Wall-climbing robot

Abstract

The utility model provides a wall-climbing robot, which relates to the field of ocean engineering and comprises a frame, a mounting seat is fixedly mounted in the frame, driving motors are fixedly mounted on two sides of the mounting seat, rotating wheels are fixedly mounted at output ends of the driving motors, and connecting blocks are mounted at the other ends of the rotating wheels. And the other side of the connecting block is fixedly installed in the frame, a crawler belt body is movably installed on the surface of the rotating wheel, and first adsorption magnets are fixedly installed on the surface of the crawler belt body at equal intervals. The device can be stably attracted to a ship body through the first attraction magnets installed on the surface of the crawler belt body at equal intervals and the second attraction magnets installed on the surface of the first installation block, the first attraction magnets and the second attraction magnets are neodymium iron boron N35 permanent magnets, the service life is long, frequent replacement is not needed, and cost is reduced; through the elasticity of the spring installed on the surface of the round rod, the round rod is adjusted to extend in a self-adaptive mode according to the curvature of a wall body.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of ocean engineering, especially to a wall-climbing robot. BACKGROUND

[0002] In the field of ocean engineering, the maintenance of a ship is a key link to ensure its safe operation and prolong its service life. Among them, the cleaning and maintenance task of the vertical deck of the ship is crucial, but it faces many severe challenges. As an important structural part of the ship, the vertical deck of the ship has a complex and diverse surface condition. Due to long-term exposure to the marine environment, it is eroded by seawater, sea wind, salt mist and other factors. Not only is the deck surface prone to rust, but it may also have various irregular protrusions, depressions and complex curvatures caused by different material splicing or structural changes. These factors make the traditional adsorption method face great difficulties in practical application. The traditional vacuum or negative pressure adsorption method relies on a sealed air environment to generate adsorption force, but it is difficult to form a stable sealed space on the complex surface of the vertical deck of the ship. Although the electro-permanent magnetic adsorption method has certain adsorption advantages in theory, its structure is complex and requires a precise control and adjustment system to generate and switch the magnetic force. This not only increases the manufacturing cost and technical difficulty of the robot, but also challenges its reliability in practical application. SUMMARY

[0003] The utility model aims at providing a wall-climbing robot to solve the problems raised in the background.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme: a wall-climbing robot, comprising: a frame, a shell fixedly installed on the top of the frame, an installation seat fixedly installed inside the frame, a drive motor fixedly installed on both sides of the installation seat, a rotating wheel fixedly installed on the output end of the drive motor, a connecting block installed on the other end of the rotating wheel, the other side of the connecting block fixedly installed inside the frame, a track body movably installed on the surface of the rotating wheel, and an adsorption magnet one fixedly installed at equal distances on the surface of the track body.

[0005] As a preferred embodiment, the bottom of the shell is fixedly installed with an installation block one, the number of the installation block one is three, and the bottom of the installation block one is fixedly installed with an adsorption magnet two.

[0006] As a preferred embodiment, the other side of the adsorption magnet one is installed with a gasket one, and the bottom of the adsorption magnet two is fixedly installed with a gasket two.

[0007] As a preferred implementation form, the two sides of the frame surface are fixedly provided with three mounting blocks two, the inner wall of the mounting block two is movably provided with a round rod, the surface of the round rod is movably provided with a spring, one end of the round rod is fixedly provided with a limiting block, and the other end of the round rod is fixedly provided with an anti-dropping block.

[0008] As a preferred implementation form, one end of the spring is fixedly arranged at the bottom of the mounting block two, and the other end of the spring is fixedly arranged at the top of the limiting block.

[0009] As a preferred implementation form, the bottom of the limiting block is provided with a mounting shell, and the inside of the mounting shell is movably connected with a magnet roller.

[0010] As a preferred implementation form, the materials of the adsorbing magnet one, the adsorbing magnet two and the magnet roller are all neodymium iron boron N35 permanent magnets.

[0011] Compared with the prior art, the advantages and positive effects of the utility model are that:

[0012] 1. The adsorbing magnet one and the adsorbing magnet two are installed on the surface of the crawler body and the surface of the mounting block one at equal distances, so that the device can be well adsorbed on the vertical clamping plate of the ship body, the adsorbing magnet one and the adsorbing magnet two are neodymium iron boron N35 permanent magnets, have a long service life, do not need to be frequently replaced, reduce the cost of the device, and make the device more perfect.

[0013] 2. The round rod movably arranged in the two mounting blocks two installed on the two sides of the frame, and the spring installed on the surface of the round rod, so that when the device moves to the curved wall body, the round rod is self-adaptively elongated and adjusted according to the curvature of the wall body through the elasticity of the six springs, the device can also be well adsorbed on the curved wall body, and the device is more perfect. BRIEF DESCRIPTION OF DRAWINGS

[0014] Fig. 1 It is a side view of the wall-climbing robot provided by the utility model;

[0015] Fig. 2 It is a bottom view of the wall-climbing robot provided by the utility model;

[0016] Fig. 3 It is a spring side view of the wall-climbing robot provided by the utility model.

[0017] LEGEND:

[0018] 1, frame; 2, shell; 3, mounting seat; 4, drive motor; 5, rotating wheel; 6, connecting block; 7, track body; 8, adsorption magnet one; 9, gasket one; 10, mounting block one; 11, adsorption magnet two; 12, gasket two; 13, mounting block two; 14, round rod; 15, spring; 16, limiting block; 17, mounting shell; 18, magnet roller; 19, anti-drop block. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] Please refer to Figs. 1-3 The present application provides a technical solution: a wall climbing robot, comprising: a frame 1, the top of the frame 1 is fixedly installed with a shell 2, the inside of the frame 1 is fixedly installed with a mounting seat 3, the two sides of the mounting seat 3 are fixedly installed with drive motors 4, the output end of the drive motor 4 is fixedly installed with a rotating wheel 5, the other end of the rotating wheel 5 is installed with a connecting block 6, the other side of the connecting block 6 is fixedly installed in the inside of the frame 1, the surface of the rotating wheel 5 is movably installed with a track body 7, and the surface of the track body 7 is fixedly installed with adsorption magnets one 8 at equal distances.

[0021] Specifically: when the device is in use, the drive motor 4 is started by an external power source to drive the rotating wheel 5 to operate, the connecting block 6 installed at the other end of the rotating wheel 5 is installed in the inside of the frame 1, so that the rotating wheel 5 can stably operate, the track body 7 installed on the surface of the rotating wheel 5 can stably operate, and the adsorption magnets one 8 fixedly installed at equal distances on the surface of the track body 7 are adsorbed on the vertical deck of the ship body, so that the device stably moves on the ship body, thereby enabling the device to be adsorbed on the ship body by the magnetism, and enabling the device to better move on the vertical deck, and making the device more perfect.

[0022] In one embodiment, the bottom of the shell 2 is fixedly installed with three mounting blocks one 10, and the bottom of the mounting block one 10 is fixedly installed with adsorption magnets two 11.

[0023] Specifically: the adsorption magnets two 11 fixedly installed at the bottom of the mounting block one 10 enable the device to be adsorbed on the ship body by removing the gasket one 9 installed at equal distances on the surface of the track body 7, and simultaneously enable the device to be adsorbed on the ship body by the adsorption magnets two 11, so that the device is more stably adsorbed on the ship body, and the device is more perfect.

[0024] In one embodiment, the other side of the adsorption magnet 8 is provided with a gasket 9, and the bottom of the adsorption magnet 11 is fixedly provided with a gasket 12.

[0025] Specifically, the gaskets 9 and 12 are made of EPDM vacuum sponge, which can effectively buffer the impact between the magnets and the wall surface, prolong the service life of the magnets, prevent the magnets from being damaged when processing the surface of the ship body, maintain the gap between the magnets and the wall surface, prevent the track from being blocked due to excessive magnetic force, and ensure the balance between the adsorption force and the crawling performance, so that the device is more perfect.

[0026] In one embodiment, the two sides of the frame 1 are fixedly provided with three mounting blocks 13, the inner wall of the mounting block 13 is movably provided with a round rod 14, the surface of the round rod 14 is movably provided with a spring 15, one end of the round rod 14 is fixedly provided with a limiting block 16, the other end of the round rod 14 is fixedly provided with an anti-dropping block 19, one end of the spring 15 is fixedly provided at the bottom of the mounting block 13, the other end of the spring 15 is fixedly provided at the top of the limiting block 16, the bottom of the limiting block 16 is provided with a mounting shell 17, and the inside of the mounting shell 17 is movably connected with a magnet roller 18.

[0027] Specifically, the two sides of the frame 1 are provided with six mounting blocks 13, the inside of the mounting block 13 is movably provided with a round rod 14, and the spring 15 movably provided on the surface of the round rod 14 realizes self-adaptive adjustment of the device. When the device moves to the curved wall, the magnetic effect will be relatively weakened, the adsorption force will be weakened, the magnet roller 18 movably connected in the inside of the mounting shell 17 is attached to the wall, and the elasticity of the six springs 15 makes the round rod 14 in the inside of the mounting block 13 self-adaptively adjusted in length, so that the magnet roller 18 is always attached to the ship body, and the device can also maintain good adsorption when the device is on the curved wall, so that the device is more perfect.

[0028] In one embodiment, the adsorption magnet 8, the adsorption magnet 11 and the magnet roller 18 are all made of NdFeB N35 permanent magnet.

[0029] Specifically, the adsorption magnet 8, the adsorption magnet 11 and the magnet roller 18 are all made of NdFeB N35 permanent magnet. NdFeB material is known for its high magnetism and stability, which can provide sufficient adsorption force to ensure that the robot will not fall off the vertical wall of the ship, and the NdFeB N35 magnet has a long service life and will not demagnetize quickly like other magnet materials. This enables the robot to maintain stable performance during long-term operation without frequent replacement of the magnetic adsorption element, thereby reducing maintenance costs and making the device more convenient to use, so that the device is more perfect.

[0030] Working principle: when the device starts to use, the external power supply starts the driving motor 4 to drive the rotating wheel 5 to run, so that the track body 7 installed on the surface of the rotating wheel 5 runs, the adsorbing magnet 8 installed on the surface of the track body 7 at equal intervals adsorbs on the vertical deck of the ship body, so that the device stably moves on the ship body, the adsorbing magnet 11 fixedly installed on the bottom of the mounting block 10 makes the device remove the gasket 9 installed on the surface of the track body 7 at equal intervals, so that the device adsorbs on the ship body, and at the same time, the adsorbing magnet 11 makes the device adsorb on the ship body, so that the device adsorbs on the ship body more stably, so that the device adsorbs on the ship body through the magnet, so that the device can move better on the vertical deck, the adsorbing magnet 8 and the adsorbing magnet 11 are both neodymium iron boron N35 permanent magnets, and the neodymium iron boron material is well-known for its high magnetism and stability, and can provide sufficient adsorption force to ensure that the robot will not fall off the vertical wall of the ship, and the neodymium iron boron N35 magnet has a long service life and will not demagnetize quickly like other magnet materials, which enables the robot to maintain stable performance in long-term operation without frequent replacement of the magnetic adsorption element, thereby reducing the maintenance cost, the gasket 9 and the gasket 12 installed on the surface of the adsorbing magnet 8 and the adsorbing magnet 11 are both three-ethylene propylene rubber vacuum sponge sheets, the vacuum sponge can effectively buffer the impact between the magnet and the wall, prolong the service life of the magnet, especially when processing the surface of the ship body, the magnet can be prevented from being damaged, the gasket can maintain the gap between the magnet and the wall, prevent the track from being blocked due to excessive magnetic force, thereby ensuring the balance of the adsorption force and the climbing performance, and the device is more perfect; six mounting blocks 13 are installed on both sides of the frame 1, a round rod 14 is movably installed in the mounting block 13, and the self-adaptive adjustment of the device is realized through the spring 15 installed on the surface of the round rod 14, when the device moves to the curved wall, the magnetic force effect will be relatively weakened, and the adsorption force will be weakened, the magnet roller 18 movably connected in the mounting shell 17 is attached to the wall, and the elasticity of the six springs 15 enables the round rod 14 in the mounting block 13 to be self-adaptively adjusted in length, so that the magnet roller 18 is always attached to the ship body, so that the device can also maintain good adsorption when the curved wall, and the device is more perfect.

[0031] The above is only a preferred embodiment of the present application, and is not intended to limit the present application in other forms. Any skilled person in the art can modify or change the above disclosed technical content to equivalent embodiments applied to other fields, but any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still belongs to the protection scope of the technical scheme of the present application.

Claims

1. A wall-climbing robot, characterized by, Include: Frame (1), the top of the frame (1) is fixedly installed with a shell (2), the inside of the frame (1) is fixedly installed with a mounting seat (3), both sides of the mounting seat (3) are fixedly installed with a drive motor (4), the output end of the drive motor (4) is fixedly installed with a rotating wheel (5), the other end of the rotating wheel (5) is installed with a connecting block (6), the other side of the connecting block (6) is fixedly installed in the inside of the frame (1), the surface of the rotating wheel (5) is movably installed with a track body (7), the surface of the track body (7) is fixedly installed with an adsorption magnet (8) at equal intervals.

2. The wall-climbing robot according to claim 1, wherein: The bottom of the shell (2) is fixedly installed with a mounting block (10), the mounting block (10) is three in number, and the bottom of the mounting block (10) is fixedly installed with an adsorption magnet (11).

3. The wall-climbing robot according to claim 2, wherein: The other side of the adsorption magnet (8) is installed with a gasket (9), and the bottom of the adsorption magnet (11) is fixedly installed with a gasket (12).

4. The wall-climbing robot according to claim 1, wherein: The surface of the frame (1) is fixedly installed with three mounting blocks (13) on both sides, the inner wall of the mounting block (13) is movably installed with a round rod (14), the surface of the round rod (14) is movably installed with a spring (15), one end of the round rod (14) is fixedly installed with a limiting block (16), and the other end of the round rod (14) is fixedly installed with an anti-dropping block (19).

5. The wall-climbing robot according to claim 4, wherein: One end of the spring (15) is fixedly installed at the bottom of the mounting block (13), and the other end of the spring (15) is fixedly installed at the top of the limiting block (16).

6. The wall-climbing robot according to claim 4, wherein: The bottom of the limiting block (16) is installed with a mounting shell (17), and the inside of the mounting shell (17) is movably connected with a magnet roller (18).

7. The wall-climbing robot according to claim 1, wherein: The materials of the adsorption magnet (8), the adsorption magnet (11) and the magnet roller (18) are all neodymium iron boron N35 permanent magnets.

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