A wall-climbing robot

Abstract

The utility model relates to automatic detection technical field and propose a kind of wall-climbing robot, comprising: at least two main bodies, the side of mutually approaching of adjacent two main bodies is hinged connection;Several magnetic roller assemblies, the side of mutually moving away of at least two main bodies is set to rotate, for magnetically adsorbed on the surface of measured object, and rolling on the surface of measured object, the advancing direction of several magnetic roller assemblies is parallel with the hinge axis of adjacent two main bodies;At least two adjusting assemblies, one-to-one corresponding setting on the at least two main bodies, and located the front end of main body along advancing direction;At least two detection units, one-to-one corresponding setting in the at least two adjusting assemblies, for when adjacent two main bodies mutually rotate to adapt to the curvature of measured object, each adjusting assembly always keeps corresponding detection unit facing the surface of measured object.

Description

Technical Field

[0001] This utility model relates to the field of automatic detection technology, and in particular to a wall-climbing robot. Background Technology

[0002] Magnetic adsorption wall-climbing robots can magnetically adhere to the surface of magnetic metals. For specialized inspections of large magnetic material tanks, these robots can replace human operators in dangerous inspections at high altitudes, vertical surfaces, and even horizontal surfaces. The climbing principle involves setting the robot's rollers as magnetic roller assemblies, using the magnetic attraction of the magnetic roller assemblies to allow the inspection instruments to climb on cylindrical tanks or pipes made of ferromagnetic materials.

[0003] According to the wall-climbing robot chassis and wall-climbing robot disclosed in publication number CN212605538U, a technical solution is described in which two single-wheel chassis modules are connected by hinges and move synchronously. This wall-climbing robot can adapt to the curved surfaces of tanks or pipes. Because the two single-wheel chassis modules can rotate relative to each other, it is difficult to stably fix the detection probe on the wall-climbing robot, resulting in the detection probe being unable to effectively detect the object being measured.

[0004] Therefore, a wall-climbing robot with a split-type adjustment frame is proposed to solve the technical problem that existing wall-climbing robots are difficult to stably fix the detection probe, so as to improve the detection accuracy of the detection probe. Utility Model Content

[0005] In view of this, this utility model proposes a wall-climbing robot to solve the technical problem that existing wall-climbing robots have difficulty in stably fixing the detection probe, so as to improve the detection accuracy of the detection probe.

[0006] This utility model proposes a wall-climbing robot, comprising:

[0007] At least two main bodies, with adjacent main bodies hinged on their sides that are close to each other;

[0008] A plurality of magnetic roller assemblies are rotatably disposed on one side of at least two main bodies that are far apart from each other, for magnetically adsorbing onto the surface of the object being measured and rolling on the surface of the object being measured, wherein the direction of travel of the plurality of magnetic roller assemblies is parallel to the hinge axis of the two adjacent main bodies.

[0009] At least two adjustment components are respectively set on the at least two main bodies and located at the front end of the main bodies along the direction of travel;

[0010] At least two detection units are respectively set on the at least two adjustment components, so that when two adjacent main bodies rotate relative to each other to adapt to the curvature of the object being measured, each adjustment component always keeps the corresponding detection unit facing the surface of the object being measured.

[0011] Based on the above technical solutions, preferably, the adjustment component includes:

[0012] The fastener is located at the front end of the main body along the direction of travel;

[0013] A lifting and leveling adjustment mechanism unit is adjustable along the width direction of the main body and is located on the side of the fixing member away from the main body, wherein the distance between the output end of the lifting unit and the surface of the object being measured is adjustable;

[0014] The mounting platform is located at the output end of the lifting unit on the horizontal adjustment mechanism, and is used to install the detection unit and adjust the spacing between two adjacent detection units.

[0015] Based on the above technical solutions, preferably, the adjustable lifting unit between the mounting platform and the surface of the object being measured is adjustable along the width direction of the main body and is mounted on the fixing member to adjust the distance between two adjacent detection units.

[0016] Based on the above technical solutions, preferably, the adjustment component further includes:

[0017] A lifting unit is located on the side of the fixing member away from the main body, and the mounting platform is located at the output end of the lifting unit for adjusting the distance between the detection unit and the surface of the object being measured.

[0018] Based on the above technical solutions, preferably, the mounting platform is rotatably located at the output end of the lifting unit, and the rotation axis of the mounting platform is parallel to the rolling axis of the magnetic roller assembly.

[0019] Based on the above technical solutions, preferably, the mounting platform includes:

[0020] The connector is fixedly connected to the output end of the lifting unit at one end and is arranged vertically.

[0021] A rotating component, with damped rotation, is located on the side of the connector closer to the object being measured, and is used to adjust the angle of the detection unit relative to the object being measured.

[0022] Based on the above technical solutions, preferably, the wall-climbing robot further includes at least two hinge mechanisms, which are simultaneously hinged to the sides of two adjacent main bodies that are close to each other, while maintaining a gap between the two adjacent main bodies.

[0023] Based on the above technical solutions, preferably, the hinge mechanism includes:

[0024] A first hinge plate and a second hinge plate that interlock with each other, with one side of the first hinge plate fixedly connected to the side of a main body;

[0025] One side of the second hinge plate is fixedly connected to one side of another main body;

[0026] A rotating bearing is disposed on the opposite surfaces of the first hinge plate and the second hinge plate, and is rotatably connected to both the first hinge plate and the second hinge plate, for hinged connection of two adjacent main bodies.

[0027] Based on the above technical solutions, preferably, the first hinge plate or the second hinge plate is provided with an arc-shaped limiting groove;

[0028] The hinge mechanism further includes:

[0029] The limiting component, with one end passing through the arc-shaped limiting groove and connected to the second hinge plate or the first hinge plate, is used to limit the angle of mutual rotation between the first hinge plate and the second hinge plate.

[0030] Based on the above technical solutions, preferably, each magnetic roller assembly includes:

[0031] A rotary drive unit is located inside the main body;

[0032] A magnetic roller is rotatably disposed within the main body and is connected to the output shaft of the rotary drive unit.

[0033] The wall-climbing robot provided by this utility model has the following advantages compared with the prior art:

[0034] (1) With the help of the magnetism of the magnetic roller assembly, the wall-climbing robot can be adsorbed onto the surface of the object being tested. When the object being tested has a curved surface, the two adjacent main bodies can rotate relative to each other. By changing the angle between the two main bodies, the curvature of the object being tested can be adapted, thereby ensuring that the detection unit on the adjustment assembly is always perpendicular to the object being tested and ensuring the detection accuracy of the detection unit.

[0035] (2) The distance between the mounting platform and the surface of the object being measured is adjustable. After the angle between the two main bodies changes, the distance between the detection unit and the object being measured may change. By adjusting the position of the detection unit relative to the fixing part, the distance between the detection unit and the object being measured can be kept constant, ensuring that the detection unit accurately detects the object being measured.

[0036] (3) The rotation angle between the two main bodies can be limited by the limiting parts and the arc-shaped limiting groove, which can ensure that the two adjacent main bodies will not interfere during rotation. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a perspective view of a wall-climbing robot according to the present invention;

[0039] Figure 2 This is a bottom view of a wall-climbing robot according to the present invention;

[0040] Figure 3 This is a perspective view of the adjustment component of this utility model;

[0041] Figure 4 This is a cross-sectional perspective view of the adjustment component of this utility model;

[0042] Figure 5 for Figure 1 A magnified view of a section at point A in the middle;

[0043] Figure 6 This is a schematic diagram of the structure of the connecting body of the hinge mechanism of this utility model;

[0044] Figure 7 This is a schematic diagram of the structure of the magnetic roller assembly of this utility model.

[0045] Reference numerals: 1. Main body; 2. Magnetic roller assembly; 21. Rotation drive unit; 22. Magnetic roller; 3. Adjustment assembly; 31. Fixing component; 32. Horizontal adjustment mechanism; 321. Sliding stage; 3201. Sliding groove; 322. First slider; 323. Second slider; 324. Screw; 33. Mounting platform; 331. Connecting component; 3311. Horizontal end; 3312. Vertical end; 332. Rotating component; 333. Rotating shaft; 3301. Rotation axis; 334. Pre-tightening bolt; 34. Lifting unit; 4. Detection unit; 5. Hinge mechanism; 51. First hinge plate; 5101. Arc-shaped limiting groove; 52. Second hinge plate; 53. Rotating bearing; 54. Limiting component. Detailed Implementation

[0046] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0047] In existing technical solutions, because the two single-wheeled chassis modules can rotate relative to each other, it is difficult to stably fix the detection probe on the wall-climbing robot, resulting in the detection probe being unable to effectively detect the object being measured. Therefore, if... Figure 1 As shown, this utility model provides a wall-climbing robot, comprising:

[0048] At least two main bodies 1, with adjacent main bodies 1 hinged on their sides that are close to each other;

[0049] A plurality of magnetic roller assemblies 2 are rotatably disposed on one side of at least two main bodies 1 that are far apart from each other, for magnetic adsorption onto the surface of the object being measured and rolling on the surface of the object being measured, and the traveling direction of the plurality of magnetic roller assemblies 2 is parallel to the hinge axis of the two adjacent main bodies 1.

[0050] At least two adjustment components 3 are respectively set on at least two main bodies 1 and located at the front end of the main body 1 along the direction of travel;

[0051] At least two detection units 4 are arranged one-to-one with at least two adjustment components 3, so that when two adjacent main bodies 1 rotate relative to each other to adapt to the curvature of the object being measured, each adjustment component 3 always keeps the corresponding detection unit 4 facing the surface of the object being measured.

[0052] Using the magnetism of the magnetic roller assembly 2, the wall-climbing robot can adhere to the surface of the object being tested. When the object being tested has a curved surface, the two adjacent main bodies 1 can rotate relative to each other. By changing the angle between the two main bodies 1, the robot can adapt to the curvature of the object being tested, thereby ensuring that the detection unit 4 on the adjustment assembly 3 is always perpendicular to the object being tested, thus ensuring the accuracy of the detection unit 4 in detecting the object being tested.

[0053] like Figure 1 and Figure 2 As shown, to ensure that there is no interference between two adjacent detection units 4, the adjustment component 3 includes:

[0054] The fastener 31 is disposed at the front end of the main body 1 along the direction of travel;

[0055] The horizontal adjustment mechanism 32 is adjustable along the width direction of the main body 1 and is located on the side of the fixing member 31 away from the main body 1.

[0056] Mounting platform 33 is set on horizontal adjustment mechanism 32 and is used to install detection unit 4 and adjust the spacing between two adjacent detection units 4.

[0057] Specifically, in this embodiment, two main bodies 1 are configured, with their sides close to each other hinged together. Each main body 1 has a detection unit 4 at its front end in the direction of travel. The two main bodies 1 adapt to the curvature of the object being measured by rotating relative to each other. By adjusting the distance between the two detection units 4, sufficient space for movement is maintained between them. Even if the rotation angle of the two main bodies 1 is too large, the two detection units 4 will not interfere with each other, thus ensuring that the two detection units 4 can detect normally.

[0058] like Figure 3 As shown, the horizontal adjustment mechanism 32 includes a sliding table 321, a first slider 322, a second slider 323, several screws 324, and several anti-rotation nuts. The first slider 322 is fixedly connected to the fixing member 31. The sliding table 321 has a through sliding groove 3201 on its upper surface and the side surface away from the fixing member 31. The fixing member 31 is embedded in the sliding groove 3201 on the upper surface of the sliding table 321 through the first slider 322. The sliding groove 3201 has a large internal width and a small opening width. Anti-rotation nuts are inserted into the sliding groove 3201. The anti-rotation nuts are rectangular and cannot rotate within the sliding groove 3201. The screws 324 extend into the sliding groove 3201 after penetrating the first slider 322 and are threadedly connected to the anti-rotation nuts. When it is necessary to adjust the position of the sliding stage 321 relative to the fixed part 31, loosen the screw 324, and the position of the two can be adjusted along the width direction of the main body 1. After the position of the two is adjusted, tighten the screw 324 to fix the position of the two.

[0059] Similarly, the second slider 323 is also slidably connected to the sliding stage 321 via screws 324 and anti-rotation nuts, allowing the position of the second slider 323 relative to the sliding stage 321 to be adjusted. Based on adjusting the sliding stage 321 relative to the fixing member 31, the position of the second slider 323 and the sliding stage 321 can also be adjusted, ensuring sufficient adjustment space between the two detection units 4.

[0060] like Figure 3 As shown, the distance between the mounting platform 33 and the surface of the object being measured is adjustable. After the angle between the two main bodies 1 changes, the distance between the detection unit 4 and the object being measured may change. By adjusting the position of the detection unit 4 relative to the fixing member 31, the distance between the detection unit 4 and the object being measured can be kept constant.

[0061] Adjustment component 3 also includes:

[0062] The lifting unit 34 is located on the side of the fixing member 31 away from the main body 1, and the mounting platform 33 is located at the output end of the lifting unit 34 to adjust the distance between the detection unit 4 and the surface of the object being measured.

[0063] The lifting unit 34 is configured as an electric push rod, and the mounting platform 33 is set at the output end of the electric push rod. The distance between the detection unit 4 and the object being measured can be stably adjusted through the output end of the electric push rod.

[0064] like Figure 4 As shown, different detection units 4 may be needed to detect different objects at different angles for different objects being tested. The mounting platform 33 is rotatably set at the output end of the lifting unit 34, and the rotation axis 3301 of the mounting platform 33 is parallel to the rolling axis of the magnetic roller assembly 2.

[0065] Specifically, mounting platform 33 includes:

[0066] Connector 331 has a horizontal end 3311 and a vertical end 3312. One end of the horizontal end 3311 is fixedly connected to the output end of the lifting unit 34, and the other end of the horizontal end 3311 is connected to the vertical end 3312, thereby keeping the vertical end 3312 in a vertical position.

[0067] The rotating component 332, which is damped and rotated, is located on the side of the connecting component 331 near the object being measured, and is used to adjust the angle of the detection unit 4 relative to the object being measured.

[0068] Specifically, the vertical end 3312 is connected to the rotating component 332 via a rotating shaft 333 with damping rotation. A pre-tightening bolt 334 is connected to the rotating shaft 333. When the rotating component 332 rotates to the appropriate position relative to the vertical end 3312 around the rotation axis 3301, the position of both is fixed by the pre-tightening bolt 334, thereby achieving pre-tightening. In addition, after the pre-tightening bolt 334 is tightened, rotation of the rotating component 332 relative to the vertical end 3312 can also be prevented.

[0069] like Figure 6 As shown, in order to ensure smooth rotation between the two main bodies 1, the wall-climbing robot also includes at least two hinge mechanisms 5. At least two hinge mechanisms 5 are simultaneously hinged to the side of the two adjacent main bodies 1 that are close to each other, and the gap between the two adjacent main bodies 1 is maintained.

[0070] The hinge mechanism 5 includes:

[0071] The first hinge plate 51 and the second hinge plate 52 are interlocked, and one side of the first hinge plate 51 is fixedly connected to the side of a main body 1.

[0072] One side of the second hinge plate 52 is fixedly connected to one side of another main body 1;

[0073] Rotary bearing 53 is disposed on the opposite surface of the first hinge plate 51 and the second hinge plate 52, and is rotatably connected to both the first hinge plate 51 and the second hinge plate 52, for hinged connection of two adjacent main bodies 1.

[0074] The first hinge plate 51 and the second hinge plate 52 are interlocked and rotate relative to each other via the rotating bearing 53. When the two main bodies 1 rotate, external dust cannot enter the interior of the rotating bearing 53, which can ensure the stable use of the rotating bearing 53.

[0075] like Figure 6 As shown, in order to limit the rotation angle between the two main bodies 1, the first hinge plate 51 or the second hinge plate 52 is provided with an arc-shaped limiting groove 5101.

[0076] The hinge mechanism 5 also includes:

[0077] The limiting member 54 has one end passing through the arc-shaped limiting groove 5101 and connected to the second hinge plate 52 or the first hinge plate 51, and is used to limit the angle of mutual rotation between the first hinge plate 51 and the second hinge plate 52.

[0078] Specifically, an arc-shaped limiting groove 5101 is provided on the first hinge plate 51. The limiting member 54 passes through the arc-shaped limiting groove 5101 and is fixedly connected to the second hinge plate 52. When the first hinge plate 51 and the second hinge plate 52 rotate relative to each other, the limiting member 54 will touch the inner wall of the arc-shaped limiting groove 5101 when it moves with the second hinge plate 52, thereby limiting the rotation angle between the first hinge plate 51 and the second hinge plate 52.

[0079] like Figure 7 As shown, in order to stably drive the two main bodies 1, the two main bodies 1 are equipped with a total of four magnetic roller assemblies 2, each magnetic roller assembly 2 including:

[0080] Rotation drive unit 21 is disposed inside the main body 1;

[0081] The magnetic roller 22 is rotatably disposed inside the main body 1 and is connected to the output shaft of the rotary drive unit 21.

[0082] The rotary drive unit 21 is specifically configured as a servo motor and a gearbox. The servo motor is connected to the magnetic roller 22 through the gearbox, which ensures that the magnetic roller 22 stably drives the main body 1 to move relative to the object being measured.

[0083] The working principle of this wall-climbing robot is mainly used to inspect magnetic tanks or pipes. For example, when the inside of a large iron tank needs to be inspected, four magnetic rollers 22 are attached to the inner wall of the tank. By rolling the magnetic rollers 22 relative to the inner surface of the tank, the main body 1 can move inside the tank. Correspondingly, the detection unit 4 is adjusted to a suitable detection position by the horizontal adjustment mechanism 32 and the lifting unit 34, so that the detection unit 4 can be in an effective detection posture throughout the entire process of inspecting the tank.

[0084] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A wall-climbing robot, characterized by, include: At least two main bodies (1), with adjacent main bodies (1) hinged on the side closest to each other; A plurality of magnetic roller assemblies (2) are rotatably disposed on the side of at least two main bodies (1) that are far apart from each other, for magnetic adsorption onto the surface of the object to be measured and rolling on the surface of the object to be measured. The direction of travel of the plurality of magnetic roller assemblies (2) is parallel to the hinge axis of the two adjacent main bodies (1). At least two adjustment components (3) are respectively set on the at least two main bodies (1) and located at the front end of the main body (1) along the direction of travel; At least two detection units (4) are arranged one-to-one with the at least two adjustment components (3) so that when two adjacent bodies (1) rotate relative to each other to adapt to the curvature of the object being measured, each adjustment component (3) always keeps the corresponding detection unit (4) facing the surface of the object being measured.

2. The wall-climbing robot as described in claim 1, characterized in that, The adjustment component (3) includes: A fastener (31) is provided at the front end of the main body (1) along the direction of travel; A horizontal adjustment mechanism (32) is adjustable along the width direction of the main body (1) and is located on the side of the fixing member (31) away from the main body (1); Mounting platform (33) is set on the horizontal adjustment mechanism (32) for mounting the detection unit (4) and adjusting the spacing between two adjacent detection units (4).

3. The wall-climbing robot as described in claim 2, characterized in that, The distance between the mounting platform (33) and the surface of the object being measured is adjustable.

4. The wall-climbing robot as described in claim 3, characterized in that, The adjustment component (3) further includes: The lifting unit (34) is located on the side of the fixing member (31) away from the main body (1), and the mounting platform (33) is located at the output end of the lifting unit (34) for adjusting the distance between the detection unit (4) and the surface of the object being measured.

5. The wall-climbing robot as described in claim 4, characterized in that, The mounting platform (33) is rotatably mounted at the output end of the lifting unit (34), and the rotation axis of the mounting platform (33) is parallel to the rolling axis of the magnetic roller assembly (2).

6. The wall-climbing robot as described in claim 5, characterized in that, The mounting platform (33) includes: The connector (331) is fixedly connected to the output end of the lifting unit (34) at one end and is arranged vertically; The rotating component (332), which is damped and rotated, is located on the side of the connecting component (331) near the object being measured, and is used to adjust the angle of the detection unit (4) relative to the object being measured.

7. The wall-climbing robot as described in claim 1, characterized in that, The wall-climbing robot also includes at least two hinge mechanisms (5), which are simultaneously hinged to the side of two adjacent main bodies (1) that are close to each other, and maintain a gap between the two adjacent main bodies (1).

8. The wall-climbing robot as described in claim 7, characterized in that, The hinge mechanism (5) includes: A first hinge plate (51) and a second hinge plate (52) interlock with each other, with one side of the first hinge plate (51) fixedly connected to the side of a main body (1). One side of the second hinge plate (52) is fixedly connected to one side of another body (1); Rotary bearing (53) is disposed on the opposite surfaces of the first hinge plate (51) and the second hinge plate (52), and is rotatably connected to both the first hinge plate (51) and the second hinge plate (52) for hinge connection of two adjacent bodies (1).

9. The wall-climbing robot as described in claim 8, characterized in that, The first hinge plate (51) or the second hinge plate (52) is provided with an arc-shaped limiting groove (5101). The hinge mechanism (5) further includes: The limiting member (54) has one end passing through the arc-shaped limiting groove (5101) and connected to the second hinge plate (52) or the first hinge plate (51), and is used to limit the angle of mutual rotation between the first hinge plate (51) and the second hinge plate (52).

10. The wall-climbing robot as described in claim 7, characterized in that, Each magnetic roller assembly (2) includes: A rotary drive unit (21) is disposed inside the main body (1); A magnetic roller (22) is rotatably disposed within the main body (1) and is connected to the output shaft of the rotary drive unit (21) via a transmission connection.

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