Wall climbing device and maintenance robot

Abstract

The utility model discloses a wall climbing equipment, and disclose the maintenance robot with wall climbing equipment, including base, installation arm and two crawler belts, two crawler belts are separately arranged in the left and right sides of base, and the crawler belt includes a plurality of crawler belts, and the first magnetic element is equipped in a plurality of crawler belts, and the lower surface of crawler belt is equipped with the antiskid pad, and a plurality of crawler belts rotate along the meandering track, and a plurality of crawler belts can be shifted to below the base in turn, and the antiskid pad can abut with the wall of steel structure, installation arm is equipped on the base, and the swing end of installation arm is used to install the maintenance tool. The first magnetic element in the crawler belt and the distance of steel structure are short, make the crawler belt can stably be attached on the wall of steel structure, reduce the risk of wall climbing equipment falling, and the antiskid pad has greater friction between the wall of steel structure, improve the wall climbing ability and stability of wall climbing equipment, avoid the idling of crawler belt and the slip of wall climbing equipment.

Description

Technical Field

[0001] This utility model relates to the field of robotic equipment technology, and in particular to wall-climbing equipment and maintenance robots. Background Technology

[0002] Steel structures are widely used in various applications, including ships, wind power equipment, bridges, high-speed railway stations, factories, and power plant boilers. Steel structures are prone to metal fatigue and rust, and the connectors on them are easily loosened. Therefore, rust removal, flaw detection, and inspection are essential and high-risk tasks. Currently, climbing equipment is used to transport tools to steel structures. This climbing equipment consists of a base and tracks. However, when facing steel structures with uneven surfaces, the climbing equipment is prone to slipping, spinning freely, or even falling. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a wall-climbing device that improves wall-climbing ability and stability.

[0004] This utility model also proposes a maintenance robot with the above-mentioned wall-climbing equipment.

[0005] According to a first aspect of the present invention, a wall-climbing device includes a base, a mounting arm, and two tracks. The two tracks are respectively disposed on the left and right sides of the base. Each track includes multiple track plates arranged in a loop around the base. Each track plate contains a first magnetic element for adsorbing steel structures. The lower surface of each track plate is provided with an anti-slip pad. The multiple track plates rotate along the loop trajectory and can sequentially transfer to a position below the base. The anti-slip pad can abut against the wall surface of the steel structure, so that the lower surface of the base detaches from the wall surface of the steel structure and drives the base to move on the wall surface of the steel structure. The mounting arm is disposed on the base and can swing in a plane parallel to the lower surface of the base. The swing end of the mounting arm is used to install maintenance tools.

[0006] It has at least the following beneficial effects: The short distance between the first magnetic component inside the track plate and the steel structure allows the track plate to be stably attached to the wall surface of the steel structure, meaning the track plate can stably grip the wall surface. The first magnetic component attracts the track plate and the entire climbing device to the wall surface, reducing the risk of the climbing device falling. Furthermore, the anti-slip pad has significant friction with the wall surface, improving the climbing ability and stability of the device and preventing track slippage and equipment slippage. The track plate supports the base on the steel structure, and the large gap between the base and the wall surface enhances the base's obstacle-crossing ability, reducing the risk of the base being lifted by the steel structure and causing the track plate to detach from the wall surface.

[0007] According to some embodiments of the present invention, a limiting groove is formed on the lower surface of the track plate, the first magnetic element is disposed in the limiting groove, and the anti-slip pad cover is disposed on the limiting groove.

[0008] According to some embodiments of the present invention, the upper surface of the track plate is provided with an avoidance hole communicating with the limiting groove, so that the first magnetic component in the limiting groove has an exposed area.

[0009] According to some embodiments of the present invention, a second magnetic component is also included, wherein the bottom of the base is provided with a storage groove, and the second magnetic component is disposed in the storage groove.

[0010] According to some embodiments of the present invention, the bottom of the base is provided with a storage box, and the storage slot is formed in the storage box.

[0011] According to some embodiments of the present invention, the track further includes a chain, a front sprocket, and a rear sprocket. The front sprocket and the rear sprocket are respectively disposed at the front end and the rear end of the base. The chain is wound around the front sprocket and the rear sprocket. Multiple pairs of chain plates symmetrically arranged on the chain are provided with ear plates. The ear plates on the multiple pairs of chain plates are respectively connected to the left and right ends of multiple track plates.

[0012] According to some embodiments of the present invention, the base is provided with a first rotary drive mechanism and a reducer, the output end of the first rotary drive mechanism is connected to the input end of the reducer, and the output end of the reducer faces upward and is connected to the connecting end of the mounting arm.

[0013] According to some embodiments of the present invention, the anti-slip mat is made of rubber or silicone material, and the track plate is made of polyoxymethylene material.

[0014] According to a second aspect of the present invention, a maintenance robot includes maintenance tools and the aforementioned wall-climbing device. The maintenance tools are located at the swing end of the mounting arm and include one of a flaw detection tool, a rust removal tool, and a painting tool.

[0015] It has at least the following beneficial effects: This maintenance robot has all the beneficial effects brought about by the aforementioned wall-climbing equipment, which will not be repeated here.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model; Figure 2 This is a front view structural diagram of an embodiment of the present utility model; Figure 3 This is a schematic diagram of the track plate and ear plate portion according to an embodiment of the present utility model; Figure 4 This is a cross-sectional structural schematic diagram of the first magnetic component, track plate, and ear plate portion according to an embodiment of the present utility model; Icon labels: Base 1, first rotary drive mechanism 11, reducer 12; Two tracks 2, track plates 21, anti-slip pads 211, limiting grooves 212, clearance holes 213, chain 22, ear plate part 221, front sprocket 23, rear sprocket 24; First magnetic component 3; Mounting arm 4; Second magnetic component 5; Storage box 6, storage slot 61. Detailed Implementation

[0018] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0019] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features or the order of the technical features.

[0020] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0021] Reference Figure 1 and Figure 2 This utility model discloses a wall-climbing device, including a base 1, a mounting arm 4, and two tracks 2. The two tracks 2 are respectively disposed on the left and right sides of the base 1. The tracks 2 include multiple track plates 21 arranged in a U-shape around the base 1. (Refer to...) Figure 3 and Figure 4Each of the multiple track plates 21 is equipped with a first magnetic element 3 for adsorbing the steel structure. The lower surface of the track plate 21 is provided with an anti-slip pad 211. The multiple track plates 21 rotate along a loop track and can be transferred sequentially to a position below the base 1. The anti-slip pad 211 can abut against the wall of the steel structure, so that the lower surface of the base 1 is separated from the wall of the steel structure and the base 1 is driven to move on the wall of the steel structure. The mounting arm 4 is provided on the base 1 and can swing in a plane parallel to the lower surface of the base 1. The swing end of the mounting arm 4 is used to install maintenance tools.

[0022] Two tracks 2 are positioned on the left and right sides of the base 1. Part of the track plates 21 are lower than the base 1, causing the lower surface of the base 1 to detach from the steel structure wall. In other words, part of the track plates 21 supports the base 1 on the steel structure. The first magnetic element 3 within the track plate 21 is close to the steel structure, allowing the track plate 21 to stably adhere to the steel structure wall. When the tracks 2 rotate, the anti-slip pads 211 ensure sufficient friction between the track plates 21 and the steel structure wall, enabling the base 1 to move along the steel structure wall.

[0023] The first magnetic component 3 adheres the track pads 21 and the entire wall-climbing device to the steel structure wall surface, reducing the risk of the device falling. The anti-slip mat 211 has significant friction with the steel structure wall surface, improving the climbing ability and stability of the device and preventing the tracks 2 from spinning freely and the device from slipping. The track pads 21 support the base 1 on the steel structure, and the large gap between the base 1 and the steel structure wall surface enhances the obstacle-crossing ability of the base 1, reducing the risk of the track pads 21 detaching from the steel structure wall surface due to the base 1 being lifted by the steel structure.

[0024] Reference Figure 4 In some embodiments, a limiting groove 212 is formed on the lower surface of the track plate 21, and the first magnetic element 3 is disposed in the limiting groove 212. The limiting groove 212 serves to limit the first magnetic element 3. An anti-slip pad 211 is covered on the limiting groove 212 to prevent the first magnetic element 3 from being exposed and to ensure that the track plate 21 can contact the wall of the steel structure through the anti-slip pad 211.

[0025] The first magnetic component 3 and the track plate 21 are connected by multiple first fasteners, so that the first magnetic component 3 and the track plate 21 are relatively fixed.

[0026] Reference Figure 3 or Figure 4In some embodiments, the upper surface of the track plate 21 is provided with a clearance hole 213 that communicates with the limiting groove 212, so that the first magnetic element 3 in the limiting groove 212 has an exposed area, and a push rod can be inserted into the limiting groove 212 through the clearance hole 213. The push rod pushes the first magnetic element 3 out of the limiting groove 212, and the condition of the first magnetic element 3 in the limiting groove 212 can be observed through the clearance hole 213.

[0027] Reference Figure 1 and Figure 2 In some embodiments, the wall-climbing device further includes a second magnetic element 5. The bottom of the base 1 is provided with a storage groove 61, and the second magnetic element 5 is disposed in the storage groove 61. The storage groove 61 serves to limit the second magnetic element 5, so that the second magnetic element 5 and the base 1 remain relatively fixed.

[0028] In some embodiments, the base 1 has a storage box 6 at its bottom, and a storage slot 61 is formed in the storage box 6, so that the base 1 defines the position of the second magnetic element 5 through the storage box 6.

[0029] The storage box 6 can be connected to the lower surface of the base 1 by welding or fasteners. The slot of the storage groove 61 is opened on the front or rear face of the storage box 6, so that the second magnetic component 5 can be inserted into the storage groove 61 through the slot of the storage groove 61.

[0030] Reference Figure 1 In some embodiments, the track 2 further includes a chain 22, a front sprocket 23, and a rear sprocket 24. The front sprocket 23 and the rear sprocket 24 are respectively located at the front end and the rear end of the base 1. The chain 22 is wound around the front sprocket 23 and the rear sprocket 24. Multiple pairs of chain plates symmetrically arranged on the chain 22 are provided with ear plates 221. The ear plates 221 on the multiple pairs of chain plates are respectively connected to the left and right ends of multiple track plates 21. When the chain 22 rotates on the front sprocket 23 and the rear sprocket 24, the ear plates 221 of the chain 22 drive the multiple track plates 21 to rotate along a loop trajectory.

[0031] The chain plate and ear plate portion 221 can be integrally molded. The ear plate portion 221 has a first connecting hole, and the upper surface of the track plate 21 has two second connecting holes distributed left and right, both of which communicate with the limiting groove 212. The first magnetic component 3 has third connecting holes at both ends. A first fastener passes through the first, second, and third connecting holes sequentially, connecting the ear plate portion 221, the track plate 21, and the first magnetic component 3 together. The anti-slip pad 211 can be connected by adhesive or fasteners. The length and width dimensions of the anti-slip pad 211 are equal to the length and width dimensions of the lower surface of the track plate 21. Both the first and second connecting holes can be through holes, the third connecting hole is a threaded hole, and the first fastener is a first screw.

[0032] The track 2 also includes a second rotary drive mechanism, which is located on the base 1 or in the storage cavity within the base 1. The output end of the second rotary drive mechanism is connected to the front sprocket 23 or the rear sprocket 24 via a transmission mechanism. The transmission mechanism is one of the following: shaft transmission mechanism, bearing transmission mechanism, belt transmission mechanism, and chain transmission mechanism.

[0033] The track 2 includes a chain 22, a front sprocket 23, a rear sprocket 24, and a second rotary drive mechanism. The two tracks 2 have their own second rotary drive mechanisms, which enable the two tracks 2 to work independently, allowing the climbing equipment to turn on the steel structure wall and change the direction of movement of the climbing equipment.

[0034] Reference Figure 1 In some embodiments, the base 1 is provided with a first rotary drive mechanism 11 and a reducer 12. The output end of the first rotary drive mechanism 11 is connected to the input end of the reducer 12. The output end of the reducer 12 faces upward and is connected to the connecting end of the mounting arm 4. The reducer 12 serves to reduce the rotational speed and increase the torque. The first rotary drive mechanism 11 drives the mounting arm 4 to swing in a plane parallel to the lower surface of the base 1 through the reducer 12, so that the maintenance tools on the mounting arm 4 can perform maintenance on the wall surface of the steel structure. The maintenance items are determined according to the type of maintenance tool. When the maintenance tool is a flaw detection tool, it can perform flaw detection on the steel structure; when the maintenance tool is a painting tool, it can perform painting on the steel structure; when the maintenance tool is a rust removal tool, it can perform rust removal on the steel structure.

[0035] A cover is provided on the base 1, and a through hole is provided on the cover. The housing of the reducer 12 is connected to the cover, and the cover covers the upper surface of the base 1, forming an inner cavity between the cover and the base 1. The housing of the reducer 12 and the first rotary drive mechanism 11 are both located in the inner cavity, and the housing of the first rotary drive mechanism 11 is connected to the cover or the base 1. The output end of the reducer 12 extends to the top of the cover through the through hole. The cover serves to seal and protect the reducer 12 and the first rotary drive mechanism 11.

[0036] In some embodiments, the anti-slip mat 211 is made of rubber or silicone material, resulting in a high coefficient of friction on its surface. The mat also possesses a degree of elasticity, reducing the risk of slippage on the steel structure wall. The lower surface of the anti-slip mat 211 has anti-slip textures. The track plate 21 is made of polyoxymethylene (POM), commonly known as polyoxymethylene, a high-performance thermoplastic engineering plastic. It exhibits good rigidity / wear resistance, chemical resistance, and temperature resistance.

[0037] It should be noted that the steel structure has magnetically conductive components, such as iron or other metals. Both the first magnetic component 3 and the second magnetic component 5 can attract the magnetically conductive components on the steel structure. The first magnetic component 3 is a magnetic attractor, that is, a permanent magnet, such as a magnet. The second magnetic component 5 is a powerful magnet. Both the first rotary drive mechanism 11 and the second rotary drive mechanism can be motors.

[0038] Reference Figure 1 or Figure 2 This utility model discloses a maintenance robot, including maintenance tools and the aforementioned wall-climbing device. The maintenance tools are located at the swing end of the mounting arm 4. The maintenance tools include one of a flaw detection tool, a rust removal tool, and a painting tool. The wall-climbing device moves the maintenance tools to various areas on the wall of the steel structure. The mounting arm 4 drives the maintenance tools to swing, so that the maintenance tools can maintain various areas on the wall of the steel structure.

[0039] Flaw detection tools, rust removal tools, and painting tools are used for flaw detection, rust removal, and painting of steel structure walls, respectively. Rust removal tools include one of the following: waterjet gun heads, waterjet grinding discs, and water curtain grinding discs. All three can remove rust from steel structure walls. Flaw detection tools, painting tools, waterjet gun heads, waterjet grinding discs, and water curtain grinding discs are existing technologies, and their mechanisms and methods of use are known; therefore, they will not be described in detail here.

[0040] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] Of course, this utility model is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of this utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A wall-climbing device, characterized in that, include: Base; Two tracks are respectively located on the left and right sides of the base. The tracks include multiple track plates arranged in a loop around the base. Each track plate has a first magnetic element for adsorbing the steel structure. The lower surface of the track plate is provided with an anti-slip pad. The multiple track plates rotate along the loop track and can be transferred sequentially to a position below the base. The anti-slip pad can abut against the wall of the steel structure, so that the lower surface of the base is detached from the wall of the steel structure and the base is driven to move on the wall of the steel structure. An installation arm is mounted on the base. The installation arm is capable of swinging in a plane parallel to the lower surface of the base. The swinging end of the installation arm is used to install maintenance tools.

2. The wall-climbing device according to claim 1, characterized in that, A limiting groove is formed on the lower surface of the track plate, the first magnetic component is disposed in the limiting groove, and the anti-slip pad cover is disposed on the limiting groove.

3. The wall-climbing device according to claim 2, characterized in that, The upper surface of the track plate is provided with a clearance hole that communicates with the limiting groove, so that the first magnetic component in the limiting groove has an exposed area.

4. The wall-climbing device according to claim 1, characterized in that, It also includes a second magnetic component, and the bottom of the base is provided with a storage groove, in which the second magnetic component is disposed.

5. The wall-climbing device according to claim 4, characterized in that, The base has a storage box at its bottom, and the storage slot is located in the storage box.

6. The wall-climbing device according to claim 1, characterized in that, The track also includes a chain, a front sprocket, and a rear sprocket. The front sprocket and the rear sprocket are respectively located at the front end and the rear end of the base. The chain is wound around the front sprocket and the rear sprocket. Multiple pairs of chain plates symmetrically arranged on the chain are provided with ear plates. The ear plates on the multiple pairs of chain plates are respectively connected to the left and right ends of multiple track plates.

7. The wall-climbing device according to claim 1, characterized in that, The base is provided with a first rotary drive mechanism and a reducer. The output end of the first rotary drive mechanism is connected to the input end of the reducer. The output end of the reducer faces upward and is connected to the connection end of the mounting arm.

8. The wall-climbing device according to claim 1, characterized in that, The anti-slip mat is made of rubber or silicone material, and the track plate is made of polyoxymethylene material.

9. A maintenance robot, characterized in that, The device includes maintenance tools and a wall-climbing device according to any one of claims 1 to 8, wherein the maintenance tools are located at the swing end of the mounting arm, and the maintenance tools include one of flaw detection tools, rust removal tools, and painting tools.

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