CN208627941U - One kind climbing wall rust removing robot - Google Patents
One kind climbing wall rust removing robot Download PDFInfo
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- CN208627941U CN208627941U CN201820927835.5U CN201820927835U CN208627941U CN 208627941 U CN208627941 U CN 208627941U CN 201820927835 U CN201820927835 U CN 201820927835U CN 208627941 U CN208627941 U CN 208627941U
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- robot
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- rust removing
- removing robot
- wall rust
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Abstract
The utility model discloses one kind to climb wall rust removing robot, including moving device, adsorbent equipment and cleaning derusting device, and adsorbent equipment and cleaning derusting device are each provided on moving device.The robot carries out dual absorption in such a way that electromagnet and permanent magnet be combined with each other, guarantee the robot under any circumstance can normal operation, improve work efficiency, while also increasing adsorption capacity.Overcome the problem of common single adsorption mechanism suction deficiency, it is more safe compared with electromagnetic adsorption, it remains to keep adsorbed state by permanent magnet when power is off, it prevents the robot from falling from absorption surface, avoids the damage caused by the robot or staff.
Description
Technical field
The utility model relates to field in intelligent robotics, climb wall rust removing robot more particularly to one kind.
Background technique
In industries such as nuclear energy, ship, chemical industry, wind-powered electricity generations, it is widely present large-scale magnetizer metal wall surface, these metal wall surfaces
Stick by long-term exposing to the weather, saline and alkaline erosion, dust, surface will appear dirt, corrode and fade.Therefore derusting,
In cleaning and repair and maintenance work, usually required in the past artificial, working efficiency is low, at high cost, environmental hazard, so climbing wall machine
Device people can replace manually, has been obtained and is widely applied in reality, and magnetic suck mode can provide biggish adsorption capacity,
Therefore single magnetic suck mode climbing robot is mostly used.Common suction type is broadly divided into magneto and electromagnetic type,
Magneto is not necessarily to be powered in use, will not generate temperature rise, safer reliable, and is widely adopted；Electromagnetism
Formula has many advantages, such as that light, adsorption capacity is strong using electromagnet, can be controlled by the size and coil turn of electric current,
But adsorption capacity only can be just generated when external power supply, therefore will appear robot when power is off and fall, leaves security risk.
Utility model content
The utility model in view of the deficiencies of the prior art, develops one kind and climbs wall rust removing robot, which can guarantee
In any case can normal operation, improve work efficiency, while also increasing adsorption capacity, realize the dual absorption of robot
Function.
The technical solution of the utility model solution technical problem are as follows: on the one hand, the utility model, which provides one kind, climbs wall and remove
Become rusty robot, for clearing up the rust stain of metal wall surface, including moving device, adsorbent equipment and cleaning derusting device, adsorbent equipment
It is each provided on moving device with cleaning derusting device, moving device is equipped with the first electromagnet；
Adsorbent equipment include the second motor, worm gear, worm screw, lifting wheel, elevating lever, electric expansion block and permanent magnet, second
Motor connects worm gear, and worm gear is engaged with worm screw, is provided with lifting wheel at worm screw both ends, lifting wheel is engaged with elevating lever, electronic
Telescopic block connects lifting wheel, and permanent magnet connects elevating lever.
It is preferable over, the second electromagnet and spring is equipped in electric expansion block.
It is preferable over, moving device further includes rack, first motor, driving wheel, universal wheel, support plate and installing frame, driving
Wheel is located at the first side of rack, and first motor drives driving wheel rotation, and universal wheel is located at second side of rack, in central rack
Installing frame equipped with the first electromagnet of installation.
It is preferable over, universal wheel is with magnetic universal wheel.
It is preferable over, cleaning derusting device includes third motor, steering engine, controller and cleaning part, and third motor drives steering engine
Movement, controller are connect by steering engine with cleaning part.
It is preferable over, which further includes alarm and alarm lamp, and alarm and alarm lamp are each provided on moving device.
It is preferable over, permanent magnet bottom is convex cap.
It is preferable over, which further includes control device, and the control device uses STM32 single-chip microcontroller.
Be preferable over, first motor, the second motor, third motor drive module be all made of L298N module.
When the robot does not work, permanent magnet is adsorbed on the metal wall surface, when the machine man-hour, comprising:
A. when the robot works normally, permanent magnet and the first electromagnet provide adsorption capacity, and permanent magnet and the metal
Wall surface is contactless absorption；
If b. power off suddenly, electric expansion block power loss then drives lifting wheel to separate with elevating lever, permanent magnet and institute
State the conjunction of metallic walls face paste；
If c. when power recovery, the first work of electromagnet, electric expansion block obtains electric, and lifting wheel is engaged with elevating lever, permanent magnetism
Iron is withdrawn into initial position, starts normal derusting cleaning.
The effect provided in utility model content is only the effect of embodiment, rather than whole effects that utility model is all
Fruit, above-mentioned technical proposal have the following advantages that or the utility model has the advantages that
1. this climbs the mode that wall rust removing robot be combined with each other by using electromagnet and permanent magnet, dual absorption is carried out,
Guarantee the robot under any circumstance can normal operation, improve work efficiency, overcome common single adsorption machine
The problem of structure suction deficiency, it is more safe compared with electromagnetic adsorption, it remains to keep adsorbed state by permanent magnet when power is off,
It prevents the robot from falling from absorption surface, avoids the damage caused by the robot or staff.
2., can be according to different work requirements by changing the size of current in the first electromagnet and the second electromagnet coil
Regulating magnet generate adsorption capacity, can not need to be powered in the idle state of the robot, reduce coil heating when
Between, increase the service life of electromagnet, reduces corresponding power consumption.
3. the cleaning derusting device of the utility model uses steering engine, can be removed according to the appropriate angle changing of working condition, increase
Rust cleaning area, while cleaning part uses high-pressure water pipe and high-pressure nozzle, convenient and efficient using high pressure water jet, stain of becoming rusty
It is discharged with water flow, reduces rust stain pollution caused by air.
Detailed description of the invention
Fig. 1 is the structural schematic diagram described in the utility model for climbing wall rust removing robot.
Fig. 2 is the structural schematic diagram of moving device described in the utility model.
Fig. 3 is the structural schematic diagram of adsorbent equipment described in the utility model.
Fig. 4 is the structural schematic diagram of cleaning derusting device described in the utility model.
Fig. 5 is the circuit diagram of the utility model.
Appended drawing reference: 1, moving device, 11, rack, 12, first motor, 13, driving wheel, 14, universal wheel, 15, support
Plate, 16, installing frame, the 17, first electromagnet, 2, adsorbent equipment, the 21, second motor, 22, worm gear, 23, worm screw, 24, lifting wheel,
25, elevating lever, 26, electric expansion block, 27, permanent magnet, 3, cleaning derusting device, 31, steering engine, 32, controller, 33, cleaning part,
4, alarm, 5, alarm lamp.
Specific embodiment
In order to clearly illustrate the technical characterstic of this programme, below by specific embodiment, and its attached drawing is combined, to this
Utility model is described in detail.Following disclosure provides many different embodiments or example is used to realize the utility model
Different structure.In order to simplify the disclosure of the utility model, hereinafter the component of specific examples and setting are described.This
Outside, the utility model can in different examples repeat reference numerals and/or letter.This repetition is in order to simplified and clear
Purpose itself does not indicate the relationship between discussed various embodiments and/or setting.It should be noted that illustrated in the accompanying drawings
Component be not drawn necessarily to scale.The utility model be omitted the description to known assemblies and treatment technology and process to avoid
It is unnecessarily limiting the utility model.
Fig. 1 to Fig. 5 is an embodiment of the present invention, as shown, one kind climbs wall rust removing robot, for clearing up
The rust stain of metal wall surface, including moving device 1, adsorbent equipment 2 and cleaning derusting device 3, adsorbent equipment 2 and cleaning derusting device
3 are each provided on moving device 1, and moving device 1 is equipped with the first electromagnet 17 with the metal wall adsorption；Adsorbent equipment 2
Including the second motor 21, worm gear 22, worm screw 23, lifting wheel 24, elevating lever 25, electric expansion block 26 and permanent magnet 27, the second electricity
Machine 21 connects worm gear 22, and worm gear 22 is engaged with worm screw 23, is provided with lifting wheel 24, lifting wheel 24 and lifting at 23 both ends of worm screw
Bar 25 engages, and electric expansion block 26 connects lifting wheel 24, and permanent magnet 27 connects elevating lever 25.The present embodiment derusts for climbing wall
Robot carries out dual absorption in such a way that electromagnet and permanent magnet be combined with each other, and guarantees the robot under any circumstance
Can normal operation, improve work efficiency, while also increasing adsorption capacity.Overcome common single adsorption mechanism suction
Insufficient problem, it is more safe compared with electromagnetic adsorption, it remains to keep adsorbed state by permanent magnet when power is off, prevents this
Robot falls from absorption surface, avoids the damage caused by the robot or staff.
Wherein, the second electromagnet and spring are equipped in electric expansion block 26, and electric expansion block 26 and lifting wheel 24 weld,
When energized, electric expansion block 26 pushes lifting wheel 24 and engages with elevating lever 25, and when power is off, the spring supporting simultaneously keeps rising
Drop wheel 24 is slowly mobile, avoids lifting wheel 24 from sliding rapidly, causes the damage of components.Moving device 1 further includes rack 11,
One motor 12, driving wheel 13, universal wheel 14, support plate 15 and installing frame 16, driving wheel 13 are located at the first side of rack 11, and
One motor 12 drives driving wheel 13 to rotate, and universal wheel 14 is located at second side of rack 11, and installation first is equipped in the middle part of rack 11
The installing frame 16 of electromagnet 17.Specifically, being symmetrically arranged with a pair of driving wheels 13 in the left and right sides of rack 11, driving wheel 13 is pacified
In first motor 12, first motor 12 is fixed in rack 11 by motor mounting rack, in the other end bottom of rack 11
Magnetic universal wheel 14 is installed.When the robot advances, first motor 12 is rotated forward；When the robot retreats, first motor
12 reversions are turned to when the robot needs to turn by the speed difference of two first motors 12.
Cleaning derusting device 3 includes third motor, steering engine 31, controller 32 and cleaning part 33, and third motor drives steering engine
31 movements, controller 32 are connect by steering engine 31 with cleaning part 33, and the direction of motion of steering engine 31, cleaning part are controlled by controller 32
33 connect with steering engine 31.Cleaning part 33 uses high-pressure water pipe and high-pressure nozzle, convenient and efficient using high pressure water jet, rust
Stain is discharged with water flow, reduces rust stain pollution caused by air.The robot further includes alarm 4 and alarm lamp 5, alarm
4 and alarm lamp 5 be each provided on moving device 1, when special status occurs in work, staff can be reminded to make appropriate adjusting.
Electric expansion block 26 is push-pull electromagnet, and 27 bottom of permanent magnet is designed as convex cap, is conducive to permanent magnet and ferromagnetic wall in this way
The separation in face.
As shown in connection with fig. 5, which further includes control device, and the control device uses STM32 single-chip microcontroller, the first electricity
Machine 12, the second motor 21, third motor drive module be all made of L298N module, STM32 single-chip microcontroller pin PA3, PA4, PA5,
PA6 pin is connected on IN1, IN2, IN3, IN4 pin of each drive module, and the output of each drive module is connected respectively to first
Motor 12, the second motor 21, on third motor.
When the robot does not work, permanent magnet 27 is adsorbed on the metal wall surface, when the machine man-hour, packet
It includes:
A. when the robot works normally, permanent magnet 27 and the first electromagnet 17 provide adsorption capacity, and permanent magnet 27 and institute
Stating metal wall surface is contactless absorption；
If b. power off suddenly, 26 power loss of electric expansion block then drives lifting wheel 24 to separate with elevating lever 25, permanent magnetism
Iron 27 and the metallic walls face paste are closed；
If the work of the first electromagnet 17, electric expansion block 26 must be electric, and lifting wheel 24 is nibbled with elevating lever 25 c. when power recovery
It closes, permanent magnet 27 is withdrawn into initial position, starts normal derusting cleaning.
Specifically, working as the case where robot powers off in the process of work, elevating lever 25 and lifting wheel at this time
Plug-type 26 power loss of electric expansion block of 24 engagement places, plug-type electric expansion block 26 drive lifting wheel 24 and elevating lever 25
Separation is fixed on elevating lever 24 moment and the metallic walls face paste conjunction under the action of 27 suction of permanent magnet of 11 two sides of rack,
Increase adsorption capacity, prevents the robot from falling.When electric power restores again, the first electromagnet 17 among rack starts normal work
Make, adsorption capacity be provided, plug-type electric expansion block 26 also it is electric, release lifting wheel 24 engages with elevating lever 25, passes through at this time
Control device controls the rotation of the second motor 21, and turbine 22 and worm screw 23 rotate, and lifting wheel 24 is driven to rotate, by lifting wheel 24 with
Permanent magnet 27 is withdrawn into initial position by the engagement of elevating lever 25, starts normal derusting cleaning.
In addition, can also be by changing the size of current in the first electromagnet 17 and second electromagnet coil, it can basis
The adsorption capacity that different work requirements regulating magnets generates, can not need to be powered, subtract in the idle state of the robot
The time of few coil heating, increases the service life of electromagnet, reduce corresponding power consumption.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to utility model, not to the utility model
The limitation of protection scope, based on the technical solution of the present invention, those skilled in the art do not need to pay creativeness
The various modifications or changes that working can make are still within the scope of the present invention.
Claims (9)
1. one kind climbs wall rust removing robot, for clearing up the rust stain of metal wall surface, which is characterized in that including moving device (1), inhale
Adsorption device (2) and cleaning derusting device (3), adsorbent equipment (2) and cleaning derusting device (3) are each provided on moving device (1), row
The first electromagnet (17) are equipped with into device (1)；
Adsorbent equipment (2) includes the second motor (21), worm gear (22), worm screw (23), lifting wheel (24), elevating lever (25), electronic
Telescopic block (26) and permanent magnet (27), the second motor (21) connect worm gear (22), and worm gear (22) is engaged with worm screw (23), in worm screw
(23) both ends are provided with lifting wheel (24), and lifting wheel (24) is engaged with elevating lever (25), electric expansion block (26) connection lifting
It takes turns (24), permanent magnet (27) connects elevating lever (25).
2. climbing wall rust removing robot as described in claim 1, which is characterized in that be equipped with the second electromagnetism in electric expansion block (26)
Iron and spring.
3. climbing wall rust removing robot as described in claim 1, which is characterized in that moving device (1) further includes rack (11), the
One motor (12), driving wheel (13), universal wheel (14), support plate (15) and installing frame (16), driving wheel (13) are located at rack
(11) the first side, and first motor (12) drives driving wheel (13) rotation, universal wheel (14) is located at second side of rack (11),
The installing frame (16) of installation the first electromagnet (17) is equipped in the middle part of rack (11).
4. climbing wall rust removing robot as claimed in claim 3, which is characterized in that universal wheel (14) is with magnetic universal
Wheel.
5. climbing wall rust removing robot as described in claim 1, which is characterized in that cleaning derusting device (3) include third motor,
Steering engine (31), controller (32) and cleaning part (33), third motor drive steering engine (31) movement, and controller (32) passes through steering engine
(31) it is connect with cleaning part (33).
6. climbing wall rust removing robot as described in claim 1, which is characterized in that the robot further includes alarm (4) and report
Warning lamp (5), alarm (4) and alarm lamp (5) are each provided on moving device (1).
7. climbing wall rust removing robot as described in claim 1, which is characterized in that permanent magnet (27) bottom is convex cap.
8. climbing wall rust removing robot as described in claim 1, which is characterized in that the robot further includes control device, described
Control device uses STM32 single-chip microcontroller.
9. climbing wall rust removing robot as described in claim 1 or 3 or 5, which is characterized in that first motor (12), the second motor
(21), the drive module of third motor is all made of L298N module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820927835.5U CN208627941U (en) | 2018-06-15 | 2018-06-15 | One kind climbing wall rust removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820927835.5U CN208627941U (en) | 2018-06-15 | 2018-06-15 | One kind climbing wall rust removing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208627941U true CN208627941U (en) | 2019-03-22 |
Family
ID=65734963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820927835.5U Active CN208627941U (en) | 2018-06-15 | 2018-06-15 | One kind climbing wall rust removing robot |
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| Country | Link |
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| CN (1) | CN208627941U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655077A (en) * | 2018-06-15 | 2018-10-16 | 山东交通学院 | One kind climbing wall rust removing robot and its dual adsorption method |
| CN110270534A (en) * | 2019-06-17 | 2019-09-24 | 佛山职业技术学院 | A kind of scavenging machine for photovoltaic roof |
| CN110270535A (en) * | 2019-06-17 | 2019-09-24 | 佛山职业技术学院 | A kind of anti-skidding cleaning machine for photovoltaic roof |
| CN110667719A (en) * | 2019-10-16 | 2020-01-10 | 山东交通学院 | Marine omnidirectional movement wall climbing robot |
| CN114593308A (en) * | 2022-03-15 | 2022-06-07 | 樊清垒 | Robot chassis for oil smoke pipeline detection |
-
2018
- 2018-06-15 CN CN201820927835.5U patent/CN208627941U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655077A (en) * | 2018-06-15 | 2018-10-16 | 山东交通学院 | One kind climbing wall rust removing robot and its dual adsorption method |
| CN108655077B (en) * | 2018-06-15 | 2023-06-16 | 山东交通学院 | Wall climbing rust removing robot and double adsorption method thereof |
| CN110270534A (en) * | 2019-06-17 | 2019-09-24 | 佛山职业技术学院 | A kind of scavenging machine for photovoltaic roof |
| CN110270535A (en) * | 2019-06-17 | 2019-09-24 | 佛山职业技术学院 | A kind of anti-skidding cleaning machine for photovoltaic roof |
| CN110667719A (en) * | 2019-10-16 | 2020-01-10 | 山东交通学院 | Marine omnidirectional movement wall climbing robot |
| CN114593308A (en) * | 2022-03-15 | 2022-06-07 | 樊清垒 | Robot chassis for oil smoke pipeline detection |
| CN114593308B (en) * | 2022-03-15 | 2023-11-24 | 江苏大发建设工程有限公司 | Robot chassis for detecting oil smoke pipeline |
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