CN114313047B - Multi-foot wall-climbing robot and electromagnetic adsorption type foot end structure thereof - Google Patents

Abstract

The invention discloses a multi-legged wall-climbing robot and its electromagnetic adsorption type foot end structure, wherein the electromagnetic adsorption type foot end structure includes a base body and an electromagnet arranged in the base body, and a plurality of micro switches are arranged along the The circumferential direction of the seat body is uniformly arranged on the outer wall of the seat body; the floating ring is floatingly arranged on the outer circumferential surface of the seat body, and is located below the micro switch; the electromagnet adopts a power-off type electromagnet , cut off the power supply according to the closing of all the micro switches. In the present invention, only when the three micro switches are triggered, the power supply of the electromagnet will be cut off, and it will be adsorbed on the surface of the steel structure, ensuring that the electromagnet will only be powered off when it is completely in close contact with the surface of the steel structure Generate electromagnetic attraction to ensure the safety of adsorption, and avoid accidents that cause the robot to fall off and be damaged due to the imprecise contact between the electromagnet and the surface of the steel structure and the small electromagnetic attraction.

Description

A multi-legged wall-climbing robot and its electromagnetic adsorption foot structure

technical field

The invention relates to the technical field of multi-legged robots, in particular to a multi-legged wall-climbing robot and an electromagnetic adsorption type foot end structure thereof.

Background technique

For special operations in some special industries or equipment, such as detecting, cleaning, painting and other special operations that are difficult to complete manually for steel structure equipment such as the hull of a large ship and the tank wall of a large chemical tank, the multi-legged wall-climbing robot has a wide range of applications. application prospects.

Chinese invention patent CN108556949A discloses a magnetic multi-legged wall-climbing robot, which uses a combination of mechanical legs to overcome obstacles and wheeled movement, so that the robot has flexible obstacle-surmounting capabilities and environmental adaptability during movement, and can be used in various materials. The movement on the formed floor and wall can realize the measurement and cleaning functions. For multi-legged wall-climbing robots, electromagnetic adsorption feet are an important structure to ensure their safe work. In the above solution, the mechanical leg adopts the electromagnet to realize the adsorption function, wherein the L-shaped connector and the fifth steering gear connector are connected through rubber bearings, and the electromagnet is connected to the L-shaped connector. Although the adsorption function can be realized, the adsorption effect is difficult to guarantee.

In view of this, it is necessary to improve the electromagnetic adsorption type foot end structure of the existing multi-legged wall-climbing robot to improve the adsorption effect and safety.

Contents of the invention

In view of the above defects, the technical problem to be solved by the present invention is to provide a multi-legged wall-climbing robot and its electromagnetic adsorption foot end structure, so as to solve the problem that the adsorption effect of the prior art is difficult to guarantee.

For this reason, the electromagnetic adsorption type foot end structure of the multi-legged wall-climbing robot provided by the present invention includes a base body and an electromagnet arranged in the base body, and also includes:

A plurality of micro switches are uniformly arranged on the outer wall of the seat along the circumference of the seat;

The floating ring is floatingly arranged on the outer peripheral surface of the seat body, and is located below the micro switch;

The electromagnet adopts a de-energized electromagnet, and cuts off the power supply according to the closing of all the micro switches.

In the above technical solution, preferably, an annular flange is provided on the outer wall of the seat body, and a plurality of first through holes are provided on the annular flange, and a plurality of first through holes are provided on the floating ring. The second through hole corresponding to the hole, the floating ring is sleeved on the outer peripheral surface of the seat body, the two ends of the guide bolt pass through the first through hole and the second through hole respectively, and the free end is installed with a limit screw A spring is sheathed on the guide bolt, the diameter of the guide bolt is smaller than the diameters of the first through hole and the second through hole, and the floating ring can move up and down along the guide bolt.

In the above technical solution, preferably, a plurality of cylinders are arranged on the outer peripheral surface of the seat body, the cylinders are arranged vertically, the first through hole is arranged through the axis of the cylinders, and a plurality of The cylinders are connected by the annular flange.

In the above technical solution, preferably, a switch fixing seat is provided between two adjacent cylinders, and the switch fixing seat includes an upper wall, and the two ends of the upper wall are respectively vertically provided with first side walls and the second side wall, the length of the second side wall is greater than that of the first side wall, and the lower end is bent toward the first side wall to form a lower wall, and the upper wall is provided with the micro switch Open slots that fit into the terminal blocks.

In the above technical solution, preferably, an ankle joint is also included, and the ankle joint includes:

The joint body has a slot at its upper end;

The universal joint is fixed on the bottom surface of the slot by fastening bolts, and two fixing holes are arranged on the joint wall at the lower end of the universal joint;

Pin shaft, the upper part is provided with nut, and the upper part of described nut is provided with connecting shaft, and described connecting shaft is provided with annular groove, and the lower end of described pin shaft is fixed with described electromagnet by threaded connection, and described connecting shaft The shaft is inserted into the joint wall at the lower end of the universal joint, the two adjustment pins respectively pass through the fixing holes, and the inner ends are inserted into the annular groove to connect the pin shaft with the universal joint.

In the above technical solution, preferably, the seat has a cylindrical body, the lower end of which is open, and the electromagnet is arranged in the body and fixed on the body by fastening screws. the bottom surface of the top wall of the cylinder.

In the above technical solution, preferably, the lower end of the first side wall is provided with a blocking wall parallel to the upper wall, and the outer end surface of the blocking wall is tangent to the outer peripheral surface of the seat body.

In the above technical solution, preferably, the inner end of the pin is in the shape of a truncated cone.

The present invention also provides a multi-legged wall-climbing robot, comprising a robot body and a plurality of mechanical legs arranged on the robot body, the mechanical legs are composed of a thigh, a lower leg and a foot end, and the larger The upper end of the leg is connected to the base body through the hip joint, the base body is fixed in the robot body, the foot end is connected to the lower end of the lower leg through the ankle joint, and the mechanical leg has the above-mentioned electromagnetic adsorption type foot structure.

In the above technical solution, preferably, an adjustment spring is provided between the foot end and the ankle joint.

It can be seen from the above technical solution that the multi-legged wall-climbing robot and its electromagnetic adsorption foot end structure provided by the present invention solve the problem that the adsorption effect of the electromagnetic adsorption type foot end structure of the wall climbing robot in the prior art is difficult to guarantee. Compared with the prior art, the present invention has the following beneficial effects:

Three micro-switches are evenly distributed along the circumference of the base and fixed on the outer wall of the base. A floating ring is floating below the micro-switch, and the power is cut off by closing the micro-switch through the floating ring. Only when the three micro-switches are triggered Only when the electromagnet is in close contact with the surface of the steel structure will the power supply of the electromagnet be cut off, which ensures that the electromagnet will only cut off the power to generate electromagnetic attraction when it is in complete close contact with the surface of the steel structure. It is not tight, and the electromagnetic attraction is small, resulting in accidents where the robot falls off and is damaged.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce and illustrate the drawings that are required for the description of the embodiments of the present invention or the prior art. Apparently, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings according to these drawings without creative efforts.

Fig. 1 is a schematic diagram of a multi-legged wall-climbing robot provided by the present invention;

Fig. 2 is the structural representation of mechanical leg among the present invention;

Fig. 3 is a schematic diagram of the connection between the lower leg and the end of the foot in the present invention;

Fig. 4 is the schematic diagram of electromagnetic adsorption type foot end structure in the present invention;

5 is a schematic diagram of the decomposition structure of the electromagnetic adsorption type foot end structure in the present invention;

Fig. 6 is the structural schematic diagram of seat body in the present invention;

Fig. 7 is a schematic diagram of a switch holder in the present invention;

Fig. 8 is a schematic diagram of an exploded structure of the connection between the ankle joint and the foot end in the present invention.

In Figure 1-Figure 8, the corresponding relationship of parts is as follows:

Robot body 100, mechanical leg 200, base body 300, ankle joint 400;

thigh 210, calf 220, foot end 230;

Seat body 231, electromagnet 232, micro switch 233, floating ring 234, fastening screw 235, guide bolt 236, spring 2361, limit screw 237, switch fixing seat 238;

Cylinder 2311, annular flange 2312, first through hole 2313, cylinder 2314;

Second through hole 2341

An upper wall 2381, a first side wall 2382, a second side wall 2383, a lower wall 2384, a blocking wall 2385, and an opening groove 2386;

Joint body 401, universal joint 402, pin shaft 403, fastening bolt 404, pin 405;

slot 4011;

Fixing hole 4021, nut 4031, annular groove 4032;

Adjust spring 410 .

Detailed ways

The following will clearly and completely describe the technical solutions of the embodiments of the present invention in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described below are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Realization principle of the present invention is:

In the electromagnetic adsorption type foot end structure of the multi-legged wall-climbing robot, the electromagnet is arranged in the base body, three micro switches are arranged evenly along the circumference of the base body and fixed on the outer wall of the base body, and a floating ring is floatingly arranged under the micro switch, The closed microswitches are triggered by the floating ring to realize power failure, and only when the three microswitches are triggered, the power supply of the electromagnet will be cut off, which ensures that the electromagnet will only be in close contact with the surface of the steel structure. The electromagnetic attraction is generated when the power is off, which ensures the safety of the adsorption and avoids the accident that the robot falls off and is damaged due to the loose contact surface between the electromagnet and the steel structure and the small electromagnetic attraction.

In order to explain and describe the technical solution and implementation of the present invention more clearly, the following introduces several preferred specific embodiments for realizing the technical solution of the present invention.

It should be noted that the orientation words such as "inside, outside", "front, back" and "left, right" in this article are expressed with the product use status as the reference object. Obviously, the use of the corresponding orientation words protects the protection of this scheme The scope is not intended to be limiting.

Please refer to FIG. 1 , which is a schematic diagram of a multi-legged wall-climbing robot provided by the present invention.

As shown in FIG. 1 , a multi-legged wall-climbing robot provided by the present invention includes a robot body 100 and a plurality of mechanical legs 200 arranged on the robot body 100 . The robot body 100 is equipped with a robot control system, and the mechanical leg 200 has a plurality of joints respectively driven by each steering gear, and each steering gear is controlled by the robot control system, so that the mechanical leg 200 produces corresponding movements to complete the walking function. In this embodiment, a total of 6 mechanical legs are arranged, which are evenly distributed along the circumferential direction of the robot body 100 . The hardware composition and control software of the control system are not the key points of the present invention, which can be realized by using mature existing technologies, and will not be repeated here.

As shown in Figure 2 and Figure 3, the mechanical leg 200 is composed of a thigh 210, a lower leg 220 and a foot end 230, the upper end of the thigh 210 is connected to the base 300 through the hip joint 240, and the base 300 is fixed on the robot body within 100. The foot end 230 is connected to the lower end of the lower leg 220 through the ankle joint 400 , and an adjustment spring 410 is provided between the foot end 230 and the ankle joint 400 . The foot end 230 has an electromagnetic adsorption type foot end structure.

As shown in FIG. 4 and FIG. 5 , the electromagnetic adsorption foot end structure of the foot end 230 includes a seat body 231 , an electromagnet 232 , a micro switch 233 and a floating ring 234 .

6, the base 231 has a cylindrical body 2311, the lower end of the body 2311 is open, and the electromagnet 232 is arranged in the body 2311. The electromagnet 232 adopts a de-energized type electromagnet. 235 is fixed on the bottom surface of the top wall of the cylinder 2311. Three micro switches 233 are evenly distributed along the circumference of the cylinder 2311 and fixed on the outer wall of the cylinder 2311, the outer wall of the cylinder 2311 is provided with an annular flange 2312, and the annular flange 2312 is provided with a plurality of first through holes 2313 , the floating ring 234 is provided with a second through hole 2341 corresponding to the first through hole 2313 , and the floating ring 234 is floatingly arranged on the outer circumferential surface of the barrel 2311 and located below the micro switch 233 . The power supply of the electromagnet 232 is cut off according to the closing of all the micro switches 233 .

Specifically, the floating ring 234 is sleeved on the outer circumferential surface of the cylinder body 2311, the two ends of the guide bolt 236 pass through the first through hole and the second through hole respectively, and a limit screw 237 is installed at the free end, and the guide bolt 236 is The spring 2361 is sleeved, and the diameter of the guide bolt 236 is smaller than the diameters of the first through hole 2313 and the second through hole 2341 , so that the floating ring 234 can move up and down along the guide bolt 236 .

Referring to Fig. 6 again, a plurality of cylinders 2314 are arranged on the outer circumference of the cylinder 2311, the cylinders 2314 are vertically arranged, the first through hole 2313 is arranged through the axis of the cylinder 2314, and the plurality of cylinders 2314 are arranged along the axis of the cylinder 2311. Circumferentially evenly arranged, and connected by annular flange 2312.

The switch holder 238 of the micro switch 233 is arranged between two adjacent cylinders 2314. As shown in FIG. Wall 2382 and second side wall 2383, wherein, the length of second side wall 2383 is greater than first side wall 2382, and the lower end is provided with lower wall 2384 towards first side wall 2382, and the lower end of first side wall 2382 is provided with upper The walls are arranged parallel to the blocking wall 2385 , and the outer end surface of the blocking wall 2385 is tangent to the outer peripheral surface of the cylinder 2311 . The upper wall 2381 is provided with an opening slot 2386 suitable for the connection terminal of the micro switch 233 .

Since the outer peripheral surface of the cylinder body 2311 is a cylindrical surface, a special structure is required to fix the micro switch 233 and the outer peripheral surface of the cylinder body 2311, which not only ensures firm fixing, but also facilitates installation. In the switch fixing seat 238 provided by the present invention, the upper wall 2381, the first side wall 2382, the second side wall 2383 and the lower wall 2384 form a box-shaped receiving groove, and the micro switch 233 is inserted into the box-shaped receiving groove, and the micro switch 233 The three connecting terminals of the switch 233 are inserted into the opening groove 2386, and the rear end surface is against the blocking wall 2385, which is very convenient for installation. In particular, the blocking wall 2385 forms a plane, and the rear end surface of the micro switch 233 is against the blocking wall On the 2385, the micro switch 233 is very stable after installation and will not shake, which ensures the working reliability of the micro switch 233.

As shown in FIG. 8 , the ankle joint 400 includes a joint body 401 , a universal joint 402 and a pin shaft 403 . Wherein, the upper end of the joint body 401 is provided with a slot 4011, the universal joint 402 is fixed on the bottom surface of the slot 4011 by fastening bolts 404, and the lower end of the lower leg 220 is inserted into the slot 4011 and fixed. The upper part of pin shaft 403 is provided with nut 4031, and the upper part of nut 4031 is provided with connecting shaft, is provided with annular groove 4032 on the connecting shaft, is provided with two fixing holes 4021 on the joint wall of the lower end of universal joint 402, and pin shaft The lower part of 403 is a threaded part, which is fixed with the electromagnet 232 through the threaded part. The connecting shaft at the upper end of the pin shaft 403 is inserted into the joint wall at the lower end of the universal joint 402. Two adjustment pins 405 pass through the fixing holes 4021 respectively, and the inner ends are inserted into Connect the pin shaft 403 with the universal joint 402 into the annular groove 4032, the inner end of the pin 405 is a truncated cone, and the connection between the seat body 231 and the universal joint 402 is convenient.

The top surface of the cylinder body 2311 is provided with an annular groove for installing the adjustment spring 410. The lower end of the adjustment spring 410 is placed in the annular groove, and the upper end is against the bottom surface of the joint body 401. The joint can be adjusted by turning the nut 4031 with a wrench. The distance between the body 401 and the cylinder body 2311 can be adjusted to change the compression amount of the adjustment spring 410, so that the foot end 230 has better elasticity at any angle.

In order to ensure the magnetic attraction between the foot end of the wall-climbing robot and the steel structure, when the foot end is in contact with the surface of the steel structure, continue to apply pressure, so that the bottom surface of the electromagnet 232 and the surface of the steel structure generate a certain pressure. The floating ring 234 moves upwards and touches the micro switch 233, thereby cutting off the power supply of the electromagnet 232 and generating suction.

In the solution provided by the present invention, only when the three microswitches 233 are triggered, the power supply of the electromagnet 232 will be cut off, and the three microswitches 233 are all triggered, indicating that the bottom surface of the electromagnet 232 is level with the surface of the steel structure. If the bottom surface of the electromagnet 232 is inclined to the surface of the steel structure, at least one micro switch 233 will not be triggered, thus ensuring that the electromagnet 232 is only when it is completely vertical and in close contact with the surface of the steel structure. The power will be cut off to generate electromagnetic suction to ensure the safety of adsorption, and avoid the accident that the robot will fall off and be damaged due to the loose contact surface between the electromagnet and the steel structure and the small electromagnetic suction.

Based on the descriptions of the specific embodiments above, the quick-disassembly pipeline joint and the connection structure for pipeline quick-disassembly provided by the present invention have the following advantages compared with the prior art:

First, in the electromagnetic adsorption foot end structure of the multi-legged wall-climbing robot, the electromagnet is powered off through three micro switches, and the work is reliable.

Second, only when the three micro switches are triggered, the power supply of the electromagnet will be cut off, which ensures that the electromagnet will only cut off the power to generate electromagnetic attraction when it is in complete and close contact with the surface of the steel structure, ensuring the safety of the adsorption. It avoids accidents that the robot falls off and is damaged because the contact surface between the electromagnet and the steel structure is not tight and the electromagnetic attraction force is small.

Third, the switch fixing seat of the micro switch adopts a special structure, which not only ensures firm fixing, but also facilitates installation.

Fourth, the ankle joint includes a joint body, a universal joint and a pin shaft. The upper part of the pin shaft is provided with a connecting shaft, and an annular groove is provided on the connecting shaft. The connecting shaft at the upper end of the pin shaft is inserted into the joint wall at the lower end of the universal joint , the two adjustment pins respectively pass through the fixing holes on the joint wall at the lower end of the universal joint, and the inner ends are inserted into the annular groove to connect the pin shaft with the universal joint. The joints are conveniently connected and can be finely adjusted in the circumferential direction to ensure that the three micro switches can work normally in the initial state.

Finally, it should also be noted that the terms "comprises", "comprises" or any other variation thereof as used herein are intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or which are inherent in the process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The present invention is not limited to the above-mentioned best implementation mode, and anyone should know that the structural changes made under the inspiration of the present invention, all technical solutions that are identical or similar to the present invention, all fall within the scope of protection of the present invention Inside.

Claims (9)

1. An electromagnetic adsorption type foot end structure of a multi-legged wall-climbing robot, comprising a base and an electromagnet arranged in the base, characterized in that it also includes: A plurality of micro switches are uniformly arranged on the outer wall of the seat along the circumference of the seat; The floating ring is floatingly arranged on the outer peripheral surface of the seat body, and is located below the micro switch; The electromagnet adopts a power-off type electromagnet, and cuts off the power supply according to the closing of all the micro switches; The outer wall of the seat body is provided with an annular flange, the annular flange is provided with a plurality of first through holes, and the floating ring is provided with second through holes corresponding to the first through holes, so The floating ring is sleeved on the outer peripheral surface of the seat body, the two ends of the guide bolts pass through the first through hole and the second through hole respectively, and a limit screw is installed at the free end, and the guide bolt is sleeved with a a spring, the diameter of the guide bolt is smaller than the diameters of the first through hole and the second through hole, and the floating ring can move up and down along the guide bolt. 2. The electromagnetic adsorption type foot end structure of the multi-legged wall-climbing robot according to claim 1, wherein a plurality of cylinders are arranged on the outer peripheral surface of the seat body, and the cylinders are vertically arranged, The first through hole is disposed through the axis of the cylinder, and multiple cylinders are connected by the annular flange. 3. The electromagnetic adsorption type foot end structure of the multi-legged wall-climbing robot according to claim 2, wherein a switch fixing seat is provided between two adjacent cylinders, and the switch fixing seat includes an upper wall, the two ends of the upper wall are respectively vertically provided with a first side wall and a second side wall, the length of the second side wall is greater than that of the first side wall, and the lower end is bent toward the first side wall A lower wall is formed, and the upper wall is provided with opening slots adapted to the terminals of the micro switch. 4. The electromagnetic adsorption type foot end structure of the multi-legged wall-climbing robot according to claim 1, further comprising an ankle joint, the ankle joint comprising: The joint body has a slot at its upper end; The universal joint is fixed on the bottom surface of the slot by fastening bolts, and two fixing holes are arranged on the joint wall at the lower end of the universal joint; Pin shaft, the upper part is provided with nut, and the upper part of described nut is provided with connecting shaft, and described connecting shaft is provided with annular groove, and the lower end of described pin shaft is fixed with described electromagnet by threaded connection, and described connecting shaft The shaft is inserted into the joint wall at the lower end of the universal joint, the two adjustment pins respectively pass through the fixing holes, and the inner ends are inserted into the annular groove to connect the pin shaft with the universal joint. 5. The electromagnetic adsorption type foot end structure of the multi-legged wall-climbing robot according to claim 1, wherein the seat body has a cylindrical cylinder, the lower end of the cylinder is open, and the The electromagnet is arranged in the cylinder and fixed on the top wall and bottom surface of the cylinder by fastening screws. 6. The electromagnetic adsorption type foot end structure of the multi-legged wall-climbing robot according to claim 3, wherein the lower end of the first side wall is provided with a retaining wall parallel to the upper wall, and the retaining wall is arranged in parallel with the upper wall. The outer end surface of the wall is tangent to the outer peripheral surface of the seat. 7 . The electromagnetic adsorption foot end structure of the multi-legged wall-climbing robot according to claim 4 , wherein the inner end of the pin is in the shape of a truncated cone. 8. A multi-legged wall-climbing robot, comprising a robot body and a plurality of mechanical legs arranged on the robot body, the mechanical legs are made up of thighs, shanks and foot ends, and the legs of the thighs are The upper end is connected to the base body through the hip joint, the base body is fixed in the robot body, the foot end is connected to the lower end of the lower leg through the ankle joint, it is characterized in that the mechanical leg has the following characteristics as claimed in claim 1 - The electromagnetic adsorption type foot end structure described in any one of item 7. 9. The multi-legged wall-climbing robot according to claim 8, wherein an adjustment spring is provided between the foot end and the ankle joint.

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