential ratio of the two motors.

[0036] 7. When the first drive motor 4 rotates clockwise and the second drive motor 5 rotates counterclockwise, the X-axis moving plate 2 moves in the direction between the positive direction of the X-axis and the negative direction of the Y-axis. The specific moving angle is determined according to the differential ratio of the two motors.

[0037] 8. When the first drive motor 4 rotates counterclockwise and the second drive motor 5 rotates clockwise, the X-axis moving plate 2 moves in the direction between the negative direction of the X-axis and the positive direction of the Y-axis. The specific moving angle is determined according to the differential ratio of the two motors.

[0038] 2. The lifting suction cup mechanism on the X-axis moving plate 2 of the wall-climbing robot absorbs the surface and moves the Y-axis moving plate 3: 1. When the first drive motor 4 and the second drive motor 5 rotate clockwise at the same speed, the Y-axis moving plate 3 moves along the positive direction of the Y-axis.

[0039] 2. When the first drive motor 4 and the second drive motor 5 rotate counterclockwise at the same speed, the Y-axis moving plate 3 moves along the negative direction of the Y-axis.

[0040] 3. When the first drive motor 4 rotates clockwise and the second drive motor 5 rotates counterclockwise at the same speed, the Y-axis moving plate 3 moves along the positive direction of the X-axis.

[0041] 4. When the first drive motor 4 rotates counterclockwise and the second drive motor 5 rotates clockwise at the same speed, the Y-axis moving plate 3 moves along the positive direction of the X-axis.

[0042] 5. When the first drive motor 4 and the second drive motor 5 rotate clockwise at the same time, the Y-axis moving plate 3 moves in the direction between the positive direction of the X-axis and the positive direction of the Y-axis. The specific moving angle needs to be determined according to the differential ratio of the two motors.

[0043] 6. When the first drive motor 4 and the second drive motor 5 rotate counterclockwise at the same time, the Y-axis moving plate 3 moves in the direction between the negative direction of the X-axis and the negative direction of the Y-axis. The specific moving angle needs to be determined according to the differential ratio of the two motors.

[0044] 7. When the first drive motor 4 rotates clockwise and the second drive motor 5 rotates counterclockwise, the Y-axis moving plate 3 moves in the direction between the negative direction of the X-axis and the positive direction of the Y-axis. The specific moving angle is determined according to the differential ratio of the two motors.

[0045] 8. When the first drive motor 4 rotates counterclockwise and the second drive motor 5 rotates clockwise, the Y-axis moving plate 3 moves in the direction between the positive direction of the X-axis and the negative direction of the Y-axis. The specific moving angle is determined according to the differential ratio of the two motors.

[0046] It can be understood that the above specific description of the present invention is only used to illustrate the present invention and is not limited to the technical solutions described in the embodiments of the present invention. Those skilled in the art should understand that the present invention can still be modified or replaced by equivalents to achieve the same technical effects; as long as the use requirements are met, they are within the protection scope of the present invention.

Claims

1. A wall-climbing robot, comprising a central connecting plate (1), characterized in that: The upper and lower sides of the central connecting plate (1) are respectively provided with an X-axis moving plate (2) and a Y-axis moving plate (3); the X-axis moving plate (2) and the Y-axis moving plate (3) can move along the X-axis and the Y-axis on the central connecting plate (1), respectively; a first driving motor (4) and a second driving motor (5) are respectively provided at both ends of the X-axis moving plate (2); an output shaft of the first driving motor (4) is connected to a first toothed driving wheel (6); an output shaft of the second driving motor (5) is connected to a second toothed driving wheel (7); toothed auxiliary wheels (8) and a belt tensioning device (9) are respectively provided on both sides of the Y-axis moving plate (3); both ends of a transmission toothed belt (10) are connected to the belt tensioning device (9); the transmission toothed belt (10) is simultaneously wound around the first toothed driving wheel (6), the toothed auxiliary wheel (8) and the second toothed driving wheel (7); and both ends of the X-axis moving plate (2) and the Y-axis moving plate (3) are connected to lifting suction cup mechanisms.

2. A wall-climbing robot according to claim 1, characterized in that: The X-axis movable plate (2) is connected to an X-axis guide rail (11) at the bottom, the Y-axis movable plate (3) is connected to a Y-axis guide rail (12) at the top, an X-axis slider (13) is provided on the central connecting plate (1) corresponding to the X-axis guide rail (11), the X-axis slider (13) is restricted on the X-axis guide rail (11), so that the X-axis movable plate (2) and the central connecting plate (1) are connected to each other, and a Y-axis slider (14) is provided corresponding to the Y-axis guide rail (12). The Y-axis slider (14) is restricted on the Y-axis guide rail (12), so that the Y-axis movable plate (3) and the central connecting plate (1) are connected to each other, the X-axis movable plate (2) slides along the X-axis on the central connecting plate (1) through the mutual sliding of the X-axis guide rail (11) and the X-axis slider (13), and the Y-axis movable plate (3) slides along the Y-axis on the central connecting plate (1) through the mutual sliding of the Y-axis guide rail (12) and the Y-axis slider (14).

3. A wall-climbing robot according to claim 1, characterized in that: Four tension wheels (15) are arranged at the four corners of the lower side of the central connecting plate (1), and the transmission toothed belt (10) forms a cross structure after passing through the tension wheels (15).

4. A wall-climbing robot according to claim 1, characterized in that: The lifting suction cup mechanism comprises a lifting cylinder (16), a suction cup connecting plate (17) and a vacuum suction cup (18); the telescopic rod of the lifting cylinder (16) is connected to the suction cup connecting plate (17), and the vacuum suction cup (18) is connected below the suction cup connecting rod.

5. A wall-climbing robot according to claim 4, characterized in that: The lifting cylinder (16) corresponding to the X-axis moving plate (2) is connected to the lower part of the two ends of the X-axis moving plate (2) by bolts, and reinforcing connecting plates (19) are arranged on the sides of the two ends of the Y-axis moving plate (3). The lifting cylinder (16) corresponding to the Y-axis moving plate (3) is connected to the side of the reinforcing connecting plate (19) to compensate for the height difference between the X-axis moving plate (2) and the Y-axis moving plate (3).

6. A wall-climbing robot according to claim 4, characterized in that: Each of the lifting suction cup mechanisms has at least two vacuum suction cups (18).

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