CN113401239A - Wheel-track combined wall-climbing robot - Google Patents
Wheel-track combined wall-climbing robot Download PDFInfo
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- CN113401239A CN113401239A CN202110727386.6A CN202110727386A CN113401239A CN 113401239 A CN113401239 A CN 113401239A CN 202110727386 A CN202110727386 A CN 202110727386A CN 113401239 A CN113401239 A CN 113401239A
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- frame
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- stepping motor
- wheel
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- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 45
- 238000003466 welding Methods 0.000 claims abstract description 43
- 238000001179 sorption measurement Methods 0.000 claims abstract description 38
- 239000003550 marker Substances 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 230000009194 climbing Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Classifications
-
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wheel-track combined wall-climbing robot, which comprises a frame, rubber wheels, a steering adjusting mechanism, an electromagnetic adsorption type track mechanism, a welding gun transmission mechanism, a camera bracket assembly, a CCD (charge coupled device) camera, a cross-line laser marker, an ultrasonic obstacle avoidance sensor and a PLC (programmable logic controller); the rubber wheels are connected to two sides of the front end of the frame through universal joints, and the steering adjusting mechanism is connected between the rubber wheels and the frame; the electromagnetic adsorption type crawler mechanisms are connected to two sides of the frame; the welding gun is connected to the front end of the frame through a welding gun transmission mechanism; the CCD camera and the cross line laser marker are arranged on the camera bracket component, and the camera bracket component is connected with the frame. The wheel-track combined wall-climbing robot can realize wall-climbing movement of the robot, can realize steering operation of the robot, can realize movement of a welding gun in the setting range of the frame of the robot, and can flexibly and efficiently finish welding tasks.
Description
Technical Field
The invention relates to the field of robots, in particular to a wheel-track combined wall-climbing robot.
Background
The wall-climbing robot is a special robot with moving and adsorbing functions, can move in dangerous environments such as a vertical wall surface and the like, and can complete work in a limit environment instead of a worker. The wall-climbing robot for metal surface operation is mainly used for detection, paint spraying, rust removing and welding, and has wide application prospect.
The existing magnetic wall-climbing robot mainly adopts permanent magnetic adsorption and electromagnetic adsorption. Wherein, the permanent magnet adsorption has wide application with large adsorption force, simple and reliable structure. The electromagnetic adsorption crawling robot realizes the flexible and controllable adsorption force, so that the robot has wider universality.
There are two types of wheel and crawler combined with magnetic adsorption. The magnetic wheel moves flexibly, and the adsorption force of the crawler belt is large.
However, the adsorption force of the permanent magnet adsorption can not be adjusted, so that the wall-climbing robot bears a large load on a complex magnetic wall surface, and the walking resistance is large.
The magnetic wheel type wall climbing robot has the defects of low magnetic energy utilization rate and small magnetic adsorption force, and the magnetic track wall climbing robot has the defect of large steering resistance.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the wheel-track combined wall-climbing robot, which can realize the wall-climbing movement of the robot, realize the steering operation of the robot, realize the movement of a welding gun in the setting range of the frame of the robot and flexibly and efficiently finish the welding task.
In order to achieve the purpose, the invention provides a wheel-track combined wall-climbing robot, which comprises a frame, two rubber wheels, a steering adjusting mechanism, two electromagnetic adsorption type track mechanisms, a welding gun transmission mechanism, a camera bracket component, a CCD (charge coupled device) camera, a cross line laser line marker, an ultrasonic obstacle avoidance sensor and a PLC (programmable logic controller); the rubber wheels are connected to two sides of the front end of the frame through universal joints, and the steering adjusting mechanism is connected between the rubber wheels and the frame; the electromagnetic adsorption type crawler mechanisms are connected to two sides of the frame; the welding gun is connected to the front end of the frame through the welding gun transmission mechanism; the CCD camera and the cross line laser line marker are arranged on the camera bracket component, and the camera bracket component is connected with the frame; the steering adjusting mechanism, the electromagnetic adsorption type crawler mechanism, the welding gun transmission mechanism, the camera support assembly, the cross line laser marker and the ultrasonic obstacle avoidance sensor are connected with the PLC.
Preferably, the steering adjusting mechanism comprises two steering shafts, two steering universal joints, two steering transmission shafts, a transmission piece, a gear and a steering stepper motor; the two rubber wheels are in transmission connection with a first end of the transmission part through the steering shaft, the steering universal joint and the steering transmission shaft which are sequentially connected, a rack is formed at a second end of the transmission part, the rack is meshed with the gear, the gear is in transmission connection with the steering stepping motor, and the steering stepping motor is fixed at the bottom of the frame; the steering stepping motor is connected with the PLC.
Preferably, the rubber wheel support further comprises a first electromagnet, and the first electromagnet is fixed to the bottom of the frame and located between the two rubber wheels.
Preferably, the welding gun transmission mechanism comprises a slide block, a synchronous belt guide rail and a slide block stepping motor; the welding gun is arranged on the sliding block, and the sliding block is connected to the synchronous belt guide rail and is in transmission connection with the sliding block stepping motor through the synchronous belt guide rail; the slide block stepping motor is fixed on the frame; the slide block stepping motor is connected with the PLC.
Preferably, the camera support assembly comprises a camera support, a camera support driving belt and a camera support stepping motor; the CCD camera and the cross line laser line marker are arranged on the camera support, the bottom of the camera support is pivoted with the camera support, and the camera support is in transmission connection with the camera support stepping motor through the camera support transmission belt; the camera support stepping motor is connected with the PLC.
Preferably, the electromagnetic adsorption type crawler mechanism comprises an electromagnetic adsorption type crawler and a crawler driving stepping motor which are connected; the track driving stepping motor is fixed on the frame and connected with the PLC.
Preferably, the electromagnetic adsorption type caterpillar band comprises a positive pole frame, a negative pole frame and a caterpillar band; the track comprises a plurality of second electromagnets; the positive pole frame and the negative pole frame can contact the positive pole and the negative pole of the second electromagnet respectively.
Preferably, the bicycle frame further comprises at least one handle, and the handle is arranged on the bicycle frame.
Preferably, the PLC controller and the CCD camera are connected to a computer.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
firstly, by adopting a rubber wheel, a steering adjusting mechanism and an electromagnetic adsorption type crawler mechanism, the rubber wheel is arranged in front of a frame, and the steering adjusting mechanism is added to assist steering; the electromagnetic adsorption type crawler mechanism is arranged behind the frame and turns by differential speed. Second, electromagnetism adsorbs formula crawler includes anodal frame, negative pole frame and a plurality of second electro-magnet, can realize the wall of climbing of welding robot and remove, and the track differential of the left and right sides can realize the operation that turns to of robot. And thirdly, the CCD camera and the cross line laser marker are installed on the camera bracket component, the camera is installed in front of the camera bracket, the cross line laser marker is installed at the rear of the camera bracket, and the camera bracket stepping motor is connected with the camera bracket through a camera bracket driving belt to help the camera bracket to complete the actions of lifting and descending. And fourthly, the welding gun transmission mechanism comprises a sliding block, a synchronous belt guide rail and a sliding block stepping motor, so that the movement of a welding gun in the range of the robot frame can be realized, and the welding task can be completed flexibly and efficiently.
Drawings
Fig. 1 is a schematic structural diagram of a wheel-track combined wall-climbing robot according to an embodiment of the invention;
fig. 2 is a schematic front structural view of a wheel-track combined wall-climbing robot according to an embodiment of the present invention;
fig. 3 is a schematic side structure view of a wheel-track combined wall-climbing robot according to an embodiment of the present invention;
fig. 4 is a bottom view of the wheel-track combined wall-climbing robot according to the embodiment of the present invention;
fig. 5 is a schematic structural view of a wheel-track combined electromagnetic adsorption type track according to an embodiment of the present invention.
Detailed Description
The following description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, which are set forth in the accompanying drawings and in fig. 1-5, to provide a better understanding of the function and features of the invention.
Referring to fig. 1 to 5, a wheel-track combined wall-climbing robot according to an embodiment of the present invention includes a frame 19, two rubber wheels 1, a steering adjustment mechanism, two electromagnetic adsorption type track mechanisms, a welding gun 2, a welding gun transmission mechanism, a camera bracket assembly, a CCD camera 3, a cross line laser marker 7, an ultrasonic obstacle avoidance sensor 4, and a PLC controller; the rubber wheels 1 are connected to two sides of the front end of the frame 19 through universal joints, and the steering adjusting mechanism is connected between the rubber wheels 1 and the frame 19; the electromagnetic adsorption type crawler mechanisms are connected to two sides of the frame 19; the welding gun 2 is connected to the front end of the frame 19 through a welding gun transmission mechanism; the CCD camera 3 and the cross line laser marker 7 are arranged on a camera bracket assembly, and the camera bracket assembly is connected with a frame 19; the steering adjusting mechanism, the electromagnetic adsorption type crawler mechanism, the welding gun 2, the welding gun transmission mechanism, the camera bracket component, the cross line laser marker 7 and the ultrasonic obstacle avoidance sensor 4 are connected with the PLC.
The steering adjusting mechanism comprises two steering shafts 12, two steering universal joints 13, two steering transmission shafts 14, a transmission piece 15, a gear 16 and a steering stepping motor 17; the two rubber wheels 1 are respectively in transmission connection with a first end of a transmission piece 15 through a steering shaft 12, a steering universal joint 13 and a steering transmission shaft 14 which are sequentially connected, a rack is formed at a second end of the transmission piece 15, the rack is meshed with a gear 16, the gear 16 is in transmission connection with a steering stepping motor 17, and the steering stepping motor 17 is fixed at the bottom of a frame 19; the steering stepping motor 17 is connected with a PLC controller.
The rubber wheel support further comprises a first electromagnet 11, wherein the first electromagnet 11 is fixed at the bottom of the frame 19 and is positioned between the two rubber wheels 1.
The welding gun transmission mechanism comprises a slide block 5, a synchronous belt guide rail 6 and a slide block stepping motor 8; the welding gun 2 is arranged on a sliding block 5, and the sliding block 5 is connected to a synchronous belt guide rail 6 and is in transmission connection with a sliding block stepping motor 8 through the synchronous belt guide rail 6; the slide block stepping motor 8 is fixed on the frame 19; the slide block stepping motor 8 is connected with a PLC controller.
The camera bracket assembly comprises a camera bracket, a camera support, a camera bracket driving belt and a camera bracket stepping motor 9; the CCD camera 3 and the cross line laser marker 7 are arranged on a camera support, the bottom of the camera support is pivoted with a camera support, and the camera support is in transmission connection with a camera support stepping motor 9 through a camera support transmission belt; the camera support stepping motor 9 is connected with the PLC controller.
The electromagnetic adsorption type crawler mechanism comprises an electromagnetic adsorption type crawler 25 and a crawler driving stepping motor 18 which are connected; the track drive stepper motor 18 is fixed to the frame 19 and connected to the PLC controller.
The electromagnetic adsorption type caterpillar 25 comprises a positive pole frame 21, a negative pole frame 20 and a caterpillar; the track includes a plurality of second electromagnets 24; the positive pole holder 21 and the negative pole holder 20 may contact the positive pole 22 and the negative pole 23 of the second electromagnet 24, respectively.
The bicycle frame further comprises at least one handle 10, and the handle 10 is arranged on the bicycle frame 19.
The PLC controller and the CCD camera 3 are connected with a computer.
The wheel-track combined wall-climbing robot provided by the embodiment of the invention has the following working process: the wall-climbing robot manually controlling the wheel-track combination moves to the approximate position of the welding seam, when the positive pole frame 21 is contacted with the positive pole 22 of the second electromagnet 24 and the negative pole frame 20 is contacted with the negative pole 23 of the second electromagnet 24, the second electromagnet 24 works and has an adsorption function. The pose of the wall-climbing robot is adjusted through a CCD camera 3 and a cross line laser line marker 7 which are arranged on a camera support, so that a welding gun 2 is positioned in the center of the wall-climbing robot combined with wheel tracks and performs welding operation, the position of a welding seam is identified through the CCD camera 3 and the cross line laser line marker 7 in the operation process, and the welding gun 2 is always positioned in the center of the wall-climbing robot by controlling the differential speed of a left electromagnetic adsorption type crawler 25 and a right electromagnetic adsorption type crawler 25, rotating a steering stepping motor 17 and a control slide block 5. If the ultrasonic obstacle avoidance sensor 4 is arranged in front of the car body fixing frame in the welding process to detect an obstacle, the wheel-track combined wall climbing robot is stopped, the camera support stepping motor 9 is started to move the camera support backwards, and the sliding block 5 is controlled to weld the welding gun 2 to the welding seam end point according to the image processing result of the CCD camera 3. After the welding operation is finished, the wall-climbing robot with the wheel-track combination is manually operated to a wall surface safety area, the second electromagnet 24 is powered off, and the robot is moved to a plane safety area through the handle 10 to be cleaned.
The image processing includes: filtering an original image, windowing the image, binarizing, extracting a contour, extracting a light band center, extracting features, identifying the image, analyzing and processing by a computer to obtain a control signal, and transmitting the control signal to a camera support stepping motor 9, a steering stepping motor 17 and a track driving stepping motor 18 so as to realize automatic tracking of a welding line.
According to the wheel-track combined wall-climbing robot, the steerable rubber wheels 1 and the electromagnetic adsorption type track 25 are combined, so that the resistance of the robot is reduced, and the robot is convenient to steer and clean. Adopt the adoption of portable camera support and slider 5, promote welded scope and flexibility, realize corner straight line welding, control is simple.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (9)
1. A wheel-track combined wall-climbing robot is characterized by comprising a frame, two rubber wheels, a steering adjusting mechanism, two electromagnetic adsorption type track mechanisms, a welding gun transmission mechanism, a camera support assembly, a CCD camera, a cross line laser line marker, an ultrasonic obstacle avoidance sensor and a PLC (programmable logic controller); the rubber wheels are connected to two sides of the front end of the frame through universal joints, and the steering adjusting mechanism is connected between the rubber wheels and the frame; the electromagnetic adsorption type crawler mechanisms are connected to two sides of the frame; the welding gun is connected to the front end of the frame through the welding gun transmission mechanism; the CCD camera and the cross line laser line marker are arranged on the camera bracket component, and the camera bracket component is connected with the frame; the steering adjusting mechanism, the electromagnetic adsorption type crawler mechanism, the welding gun transmission mechanism, the camera support assembly, the cross line laser marker and the ultrasonic obstacle avoidance sensor are connected with the PLC.
2. The wheel-track combined wall-climbing robot according to claim 1, wherein the steering adjusting mechanism comprises two steering shafts, two steering universal joints, two steering transmission shafts, a transmission piece, a gear and a steering stepping motor; the two rubber wheels are in transmission connection with a first end of the transmission part through the steering shaft, the steering universal joint and the steering transmission shaft which are sequentially connected, a rack is formed at a second end of the transmission part, the rack is meshed with the gear, the gear is in transmission connection with the steering stepping motor, and the steering stepping motor is fixed at the bottom of the frame; the steering stepping motor is connected with the PLC.
3. The wheel-track combined wall-climbing robot as claimed in claim 2, further comprising a first electromagnet, wherein the first electromagnet is fixed at the bottom of the frame and is located between the two rubber wheels.
4. The wheel-track combined wall-climbing robot according to claim 1, wherein the welding gun transmission mechanism comprises a slide block, a synchronous belt guide rail and a slide block stepping motor; the welding gun is arranged on the sliding block, and the sliding block is connected to the synchronous belt guide rail and is in transmission connection with the sliding block stepping motor through the synchronous belt guide rail; the slide block stepping motor is fixed on the frame; the slide block stepping motor is connected with the PLC.
5. The wheel-track combined wall-climbing robot as claimed in claim 1, wherein the camera support assembly comprises a camera support, a camera support driving belt and a camera support stepping motor; the CCD camera and the cross line laser line marker are arranged on the camera support, the bottom of the camera support is pivoted with the camera support, and the camera support is in transmission connection with the camera support stepping motor through the camera support transmission belt; the camera support stepping motor is connected with the PLC.
6. The wheel-track combined wall-climbing robot is characterized in that the electromagnetic adsorption type track mechanism comprises an electromagnetic adsorption type track and a track driving stepping motor which are connected; the track driving stepping motor is fixed on the frame and connected with the PLC.
7. The wheel-track combined wall-climbing robot as claimed in claim 6, wherein the electromagnetic adsorption type track comprises a positive pole frame, a negative pole frame and a track; the track comprises a plurality of second electromagnets; the positive pole frame and the negative pole frame can contact the positive pole and the negative pole of the second electromagnet respectively.
8. The wheel-track combined wall-climbing robot as claimed in claim 1, further comprising at least one handle, wherein the handle is disposed on the frame.
9. The wheel-track combined wall-climbing robot as claimed in claim 1, wherein the PLC controller and the CCD camera are connected to a computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110727386.6A CN113401239A (en) | 2021-06-29 | 2021-06-29 | Wheel-track combined wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110727386.6A CN113401239A (en) | 2021-06-29 | 2021-06-29 | Wheel-track combined wall-climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN113401239A true CN113401239A (en) | 2021-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110727386.6A Pending CN113401239A (en) | 2021-06-29 | 2021-06-29 | Wheel-track combined wall-climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114275069A (en) * | 2021-12-29 | 2022-04-05 | 金陵科技学院 | Hybrid magnetic adsorption wall-climbing robot, driving mode and tracking control algorithm |
| CN115338519A (en) * | 2022-08-23 | 2022-11-15 | 江苏敦邦钢结构工程有限公司 | A intelligent welding set for production of large-scale steel member |
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2021
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| CN103934596A (en) * | 2014-02-28 | 2014-07-23 | 浙江海洋学院 | Hull wall climbing welding device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114275069A (en) * | 2021-12-29 | 2022-04-05 | 金陵科技学院 | Hybrid magnetic adsorption wall-climbing robot, driving mode and tracking control algorithm |
| CN115338519A (en) * | 2022-08-23 | 2022-11-15 | 江苏敦邦钢结构工程有限公司 | A intelligent welding set for production of large-scale steel member |
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Application publication date: 20210917 |