CN106741267A - Curved surface operation climbing robot - Google Patents
Curved surface operation climbing robot Download PDFInfo
- Publication number
- CN106741267A CN106741267A CN201510833646.2A CN201510833646A CN106741267A CN 106741267 A CN106741267 A CN 106741267A CN 201510833646 A CN201510833646 A CN 201510833646A CN 106741267 A CN106741267 A CN 106741267A
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- China
- Prior art keywords
- vehicle frame
- curved surface
- fixed
- climbing robot
- floating
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of curved surface operation climbing robot, including floating vehicle frame, fixed vehicle frame, drive mechanism, follower, apparatus for work and self-adapting adjusting apparatus；Follower is fixed on fixed vehicle frame；Drive mechanism is fixed on floating vehicle frame；Floating vehicle frame and fixed vehicle frame can Relative vertical move up and down；Self-adapting adjusting apparatus have revolving part and connecting shaft；Revolving part is rotatably connected with floating vehicle frame；Connecting shaft one end can move in revolving part, and the other end is rotatably connected with fixed vehicle frame；Apparatus for work is fixed on self-adapting adjusting apparatus.The advantage is that car body curved surface adaptive device and apparatus for work self adaptation curved surface adjustment mechanism, it is ensured that car body, can be according to the state of curved surface real-time adjustment apparatus for work during non-plane motion, it is ensured that operation effectiveness is uniform, stabilization；The curved surface adjustment structure of full machinery, it is ensured that the real-time of response, reduces the complexity of structure, improves stability.
Description
Technical field
It is more particularly to a kind of to climb wall what curved surface carried out operation the present invention relates to robotics
Robot.
Background technology
Climbing robot is mainly used in petroleum chemical enterprise to be carried out at defect detecting test or spray painting to cylindrical big tank
Reason, or cleaning and the spraying of building are carried out, or be used for checking thickness measuring etc. in nuclear industry, may be used also
For industries such as fire-fighting and shipbuildings.In the main occasion of current climbing robot application, vertically
Plane occupied area about 40%, and curved surface occupied area is more than 50%.Particularly storage tank and hull surface,
Area more than 70% is curved surface, thus suitable for curved surface operation climbing robot for ship
Industry and petroleum industry have great meaning.
Climbing robot plane operation has greatest differences with curved surface operation, is mainly reflected in：It is flat
Face job area is wide, it is desirable to which power tool energy is rapid, accurate, fulfil assignment to high-quality task；It is bent
Face surface characteristics is more complicated, it is desirable to which power tool can accurately adapt to curved surface change, it is ensured that operation is imitated
Fruit is uniform, stabilization.
Traditional climbing robot take into account the curved surface adaptability of itself wall climbing function, not consider
The curved surface adaptability of Working mechanism, therefore it is primarily adapted for use in vertical plane spraying and prune job.
And when traditional climbing robot is in curved surface operation, it is uneven to there is operation effectiveness, operation effect
A series of problems, such as fruit is not good.So traditional climbing robot cannot high-quality completion curved surface operation
Task.
The content of the invention
A kind of curved surface operation climbing robot that the present invention is provided, curved surface is adaptable, operation effect
The climbing robot of really good curved surface operation, to overcome the defect of above-mentioned prior art.
The present invention provides a kind of curved surface operation climbing robot, including floating vehicle frame, fixed vehicle frame,
Drive mechanism, follower, apparatus for work and self-adapting adjusting apparatus；Follower is fixed on
Determine on vehicle frame；Drive mechanism is fixed on floating vehicle frame；Floating vehicle frame relative can hang down with fixed vehicle frame
Directly move up and down；Self-adapting adjusting apparatus have revolving part and connecting shaft；Revolving part and floating vehicle frame
It is rotatably connected；Connecting shaft one end can move in revolving part, the other end be arranged on adjustment base
On, adjustment base is connected with fixed vehicle frame rotation, and fixed vehicle frame is rotatably connected；Apparatus for work is consolidated
It is scheduled on self-adapting adjusting apparatus.
Further, the present invention provides a kind of curved surface operation climbing robot, can also have such
Feature：Self-adapting adjusting apparatus also have connector, adjustment bearing, adjustment base；Connector is consolidated
It is scheduled on floating vehicle frame, revolving part is connected by pin with connector；Adjustment bearing is fixed on rotation
On part；Adjustment base is connected by pin with fixed vehicle frame；Connecting shaft one end passes through adjustment bearing,
The other end is fixed on adjustment base.
Further, the present invention provides a kind of curved surface operation climbing robot, can also have such
Feature：Self-adapting adjusting apparatus also have guide rail and slide unit；Guide rail is fixed on adjustment base, sliding
Platform side is slided on guide rail, and opposite side is connected with apparatus for work, drives apparatus for work to do level shifting
It is dynamic.
Further, the present invention provides a kind of curved surface operation climbing robot, can also have such
Feature：Fixed vehicle frame has at least one vehicle frame bearing, and floating vehicle frame has vehicle frame support shaft；Car
Frame support shaft moves linearly in vehicle frame bearing.
Further, the present invention provides a kind of curved surface operation climbing robot, can also have such
Feature：Drive mechanism and follower structure have magnet unit, adsorb in operation surface.
Further, the present invention provides a kind of curved surface operation climbing robot, can also have such
Feature：Drive mechanism has driving wheel, decelerator and motor.
Further, the present invention provides a kind of curved surface operation climbing robot, can also have such
Feature：Follower has universal wheel component and floating junction device.
Further, the present invention provides a kind of curved surface operation climbing robot, can also have such
Feature：Floatation element also has crossbeam and firm banking；Vehicle frame support shaft is two and mounted in pairs；
One end of two vehicle frame support shafts is fixed on firm banking, crossbeam connecting vehicle frame support shaft it is another
End.
Further, the present invention provides a kind of curved surface operation climbing robot, can also have such
Feature：Floating vehicle frame also has two buffers, it is ensured that floating vehicle frame floats in safe range.
The effect of invention and effect
A kind of curved surface operation climbing robot that the present invention is provided, due to the work of the magnet of bottom of frame
With adsorbing all the time in curved surface, motor drives curved surface operation climbing robot in non-plane motion, by two
The differential motion of individual motor coordinates the driven completion of universal wheel to turn to.
The motion principle of self-adapting adjusting apparatus is：Due to the effect of magnet adsorption power, drive mechanism
Can be risen and fallen with curved surface, drive mechanism is slided up and down by vehicle frame bearing, is always ensured that floating vehicle frame
Slided up and down as curved surface changes.Floating vehicle frame is slided up and down by connector and revolving part band
Dynamic connecting shaft rotation, driving is fixed on the slide unit rotation on adjustment base.Final drive mechanism is vertical
Motion is slided up and down in curved surface, and rotation of the slide unit component around fixed vehicle frame is changed into by connecting shaft
Transhipment is dynamic, so that automatically the distance between end apparatus for work and curved surface of adjustment slide unit, it is ensured that
Operation effectiveness is uniform, stabilization.
A kind of curved surface operation climbing robot that the present invention is provided, using modularized design, slide unit can
To carry all kinds of apparatus for work：Such as spray spray gun used；Cleaning grinding tool used；Flaw detection is used all kinds of
Sensor etc., all kinds of apparatus for work coordinate slide unit using job area is not only increased, while expanding
The scope of application, has accomplished a tractor serves several purposes；
A kind of curved surface operation climbing robot that the present invention is provided, while adapting to fill using car body curved surface
Put and apparatus for work self adaptation curved surface adjustment mechanism, it is ensured that car body, can be with during non-plane motion
According to the state of curved surface real-time adjustment apparatus for work, it is ensured that operation effectiveness is uniform, stabilization.
A kind of curved surface operation climbing robot that the present invention is provided, driving wheel is front and rear in the middle of car body
Respectively it is distributed one group of universal wheel, it is ensured that with stronger load capacity while body movement is flexible, can
To realize that zero radius of turn is moved.
A kind of curved surface operation climbing robot that the present invention is provided, knot is adjusted using the curved surface of full machinery
Structure, it is ensured that the real-time of response, reduces the complexity of structure, improves stability.
Brief description of the drawings
Fig. 1 is structural representation of the curved surface operation climbing robot in flat state.
Fig. 2 is the top perspective view of curved surface operation climbing robot.
Fig. 3 is the face upwarding stereogram of curved surface operation climbing robot.
Fig. 4 is the structure chart of floating vehicle frame and drive mechanism.
Fig. 5 is the structure chart of self-adapting adjusting apparatus.
Fig. 6 is structural representation of the curved surface operation climbing robot in curved surface state.
Specific embodiment
The present invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 is structural representation of the curved surface operation climbing robot in flat state.
As shown in figure 1, curved surface operation climbing robot of the invention includes：Floating vehicle frame 100,
Fixed vehicle frame 200, drive mechanism 300, follower 400, electric unit 500, apparatus for work
600 and self-adapting adjusting apparatus 700.
Fig. 4 is the structure chart of floating vehicle frame and drive mechanism.
As shown in figure 4, floating vehicle frame 100 includes：It is two vehicle frame support shafts 110, crossbeam 120, solid
Determine base 130 and two buffers 140.Two vehicle frame support shafts 110 are symmetrical, and lower end is fitted vertically
On firm banking 130, two ends of the upper end respectively with crossbeam 130 are fixedly connected, and are formed rectangular
The framework of floating vehicle frame 100.Buffer 140 is arranged on crossbeam 120, close to vehicle frame support shaft 110.
The connector 710 of connection self-adapting adjusting apparatus 700 and floating vehicle frame 100, fixed cross beam 120
On.
Fig. 2 is the top perspective view of curved surface operation climbing robot.
Fig. 3 is the face upwarding stereogram of curved surface operation climbing robot.
As shown in Figures 2 and 3, fixed vehicle frame 200 has two vehicle frame bearings 210.Two vehicle frame axles
Hold 210 positions in the middle of fixed vehicle frame 200.Two vehicle frame bearings 210 are respectively fitted over two vehicle frames
In support shaft 110, vehicle frame bearing 210 can be moved freely in vehicle frame support shaft 110, so that
Fixed vehicle frame 200 can be freely moved up and down on floating vehicle frame 100.Certainly, vehicle frame bearing
The scope of 210 movements is between crossbeam 120 and firm banking 130.Buffer 140 prevents from fixing vehicle frame
200 collide with firm banking 130.
Electric unit 500 is fixed on the front end of floating vehicle frame, there is provided the power of whole robot operation,
And the control signal of whole robot.
Drive mechanism 300 is fixed on the bottom of firm banking 130, drives floating vehicle frame 100 to advance with after
Move back, so as to drive whole robot to move.Drive mechanism 300 has driving wheel 310, magnet list
Unit 320, decelerator 330 and motor 340.The suction that the magnet unit 320 of the bottom of drive mechanism 300 is produced
Attached power makes driving wheel 310 press hull surface.Motor 340 drives by the power produced after decelerator 330
Robot is set to be moved in hull surface.
Follower 400 is separately fixed at the bottom of the rear and front end of fixed support 200.Follower
400 have universal wheel component 410, magnet unit 420 and floating junction device 430.Follower 400
The absorption affinity that the magnet 420 of bottom is produced makes universal wheel component 410 press hull surface.Universal wheel group
Part 410 is fixed on fixed support 200 by floating junction device 430, it is ensured that whole follower 400
Can be moved as fixed vehicle frame 200 adapts to the fluctuating of curved surface.
Wheel in drive mechanism 300 and follower 400 is close to song in the presence of magnet unit
Face.The curvature of curved surface be continually changing or between plane and curved surface it is alternate in the case of, driving machine
Wheel relative position in structure 300 and follower 400 changes, so as to drive floating vehicle frame 100
Vehicle frame support shaft 110 moved up and down in the vehicle frame bearing 210 of fixed vehicle frame 200, it is ensured that whole machine
Device people is in curved surface moving process, and undulatory motion is smooth, smooth.
Apparatus for work 600 is connected by self-adapting adjusting apparatus 700 with vehicle frame.Apparatus for work 600 can be with
It is the spray gun used by spray painting, cleaning grinding tool used and flaw detection various kinds of sensors used etc. perform structure.
Fig. 5 is the structure chart of self-adapting adjusting apparatus.
As shown in figure 5, self-adapting adjusting apparatus 700 include：Connector 710, revolving part 720, tune
Bearing holds 730, connecting shaft 740, adjustment base 750, guide rail 760 and slide unit 770.
Connector 710 is fixed on the crossbeam 120 of floating vehicle frame 100.Revolving part 720 is by the first pin
Nail 701 is rotatably connected with connector 710.Adjustment bearing 730 is fixed on revolving part 720.
Firm banking 750 is rotatably connected by the second pin 702 with fixed vehicle frame 200.Connecting shaft
Through adjustment bearing 730, the other end is fixed on adjustment base 750 for 740 one end.
Guide rail 760 is fixed on adjustment base 750.The side of slide unit 770 has chute, can be in guide rail
Upper slip.Apparatus for work 600 is fixed on the opposite side of slide unit 770.
Curved surface operation climbing robot operation principle：
Driving structure 300 is moved under the driving of motor 340 on curved surface, and follower 400 is driven
Structure is also moved therewith.Because driving structure 300 and follower 400 all have magnet unit, institute
With 6 wheels all the time close to curved surface, the difference in height of curved surface causes driving structure 300 and follower 400
Wheel between difference in height.Four wheels form a plane before and after follower 400, in one
Individual height and position, with the fluctuating of curved surface, relative altitude is continually changing the wheel of drive mechanism 300,
So as to cause, floating vehicle frame 100 is relatively fixed vehicle frame 200 and moves up and down, by vehicle frame support shaft 110
Realization is moved up and down in vehicle frame bearing 210.
The revolving part 720 of self-adapting adjusting apparatus 700 follows connector 710 to move vertically, simultaneously because
Connecting shaft 740 is slided and rotated in bearing 730 is adjusted.Finally, by floating vehicle frame 100 and admittedly
Vehicle frame 200 is determined due to the vertical sliding motion produced in non-plane motion, is converted into the rotary motion of slide unit 770,
Ensure that the operation effectiveness of end apparatus for work.
Claims (9)
1. a kind of curved surface operation climbing robot, it is characterised in that：Including floating vehicle frame, fixation
Vehicle frame, drive mechanism, follower, apparatus for work and self-adapting adjusting apparatus；
Wherein, the follower is fixed on the fixed vehicle frame；
The drive mechanism is fixed on the floating vehicle frame；
The floating vehicle frame and the fixed vehicle frame can Relative vertical move up and down；
The self-adapting adjusting apparatus have revolving part and connecting shaft；
The revolving part is rotatably connected with the floating vehicle frame；
Described connecting shaft one end can move in the revolving part, the other end and the fixed vehicle frame
It is rotatably connected；
The apparatus for work is fixed on the self-adapting adjusting apparatus.
2. curved surface operation climbing robot as claimed in claim 1, it is characterised in that：
Wherein, the self-adapting adjusting apparatus also have connector, adjustment bearing, adjustment bottom
Seat；
The connector is fixed on the floating vehicle frame, the revolving part by pin with it is described
Connector is connected；
The adjustment bearing is fixed on the revolving part；
The adjustment base is connected by pin with the fixed vehicle frame；
Described connecting shaft one end passes through the adjustment bearing, the other end to be fixed on the adjustment base
On.
3. curved surface operation climbing robot as claimed in claim 2, it is characterised in that：
Wherein, the self-adapting adjusting apparatus also have guide rail and slide unit；
The guide rail is fixed on the adjustment base, and the slide unit side is sliding on the guide rail
Dynamic, opposite side is connected with apparatus for work.
4. curved surface operation climbing robot as claimed in claim 1, it is characterised in that：
Wherein, the fixed vehicle frame has at least one vehicle frame bearing, and the floating vehicle frame has
Vehicle frame support shaft；
The vehicle frame support shaft moves linearly in the vehicle frame bearing.
5. curved surface operation climbing robot as claimed in claim 1, it is characterised in that：
Wherein, the drive mechanism and the follower structure have magnet unit, adsorb in operation
Surface.
6. curved surface operation climbing robot as claimed in claim 5, it is characterised in that：
Wherein, the drive mechanism has driving wheel, decelerator and motor.
7. curved surface operation climbing robot as claimed in claim 5, it is characterised in that：
Wherein, the follower has universal wheel component and floating junction device.
8. curved surface operation climbing robot as claimed in claim 4, it is characterised in that：
Wherein, the floatation element also has crossbeam and firm banking；The vehicle frame support shaft is
Two and mounted in pairs；One end of two vehicle frame support shafts is fixed on firm banking, institute
State the other end that crossbeam connects the vehicle frame support shaft.
9. curved surface operation climbing robot as claimed in claim 8, it is characterised in that：
Wherein, the floating vehicle frame also has two buffers, it is ensured that floating vehicle frame is in safe model
Enclose interior floating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510833646.2A CN106741267A (en) | 2015-11-25 | 2015-11-25 | Curved surface operation climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510833646.2A CN106741267A (en) | 2015-11-25 | 2015-11-25 | Curved surface operation climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106741267A true CN106741267A (en) | 2017-05-31 |
Family
ID=58965191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510833646.2A Pending CN106741267A (en) | 2015-11-25 | 2015-11-25 | Curved surface operation climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106741267A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081771A (en) * | 2017-06-18 | 2017-08-22 | 中国船舶重工集团公司第七六研究所 | Ship paint-spray robot work system and method |
| CN107176223A (en) * | 2017-07-10 | 2017-09-19 | 河北工业大学 | A kind of cambered surface self-bonding magnetic adsorption wall climbing detects robot |
| CN107253147A (en) * | 2017-06-18 | 2017-10-17 | 中国船舶重工集团公司第七六研究所 | Ship Rust Removal Robot of Sand Blast work system |
| CN108750038A (en) * | 2018-07-27 | 2018-11-06 | 深圳聚纵科技有限公司 | Ship is in the device and its application method for travelling and stopping anchorage removing attachment |
| CN109018071A (en) * | 2018-06-21 | 2018-12-18 | 宁波介量机器人技术有限公司 | A kind of intelligent ceiling robot based on magnetic suck |
| CN109050822A (en) * | 2018-07-27 | 2018-12-21 | 深圳聚纵科技有限公司 | The flexible underwater climbing robot of magnetic suck |
| CN109436119A (en) * | 2018-11-15 | 2019-03-08 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of non-contact wheeled climbing robot base apparatus |
| CN109572845A (en) * | 2019-01-09 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN110064992A (en) * | 2019-05-31 | 2019-07-30 | 上海锐斯船舶科技有限公司 | A kind of magnetic-type all-round grinding device |
| CN110076699A (en) * | 2019-05-31 | 2019-08-02 | 上海锐斯船舶科技有限公司 | A kind of vertical shot-blasting machine |
| CN110773345A (en) * | 2019-11-14 | 2020-02-11 | 宁海格栅电子有限公司 | Rust removal and paint spraying equipment for reflecting surface of satellite antenna |
| CN110891851A (en) * | 2017-07-12 | 2020-03-17 | 沙特阿拉伯石油公司 | Compact magnetic crawler with anti-sway support |
| CN113156488A (en) * | 2021-03-09 | 2021-07-23 | 中国辐射防护研究院 | Permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device |
| CN115771577A (en) * | 2023-02-01 | 2023-03-10 | 北京史河科技有限公司 | Magnetic adsorption inspection robot and control method thereof |
-
2015
- 2015-11-25 CN CN201510833646.2A patent/CN106741267A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107253147A (en) * | 2017-06-18 | 2017-10-17 | 中国船舶重工集团公司第七六研究所 | Ship Rust Removal Robot of Sand Blast work system |
| CN107081771A (en) * | 2017-06-18 | 2017-08-22 | 中国船舶重工集团公司第七六研究所 | Ship paint-spray robot work system and method |
| CN107176223A (en) * | 2017-07-10 | 2017-09-19 | 河北工业大学 | A kind of cambered surface self-bonding magnetic adsorption wall climbing detects robot |
| CN110891851A (en) * | 2017-07-12 | 2020-03-17 | 沙特阿拉伯石油公司 | Compact magnetic crawler with anti-sway support |
| JP2020526449A (en) * | 2017-07-12 | 2020-08-31 | サウジ アラビアン オイル カンパニー | Small magnetic crawler vehicle with anti-sway support |
| CN109018071A (en) * | 2018-06-21 | 2018-12-18 | 宁波介量机器人技术有限公司 | A kind of intelligent ceiling robot based on magnetic suck |
| CN109018071B (en) * | 2018-06-21 | 2021-05-28 | 宁波介量机器人技术有限公司 | Intelligent ceiling robot based on magnetic adsorption |
| CN109050822A (en) * | 2018-07-27 | 2018-12-21 | 深圳聚纵科技有限公司 | The flexible underwater climbing robot of magnetic suck |
| CN108750038A (en) * | 2018-07-27 | 2018-11-06 | 深圳聚纵科技有限公司 | Ship is in the device and its application method for travelling and stopping anchorage removing attachment |
| CN109436119A (en) * | 2018-11-15 | 2019-03-08 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of non-contact wheeled climbing robot base apparatus |
| CN109572845A (en) * | 2019-01-09 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN110064992A (en) * | 2019-05-31 | 2019-07-30 | 上海锐斯船舶科技有限公司 | A kind of magnetic-type all-round grinding device |
| CN110076699A (en) * | 2019-05-31 | 2019-08-02 | 上海锐斯船舶科技有限公司 | A kind of vertical shot-blasting machine |
| CN110773345A (en) * | 2019-11-14 | 2020-02-11 | 宁海格栅电子有限公司 | Rust removal and paint spraying equipment for reflecting surface of satellite antenna |
| CN113156488A (en) * | 2021-03-09 | 2021-07-23 | 中国辐射防护研究院 | Permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device |
| CN115771577A (en) * | 2023-02-01 | 2023-03-10 | 北京史河科技有限公司 | Magnetic adsorption inspection robot and control method thereof |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |