CN210653414U

CN210653414U - Wall-climbing robot

Info

Publication number: CN210653414U
Application number: CN201921668827.4U
Authority: CN
Inventors: 程韬波; 曹立超; 刘晓光; 张�浩; 周勇; 黄丹; 周伟
Original assignee: Guangdong Institute of Intelligent Manufacturing
Current assignee: Institute of Intelligent Manufacturing of Guangdong Academy of Sciences
Priority date: 2019-10-08
Filing date: 2019-10-08
Publication date: 2020-06-02
Anticipated expiration: 2029-10-08

Abstract

The utility model relates to a wall-climbing robot, comprising: a vehicle body, a main control module, a power supply module, a deceleration motor, two rollers, a universal wheel, a magnet and an operation module; the main control module is electrically connected to the power supply module and the operation module. The operation module is powered by the power supply module and controls the operation module to perform operations; the power supply module is arranged in the vehicle body; the main control module is arranged in or on the vehicle body; the operation a module, which is arranged on the upper surface of the vehicle body; the magnet is arranged on the side of the vehicle body close to the wall surface to provide adsorption force; the deceleration motor is arranged in the vehicle body, electrically connected to the main control module, and It is matched with the two rollers; the universal wheel is arranged on the bottom surface of the vehicle body, and can realize the turning action under the driving of the vehicle body; the top-view cross section of the vehicle body presents a partial circle with two notches The two rollers are respectively arranged in the spaces of different gaps on both sides of the vehicle body.

Description

Wall-climbing robot

Technical Field

The utility model belongs to the technical field of automation equipment technique and specifically relates to a wall climbing robot is related to.

Background

At present, equipment such as the inner wall of a large pipeline, the surface of a ship, a steel bridge and the like which are made of magnetic materials such as steel and the like needs to invest a large amount of manpower and material resources to carry out operations such as welding, cleaning, detection and the like. The traditional method adopts a manual method to carry out corresponding operation, has the defects of high labor intensity, low working efficiency, long period and the like, and often causes safety accidents. Gradually, automation technology in this field is also continuously advancing, for example, in a scene such as an inner wall of a large pipeline, a wall climbing robot for monitoring the working state of equipment is appeared.

The known wall-climbing robot on the market generally adopts a crawler-type moving mechanism, the crawler-type moving mechanism is large in shape and heavy in vehicle body, and can freely move on the inner wall of a large pipeline or the surface of a large ship, but in a complex environment, particularly in a narrow space, the crawler-type moving mechanism has a large turning radius no matter in a scene of advancing or retreating and turning, the problem of inflexibility is easy to occur in the moving process, and even the crawler-type moving mechanism easily collides with the corners of an obstacle, namely the moving freedom is not high.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is desirable to provide a wall climbing robot which can improve the degree of freedom of movement compared to conventional wall climbing robots and is more suitable for use in a narrow space work scene.

A wall climbing robot, comprising: the device comprises a vehicle body, a main control module, a power supply module, a speed reducing motor, two rollers, universal wheels, a magnet and an operation module;

the main control module is electrically connected with the power supply module and the operation module, and the power supply module supplies power and controls the operation module to operate; the power supply module is arranged in the vehicle body; the main control module is arranged in or on the vehicle body; the operation module is arranged on the upper surface of the vehicle body; the magnet is arranged on one surface, close to the wall surface, in the vehicle body so as to provide adsorption force;

the speed reducing motor is arranged in the vehicle body, is electrically connected with the main control module and is matched with the two rollers; the universal wheels are arranged on the bottom surface of the vehicle body and can realize turning action under the driving of the vehicle body; the top cross section of the vehicle body is in a partial circle with two gaps; the two rollers are respectively arranged in the spaces of different gaps at the two sides of the vehicle body.

The automobile body is specifically an open automobile body consisting of an upper aluminum alloy plate and a lower aluminum alloy plate, wherein the upper aluminum alloy plate and the lower aluminum alloy plate are connected through a stud.

The thickness of the upper aluminum alloy plate is 2 mm; the thickness of the lower aluminum alloy plate is 3 mm.

The universal wheel comprises two universal balls arranged on the front side and the rear side of the aluminum alloy plate under the vehicle body.

The speed reducing motor is a 12V direct current speed reducing motor, is arranged on the lower aluminum alloy plate, and has a speed reducing ratio of at least 100: 1.

The two rollers are specifically two pure rubber wheels.

The power module is a battery pack distributed on two sides of the lower aluminum alloy plate, the total capacity is at least 5600mAh, and the endurance is more than 1.5 h.

The main control module comprises a mainboard arranged on the upper surface of the upper aluminum alloy plate, and the main control module further comprises a wireless module electrically connected with the mainboard.

The operation module comprises a camera and two steering engines matched with the camera, and can realize 360-degree horizontal rotation of the camera and a pitching angle of-15-105 degrees.

The camera is an infrared camera.

Compare with current wall climbing robot, the beneficial effects of the utility model are that:

1. the magnetic wheel type wall climbing trolley has the characteristics of light weight, strong adsorption capacity, stable operation, good reliability and the like. The utility model can be used for multiple choices, and can carry a camera to observe the environment, working condition and the like of a working area on a magnetic conduction wall surface in real time; an apparatus such as ultrasonic flaw detection may be mounted.

2. The trolley can realize wireless remote control, and a wireless transmission control mode is adopted, so that the constraint of cables is eliminated, and the trolley is more flexible and convenient; the mobile terminal of the mobile phone is controlled in real time, the control interface is simple, and a novice can also easily operate;

3. the whole trolley is in a modular design, and all parts can be simply installed and disassembled; the whole weight is only 1.5kg, and the portable working platform is convenient to carry to a working site for operation.

Drawings

Fig. 1 is a schematic structural diagram of a wall-climbing robot in a preferred embodiment of the present invention;

fig. 2 is a schematic structural view of a bottom of a vehicle body of the wall-climbing robot in a preferred embodiment of the present invention;

fig. 3 is a schematic view of the internal structure of the vehicle body of the wall-climbing robot in a preferred embodiment of the present invention.

Detailed Description

The embodiment of the utility model provides an at first provide a wall climbing robot, include: the device comprises a vehicle body, a main control module, a power module, a speed reducing motor, two idler wheels, universal wheels, magnets and an operation module. The main control module comprises a necessary mainboard, and is provided with a singlechip, an FPGA and other control chips, a necessary storage chip and the like. The main control module is electrically connected with the power supply module and the operation module, and the power supply module can provide working voltage such as +5V, +12V, +24V and the like according to working requirements. The main control module is powered by the power supply module and controls the operation module to operate, and the specific operation module can be matched differently according to different application scenes, for example, the specific operation module can be used as an image acquisition device used in a monitoring scene or a flaw detection device used in a detection scene. Structurally, the power supply module is arranged in the vehicle body; the main control module is arranged in or on the vehicle body; the operation module is arranged on the upper surface of the vehicle body; the magnet is arranged on one surface close to the wall surface in the vehicle body to provide adsorption force.

As the embodiment of the utility model provides an improvement for current wall climbing robot is made: the speed reducing motor in the embodiment is arranged in the vehicle body, is electrically connected with the main control module and is matched with the two rollers; the universal wheels are arranged on the bottom surface of the vehicle body and can realize turning action under the driving of the vehicle body; the top cross section of the vehicle body is in a partial circle with two gaps; the two rollers are respectively arranged in the spaces of different gaps at the two sides of the vehicle body.

The universal wheel in this embodiment may be one universal wheel or two universal wheels, and for example, one universal wheel may be disposed at the center of the lower surface of the vehicle body, so that the vehicle body can rotate and turn almost in situ. The universal wheel of the embodiment can also be two universal wheels arranged on the front side and the rear side of the vehicle body, and can realize the actions of forward turning and backward turning. In this embodiment, still provide with gyro wheel complex gear motor, slow down when the automobile body needs to turn round, can reduce the radius of turning round as far as. Furthermore, the cross section of the car body of the embodiment in plan view is partially circular with two symmetrical notches, and the rollers are arranged in the notch spaces, so that when the car body with a circular boundary performs a turning action, the car body and the rollers cannot easily collide with an obstacle. Therefore, the embodiment of the utility model provides a wall climbing robot compares in prior art, has improved the motion degree of freedom.

Referring now to fig. 1-3, a preferred embodiment of the present invention is provided. In the preferred embodiment, the vehicle body is an open type vehicle body consisting of two aluminum alloy plates of an upper plate and a lower plate, and the two aluminum alloy plates are connected by a copper stud. The main control module comprises a mainboard and a wireless module (specifically, a wifi module). The operation module is exemplified by a camera and a steering engine matched with the camera. The power module is specifically a battery pack, and the universal wheel comprises two universal balls. The roller is a pure rubber tire. The specific description is as follows:

as shown in fig. 1, a small wall-climbing monitoring robot with a high degree of freedom includes: the device comprises a vehicle body, rubber wheels, universal wheels, a speed reducing motor, a main board, a WiFi module, a battery pack, a camera and a strong magnet;

in FIG. 1, the vehicle body is an open structure and consists of an upper aluminum alloy plate, a lower aluminum alloy plate and a middle copper stud; mounting hole sites are distributed on the upper aluminum alloy plate and used for the motor support, the main board, the WiFi module, the battery pack and the camera; the lower aluminum alloy plate is also provided with mounting hole sites for arranging strong magnets and mounting universal balls; the whole structure is compact, the weight is light, and the appearance is elegant; the upper plate is made of an aluminum alloy plate with the thickness of 2mm, so that the use requirements of mounting various devices are met; the hypoplastron adopts 3mm thick aluminum alloy preparation, because need arrange strong magnet above the hypoplastron and produce the adsorption affinity, through the test, 3mm thick aluminum alloy plate can satisfy intensity enough, the light requirement of weight simultaneously.

In fig. 3, the speed reducing motor adopts a 12V dc speed reducing motor, and the motor speed reducing ratio reaches 100:1, the use requirement of robot operation is met;

in fig. 2, each speed reducing motor is provided with a pure rubber tire which can provide friction force for the operation of the robot.

In FIG. 1, a mainboard and a WiFi module are installed on the uppermost surface of a robot and communicate through a serial port; a USB interface is arranged on the WiFi module to realize communication with the camera; the WiFi module is provided with a 5dBi long antenna, and the effective control distance reaches 80 m; furthermore, two steering engines are mounted below the camera, one steering engine can horizontally rotate for 360 degrees, the other steering engine can horizontally rotate for 360 degrees, the pitch angle of the upper steering engine is-15-105 degrees, and scenes of all positions can be observed; the camera can be used for infrared camera shooting and the like, and images can be clearly observed at night; the method is also suitable for observation in some narrow internal spaces;

the capacity of the battery pack in the fig. 1 and 3 reaches 5600mA, and the battery pack can continue to have a continuous endurance of 1.5 h; the battery pack and the motor are distributed at two ends of the trolley, so that the balance of weight is basically ensured.

As shown in fig. 2, the lower plate is provided with 3 elongated ndfeb permanent magnets of 60 × 20 × 10 to provide the adsorption force for the trolley to run.

In the preferred embodiment, the trolley can run stably under the condition that two rubber tires are completely contacted with the wall surface, the front universal wheel and the rear universal wheel can not be contacted with the wall surface at the same time, the two universal wheels are kept at a horizontal distance of 1mm from the wall surface (only one universal wheel is contacted with the wall surface during running), and the height of the magnet from the wall surface is 5 mm.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. a wall-climbing robot, is characterized in that, comprises: car body, main control module, power supply module, deceleration motor, two rollers, universal wheel, magnet and operation module;

The main control module is electrically connected to the power supply module and the operation module; the power supply module is arranged in the vehicle body; the main control module is arranged in or on the vehicle body; the operation module is arranged in the vehicle body On the upper surface of the vehicle body; the magnet is arranged on the side of the vehicle body close to the wall surface to provide adsorption force;

The deceleration motor is arranged in the vehicle body, is electrically connected to the main control module, and is matched with the two rollers; the universal wheel is arranged on the bottom surface of the vehicle body and can be driven by the vehicle body. Turning action; the top view cross section of the vehicle body is a partial circle with two notches; the two rollers are respectively arranged in the spaces of different notches on both sides of the vehicle body.

2 . The wall-climbing robot according to claim 1 , wherein the vehicle body is an open vehicle body composed of two upper and lower aluminum alloy plates, and the upper and lower aluminum alloy plates are connected by studs. 3 .

3 . The wall-climbing robot according to claim 2 , wherein the thickness of the upper aluminum alloy plate is 2 mm; the thickness of the lower aluminum alloy plate is 3 mm. 4 .

4 . The wall-climbing robot according to claim 2 or 3 , wherein the universal wheel comprises two universal balls arranged on the front side and the rear side of the aluminum alloy plate under the vehicle body. 5 .

5. The wall-climbing robot according to claim 2 or 3, wherein the deceleration motor is specifically a 12V DC deceleration motor, which is arranged on the lower aluminum alloy plate, and has a deceleration ratio of at least 100:1.

6 . The wall-climbing robot according to claim 2 or 3 , wherein the two rollers are specifically two pure rubber wheels. 7 .

7. The wall-climbing robot according to claim 2 or 3, wherein the power module is a battery pack distributed on both sides of the lower aluminum alloy plate, with a total capacity of at least 5600mAh and a battery life of more than 1.5h.

8. The wall-climbing robot according to claim 2 or 3, wherein the main control module comprises a main board arranged on the upper surface of the upper aluminum alloy plate, and the main control module further comprises a A wireless module that is electrically connected to the motherboard.

9 . The wall-climbing robot according to claim 8 , wherein the operation module comprises a camera and two steering gears matched with it, and can realize a horizontal 360° rotation of the camera and a pitch angle of -15° to 105°. 10 .

10. The wall-climbing robot according to claim 9, wherein the camera is an infrared camera.