Adaptable base applied to tower drum inspection robot

Abstract

The utility model relates to an adaptable base applied to a tower drum inspection robot. The adaptable base is simple in structure, a track structure can swing according to the change of the curvature radius of the outer surface of a scene, and the product fitness and the inspection efficiency are effectively improved. Comprising a rack and driving modules arranged on the two sides of the rack respectively, each driving module comprises a track motor and a magnetic adsorption track, the track motors are arranged on the rack through axial run-out eliminating mechanisms and are in driving connection with the magnetic adsorption tracks, and the magnetic adsorption tracks are rotationally connected to the side ends of the rack. The included angle between the magnetic adsorption crawler belt and the rack in the vertical direction is variable; when the curvature of the outer surface of the tower drum changes, the magnetic adsorption caterpillar band swings downwards relative to the rack, the corresponding outer wall of the tower drum is in a surrounding state, the curvature change of the outer wall of the tower drum is perfectly adapted, meanwhile, the rack is lifted upwards, and friction interference between the bottom of the rack and the outer surface of the tower drum in the climbing and moving process is avoided. The climbing robot is suitable for the field of climbing robots.

Description

Technical Field

[0001] The utility model relates to the field of climbing cleaning equipment, in particular to an adaptable base applied to a tower barrel inspection robot. Background Art

[0002] A wall-climbing robot is a robot that can crawl on a vertical wall or other surfaces and can be programmed to perform various tasks, such as carrying items, assembling products, cleaning the environment, etc.; most wall-climbing robots will use special adsorption mechanisms to stay on the surface, such as vacuum suction cups or magnetic adsorption. Among them, the robot with a magnetic adsorption crawler structure is one of the most common climbing robots in the industry. The robot with a magnetic adsorption crawler structure can ensure that the robot has a sufficiently large adsorption area with the adsorption surface, ensuring that the robot can be stably adsorbed on the wall surface. However, when dealing with scenarios where the radius of curvature changes, such as the outer wall of a wind power generation equipment tower barrel or the outer surface of a large storage tank, the effective adsorption area will also decrease with the increase in height. The traditional chassis and crawler structure cannot adapt to the curvature change, resulting in a great limitation on the working range of the robot. Content of the Utility Model

[0003] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide an adaptable base applied to a tower barrel inspection robot, which has a simple structure, and the crawler structure can swing according to the change of the radius of curvature of the outer surface of the scenario, effectively improving the adaptability and inspection efficiency of the product.

[0004] The technical solution adopted by the utility model is as follows: the utility model includes a frame and drive modules respectively arranged on both sides of the frame. The drive module includes a crawler motor and a magnetic adsorption crawler. The crawler motor is arranged on the frame through an axial jump elimination mechanism and is drivingly connected to the magnetic adsorption crawler. The magnetic adsorption crawler is rotatably connected to the side end of the frame, and the included angle between the magnetic adsorption crawler and the frame in the vertical direction is variable.

[0005] Further, the magnetic adsorption crawler includes a support frame, a driven sprocket shaft and a driving sprocket shaft respectively arranged at the front and rear ends of the support frame, and a chain wound around and connected between the driven sprocket shaft and the driving sprocket shaft. A plurality of permanent magnet adsorption units are arranged on the outer side end face of the chain. The driving sprocket shaft is drivingly connected to the crawler motor. At least one set of connecting seats is arranged on the inner side face of the support frame, and the connecting seats are connected to the side end of the frame through a rotating pin.

[0006] Further, tensioning mechanisms are provided on both the inner and outer side surfaces of the support frame corresponding to the driven sprocket shaft. The tensioning mechanism includes a tensioning box, an adjusting bolt, and a limit nut. The tensioning box is designed to be hollow, and an offset sliding groove is provided on its outer side wall surface. Both ends of the driven sprocket shaft penetrate the tensioning box through the offset sliding groove, and the exposed part is screwed into the limit nut. The adjusting bolt is arranged in the tensioning box through a flange plate, and the part extending into the interior of the tensioning box abuts against the driven sprocket shaft. Under normal conditions, the adjusting bolt and the driven sprocket shaft are perpendicular to each other on the same horizontal plane.

[0007] Further, the frame includes a top plate and a bottom frame. The bottom frame is composed of two groups of parallel transverse tubes and two groups of parallel longitudinal tubes. The two groups of longitudinal tubes are stacked and connected to the two groups of transverse tubes to form a cross structure. Connection seats are provided at both the left and right ends of the two groups of transverse tubes. The top plate is divided into a long plate and a short plate. The short plate is bent downward, and the two form an L-shaped structure. The long plate is fixedly arranged on the longitudinal tubes.

[0008] Further, the axial runout elimination mechanism includes a slide rail horizontally arranged on the inner wall of the short plate and a slider slidably matched with the slide rail. Limit blocks are also provided at both side ends of the slider on the slide rail. The crawler motor is fixedly arranged on the slider through a connection bracket. The slide rail is parallel to the transverse tube, and the output shaft of the crawler motor is connected to the corresponding driving sprocket shaft through a cross universal coupling.

[0009] Finally, the connection seat is an integrally formed I-shaped structure. The upper end surface is hinged to the transverse tube through two angle codes and a rotating pin, and the lower end surface is fixedly connected to the inner side surface of the support frame. An avoidance groove is also opened downward on the upper end surface.

[0010] Compared with the prior art, the beneficial effects of the present utility model are as follows: The present utility model uses several groups of the permanent magnet adsorption units to adsorb the robot on the outer wall surface of the tower barrel for crawling operation. When the curvature of the outer surface of the tower barrel changes, the magnetic adsorption crawler swings downward relative to the frame with the connection seat as the swing arm, and is in an embracing state corresponding to the outer wall of the tower barrel, perfectly adapting to the curvature change of the outer wall of the tower barrel, and at the same time lifting the frame upward to avoid friction interference between the bottom of the frame and the outer surface of the tower barrel during the climbing and moving process. The frame adopts the method of stacking two groups of the transverse tubes and two groups of the longitudinal tubes, which ensures the installation space at the bottom of the robot while ensuring the torsional rigidity of the frame. At the same time, the stacking structure also greatly reduces the size of the frame in the horizontal direction, further improving the adaptability of the climbing robot. Therefore, the structure of the present utility model is simple, and the crawler structure can swing according to the change of the curvature radius of the outer surface of the scene, effectively improving the product adaptability and inspection efficiency. Description of the Drawings

[0011] Figure 1 is the overall structural schematic diagram of the present utility model;

[0012] Figure 2 is the bottom view structural schematic diagram of the present utility model;

[0013] Figure 3 is the structural schematic diagram of the magnetic adsorption crawler;

[0014] Figure 4 is Figure 3 the sectional structural schematic diagram of A-A in

[0015] Figure 5 is the exploded structural schematic diagram of the frame;

[0016] Figure 6 is the assembly schematic diagram (partially exploded display) of the axial runout elimination mechanism and the top plate;

[0017] Figure 7 is the assembly schematic diagram (partially exploded display) of the connecting seat and the transverse pipe;

[0018] Figure 8 is the structural schematic diagram of the connecting seat. Detailed implementation manner

[0019] Such as Figures 1 to 8As shown in the figure, the utility model includes a frame 1 and drive modules respectively arranged on both sides of the frame 1. The frame 1 includes a top plate and a bottom frame. The bottom frame is composed of two groups of horizontally arranged transverse tubes 10 and two groups of vertically arranged longitudinal tubes 11. The two groups of longitudinal tubes 11 are stacked and connected to the two groups of transverse tubes 10 to form a cross structure, effectively increasing the anti-torsion rigidity of the bottom frame. Connection seats 35 are arranged at the left and right ends of the two groups of transverse tubes 10; the top plate is divided into a long plate 12 and a short plate 13. The short plate 13 is bent downward, and the two are in an L-shaped structure. The long plate 12 is fixedly arranged on the longitudinal tubes 11; the drive module includes a crawler motor 2 and a magnetic adsorption crawler 3. The crawler motor 2 is arranged on the frame 1 through an axial runout elimination mechanism and is drivingly connected to the magnetic adsorption crawler 3. The magnetic adsorption crawler 3 is rotatably connected to the side end of the frame 1, and the included angle between the magnetic adsorption crawler 3 and the frame 1 in the vertical direction is variable. The utility model uses the magnetic adsorption crawler 3 to adsorb the robot on the outer wall of the tower barrel for crawling operation. When the curvature of the outer surface of the tower barrel changes, the magnetic adsorption crawler 3 swings downward relative to the frame 1 with the connection seat 35 as a swing arm, corresponding to a state of surrounding the outer wall of the tower barrel, perfectly adapting to the curvature change of the outer wall of the tower barrel, and at the same time lifting the frame 1 upward to avoid friction interference between the bottom of the frame 1 and the outer surface of the tower barrel during the climbing and moving process; the frame 1 adopts a stacking method of two groups of transverse tubes 10 and two groups of longitudinal tubes 11, while ensuring the installation space at the bottom of the robot, ensuring the anti-torsion rigidity of the frame, and at the same time the stacking structure also greatly reduces the size of the frame in the horizontal direction, further improving the adaptability of the climbing robot.

[0020] In the utility model, the magnetic adsorption crawler 3 includes a support frame 30, a driven sprocket shaft 31 and a driving sprocket shaft 32 respectively arranged at the front and rear ends of the support frame 30, and a chain 33 wound and connected between the driven sprocket shaft 31 and the driving sprocket shaft 32. A number of permanent magnet adsorption units 34 are arranged on the outer end face of the chain 33. In the utility model, the chain 33 adopts a multi-section chain, and a number of the permanent magnet adsorption units 34 are arranged on each individual section. The permanent magnet adsorption unit 34 adopts an N52 square magnet. Especially, the square magnet itself is relatively brittle. To ensure the normal operation of the magnet, a magnet with a larger size value is used. The specific size is 20mm x 10mm x 8mm (length x height x thickness), magnetized in the thickness direction, and a countersunk hole is drilled inside, and is fixedly connected to the section of the chain 33 through a screw (installed with a magnetic conductive material to reduce magnetic force loss). A protective tape with a thickness of 0.15mm is arranged on the contact surface between each permanent magnet adsorption unit 34 and the tower barrel.

[0021] The driving sprocket shaft 32 is drivingly connected to the crawler motor 2. At least one set of connecting seats 35 is arranged on the inner side surface of the support frame 30. The connecting seats 35 are connected to the side end of the frame 1 through pivot pins 36. Due to the structural characteristics of the existing wind power equipment tower barrel, the curvature radius of its outer surface gradually becomes smaller as the height increases. In the present utility model, through the swing of the magnetic adsorption crawlers 3 arranged at both side ends of the frame 1, that is, as the curvature radius of the outer surface becomes smaller, under the action of magnetic attraction, the magnetic adsorption crawlers 3 swing downward on the frame with the connecting seats 35 as swing arms, presenting an overall embracing state, perfectly adapting to the change of the curvature radius of the outer surface. The connecting seats 35 are integrally formed parts with an I-shaped structure. The upper end surface 302 is hinged to the transverse tube 10 through two angle codes 9 and pivot pins 36, and the lower end surface 303 is fixedly connected to the inner side surface of the support frame 30. An avoidance groove 304 is also opened downward on the upper end surface 302. During actual application, when the connecting seats 35 drive the magnetic adsorption crawlers 3 to swing, there is no need to swing upward. Therefore, in the present utility model, an avoidance groove 304 is opened on the upper end surface 302 of the connecting seats 35. The avoidance groove 304 is located at a position relatively lower on the overall upper end surface 302 and is inclined inward from top to bottom. In this way, during the climbing process, the planar design of the upper end of the upper end surface 302 can now allow the connecting seats 35 to swing upward, and the existence of the avoidance groove 304 can prevent interference between the connecting seats 35 and the transverse tube 10 when the connecting seats 35 swing downward.

[0022] Tensioning mechanisms are arranged on both the inner and outer side surfaces of the support frame 30 corresponding to the driven sprocket shaft 31. The tensioning mechanisms include tensioning boxes 37, adjusting bolts 38 and limit nuts 39. The tensioning boxes 37 are designed to be hollow, and offset sliding grooves 300 are arranged on their outer side walls. Both ends of the driven sprocket shaft 31 penetrate the tensioning boxes 37 through the offset sliding grooves 300, and the exposed parts are screwed into the limit nuts 39. The adjusting bolts 38 are arranged in the tensioning boxes 37 through flange plates 301, and the parts extending into the interior of the tensioning boxes 37 abut against the driven sprocket shaft 31. Under normal conditions, the adjusting bolts 38 and the driven sprocket shaft 31 are perpendicular to each other on the same horizontal plane. In order to avoid excessive sag of the chain 33, before the robot works on the upper tower barrel, the tensioning degree of the chain 33 can be adjusted through the tensioning mechanism to meet the requirement of the wall-climbing robot to maintain the maximum adsorption area on the tower barrel. First, loosen the limit nuts 39, and then rotate the adjusting bolts 38. Under the action of the flange plates 301, the adjusting bolts 38 are screwed into (or out of) the inner sides of the tensioning boxes 37 to adjust the positions of the driven sprocket shafts 31 in the offset sliding grooves 300, thereby realizing the adjustment of the tightness of the chain 33.

[0023] The axial runout elimination mechanism includes a slide rail 4 horizontally arranged on the inner wall of the short plate 13 and a slider 5 slidably engaged with the slide rail 4. Limit blocks 6 are further arranged at both side ends of the slider 5 on the slide rail 4. The crawler motor 2 is fixedly arranged on the slider 5 through a connecting bracket 7. The slide rail 4 is parallel to the transverse pipe 10. The output shaft of the crawler motor 2 is connected to the corresponding driving sprocket shaft 32 through a cross universal coupling 8. Since the driving sprocket shaft 31 is connected to the crawler motor 2 through the cross universal coupling 8, when the curvature radius of the tower barrel decreases, the two groups of magnetic adsorption crawlers 3 will tend to be concave inward. At this time, since the driving sprocket shaft 31 is approximately a rigid body, axial runout is inevitable when it cooperates with the cross universal coupling 8. At this time, the slider 5 can drive the crawler motor 2 to move on the slide rail 4, so as to make up for the axial runout difference of the driving sprocket shaft 31. The function of the limit block 6 is to prevent the slider 5 from disengaging when sliding on the slide rail 4. The maximum rotation angle of the selected cross universal coupling 8 of the present invention is 45°. During the crawling process of the robot, it is not necessary for the magnetic adsorption crawler 3 to swing outward. Therefore, under the limiting action of the cross universal coupling 8 and the connecting seat 35, the maximum swing angle of the two groups of magnetic adsorption crawlers 3 is 45° / 2 = 22.5°.

[0024] Finally, it should be emphasized that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, various changes and modifications can be made to the present invention. 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 adaptable base for a tower inspection robot, characterized in that: The invention comprises a frame (1) and drive modules respectively arranged on both sides of the frame (1); the drive modules comprise a track motor (2) and a magnetic adsorption track (3); the track motor (2) is arranged on the frame (1) through an axial runout elimination mechanism and is drivingly connected to the magnetic adsorption track (3); the magnetic adsorption track (3) is rotatably connected to the side end of the frame (1); and the included angle between the magnetic adsorption track (3) and the frame (1) in the vertical direction is variable.

2. The adaptable base for a tower inspection robot according to claim 1, characterized in that: The magnetic adsorption crawler (3) comprises a support frame (30), a driven sprocket shaft (31) and a driving sprocket shaft (32) respectively arranged at the front and rear ends of the support frame (30), and a chain (33) connected around the driven sprocket shaft (31) and the driving sprocket shaft (32), a plurality of permanent magnetic adsorption units (34) are arranged on the outer end surface of the chain (33), the driving sprocket shaft (32) is drivingly connected to the crawler motor (2), and at least one group of connecting seats (35) are arranged on the inner side surface of the support frame (30), and the connecting seat (35) is connected to the side end of the frame (1) through a rotating pin (36).

3. The adaptable base for a tower inspection robot according to claim 2, characterized in that: A tensioning mechanism is provided on both inner and outer side surfaces of the support frame (30) corresponding to the driven sprocket shaft (31), and the tensioning mechanism includes a tensioning box (37), an adjusting bolt (38) and a limiting nut (39). The tensioning box (37) is hollow in design and an offset groove (300) is provided on its outer wall surface. Both ends of the driven sprocket shaft (31) penetrate the tensioning box (37) through the offset groove (300), and the exposed part is screwed into the limiting nut (39); the adjusting bolt (38) is provided in the tensioning box (37) through a flange (301), and extends into the inner part of the tensioning box (37) to abut against the driven sprocket shaft (31). Under normal circumstances, the adjusting bolt (38) and the driven sprocket shaft (31) are on the same horizontal plane and perpendicular to each other.

4. The adaptable base for a tower inspection robot according to claim 2, characterized in that: The frame (1) comprises a top plate and a bottom frame, wherein the bottom frame is composed of two groups of parallel transverse tubes (10) and two groups of parallel longitudinal tubes (11), wherein the two groups of longitudinal tubes (11) are connected to the two groups of transverse tubes (10) in a stacked manner to form a tic-tac-toe structure, and the connecting seats (35) are arranged at both left and right ends of the two groups of transverse tubes (10); the top plate is divided into a long plate (12) and a short plate (13), wherein the short plate (13) is bent downward, and the two are in an L-shaped structure, and the long plate (12) is fixedly arranged on the longitudinal tubes (11).

5. The adaptable base for a tower inspection robot according to claim 4, characterized in that: The axial runout elimination mechanism comprises a slide rail (4) transversely arranged on the inner wall of the short plate (13) and a slider (5) slidably matched with the slide rail (4), and limit blocks (6) are also arranged on the slide rail (4) at both sides of the slider (5), the crawler motor (2) is fixedly arranged on the slider (5) through a connecting bracket (7), the slide rail (4) and the transverse tube (10) are parallel to each other, and the output shaft of the crawler motor (2) is connected to the corresponding driving sprocket shaft (32) through a cross universal coupling (8).

6. The adaptable base for a tower inspection robot according to claim 4, characterized in that: The connecting seat (35) is an I-shaped integrally formed part, the upper end surface (302) is hinged to the transverse tube (10) through two sets of angle brackets (9) and a rotating pin (36), the lower end surface (303) is fixedly connected to the inner side surface of the support frame (30), and an avoidance groove (304) is provided downwardly on the upper end surface (302).

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