CN107839777B - Crawling robot platform device for large steel frame structure - Google Patents
Crawling robot platform device for large steel frame structure Download PDFInfo
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- CN107839777B CN107839777B CN201610827115.7A CN201610827115A CN107839777B CN 107839777 B CN107839777 B CN 107839777B CN 201610827115 A CN201610827115 A CN 201610827115A CN 107839777 B CN107839777 B CN 107839777B
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
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Abstract
The invention relates to a crawling robot platform device for a large steel frame structure, which comprises a frame base body, an X-direction main motion system, a Y-direction main motion system, a foot lifting and adsorbing system and a load layer, wherein the X-direction main motion system and the Y-direction main motion system are arranged below the load layer and are arranged on the base body; the foot lifting and adsorbing system is arranged around and is respectively connected with the edges of the X-direction main motion system and the Y-direction main motion system. The invention can completely cover the flat wall surface of the large steel frame structure, uses the push rod motor as a driving source of the lifting adsorption group, and has high reliability and simple control of the execution device.
Description
Technical Field
The invention relates to a wall climbing robot device, in particular to a wall climbing robot platform device for a large steel frame structure.
Background
The crawling robot is a special robot and is electromechanical integrated equipment integrating multiple disciplinary theories and technologies such as machinery, electronics, computers, control, sensing, artificial intelligence and the like. The crawling robot must have two basic functions: adsorption and movement ability on the wall. At present, the moving mode of the crawling robot mainly comprises the following steps: wheel type, frame type, crawler type, leg foot type and the like; the adsorption mode mainly comprises the following steps: magnetic adsorption and vacuum adsorption.
The earliest research on crawling robots in foreign countries was japan. In 1966, a lecturer of university of osaka, western light made a prototype of a vertical wall mobile robot using negative pressure as the suction force, which was considered to be the first wall climbing robot in the world. After that, some European and American countries and Korea have also been intensively studied on wall climbing robots, and have achieved a lot of remarkable achievements. The first research work of crawling robots was carried out at Harbin industrial university in 1998 in China, and the first crawling robot in China was developed in 1994. The robot adopts negative pressure adsorption and is driven to move in an omnibearing way. Later, research in this field was also conducted by Shanghai university, beijing aviation aerospace university, qinghai university, etc., and a popular result was obtained.
The existing large-scale steel frame structure of the port is usually in an environment with high salinity, high humidity and strong wind power, and the steel frame is extremely easy to corrode; and the long-term overload use can also cause the damage of the steel frame structure. It must be inspected and maintained regularly. The existing anti-corrosion coating and deformation detection for the steel structure is mainly finished by manpower. Such maintenance methods have a number of disadvantages, namely, firstly, for the corrosion protection coating of steel frame structures, the chemical composition of the paint has a great influence on the physical health of the person. Secondly, workers need to work aloft, the construction environment is bad, the spraying quality is difficult to guarantee, and the life safety is not guaranteed. Third, the maintenance cost is high and the efficiency is low.
To solve these problems, if a crawling robot platform can be developed to carry equipment required for maintenance, the crawling robot platform replaces manual work. This not only eliminates the risk of manual work, but also reduces the cost and improves the efficiency. Therefore, the research is significant.
Disclosure of Invention
The invention aims to solve the problem of low loading and unloading efficiency of the conventional bulk cargo ship, and aims to provide a crawling robot platform device for a large steel frame structure, which can realize full coverage of movement of a flat wall surface of the large steel frame structure and carry necessary maintenance equipment to replace manual operation, so that the working efficiency is improved, and the production cost is reduced.
The technical scheme adopted by the invention comprises a frame base body, an X-direction main motion system, a Y-direction main motion system, a foot lifting and adsorbing system and a load layer, wherein the X-direction main motion system and the Y-direction main motion system are arranged below the load layer and are arranged on the base body; the foot lifting and adsorbing system is arranged around and is respectively connected with the edges of the X-direction main motion system and the Y-direction main motion system.
The frame is formed by splicing aluminum profiles through angle seats and is of a 'field' -shaped structure, and a plurality of threaded holes for connection are formed in the aluminum profiles.
The X-direction main motion system comprises an X-direction main push rod motor, two groups of X-direction slide block guide rail systems and a plurality of connecting pieces, wherein the X-direction main push rod motor, the two groups of X-direction slide block guide rail systems and the plurality of connecting pieces are arranged on a frame base body; the X-direction main push rod motor is connected with two groups of X-direction slide block guide rail systems through a connecting piece.
The Y-direction main motion system comprises a Y-direction main push rod motor, two groups of Y-direction block guide rail systems and a plurality of connecting pieces, wherein the Y-direction main push rod motor, the two groups of Y-direction block guide rail systems and the plurality of connecting pieces are arranged on a frame body; the Y-direction main push rod motor is connected with two groups of Y-direction slide block guide rail systems through a connecting piece.
The foot lifting and adsorbing system comprises four groups, wherein each group comprises two foot lifting and adsorbing units, and each foot lifting and adsorbing unit comprises a foot push rod motor, two linear bearings, a push rod motor mounting seat, an electromagnet, a proximity switch and a proximity switch mounting seat; the foot push rod motor and the linear bearing are arranged on the push rod motor mounting seat; the proximity switch is arranged on a proximity switch mounting seat, and the proximity switch mounting seat is connected to a push rod motor mounting seat; the foot push rod motor mounting seat is connected to the slide block guide rail system.
The foot lifting and adsorbing system further comprises a sensor system, wherein the sensor system comprises ultrasonic sensors arranged in the X and Y main motion directions and a proximity switch arranged in the foot lifting and adsorbing system.
The system also comprises a screen monitoring system, wherein the screen monitoring system comprises a camera, a picture divider and a display, wherein the camera is arranged on the frame base body through a mounting seat, and the picture divider and the display are arranged on the ground.
The paint spraying system is mounted on the frame base body and comprises a push rod motor, an electromagnetic valve, a guide rail, an air compressor and a nozzle.
The flaw detection system is mounted on the frame base body and comprises a main push rod motor, a large platform, a small platform, a bearing seat, a synchronous belt pulley, a direct current motor, a linear guide rail, an auxiliary push rod motor, a middle shaft, a flaw detector probe, a hairbrush and a box.
The power-off protection system comprises a lithium battery power supply system and a cable traction system.
Compared with the prior art, the technical method of the invention has the following advantages:
1) The light aluminum profile is used as the main design material of the frame matrix structure, so that the mass of the whole frame matrix structure can be reduced to the minimum, and the light, cheap, attractive and elegant frame matrix structure is realized; and the structure of the 'field' shape can make the structure more compact, has guaranteed the intensity and the rigidity requirement of frame base member structure. The self-weight and certain load capacity of the robot body can be met. In addition, the structural design has extremely strong expandability and is easy to connect with other mechanical structures;
2) The invention can completely cover the flat wall surface of the large steel frame structure, and regards the flat wall surface of the large steel frame structure as an X-0-Y plane, and designs two linear motion mechanisms in the X direction and the Y direction, and the crawling robot platform can reach any position of the wall surface of the steel frame structure through the combined motion of the X direction and the Y direction. The structure is simple and reliable in design and suitable for complex working environments. The invention creatively uses the push rod motor as the driving source of the two main movements, and the execution device has high reliability and simple control;
3) The invention selects the electromagnet as the adsorption device of the crawling robot platform, not only can ensure that the large adsorption force meets the requirement of the crawling robot platform on certain load, but also ensures reliable adsorption due to the radial arrangement of the electromagnet adsorption feet of the crawling robot platform. The invention creatively uses the push rod motor as a driving source of the lifting adsorption group, and the execution device has high reliability and simple control;
4) The invention designs a power-off protection system which comprises a lithium battery power supply system and a cable traction system. The lithium battery powered system can provide short-time power supply for the situation that the crawling robot platform is powered off. The cable traction system comprises a main steel wire rope, a pulley and an auxiliary steel wire rope. The main steel wire rope is arranged on a guardrail for a large steel frame structure, the pulley is arranged on the main steel wire rope, the auxiliary steel wire rope is connected with the crawling robot platform and then is arranged on the pulley connected to the main steel wire rope;
5) The load layer can be provided with various small mechanical arms with strong universality;
6) The control system design of the crawling robot platform is based on OMRON CP1H PLC and an extension unit thereof. The automatic walking and manual control walking of the crawling robot platform are realized by combining the functions of the ultrasonic sensor, the proximity switch and the vision screen monitoring device. The manual control walking mode can be switched when the ultrasonic sensor and the vision screen monitoring device detect that the obstacle exists in front and cannot cross.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the X-direction and Y-direction main motion system of the present invention;
FIG. 3 is a schematic view of a foot lifting and adsorbing system;
FIG. 4 is a view of the foot lifting and adsorbing system;
FIG. 5 is a cross-sectional view taken along the A-A plane of FIG. 4;
FIG. 6 is an enlarged view of circle B of FIG. 5;
FIG. 7 is a schematic diagram of a control system;
FIG. 8 is a schematic overall appearance of the present invention;
FIG. 9 is a schematic diagram of the construction of the paint spray system;
FIG. 10 is a schematic diagram of the structure of the flaw detection system;
FIG. 11 is a schematic view of a robotic console;
The drawings include: the frame base 1, the X-direction main motion system 2, the Y-direction main motion system 5, the foot lifting and adsorbing system 3, the load layer 4, the power-off protection system 6, the control system 7, the sensor system 8, the video monitor system 9, the aluminum profile 10, the corner seat 11, the X-direction main motion push rod motor 12, the X-direction guide slide block system 13, the connecting piece 14, the 0-direction main push rod motor 15, the Y-direction guide slide block system 16, the foot push rod motor 17, the linear bearing 18, the foot push rod motor mounting seat 19, the electromagnet 20, the proximity switch 21, the proximity switch mounting seat 22, the ultrasonic sensor 23, the camera 24, the camera mounting seat 25, the pressure spring 26, the video camera mounting seat 12 and the video camera mounting seat 25 are arranged on the frame base cylindrical pin 27, connector 28, paint system and its housing 29, inspection system and its housing 30, module mount 31, robot housing 32, bottom support 33, air compressor 34, solenoid valve 35, nozzle 36, guide rail 37, push rod motor 38, main push rod motor 39, large platform 40, dc motor 41, synchronous pulley 42, small platform 43, linear guide 44, auxiliary push rod motor 45, bearing housing 46, central shaft 47, inspection probe 48, brush 49, cassette 50, robot console 51, power-on switch 52, vision screen display 53, inspection display 54, touch screen 55, cable exit 56.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
Referring to fig. 1 to 8, fig. 1 to 8 show an embodiment of the present invention, a crawling robot platform device, which comprises a frame base 1, an X-direction main motion system 2, a Y-direction main motion system 5, a foot lifting and adsorbing system 3, a load layer 4, a power-off protection system 6, a sensor system 8, a video monitoring system 9 and a control system 7.
The frame base 1 comprises seven aluminum profiles 10 which are formed by connecting a plurality of corner seats 11, screws and nuts. The X-direction and Y-direction main movement system consists of a push rod motor mounting seat, an X-direction main movement push rod motor 12, a Y-direction main movement push rod motor 15, a push rod motor end fixing seat, a connecting piece 14, a connecting piece 17, an X-direction guide rail sliding block system 13 and a Y-direction guide rail sliding block system 16. The push rod motor mounting seat, the push rod motor end fixing seat, the X-guide rail sliding block system 13 and the Y-guide rail sliding block system 16 are mounted on the frame base body 1. The connecting pieces 14 and 17 connect the X-direction main motion push rod motor 12 and the Y-direction main motion push rod motor 15 with the X-direction guide slide block system 13 and the Y-direction guide slide block system 16 through screw nuts. The foot lifting and adsorbing system 3 comprises a foot push rod motor mounting seat 19, a foot push rod motor fixing bar, a linear bearing 18, a foot push rod motor 17, an electromagnet 20, a pressure spring 26, a cylindrical pin 27, a proximity switch mounting seat 22, a proximity switch 21 and a plurality of connecting pieces. The foot push rod motor mounting seat 19 is fixed to the X-guide rail sliding block system 13 and the Y-guide rail sliding block system 16 through threaded connection, the foot push rod motor 17 is fixed to the foot push rod motor fixing seat 19 through a push rod motor fixing strip and bolts, and the linear bearing 18 is mounted on the foot push rod motor fixing seat 19. The foot push rod motor 17 is connected with a connecting piece 28 through a cylindrical pin 27, the connecting piece 28 is connected with the electromagnet 20 through a bolt, and a pressure spring 26 is arranged between the bolt and the foot push rod motor. The sensor system 8 includes a proximity switch 21 and an ultrasonic sensor 23. The proximity switch 21 is mounted on the proximity switch mounting seat 22; the ultrasonic sensor 23 is mounted on the camera mount 25. The load layer 4 comprises a 3mm thick steel plate which is screwed to the frame base 1.
The screen monitoring system 9 includes: four cameras 24, a picture divider and a display. Four cameras 24 are installed respectively in four directions of the robot platform of crawling.
Referring to fig. 11, the control system includes an OMRON CP1H PLC master control unit and its extension unit, a relay, a switching power supply, a touch screen, etc., where the PLC master control unit is installed in a console 51, and the console includes a video screen display 53, a flaw detector display 54, a touch screen 55, a power-on switch and indicator 52, a cable outlet 56, etc. The power protection system 6 comprises a set of lithium battery powered systems and a set of cable traction systems.
Further, the operator can perform corresponding control over the robot by operating the touch screen 55, and view corresponding working conditions through the vision screen display 53, the flaw detector display 54, and the like. The control circuit is divided into a foot push rod motor control circuit, a main push rod motor control circuit, an electromagnet control circuit and a module control circuit. The control system 7 performs the following most basic functions: the coordination, the two groups of foot lifting and adsorbing mechanisms of the crawling robot platform, the X-direction main motion system 2 and the Y-direction main motion system 5 can realize alternate work accurately and correctly; the accuracy, the crawling robot platform can accurately reach the position needing to be repaired; the anti-interference performance, the working environment of the crawling robot platform is mostly in the open-air environment of the port and the ocean, and the conditions are bad, so that the control system has strong anti-environment interference capability; the automatic switching performance is achieved, the crawling robot platform can select an automatic movement mode through a manual switch, and after the working mode is selected, the crawling robot platform automatically moves according to the movement mode. Only when the movement mode needs to be switched or the obstacle avoidance and obstacle surmounting function is failed, the human intervention is needed.
Furthermore, the frame base body 1 of the crawling robot platform is in a 'field' -shaped structure, and the structure is completely axisymmetric, so that the integral rigidity and strength of the crawling robot platform can be effectively ensured.
Further, the X-direction main motion system 2 and the Y-direction main motion system 5 are installed on the top layer and the bottom layer of the frame base 1, and the installation positions of the X-direction main motion push rod motor 12 and the Y-direction main motion push rod motor 15 are located on the central line of the frame base 1. Therefore, the compactness of the whole structure can be guaranteed, the gravity center of the whole crawling robot platform can be lowered, and the centroid and the gravity center are overlapped to improve the stress of the crawling robot platform.
Further, the foot lifting and adsorbing system 3 comprises four groups, which are respectively arranged on four surfaces of the frame base body 1, and the electromagnets 20 of the crawling robot platform are arranged in a radial mode, so that the robot platform can be ensured to be effectively and reliably adsorbed on the wall surface of the large steel structure when being carried under load.
Further, four groups of electromagnet adsorption feet of the foot lifting and adsorbing system 3 can independently move in a single adsorption unit of each group of electromagnet adsorption feet, and the obstacle surmounting capacity of the crawling robot platform can be improved through the structure and the movement mode.
Further, the four groups of foot lifting and adsorbing mechanisms are arranged completely symmetrically.
The working principle of the crawling robot platform device with the structure is as follows: the main motion system 2 in the X direction and the main motion system 5 in the Y direction of the crawling robot platform can perform linear motion in the two directions, can perform linear motion in a single direction, and can also realize non-linear curve motion through combined motion in the X direction and the Y direction. The two movement modes can achieve any position of the wall surface of the large steel frame structure. When the crawling robot platform reaches a designated position, the foot lifting and adsorbing system 3 acts, the electromagnet 20 contacts with the steel frame wall surface, and the electromagnet 20 is electrified for adsorption. The worker can maintain the steel frame wall surface by manually controlling the maintenance equipment on the crawling robot platform through the vision screen monitoring system 9.
The working process of the crawling robot platform device with the structure in the automatic control state is as follows: after the device is started, the X-direction main motion push rod motor 12 and the Y-direction main motion push rod motor 15 are in a contracted state. The respective foot push rod motors 17 of the foot lifting and sucking system 3 in the X and Y directions are in an extended state, and the electromagnet 20 is in contact with the wall surface and energized for sucking. At this time, the crawling robot platform only has eight electromagnet adsorption feet to be in contact with the surface, and the crawling robot platform is in an initial state.
When the crawling robot platform moves forwards in the X direction, for example, when the crawling robot platform moves forwards in the X direction, the electromagnets 20 of the two groups of foot lifting and absorbing systems 3 in the X direction are powered off, electromagnetic force disappears, the foot push rod motor 17 contracts, the electromagnets 20 also contract under the action of the push rod motor 17, and the states of the two groups of foot lifting and absorbing systems 3 in the Y direction are kept unchanged. The main motion push rod motor 12 in the X direction extends to drive the two groups of foot lifting and adsorbing systems 3 in the X direction to move forward for one stroke, and the two groups of foot lifting and adsorbing systems 3 in the X direction move forward for one stroke relative to the frame base 1 and the two groups of foot lifting and adsorbing systems 3 in the Y direction. Then, the push rod motors 17 of the two groups of foot lifting and adsorbing systems 3 in the X direction extend to drive the electromagnets 20 to move downwards, the electromagnets 20 are in contact with the wall surface, whether the contact is complete can be judged through detection of the proximity switch 21, and the electromagnets 20 are electrified and adsorbed completely. The electromagnets 20 of the two groups of the Y-direction foot lifting and absorbing systems 3 are powered off, electromagnetic force disappears, the foot push rod motor 17 contracts, the electromagnets 20 contract under the action of the push rod motor 17, the X-direction main motion push rod motor 12 contracts to drive the frame base body 1 and the two groups of the Y-direction foot lifting and absorbing systems 3 to move forwards for a stroke, the Y-direction push rod motors 17 of the two groups of the foot lifting and absorbing systems 3 extend to drive the electromagnets 20 to move downwards, the electromagnets 20 are in contact with the wall surface, whether the contact is complete or not can be judged through detection of the proximity switch 21, the contact is complete, and the electromagnets 20 are electrified for absorption. The whole crawling robot platform finishes walking of a stroke and returns to an initial state.
The Y-direction linear motion is similar to the X-direction linear motion and will not be described again. If the crawling robot platform reaches any point on the wall surface of the steel frame, the crawling robot platform can be realized through combined motion in the X direction and the Y direction.
When the ultrasonic sensor 23 of the crawling robot platform detects that an obstacle exists in front, the manual operation can be manually adjusted, and an operator can control the robot to perform obstacle surmounting or obstacle avoiding movement through the vision screen monitoring device 9.
Referring to fig. 9, the paint spray system 29 operates as follows: the air compressor 34 generates the pressure required by the nozzle 36, the electromagnetic valve 35 controls the on-off of the nozzle 36, the nozzle is arranged on the guide rail 37 through the mounting plate, can stretch back and forth under the action of the push rod motor 38, and when the air compressor works, the air compressor 34 is started, the push rod motor 38 is operated to drive the nozzle 36 to move forward, and the electromagnetic valve 35 is controlled to finish controlling the nozzle 36 to spray paint; after the paint spraying is completed, the push rod motor 38 is operated to retract, the power supply is turned off, and the paint spraying function is completed.
Referring to fig. 10, the flaw detection system 30 operates as follows: the large platform 40 is fixed on the robot platform through aluminum profile installation, the output end of the main push rod motor 39 is connected with the small platform 43 through bolts, and the small platform 43 can move back and forth along the linear guide rail 44 under the action of the main push rod motor 39; the small platform 43 is provided with a direct current motor 41, a bearing seat 46 and the like, an output shaft of the direct current motor 41 is provided with a synchronous pulley 42, a hollow center shaft 47 is sleeved in the middle of the bearing seat 46, the hollow center shaft 47 can freely rotate under the drive of the synchronous pulley 42, the tail end of the hollow center shaft is provided with a hairbrush 49, and a box 50 (used for storing couplant) is arranged below the hairbrush; the output end of the auxiliary push rod motor 45 is provided with a probe 48 of the flaw detector, which can freely stretch and retract in the hollow center shaft 47. When the device works, firstly, the direct current motor 41 is started, the synchronous pulley 42 rotates, the hollow center shaft 47 is driven to rotate, the brush 49 is driven to rotate, the brush dips in the couplant in the box, then the direct current motor 41 is closed, the main push rod electrode 39 is started, the small platform 43 moves forwards, the brush 49 is abutted against the steel plate wall, then the direct current motor 41 is started, the couplant is smeared on the steel plate wall, and after the smearing is finished, the brush is retracted; and next, starting the auxiliary push rod motor 45, extending the probe 48 of the flaw detector, just propping against the place just coated with the couplant for flaw detection, and then transmitting flaw detection data to a display screen on the ground to realize the flaw detection function.
The embodiments of the present invention have been described above with reference to the accompanying drawings and examples, which are not to be construed as limiting the invention, but rather as modifications, variations or adaptations thereof may be made by those skilled in the art within the scope of the appended claims.
Claims (6)
1. The utility model provides a large-scale steel frame construction is with robot platform device that crawls which characterized in that: the foot lifting and adsorbing device comprises a frame base body (1), an X-direction main motion system (2), a Y-direction main motion system (5), a foot lifting and adsorbing system (3) and a load layer (4), wherein the X-direction main motion system (2) and the Y-direction main motion system (5) are arranged below the load layer (4), and the X-direction main motion system (2) and the Y-direction main motion system (5) are arranged on the frame base body (1); the foot lifting and adsorbing system (3) is arranged at the periphery and is respectively connected with the edges of the X-direction main motion system (2) and the Y-direction main motion system (5);
The large-scale steel frame structure is with robot platform device that crawls still includes: a paint spraying system (29) mounted on the frame base (1); the paint spraying system (29) comprises a push rod motor (38), an electromagnetic valve (35), a guide rail (37), an air compressor (34) and a nozzle (36); the air compressor (34) generates pressure required by the nozzle (36), the electromagnetic valve (35) controls the on-off of the nozzle (36), the nozzle (36) is arranged on the guide rail (37) and can stretch back and forth under the action of the push rod motor (38);
The crawling robot platform device for the large steel frame structure further comprises a flaw detection system (30) arranged on the frame base body (1); the flaw detection system (30) comprises a main push rod motor (39), a large platform (40), a small platform (43), a bearing seat (46), a synchronous pulley (42), a direct current motor (41), a linear guide rail (44), an auxiliary push rod motor (45), a middle shaft (47), a flaw detector probe (48), a hairbrush (49) and a box (50); the large platform (40) is fixedly arranged on the robot platform device, and the output end of the main push rod motor (39) is connected with the small platform (43) through bolts; the small platform (43) can move back and forth along the linear guide rail (44) under the action of the main push rod motor (39); a direct current motor (41) and a bearing seat (46) are arranged on the small platform (43); the output shaft of the direct current motor (41) is provided with a synchronous pulley (42), a hollow center shaft (47) is sleeved in the middle of a bearing seat (46), and the hollow center shaft (47) can freely rotate under the drive of the synchronous pulley (42); a brush (49) is arranged at the tail end of the hollow center shaft, and a box (50) for storing couplant is arranged below the brush (49); the output end of the auxiliary push rod motor (45) is provided with a probe (48) of the flaw detector, and the probe can freely stretch and retract in the hollow center shaft (47).
2. The crawling robot platform device for a large steel frame structure according to claim 1, wherein: the frame base body (1) is formed by splicing aluminum profiles (10) through corner seats (11) and is of a 'field' -shaped structure, and a plurality of threaded holes for connection are formed in the aluminum profiles (10).
3. A crawling robot platform device for large steel frame structures according to claim 1 or 2, characterized in that: the X-direction main motion system (2) comprises an X-direction main push rod motor (12), two groups of X-direction slide block guide rail systems (13) and a plurality of connecting pieces, wherein the X-direction main push rod motor (12), the two groups of X-direction slide block guide rail systems (13) and the plurality of connecting pieces are arranged on the frame base body (1); the X-direction main push rod motor (12) is connected with two groups of X-direction slide block guide rail systems (13) through a connecting piece (14).
4. The crawling robot platform device for a large steel frame structure according to claim 1, wherein: the foot lifting and adsorbing system also comprises a sensor system (8), wherein the sensor system (8) comprises an ultrasonic sensor (23) arranged in the X, Y main motion direction and a proximity switch (21) arranged in the foot lifting and adsorbing system (3).
5. The crawling robot platform device for a large steel frame structure according to claim 1, wherein: the system also comprises a screen monitoring system (9), wherein the screen monitoring system (9) comprises a camera which is arranged on the frame base body (1) through a mounting seat (25), a picture divider and a display on the ground.
6. The crawling robot platform device for a large steel frame structure according to claim 1, wherein: the power-off protection system (6) is further included, and the power-off protection system (6) comprises a lithium battery power supply system and a cable traction system.
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| CN201610827115.7A CN107839777B (en) | 2016-09-18 | 2016-09-18 | Crawling robot platform device for large steel frame structure |
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| CN201610827115.7A CN107839777B (en) | 2016-09-18 | 2016-09-18 | Crawling robot platform device for large steel frame structure |
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| CN107839777A CN107839777A (en) | 2018-03-27 |
| CN107839777B true CN107839777B (en) | 2024-08-09 |
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| CN117842227B (en) * | 2024-03-08 | 2024-06-25 | 西安热工研究院有限公司 | A water-cooled wall climbing robot |
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| CN206107388U (en) * | 2016-09-18 | 2017-04-19 | 上海博昂电气有限公司 | Large -scale steel frame construction is with robot platform device of crawling |
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| CN104535651B (en) * | 2014-12-30 | 2018-02-13 | 南阳汉冶特钢有限公司 | A kind of Portable Automatic failure detector and automatic flaw detection method |
| CN105235764B (en) * | 2015-10-30 | 2017-05-17 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
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| CN102189055A (en) * | 2010-03-15 | 2011-09-21 | 郑绍春 | Operation vehicle for carrying out automatic spraying on outside plate of hull |
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| CN206107388U (en) * | 2016-09-18 | 2017-04-19 | 上海博昂电气有限公司 | Large -scale steel frame construction is with robot platform device of crawling |
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