Permanent magnet swing arm adsorption mechanism of reverse top surface climbing robot

Abstract

The utility model relates to the technical field of robots, in particular to a permanent magnet swing arm adsorption mechanism of a reverse top surface climbing robot, which comprises a rolling wheel and a main shaft arranged at the central position of the rolling wheel, an adsorption device is movably clamped on the outer wall of the main shaft, and a connecting rod structure is movably clamped at the end part of the adsorption device. A steering engine fixedly connected with the robot body is movably clamped to the other end of the connecting rod structure and outputs power to be matched with the connecting rod to adjust the angle of the adsorption device, so that the adsorption device can be adsorbed to the working surface all the time.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a permanent magnet swing arm adsorption mechanism of a robot for climbing the reverse top surface. Background Art

[0002] Wall-climbing robots are applicable to the flat and curved metal surfaces of equipment such as ships, storage tanks, and wind power tower barrels. When performing manual grinding, inspection, and cleaning in these places with relatively high heights and smooth surfaces, careful safety protection for the staff is required. Even so, dangerous events such as slipping and falling of the staff are likely to occur, and the work risk is very high. Wall-climbing robots can replace manual operations in situations where they can be remotely controlled to move and perform grinding, inspection, and cleaning on the contacted surfaces, greatly reducing the construction risk and effectively ensuring the personal safety of the staff.

[0003] Although the above-mentioned prior art can solve corresponding technical problems, there are still certain defects: when wall-climbing robots work inside metal device structures such as wind turbine nacelles, ships, and storage tanks, the inner tops of these devices are closed. In order to ensure the smoothness and cleanliness of their tops, operations such as inspection, spraying, and cleaning are often required on the reverse top surface. Existing robots can only operate on vertical planes. When operating on top planes such as vaults, the adsorption structure angle cannot be changed, resulting in a significant decrease or disappearance of the adsorption force, and it is easy to fall off due to insufficient adsorption and fixation performance, with relatively high danger and poor adaptability. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a permanent magnet swing arm adsorption mechanism of a robot for climbing the reverse top surface with adjustable adsorption angle and strong adaptability in view of the defects and deficiencies of the prior art.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions: a permanent magnet swing arm adsorption mechanism of a robot for climbing the reverse top surface, including a rolling wheel and a main shaft arranged at the central position of the rolling wheel. An adsorption device is movably clamped on the outer wall of the main shaft. One end of the adsorption device is movably clamped with a connecting rod structure, and the other end of the connecting rod structure is movably clamped with a steering gear fixedly connected to the robot body. The steering gear outputs power to cooperate with the connecting rod structure to adjust the angle of the adsorption device so that it can always adsorb on the surface of the working surface.

[0006] Further improvement: The connecting rod structure is a three-link structure that is movably clamped with each other.

[0007] Further improvement: The adsorption device includes a connecting plate movably clamped on the outer wall of the main shaft and a fourth connecting rod fixedly arranged on the top of the connecting plate and movably clamped with the end of the connecting rod structure. A magnetic attraction structure is arranged at the bottom of the connecting plate.

[0008] Further improvement: A connecting ring is provided at the position where the connecting plate is connected to the main shaft.

[0009] Further improvement: A needle roller bearing is provided between the inner wall of the connecting ring and the outer wall of the main shaft.

[0010] Further improvement: The magnetic attraction structure includes a number of permanent magnet blocks embedded in the bottom of the connecting plate.

[0011] Further improvement: A baffle for fixing the permanent magnet block is detachably provided on the side wall of the bottom of the connecting plate.

[0012] Further improvement: A number of through slots are also provided penetrating through the connecting plate.

[0013] After adopting the above technical solution, the beneficial effects of the present utility model are as follows: When the present utility model is in use, if the robot moves to the vault position of metal devices such as a wind turbine nacelle, a ship, or a storage tank, at this time, the steering gear can be used to pull the connecting rod structure, so that the connecting rod structure generates a pulling force, pulling the fourth connecting rod to make the connecting plate of the adsorption device twist along the main shaft, thereby adjusting the angle of the permanent magnet block of the magnetic attraction structure. Thus, the permanent magnet block of the magnetic attraction structure can always be fully and correctly adsorbed on the inner wall surface of the metal device. It can not only perform adsorption and movement work on a vertical plane, but also ensure the adsorption and fixation effect when reaching the vault position, and is not easily detached due to insufficient adsorption force, making it safer and more adaptable to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the adsorption mechanism of the present utility model;

[0016] Figure 2 It is a right-view structural schematic diagram of the adsorption mechanism of the present utility model;

[0017] Figure 3 It is a three-dimensional structural schematic diagram of the adsorption device of the present utility model;

[0018] Figure 4 It is a front-view cross-sectional structural schematic diagram of the magnetic attraction structure of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The present utility model will be further described below in conjunction with the drawings and specific embodiments.

[0020] As shown in Figures 1-4 the technical solution adopted in this specific embodiment is: a permanent magnet swing arm adsorption mechanism of a climbing anti-top surface robot, including a rolling wheel 1 and a main shaft 2 arranged at the center position of the rolling wheel 1. An adsorption device 3 is movably clamped on the outer wall of the main shaft 2. The adsorption device 3 includes a connecting plate 32 movably clamped on the outer wall of the main shaft 2 and a fourth connecting rod 34 fixedly arranged at the top of the connecting plate 32 and movably clamped with the end of a connecting rod structure 5. A magnetic adsorption structure 33 is arranged at the bottom of the connecting plate 32. The magnetic adsorption structure 33 includes a plurality of permanent magnet blocks 332 embedded in the bottom of the connecting plate 32. In this embodiment, there are fifteen permanent magnet blocks, and a Halbach magnetic array of neodymium iron boron can be used. The magnets are light in self-weight and strong in magnetic force. The end of the adsorption device 3 is movably clamped with a connecting rod structure 5. The connecting rod structure 5 is a three-link structure that is movably clamped with each other. The other end of the connecting rod structure 5 is movably clamped with a servo 6 fixedly connected to the robot body. The servo 6 outputs power to cooperate with the connecting rod structure 5 to adjust the angle of the adsorption device 3 so that it can always adsorb on the surface of the working surface. When in use, the servo 6 and the main shaft 2 are installed on the robot body, and the main shaft 2 is connected to the power device of the robot body to generate rotation. Subsequently, the rolling wheel 1 can be rotated by the rotation of the main shaft 2 to drive the robot body to move. When moving, at the same time, the magnetic force generated by a plurality of permanent magnet blocks 332 of the magnetic adsorption structure 33 arranged at the bottom of the connecting plate 32 adsorbs the robot on the inner wall of the metal device. When the robot continues to move to the arch top position of the metal device, at this time, the servo 6 can be driven to rotate the rotating shaft of the servo 6. Then, the torque generated by the rotation is output to the connecting rod structure 5. The connecting rod structure 5 is a three-link. Therefore, when the servo 6 rotates clockwise, a lateral pulling force can be generated and applied to the fourth connecting rod 34, so that the connecting plate 32 rotates clockwise along the main shaft 2. When the servo 6 rotates counterclockwise, the torque is output to the connecting rod structure 5 to generate a lateral pulling force opposite to the clockwise rotation of the servo 6, thereby causing the connecting plate 32 to rotate counterclockwise along the main shaft 2. Thus, the angle of the permanent magnet blocks 332 at the bottom of the connecting plate 32 is changed. When the robot moves to the arch top position of the metal device, the angle of the permanent magnet blocks 332 can be adjusted by the rotation of the servo 6 to output torque, so that the permanent magnet blocks 332 of the magnetic adsorption structure 33 can always be fully and correctly adsorbed on the inner wall surface of the metal device. It can not only perform adsorption and movement work on a vertical plane, but also ensure the adsorption and fixation effect when reaching the arch top position, and is not easy to fall off due to insufficient adsorption force, making it safer and more adaptable to use;

[0021] A connecting ring 31 is arranged at the position where the connecting plate 32 is connected to the main shaft 2, which is beneficial to more conveniently positioning the connecting plate 32 on the main shaft 2 and making the installation more convenient and labor-saving;

[0022] A needle roller bearing 4 is provided between the inner wall of the connecting ring 31 and the outer wall of the main shaft 2, which is beneficial to making the frictional resistance of the relative torsion between the connecting ring 31 and the main shaft 2 smaller, and the angle adjustment faster and smoother.

[0023] A baffle 35 for fixing the permanent magnet block 332 is detachably provided on the bottom side wall of the connecting plate 32, which is beneficial to restricting the permanent magnet block 332 and preventing the permanent magnet block 332 from slipping out from the side of the connecting plate 32.

[0024] A plurality of through grooves 36 are also penetrated through the connecting plate 32. In this embodiment, there are five through grooves, which is beneficial to reducing the weight of the connecting plate 32, and further making the overall weight of the robot lower and less likely to fall off from the inner wall of the metal device.

[0025] The working principle of the present utility model: When the present utility model is in use, the servo motor 6 and the main shaft 2 are installed on the robot body, and the main shaft 2 is connected to the power device of the robot body to generate rotation. Subsequently, the rolling wheel 1 can be rotated by the rotation of the main shaft 2 to drive the robot body to move. When moving, at the same time, the magnetic force generated by a plurality of permanent magnet blocks 332 of the magnetic attraction structure 33 provided at the bottom of the connecting plate 32 adsorbs the robot on the inner wall of the metal device. When the robot continues to move and reaches the crown position of the metal device, at this time, the servo motor 6 can be driven to rotate the rotating shaft of the servo motor 6, and then the torque generated by the rotation is output to the link structure 5. The link structure 5 is a three-link. Therefore, when the servo motor 6 rotates clockwise, a lateral pulling force can be generated and applied to the fourth link 34, so that the connecting plate 32 rotates clockwise along the main shaft 2. When the servo motor 6 rotates counterclockwise, the torque is output to the link structure 5 to generate a lateral pulling force opposite to the clockwise rotation of the servo motor 6, and then the connecting plate 32 rotates counterclockwise along the main shaft 2. Thus, the angle of the permanent magnet block 332 at the bottom of the connecting plate 32 is changed. Therefore, when the robot moves to the crown position of the metal device, the angle of the permanent magnet block 332 can be adjusted by the rotation of the servo motor 6 to output torque, so that the permanent magnet block 332 of the magnetic attraction structure 33 can always be fully and correctly adsorbed on the inner wall surface of the metal device. It can not only perform adsorption and movement work on the vertical plane, but also ensure the adsorption and fixation effect when reaching the crown position, and is not easy to fall off due to insufficient adsorption force, and is safer and more adaptable to use.

[0026] What the present utility model wants to protect is the structure of the product. The models of each component are not the content protected by the present utility model and are also well-known technologies. As long as the components that can achieve the above functions of the present utility model on the market can be used as a choice. Therefore, the parameters such as the model of the component are not described in detail in the present utility model. The contribution of the present utility model lies in the scientific combination of each component.

[0027] The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. What is described in the above embodiments and descriptions only illustrates the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and these changes and improvements all fall within the scope of the present utility model claimed. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents. Where the present utility model is not described in detail, it is all well-known technology to those skilled in the art.

Claims

1. A permanent magnetic swing arm adsorption mechanism of a robot capable of climbing a top surface, comprising a rolling wheel (1) and a main shaft (2) arranged at the center of the rolling wheel (1), characterized in that: The outer wall of the main shaft (2) is movably engaged with an adsorption device (3), an end of the adsorption device (3) is movably engaged with a connecting rod structure (5), and the other end of the connecting rod structure (5) is movably engaged with a steering gear (6) fixedly connected to the robot body, and the steering gear (6) outputs power to cooperate with the connecting rod structure (5) to adjust the angle of the adsorption device (3) so that it can always be adsorbed on the surface of the working surface.

2. The permanent magnetic swing arm adsorption mechanism of the anti-top surface climbing robot according to claim 1 is characterized in that: The connecting rod structure (5) is a three-connecting rod structure that is movably engaged with each other.

3. The permanent magnetic swing arm adsorption mechanism of the anti-top surface climbing robot according to claim 1 is characterized in that: The adsorption device (3) comprises a connecting plate (32) movably engaged with the outer wall of the main shaft (2) and a fourth connecting rod (34) fixedly arranged on the top of the connecting plate (32) and movably engaged with the end of the connecting rod structure (5). The bottom of the connecting plate (32) is provided with a magnetic attraction structure (33).

4. The permanent magnetic swing arm adsorption mechanism of the anti-top surface climbing robot according to claim 3 is characterized in that: A connecting ring (31) is provided at the position where the connecting plate (32) is connected to the main shaft (2).

5. The permanent magnetic swing arm adsorption mechanism of the anti-top surface climbing robot according to claim 4 is characterized in that: A needle bearing (4) is provided between the inner wall of the connecting ring (31) and the outer wall of the main shaft (2).

6. The permanent magnetic swing arm adsorption mechanism of the anti-top surface climbing robot according to claim 3 is characterized in that: The magnetic attraction structure (33) comprises a plurality of permanent magnet blocks (332) embedded in the bottom of the connecting plate (32).

7. The permanent magnetic swing arm adsorption mechanism of the anti-top surface climbing robot according to claim 6 is characterized in that: A baffle (35) for fixing the permanent magnet block (332) is detachably provided on the bottom side wall of the connecting plate (32).

8. The permanent magnetic swing arm adsorption mechanism of the anti-top surface climbing robot according to claim 3 is characterized in that: The connecting plate (32) is also provided with a plurality of penetration grooves (36).

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