CN106926912B - A kind of magnetic force distribution absorption type three-wheel climbing robot - Google Patents

Abstract

A magnetic distribution adsorption type three-wheeled wall-climbing robot, including a chassis, three height-adjustable installation platforms are arranged on the chassis, universal wheels are installed on the front installation platform; DC motors and DC motors are installed on the other two installation platforms. Infrared photoelectric encoder, the rear wheel is installed on the DC motor, and an infrared reflective encoding disc is embedded in the rear wheel; several first magnets are evenly distributed on the bottom surface of the chassis; infrared obstacle avoidance sensors are installed on the front and rear ends of the chassis, and there are also An ultrasonic sensor, a control system, an inclination sensor and a battery are arranged, and the ultrasonic sensor is connected with the chassis through a telescopic connecting rod. The wall-climbing robot has the advantages of simple structure, uniform and reliable adsorption, light weight, low center of mass, flexible steering, rich functions, and high degree of intelligence. and other shortcomings, it can perform distance measurement and weld detection with high precision; it has important application value.

Description

A three-wheel wall-climbing robot with magnetic force distribution and adsorption

technical field

The invention belongs to the technical field of industrial robots, and relates to a wall-climbing robot, in particular to a magnetic force distribution adsorption type three-wheeled wall-climbing robot.

Background technique

In the oil storage and transportation industry, the overall dimensions and weld safety of metal oil storage tanks are important factors that affect the accuracy of oil metering and operational safety. The size of the oil storage tank is huge, and the traditional manual verification and inspection operations have disadvantages such as heavy workload, low precision, complicated operation, and low safety factor. Therefore, the automatic operation mode using robot technology has become an unavoidable development trend.

Existing metal adsorption type wall-climbing robots mostly adopt permanent magnet crawler type adsorption, permanent magnet walking wheel adsorption and single permanent magnet adsorption disc type adsorption, and some also adopt negative pressure adsorption. However, for metal tanks, the negative pressure adsorption method has defects such as high energy consumption and difficulty in cable-free power supply, so it has no practical value. The metal adsorption wall-climbing robot is basically divided into a crawler type and a symmetrical wheel type with four or more wheels on the walking mechanism. To solve the unevenness of the running surface in the symmetrical wheel structure, it is necessary to add a connecting rod or a spring-type automatic wheel height adjustment mechanism. Therefore, including the crawler structure, the existing metal wall-climbing robots have the disadvantages of large size, heavy weight, difficult steering, and small payload, which makes wall-climbing robots subject to more challenges in the verification and testing of metal tanks. limits. High-precision distance measurement is an important part of the verification of metal tanks. Weld seam inspection is helpful to find safety problems in tanks. No metal wall-climbing robot with such functions has been found so far.

Contents of the invention

The object of the present invention is to provide a magnetic distribution adsorption type three-wheel wall-climbing robot with small size, light weight, large payload and easy steering, which can not only carry out metal tank verification and detection operations without restriction, but also can carry out high-speed Accurate distance measurement and weld seam inspection.

In order to achieve the above object, the technical solution adopted by the present invention is: a magnetic force distribution adsorption type three-wheeled wall-climbing robot, including a chassis, a second installation platform is installed on the front of the chassis, and "B" is fixedly connected to the second installation platform. ""-shaped bracket, universal wheels are installed on the free end of the bracket; two first installation platforms are installed side by side at the rear of the chassis, a DC motor and an infrared photoelectric encoder are installed on the first installation platform, and a rear wheel is installed on the DC motor. , the rear wheel is inlaid with an infrared reflective code disc; the bottom surface of the chassis is evenly distributed with several first magnets; the front and rear ends of the chassis are equipped with infrared obstacle avoidance sensors, and the chassis is also equipped with ultrasonic sensors, control systems, and inclination sensors. And the battery, the ultrasonic sensor is connected with the chassis through a telescopic connecting rod; the control system is respectively connected with the inclination sensor, ultrasonic sensor, all infrared obstacle avoidance sensors, all infrared photoelectric encoders and all DC motor signals; when in use, The quantity of the first magnets can be increased or decreased, and the heights of the first installation platform and the second installation platform can be adjusted.

The wall-climbing robot of the present invention adopts the wheels embedded with ring-shaped magnets and equipped with infrared reflective coding discs, the car body of three-wheel structure and the car chassis with adjustable height and uniformly distributed circular magnets, and has the advantages of simple structure and uniform adsorption. With the advantages of reliability, light weight, low center of mass, flexible steering, rich functions, and high degree of intelligence, it overcomes the shortcomings of existing wall-climbing robots such as large size, heavy weight, difficult steering, and small payload, and can measure distances with high precision. And weld detection; has important application value.

Description of drawings

Fig. 1 is a schematic diagram of the wall-climbing robot of the present invention.

Fig. 2 is a right side view of Fig. 1 .

Fig. 3 is a schematic diagram of the rear wheels in the wall-climbing robot of the present invention.

Fig. 4 is a right side view of Fig. 3 .

In the figure: 1. Chassis, 2. Inclination sensor, 3. Battery, 4. First magnet, 5. Infrared obstacle avoidance sensor, 6. Front wheel, 7. Control system, 8. Ultrasonic sensor, 9. DC motor, 10 .Rear wheel, 11. Infrared photoelectric encoder, 12. The first installation platform, 13. The second installation platform, 14. Bracket, 15. Connecting frame, 16. Notch, 17. Shell, 18. Protective cover, 19. The first Two magnets, 20. infrared reflective code discs, 21. axle sleeves.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 and 2, the wall-climbing robot of the present invention includes a chassis 1, a gap 16 is processed at the front end of the chassis 1, a second installation platform 13 is installed on the front of the chassis 1, and a second installation platform 13 is fixedly connected with The support 14 of " B " font, one end of support 14 is affixed with the second mounting platform 13, and the other end of support 14 is free end, and the free end of support 14 is hinged with connecting frame 15, and connecting frame 15 can be on support 14 Rotate in any direction, the front wheel 6 is installed on the connecting frame 15, the front wheel 6 is located in the gap 16, the diameter of the gap 16 is greater than the rotation diameter of the front wheel 6; Two installation platforms 13 and two first installation platforms 12 constitute "product" font; DC motor 9 and infrared photoelectric encoder 11 are installed on the first installation platform 12, and rear wheel 10 is installed on the motor shaft of DC motor 9; Chassis A plurality of first magnets 4 are installed on the chassis 1, and the plurality of first magnets 4 are evenly distributed on the bottom surface of the chassis 1; two infrared obstacle avoidance sensors 5 are installed on the front end of the chassis 1, and two infrared obstacle avoidance sensors 5 are installed on the rear end of the chassis 1. The obstacle avoidance sensor 5 ; the chassis 1 between the second installation platform 13 and the first installation platform 12 are provided with an ultrasonic sensor 8 , a control system 7 , an inclination sensor 2 and a battery 3 side by side.

The ultrasonic sensor 8 is connected with the chassis 1 through a connecting rod, and the connecting rod can be stretched.

The first magnet 4 adopts an annular magnet with a chamfered round hole, which can be installed with flat head screws, and is connected with the chassis 1 through the screw holes. The first magnets 4 are all located on the bottom surface of the chassis 1 .

Both the first installation platform 12 and the two second installation platforms 13 are connected to the chassis 1 by four long bolts. The heights of the first installation platform 12 and the second installation platform 13 can be adjusted up and down.

The battery 3 is connected with two DC motors 9 and the control system 7 respectively.

As shown in Figures 3 and 4, the rear wheel 10 in the wall-climbing robot of the present invention includes a barrel-shaped casing 17, the open end of the casing 17 faces the second installation platform 13, and a protective cover 18 is set on the outer wall of the casing 17 , the end face of the open end of the shell 17 is processed with an annular groove inwardly, and a second magnet 19 is installed in the groove; a tubular shaft sleeve 21 is fixedly connected in the shell 17; The base plate of 17 is inlaid with infrared reflective code disk 20. The shaft sleeve 21 is sleeved on the motor shaft of the DC motor 9 .

The second magnet 19 is an annular NdFeB magnet.

The infrared probe of the infrared electro-optical encoder 11 stretches into the rear wheel 10 and faces the infrared reflective code disc 20 .

The structure of the front wheel 6 is basically the same as that of the rear wheel 10, and the difference between the two is that the infrared reflection code disc 20 is not installed on the front wheel 6.

The control system 7 is respectively connected with the inclination sensor 2, the ultrasonic sensor 8, all infrared obstacle avoidance sensors 5, all infrared photoelectric encoders 11 and all DC motors 9 signals.

The front wheel 6 and the connecting frame 15 in the wall-climbing robot of the present invention form universal wheels, and the two rear wheels 10 are driving wheels. The infrared photoelectric encoder 11 on the driving wheels can measure and calculate the dimensions such as the circumference of the metal tank. The ultrasonic sensor 8 is connected on the chassis 1 through a connecting rod, the ultrasonic sensor 8 can be placed outside the chassis 1 when in use, and can be retracted to the chassis 1 when not in use. Four infrared obstacle avoidance sensors 5 are installed around the chassis 1, and the walking route is planned within the system in cooperation with the control system 7 and the ultrasonic sensor 8.

The wall-climbing robot of the present invention adopts the three-wheel structure, which can well prevent the phenomenon of unstable adsorption of the car body caused by the uneven surface of the metal oil storage tank, because the three-wheel structure can avoid the phenomenon caused by the difference in height on both sides of the wheels. The problem is that at the same time, the ring-shaped magnets embedded in the wheels can bring a certain amount of adsorption force, and several first magnets on the chassis 1 can further increase the adsorption force. The three-wheel structure is simple, and can prolong the service life of the wall-climbing robot of the present invention, can carry more additional loads, and also has the function of reducing costs and post-maintenance.

In the wall-climbing robot of the present invention, several detachable first magnets 4 evenly distributed on the bottom surface of the chassis 1 are adopted, so that a whole large-sized magnet is not needed, and the problem of large volume and heavy weight of the trolley is solved. At the same time, the adsorption force of the wall-climbing robot can be adjusted by changing the installation quantity of the first magnet 4, which can prevent the phenomenon of difficult turning caused by the excessive adsorption force of the whole large-size magnet. In addition, different tanks or different actual usage conditions may make the trolley need greater adsorption force, or need to reduce the adsorption force so that the trolley can walk smoothly, so as to reduce energy consumption and motor wear. Therefore, the detachable ring magnet on the chassis 1 enables the user to adjust the adsorption force according to the actual situation on site. Appropriate adsorption force can avoid the problem of wheel slippage caused by instantaneous starting of the wheel, and reduce the error rate of the photoelectric code disc.

In order to enable the trolley to automatically walk along the weld seam, the wall-climbing robot of the present invention adopts a combination of three methods of embedding the reflective infrared code disc 20 into the wheel, ultrasonic guidance and obstacle avoidance sensors. Firstly, the ultrasonic sensor 8 is used to detect the weld seam data and collect the traces of the weld seam. At the same time, the obstacle avoidance sensor 5 is used to detect the obstacles on the tank body, and the traveling route of the trolley is drawn inside the control system 7, which is controlled by the control system 7. The specific travel route of the car. Because the wall-climbing robot of the present invention walks along the weld beside the weld, it cannot ride on the weld, so the ultrasonic sensor 8 will be placed on the outside of the vehicle body when in use, and it will be recovered by connecting rod rotation after use.

The wall-climbing robot of the present invention cooperates with the infrared photoelectric encoder 11 installed on the chassis 1 with the infrared reflective code disc 20 installed in the rear wheel 10 to be able to accurately know the speed and the travel distance of each rear wheel 10 at this moment, and by the control The system 7 controls the speed of each rear wheel 10, so that the two rear wheels 10 produce a speed difference, so that the front wheel 6 obtains the steering function. Since the protective sleeve 18 made of rubber is set on the outer wall of the casing 17 , it can prevent slipping and also protect the second magnet 19 . The size of the perimeter of the metal tank can be obtained through the code disc, which is convenient for later maintenance, and the front wheel 6 is installed on the first installation platform 12, and the rear wheel 10, DC motor 9 and infrared photoelectric encoder 11 are installed on the second installation platform. On the installation platform 13, and the three installation platforms are independently installed on the chassis 1, in order to adapt to different side surface curvatures, the height of the bottom surface of the chassis 1 can be controlled by adjusting the height of the three installation platforms on the chassis 1. The size of the adsorption force of the chassis to the tank body can also be adjusted by adjusting the height of the chassis.

During the operation of the wall-climbing robot of the present invention, the inclination sensor 2 mainly detects whether the traveling route of the car body on the side of the tank body is horizontal, and the angle with the horizontal line, so as to plan the traveling route of the car body.

Claims (4)

1. A three-wheel wall-climbing robot with magnetic force distribution and adsorption, including a chassis (1), a second installation platform (13) is installed on the front of the chassis (1), and "B" is fixedly connected to the second installation platform (13). ""-shaped bracket (14), the free end of the bracket (14) is equipped with universal wheels; two first installation platforms (12) are installed side by side at the rear of the chassis (1), and two first installation platforms (12) are installed on the first installation platform (12). The DC motor (9) and the infrared photoelectric encoder (11), the rear wheel (10) is installed on the DC motor (9), and the infrared reflective code disc (20) is embedded in the rear wheel (10); the bottom surface of the chassis (1) Several first magnets (4) are evenly distributed on the top; infrared obstacle avoidance sensors (5) are installed on the front and rear ends of the chassis (1), and the chassis (1) is also equipped with an ultrasonic sensor (8), a control system (7 ), the inclination sensor (2) and the battery (3), the ultrasonic sensor (8) is connected with the chassis (1) through a telescopic connecting rod; the control system (7) is connected with the inclination sensor (2), the ultrasonic sensor (8) respectively , all infrared obstacle avoidance sensors (5), all infrared photoelectric encoders (11) and all DC motors (9) signal connection; when in use, the number of the first magnet (4) can be increased or decreased, and the first installation platform (12) and the height of the second installation platform (13) are adjustable, characterized in that the rear wheel (10) includes a barrel-shaped housing (17), and the open end of the housing (17) faces the second installation platform (13), A protective cover (18) is set on the outer wall of the shell (17), and an annular groove is processed inwardly on the end face of the open end of the shell (17), and a second magnet (19) is installed in the groove; A tubular shaft sleeve (21) is fixedly connected; the bottom plate of the housing (17) between the inner wall of the housing (17) and the shaft sleeve (21) is inlaid with an infrared reflection code disc (20), and the infrared electro-optical code The infrared probe of device (11) stretches in the rear wheel (10), and axle sleeve (21) is sleeved on the motor shaft of DC motor (9). 2. The magnetic force distribution adsorption type three-wheel wall-climbing robot according to claim 1, characterized in that, the front end of the chassis (1) is processed with a gap (16), and one end of the bracket (14) is connected to the second installation platform (13 ) is fixedly connected, the other end of the bracket (14) is a free end, the free end of the bracket (14) is hinged with a connecting frame (15), the connecting frame (15) can rotate in any direction on the bracket (14), and the connecting frame ( 15) is equipped with front wheel (6), and front wheel (6) is positioned at gap (16), and the diameter of gap (16) is bigger than the turning diameter of front wheel (6), and connecting frame (15) and front wheel (6) Form a universal wheel. 3. The magnetic force distribution adsorption type three-wheel wall-climbing robot according to claim 1, characterized in that, the first magnet (4) is connected to the chassis (1) through flat head screws. 4. The magnetic force distribution adsorption type three-wheel wall-climbing robot according to claim 3, characterized in that, the first magnet (4) is a ring magnet with a chamfered round hole.