Multifunctional loading double-sliding-table mounting mechanism suitable for wall-climbing robot

Abstract

The utility model relates to a multifunctional loading double slipway installation mechanism suitable for a wall-climbing robot, which comprises a first slipway module, a first servo motor, a second slipway module and a second servo motor, the first servo motor is installed on the first slipway module and drives the first slipway module, and the second slipway module is installed on the second slipway module. The second servo motor is installed on the second sliding table module and drives the second sliding table module, the second sliding table module is fixed to a first sliding base of the first sliding table module, the first sliding table module is perpendicular to the second sliding table module, and the first sliding table module is fixed to a fixing support of the wall-climbing robot. An operation function mechanism is fixed on a second sliding seat of the second sliding table module; the first servo motor and the second servo motor are in communication connection with a control module of the wall-climbing robot. According to the wall-climbing robot, the freedom degree of the wall-climbing robot on the X axis, the Y axis and the Z axis can be met, the spatial position requirements of different functional components are integrated on the robot body, and the robot is suitable for more operation contents.

Description

Technical Field

[0001] The utility model relates to the technical field of wall-climbing robots, in particular to a multifunctional loading double-slide installation mechanism suitable for wall-climbing robots. Background Art

[0002] Existing ships, large storage tanks, wind power towers and other flat and curved metal surfaces need to be polished, sandblasted, cleaned, painted and other work. Due to the difficulty and high risk of manual work, wall climbing robots are now used to replace manual work. Some existing wall climbing robots can only be fixed with one functional component. Therefore, to perform one type of work, a wall climbing robot with one function must be equipped, and the purchase of equipment is very expensive. Another part of the wall climbing robot is equipped with a slide, and the functional mechanism required for high-altitude work is installed on the slide. Although a single slide can be replaced with different functional machines, it seems to achieve multiple uses of one machine, but in fact, since the single slide can only cooperate with the machine to drive forward, backward, left and right, it cannot be controlled in the vertical direction. However, the grinding depth, the distance of painting, etc. are not the same. Therefore, the use of a single slide to switch the functional mechanism, its operation effect cannot meet the requirements. In order to realize the control of the functional mechanism in the vertical direction, the existing practice is mostly to add an axis to the functional mechanism to realize the controllable and adjustable spacing between the functional mechanism and the surface of the object, which is bound to complicate the design of each functional mechanism and is not a good solution. Utility Model Content

[0003] In order to solve the above problems, the purpose of the utility model is to provide a multifunctional loading double slide installation mechanism suitable for a wall-climbing robot, which can meet the freedom of the wall-climbing robot in the X, Y, and Z axes, integrate the spatial position requirements of different functional components on the robot body, and adapt to more work content.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A multifunctional loading double slide installation mechanism suitable for a wall-climbing robot, comprising a first slide module, a first servo motor, a second slide module and a second servo motor, wherein the first servo motor is installed on the first slide module, the first servo motor drives the first slide module, the second servo motor is installed on the second slide module, the second servo motor drives the second slide module, the second slide module is fixed on the first slide seat of the first slide module and the first slide module and the second slide module are perpendicular to each other, the first slide module is fixed on the fixed bracket of the wall-climbing robot, and the working function mechanism is fixed on the second slide seat of the second slide module; the first servo motor and the second servo motor are connected to the communication of the control module of the wall-climbing robot.

[0006] More preferably, the double slide mounting mechanism also includes two first photoelectric sensors and two second photoelectric sensors, the two first photoelectric sensors are fixed to the guide rail side walls of the first slide module, and the fixed positions of the two first photoelectric sensors correspond to the starting position and the ending position of the first slide respectively, the two second photoelectric sensors are fixed to the guide rail side walls of the second slide module, and the fixed positions of the two second photoelectric sensors correspond to the starting position and the ending position of the second slide respectively, and the two first photoelectric sensors and the two second photoelectric sensors are both communicatively connected to the control module of the wall-climbing robot.

[0007] More preferably, a connecting plate is fixed on the first slide seat, and the second slide module is fixed on the connecting plate.

[0008] More preferably, the first slide module and the second slide module are fully sealed screw modules.

[0009] The utility model has the following beneficial effects:

[0010] 1. The utility model adopts a double-slide cross-shaped arrangement, which cooperates with the walking mechanism of the wall-climbing robot to meet the degrees of freedom of the wall-climbing robot in the X, Y, and Z axes, and integrates the spatial position requirements of different working functional mechanisms on the wall-climbing robot. It can adapt to more working contents. Only by replacing the working functional mechanism, the function switching can be realized and it is suitable for the working requirements of planes, small curvature planes, and large curvature planes.

[0011] 2. The utility model sets a photoelectric sensor on the slide module to improve the positioning accuracy and avoid jamming caused by overtravel.

[0012] 3. The double slide mechanism of the utility model has a compact structure, is easy to install, has high stability and high load capacity.

[0013] 4. The utility model adopts a fully sealed screw module, which is waterproof and dustproof, can adapt to the working environment of grinding, spraying and cleaning with dust and water spray, has a long service life, and is safe and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 It is the front view of the utility model;

[0016] Figure 3 It is a top view of the utility model;

[0017] Figure 4 This is a usage state diagram of the utility model.

[0018] Description of reference numerals:

[0019] 1. First slide module; 11. First slide seat; 2. First servo motor; 3. Second slide module; 31. Second slide seat; 4. Second servo motor; 5. Wall-climbing robot; 51. Fixed bracket; 6. Operation function mechanism; 7. First photoelectric sensor; 8. Second photoelectric sensor; 9. Connecting plate. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0021] See also Figures 1 to 4 A multifunctional loading double slide installation mechanism suitable for a wall-climbing robot includes a first slide module 1, a first servo motor 2, a second slide module 3 and a second servo motor 4, wherein the first servo motor 2 is installed on the first slide module 1, the first servo motor 2 drives the first slide module 1, the second servo motor 4 is installed on the second slide module 3, the second servo motor 4 drives the second slide module 3, the second slide module 3 is fixed on the first slide seat 11 of the first slide module 1 and the first slide module 1 and the second slide module 3 are perpendicular to each other, the first slide module 1 is fixed on the fixed bracket 51 of the wall-climbing robot 5, and the working function mechanism 6 is fixed on the second slide seat 31 of the second slide module 3; the first servo motor 2 and the second servo motor 4 are connected to the communication of the control module of the wall-climbing robot 5. The working function mechanism 6 includes a grinding mechanism, a spraying mechanism, a cleaning mechanism, a sandblasting mechanism, and the like. The first slide module 1 and the second slide module 3 are arranged in a cross shape, and cooperate with the walking mechanism of the wall-climbing robot 5 to meet the X, Y, and Z axis degrees of freedom of the wall-climbing robot 5 (for example, the large slide X axis, the small slide Z axis, and the Y axis of the running direction of the wall-climbing robot 5). In addition, with the rotation axis of some operating function mechanisms 6, up to four-axis linkage can be achieved, which can adapt to the curvature of curved surfaces at different angles and is suitable for the operation requirements of planes, small curvature planes, and large curvature planes. The first servo motor 2 and the second servo motor 4 use high-precision and high-torque servo motors, which can be used in high-torque occasions such as grinding, and use Class 1 energy-efficient motors, which can significantly reduce energy consumption during long-term operations.

[0022] The double slide installation mechanism also includes two first photoelectric sensors 7 and two second photoelectric sensors 8. The two first photoelectric sensors 7 are fixed to the guide rail side walls of the first slide module 1, and the fixed positions of the two first photoelectric sensors 7 correspond to the starting position and the ending position of the first slide 11 respectively. The two second photoelectric sensors 8 are fixed to the guide rail side walls of the second slide module 3, and the fixed positions of the two second photoelectric sensors 8 correspond to the starting position and the ending position of the second slide 31 respectively. The two first photoelectric sensors 7 and the two second photoelectric sensors 8 are both connected to the control module of the wall-climbing robot 5 in communication. The servo motor will output the position signal to the control module of the wall-climbing robot 5 in real time, but after running for a long time, the actual position deviates from the motor output position. After triggering the first photoelectric sensor 7 and the second photoelectric sensor 8, the signal is transmitted to the control module, and the control module controls the servo motor to stop, and at the same time, the slide position is corrected through the actual point position. The matching photoelectric sensor can improve the positioning accuracy of the slide, avoid jamming due to overtravel, and meet the operation requirements of different functions.

[0023] A connecting plate 9 is also fixed on the first slide seat 11, and the second slide module 3 is fixed on the connecting plate 9. The length and width of the connecting plate 9 can be set according to actual needs, and the second slide module 3 is fixed by the connecting plate 9 to improve the stability and firmness of the second slide module 3.

[0024] The first slide module 1 and the second slide module 3 are fully sealed screw modules. The fully sealed screw module has a protection level of up to IP65, is waterproof and dustproof, and can adapt to working environments such as grinding, spraying, cleaning dust, and spraying water. It has a long service life and is safe and reliable. The slide modules all use large-diameter ball screws, which can significantly reduce the vibration generated during operation and ensure that the machine does not jump during grinding.

[0025] The working principle of the utility model is as follows: first fix the first slide module 1 on the fixed bracket 51 of the wall-climbing robot 5, then fix the working function mechanism 6 on the second slide seat 31 by screws and other fasteners, and then connect the first servo motor 2, the second servo motor 4, the first photoelectric sensor and the second photoelectric sensor to the wall-climbing robot 5 through the communication line. The wall-climbing robot 5 controls the start and stop of the first servo motor 2 and the second servo motor 4, which can meet the position adjustment requirements of the wall-climbing robot 5 on the X, Y and Z axes. The utility model simplifies the installation requirements for the conversion of various working function mechanisms 6 of the wall-climbing robot 5, integrates the spatial position requirements of different working function mechanisms 6 on the main body of the wall-climbing robot 5, and can realize all-round work requirements, such as grinding, sandblasting, painting, cleaning, etc. When changing the working requirements, it is only necessary to remove the original working function mechanism 6 from the second slide seat 31 and replace it with the required working function mechanism 6, and the control module of the wall-climbing robot 5 readjusts the position of the working function mechanism 6 to complete the working function switching.

[0026] The double-slide mechanism of the utility model has a compact structure and is easy to install. It has high stability and a high load capacity and can realize stable and flexible operation of a load mechanism of up to 30kg.

[0027] The above description is only a specific implementation method of the utility model, and does not limit the patent scope of the utility model. Any equivalent structural transformation made using the contents of the utility model specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the utility model.

Claims

1. A multifunctional loading double-slide installation mechanism suitable for a wall-climbing robot, characterized in that: It includes a first slide module, a first servo motor, a second slide module and a second servo motor, the first servo motor is installed on the first slide module, the first servo motor drives the first slide module, the second servo motor is installed on the second slide module, the second servo motor drives the second slide module, the second slide module is fixed on the first slide seat of the first slide module and the first slide module and the second slide module are perpendicular to each other, the first slide module is fixed on the fixed bracket of the wall-climbing robot, and the working function mechanism is fixed on the second slide seat of the second slide module; the first servo motor and the second servo motor are connected to the communication of the control module of the wall-climbing robot.

2. The multifunctional loading double-slide installation mechanism suitable for a wall-climbing robot according to claim 1, characterized in that: It also includes two first photoelectric sensors and two second photoelectric sensors, the two first photoelectric sensors are fixed to the guide rail side walls of the first slide module, and the fixed positions of the two first photoelectric sensors correspond to the starting position and the ending position of the first slide respectively, the two second photoelectric sensors are fixed to the guide rail side walls of the second slide module, and the fixed positions of the two second photoelectric sensors correspond to the starting position and the ending position of the second slide respectively, and the two first photoelectric sensors and the two second photoelectric sensors are both communicatively connected to the control module of the wall-climbing robot.

3. The multifunctional loading double-slide installation mechanism suitable for a wall-climbing robot according to claim 1, characterized in that: A connecting plate is also fixed on the first slide seat, and the second slide module is fixed on the connecting plate.

4. The multifunctional loading double-slide installation mechanism suitable for a wall-climbing robot according to claim 1, characterized in that: The first slide module and the second slide module are fully sealed screw modules.

Images