Wall-climbing robot

Abstract

The utility model relates to a wall-climbing robot which comprises a rolling wheel support, a magnetic wheel mechanism and a spiral brush roller, the magnetic wheel mechanism and the spiral brush roller are installed on the rolling wheel support, and the spiral brush roller makes contact with the peripheral face of the magnetic wheel mechanism in the extending direction of the spiral brush roller. According to the wall-climbing robot, when the spiral brush roller rotates to clean the magnetic wheel mechanism, thrust in the axial direction can be generated so that impurities can be pushed out to the two sides of the wall-climbing robot, the impurities can fall down from the two sides of the wall-climbing robot, the situation that the impurities enter the wall-climbing robot or are attached to the magnetic wheel mechanism again is avoided, and the cleaning effect is improved.

Description

Technical Field

[0001] This application relates to the technical field of water-cooled wall detection devices, and particularly to a wall-climbing robot. Background Art

[0002] The water-cooled wall is a kind of pipe used in thermal power boilers. Currently, a rear wall-climbing robot is usually used to replace manual labor for detecting or cleaning the water-cooled wall.

[0003] After long-term operation, some magnetic impurities will adhere to the surface of the magnetic walking wheels of the wall-climbing robot in the related art, resulting in a decrease in the magnetic suction force of the wall-climbing robot and hindering its movement. Summary of the Utility Model

[0004] To overcome the problems existing in the related art, this application provides a wall-climbing robot.

[0005] According to an embodiment of the present disclosure, there is provided a wall-climbing robot, including:

[0006] A roller bracket;

[0007] A magnetic wheel mechanism connected to the roller bracket;

[0008] A spiral brush roller rotatably connected to the roller bracket, the spiral contacting the outer peripheral surface of the magnetic wheel mechanism, and there being a preset included angle between the extending direction of the spiral brush roller and the axial direction of the roller shaft of the magnetic wheel mechanism.

[0009] In some embodiments, the extending direction of the spiral brush roller is parallel to the axial direction of the roller shaft.

[0010] In some embodiments, the spiral brush roller is in transmission connection with the magnetic wheel mechanism.

[0011] In some embodiments, the spiral brush roller is provided with a first transmission pulley, and the roller shaft of the magnetic wheel mechanism is provided with a second transmission pulley, and the first transmission pulley and the second transmission pulley are in transmission connection through a first transmission belt;

[0012] Wherein, the size of the first transmission pulley is smaller than the size of the second transmission pulley.

[0013] In some embodiments, the extending direction of the spiral brush roller is inclined with respect to the axial direction of the roller shaft.

[0014] In some embodiments, the spiral brush roller includes a central rod and spiral bristles, and the spiral bristles are spirally arranged on the outer peripheral surface of the central rod.

[0015] In some embodiments, in the radial direction of the central rod, the end of the spiral bristles away from the central rod is tangent to the magnetic wheel mechanism.

[0016] In some embodiments, the spiral bristles include a plurality of tufts, and the plurality of tufts are arranged in a spiral shape to form the spiral bristles; or,

[0017] The spiral bristles include an integrally formed spiral scraper.

[0018] In some embodiments, a spiral groove is provided on the outer peripheral surface of the central rod, and the spiral groove is formed by inward depression from the outer peripheral surface of the central rod;

[0019] The spiral brush roll further includes a strip-shaped mounting portion, the strip-shaped mounting portion is detachably mounted in the spiral groove, and the spiral bristles include a plurality of tufts, and the plurality of tufts are arranged at intervals along the extending direction of the strip-shaped mounting portion.

[0020] In some embodiments, the wall-climbing robot further includes a robot body, and the magnetic wheel mechanism is arranged on the left and right sides of the robot body;

[0021] The magnetic wheel mechanism includes a plurality of magnetic attraction wheels and a second transmission belt, the second transmission belt is used to connect the plurality of magnetic attraction wheels, the second transmission belt includes a straight section and a curved section, the curved section covers a part of the outer peripheral surface of the magnetic attraction wheel, and the straight section connects the curved section;

[0022] Wherein, the spiral brush roll is in contact with the outer peripheral surface of the straight section and / or the curved section.

[0023] The technical solution provided by the embodiments of the present application may include the following beneficial effects: When the spiral brush roll rotates self to clean the magnetic wheel mechanism, it can also generate a thrust along the axial direction to push the impurities to both sides of the wall-climbing robot, so that the impurities fall from both sides of the wall-climbing robot, avoiding the impurities from entering the interior of the wall-climbing robot or adhering to the magnetic wheel mechanism again, and improving the cleaning effect.

[0024] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0026] Figure 1 is a schematic diagram of a wall-climbing robot shown according to an exemplary embodiment.

[0027] Figure 2 is a partial schematic diagram of a wall-climbing robot shown according to an exemplary embodiment.

[0028] Figure 3 It is a partial schematic diagram of a wall - climbing robot shown according to an exemplary embodiment.

[0029] Figure 4 It is a partial schematic diagram of a wall - climbing robot shown according to an exemplary embodiment.

[0030] Figure 5 It is a partial schematic diagram of a wall - climbing robot shown according to an exemplary embodiment.

[0031] Reference numerals:

[0032] 10, roller bracket;

[0033] 20, magnetic wheel mechanism; 21, magnetic suction wheel; 211, roller rotating shaft; 22, second transmission belt; 221, straight section; 222, bent section; 23, second transmission wheel disc;

[0034] 30, spiral brush roller; 31, central rod; 32, spiral brush bristles; 33, first transmission wheel disc;

[0035] 40, servo motor; 41, output shaft;

[0036] 50, first transmission belt;

[0037] 60, third transmission belt;

[0038] 70, robot main body. Detailed implementation manners

[0039] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0040] To solve the problems described in the related art, an embodiment of the present application provides a wall - climbing robot. The wall - climbing robot includes a roller bracket, a magnetic wheel mechanism, and a spiral brush roller. The magnetic wheel mechanism and the spiral brush roller are installed on the roller bracket. The spiral brush roller contacts the outer peripheral surface of the magnetic wheel mechanism, and the extending direction of the spiral brush roller. In the present disclosure, when the spiral brush roller rotates self - to clean the magnetic wheel mechanism, it can also generate a thrust in the axial direction to push the impurities to both sides of the wall - climbing robot, so that the impurities fall from both sides of the wall - climbing robot, avoiding the impurities from entering the interior of the wall - climbing robot or re - attaching to the magnetic wheel mechanism, and improving the cleaning effect.

[0041] According to an exemplary embodiment of the present application, as Figure 1As shown, this embodiment provides a wall-climbing robot, which is a machine device capable of walking freely on a water-cooled wall. A marking device or a cleaning device can be carried on the wall-climbing robot to clean and detect and mark the surface of the water-cooled wall.

[0042] As Figure 1 and Figure 2 shown, the wall-climbing robot includes a roller bracket 10 and a magnetic wheel mechanism 20. The roller bracket 10 is connected to the chassis of the wall-climbing robot, and the roller bracket 10 is used to mount the magnetic wheel mechanism 20. A driving device (such as a servo motor 40) is provided on the roller bracket 10. The output shaft 41 of the servo motor 40 is connected to the roller rotating shaft 211 of the magnetic wheel mechanism 20 through a third transmission belt 60. The servo motor 40 drives the magnetic wheel mechanism 20 to rotate, thereby providing driving force for the wall-climbing robot to move forward.

[0043] It can be understood that the water-cooled wall is of an iron structure, and the magnetic wheel mechanism 20 has magnetism, so that the magnetic wheel mechanism 20 can climb on the vertically extending water-cooled wall in a magnetic adsorption manner. In one example, referring to Figure 2 , the magnetic wheel mechanism 20 includes a magnetic adsorption wheel 21, and the magnetic adsorption wheel 21 can directly generate a magnetic attraction force with the water-cooled wall. In another example (not shown in the drawings), the roller of the magnetic wheel mechanism is an ordinary roller, and a magnetic adsorption module (not shown in the drawings) is provided in the magnetic wheel mechanism, which can also realize the magnetic adsorption of the wall-climbing robot and the water-cooled wall.

[0044] As Figures 1 to 3 shown, the wall-climbing robot further includes a spiral brush roller 30. The spiral brush roller 30 is rotatably connected to the roller bracket 10, and the spiral brush roller 30 is in contact with the outer peripheral surface of the magnetic wheel mechanism 20. The spiral brush roller 30 can rotate self-driven by a preset power source, so as to generate friction with the magnetic wheel mechanism 20 to remove impurities attached to the outer peripheral surface of the magnetic wheel mechanism 20. It should be noted that when the spiral brush roller 30 rotates, it can generate a thrust along the axis direction of the spiral brush roller 30, that is, the spiral brush roller 30 can not only make the impurities fall off from the magnetic wheel mechanism 20, but also discharge the impurities in a specified direction, so that the impurities are attached to the magnetic wheel mechanism 20 again after falling off. The preset power source can be the servo motor 40 connected to the magnetic wheel mechanism 20, or a motor independently used to drive the spiral brush roller 30, without further limitation.

[0045] In one example, referring to Figure 1 , the spiral brush roller 30 can rotate self-driven around the Figure 1 shown a direction in Figure 1The thrust in the x direction is shown in the figure, and the x direction is parallel to the left and right direction of the wall-climbing robot and is directed toward the outside of the wall-climbing robot. Therefore, when removing attached impurities, the spiral brush roller 30 can push the impurities to both sides of the wall-climbing robot, causing the impurities to fall from both sides of the wall-climbing robot, thereby preventing the impurities from entering the interior of the wall-climbing robot or attaching to the magnetic wheel mechanism 20 again.

[0046] Among them, see Figure 1 and Figure 5 There is a preset angle between the extension direction of the spiral brush roller 30 and the axial direction of the roller shaft 211 of the magnetic wheel mechanism 20. The preset angle is any value between 0° and 90°, as long as the spiral brush roller 30 is greater than or equal to the width of the magnetic wheel mechanism 20 ( Figure 1 The x direction as shown in FIG. 2 ) is used to clean the entire surface of the magnetic wheel mechanism 20 .

[0047] Here, it should be noted that only one spiral brush roller 30 can be set on the same roller bracket 10, or multiple spiral brush rollers 30 can be set. It can be adaptively set according to the harsh working environment. For example, when the environment is poor, the number of spiral brush rollers 30 can be appropriately increased to improve the cleaning effect by cleaning at multiple points.

[0048] In the disclosed embodiment, when the spiral brush roller 30 rotates to clean the magnetic wheel mechanism 20, it can also generate thrust in the axial direction to push impurities to both sides of the wall-climbing robot, so that the impurities fall from both sides of the wall-climbing robot, thereby preventing the impurities from entering the interior of the wall-climbing robot or attaching to the magnetic wheel mechanism 20 again, thereby improving the cleaning effect.

[0049] In an exemplary embodiment, Figure 1 As shown, the wall-climbing robot includes a roller bracket 10, a magnetic wheel mechanism 20 and a spiral brush roller 30. The magnetic wheel mechanism 20 and the spiral brush roller 30 are installed on the roller bracket 10. The spiral brush roller 30 contacts the outer peripheral surface of the magnetic wheel mechanism 20, and the extension direction of the spiral brush roller 30.

[0050] In this embodiment, Figures 1 to 4 As shown, the extension direction of the spiral brush roller 30 is parallel to the axial direction of the roller shaft 211 of the magnetic wheel shaft, and the spiral brush roller 30 is transmission-connected with the magnetic wheel mechanism 20. In the wall-climbing robot provided in this embodiment, the spiral brush roller 30 can share a power source with the magnetic wheel mechanism 20, which is beneficial to saving the internal space of the wall-climbing robot.

[0051] It is understandable that when the spiral brush roller 30 is parallel to the axis direction of the roller shaft 211, the spiral brush roller 30 can share the same power source with the magnetic wheel mechanism 20. Figure 2 and Figure 3, in the roller bracket 10, the output shaft 41 of the servo motor 40 is connected to the roller rotating shaft 211 of the magnetic wheel mechanism 20, and the spiral brush roller 30 is in transmission connection with the roller rotating shaft 211 through gears, transmission belts (synchronous belts), etc. That is, the servo motor 40 directly drives the magnetic wheel mechanism 20 to rotate and indirectly drives the spiral brush roller 30 to rotate. In another example (not shown in the drawings), the output shaft 41 of the servo motor 40 in the roller bracket 10 is in transmission connection with the magnetic wheel mechanism 20 and the spiral brush roller 30 respectively through two staggeredly arranged synchronous belts.

[0052] Among them, as Figure 2 and Figure 3 shown, the spiral brush roller 30 is provided with a first drive pulley 33, and the roller rotating shaft 211 of the magnetic wheel mechanism 20 is provided with a second drive pulley 23. The first drive pulley 33 and the second drive pulley 23 are in transmission connection through a first drive belt 50, and the size of the first drive pulley 33 is smaller than that of the second drive pulley 23. It can be determined that since the size of the first drive pulley 33 is smaller than that of the second drive pulley 23, when the magnetic wheel mechanism 20 and the spiral brush roller 30 rotate synchronously, the spiral brush roller 30 can rotate more turns, which is beneficial to improving the cleaning effect.

[0053] In this embodiment, the specific structures of the first drive pulley 33 and the second drive pulley 23 are not overly limited. For example, the first drive pulley 33 and the second drive pulley 23 can be belt pulleys, or they can be gears.

[0054] In an exemplary embodiment, as Figure 2 shown, the wall-climbing robot includes a roller bracket 10, a magnetic wheel mechanism 20, and a spiral brush roller 30. The magnetic wheel mechanism 20 and the spiral brush roller 30 are installed on the roller bracket 10, the spiral brush roller 30 is in contact with the outer peripheral surface of the magnetic wheel mechanism 20, and the extending direction of the spiral brush roller 30.

[0055] The wall-climbing robot provided in this embodiment can include any structure of the wall-climbing robots provided in the above various embodiments.

[0056] As Figure 2 shown, the spiral brush roller 30 includes a central rod 31 and spiral bristles 32. The spiral bristles 32 are spirally arranged on the outer peripheral surface of the central rod 31. In the assembled state, the spiral bristles 32 are located between the central rod 31 and the magnetic wheel mechanism 20. As can be seen from the above, the central rod 31 is used to fixedly install the spiral bristles 32, and the spiral bristles 32 can contact the magnetic wheel mechanism 20 to remove impurities on the magnetic wheel mechanism 20 by friction.

[0057] As Figure 2As shown, in the radial direction of the central rod 31, one end of the spiral brush bristles 32 away from the central rod 31 is tangent to the magnetic wheel mechanism 20. That is, in the direction perpendicular to the outer peripheral surface of the magnetic wheel mechanism 20, the size of the spiral brush bristles 32 is equal to the spacing between the outer peripheral surface of the central rod 31 and the outer peripheral surface of the magnetic wheel mechanism 20. For example, to effectively scrape off impurities, the spiral brush bristles 32 can be made of a hard structure (such as steel wire). This setting method can avoid the spiral brush bristles 32 from wearing and damaging the magnetic wheel mechanism 20 while ensuring that the spiral brush bristles 32 can remove impurities.

[0058] Among them, as Figure 2 shown, the spiral brush bristles 32 include a plurality of tufts, and the plurality of tufts are arranged in a spiral shape to form the spiral brush bristles 32.

[0059] In some alternative embodiments (not shown in the drawings), the spiral brush bristles include an integrally formed spiral scraper.

[0060] Among them, as Figure 2 shown, a spiral groove (not shown in the drawings) is provided on the outer peripheral surface of the central rod 31. The spiral groove is recessed from the outer peripheral surface of the central rod 31 towards the radial inner side. The spiral brush roll 30 includes a strip-shaped mounting portion, and the strip-shaped mounting portion is detachably mounted in the spiral groove. The spiral brush bristles 32 include a plurality of tufts, and the plurality of tufts are arranged at intervals along the extending direction of the strip-shaped mounting portion. In this embodiment, the strip-shaped mounting portion is detachably connected to the central rod 31. After the spiral brush bristles 32 are worn out after long-term use, the spiral brush bristles 32 can be quickly replaced without disassembling the central rod 31.

[0061] Among them, as Figure 1 shown, the wall-climbing robot further includes a robot body 70, and the magnetic wheel mechanism 20 is disposed on the left and right ([ Figure 1 the x direction shown in the figure) sides of the robot body 70. Refer to Figure 4 , the magnetic wheel mechanism 20 includes a plurality of magnetic attraction wheels 21 and a second transmission belt 22. The second transmission belt 22 is used to connect the plurality of magnetic attraction wheels 21. The second transmission belt 22 includes a straight section 221 and a curved section 222. The curved section 222 covers a part of the outer peripheral surface of the magnetic attraction wheel 21, and the straight section 221 is used to connect the curved section 222. For example, refer to Figure 4 , the magnetic wheel mechanism 20 includes two magnetic attraction wheels 21, the second transmission belt 22 includes two straight sections 221 and two curved sections 222. Each curved section 222 is bent at 180°. The two straight sections 221 and the two curved sections 222 are alternately arranged in the order of straight section 221, curved section 222, straight section 221, and curved section 222 to enclose a racetrack-shaped structure.

[0062] In one example, refer to Figure 4, the spiral brush roll 30 contacts the outer peripheral surface of the curved section 222, that is, the spiral brush roll 30 removes impurities at the roller position of the magnetic wheel mechanism 20.

[0063] In another example (not shown in the drawings), the spiral brush roll contacts the outer peripheral surface of the straight section.

[0064] In yet another example (not shown in the drawings), multiple spiral brush rolls are provided, and some of the spiral brush rolls contact the outer peripheral surface of the curved section, and some of the spiral brush rolls contact the outer peripheral surface of the straight section.

[0065] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the disclosure herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0066] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A wall-climbing robot, characterized in that, Comprising: Roller bracket; Magnetic wheel mechanism, connected to the roller bracket; Spiral brush roll, rotatably connected to the roller bracket, the spiral in contact with the outer peripheral surface of the magnetic wheel mechanism, and there is a preset included angle between the extending direction of the spiral brush roll and the axial direction of the roller shaft of the magnetic wheel mechanism.

2. The wall-climbing robot according to claim 1, characterized in that, The extending direction of the spiral brush roll is parallel to the axial direction of the roller shaft.

3. The wall-climbing robot according to claim 2, wherein The spiral brush roll is drivingly connected to the magnetic wheel mechanism.

4. The wall-climbing robot according to claim 3, characterized in that, The spiral brush roll is provided with a first drive wheel disc, the roller shaft of the magnetic wheel mechanism is provided with a second drive wheel disc, and the first drive wheel disc and the second drive wheel disc are drivingly connected by a first drive belt; Wherein, the size of the first drive wheel disc is smaller than the size of the second drive wheel disc.

5. The wall-climbing robot according to claim 1, characterized in that, The extending direction of the spiral brush roll is inclined to the axial direction of the roller shaft.

6. The wall-climbing robot according to any one of claims 1-5, characterized in that, The spiral brush roll includes a central rod and spiral bristles, and the spiral bristles are spirally arranged on the outer peripheral surface of the central rod.

7. The wall-climbing robot according to claim 6, wherein, In the radial direction of the central rod, the end of the spiral bristle away from the central rod is tangent to the magnetic wheel mechanism.

8. The wall-climbing robot according to claim 6, wherein The spiral bristle includes a plurality of tufts, and the plurality of tufts are spirally arranged to form the spiral bristle; or, The spiral bristle includes an integrally formed spiral scraper.

9. The wall-climbing robot according to claim 6, wherein, The outer peripheral surface of the central rod is provided with a spiral groove, and the spiral groove is formed by inward depression from the outer peripheral surface of the central rod; The spiral brush roll further includes a strip-shaped mounting portion, the strip-shaped mounting portion is detachably mounted in the spiral groove, and the spiral bristles include a plurality of tufts, and the plurality of tufts are spaced apart along the extending direction of the strip-shaped mounting portion.

10. The wall-climbing robot according to claim 1, characterized in that, The wall-climbing robot further includes a robot body, and the magnetic wheel mechanism is arranged on the left and right sides of the robot body; The magnetic wheel mechanism includes a plurality of magnetic attraction wheels and a second drive belt, the second drive belt is used to connect the plurality of magnetic attraction wheels, the second drive belt includes a straight section and a curved section, the curved section covers a part of the outer peripheral surface of the magnetic attraction wheel, and the straight section connects the curved section; Wherein, the spiral brush roll is in contact with the outer peripheral surface of the straight section and / or the curved section.

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