Wall-climbing flexible grinding robot capable of climbing over reverse top surface

Abstract

The utility model relates to the technical field of robots, in particular to a wall-climbing flexible polishing robot capable of climbing over a reverse top surface, which comprises a robot body and a moving device arranged outside the robot body, a vault fixing structure is movably clamped on the moving device, and a polishing structure is further arranged outside the robot body. The robot body comprises an outer shell and a communication device arranged in the outer shell, a control device is further arranged in the outer shell, a power machine is fixedly arranged in the outer shell, a planetary gear speed reducer is arranged on a rotating shaft of the power machine, and the planetary gear speed reducer is connected with a moving device.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a wall-climbing flexible polishing robot capable of climbing over an inverted top surface. Background Art

[0002] Wall-climbing robots are suitable for flat and curved metal surfaces of equipment such as ships, storage tanks, and wind turbine towers. Manual grinding, inspection, and cleaning in these high-altitude and smooth-surfaced places require careful safety protection for workers. Even so, it is easy for workers to slip and fall, and dangerous incidents such as work are very dangerous. Wall-climbing robots can replace manual operations and be controlled by remote control to move and grind, inspect, and clean the surfaces they contact, greatly reducing construction risks and effectively ensuring the personal safety of workers.

[0003] Although the above-mentioned existing technologies can solve the corresponding technical problems, there are still certain defects: when the existing wall-climbing robots work inside the metal device structures such as wind turbine silos, ships, and storage tanks, the internal tops of these devices are closed. In order to ensure the smoothness and cleanliness of the tops, it is often necessary to perform inspection, spraying, cleaning and other operations on the reverse top surface. The existing robots can only work on vertical planes. When working on top planes such as arches, the structural angle of their adsorption cannot be changed, which causes the adsorption force to drop significantly or disappear. It is easy to fall off due to insufficient adsorption and fixing performance, which is highly dangerous and has poor adaptability. At the same time, when grinding, the existing robot grinding structure uses a slide with a force control sensor to control the grinding force. The structure and control process are relatively complex and the cost is high. At the same time, the volume and weight are large, and it is more likely to fall when working on the arch, and safety is difficult to guarantee. Utility Model Content

[0004] The purpose of the utility model is to address the defects and shortcomings of the existing technology and provide a wall-climbing flexible grinding robot that is not easy to fall off, has strong adaptability and high safety and can climb over the reverse top surface.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solution: a wall-climbing flexible grinding robot that can climb over the reverse top surface, including a robot body and a moving device arranged outside the robot body, the moving device is movably engaged with a vault fixing structure, and a grinding structure is also provided outside the robot body. The robot body shown includes an outer shell and a communication device arranged in the outer shell, and a control device is also provided in the outer shell. A power machine is fixed in the outer shell, and a planetary gear reducer is provided on the rotating shaft of the power machine, and the planetary gear reducer is connected to the moving device.

[0006] A further improvement is that the arch fixing structure includes an adsorption device that is movably engaged with the moving device, and the end of the adsorption device is movably engaged with a connecting rod structure, and the connecting rod structure is a three-link structure that is movably engaged with each other, and the other end of the connecting rod structure is movably engaged with a servo fixedly connected to the robot body.

[0007] Further improvements are: the adsorption device includes a fixed plate movably engaged with the mobile device and a fourth connecting rod fixedly arranged on the top of the fixed plate and movably engaged with the end of the connecting rod structure; a magnetic attraction structure is provided at the bottom of the fixed plate, and the magnetic attraction structure includes several permanent magnet blocks embedded in the bottom of the fixed plate.

[0008] A further improvement is that a needle bearing is provided between the fixed plate and the movable device.

[0009] A further improvement is that a baffle for fixing the permanent magnet block is detachably provided on the bottom side wall of the fixing plate.

[0010] A further improvement is that: the fixing plate is further provided with a plurality of penetrating grooves.

[0011] Further improvements are: the grinding structure includes a connecting plate connected to the side of the robot body and a switch solenoid valve arranged on one side of the connecting plate, a connecting pipe is provided between the solenoid valve and the connecting plate to connect the two to each other, and a grinding device is also provided on the connecting plate, the grinding device includes a connecting frame arranged on the connecting plate and a servo motor arranged on the top of the connecting frame, a grinding wheel is movably engaged with the bottom of the connecting frame, and a transmission belt is provided between the end of the grinding wheel and the rotating shaft of the servo motor.

[0012] A further improvement is that the connecting plate includes a plate body connected to the side of the robot and a downward pressure cylinder arranged on the plate body. The downward pressure cylinder is connected to the solenoid valve through a connecting pipe, and a downward pressure block connected to the connecting frame is provided at the bottom of the downward pressure cylinder.

[0013] A further improvement is that: a plurality of slide rails are further provided on the plate body, a slider is slidably provided on the slide rails, and the slider is fixedly connected to the connecting frame.

[0014] A further improvement is that a buffer pipe section is provided in the middle section of the communicating pipe.

[0015] A further improvement is that: the switch solenoid valve is also provided with a proportional valve connected thereto.

[0016] After adopting the above technical solution, the beneficial effects of the utility model are:

[0017] When the utility model is in use, if the robot moves to the arch position of a metal device such as a wind turbine silo, a ship, or a storage tank, the connecting rod structure can be pulled by the servo to generate tension in the connecting rod structure, and the fourth connecting rod is pulled to cause the connecting plate of the adsorption device to twist along the main axis, thereby adjusting the angle of the permanent magnet block of the magnetic attraction structure, so that the permanent magnet block of the magnetic attraction structure can always be fully facing and adsorbed on the inner wall surface of the metal device. Not only can the adsorption and movement work be performed on the vertical plane, but the adsorption and fixing effect can also be guaranteed when it reaches the arch position, and it is not easy to fall off due to insufficient adsorption force. It is safer to use and has good adaptability.

[0018] The utility model uses a switching solenoid valve in conjunction with a downward pressure cylinder to enable the grinding structure to move up and down along the plate body. When the robot moves to the raised point of the grinding surface, the air pressure in the downward pressure cylinder can be increased to enable the grinding wheel to be pressed down more fully and fit on the grinding surface for grinding. The structure is simple and the cost is low. At the same time, the simple structure has a small volume and weight, which makes it less likely to cause the robot to fall, and the safety is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 This is a three-dimensional structural diagram of the utility model robot;

[0021] Figure 2 This is a schematic diagram of the cross-sectional structure of the robot of the present invention when viewed from above;

[0022] Figure 3 This is a three-dimensional structural diagram of the vault fixing structure of the utility model;

[0023] Figure 4 It is a three-dimensional structural diagram of the adsorption device of the utility model;

[0024] Figure 5 It is a three-dimensional structural diagram of the grinding structure of the utility model;

[0025] Figure 6 This is a three-dimensional structural diagram of the connecting plate of the utility model;

[0026] Figure 7 It is a schematic diagram of the structure of the mobile device of the utility model in a top view in combination with a power machine and a planetary gear reducer. DETAILED DESCRIPTION

[0027] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0028] See Figure 1-7As shown, the technical solution adopted in this specific embodiment is: a wall-climbing flexible grinding robot that can climb over the reverse top surface, including a robot body 3 and a mobile device 2 arranged outside the robot body 3, the mobile device 2 is movably engaged with a vault fixing structure 4, the vault fixing structure 4 includes an adsorption device 23 movably engaged with the mobile device 2, the adsorption device 23 includes a fixed plate 232 movably engaged with the mobile device 2 and a fourth connecting rod 234 fixedly arranged on the top of the fixed plate 232 and movably engaged with the end of the connecting rod structure 25, a magnetic structure 233 is provided at the bottom of the fixed plate 232, the magnetic structure 233 includes a plurality of permanent magnet blocks embedded in the bottom of the fixed plate 232, and the end of the adsorption device 23 is movably engaged There is a connecting rod structure 25 that is movably engaged. The connecting rod structure 25 is a three-link structure that is movably engaged with each other. The other end of the connecting rod structure 25 is movably engaged with a servo 26 that is fixedly connected to the robot body 3. The robot body 3 is also provided with a grinding structure 1. The grinding structure 1 includes a connecting plate 13 connected to the side of the robot body 3 and a switch solenoid valve 12 arranged on one side of the connecting plate 13. A connecting pipe 18 is provided between the solenoid valve 12 and the connecting plate 13 to connect the two to each other. There is also a grinding device on the connecting plate 13. The grinding device includes a connecting frame 14 arranged on the connecting plate 13 and a servo motor 15 arranged on the top of the connecting frame 14. A grinding wheel 17 is movably engaged at the bottom of the connecting frame 14. The grinding wheel 1 A transmission belt 16 is provided between the end 7 and the rotating shaft of the servo motor 15. The connecting plate 13 includes a plate body 131 connected to the side of the robot and a downward pressure cylinder 132 provided on the plate body 131. The downward pressure cylinder 132 is connected to the solenoid valve 12 through a connecting pipe 18. A downward pressure block 133 connected to the connecting frame 14 is provided at the bottom of the downward pressure cylinder 132. The robot body 3 shown includes an outer shell 31 and a communication device 32 provided in the outer shell 31. A control device 33 is also provided in the outer shell 31. A power machine 34 is fixed in the outer shell 31. A planetary gear reducer 35 is provided on the rotating shaft of the power machine 34. The planetary gear reducer 35 is connected to the moving device 2. When in use, the communication device 32 is connected to the moving device 2 through the communication device 32. Device 32 receives external input signals and transmits them to control device 33. Control device 33 adopts integrated automotive-grade MCU embedded control system with strong anti-interference ability, which is particularly suitable for small robots with high integration. Communication device 32 adopts LoRa to achieve 3km high-precision, low-latency and low-power wireless communication, so that the power machine 34 can be started or stopped under the control of control device 33, and cooperates with planetary gear reducer 35 to slow down the power output of power machine 34, and output the slowed power to mobile device 2. Mobile device 2 includes a rotating shaft and a rotating wheel. At this time, the robot body 3 can be driven to move by the mobile device. At the same time, the servo 26 is installed on the robot body 3. When the robot moves,At the same time, the robot is attracted to the inner wall of the metal device by the magnetic force generated by the several permanent magnets of the magnetic attraction structure 233 provided at the bottom of the fixed plate 232. When the robot continues to move and reaches the arch position of the metal device, the servo 26 can be driven to rotate the rotating shaft of the servo 26, and the torque generated by the rotation is output to the connecting rod structure 25. The connecting rod structure 25 is a three-link structure. When the servo 26 rotates clockwise, a lateral pulling force is generated and applied to the fourth connecting rod 234, so that the fixed plate 232 rotates clockwise along the mobile device 2. When the servo 26 rotates counterclockwise, the torque is output to the connecting rod structure 25, generating a lateral rotation opposite to the clockwise rotation of the servo 26. The pulling force causes the fixing plate 232 to rotate counterclockwise along the moving device 2, thereby changing the angle of the permanent magnet block at the bottom of the fixing plate 232. When the robot moves to the dome position of the metal device, the servo 26 can be rotated to output torque and adjust the angle of the permanent magnet block, so that the permanent magnet block of the magnetic structure 233 can always be fully adsorbed on the inner wall surface of the metal device. Not only can the adsorption and movement work be performed on the vertical plane, but the adsorption and fixing effect can also be guaranteed when it reaches the dome position. It is not easy to fall off due to insufficient adsorption force, and it is safer to use and has good adaptability. At the same time, the connecting plate 13 is installed on the mobile structure of the grinding robot, and then the machine is The output port of the air compressor on the person is connected to the switch solenoid valve 12. The air compressor can use an external small rotary vane air compressor, and the air compressor and the switch solenoid valve 12 are connected to each other. Then, the high-pressure air of the air compressor can be controlled by the switch solenoid valve 12 to enter the downward pressure cylinder 132 through the connecting pipe 18, thereby controlling the rise and fall of the downward pressure block 133 of the downward pressure cylinder 132, and then synchronously driving the rise and fall of the connecting frame 14 connected thereto. The servo motor 15 outputs power and rotates the grinding wheel 17 through the transmission belt 16. When grinding is required, high-pressure air is output through the switch solenoid valve 12 to make the downward pressure cylinder 132 press the downward pressure block 133 downward. , and then the grinding wheel 17 is pushed downward, so that it is squeezed and fit on the grinding surface for full grinding. When it is necessary to move, the air in the downward pressure cylinder 132 is extracted by switching the solenoid valve 12, so that the downward pressure block 133 at the bottom of the downward pressure cylinder 132 moves upward, and then the grinding wheel 17 is separated from the grinding surface. When the grinding structure encounters a large area of protrusion on the grinding surface, or a local small particle protrusion, the output gas pressure is gradually or instantly increased by switching the solenoid valve 12, and then the grinding pressure is gradually or instantly increased. When the grinding surface is concave, the downward pressure cylinder 132 is driven by the gas pressure to continue to move downward, so that the grinding wheel 17 and the grinding surface are adaptively fitted. The servo motor 15 adopts current loop control, which can feedback the size of the grinding force and realize quantitative feedback of the grinding force. It has a simple structure and low cost.

[0029] A needle bearing 24 is provided between the fixed plate 232 and the mobile device 2, which helps to reduce the friction resistance of the fixed plate 232 and the mobile device 2 when twisting against each other, and makes the angle adjustment faster and smoother.

[0030] The bottom side wall of the fixing plate 232 is detachably provided with a baffle 235 for fixing the permanent magnet block, which helps to limit the permanent magnet block and prevent the permanent magnet block from falling out of the side of the fixing plate 232;

[0031] The fixing plate 232 is also provided with a plurality of through slots 236. In this embodiment, there are five through slots 236. This helps to reduce the weight of the fixing plate 232, thereby making the overall weight of the robot lower and less likely to fall off the inner wall of the metal device.

[0032] The plate body 131 is further provided with a plurality of slide rails 135, on which a slider 134 is slidably provided. The slider 134 is fixedly connected to the connecting frame 14 and can be a dust-proof slide rail. In this embodiment, two slide rails are provided. The slide rails 135 are slidably provided with a slider 134, which is fixedly connected to the grinding device, which is conducive to making the lifting trajectory of the grinding structure smoother and avoiding skewness that affects the fitting effect of the grinding wheel 17.

[0033] A buffer pipe section 19 is provided in the middle section of the communication pipe 18. The buffer pipe 19 with a certain volume can make the grinding structure adaptively lift up by utilizing the principle of gas compressibility, thereby maintaining the stability of the downward force, significantly reducing the impact on the grinding structure during grinding, and realizing flexible adaptive grinding;

[0034] The switch solenoid valve 12 is also provided with a proportional valve 11 connected thereto, which is conducive to controlling the opening of the switch solenoid valve 12 through the proportional valve 11, thereby controlling the downward pressure of the grinding device. The proportional valve 11 can be used to cooperate with the grinding force feedback of the servo motor 15 to control the opening of the proportional valve 1, thereby realizing adaptive closed-loop control of the grinding downward pressure and making the grinding structure more adaptable.

[0035] The working principle of the present invention is as follows: when in use, the communication device 32 is used to receive the external input signal and transmit it to the control device 33. The control device 33 adopts an integrated automotive-grade MCU embedded control system with strong anti-interference type, which is particularly suitable for small robots with high integration. The communication device 32 adopts LoRa to achieve 3km high-precision, low-latency, and low-power wireless communication, so that the power machine 34 is started or stopped under the control of the control device 33, and the planetary gear reducer 35 is used to slow down the power output of the power machine 34, and the slowed power is output to the mobile device 2. The mobile device 2 includes a rotating shaft and a rotating wheel. At this time, the robot body 3 can be driven to move by the mobile device. At the same time, the servo 26 is installed It is installed on the robot body 3. When the robot moves, the robot is attracted to the inner wall of the metal device by the magnetic force generated by the several permanent magnets of the magnetic attraction structure 233 provided at the bottom of the fixed plate 232. When the robot continues to move and reaches the arch position of the metal device, the servo 26 can be driven at this time to rotate the rotating shaft of the servo 26, and then the torque generated by the rotation is output to the connecting rod structure 25. The connecting rod structure 25 is a three-link structure. When the servo 26 rotates clockwise, a lateral pulling force can be generated and applied to the fourth connecting rod 234, so that the fixed plate 232 rotates clockwise along the moving device 2. When the servo 26 rotates counterclockwise, the torque is output to the connecting rod structure 25, generating a lateral pulling force opposite to the clockwise rotation of the servo 26. The force is applied to the fixing plate 232 to rotate counterclockwise along the moving device 2, thereby changing the angle of the permanent magnet at the bottom of the fixing plate 232. When the robot moves to the dome position of the metal device, the servo 26 can be rotated to output torque and adjust the angle of the permanent magnet, so that the permanent magnet of the magnetic structure 233 can always be fully 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 fixing effect when it reaches the dome position, and it is not easy to fall off due to insufficient adsorption force. It is safer to use and has good adaptability. At the same time, the connecting plate 13 is installed on the mobile structure of the grinding robot. Subsequently, the air compressor output port on the robot is connected to the switch solenoid valve 12. The compressor can use an external small rotary vane air compressor, and connect the air compressor with the switch solenoid valve 12, and then the high-pressure air of the air compressor can be controlled by the switch solenoid valve 12 to enter the downward pressure cylinder 132 through the connecting pipe 18, thereby controlling the rise and fall of the downward pressure block 133 of the downward pressure cylinder 132, thereby synchronously driving the rise and fall of the connecting frame 14 connected thereto, and the servo motor 15 outputs power to rotate the grinding wheel 17 through the transmission belt 16. When grinding is required, high-pressure air is output through the switch solenoid valve 12, so that the downward pressure cylinder 132 presses the downward pressure block 133, and then the grinding wheel 17 is pushed downward, so that it is squeezed and fits on the grinding surface for full grinding. When it is necessary to move,By switching the solenoid valve 12, the air in the downward pressure cylinder 132 is evacuated, causing the downward pressure block 133 at the bottom of the downward pressure cylinder 132 to move upward, thereby releasing the grinding wheel 17 from contact with the grinding surface. When the grinding structure encounters a large protrusion on the grinding surface, or a small localized protrusion, the output gas pressure is gradually or instantly increased by switching the solenoid valve 12, causing the grinding pressure to gradually or instantly increase. When the grinding surface is concave, the downward pressure cylinder 132 is driven by the gas pressure to continue moving downward, achieving adaptive contact between the grinding wheel 17 and the grinding surface. The servo motor 15 uses a current loop control to provide feedback on the magnitude of the grinding force, achieving quantitative feedback of the grinding force. This has a simple structure and low cost.

[0036] This utility model protects the product's structure; the component models are not the subject of this utility model's protection and are generally known technology. Any commercially available component that can achieve the aforementioned functions of this utility model can be used as an alternative. Therefore, component models and other parameters are not described in detail in this utility model. The contribution of this utility model lies in the scientific combination of the components.

[0037] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for illustrative purposes. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements shall fall within the scope of the present invention as claimed. The scope of protection claimed in the present invention shall be defined by the appended claims and their equivalents. Any details not described in the present invention are well known to those skilled in the art.

Claims

1. A wall-climbing flexible polishing robot capable of climbing over an inverted top surface, characterized by: The invention comprises a robot body (3) and a moving device (2) arranged outside the robot body (3), wherein a dome fixing structure (4) is movably engaged on the moving device (2), and a grinding structure (1) is further provided outside the robot body (3). The robot body (3) comprises an outer shell (31) and a communication device (32) arranged inside the outer shell (31), and a control device (33) is further provided inside the outer shell (31). A power machine (34) is fixedly provided inside the outer shell (31), and a planetary gear reducer (35) is provided on the rotating shaft of the power machine (34), and the planetary gear reducer (35) is connected to the moving device (2).

2. The wall-climbing flexible polishing robot capable of climbing over an inverted top surface according to claim 1, characterized in that: The arch fixing structure (4) includes an adsorption device (23) movably engaged with the moving device (2), an end of the adsorption device (23) is movably engaged with a connecting rod structure (25), the connecting rod structure (25) is a three-link structure movably engaged with each other, and the other end of the connecting rod structure (25) is movably engaged with a steering gear (26) fixedly connected to the robot body (3).

3. The wall-climbing flexible polishing robot capable of climbing over an inverted top surface according to claim 2, characterized in that: The adsorption device (23) comprises a fixed plate (232) movably engaged with the moving device (2) and a fourth connecting rod (234) fixedly arranged on the top of the fixed plate (232) and movably engaged with the end of the connecting rod structure (25). A magnetic attraction structure (233) is provided at the bottom of the fixed plate (232). The magnetic attraction structure (233) comprises a plurality of permanent magnet blocks embedded in the bottom of the fixed plate (232).

4. The wall-climbing flexible polishing robot capable of climbing over an inverted top surface according to claim 3, characterized in that: A needle bearing (24) is provided between the fixed plate (232) and the moving device (2).

5. The wall-climbing flexible polishing robot capable of climbing over an inverted top surface according to claim 3, characterized in that: A baffle (235) for fixing the permanent magnet block is detachably provided on the bottom side wall of the fixing plate (232).

6. The wall-climbing flexible polishing robot capable of climbing over an inverted top surface according to claim 3, characterized in that: The fixing plate (232) is also provided with a plurality of penetration slots (236).

7. The wall-climbing flexible polishing robot capable of climbing over an inverted top surface according to claim 1, characterized in that: The grinding structure (1) includes a connecting plate (13) connected to the side of the robot body (3) and a switch electromagnetic valve (12) arranged on one side of the connecting plate (13); a connecting pipe (18) is provided between the electromagnetic valve (12) and the connecting plate (13) to connect the two to each other; the connecting plate (13) is also provided with a grinding device, the grinding device includes a connecting frame (14) arranged on the connecting plate (13) and a servo motor (15) arranged on the top of the connecting frame (14); a grinding wheel (17) is movably engaged at the bottom of the connecting frame (14); a transmission belt (16) is provided between the end of the grinding wheel (17) and the rotating shaft of the servo motor (15).

8. The wall-climbing flexible polishing robot capable of climbing over an inverted top surface according to claim 7, characterized in that: The connecting plate (13) includes a plate body (131) connected to the side of the robot and a downward pressure cylinder (132) arranged on the plate body (131). The downward pressure cylinder (132) is connected to the electromagnetic valve (12) through a connecting pipe (18). A downward pressure block (133) connected to the connecting frame (14) is provided at the bottom of the downward pressure cylinder (132).

9. The wall-climbing flexible polishing robot capable of climbing over an inverted top surface according to claim 8, characterized in that: The plate body (131) is further provided with a plurality of slide rails (135), and a slider (134) is slidably provided on the slide rails (135), and the slider (134) is fixedly connected to the connecting frame (14).

10. The wall-climbing flexible polishing robot capable of climbing over an inverted top surface according to claim 7, characterized in that: A buffer pipe section (19) is provided in the middle section of the communicating pipe (18).

11. The wall-climbing flexible polishing robot capable of climbing over an inverted top surface according to claim 7, characterized in that: The switch solenoid valve (12) is also provided with a proportional valve (11) connected thereto.

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