Magnetic conductive wall surface detecting and grinding integrated robot

Abstract

The invention discloses a magnetic conductive wall surface detecting and grinding integrated robot which comprises a trolley chassis frame, a first mechanical arm and a second mechanical arm, and the first mechanical arm and the second mechanical arm are each provided with a mechanical arm base connected with the trolley chassis frame. A first joint and a second joint are sequentially connected to the mechanical arm base, the end, away from the first joint, of the second joint is connected with a mechanical arm tail end motor fixing plate, and the mechanical arm tail end motor fixing plate is connected with an actuator through a tail end motor holder. The first joint, the second joint and the actuator can rotate around a fixed shaft. A double-mechanical-arm independent driving framework is adopted, the joint driving motors and the limiting blocks are combined, the two mechanical arms can execute tasks synchronously or in a time-sharing mode, the operation efficiency and the process quality are remarkably improved, and the industrial problem that a traditional single-arm robot cannot give consideration to detection and grinding composite operation is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wall-climbing robots, and particularly relates to a magnetically permeable wall surface detection and polishing integrated robot. BACKGROUND

[0002] In the industrial field, the surface quality detection and maintenance of large magnetically permeable metal components (such as ship steel plates, pressure vessels, bridge steel structures, etc.) are key links to ensure the safe operation of equipment. The traditional manual operation mode has been gradually replaced by automatic wall-climbing robots due to low efficiency, high labor intensity, safety hazards and other reasons. However, the applicant finds that the existing wall-climbing robots mostly adopt a single mechanical arm structure and can only perform a single function (such as detection or polishing). If the "detection-polishing" whole process needs to be completed, the posture needs to be adjusted or the equipment needs to be replaced multiple times, resulting in frequent interruption of work and low efficiency, which is difficult to meet the demand of high-efficiency continuous operation in industrial sites. In addition, in the vertical wall or curved surface operation, the robot needs to overcome the influence of gravity to achieve accurate positioning. At present, it mostly relies on inertial navigation or visual recognition. However, in the industrial environment with strong light reflection and dust diffusion, positioning drift easily occurs. Especially, there is a lack of real-time and high-precision displacement feedback mechanism, which causes the cumulative error of the robot's moving distance to expand with the increase of the operation time, seriously affecting the position consistency of detection and polishing, and even causing missed detection or excessive polishing. The traditional wall-climbing robots mostly adopt electromagnetic adsorption or vacuum negative pressure adsorption. The former has the problem of energy efficiency decay caused by coil heating, and the latter has a very high requirement for the flatness of the wall surface. Both of them are difficult to adapt to rough, inclined or slightly deformed industrial-grade magnetically permeable walls. In addition, although the tracked mobile mechanism has stable adsorption, it has poor turning flexibility and weak obstacle crossing ability, which is difficult to meet the flexible movement demand in complex working conditions. In summary, the current wall-climbing robots have obvious defects in multi-functional collaborative operation ability, positioning accuracy in complex environments, and adaptability of adsorption and mobile mechanism, which restricts the improvement of the automation level of magnetically permeable wall surface detection and polishing. SUMMARY

[0003] The purpose of the present application is to overcome the defects of the prior art and provide a magnetically permeable wall surface detection and polishing integrated robot. The robot adopts a double-mechanical-arm independent driving architecture, combines a high-precision joint driving motor and a limit block design, and gives it a multi-degree-of-freedom motion characteristic. The robot realizes efficient collaboration of detection and polishing functions, and the two mechanical arms can execute tasks synchronously or at different times. The robot can complete the defect detection and surface polishing procedures in parallel at the same work station, and can adapt to complex working conditions through different action sequences, which significantly improves the work efficiency and process quality, and solves the industry problem that the traditional single-arm robot cannot perform detection and polishing collaborative operation.

[0004] The purpose of the present application is realized by the following technical solutions: A magnetic wall surface detection and polishing integrated robot, comprising a trolley chassis frame, a first mechanical arm and a second mechanical arm, the first mechanical arm and the second mechanical arm both have a mechanical arm base connected with the trolley chassis frame, the mechanical arm base is sequentially connected with a first joint and a second joint, the second joint is connected with a mechanical arm end motor fixed plate at an end away from the first joint, the mechanical arm end motor fixed plate is connected with an executor through an end motor holder, a driving motor is arranged in a frame composed of the connection between the mechanical arm base and the first joint, the connection between the first joint and the second joint and the connection between the mechanical arm end motor fixed plate and the end motor holder, the first joint, the second joint and the executor are connected through joint connection limiting blocks to rotate around a fixed shaft.

[0005] In one embodiment, the executor is a D-shaped probe detection device or a polishing device, and the output shaft of the driving motor in the frame composed of the mechanical arm end motor fixed plate and the end motor holder is connected with the D-shaped probe detection device or the polishing device.

[0006] In one embodiment, the upper surface of the trolley chassis frame is provided with a mechanical arm base fixed shaft rotation gear set driving device connected with the mechanical arm base, and the lower surface of the trolley chassis frame is further provided with a plurality of symmetrical permanent magnet wheel gear set driving devices connected with permanent magnet wheels. Through the present embodiment, the rotation angle of the mechanical arm base is controlled by the mechanical arm base fixed shaft rotation gear set driving device, and the permanent magnet wheel is driven to rotate by the permanent magnet wheel gear set driving device.

[0007] In one embodiment, the mechanical arm base fixed shaft rotation gear set driving device comprises a motor fixed side plate arranged on the trolley chassis frame, the motor fixed side plate is provided with a mechanical arm driving motor, the output shaft of the mechanical arm driving motor is connected with a bevel gear set, and the end of the bevel gear set away from the mechanical arm driving motor penetrates through the trolley chassis frame and is connected with the mechanical arm base. Through the present embodiment, the mechanical arm base is driven to rotate synchronously by the mechanical arm driving motor and the bevel gear set to adjust the angle of the executor.

[0008] In one embodiment, the permanent magnet gear wheel set driving device comprises a driving motor mounting plate connected with the trolley chassis frame, a permanent magnet wheel driving motor is arranged on the driving motor mounting plate, a bevel gear set is connected to the output end of the permanent magnet wheel driving motor, and the end of the bevel gear set away from the permanent magnet wheel driving motor penetrates through the trolley chassis frame and is connected with the permanent magnet wheel.

[0009] In one embodiment, the bevel gear set comprises a first bevel gear and a second bevel gear meshing with the first bevel gear, and the end of the second bevel gear away from the first bevel gear penetrates through the trolley chassis frame and is connected with the mechanical arm base or the permanent magnet wheel.

[0010] In one embodiment, the middle part of the lower surface of the trolley chassis frame is further provided with a mileage wheel distance measuring device. Through the embodiment, the mileage wheel distance measuring device is used to measure the moving distance of the robot.

[0011] In one embodiment, the mileage wheel distance measuring device comprises a mileage wheel and a mileage wheel fixing base connected with the trolley chassis frame, the mileage wheel fixing base is connected with a mileage wheel support frame, the mileage wheel penetrates through the central shaft at the end of the mileage wheel support frame and is fixed in the mileage wheel support frame. Through the embodiment, that is, through the gear transmission and the mileage wheel support frame, real-time and high-precision measurement of the moving distance of the robot is realized, accurate position feedback is provided for the robot, the continuity and consistency of detection and polishing operations are ensured, and the positioning accuracy and task execution reliability of the robot in a complex environment are improved.

[0012] In one embodiment, a trolley circuit control system and a magnetic suspension spraying device are further included, the trolley circuit control system and the magnetic suspension spraying device are arranged at two ends of the trolley chassis frame respectively, and the driving motors are electrically connected with the trolley circuit control system.

[0013] The present application has the following advantages: (1) The double mechanical arm independent driving architecture is adopted, the D-shaped probe detection device and the polishing device are respectively carried at the ends of the mechanical arms, high-precision joint driving motors and limit block designs are combined, multi-degree-of-freedom motion characteristics are given, efficient cooperation of detection and polishing functions is realized, the two mechanical arms can execute tasks synchronously or at different times, defect detection and surface polishing processes can be completed in parallel at the same station, and complex working condition requirements can be adapted through differentiated action sequences, the working efficiency and process quality are significantly improved, and the industry problem that a traditional single-arm robot cannot simultaneously perform detection and polishing operations is solved.

[0014] (2) The mileage wheel distance measuring device set on the chassis frame of the car realizes real-time and high-precision measurement of the robot's movement distance through precision gear transmission and support frame structure design, provides accurate position feedback for the robot, ensures the continuity and consistency of inspection and grinding operations, and further improves the robot's positioning accuracy and task execution reliability in complex environments.

[0015] (3) The permanent magnet wheel on the chassis frame of the car can act directly on the magnetic wall surface without the need for additional vacuum or electromagnetic auxiliary equipment, which reduces the complexity and energy consumption of the system. At the same time, the wheel structure gives the robot excellent obstacle crossing performance and turning flexibility, making it easy for it to walk stably on rough, inclined or slightly deformed walls. Attached Figure Description

[0016] The invention will now be described in more detail with reference to embodiments and the accompanying drawings. Figure 1 A schematic diagram (perspective view) of the robot structure of the present invention is shown; Figure 2 A schematic diagram (front view) of the robot structure of the present invention is shown; Figure 3 A schematic diagram of the robot structure of the present invention (left view) is shown; Figure 4 A schematic diagram (top view) of the robot structure of the present invention is shown. Figure 5 This shows a schematic diagram of the structure of the lower surface of the vehicle chassis frame of the present invention; Figure 6 This shows a schematic diagram of the structure of the upper surface of the vehicle chassis frame of the present invention; In the accompanying drawings, the same parts use the same reference numerals. The drawings are not to scale.

[0017] Figure label: 1-D-type probe detection device; 2-Joint connection limit block; 3-Drive motor; 4-Mechanical arm end motor fixing plate; 5-First joint; 6-Cart circuit control system; 7-Cart chassis frame; 8-Permanent magnet wheel; 9-Mechanical arm base; 10-Mileage wheel support frame; 11-Mileage wheel; 12-Magnetic suspension spraying device; 13-Grinding device; 14-End motor retainer; 15-First bevel gear; 16-Second bevel gear; 17-Motor fixing side plate; 18-Drive motor mounting plate; 19-Mileage wheel fixing base; 20-Second joint; 21-Second joint and actuator connection; 22-First joint and second joint connection; 23-Mechanical arm base and first joint connection; 24-Mileage wheel ranging device; 25-Mechanical arm base fixed axis rotation gear set drive device; 26-Permanent magnet wheel gear set drive device. Detailed Implementation

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] This invention provides an integrated robot for magnetically conductive wall surface inspection and polishing, such as... Figures 1 to 6 As shown, the device includes a car chassis frame 7, a first robotic arm, and a second robotic arm. Both the first and second robotic arms have robotic arm bases 9 connected to the car chassis frame 7. A first joint 5 and a second joint 20 are sequentially connected to the robotic arm base 9. The end of the second joint 20 away from the first joint 5 is connected to a robotic arm end motor fixing plate 4. The robotic arm end motor fixing plate 4 is connected to the actuator through an end motor retainer 14. A drive motor 3 is provided in the frame formed by the connection between the robotic arm base 9 and the first joint 5, the connection between the first joint 5 and the second joint 20, and the frame formed by the robotic arm end motor fixing plate 4 and the end motor retainer 14. The robotic arm base 9 and the first joint 5, the first joint 5 and the second joint 20, and the second joint 20 and the robotic arm end motor fixing plate 4 are all connected by joint connection limiting blocks 2 to allow the first joint 5, the second joint 20, and the actuator to rotate around a fixed axis. Specifically, such as Figure 1 As shown, the actuator is a D-type probe detection device 1 or a grinding device 13. The output shaft of the drive motor 3 located in the frame composed of the end motor fixing plate 4 and the end motor retainer 14 of the robotic arm is connected to the D-type probe detection device 1 or the grinding device 13. It should be noted that in this embodiment, the robot adopts a dual-arm independent drive architecture, with a D-type probe detection device 1 and a grinding device 13 respectively mounted at the end of each arm. Figure 4 and Figure 6As shown, a drive motor 3 is provided at the connection 23 between the robotic arm base and the first joint, and a joint connection limiting block 2 is provided to connect the robotic arm base 9 and the first joint 5, allowing the first joint 5 to rotate around a fixed axis. A drive motor 3 is provided at the connection 22 between the first joint and the second joint, and a joint connection limiting block 2 is provided to connect the first joint 5 and the second joint 20, allowing the second joint 20 to rotate around a fixed axis. A robotic arm end motor fixing plate 4 is provided at the connection 21 between the second joint and the actuator, connected by the joint connection limiting block 2. The robotic arm end motor fixing plate 4 is connected to the end motor retainer 14 by bolts, and a frame formed by the two is provided with... The drive motor 3, whose output shaft is connected to the D-type probe detection device 1 or the grinding device 13, allows the actuator to rotate around a fixed axis. This dual-arm independent drive structure, combined with the high-precision joint drive motor 3 and the joint connection limit block 2, gives the robot multi-degree-of-freedom motion characteristics, realizing efficient collaboration between detection and grinding functions. The two robotic arms can perform tasks synchronously or in shifts, enabling them to complete defect detection and surface grinding processes in parallel at the same workstation. They can also adapt to complex working conditions through differentiated action sequences, significantly improving work efficiency and process quality. This solves the industry problem that traditional single-arm robots cannot handle both detection and grinding operations simultaneously.

[0020] In one embodiment, such as Figure 5 As shown, the upper surface of the chassis frame 7 of the vehicle is provided with a mechanical arm base fixed-axis rotation gear set drive device 25 connected to the mechanical arm base 9. The lower surface of the chassis frame 7 of the vehicle is also provided with multiple symmetrical permanent magnet wheel gear set drive devices 26. The permanent magnet wheel gear set drive devices 26 are connected to the permanent magnet wheel 8. That is, the rotation angle of the mechanical arm base 9 is controlled by the mechanical arm base fixed-axis rotation gear set drive device 25, and the permanent magnet wheel 8 is driven to rotate by the permanent magnet wheel gear set drive device 26. The permanent magnet wheel 8 can directly act on the magnetic wall surface without the need for additional vacuum or electromagnetic auxiliary equipment, which reduces the system complexity and energy consumption. At the same time, the wheel structure gives the robot excellent obstacle crossing performance and turning flexibility, making it easy for it to walk stably on rough, inclined or slightly deformed wall surfaces. In one embodiment, such as Figure 5 As shown, the fixed-axis rotation gear set drive device 25 of the robotic arm base includes a motor fixing side plate 17 set on the trolley chassis frame 7. The robotic arm drive motor 3 is set on the motor fixing side plate 17. The output shaft of the robotic arm drive motor 3 is connected to a bevel gear set. The end of the bevel gear set away from the robotic arm drive motor 3 passes through the trolley chassis frame 7 and is connected to the robotic arm base 9. In one embodiment, such as Figure 5As shown, the permanent magnet gear set drive device 26 includes a drive motor mounting plate 18 connected to the trolley chassis frame 7. A permanent magnet drive motor is provided on the drive motor mounting plate 18. A bevel gear set is connected to the output end of the permanent magnet drive motor. The end of the bevel gear set away from the permanent magnet drive motor passes through the trolley chassis frame 7 and is connected to the permanent magnet 8. In one embodiment, such as Figure 2 and Figure 3 As shown, the bevel gear sets in the fixed-axis rotation gear set drive device 25 of the robotic arm base and the permanent magnet gear set drive device 26 both include a first bevel gear 15 and a second bevel gear 16 meshing with the first bevel gear 15. The end of the second bevel gear 16 away from the first bevel gear 15 passes through the trolley chassis frame 7 and is connected to the robotic arm base 9 or the permanent magnet wheel 8. In one embodiment, such as Figure 2 As shown, a mileage wheel distance measuring device 24 is also provided in the middle of the lower surface of the chassis frame 7 of the car; Specifically, such as Figure 2 and Figure 5 As shown, the odometer wheel ranging device 24 includes an odometer wheel 11 and an odometer wheel fixing base 19 connected to the chassis frame 7 of the vehicle. The odometer wheel fixing base 19 is connected to an odometer wheel support frame 10. The odometer wheel 11 passes through the central axis at the end of the odometer wheel support frame 10 and is fixed in the odometer wheel support frame 10. It should be noted that, in this embodiment, the mileage wheel ranging device 24, through gear transmission and support frame structure design, realizes real-time and high-precision measurement of the robot's movement distance, provides accurate position feedback for the robot, ensures the continuity and consistency of inspection and grinding operations, and further improves the robot's positioning accuracy and task execution reliability in complex environments.

[0021] In one embodiment, the integrated robot for detecting and polishing magnetically conductive walls also includes a trolley circuit control system 6 and a magnetic suspension spraying device 12. The trolley circuit control system 6 and the magnetic suspension spraying device 12 are respectively set at both ends of the trolley chassis frame 7. All drive motors in the robot are electrically connected to the trolley circuit control system 6. The magnetic suspension spraying device 12 sprays magnetic suspension liquid onto the wall surface after it has been polished by the polishing device 13. The trolley circuit control system 6 is used to control all drive motors, on the one hand controlling the precise movement of the robot, and on the other hand causing the two robotic arms to rotate around the axis to complete the accurate contact between the D-type detection device and the polishing device 13 and the target point of the magnetically conductive wall surface. In the description of this invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A robot integrating magnetically conductive wall surface inspection and polishing, characterized in that, The device includes a car chassis frame, a first robotic arm, and a second robotic arm. Both the first and second robotic arms have robotic arm bases connected to the car chassis frame. A first joint and a second joint are sequentially connected to the robotic arm base. The end of the second joint away from the first joint is connected to a robotic arm end motor fixing plate. The robotic arm end motor fixing plate is connected to an actuator through an end motor retainer. Drive motors are provided at the connection points between the robotic arm base and the first joint, the connection points between the first joint and the second joint, and the frame formed by the robotic arm end motor fixing plate and the end motor retainer. The robotic arm base and the first joint, the first joint and the second joint, and the second joint and the robotic arm end motor fixing plate are all connected by joint connecting limit blocks to allow the first joint, the second joint, and the actuator to rotate around a fixed axis.

2. The integrated robot for magnetically conductive wall surface inspection and polishing according to claim 1, characterized in that, The actuator is a D-type probe detection device or a grinding device. The output shaft of the drive motor located in the frame formed by the end motor fixing plate of the robotic arm and the end motor retainer is connected to the D-type probe detection device or the grinding device.

3. The integrated robot for magnetically conductive wall surface inspection and polishing according to claim 1, characterized in that, The upper surface of the trolley chassis frame is provided with a mechanical arm base fixed-axis rotation gear set drive device connected to the mechanical arm base. The lower surface of the trolley chassis frame is also provided with multiple symmetrical permanent magnet gear set drive devices, and the permanent magnet gear set drive devices are connected to permanent magnets.

4. The integrated robot for magnetically conductive wall surface inspection and polishing according to claim 3, characterized in that, The fixed-axis rotation gear drive device of the robotic arm base includes a motor fixing side plate set on the chassis frame of the trolley. A robotic arm drive motor is set on the motor fixing side plate. The output shaft of the robotic arm drive motor is connected to a bevel gear set. One end of the bevel gear set away from the robotic arm drive motor passes through the chassis frame of the trolley and is connected to the robotic arm base.

5. The integrated robot for magnetically conductive wall surface inspection and polishing according to claim 4, characterized in that, The permanent magnet gear set drive device includes a drive motor mounting plate connected to the chassis frame of the vehicle. A permanent magnet drive motor is provided on the drive motor mounting plate. A bevel gear set is connected to the output end of the permanent magnet drive motor. The end of the bevel gear set away from the permanent magnet drive motor passes through the chassis frame of the vehicle and is connected to the permanent magnet.

6. The integrated robot for magnetically conductive wall surface inspection and polishing according to claim 5, characterized in that, Each bevel gear set includes a first bevel gear and a second bevel gear meshing with the first bevel gear. The end of the second bevel gear away from the first bevel gear passes through the chassis frame of the trolley and is connected to the robotic arm base or the permanent magnet wheel.

7. The integrated robot for magnetically conductive wall surface inspection and polishing according to claim 1, characterized in that, A mileage wheel distance measuring device is also provided in the middle of the lower surface of the vehicle chassis frame.

8. The integrated robot for magnetically conductive wall surface inspection and polishing according to claim 7, characterized in that, The odometer wheel ranging device includes an odometer wheel and an odometer wheel fixing base connected to the chassis frame of the vehicle. The odometer wheel fixing base is connected to an odometer wheel support frame. The odometer wheel passes through the central axis at the end of the odometer wheel support frame and is fixed in the odometer wheel support frame.

9. The integrated robot for magnetically conductive wall surface inspection and polishing according to claim 1, characterized in that, It also includes a vehicle circuit control system and a magnetic suspension spraying device, which are respectively located at both ends of the vehicle chassis frame, and the drive motors are electrically connected to the vehicle circuit control system.

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