Manufacturing method of a transfer assembly of a magnetic wall-climbing robot

Abstract

The application is suitable for the technical field of magnetic wall-climbing robots, and provides a manufacturing method of a transfer assembly of a magnetic wall-climbing robot, which comprises multiple groups of bottom plates, two groups of side plates and multiple groups of combined pages, the multiple groups of bottom plates are arranged side by side 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 first slope plates are arranged at the two end portions of the first transfer plate respectively, the first slope plate is provided with a group of first bending grooves at the two ends along the width direction of the first transfer plate respectively, the first transfer plate has a first lower end face, the first slope plate has a first lower inclined face and a first bottom face, and the first lower inclined face and the first lower end face have a first plate interval angle a. The device solves the problem of high cost of wall-climbing robot transfer, achieves the effect of convenient wall-climbing robot transfer, low manufacturing cost and convenient operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of magnetic wall-climbing robots, in particular to a manufacturing method of a transfer assembly of a magnetic wall-climbing robot. BACKGROUND

[0002] A wall-climbing robot is an automated device capable of moving on a vertical or inclined magnetic surface, such as a wall or a metal tank, and is widely used in industrial detection, maintenance and cleaning fields. Its core function relies on magnetic adsorption technology to achieve stable movement. However, the existing robots usually need to be manually pried off by the operator when they are detached from the adsorbed surface, which is inconvenient to operate and has certain risks.

[0003] Currently, in order to solve the problem of detachment, the main method is to control the power-off of the electromagnetic roller to lose the magnetic adsorption force, so as to realize the detachment of the robot from the wall surface. However, this method has many shortcomings. First, the electromagnetic roller needs to be continuously powered to maintain the adsorption force, resulting in high energy consumption of the robot as a whole, especially in long-time operation or large-load scenarios, the energy consumption problem is more prominent. Secondly, in order to realize the function of power-off detachment, the design and manufacturing process of the electromagnetic roller are more complex, for example, the layout of the electromagnetic coil needs to be optimized, the power-off response speed needs to be improved, and the structural strength of the roller needs to be enhanced, which will significantly increase the manufacturing cost.

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

[0005] In view of the deficiencies of the prior art, the purpose of the present application is to provide a transfer assembly of a magnetic wall-climbing robot which is convenient to transfer, has low manufacturing cost and is convenient to operate, and a manufacturing method thereof.

[0006] In order to achieve the above object, the application provides the following technical scheme: a magnetic wall-climbing robot transfer assembly, comprising a plurality of bottom plate parts, two side plate parts and a plurality of hinges, the plurality of bottom plate parts are arranged side by side along the width direction, the bottom plate part comprises a first transfer plate, the first transfer plate is provided with two first slope plates along the length direction, the two first slope plates are arranged at the two ends of the first transfer plate respectively, the first slope plate is provided with a first bending groove at each end 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 surface, the first lower inclined surface and the first lower end surface have a first inter-plate included angle a, and the first lower end surface and the first bottom surface have a first vertical distance f; the two side plate parts are symmetrically arranged at the two ends of the plurality of bottom plate parts along the width direction, the side plate part comprises a second transfer plate, the second transfer plate is provided with two second slope plates along the length direction of the first transfer plate, the two second slope plates are arranged at the two ends of the second transfer plate respectively, the second transfer plate is provided with a side guard plate away from the bottom plate part, and the second slope plate is provided with a second bending groove away from the side guard plate.

[0007] The application is further provided as follows: the side guard plate is arranged perpendicularly to the second transfer plate, the side guard plate is provided with a handle plate away from the second transfer plate, and the handle plate is provided with a handle on the upper surface.

[0008] By adopting the above technical scheme, the first bending groove and the second bending groove leave part of the position, so that the first transfer plate and the second transfer plate can be bent at a large angle, can be attached to the arc-shaped wall surface or the tank body, can be transferred on the plane, can be transferred on the arc-shaped wall surface or the tank body, is convenient to operate and has high adaptability.

[0009] The application is further provided 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 application is further provided 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 bottom surface, the second lower inclined surface and the second lower end surface have a second inter-plate included angle b, the second lower end surface and the second bottom surface have a second vertical distance g, the value of the first inter-plate included angle a is equal to the value of the second inter-plate included angle b, and the value of the first vertical distance f is equal to the value of the second vertical distance g.

[0011] A manufacturing method of a magnetic wall-climbing robot transfer assembly, using the magnetic wall-climbing robot transfer assembly as described above, comprising the following steps:

[0012] S1, detect the magnetic parameters and the bottom parameters of the magnetic wall-climbing robot by detecting the rollers and the chassis of the magnetic wall-climbing robot;

[0013] S2, calculate the plate distance d according to the magnetic parameters, and the value of d is equal to the value of the first vertical distance f and the value of the second vertical distance g;

[0014] S3, calculate the slope angle θ and the bending angle γ according to the bottom data, and the value of γ is equal to the value of the first plate distance angle a and the value of the second plate distance angle b;

[0015] S4, calculate the hypotenuse length i according to the plate distance d and the slope angle θ;

[0016] S5, cut the sheet metal according to the hypotenuse length i, and then bend the sheet metal according to the bending angle γ.

[0017] The application further provides that 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 isolator.

[0018] The application further provides that 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.

[0019] The application further provides that the calculation formula of the plate distance d is:

[0020]

[0021] Wherein, μ0 is the magnetic permeability in vacuum, μ r is the relative magnetic permeability of iron.

[0022] By adopting the above technical scheme, the value of the plate distance 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 interval distance between the wall-climbing robot and the wall is greater than or equal to d, so that the wall-climbing robot is no longer attracted to the wall surface or the tank body, thereby the wall-climbing robot can be separated from the surface to realize the transfer function of the wall-climbing robot.

[0023] The application further provides that the calculation formula of the bending angle γ is:

[0024]

[0025] Wherein, the plate distance d is equal to the length of the first transfer plate (11) or the length of the second transfer plate (21), and the minimum ground clearance h is equal to the wheelbase L, 。

[0026] The transfer assembly manufactured by the above method can be used for transferring the magnetic roller type wall-climbing robot or the electromagnetic type wall-climbing robot, has high adaptability, and has low manufacturing cost.

[0027] In summary, the present application includes at least one of the following beneficial technical effects:

[0028] 1. By giving out part of the position through the first bending groove and the second bending groove, the first transfer plate and the second transfer plate can be bent at a larger angle, which can fit the curved wall or the tank body, so that it can be transferred on the plane and on the curved wall or the tank body, which is convenient to operate and has high adaptability.

[0029] 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 spacing distance between the wall climbing robot and the wall is greater than or equal to d, so that the attraction between the wall climbing robot and the wall is no longer generated, thereby the wall climbing robot can be separated from the surface to realize the transfer function of the wall climbing robot.

[0030] 3. The transfer assembly manufactured by the above method can be used for the transfer of the magnetic roller type wall climbing robot and the electromagnetic type wall climbing robot, which has high adaptability and low manufacturing cost. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a structure schematic view of the transfer assembly of the magnetic wall climbing robot of the present application;

[0032] Figure 2 It is a partial exploded view of the present application;

[0033] Figure 3 It is Figure 1 the local enlarged view of area A;

[0034] Figure 4 It is Figure 1 the local enlarged view of area B;

[0035] Figure 5 It is a partial side view of the present application;

[0036] Figure 6 It is the local enlarged view of area A in example two of the present application;

[0037] Figure 7 It is a structure schematic view of the bending state of the transfer assembly in the present application;

[0038] Figure 8 It is a structure schematic view of the transfer assembly and the wall climbing robot in the present application;

[0039] Explanation of reference signs: 1, bottom plate part; 11, first transfer plate; 111, first lower end face; 12, first slope plate; 121, first lower inclined surface; 122, first bottom contact surface; 13, first bending groove;

[0040] 2, side plate part; 21, second transfer plate; 211, second lower end surface; 22, second slope plate; 221, second lower inclined surface; 222, second bottom contact surface; 23, second bent groove; 24, side guard plate; 25, handle plate;

[0041] 3, hinge;

[0042] 4, handle. DETAILED DESCRIPTION

[0043] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0044] It should be noted that, unless otherwise specified, all technical and scientific terms used in the present application have the same meaning as generally understood by those skilled in the art to which the present application belongs.

[0045] Please refer to Figures 1-8 The present application provides the following technical solutions:

[0046] Embodiment one, refer to Figures 1-2 A magnetic wall climbing robot transfer assembly, comprising a plurality of bottom plate parts 1, the plurality of bottom plate parts 1 are arranged side by side along the width direction, the two ends of the plurality of bottom plate parts 1 in the width direction are symmetrically provided with side plate parts 2, the bottom ends of the plurality of bottom plate parts 1 and the two side plate parts 2 are provided with a plurality of hinges 3, the hinges 3 connect the bottom plate parts 1 and the side plate parts 2, so that the plurality of bottom plate parts 1 and the two side plate parts 2 form a certain curvature, which facilitates the wall climbing robot to climb down from the curved wall surface or tank body, the top ends of the two side plate parts 2 are respectively provided with a handle 4, and the handle 4 is convenient for the operator to hold the device.

[0047] Please refer to Figures 3-5, the bottom plate part 1 includes a first transfer plate 11, the first transfer plate 11 is provided with two groups of first slope plates 12 along the length direction, the two groups of first slope plates 12 are respectively arranged at the two end portions of the first transfer plate 11, and a group of first bending grooves 13 is respectively formed in the two end portions of the first transfer plate 11 along the width direction. The side plate part 2 includes a second transfer plate 21, the second transfer plate 21 is provided with two groups of second slope plates 22 along the length direction of the first transfer plate 11, the two groups of second slope plates 22 are respectively arranged at the two end portions of the second transfer plate 21, the second transfer plate 21 is provided with a side guard plate 24 away from the bottom plate part 1, the second slope plate 22 is provided with a second bending groove 23 away from the side guard plate 24, the side guard plate 24 is arranged perpendicularly to the second transfer plate 21, the side guard plate 24 is provided with a handle plate 25 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 is consistent with the length of the second transfer plate 21, the first slope plate 12 is consistent with the length of the second slope plate 22 and has a consistent inclination angle, the first slope plate 12 and the second slope plate 22 are wrapped with U-shaped rubber pads at the bottom ends, so as to prevent scratching the wall surface 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 bottom surface 122, the first lower inclined surface 121 and the first lower end surface 111 have a first inter-plate included angle a, and the first lower end surface 111 and the first bottom 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 bottom surface 222, the second lower inclined surface 221 and the second lower end surface 211 have a second inter-plate included angle b, and the second lower end surface 211 and the second bottom surface 222 have a second vertical spacing g. The value of the first inter-plate included angle a is equal to the value of the second inter-plate included angle b, and the value of the first vertical spacing f is equal to the value of the second vertical spacing g.

[0048] 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, the two top corners of the first slope plate 12 and the second slope plate 22 gradually approach, the first bending groove 13 and the second bending groove 23 have consistent shapes, 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 part 1 are parallel to the length direction of the first transfer plate 11, and the first bending groove 13 and the second bending groove 23 leave out part of the position, so that the first transfer plate 11 and the second transfer plate 21 can be bent at a large angle, and can be fitted to the curved wall surface or the tank, so that it can be transferred on the plane, and can also be transferred on the curved wall surface or the tank, which is convenient to operate and has high adaptability.

[0049] In use, refer to Figures 7-8, the operator holds two sets of handles 4, and the multiple sets of first slope plates 12 and the two sets of second slope plates 22 above the transfer assembly are attached to the arc-shaped wall or tank body, 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 being placed stably, the operator controls the wall-climbing robot to move towards the transfer assembly. When the rollers of the wall-climbing robot are aligned with the first transfer plate 11 and the second transfer plate 21 of the transfer assembly, and the shell of the wall-climbing robot does not scratch the side guard plate 24, the wall-climbing robot is controlled to enter the transfer assembly. When the rollers of the wall-climbing robot are all on the transfer assembly, the operator can directly lift the transfer assembly away from the working area, or continue to control the wall-climbing robot to move until the wall-climbing robot reaches the ground and then stows the transfer assembly.

[0050] Embodiment two, refer to Figure 6 , the first bending groove 13 and the second bending groove 23 can also be outwardly opened, so that they have more bending angles and can better fit the arc-shaped wall or tank body. At the same time, the outwardly opened first bending groove 13 and the second bending groove 23 can avoid the problem that the two top corners of the first slope plate 12 and the second slope plate 22 are pressed against each other or one top corner presses the other top corner due to bending, so that the wall-climbing robot cannot normally move onto the transfer assembly.

[0051] Embodiment three, a working method of a magnetic wall-climbing robot transfer assembly, using the above-mentioned magnetic wall-climbing robot transfer assembly, comprising the following steps:

[0052] S1, detecting the rollers and chassis of the magnetic wall-climbing robot to obtain magnetic parameters and bottom-touching 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 bottom-touching 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.

[0053] S2, calculating the plate distance d according to the magnetic parameters, the value of d being equal to the value of the first vertical distance f and the value of the second vertical distance g;

[0054] wherein the calculation formula of the plate distance d is:

[0055]

[0056] wherein μ0 is the vacuum permeability, μ r is the relative permeability of iron;

[0057] Assumption: the vacuum permeability μ0=4π×10 -7 (H / m), the magnetic induction intensity B=1 (T), the effective area A of the magnetic pole=0.01 (m 2 ), and the relative permeability of iron μr =1000, magnetic force F=6.27x10 -8 (N), spacer thickness t=0.005 (m);

[0058] Substituting the formula can be obtained d=0.01-0.000005 (m)≈9.995 (mm).

[0059] The most appropriate plate spacing d value is calculated by the above formula, when the wall climbing robot moves to the transfer assembly, the wall climbing robot is attracted by the first transfer plate 11 or the second transfer plate 21, and the distance between the wall climbing robot and the wall is greater than or equal to d, and no longer attracted between the wall surface or the tank, so as to be separated from the surface, realize the transfer function of the wall climbing robot.

[0060] S3, according to the bottom data, the slope angle θ and the bending angle γ are calculated, the value of γ is equal to the value of the first plate angle a and the value of the second plate angle b;

[0061] The calculation formula of the bending angle γ is:

[0062]

[0063] Wherein, the plate spacing d is equal to the length of the first transfer plate (11) or the length of the second transfer plate (21), and the minimum ground clearance h is equal to the wheelbase L, 。

[0064] Assume: the minimum ground clearance h=50 (mm), the wheelbase L=150 (mm);

[0065] Substituting the formula can be obtained θ≈19.47°, γ≈160.53°.

[0066] S4, according to the plate spacing d and the slope angle θ, the length of the inclined side i is calculated;

[0067] The calculation formula of the length of the inclined side i is:

[0068]

[0069] According to the above assumption, substituting the formula can be obtained, i≈30 (mm).

[0070] Through the above formula, the shortest length of the inclined side i of the wall climbing robot can be calculated without scratching the chassis, that is, the length of the shortest first slope plate 12 or second slope plate 22, which avoids the problem that the wall climbing robot cannot directly climb the transfer assembly due to the too high plate spacing d.

[0071] S5, first according to the bottom plate 1 or side plate 2 of the outer contour and the first slope plate 12 or the second slope plate 22 length i of the slope edge cutting sheet metal, then according to the bottom plate 1 or side plate 2 of the shape structure and the first slope plate 12 or the second slope plate 22 bending angle γ bending sheet metal, finally through the hinge 3 connects a plurality of bottom plate 1 and two groups of side plate 2, complete the manufacturing of the transfer assembly.

[0072] In summary, the transfer assembly manufactured by the above method can be used for the magnetic roller type wall climbing robot and the electromagnetic type wall climbing robot, has high adaptability, and the manufacturing cost is not high.

[0073] Obviously, the above described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

Claims

1. A transfer assembly of a magnetic wall-climbing robot, characterized in that: The utility model relates to a kind of magnetic wall-climbing robot, including: Multiple groups of bottom plate parts (1), multiple groups of the bottom plate parts (1) are arranged side by side along the width direction, the bottom plate part (1) includes first transfer plate (11), the first transfer plate (11) is provided with two groups of first slope plate (12) along the length direction, two groups of the first slope plate (12) are respectively arranged in the both ends of first transfer plate (11), the first slope plate (12) is respectively provided with a group of first bending slot (13) in the both ends along the width direction of first transfer plate (11), the first transfer plate (11) has first lower end face (111), the first slope plate (12) has first lower inclined surface (121) and first bottom surface (122), the first lower inclined surface (121) and the first lower end face (111) between first plate interlocking angle a, the first lower end face (111) and the first bottom surface (122) between first vertical spacing f; Two groups of side plate parts (2), two groups of the side plate part (2) are symmetrically arranged in the both ends of the width direction of multiple groups of the bottom plate part (1), the side plate part (2) includes second transfer plate (21), the second transfer plate (21) is provided with two groups of second slope plate (22) along the length direction of first transfer plate (11), two groups of the second slope plate (22) are respectively arranged in the both ends of second transfer plate (21), the second transfer plate (21) is provided with side guard plate (24) away from the side of bottom plate part (1), the second slope plate (22) is provided with second bending slot (23) away from the side of side guard plate (24);And Multiple groups of hinge (3), multiple groups of the hinge (3) are arranged in the bottom end of multiple groups of the bottom plate part (1) and two groups of the side plate part (2).

2. The magnetic wall-climbing robot transfer assembly of claim 1, wherein: The side guard plate (24) is vertically arranged with the second transfer plate (21), and the side guard plate (24) is provided with a handle plate (25) away from the side of the second transfer plate (21), and a handle (4) is mounted on the upper surface of the handle plate (25).

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

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

5. A manufacturing method of a magnetic wall-climbing robot transfer assembly using the magnetic wall-climbing robot transfer assembly according to claim 4, characterized by, The utility model relates to a kind of magnetic wall-climbing robot, including: S1, the magnetic parameter and bottom parameter are obtained by detecting the roller and chassis of magnetic wall-climbing robot; S2, the plate spacing d is calculated according to magnetic parameter, and the value of d is equal to the value of first vertical spacing f and the value of second vertical spacing g; S3, slope angle θ and bending angle γ are calculated according to bottom data, and the value of γ is equal to the value of first plate interlocking angle a and the value of second plate interlocking angle b. S4, calculating the length of the hypotenuse i according to the plate distance d and the slope angle θ; S5, cutting the sheet metal according to the length of the hypotenuse i, and then bending the sheet metal according to the bending angle γ.

6. The method of claim 5, wherein the magnetic wall-climbing robot is a robot having a plurality of magnetic wheels, and the plurality of magnetic wheels are arranged in a circle. 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 of claim 6, wherein the magnetic wall-climbing robot is a robot having a plurality of magnetic wheels, and the plurality of magnetic wheels are arranged in a circle. The bottom-touching parameters in S1 include the wheelbase L between the front and rear wheels 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 of claim 7, wherein the magnetic wall-climbing robot is a robot having a plurality of magnetic wheels, and the plurality of magnetic wheels are arranged in a circle. The calculation formula of the plate distance d in S2 is: ; where μ0is the vacuum permeability, μ r is the relative permeability of the iron.

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

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