Manufacturing method of transferring assembly of magnetic wall-climbing robot

Abstract

The invention is suitable for the technical field of magnetic wall-climbing robots, and provides a manufacturing method of a transferring assembly of a magnetic wall-climbing robot, the transferring assembly comprises multiple sets of bottom plate parts, two sets of side plate parts and multiple sets of hinges, the multiple sets of bottom plate parts are arranged side by side in the width direction, and each bottom plate part comprises a first transferring plate; two sets of first slope plates are arranged on the first transferring plate in the length direction, the two sets of first slope plates are arranged at the two ends of the first transferring plate correspondingly, two sets of first bending grooves are formed in the two ends, in the width direction of the first transferring plate, of the first slope plates correspondingly, and the first transferring plate is provided with a first lower end face; the first slope plate is provided with a first lower inclined surface and a first grounding surface, and a first inter-plate included angle a is formed between the first lower inclined surface and the first lower end surface. The device solves the problem that the wall-climbing robot is high in transferring cost, and the effects that the wall-climbing robot is convenient to transfer, the manufacturing cost is low, and operation is convenient and fast are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of magnetic wall-climbing robots, and more specifically, to a method for manufacturing a transfer component of a magnetic wall-climbing robot. Background Art

[0002] A wall-climbing robot is an automated device that can move on vertical or inclined magnetic surfaces (such as walls or metal tanks). It is widely used in industrial inspection, maintenance, and cleaning. Its core function relies on magnetic adsorption technology to achieve stable movement. However, existing robots usually require operators to manually break off the adsorption surface, which is inconvenient and risky.

[0003] At present, in order to solve the detachment problem, the main method used is to control the power off of the electromagnetic roller to make it lose its magnetic adsorption force, so that the robot can detach from the wall. However, this method has many shortcomings. First, the electromagnetic roller needs to be continuously powered to maintain the adsorption force, resulting in high overall energy consumption of the robot, especially in long-term operation or large-load scenarios, the energy consumption problem is more prominent. Secondly, in order to achieve the power-off detachment function, the design and manufacturing process of the electromagnetic roller are more complicated. For example, it is necessary to optimize the layout of the electromagnetic coil, increase the power-off response speed, and enhance the structural strength of the roller, which will significantly increase the manufacturing cost.

[0004] Therefore, a transfer component of a magnetic wall-climbing robot and a manufacturing method thereof are proposed to solve the above problems. Summary of the invention

[0005] In view of the deficiencies in the prior art, an object of the present invention is to provide a transfer component of a magnetic wall-climbing robot and a manufacturing method thereof, which are easy to transfer the wall-climbing robot, have low manufacturing cost and are easy to operate.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a transfer component of a magnetic wall-climbing robot, comprising multiple groups of bottom plates, two groups of side plates and multiple groups of leaves, wherein the multiple groups of bottom plates are arranged in parallel along the width direction, the bottom plate comprises a first transfer plate, the first transfer plate is provided with two groups of first slope plates along the length direction, the two groups of the first slope plates are respectively arranged at two ends of the first transfer plate, the first slope plate is respectively provided with a group of first bending grooves at two ends along the width direction of the first transfer plate, the first transfer plate has a first lower end surface, the first slope plate has a first lower inclined surface and a first bottom contact surface, the first lower inclined surface and the first bottom contact surface There is a first inter-plate angle a between the first lower end surfaces, and a first vertical spacing f between the first lower end surface and the first bottoming surface; the two groups of side plate portions are symmetrically arranged at the two end sides of the multiple groups of bottom plate portions in the width direction, and the side plate portions include a second shifting plate, and the second shifting plate is provided with two groups of second slope plates along the length direction of the first shifting plate, and the two groups of second slope plates are respectively arranged at the two end portions of the second shifting plate, and the second shifting plate is provided with a side guard plate on the side away from the bottom plate portion, and a second bending groove is provided on the side of the second slope plate away from the side guard plate; multiple groups of hinges are arranged at the bottom ends of multiple groups of bottom plate portions and two groups of side plate portions.

[0007] The present invention is further configured as follows: the side guard plate is vertically arranged with the second transfer plate, a handle plate is arranged on the side of the side guard plate away from the second transfer plate, and a handle is installed on the upper surface of the handle plate.

[0008] By adopting the above technical solution, the first bending groove and the second bending groove make room so that the first transfer plate and the second transfer plate can be bent at a larger angle and can fit the curved wall or tank body, so that it can be transferred on a flat surface as well as on a curved wall or tank body, with convenient operation and high adaptability.

[0009] The present invention is further configured as follows: the first transfer plate and the second transfer plate have the same length, and the first slope plate and the second slope plate have the same length and the same inclination angle.

[0010] The present invention is further configured as follows: the second transfer plate has a second lower end surface, the second slope plate has a second lower inclined surface and a second bottoming surface, a second inter-plate angle b is provided between the second lower inclined surface and the second lower end surface, a second vertical spacing g is provided between the second lower end surface and the second bottoming surface, the value of the first inter-plate angle a is equal to the value of the second inter-plate angle b, and the value of the first vertical spacing f is equal to the value of the second vertical spacing g.

[0011] A method for manufacturing a transfer component of a magnetic wall-climbing robot, using the transfer component of a magnetic wall-climbing robot as described above, comprises the following steps: S1, detect the roller and chassis of the magnetic wall-climbing robot to obtain magnetic parameters and bottoming parameters; S2. Calculate the plate spacing d according to the magnetic parameters, where the value of d is equal to the value of the first vertical spacing f and the value of the second vertical spacing g; S3, calculating the slope angle θ and the bending angle γ according to the bottoming data, wherein the value of γ is equal to the value of the first plate-to-plate angle a and the value of the second plate-to-plate angle b; S4, calculate the hypotenuse length i according to the plate spacing d and the slope angle θ; S5. First cut the sheet metal according to the hypotenuse length i, and then bend the sheet metal according to the bending angle γ.

[0012] The present invention is further configured as follows: the magnetic force F between the magnet and the iron sheet, the magnetic induction intensity B, the effective area A of the magnetic pole and the thickness t of the spacer.

[0013] The present invention is further configured as follows: a wheelbase L between the front and rear rollers of the magnetic wall-climbing robot and a minimum ground clearance h between the chassis of the magnetic wall-climbing robot and the wall.

[0014] The present invention is further configured as follows: the calculation formula of the plate spacing d is:

[0015] Where μ0 is the vacuum magnetic permeability, μ r is the relative magnetic permeability of iron.

[0016] By adopting the above technical solution, the value of the plate spacing d is calculated. When the wall-climbing robot moves to the transfer assembly, the rollers of the wall-climbing robot are attracted to the first transfer plate or the second transfer plate, and the distance between the wall and the wall is greater than or equal to d. There is no attraction between the wall or the tank body, so it can detach from its surface, thereby realizing the transfer function of the wall-climbing robot.

[0017] The present invention is further configured as follows: the calculation formula of the bending angle γ is:

[0018] The ratio of the plate spacing d to the length of the first transfer plate (11) or the length of the second transfer plate (21) is equal to the ratio of the minimum ground clearance h to the wheelbase L. .

[0019] The transfer assembly manufactured by adopting the above method can be used for transfer with a magnetic roller-type wall-climbing robot and can also be used for transfer with an electromagnetic wall-climbing robot. It has high adaptability and low manufacturing cost.

[0020] In summary, the present application includes at least one of the following beneficial technical effects: 1. The first bending groove and the second bending groove give up some space, so that the first transfer plate and the second transfer plate can be bent at a larger angle, and can fit the curved wall or tank body, so that it can be transferred on a flat surface, and can also be transferred on a curved wall or tank body, which is easy to operate and highly adaptable.

[0021] 2. By calculating the value of the plate spacing d, when the wall-climbing robot moves to the transfer assembly, the rollers of the wall-climbing robot are attracted to the first transfer plate or the second transfer plate, and the distance between the wall and the wall is greater than or equal to d. There is no attraction between the wall or the tank body, so it can break away from the surface and realize the transfer function of the wall-climbing robot.

[0022] 3. The transfer assembly manufactured by the above method can be used for transfer with a magnetic roller-type wall-climbing robot and can also be used for transfer with an electromagnetic wall-climbing robot. It has high adaptability and low manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the transfer component of the magnetic wall-climbing robot of the present invention; Figure 2 It is a partial explosion schematic diagram of the present invention; Figure 3 for Figure 1 A partial enlarged view of the middle A area; Figure 4 for Figure 1 A partial enlarged view of the middle B area; Figure 5 It is a partial side view of the present invention; Figure 6 This is a partial enlarged view of area A of Example 2 of the present invention; Figure 7 It is a structural schematic diagram of the transfer assembly in the present invention in a bent state; Figure 8 It is a schematic diagram of the structure of the transfer assembly and the wall-climbing robot in the present invention; Description of reference numerals: 1, bottom plate; 11, first transfer plate; 111, first lower end surface; 12, first slope plate; 121, first lower slope surface; 122, first bottom contact surface; 13, first bending groove; 2. Side plate; 21. Second transfer plate; 211. Second lower end surface; 22. Second slope plate; 221. Second lower slope surface; 222. Second bottom contact surface; 23. Second bending groove; 24. Side guard plate; 25. Handle plate; 3. Hinge; 4. Handle. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0026] See also Figure 1-8 , the present invention provides the following technical solutions: Example 1, see Figure 1-2 A transfer component of a magnetic wall-climbing robot comprises a plurality of bottom plate portions 1, the plurality of bottom plate portions 1 are arranged in parallel along the width direction, the plurality of bottom plate portions 1 are symmetrically provided with side plate portions 2 at both ends in the width direction, the plurality of bottom plate portions 1 and the bottom ends of the two side plate portions 2 are provided with a plurality of hinges 3, the hinges 3 connect the bottom plate portions 1 and the side plate portions 2, so that the plurality of bottom plate portions 1 and the side plate portions 2 on both sides can form a certain curvature, so that the wall-climbing robot can climb down from a curved wall or tank body, and the two side plate portions 2 are respectively provided with a group of handles 4 at the top ends, and the handles 4 are convenient for the operator to hold the device.

[0027] See also Figure 3-5The bottom plate portion 1 includes a first transfer plate 11, and the first transfer plate 11 is provided with two groups of first gradient plates 12 along the length direction. The two groups of first gradient plates 12 are respectively arranged at the two ends of the first transfer plate 11, and the first gradient plate 12 is respectively provided with a group of first bending grooves 13 at the two ends along the width direction of the first transfer plate 11. The side plate portion 2 includes a second transfer plate 21, and the second transfer plate 21 is provided with two groups of second gradient plates 22 along the length direction of the first transfer plate 11. The two groups of second gradient plates 22 are respectively arranged at the two ends of the second transfer plate 21, and the second transfer plate 21 is provided with a side guard plate 24 on the side away from the bottom plate portion 1, and the second gradient plate 22 is provided with a second bending groove 23 on the side away from the side guard plate 24, and the side guard plate 24 is arranged perpendicular to the second transfer plate 21, and the side guard plate 24 is provided with a handle plate 25 on the side away from the second transfer plate 21, and the handle 4 is installed on the upper surface of the handle plate 25. The first transfer plate 11 and the second transfer plate 21 are of the same length, the first slope plate 12 and the second slope plate 22 are of the same length and have the same inclination angle, the bottom ends of the first slope plate 12 and the second slope plate 22 are wrapped with U-shaped rubber pads to prevent scratching the wall or the surface of the tank, the first transfer plate 11 has a first lower end surface 111, the first slope plate 12 has a first lower inclined surface 121 and a first bottoming surface 122, the first lower inclined surface 121 and the first lower end surface 111 have a first inter-plate angle a, and the first lower end surface 111 and the first bottoming surface 122 have a first vertical spacing f. The second transfer plate 21 has a second lower end surface 211, the second slope plate 22 has a second lower inclined surface 221 and a second bottoming surface 222, a second inter-plate angle b is defined between the second lower inclined surface 221 and the second lower end surface 211, a second vertical spacing g is defined between the second lower end surface 211 and the second bottoming surface 222, the value of the first inter-plate angle a is equal to the value of the second inter-plate angle b, and the value of the first vertical spacing f is equal to the value of the second vertical spacing g.

[0028] Specifically, when the transfer assembly is bent, the first transfer plate 11 and the second transfer plate 21 form an angle through the hinge 3, and the two top corners of the first slope plate 12 and the second slope plate 22 will gradually approach each other. The first bending groove 13 and the second bending groove 23 are opened in the same shape, so that the two end sides of the first slope plate 12 and the side of the second slope plate 22 close to the bottom plate 1 are parallel to the length direction of the first transfer plate 11. By giving up part of the position through the first bending groove 13 and the second bending groove 23, the first transfer plate 11 and the second transfer plate 21 can be bent at a larger angle and can fit the curved wall or tank body, so that it can be transferred on a flat surface as well as on a curved wall or tank body, with convenient operation and high adaptability.

[0029] When using, refer to Figure 7-8The operator holds the two sets of handles 4, and fits the multiple sets of first slope plates 12 and the two sets of second slope plates 22 above the transfer assembly to the curved wall or tank, so that the multiple sets of first slope plates 12 and the two sets of second slope plates 22 below the transfer assembly are in contact with the ground. After they are placed stably, the operator controls the wall-climbing robot to move toward the transfer assembly. When the rollers of the wall-climbing robot are aligned with the first transfer plates 11 and the second transfer plates 21 of the transfer assembly, and the outer shell of the wall-climbing robot does not scratch the side guard plates 24, the wall-climbing robot is controlled to enter the transfer assembly. When all the rollers of the wall-climbing robot reach the transfer assembly, the operator can directly lift the transfer assembly to leave the working area, or continue to control the wall-climbing robot to move until the wall-climbing robot reaches the ground and then retracts the transfer assembly.

[0030] Example 2, see Figure 6 The first bending groove 13 and the second bending groove 23 can also be opened into an outwardly opened shape so that they can obtain more bending angles and can better fit the curved wall or tank body. At the same time, the outwardly opened first bending groove 13 and the second bending groove 23 can avoid the two top corners of the first slope plate 12 and the second slope plate 22 from pressing against each other due to bending, or even one top corner pressing against the other top corner, resulting in the problem that the wall-climbing robot cannot move normally to the transfer component.

[0031] Embodiment 3, a working method of a transfer component of a magnetic wall-climbing robot, using the transfer component of the magnetic wall-climbing robot, comprises the following steps: S1. Detect the rollers and chassis of the magnetic wall-climbing robot to obtain magnetic parameters and bottoming parameters; wherein the magnetic parameters include the magnetic force F between the magnet and the iron sheet, the magnetic induction intensity B, the effective area A of the magnetic pole and the thickness t of the spacer; the bottoming parameters include the wheelbase L between the front and rear rollers of the magnetic wall-climbing robot and the minimum ground clearance h between the chassis of the magnetic wall-climbing robot and the wall.

[0032] S2. Calculate the plate spacing d according to the magnetic parameters, where the value of d is equal to the value of the first vertical spacing f and the value of the second vertical spacing g; The calculation formula of the plate spacing d is:

[0033] Where μ0 is the vacuum magnetic permeability, μ r is the relative magnetic permeability of iron; Assumption: vacuum magnetic permeability μ0=4π×10 -7 (H / m), magnetic induction intensity B=1(T), magnetic pole effective area A=0.01(m 2 ), the relative magnetic permeability of iron μ r =1000, magnetic force F=6.27×10 -8(N), spacer thickness t = 0.005 (m); Substituting into the formula, we can get d=0.01-0.000005(m)≈9.995(mm).

[0034] The most suitable plate spacing d is calculated by the above formula. When the wall-climbing robot moves to the transfer assembly, the rollers of the wall-climbing robot are attracted to the first transfer plate 11 or the second transfer plate 21, and the distance between the wall and the wall is greater than or equal to d. There is no attraction between the wall or the tank, so it can break away from the surface, thereby realizing the transfer function of the wall-climbing robot.

[0035] S3, calculating the slope angle θ and the bending angle γ according to the bottoming data, wherein the value of γ is equal to the value of the first plate-to-plate angle a and the value of the second plate-to-plate angle b; The calculation formula of the bending angle γ is:

[0036] The ratio of the plate spacing d to the length of the first transfer plate (11) or the length of the second transfer plate (21) is equal to the ratio of the minimum ground clearance h to the wheelbase L. .

[0037] Assumption: minimum ground clearance h = 50 (mm), wheelbase L = 150 (mm); Substituting into the formula, we can get θ≈19.47°, γ≈160.53°.

[0038] S4, calculate the hypotenuse length i according to the plate spacing d and the slope angle θ; The calculation formula for the hypotenuse length i is:

[0039] Based on the above assumptions and substituting them into the formula, we can obtain i≈30 (mm).

[0040] The above formula can be used to calculate the shortest hypotenuse length i that the wall-climbing robot can climb onto the first transfer plate 11 or the second transfer plate 21 without scratching the chassis, that is, the length of the shortest first slope plate 12 or the second slope plate 22, thereby avoiding the problem that the wall-climbing robot cannot directly climb onto the transfer assembly due to the plate spacing d being too high.

[0041] S5. First, cut the sheet metal according to the outer contour of the bottom plate 1 or the side plate 2 and the length i of the hypotenuse of the first slope plate 12 or the second slope plate 22; then, bend the sheet metal according to the shape structure of the bottom plate 1 or the side plate 2 and the bending angle γ of the first slope plate 12 or the second slope plate 22; finally, connect multiple groups of bottom plate 1 and two groups of side plate 2 through hinges 3 to complete the manufacture of the transfer assembly.

[0042] In summary, the transfer assembly manufactured by the above method can be used for transfer with a magnetic roller-type wall-climbing robot and can also be used for transfer with an electromagnetic wall-climbing robot. It has high adaptability and low manufacturing cost.

[0043] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

Claims

1. A transfer assembly of a magnetic wall-climbing robot, characterized in that: include: A plurality of bottom plate portions (1), wherein the plurality of bottom plate portions (1) are arranged in parallel along a width direction, wherein the bottom plate portion (1) comprises a first transfer plate (11), wherein the first transfer plate (11) is provided with two groups of first gradient plates (12) along a length direction, wherein the two groups of first gradient plates (12) are respectively arranged at two ends of the first transfer plate (11), wherein the first gradient plate (12) is provided with a group of first bending grooves (13) at two ends along a width direction of the first transfer plate (11), wherein the first transfer plate (11) has a first lower end surface (111), wherein the first gradient plate (12) has a first lower inclined surface (121) and a first bottom contact surface (122), wherein a first inter-plate angle a is formed between the first lower inclined surface (121) and the first lower end surface (111), and a first vertical spacing f is formed between the first lower end surface (111) and the first bottom contact surface (122); Two groups of side plate portions (2), the two groups of side plate portions (2) are symmetrically arranged at both ends of the plurality of groups of bottom plate portions (1) in a width direction, the side plate portions (2) include a second transfer plate (21), the second transfer plate (21) is provided with two groups of second gradient plates (22) along the length direction of the first transfer plate (11), the two groups of second gradient plates (22) are respectively arranged at two ends of the second transfer plate (21), a side of the second transfer plate (21) away from the bottom plate portion (1) is provided with a side guard plate (24), and a side of the second gradient plate (22) away from the side guard plate (24) is provided with a second bending groove (23); and A plurality of sets of hinges (3), wherein the plurality of sets of hinges (3) are arranged at the bottom ends of the plurality of sets of bottom plate portions (1) and the two sets of side plate portions (2).

2. The transfer assembly of a magnetic wall-climbing robot according to claim 1, characterized in that: The side guard plate (24) is arranged perpendicularly to the second transfer plate (21); a handle plate (25) is arranged on a side of the side guard plate (24) away from the second transfer plate (21); and a handle (4) is mounted on the upper surface of the handle plate (25).

3. The transfer assembly of a magnetic wall-climbing robot according to claim 2, characterized in that: The first transfer plate (11) and the second transfer plate (21) are of the same length, and the first slope plate (12) and the second slope plate (22) are of the same length and have the same inclination angle.

4. The transfer assembly of a magnetic wall-climbing robot according to claim 3, characterized in that: The second transfer plate (21) has a second lower end surface (211), the second slope plate (22) has a second lower inclined surface (221) and a second bottoming surface (222), a second inter-plate angle b is defined between the second lower inclined surface (221) and the second lower end surface (211), a second vertical spacing g is defined between the second lower end surface (211) and the second bottoming surface (222), the value of the first inter-plate angle a is equal to the value of the second inter-plate angle b, and the value of the first vertical spacing f is equal to the value of the second vertical spacing g.

5. A method for manufacturing a transfer component of a magnetic wall-climbing robot, using the transfer component of a magnetic wall-climbing robot as claimed in claim 4, characterized in that: The following steps are involved: S1, detect the roller and chassis of the magnetic wall-climbing robot to obtain magnetic parameters and bottoming parameters; S2. Calculate the plate spacing d according to the magnetic parameters, where the value of d is equal to the value of the first vertical spacing f and the value of the second vertical spacing g; S3, calculating the slope angle θ and the bending angle γ according to the bottoming data, wherein the value of γ is equal to the value of the first plate-to-plate angle a and the value of the second plate-to-plate angle b; S4, calculate the hypotenuse length i according to the plate spacing d and the slope angle θ; S5. First cut the sheet metal according to the hypotenuse length i, and then bend the sheet metal according to the bending angle γ.

6. The method for manufacturing a transfer assembly of a magnetic wall-climbing robot according to claim 5, characterized in that: The magnetic parameters in S1 include: the magnetic force F between the magnet and the iron sheet, the magnetic induction intensity B, the effective area A of the magnetic pole and the thickness t of the spacer.

7. The method for manufacturing a transfer assembly of a magnetic wall-climbing robot according to claim 6, characterized in that: The bottoming parameters in S1 include: the wheelbase L between the front and rear rollers of the magnetic wall-climbing robot and the minimum ground clearance h between the chassis of the magnetic wall-climbing robot and the wall.

8. The method for manufacturing a transfer assembly of a magnetic wall-climbing robot according to claim 7, characterized in that: The calculation formula for the plate spacing d in S2 is: ; Where μ0 is the vacuum magnetic permeability, μ r is the relative magnetic permeability of iron.

9. The method for manufacturing a transfer assembly of a magnetic wall-climbing robot according to claim 8, characterized in that: The calculation formula of the bending angle γ in S4 is: ; The ratio of the plate spacing d to the length of the first transfer plate (11) or the length of the second transfer plate (21) is equal to the ratio of the minimum ground clearance h to the wheelbase L. .

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