Oil coating device for wall-climbing robot and wall-climbing robot

Abstract

The utility model discloses an oiling device for a wall-climbing robot and the wall-climbing robot, and the oiling device comprises an oil supply mechanism which is used for being arranged at the front end or the rear end of the wall-climbing robot and is used for storing oil and outputting the oil; the oil coating mechanism is connected with the oil supply mechanism and used for receiving the oil provided by the oil supply mechanism and spraying out the oil so that the oil can be coated on the surface of a steel mold of the target second lining trolley, the oil coating mechanism is hinged to the oil supply mechanism, and the axis of the hinge point is parallel to the vehicle body height direction of the wall-climbing robot; and the reset mechanism is connected to the oil supply mechanism and the oil coating mechanism and used for providing damping when the wall-climbing robot passes through the obstacle to make the oil coating mechanism make contact with the obstacle and rotates based on the hinge point in the advancing process of the wall-climbing robot and driving the oil coating mechanism to reset after passing through the obstacle.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel secondary lining, and particularly to an oiling device for a wall-climbing robot. In addition, the utility model also relates to a wall-climbing robot including the above-mentioned oiling device for a wall-climbing robot. Background Art

[0002] During tunnel lining construction, in order to ensure the lining quality of the tunnel inner wall, it is necessary to apply oil to the surface of the steel formwork of the lining trolley before lining grouting to facilitate lining demoulding.

[0003] Wall-climbing robots have functions such as adsorption, movement, and operation, and can be used for special operations on vertical or curved walls, also known as wall-mounted mobile robots. Wall-climbing robots are widely used in flaw detection inspection or painting treatment of large petrochemical storage tanks, building cleaning and spraying, ship rust removal, inspection and thickness measurement in the nuclear industry, etc., and can also be used in industries such as bridge tunnels and wind power. Due to the extremely narrow working space and harsh working environment of the secondary lining trolley, existing wall-climbing robot products and technologies are not applicable, and it is easy to scrape the wall surface or obstacles, and the oiling process may cause slipping during walking. For example, a wall-climbing painting robot disclosed in the publication number CN218902291U and a magnetic wall-climbing spraying robot disclosed in the publication number CN217527905U, the processing device is installed directly in front of the robot body, and it is impossible to avoid the robot walking on the paint surface, there is a risk of slipping during walking; another example is the curved surface adaptive magnetic adsorption wall-climbing painting robot disclosed in the publication number CN107128389B, the painting robotic arm module occupies a large space in the vertical direction due to the installation of a vertical telescopic guide rail, and it is easy to scrape against the wall surface when applied to tunnel lining construction, and it is difficult to operate in the narrow space between the steel formwork of the lining trolley and the tunnel inner wall. Therefore, manual operation is still mainly used at present, with low work efficiency and difficult to ensure the oiling quality. Summary of the Utility Model

[0004] The utility model provides an oiling device for a wall-climbing robot and a wall-climbing robot to solve the technical problem that the oiling device of the wall-climbing robot is easy to scrape against the wall surface during existing tunnel construction.

[0005] According to one aspect of the utility model, there is provided an oiling device for a wall-climbing robot, the oiling device comprising:

[0006] An oil supply mechanism, which is used to be arranged at the front end or the rear end of the wall-climbing robot, and is used to store and output oil liquid;

[0007] An oiling mechanism, which is connected to the oil supply mechanism, and is used to receive the oil liquid provided by the oil supply mechanism and spray the oil liquid to coat the surface of the steel formwork of the target secondary lining trolley. The oiling mechanism is hinged to the oil supply mechanism, and the axis of the hinge point is parallel to the height direction of the body of the wall-climbing robot;

[0008] A reset mechanism, which is respectively connected to the oil supply mechanism and the oiling mechanism, is used to provide damping when the oiling mechanism contacts an obstacle and rotates based on the hinge point during the movement of the wall-climbing robot through the obstacle, and is used to drive the oiling mechanism to reset after passing through the obstacle.

[0009] As a further improvement of the above technical solution, the oiling mechanism includes a bracket and a spray rod fixed to the bracket. The middle of one end of the bracket is hinged to the oil supply mechanism; the reset mechanism includes a first guide rail and a second guide rail symmetrically arranged on both sides of the hinge point and a first connecting rod and a second connecting rod symmetrically arranged on both sides of the hinge point. A first slider is slidably connected to the first guide rail, and a second slider is slidably connected to the second guide rail. Two ends of the first connecting rod are respectively hinged to the first slider and the first side of the bracket end relative to the hinge point, and two ends of the second connecting rod are respectively hinged to the second slider and the second side of the bracket end relative to the hinge point. A first elastic reset member is arranged between the end of the first slider and the first guide rail, and a second elastic reset member is arranged between the end of the second slider and the second guide rail.

[0010] As a further improvement of the above technical solution, the first elastic reset member is sleeved on the first guide rail and arranged between the end of the first guide rail far from the oiling device and the first slider, or the first elastic reset member is sleeved on the first guide rail and both ends of the first elastic reset member are respectively connected to the first slider and the end of the first guide rail close to the oiling device. The second elastic reset member is sleeved on the second guide rail and arranged between the end of the second guide rail far from the oiling device and the second slider, or the second elastic reset member is sleeved on the second guide rail and both ends of the second elastic reset member are respectively connected to the second slider and the end of the second guide rail close to the oiling device.

[0011] As a further improvement of the above technical solution, the reset mechanism includes a damping assembly arranged at the hinge point.

[0012] As a further improvement of the above technical solution, the oiling mechanism includes a bracket. Rotating shafts are respectively arranged above and below the middle of one end of the bracket. The damping assembly includes a first damping seat and a second damping seat. The rotating shaft above the middle of the bracket passes through the first damping seat, and a first damping member is arranged between the first damping seat and the rotating shaft. The rotating shaft below the middle of the bracket passes through the second damping seat, and a second damping member is arranged between the second damping seat and the rotating shaft.

[0013] As a further improvement of the above technical solution, the oil supply mechanism includes a base, an oil bladder disposed on the base, a protective shell disposed on the base and covering the oil bladder, an oil pump disposed on the base and located between the oil bladder and the oiling mechanism, an oil inlet pipe connecting the oil bladder and the oil pump, and an oil delivery pipe connecting the oil pump and the oiling mechanism.

[0014] As a further improvement of the above technical solution, the oil pump is provided with a regulating valve group.

[0015] As a further improvement of the above technical solution, the oiling mechanism includes a bracket, a spray rod fixed to the bracket, and an oil spray cover that matches the length of the spray rod and is arranged in the oil spray direction facing the spray rod.

[0016] As a further improvement of the above technical solution, the oiling mechanism is arranged on one side of the running direction of the wall-climbing robot so as to avoid the ejected oil liquid from the traveling path.

[0017] According to another aspect of the present invention, there is also provided a wall-climbing robot, which includes the above oiling device for the wall-climbing robot.

[0018] The present invention has the following beneficial effects:

[0019] This oiling device is applied to a wall-climbing robot. During operation, the wall-climbing robot walks on the surface of the formwork of the secondary lining trolley. The oil supply mechanism stores and outputs oil liquid to the oiling mechanism for spraying and then coating on the surface of the formwork. The space between the inner wall of the tunnel and the formwork of the secondary lining trolley is narrow. When the oiling mechanism contacts the inner wall of the tunnel or an obstacle, the oiling mechanism swings based on the hinge point to avoid the obstacle, preventing damage to components caused by direct collision. After the wall-climbing robot passes through the obstacle, under the action of the reset mechanism, the oiling mechanism is reset, realizing adaptive anti-collision. After passing through the obstacle, it maintains the relative position with the wall-climbing robot to ensure the oiling efficiency and operation efficiency.

[0020] In addition to the purposes, features and advantages described above, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0022] Figure 1 is a schematic structural diagram of the oiling device of the preferred embodiment of the present invention;

[0023] Figure 2 is a front view of the oiling device of the preferred embodiment of the present invention;

[0024] Figure 3 It is the top view of the oiling device of the preferred embodiment of the present utility model;

[0025] Figure 4 It is the schematic diagram of the oiling device of the preferred embodiment of the present utility model when encountering an obstacle;

[0026] Figure 5 It is the schematic diagram of the structure of the wall-climbing robot of the preferred embodiment of the present utility model.

[0027] Legend description:

[0028] 1. Oil supply mechanism 101, base 102, protective shell 103, oil bladder 104, oil inlet pipe 105, valve group 106, oil pump 107, oil delivery pipe 2. Oiling mechanism 201, bracket 202, oil spraying cover 203, spray rod 204, first damping seat 205, first damping member 206, second damping seat 207, second damping member 208, first guide rail 209, first slider 210, first connecting rod 211, first elastic reset member 212, second guide rail 213, second slider 214, second connecting rod 215, second elastic reset member. Specific implementation mode

[0029] The following will describe the embodiments of the present utility model in detail with reference to the accompanying drawings. However, the present utility model can be implemented in many different ways defined and covered by the following.

[0030] Figure 1 It is the schematic diagram of the structure of the oiling device of the preferred embodiment of the present utility model; Figure 2 It is the front view of the oiling device of the preferred embodiment of the present utility model; Figure 3 It is the top view of the oiling device of the preferred embodiment of the present utility model; Figure 4 It is the schematic diagram of the oiling device of the preferred embodiment of the present utility model when encountering an obstacle; Figure 5 It is the schematic diagram of the structure of the wall-climbing robot of the preferred embodiment of the present utility model.

[0031] As Figures 1 to 5 shown, the oiling device for the wall-climbing robot in this embodiment includes:

[0032] An oil supply mechanism 1, which is used to be arranged at the front end or the rear end of the wall-climbing robot and is used to store and output oil liquid;

[0033] An oiling mechanism 2, which is connected to the oil supply mechanism 1 and is used to receive the oil liquid provided by the oil supply mechanism 1 and is used to spray the oil liquid so as to coat the surface of the steel mold of the target secondary lining trolley. The oiling mechanism 2 is hinged to the oil supply mechanism 1 and the axis of the hinge point is parallel to the height direction of the body of the wall-climbing robot;

[0034] A reset mechanism, which is respectively connected to the oil supply mechanism 1 and the oiling mechanism 2, is used to provide damping when the oiling mechanism 2 contacts an obstacle and rotates based on a hinge point during the movement of the wall-climbing robot through the obstacle, and is used to drive the oiling mechanism 2 to reset after passing through the obstacle.

[0035] Among them, the wall-climbing robot is implemented with reference to the prior art. For example, in this embodiment, the wall-climbing robot using a magnetic adsorption chassis has wheels.

[0036] It should be noted that the oiling mechanism 2 of this oiling device is arranged on one side of the wall-climbing robot so that the driving path of the wall-climbing robot avoids the ejected oil.

[0037] On the other hand, the oiling mechanism 2 includes a bracket 201, a spray rod 203 fixed to the bracket 201, and an oil spray cover 202 that matches the length of the spray rod 203 and is arranged in the oil spray direction of the spray rod 203. By setting the oil spray cover 202, it effectively prevents the oil from splashing onto the wheels during the oil spraying process, prevents the wheels from being contaminated with oil, and avoids wheel slippage.

[0038] It can be understood that this oiling device is applied to a wall-climbing robot. During operation, the wall-climbing robot walks on the surface of the formwork of the secondary lining trolley. The oil supply mechanism 1 stores and outputs oil to the oiling mechanism 2 for spraying and then coating on the surface of the formwork. The space between the inner wall of the tunnel and the formwork of the secondary lining trolley is narrow. When the oiling mechanism 2 contacts the inner wall of the tunnel or an obstacle, the oiling mechanism 2 swings based on the hinge point to avoid the obstacle and prevent direct collision from causing damage to components. After the wall-climbing robot passes through the obstacle, under the action of the reset mechanism, the oiling mechanism 2 is reset, realizing adaptive anti-collision, and maintaining the relative position with the wall-climbing robot after passing through the obstacle to ensure the oiling efficiency and operation efficiency.

[0039] In one embodiment, the middle of one end of the bracket 201 is hinged to the oil supply mechanism 1; the reset mechanism includes a first guide rail 208 and a second guide rail 212 symmetrically distributed on both sides of the hinge point, and a first connecting rod 210 and a second connecting rod 214 symmetrically distributed on both sides of the hinge point. A first slider 209 is slidably connected to the first guide rail 208, a second slider 213 is slidably connected to the second guide rail 212. The two ends of the first connecting rod 210 are respectively hinged to the first slider 209 and the first side of the end of the bracket 201 relative to the hinge point, and the two ends of the second connecting rod 214 are respectively hinged to the second slider 213 and the second side of the end of the bracket 201 relative to the hinge point. A first elastic reset member 211 is arranged between the end of the first slider 209 and the first guide rail 208, and a second elastic reset member 215 is arranged between the end of the second slider 213 and the second guide rail 212.

[0040] Among them, the two ends of the first elastic reset member 211 are respectively connected to the first slider 209 and one end of the first guide rail 208 away from the oiling device, or the two ends of the first elastic reset member 211 are respectively connected to the first slider 209 and one end of the first guide rail 208 close to the oiling device. The two ends of the second elastic reset member 215 are respectively connected to the second slider 213 and one end of the second guide rail 212 away from the oiling device, or the two ends of the second elastic reset member 215 are respectively connected to the second slider 213 and one end of the second guide rail 212 close to the oiling device, which can be freely combined. No matter which direction the oiling mechanism 2 swings, the first elastic reset member 211 and the second elastic reset member 215 both provide elastic reset; among them, the first elastic reset member 211 can be an elastic member such as a return spring or a disc spring, and the second elastic reset member 215 is the same by analogy;

[0041] Specifically, referring to Figure 4 and Figure 5 , in this embodiment, the oiling device is installed at the front end of the wall-climbing robot. Taking the example that the first guide rail 208 is arranged close to the wall-climbing robot body, the second guide rail 212 is arranged away from the wall-climbing robot body, and the first elastic reset member 211 and the second elastic reset member 215 are both arranged on the side close to the oiling mechanism 2; during the forward movement of the wall-climbing robot, if an obstacle is encountered, the bracket 201 touches the obstacle to avoid scratching and damage to the spray rod 203. The force on the bracket 201 swings toward the tail end side of the wall-climbing robot based on the hinge point. The first link 210 drives the first slider 209 to slide away from the oiling mechanism 2 to stretch the first elastic reset member 211. At the same time, the second link 214 drives the second slider 213 to slide toward the oiling mechanism 2 and compress the second elastic reset member 215. After passing the obstacle, under the action of the first elastic reset member 211 and the second elastic reset member 215, the first slider 209 and the second slider 213 are respectively driven to reset, thereby driving the bracket 201 to reset and maintaining the best working angle; it can be understood that when the wall-climbing robot moves in the reverse direction, the action direction is opposite, and the principle is the same;

[0042] Furthermore, the reset mechanism includes a damping component arranged at the hinge point, which provides damping for its rotation at the hinge point to optimize its self-adaptive anti-collision effect and reset effect;

[0043] Specifically, a rotating shaft is respectively arranged above and below the middle of one end of the bracket 201. The damping component includes a first damping seat 204 and a second damping seat 206. The rotating shaft above the middle of the bracket 201 passes through the first damping seat 204, and a first damping member 205 is arranged between the first damping seat 204 and the rotating shaft. The rotating shaft below the middle of the bracket 201 passes through the second damping seat 206, and a second damping member 207 is arranged between the second damping seat 206 and the rotating shaft. When the bracket 201 touches an obstacle and deviates from the best position angle, the damping on the symmetrically arranged rotating shafts above and below acts on the bracket 201.

[0044] In one embodiment, the oil supply mechanism 1 includes a base 101, an oil bladder 103 disposed on the base 101, a protective shell 102 disposed on the base 101 and covering the oil bladder 103, an oil pump 106 disposed on the base 101 and located between the oil bladder 103 and the oiling mechanism 2, an oil inlet pipe 104 connecting the oil bladder 103 and the oil pump 106, and an oil delivery pipe 107 connecting the oil pump 106 and the oiling mechanism 2. The oil in the oil bladder 103 is pumped to the oiling mechanism 2 by the oil pump 106 to complete oil delivery;

[0045] In one embodiment, the oil pump 106 is provided with a regulating valve group 105. By combining the valve group 105 with the oil pump 106, precise regulation of the oil pressure and flow rate during oil delivery can be achieved.

[0046] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An oiling device for a wall-climbing robot, characterized in that: The oiling device comprises: An oil supply mechanism (1) is arranged at the front end or the rear end of the wall-climbing robot and is used to store and output oil; An oiling mechanism (2) is connected to the oil supply mechanism (1) and is used to receive the oil provided by the oil supply mechanism (1) and to spray the oil so as to coat the surface of the steel mold of the target secondary lining trolley. The oiling mechanism (2) is hinged to the oil supply mechanism (1) and the axis of the hinge is parallel to the height direction of the vehicle body of the wall-climbing robot. A reset mechanism is connected to the oil supply mechanism (1) and the oil coating mechanism (2) respectively, and is used to provide damping when the oil coating mechanism (2) contacts the obstacle and rotates based on the hinge when the wall-climbing robot passes through an obstacle during its movement, and is used to drive the oil coating mechanism (2) to reset after passing the obstacle.

2. The oiling device for a wall-climbing robot according to claim 1, characterized in that: The oiling mechanism (2) comprises a bracket (201) and a spray rod (203) fixed to the bracket (201); the middle part of one end of the bracket (201) is hinged to the oil supply mechanism (1); the reset mechanism comprises a first guide rail (208) and a second guide rail (212) symmetrically arranged on both sides of a hinge point, and a first connecting rod (210) and a second connecting rod (214) symmetrically arranged on both sides of the hinge point; the first guide rail (208) is slidably connected to a first slider (209); the second guide rail (212) is slidably connected to a second slider (214); 13), the two ends of the first connecting rod (210) are respectively hinged to the first side of the hinge point on the end of the first slider (209) and the bracket (201), the two ends of the second connecting rod (214) are respectively hinged to the second side of the hinge point on the end of the second slider (213) and the bracket (201), a first elastic return member (211) is provided between the first slider (209) and the end of the first guide rail (208), and a second elastic return member (215) is provided between the second slider (213) and the end of the second guide rail (212).

3. The oiling device for a wall-climbing robot according to claim 2, characterized in that: The two ends of the first elastic return member (211) are respectively connected to the first slider (209) and the end of the first guide rail (208) away from the oil coating device, or the two ends of the first elastic return member (211) are respectively connected to the first slider (209) and the end of the first guide rail (208) close to the oil coating device, and the two ends of the second elastic return member (215) are respectively connected to the second slider (213) and the end of the second guide rail (212) away from the oil coating device, or the two ends of the second elastic return member (215) are respectively connected to the second slider (213) and the end of the second guide rail (212) close to the oil coating device.

4. The oiling device for a wall-climbing robot according to claim 1, characterized in that: The resetting mechanism includes a damping component arranged at the hinge point.

5. The oiling device for a wall-climbing robot according to claim 4, characterized in that: The oiling mechanism (2) comprises a bracket (201), a rotating shaft is respectively arranged above the middle part and below the middle part of one end of the bracket (201), and the damping assembly comprises a first damping seat (204) and a second damping seat (206), the rotating shaft above the middle part of the bracket (201) is passed through the first damping seat (204), and a first damping member (205) is arranged between the first damping seat (204) and the rotating shaft, and the rotating shaft below the middle part of the bracket (201) is passed through the second damping seat (206), and a second damping member (207) is arranged between the second damping seat (206) and the rotating shaft.

6. The oiling device for a wall-climbing robot according to claim 1, characterized in that: The oil supply mechanism (1) comprises a base (101), an oil sac (103) arranged on the base (101), a protective shell (102) arranged on the base (101) and covering the oil sac (103), an oil pump (106) arranged on the base (101) and located between the oil sac (103) and the oiling mechanism (2), an oil inlet pipe (104) connected to the oil sac (103) and the oil pump (106), and an oil delivery pipe (107) connected to the oil pump (106) and the oiling mechanism (2).

7. The oiling device for a wall-climbing robot according to claim 6, characterized in that: The oil pump (106) is provided with a regulating valve group (105).

8. The oiling device for a wall-climbing robot according to claim 1, characterized in that: The oiling mechanism (2) comprises a bracket (201), a spray rod (203) fixed to the bracket (201), and an oil spraying hood (202) matching the length of the spray rod (203) and arranged toward the oil spraying direction of the spray rod (203).

9. The oiling device for a wall-climbing robot according to any one of claims 1 to 8, characterized in that: The oiling mechanism (2) is arranged on one side of the wall-climbing robot so that the travel path of the wall-climbing robot avoids the sprayed oil.

10. A wall-climbing robot, characterized in that: An oiling device for a wall-climbing robot as described in any one of claims 1 to 9 is used.

Images