Magnetic climbing robot

Abstract

The utility model provides a magnetic climbing robot which comprises a machine frame, a driving piece, a permanent magnet wheel set and a rust removing mechanism, and the driving piece is installed on the machine frame. The permanent magnet wheel set is installed on a base of the rack and comprises a permanent magnet, and the driving piece is in transmission connection with the permanent magnet. The derusting mechanism comprises a driving motor, an adjusting piece and a polishing piece, the driving motor and the adjusting piece are installed on the rack, the driving motor is in transmission connection with the polishing piece, and the adjusting piece is connected with the polishing piece to adjust the angle of the polishing piece. The driving part is in transmission connection with the permanent magnet wheel set and used for driving the permanent magnet wheel set to move on the iron surface, the driving motor is in transmission connection with the grinding part and used for driving the grinding part to rotate so as to remove rust on the surface of a tower or a ship or a petrochemical storage tank, and the adjusting part is connected with the grinding part to adjust the angle of the grinding part. The magnetic climbing robot realizes automatic rust removal through the rust removal mechanism, and has the advantages of no need of manual rust removal, simple operation and high safety coefficient.

Description

TECHNICAL FIELD

[0001] The utility model relates to the rust removal application field of ship, wind power tower drum and tank body etc. BACKGROUND

[0002] At present, in the use process of ship, wind power tower drum and petrochemical storage tank, the petrochemical storage tank is mostly steel, and the corrosion problem is prone to occur in the storage process; the wind power tower drum is often in a relatively harsh use environment, especially the offshore wind power tower drum is in a serious corrosion environment atmosphere, not only is subjected to wind, sunshine, rain, but also is subjected to the corrosion of humid salt fog, which can easily lead to the damage of the anticorrosion coating of the outer wall of the steel tower drum, the peeling of paint and the corrosion of the drum body; the ship needs to be derusted regularly in the use process due to the corrosion under the seawater environment. The manual derusting method is mostly adopted in the prior art, and the method has high labor intensity, high operation difficulty and safety risk.

[0003] Therefore, it is necessary to provide a new magnetic crawling robot to solve or at least alleviate the above technical defects. SUMMARY

[0004] The utility model discloses a magnetic crawling robot, which aims to solve the technical problems of high labor intensity, high operation difficulty and safety risk of the rust removal method in the prior art.

[0005] To achieve the above-mentioned purpose, the utility model provides a magnetic crawling robot, which comprises:

[0006] A rack;

[0007] A driving member is installed on the rack;

[0008] A permanent magnet wheel set is installed on the base of the rack, and the permanent magnet wheel set comprises a permanent magnet, and the driving member is in transmission connection with the permanent magnet;

[0009] A rust removal mechanism comprises a driving motor, an adjusting member and a polishing member, the driving motor and the adjusting member are respectively installed on the rack, the driving motor is in transmission connection with the polishing member, and the adjusting member is connected with the polishing member to adjust the angle of the polishing member.

[0010] In an embodiment, the adjusting member comprises a fixed seat, a movable seat and a bidirectional adjusting screw rod, the fixed seat is installed on the rack, the movable seat is hinged with the rack, the bidirectional adjusting screw rod comprises a threaded rod and an adjusting nut sleeved in the middle part of the threaded rod, the two ends of the threaded rod are respectively connected with the movable seat and the fixed seat, and the movable seat is also connected with the polishing member to adjust the angle of the polishing member.

[0011] In an embodiment, the adjusting member further comprises a hinged seat and a transmission shaft, the hinged seat is mounted on the frame, and the movable seat is hinged to the hinged seat through the transmission shaft.

[0012] In an embodiment, the adjusting member further comprises a connecting plate, a through hole is formed on the frame, the polishing member comprises a polishing brush or a polishing cylinder, the connecting plate is connected to the driving motor, and the movable seat is connected to the connecting plate through the through hole.

[0013] In an embodiment, a first clamping groove is arranged on the fixed seat, a first mounting hole is arranged on the side wall of the first clamping groove, a second clamping groove is arranged on the movable seat, a second mounting hole is arranged on the side wall of the second clamping groove, the two ends of the threaded rod are respectively provided with a first connecting head and a second connecting head, the first connecting head is provided with a first connecting rod, the second connecting head is provided with a second connecting rod, the first connecting head is mounted in the first clamping groove, and the first connecting rod is mounted in the first mounting hole; the second connecting head is mounted in the second clamping groove, and the second connecting rod is mounted in the second mounting hole.

[0014] In an embodiment, the magnetic crawling robot further comprises an electric cylinder mounted on the frame and a strain gauge for detecting the pressure applied by the electric cylinder on the polishing member; the electric cylinder is used to drive the frame to rise or fall to adjust the height of the polishing member, so as to adjust the pressure of the polishing member on the working surface.

[0015] In an embodiment, the number of the permanent magnet wheel sets is two, the number of the driving members is two and corresponds to the two permanent magnet wheel sets, the magnetic crawling robot further comprises a universal wheel, the universal wheel is mounted on the base, and the universal wheel and the permanent magnet wheel sets are mounted on the same side of the base.

[0016] In an embodiment, the number of the permanent magnet wheel sets is at least two, the number of the driving members is the same as the number of the permanent magnet wheel sets, and each driving member and each permanent magnet wheel set correspond to each other.

[0017] In an embodiment, the permanent magnet wheel set comprises a combination of an armature, a rubber wheel and the permanent magnets, the armature is arranged between the permanent magnets, and the rubber wheels are arranged on the two sides of the permanent magnets respectively, and the armature, the rubber wheels and the permanent magnets are in transmission connection with the driving member; the permanent magnet wheel set further comprises a scraper arranged in a spaced manner with the armature and the permanent magnets, and the scraper is used to scrape off the rust residues on the armature and the permanent magnets.

[0018] In an embodiment, the base comprises a middle module and left and right modules respectively arranged on opposite sides of the middle module, the middle module is provided with the rust removal mechanism, the left and right modules are respectively provided with the permanent magnet wheel set, and the left and right modules are respectively movably connected with the middle module through hinges, so as to facilitate flexible movement on a circular arc surface or an irregular curved surface.

[0019] In the above scheme, the magnetic climbing robot comprises a frame, a driving member, a permanent magnet wheel set and a rust removal mechanism, the driving member is installed on the frame, the permanent magnet wheel set is installed on a base of the frame, the permanent magnet wheel set comprises a permanent magnet, the driving member is in transmission connection with the permanent magnet, the rust removal mechanism comprises a driving motor, an adjusting member and a polishing member, the driving motor and the adjusting member are respectively installed on the frame, the driving motor is in transmission connection with the polishing member, and the adjusting member is connected with the polishing member to adjust the angle of the polishing member. The permanent magnet wheel set comprises a permanent magnet, and a tower drum, a ship or a petrochemical storage tank is generally made of steel, so that the magnetic climbing robot can be adsorbed on the surface of the tower drum, the ship or the petrochemical storage tank through magnetic attraction. The driving member is in transmission connection with the permanent magnet wheel set to drive the permanent magnet wheel set to move on the surface, and the driving member is composed of a self-locking worm and gear speed reducer and a brushless motor. The rust removal mechanism comprises a driving motor, an adjusting member and a polishing member, the driving motor and the adjusting member are respectively installed on the frame, the driving motor is in transmission connection with the polishing member to drive the polishing member to rotate and remove rust on the surface of the tower drum, the ship or the petrochemical storage tank, and the adjusting member is connected with the polishing member to adjust the angle of the polishing member. Since the surface of the tower drum, the ship or the petrochemical storage tank can be a curved surface, the angle of the polishing member is adjusted through the adjusting member to adapt to different curvatures of the surface, and polishing is more thorough. The utility model realizes automatic rust removal through the movement of the permanent magnet wheel set on the surface of the rust removal equipment, and has the advantages of no manual rust removal, simple operation and high safety factor compared with the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained according to the structures shown in the drawings without creative labor for those skilled in the art.

[0021] Figure 1 It is a perspective structural schematic view of the magnetic climbing robot of the embodiment of the present application.

[0022] Figure 2 It is another perspective structural schematic view of the magnetic climbing robot of the embodiment of the present application.

[0023] Figure 3 It is a front view of the magnetic climbing robot of the embodiment of the present application.

[0024] Figure 4 A top view of the magnetic crawling robot according to an embodiment of the present application;

[0025] Figure 5 A perspective structural schematic view of the rust removal mechanism of the magnetic crawling robot according to an embodiment of the present application;

[0026] Figure 6 A perspective structural schematic view of the driving motor and the polishing piece of the magnetic crawling robot according to an embodiment of the present application;

[0027] Figure 7 A perspective structural schematic view of the adjusting piece of the magnetic crawling robot according to an embodiment of the present application;

[0028] Figure 8 An exploded view of the adjusting piece of the magnetic crawling robot according to an embodiment of the present application;

[0029] Figure 9 A perspective structural schematic view of the permanent magnet wheel set of the magnetic crawling robot according to an embodiment of the present application;

[0030] Figure 10 Another perspective structural schematic view of the magnetic crawling robot according to an embodiment of the present application.

[0031] Label explanation:

[0032] 1, driving piece; 2, rack; 21, base; 211, left module; 212, right module; 213, middle module; 3, permanent magnet wheel set; 31, permanent magnet; 32, armature; 33, rubber wheel; 4, rust removal mechanism; 41, driving motor; 42, adjusting piece; 421, fixed seat; 4211, first clamping groove; 4212, first mounting hole; 422, movable seat; 4221, second clamping groove; 4222, second mounting hole; 423, hinged seat; 424, bidirectional adjusting screw rod; 4241, threaded rod; 4242, adjusting nut; 425, transmission shaft; 426, first connecting head; 427, second connecting head; 428, first connecting rod; 429, second connecting rod; 43, polishing piece; 431, connecting plate; 432, polishing brush; 5, electric cylinder; 6, universal wheel; 7, hinge; 8, scraper; 9, strain gauge.

[0033] The realization, functional features and advantages of the present application will be further explained in combination with embodiments and with reference to the drawings. DETAILED DESCRIPTION

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] It should be noted that all directional indicators (such as up, down, etc.) in the embodiments of this utility model are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0036] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0037] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0038] Reference Figures 1-4 This utility model provides a magnetic climbing robot, including a frame 2, a drive component 1, a permanent magnet wheel set 3, and a rust removal mechanism 4. The drive component 1 is mounted on the frame 2; the permanent magnet wheel set 3 is mounted on the base 21 of the frame 2, and the permanent magnet wheel set 3 includes a permanent magnet 31. The drive component 1 is connected to the permanent magnet 31 in a transmission manner; the rust removal mechanism 4 includes a drive motor 41, an adjusting component 42, and a grinding component 43. The drive motor 41 and the adjusting component 42 are respectively mounted on the frame 2. The drive motor 41 is connected to the grinding component 43 in a transmission manner, and the adjusting component 42 is connected to the grinding component 43 to adjust the angle of the grinding component 43.

[0039] It should be noted that the petrochemical storage tank is a container for storing crude oil. Since the petrochemical storage tank is mostly made of steel, it is prone to corrosion during storage. In the prior art, the rust on the surface of the petrochemical storage tank is removed by chemical rust removal, sand blasting rust removal or ultra-high pressure water rust removal. However, the chemical rust removal method is prone to excessive corrosion, the chemical reagent has a greater impact on environmental pollution and higher processing cost; sand blasting rust removal mainly uses compressed air to spray sand particles to the surface of the metal tank body, which produces a large amount of dust, has a greater impact on environmental pollution and greater harm to the health of operators; and the ultra-high pressure water rust removal is through a high-altitude vehicle carrying a hand-held ultra-high pressure water generating device or a robot carrying a high-pressure water generating device. The high-pressure pump is high in cost and large in size, and is inconvenient to use.

[0040] There are mainly two kinds of existing tower cylinder rust removal. One is to lift a cage by means of a large crane, and the construction personnel operate in the cage. This construction method has very obvious limitations, and can only be applied to the maintenance and repair of low-height tower cylinders on land, and is completely unsuitable for a large number of offshore wind power tower cylinders, and has high use cost and low work efficiency. The other is to use a spiderman, which is a common method for maintaining and repairing large wind power tower cylinders and offshore wind power tower cylinders. The maintenance and repair method is that the operating personnel are gradually lowered by the rope on the cabin, and the operating personnel are suspended in the air near the tower cylinder to operate. Since the height of the tower cylinder reaches hundreds of meters, and the wind speed at the operating site is high, not only the construction work is difficult, the labor intensity is high, and the construction efficiency is low, but also the psychological quality and technical level of the operating personnel are required to be high.

[0041] For ship rust removal, the construction personnel need to stand on a high-altitude vehicle of dozens of meters or on a built scaffold to hold a high-pressure water gun or a paint spraying gun to remove rust and paint the rust-stained hull. This traditional method is low in work efficiency, pollutes the environment and damages the health, and consumes a large amount of manpower and financial resources.

[0042] The utility model provides a kind of magnetic crawling robot, permanent magnet wheel group 3 includes permanent magnet 31, tower drum, ship or petrochemical storage tank is generally made of steel, so that magnetic crawling robot can be adsorbed on the steel surface of tower drum, ship or petrochemical storage tank by magnetic attraction and move and crawl on it.Driving element 1 is transmission connected with permanent magnet wheel group 3 for driving permanent magnet wheel group 3 to move on surface, and driving element 1 is composed of self-locking worm gear reducer and brushless motor.Rust removal mechanism 4 includes driving motor 41, adjusting element 42 and polishing element 43, driving motor 41 and adjusting element 42 are respectively installed in rack 2, and driving motor 41 is transmission connected with polishing element 43 for driving polishing element 43 to rotate to remove rust on the surface of tower drum, ship or petrochemical storage tank.Adjusting element 42 is connected with polishing element 43 to adjust the angle of polishing element 43, because the surface of tower drum, ship or petrochemical storage tank can be curved surface, so the angle of polishing element 43 is adjusted by adjusting element 42 to adapt to different curvature of surface, and polishing is more thorough, and the scope of application is wider.The embodiment is automatically moved on the surface of equipment to be derusted by permanent magnet wheel group, and automatic rust removal is realized by rust removal mechanism 4 on magnetic crawling robot, and compared with prior art, the utility model has the advantages of no manual rust removal, simple operation and high safety factor.

[0043] Reference Figures 5-8 In an embodiment, adjusting element 42 includes fixed seat 421, movable seat 422 and bidirectional adjusting screw 424, fixed seat 421 is installed on rack 2, movable seat 422 is hinged to rack 2, and bidirectional adjusting screw 424 includes threaded rod 4241 and adjusting nut 4242 sleeved in the middle of threaded rod 4241, both ends of threaded rod 4241 are connected with movable seat 422 and fixed seat 421 respectively, and movable seat 422 is also connected with polishing element 43 to adjust the angle of polishing element 43.Fixed seat 421 is fixedly installed on rack 2, movable seat 422 is rotatably installed on rack 2, that is, it can rotate around a certain hinge point on rack 2, and the middle of bidirectional adjusting screw 424 is fixedly connected with adjusting nut 4242, and opposite threads are arranged at both ends, when adjusting nut 4242 is rotated, threaded rod 4241 is rotated, so that movable seat 422 and fixed seat 421 have a mutual moving trend away from or close to each other, but since fixed seat 421 is fixed on rack 2, movable seat 422 rotates around the hinge point, and movable seat 422 drives polishing element 43 connected therewith to rotate to adjust the angle of polishing element 43.

[0044] Reference Figures 7-8In an embodiment, the adjusting member 42 further comprises a hinged seat 423 and a transmission shaft 425, the hinged seat 423 is installed on the frame 2, and the movable seat 422 is hinged with the hinged seat 423 through the transmission shaft 425. The hinged seat 423 is provided with a hinged hole, and the transmission shaft 425 is arranged in the hinged hole. The movable seat 422 is hinged with the hinged seat 423 through the transmission shaft 425 to realize the rotation of the movable seat 422 around the central axis of the transmission shaft 425, so as to realize the rotation of the movable seat 422, and then drive the polishing member 43 connected with the movable seat 422 to rotate to adjust the angle of the polishing member 43.

[0045] With reference to Figures 1-6 In an embodiment, the adjusting member 42 further comprises a connecting plate 431, the frame 2 is provided with a through hole, the polishing member 43 comprises a polishing brush or a polishing cylinder, the connecting plate 431 is connected with the driving motor 41, and the movable seat 422 is connected with the connecting plate 431 through the through hole. The connecting plate 431 can be fixedly connected with the driving motor 41, or the connecting plate 431 is provided with a connecting hole and is sleeved on the driving motor 41. When the angle of the polishing member 43 is adjusted, the two-way adjusting screw 424 is rotated to drive the movable seat 422 to rotate around the hinge point of the hinged seat 423. The movable seat 422 drives the connecting plate 431 connected therewith to rotate, the connecting plate 431 drives the driving motor 41 connected therewith to rotate, and finally the driving motor 41 drives the polishing member 43 to rotate, so as to achieve the purpose of adjusting the angle of the polishing member 43. Specifically, the polishing brush 432 can be a bowl-shaped polishing brush, and the outer edge of the bowl-shaped polishing brush is provided with copper-plated steel wire or copper wire bristles, which are arranged towards the surface of the equipment to be derusted for derusting the surface of the equipment. The polishing cylinder can be a cylindrical polishing cylinder, which is in transmission connection with the driving motor 41. The polishing cylinder or the polishing brush 432 is driven to rotate by the driving motor 41 to derust the surface of the equipment to be derusted. The polishing brush or the polishing cylinder is applied to the derusting magnetic crawling robot for the first time, so as to realize derusting without manual operation, expand the function of the magnetic crawling robot, greatly reduce the operation difficulty, and improve the safety of operation.

[0046] With reference to Figure 8In an embodiment, the fixed seat 421 is provided with a first clamping groove 4211, the sidewall of the first clamping groove 4211 is provided with a first mounting hole 4212, the movable seat 422 is provided with a second clamping groove 4221, the sidewall of the second clamping groove 4221 is provided with a second mounting hole 4222, the threaded rod 4241 is provided with a first connecting head 426 and a second connecting head 427 at two ends respectively, the first connecting head 426 is provided with a first connecting rod 428, the second connecting head 427 is provided with a second connecting rod 429, the first connecting head 426 is installed in the first clamping groove 4211, and the first connecting rod 428 is installed in the first mounting hole 4212; the second connecting head 427 is installed in the second clamping groove 4221, and the second connecting rod 429 is installed in the second mounting hole 4222. Specifically, the two sidewalls of the first clamping groove 4211 are both provided with the first mounting hole 4212, the two sidewalls of the second clamping groove 4221 are both provided with the second mounting hole 4222, the opposite two sides of the first connecting head 426 are respectively provided with the first connecting rod 428, the opposite two sides of the second connecting head 427 are respectively provided with the second connecting rod 429, when the first connecting head 426 is installed in the first clamping groove 4211, the two first connecting rods 428 are respectively installed in the two first mounting holes 4212, when the second connecting head 427 is installed in the second clamping groove 4221, the two second connecting rods 429 are respectively installed in the two second mounting holes 4222, so as to ensure that the threaded rod 4241 can be stably connected with the fixed seat 421 and the movable seat 422, and the movable seat 422 can be driven to move by rotating the adjusting nut 4242.

[0047] With reference to Figures 1-4 And Figure 10 In an embodiment, the magnetic crawling robot further comprises an electric cylinder 5 and a strain gauge 9 installed on the rack 2, the strain gauge 9 is used to detect the pressure applied by the electric cylinder 5 to the polishing piece 43; the electric cylinder 5 is used to drive the rack 2 to rise or fall to adjust the height of the polishing piece 43, so as to adjust the pressure of the polishing piece to the working surface. The working surface here refers to the surface of the equipment with rust removal device. Specifically, the electric cylinder 5 can be the fulcrum of the permanent magnet wheel set 3, and the height of the polishing piece 43 is adjusted by lifting or lowering the electric cylinder 5, so as to flexibly adapt to different working surfaces and adjust the pressure of the polishing piece 43 to the surface of the equipment with rust removal. In addition, a sensor can also be arranged beside the electric cylinder 5 to calibrate the pressure of the polishing piece 43 to the surface of the equipment through the height value.

[0048] With reference to Figures 1-4In one embodiment, there are two permanent magnet wheel sets 3, and two drive components 1, each corresponding to one of the two permanent magnet wheel sets 3. The magnetic climbing robot also includes omnidirectional wheels 6, which are mounted on the base 21 and on the same side of the base 21 as the permanent magnet wheel sets 3. Each drive component 1 is used to ensure the rotation of each permanent magnet wheel set 3. Two coaxially arranged permanent magnet wheel sets 3 can be set as front wheels, and the omnidirectional wheels 6 as rear wheels, with the three wheels arranged in a triangle for flexible steering. In this embodiment, using two permanent magnet wheel sets 3 and one omnidirectional wheel 6 ensures the robot has sufficient suction force and is lighter, enough to carry suitable grinding and rust removal tools. Furthermore, the three-wheeled structure is more flexible, lighter, and more compact than a four-wheeled structure, which is beneficial for improving the magnetic climbing robot's steering ability when moving on different work surfaces. Of course, the omnidirectional wheels 6 can also be replaced by permanent magnet wheel sets 3.

[0049] In one embodiment, the number of permanent magnet wheel sets 3 is at least two, and the number of driving components 1 is the same as the number of permanent magnet wheel sets 3, with each driving component 1 corresponding to each permanent magnet wheel set 3. The number of permanent magnet wheel sets 3 can be 2 to 4, with 2 or 3 wheels being more flexible than 4 wheels. This embodiment ensures that the magnetic climbing robot has sufficient adsorption force to carry suitable working tools; and the structure is more flexible, lighter, and more compact, which is beneficial to improving the turning ability of the magnetic climbing robot when traveling on different working surfaces. It should be noted that the rust removal mechanism 4 of this application can be applied to magnetic climbing robots with different numbers of permanent magnet wheel sets 3, and the structure of any magnetic climbing robot that applies the inventive concept of the rust removal structure of this application should be within the protection scope of this application.

[0050] Reference Figure 9In an embodiment, the permanent magnet wheel set 3 comprises a combination of an armature 32, rubber wheels 33 and permanent magnets 31, the armature 32 is arranged between the permanent magnets 31, the rubber wheels 33 are arranged on both sides of the permanent magnets 31 respectively, and the armature 32, the rubber wheels 33 and the permanent magnets 31 are in transmission connection with the driving member 1; the permanent magnet wheel set further comprises a scraper 8 arranged in a spaced manner with the armature 32 and the permanent magnets 31, and the scraper 8 is used to scrape rust on the armature 32 and the permanent magnets 31. The combination of the armature 32, the rubber wheels 33 and the permanent magnets 31 can be in various different combinations. The scraper 8 can be made of stainless steel, and is arranged in a tangential direction of the permanent magnets 31 and the armature 32 with a spacing of 1-10 mm, so as to facilitate scraping of the rust on the armature 32 and the permanent magnets 31, and will not affect rotation of the armature 32 and the permanent magnets 31. In a specific embodiment, the permanent magnet wheel set 3 comprises an armature 32, two rubber wheels 33 and two permanent magnets 31, the armature 32 is arranged between the two permanent magnets 31, the two rubber wheels 33 are arranged on both sides of the two permanent magnets 31 respectively, and the armature 32, the rubber wheels 33 and the permanent magnets 31 are in transmission connection with the driving member 1. The rubber wheels 33 can be hard rubber wheels or hard rubber covered on the outer periphery of the iron disc, and the middle part is a wheel set formed by the two permanent magnets 31 clamping the armature 32. The permanent magnet wheel set 3 is installed on the base 21 of the rack 2, and the permanent magnet wheel set 3 in the embodiment has a lighter mass. Moreover, through multiple tests, the permanent magnet wheel set 3 can generate a large enough magnetic attraction force, so as to ensure that the equipment with a weight of tens of kilograms to hundreds of kilograms can be stably attracted on the iron wall surface. Specifically, the diameter of the rubber wheel 33 is greater than the diameter of the permanent magnet 31, so that in the rolling process of the magnetic crawling robot on the surface of the equipment to be derusted, the rubber wheel 33 is in contact with and rolls on the surface of the equipment, and there is a certain gap between the permanent magnet 31 and the surface of the equipment, so that the rack 2 can be attracted on the surface of the equipment by the magnetic attraction force between the permanent magnet 31 and the surface of the equipment, and will not fall off, and the permanent magnet 31 will not be in contact with the surface of the equipment, so as to avoid breakage caused by collision between the permanent magnet 31 and the iron equipment surface. Moreover, the utility model is designed by a unique structure, and is not only suitable for the surface of the iron equipment with a large pipe diameter or a plane, but also can be used on the surface of the equipment with a small pipe diameter, can crawl on the iron pipe, the arc surface and climb the iron wall surface with various angles (such as an acute angle, an obtuse angle and a right angle with a certain angle), and the most remarkable function is to easily climb over the right-angle iron wall surface (90 degrees and 270 degrees) and the 180-degree plane, so as to greatly improve the use range and working capacity of the magnetic crawling robot, and the utility model has strong versatility. In addition, the number of the permanent magnets 31 and the armatures 32 can be multiple, and each armature 32 and each permanent magnet 31 are arranged alternately. The magnetic attraction force between the permanent magnet 31 and the surface of the equipment makes the rack 21 not fall off on the surface of the equipment, the armature 32 is used to increase the magnetic attraction force, the number of the permanent magnets 31 and the armatures 32 can be multiple, the permanent magnets 31 and the armatures 32 are arranged alternately, and the permanent magnets 31 and the armatures 32 can be made into a circular shape with consistent shape and size.

[0051] Referring toFigure 4 In an embodiment, the base 21 comprises a middle module 213, and left and right modules 211 and 212 respectively arranged on opposite sides of the middle module 213, the middle module 213 is provided with the rust removal mechanism 4, the left and right modules 211 and 212 are respectively provided with the permanent magnet wheel set 3, and the left and right modules 211 and 212 are respectively movably connected with the middle module 213 through the hinges 7. Taking the magnetic climbing robot comprising two permanent magnet wheel sets 3 and one universal wheel 6 as an example, the left and right modules 211 and 212 are symmetrical mechanisms, and the left and right modules 212 are respectively provided with one permanent magnet wheel set 3; the middle module 213 is longer than the left and right modules 212, and is provided with the universal wheel 6 and the control system and driving motor of the whole device. In order to facilitate the movement of the magnetic climbing robot on different working surfaces, the self-adaptive combination structure is designed, that is, the three modules (the left module 211, the right module 212 and the middle module 213) are connected through the hinges 7, so that the magnetic climbing robot can adaptively climb on the plane and the wall surface with large curvature, and can flexibly move on the arc surface or irregular curved surface, and can stably and flexibly move on the continuous magnetic guide wall surface with large curvature or variable curvature similar to the wind power tower drum and ship, and can reach the curved surface position of the petrochemical storage tank, the wind power tower drum and the ship according to the control of the operator. The biggest highlight of this is that the iron wall surface with large curvature and the plane can be climbed, and the application range is greatly enhanced.

[0052] The utility model discloses compact structure, smaller size, lighter weight, easy operation, flexible movement, strong load capacity can be widely used in petrochemical storage tank, wind power tower drum and ship's rust removal operation, and can be taken to the ship cabin operation by one or two people, safe and efficient, practical and portable, and can be equipped with a high-definition camera system according to the needs, and the robot high-altitude comprehensive operation task of replacing manual work is well realized, and the efficiency and safety guarantee problem in the daily maintenance operation of petrochemical storage tank, wind power tower drum and large-scale operating ship is solved.

[0053] The above is only the optional embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structural transformation of the utility model specification and the attached drawing contents, or direct / indirect application in other related technical fields under the technical concept of the utility model is included in the patent protection range of the utility model.

Claims

1. A magnetic climbing robot, characterized in that, include: frame; A drive unit, which is mounted on the frame; A permanent magnet wheel assembly is mounted on the base of the frame. The permanent magnet wheel assembly includes a permanent magnet, and the driving component is connected to the permanent magnet in a transmission manner. A rust removal mechanism includes a drive motor, an adjusting component, and a grinding component. The drive motor and the adjusting component are respectively mounted on the frame. The drive motor is connected to the grinding component for transmission, and the adjusting component is connected to the grinding component to adjust the angle of the grinding component.

2. The magnetic climbing robot according to claim 1, characterized in that, The adjusting component includes a fixed seat, a movable seat, and a bidirectional adjusting screw. The fixed seat is mounted on the frame, and the movable seat is hinged to the frame. The bidirectional adjusting screw includes a threaded rod and an adjusting nut fitted in the middle of the threaded rod. The two ends of the threaded rod are respectively connected to the movable seat and the fixed seat. The movable seat is also connected to the grinding component to adjust the angle of the grinding component.

3. The magnetic climbing robot according to claim 2, characterized in that, The adjusting component also includes a hinge seat and a drive shaft. The hinge seat is mounted on the frame, and the movable seat is hinged to the hinge seat via the drive shaft.

4. The magnetic climbing robot according to claim 2, characterized in that, The adjusting component also includes a connecting plate, the frame has a through hole, the grinding component includes a grinding brush or a grinding cylinder, the connecting plate is connected to the drive motor, and the movable seat passes through the through hole and is connected to the connecting plate.

5. The magnetic climbing robot according to claim 2, characterized in that, The fixed base is provided with a first slot, and the side wall of the first slot is provided with a first mounting hole. The movable base is provided with a second slot, and the side wall of the second slot is provided with a second mounting hole. The two ends of the threaded rod are respectively provided with a first connector and a second connector. The first connector is provided with a first connecting rod, and the second connector is provided with a second connecting rod. The first connector is installed in the first slot, and the first connecting rod is installed in the first mounting hole; the second connector is installed in the second slot, and the second connecting rod is installed in the second mounting hole.

6. The magnetic climbing robot according to any one of claims 1 to 5, characterized in that, The magnetic climbing robot also includes an electric cylinder and a strain gauge mounted on the frame. The strain gauge is used to detect the pressure applied by the electric cylinder to the grinding workpiece. The electric cylinder is used to drive the frame to rise or fall to adjust the height of the grinding workpiece, thereby adjusting the pressure of the grinding workpiece on the working surface.

7. The magnetic climbing robot according to any one of claims 1 to 5, characterized in that, The number of permanent magnet wheel sets is two, and the number of driving components is two, which are arranged in a one-to-one correspondence with the two permanent magnet wheel sets. The magnetic climbing robot also includes omnidirectional wheels, which are installed on the base and are installed on the same side of the base as the permanent magnet wheel sets.

8. The magnetic climbing robot according to any one of claims 1 to 5, characterized in that, The number of permanent magnet wheel sets is at least two, and the number of driving components is the same as the number of permanent magnet wheel sets. Each driving component and each permanent magnet wheel set are provided in a one-to-one correspondence.

9. The magnetic climbing robot according to any one of claims 1 to 5, characterized in that, The permanent magnet wheel assembly includes an armature, rubber wheels, and permanent magnets. The armature is disposed between the permanent magnets, and the rubber wheels are disposed on both sides of the permanent magnets. The armature, rubber wheels, and permanent magnets are all connected to the driving component for transmission. The permanent magnet wheel assembly also includes scrapers that are spaced apart from the armature and the permanent magnets. The scrapers are used to scrape off rust and slag from the armature and the permanent magnets.

10. The magnetic climbing robot according to any one of claims 1 to 5, characterized in that, The base includes a middle module and a left module and a right module respectively disposed on opposite sides of the middle module. The rust removal mechanism is installed on the middle module, and the permanent magnet wheel set is installed on the left module and the right module respectively. The left module and the right module are movably connected to the middle module through hinges, which facilitates travel on arc surfaces or irregular curved surfaces.

Images