Wall-climbing robot frame structure and wall-climbing robot

Abstract

The utility model discloses a wall-climbing robot frame structure and a wall-climbing robot, the wall-climbing robot frame structure comprises a main body frame, mounting covers located at two sides of the main body frame and a hinge structure, the hinge structure comprises a hinge seat arranged on the mounting covers and a hinge head arranged on the main body frame, the end face, stretching into the hinge seat, of the hinge head is a first limiting face, the side, close to the first limiting face, of the hinge seat is a second limiting face, and a first limiting block and a second limiting block which protrude outwards are arranged on the two sides of the first limiting face. And when the first limiting block or the second limiting block abuts against the second limiting surface, the maximum rotation angle of the hinge joint is reached, and the problem that when the wall-climbing robot walks on the curved surface, the distance between the magnetic part and the curved surface changes, consequently, adsorption force is insufficient, and falling occurs can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of hull surface cleaning, and more specifically, to a wall-climbing robot frame structure and a wall-climbing robot. Background Art

[0002] At present, the shipbuilding industry has begun to use permanent magnet adsorption wall-climbing robots for hull surface cleaning or rust removal operations. This robot uses permanent magnets to provide adsorption force to ensure that the robot is adsorbed on the hull surface and does not fall off. The adsorption force decreases sharply as the gap between the permanent magnet and the hull surface increases. The adsorption walking device of the wall-climbing robot used in the mainstream industry is rigidly connected to the robot body. For example, the rust removal robot disclosed in Chinese patent CN215748488U is driven by a pneumatic motor and reduces the risk of the robot falling by reducing weight; CN215748488U discloses a vacuum recovery wall-climbing rust removal robot, which enhances the adsorption force by setting side permanent magnet blocks and tail permanent magnet blocks. However, when the surface of the working object is a curved surface, the robot is prone to fall due to the increase in the gap between the permanent magnet and the hull surface, resulting in a sharp decrease in adsorption force, causing serious production safety accidents. Therefore, it is necessary to propose a cleaning or rust removal robot that can adapt to curved steel structures such as hulls and oil storage tanks. Utility Model Content

[0003] In view of the above defects or improvement needs of the prior art, the utility model provides a wall-climbing robot frame structure, which can solve the problem that when the wall-climbing robot walks on a curved surface, the distance between the magnetic part and the curved surface changes, resulting in insufficient adsorption force and falling.

[0004] In order to achieve the above-mentioned object, according to one aspect of the utility model, a wall-climbing robot frame structure is provided, comprising a frame structure, wherein the frame structure comprises a main frame and mounting covers located on both sides of the main frame, wherein the main frame and the mounting covers are hingedly connected by a hinge structure;

[0005] The hinge structure includes a hinge seat arranged on the mounting cover, a hinge head arranged on the main frame, and a pin shaft arranged through the hinge head and the hinge seat;

[0006] The end face of the hinge head extending into the hinge seat is a first limit face, the end face of the hinge seat close to the first limit face is a second limit face, and first limit blocks and second limit blocks protruding outward are arranged on both sides of the first limit face. When the first limit block or the second limit block abuts against the second limit face, the maximum rotation angle of the hinge head is reached.

[0007] When in use, the mounting cover and the main frame can rotate relative to each other according to the shape of the curved surface, and the distance between the mounting cover and the curved surface can be adjusted to stabilize the gap between the magnetic component on the wall-climbing robot and the surface of the work object, preventing the wall-climbing robot from falling due to weakening of the adsorption force. By limiting the rotation angle on the hinge structure, other components of the wall-climbing robot can be prevented from colliding.

[0008] Furthermore, the mounting cover includes a protective structure, and a first bracket and a third bracket arranged at the edge of the protective structure. The second bracket and the hinge seat are fixedly arranged on the outer side and the inner side of the protective structure respectively. The protective structure is used to prevent debris from entering. The first bracket and the third bracket can strengthen the structural strength of the entire mounting cover.

[0009] Furthermore, the protective structure includes a wheel cover and wheel cover side panels fixed on both sides of the wheel cover, and the wheel cover and the side panels provide protection for the driving wheel set from multiple directions.

[0010] Furthermore, the hinged seat and the second bracket are fixedly connected to the wheel cover side panels located on the inner and outer sides of the wheel cover respectively to enhance the overall structural strength of the mounting cover.

[0011] Furthermore, anti-drop structures are provided at both ends of the pin shaft to prevent the pin shaft from falling off from the hinge structure when the mounting cover and the main frame rotate relative to each other during operation.

[0012] Furthermore, the first limit block and the second limit block can be detachably fixed on the first limit surface. By adjusting the height of the two limit blocks, the maximum rotation angle of the hinged structure can be adjusted. The use of a detachable structure can reduce the maintenance cost after wear and tear on the limit surface of the hinged structure, and it is faster to directly replace the limit blocks.

[0013] According to another aspect of the utility model, there is provided a wall-climbing robot, comprising the main frame, a driving wheel group, a magnetic component and a functional module, wherein the driving wheel group is fixed on the mounting cover, the functional module is fixed on the main frame, and the magnetic component is arranged on the driving wheel group.

[0014] When working, the driving wheel group on the wall-climbing robot follows the hinged structure in the frame structure to adapt to the curved surface it is traveling on. At the same time, the magnetic component follows the driving wheel group to rotate relative to the main frame, keeping the gap between the magnetic component and the curved surface stable, preventing the wall-climbing robot from falling due to excessive fluctuations in the magnetic attraction force.

[0015] Furthermore, the magnetic component is fixed to a side of the driving wheel assembly close to the surface of the working object, reducing the distance between the magnetic component and the working object to enhance the magnetic adsorption effect.

[0016] Furthermore, the functional module is a negative pressure adsorption component or a cleaning component to realize different types of operations of the wall-climbing robot.

[0017] Furthermore, the magnetic component is a permanent magnet or an electromagnet.

[0018] In general, the above technical solutions conceived by the utility model can achieve the following beneficial effects compared with the prior art:

[0019] (1) The utility model provides a wall-climbing robot frame structure with an articulated structure, so that when the wall-climbing robot walks on a curved surface, the driving wheel group can rotate relative to the main frame according to the changes in the curved surface, thereby ensuring that the distance between the magnetic component and the curved surface is relatively stable, providing stable adsorption force for operation, and reducing the risk of the wall-climbing robot falling.

[0020] (2) The utility model provides a wall-climbing robot frame structure that limits the rotation amplitude of the main frame part and the driving wheel group part of the wall-climbing robot by adjusting the protruding distance of the limit block, thereby limiting the clockwise and counterclockwise rotation angles of the driving wheel group relative to the main frame, thereby preventing the driving wheel group from swinging too much and causing collision and damage to other structures of the wall-climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the assembly of the wall-climbing robot and the frame structure;

[0022] Figure 2 It is a front view of the installation cover and the hinge structure in the first embodiment;

[0023] Figure 3 It is a structural schematic diagram of embodiment 1;

[0024] Figure 4 for Figure 2 AA section view.

[0025] In all the drawings, the same figure marks represent the same technical features, specifically: 1. Pin; 2. Pin shaft; 3. Hinge head; 4. Hinge seat; 5. Mounting cover; 51. First bracket; 52. Wheel cover side panel; 53. Wheel cover; 54. Second bracket; 55. Third bracket; 6. Main frame; 7. Driving wheel set; 8. First limit surface; 81. First limit block; 82. Second limit block; 9. Second limit surface; 10. Magnetic assembly. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and are not used to limit the utility model. In addition, the technical features involved in each embodiment of the utility model described below can be combined with each other as long as they do not conflict with each other.

[0027] like Figure 1-Figure 4 As shown, the frame structure of the wall-climbing robot includes a main frame 6 located in the center, a mounting cover 5 located on both sides of the main frame 6, and a hinged structure, wherein the main frame 6 is used to install functional modules, and the mounting cover 5 is used to set the drive wheel group 7 and the magnetic component 10. It should be noted that the travel direction of the drive wheel group 7 is defined as "front" and "back", the side of the drive wheel group 7 close to the main frame 6 is the "inside", and the other side is the "outside". The above-mentioned functional modules include negative pressure adsorption components, cleaning components, etc. according to different working objects, and the working objects include but are not limited to curved steel structures such as hulls, oil storage tanks, and wind power structures. The above-mentioned drive wheel group 7 includes driving forms such as wheelsets and tracks, and the above-mentioned magnetic component 10 includes permanent magnets, electromagnets, etc. for increasing the pressure between the drive wheel group 7 and the traveling surface. The hinged structure is used to connect the main frame 6 and the mounting cover 5, so that when the wall-climbing robot walks on a curved surface, the main frame 6, the driving wheel group 7 and the mounting cover 5 rotate relative to each other to form a certain angle to adapt to the changes in the curved surface. This relative rotation effect is caused by the adsorption force of the magnetic component 10 on the curved steel structure, which makes the driving wheel group 7 and the mounting cover 5 tend to be close to the curved steel structure. There is no need to specially set up a driving structure. The mounting cover 5 and the driving wheel group 7 on both sides of the main frame 6 can be adaptively adjusted according to the changing trend of the curved surface. The mounting cover 5 and the main frame 6 are connected by a hinged structure to ensure that the gap between the magnetic component 10 and the surface of the hull is stable, provide stable adsorption force for the operation of the wall-climbing robot, and reduce the risk of the wall-climbing robot falling.

[0028] Furthermore, if Figure 1-Figure 4 As shown, the hinge structure includes a pin 2, a hinge head 3, and a hinge seat 4. The mounting cover 5 is arranged on the driving wheel set 7, the hinge seat 4 is arranged on the mounting cover 5, the hinge head 3 is arranged on the main frame 6, the pin 2 passes through the through holes on the hinge head 3 and the hinge seat 4 to form a hinge structure, and a latch 1 is arranged at the end of the pin 2 to prevent the pin 2 from coming out of the through hole. The latch 1 can be replaced by a nut or other structure for limiting and preventing coming out. Furthermore, the end face of the hinge head 3 extending into the hinge seat 4 is the first limiting face 8, and the end face of the hinge seat 4 close to the first limiting face 8 is the second limiting face 9. When the hinge head 3 rotates clockwise or counterclockwise around the pin 2, after reaching the maximum rotation angle, the first limiting face 8 contacts the second limiting face 9, and the rotation is restricted, so as to avoid the driving wheel set 7 from swinging too much and causing the structure to collide and be damaged.

[0029] Furthermore, if Figure 4 As shown, the first limiting surface 8 is an arc surface, and the first limiting surface 8 includes a first limiting block 81 and a second limiting block 82 arranged on the upper and lower sides of the arc surface in the figure. The above two limiting blocks are structures protruding outward on both sides of the arc surface, which can be an integrally formed structure with the hinge joint 3, or the above two limiting blocks are set as a detachable structure by bolt fixing, and the maximum rotation angle of the hinge structure can be controlled according to the curvature of the surface of the work object. Specifically, increasing the protruding distance of the two limiting blocks can limit the rotation angle to a smaller amplitude. When the hinge joint 3 rotates clockwise according to the perspective of the figure, the second limiting block 82 contacts the first limiting surface 9 to limit the maximum angle of clockwise rotation; when the hinge joint 3 rotates counterclockwise according to the perspective of the figure, the first limiting block 81 contacts the first limiting surface 9 to limit the maximum angle of counterclockwise rotation. By setting the protruding distance of the first limiting block 81 and the second limiting block 82, the counterclockwise and clockwise maximum rotation angles of the hinge joint 3 can be adjusted respectively.

[0030] Furthermore, if Figure 1-Figure 3 As shown, the mounting cover 5 includes a first bracket 51, a wheel cover side plate 52, a wheel cover 53, a second bracket 54, and a third bracket 55, wherein the wheel cover 53 is arranged above the driving wheel set 7 along the driving wheel edge, and two wheel cover side plates 52 are arranged and fixed on both sides of the wheel cover 53, respectively. The wheel cover 53 and the wheel cover side plates 52 form a protective structure covering the driving wheel set 7, and the wheel cover 53 can be set as an arc plate structure, which is more beautiful. Further, the first bracket 51 and the third bracket 55 are arranged at the edge of the protective structure, respectively located at the front and rear ends of the driving wheel set 7, and the first bracket 51 and the third bracket 55 are "U"-shaped opening structures, which are used to enhance the strength and rigidity of the protective structure. The hinge seat 4 is fixed at the ends of the first bracket 51 and the third bracket 55 located on the inner side of the driving wheel set 7, and the second bracket 54 is fixed at the ends of the first bracket 51 and the third bracket 55 located on the outer side of the driving wheel set 7, and the second bracket 54 is used to fix the driving wheel set 7. Preferably, the magnetic component 10 is fixed to the side of the driving wheel group 7 close to the surface of the working object to shorten the distance between the two and enhance the strength of the magnetic force.

[0031] Furthermore, the articulated seat 4 is fixedly connected to the wheel cover side plate 52 located on the inner side of the driving wheel set 7 , and the second bracket 54 is fixedly connected to the wheel cover side plate 52 located on the outer side of the driving wheel set 7 .

[0032] The working process of the wall-climbing robot is as follows: the driving wheel group 7 is attached to the surface of the working object, the magnetic component 10 provides adsorption force, the protruding distance of the first limit block 81 and the second limit block 82 is adjusted, or whether the two limit blocks need to be replaced is determined according to the wear condition of the two limit blocks, the functional module is connected to the power source, and the work is started and started. The driving wheel group 7 drives the entire wall-climbing robot to move. When the robot moves to the curved surface, the magnetic component 10, under the action of the adsorption force, makes the mounting cover 5 and the driving wheel group 7 rotate adaptively, so that the magnetic component 10 maintains a certain gap with the curved surface, so that the wall-climbing robot can move stably.

[0033] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wall-climbing robot frame structure, comprising a frame structure, wherein the frame structure comprises a main frame (6) and mounting covers (5) located on both sides of the main frame (6), characterized in that: The main frame (6) and the mounting cover (5) are hingedly connected via a hinge structure; The hinge structure comprises a hinge seat (4) arranged on the mounting cover (5), a hinge head (3) arranged on the main frame (6), and a pin shaft (2) arranged through the hinge head (3) and the hinge seat (4); The end surface of the hinged head (3) extending into the hinged seat (4) is a first limiting surface (8), and the end surface of the hinged seat (4) close to the first limiting surface (8) is a second limiting surface (9). A first limiting block (81) and a second limiting block (82) protruding outward are arranged on both sides of the first limiting surface (8). When the first limiting block (81) or the second limiting block (82) abuts against the second limiting surface (9), the maximum rotation angle of the hinged head (3) is reached.

2. The wall-climbing robot frame structure according to claim 1, characterized in that: The mounting cover (5) comprises a protective structure, and a first bracket (51) and a third bracket (55) arranged at the edge of the protective structure, and a second bracket (54) and the hinge seat (4) are fixedly arranged on the outer side and the inner side of the protective structure respectively.

3. The wall-climbing robot frame structure according to claim 2, characterized in that: The protective structure comprises a wheel cover (53) and wheel cover side plates (52) fixed on both sides of the wheel cover (53).

4. The wall-climbing robot frame structure according to claim 3, characterized in that: The hinge seat (4) and the second bracket (54) are respectively fixedly connected to the wheel cover side panels (52) located on the inner and outer sides of the wheel cover (53).

5. The wall-climbing robot frame structure according to any one of claims 1 to 4, characterized in that: Anti-slip structures are provided at both ends of the pin shaft (2).

6. The wall-climbing robot frame structure according to any one of claims 1 to 4, characterized in that: The first limiting block (81) and the second limiting block (82) are detachably fixed on the first limiting surface (8).

7. A wall-climbing robot, comprising the wall-climbing robot frame structure according to any one of claims 1 to 6, characterized in that: It also comprises a driving wheel group (7), a magnetic component (10) and a functional module, wherein the driving wheel group (7) is fixed on the mounting cover (5), the functional module is fixed on the main frame (6), and the magnetic component (10) is arranged on the driving wheel group (7).

8. The wall-climbing robot according to claim 7, characterized in that: The magnetic component (10) is fixed to a side of the driving wheel group (7) close to the surface of the working object.

9. The wall-climbing robot according to claim 7, characterized in that: The functional module is a negative pressure adsorption component or a cleaning component.

10. The wall-climbing robot according to claim 7, characterized in that: The magnetic component (10) is a permanent magnet or an electromagnet.

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