CN216861634U

CN216861634U - Wall-climbing robot

Info

Publication number: CN216861634U
Application number: CN202220706818.5U
Authority: CN
Inventors: 冯书涛; 李志远; 智效龙; 王东辉; 菅磊; 潘伟民; 刘刚; 徐立
Original assignee: Beijing Nenggong Huizhi Robot Co ltd
Current assignee: Beijing Nenggong Huizhi Robot Co ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2022-07-01
Anticipated expiration: 2032-03-29

Abstract

The utility model provides a wall-climbing robot. The wall-climbing robot comprises a robot main body and a wall surface detector, and the wall-climbing robot comprises a mounting frame, a sliding rail assembly and a connecting rod driving assembly. Wherein, the mounting bracket sets up in the robot main part, and slide rail set spare is installed on the mounting bracket, and the wall detector is installed on slide rail set spare. The connecting rod driving assembly is mounted on the mounting frame, is in driving connection with the wall surface detector and is used for driving the wall surface detector to reciprocate on the sliding rail assembly. By applying the technical scheme of the utility model, when the robot main body carries the wall surface detector to be detected and avoid running, the connecting rod driving assembly drives the wall surface detector to reciprocate on the sliding rail assembly, so that the wall surface detector can detect a wider detection area in the walking direction of the wall climbing robot, the detection data of the wall surface is improved, and the detection efficiency is improved.

Description

Wall-climbing robot

Technical Field

The utility model relates to the technical field of robots, in particular to a wall-climbing robot.

Background

The inspection of the heating surface in the boiler of the power station belongs to high-risk operation all the time, a scaffold or a lifting platform needs to be built before the inspection of the heating surface of a water-cooled wall or a horizontal flue, an inspector needs to wear a safety belt and carry an instrument, and stands on the lifting platform or climbs on the scaffold which is dozens of meters high to inspect, so that the risk of high-altitude operation exists; in addition, the environment in the boiler is usually large in dust content, hot and stuffy, light is insufficient, traditional in-boiler inspection work cannot avoid the work of erecting and removing a lifting platform or a scaffold, the work can be completed 2-3 days after a hearth is completely cooled, maintenance time is prolonged, the in-boiler inspection work belongs to the high-altitude dangerous operation category, and the risk that personnel fall from high altitude and fall from high altitude to hurt people also exists.

In the prior art, the wall-climbing robot suitable for the iron wall surface is also provided, and the specific principle is that a plurality of magnets are arranged on the crawler belt, so that the crawler belt can be adsorbed on the iron wall surface to walk. When the wall climbing robot detects the wall surface at the present stage, the wall surface detector basically detects a straight path traveled by the wall climbing robot, so that the detection data of the wall surface is less, and the detection efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a wall-climbing robot, which aims to solve the technical problem that the wall-climbing robot in the prior art is low in wall surface detection efficiency.

In order to achieve the above object, according to one aspect of the present invention, there is provided a wall-climbing robot including a robot main body and a wall surface detector, the wall-climbing robot including: a mounting frame disposed on the robot main body; the sliding rail assembly is arranged on the mounting frame, and the wall surface detector is arranged on the sliding rail assembly; and the connecting rod driving assembly is arranged on the mounting frame, is in driving connection with the wall surface detector and is used for driving the wall surface detector to reciprocate on the sliding rail assembly.

In one embodiment, a slide rail assembly comprises: the slide rail extends along the width direction of the robot main body and is arranged on the mounting frame; the sliding seat is slidably arranged on the sliding rail, the wall surface detector is arranged on the sliding seat, and the connecting rod driving assembly is in driving connection with the sliding seat.

In one embodiment, a link drive assembly includes: the rotary driving piece is fixedly arranged on the mounting frame; the first end of the driving connecting rod is connected with the rotary driving piece; the first end of the driven connecting rod is hinged with the second end of the driving connecting rod, and the second end of the driven connecting rod is hinged with the sliding seat.

In one embodiment, the rotary drive is a motor and the drive link is a cam mounted on an output shaft of the motor.

In one embodiment, a connecting plate is provided on the slide base, and the wall surface detector is mounted on the slide base through the connecting plate.

In one embodiment, the wall-climbing robot further comprises an image collector and a rotating mechanism, wherein the image collector is installed on the installation frame through the rotating mechanism.

In one embodiment, the rotating mechanism comprises a speed reducing motor and a rotating bracket, the rotating bracket is installed at the output end of the speed reducing motor, and the image collector is installed on the rotating bracket.

In one embodiment, the rotation mechanism further comprises a backing plate, and the reduction motor is mounted on the mounting frame through the backing plate.

In one embodiment, the wall-climbing robot further comprises a light supplement lamp, and the light supplement lamp is mounted on the mounting frame.

In one embodiment, the mounting bracket is mounted on a front side of the robot body, and the power supply interface and the communication interface are mounted on a rear side of the robot body.

By applying the technical scheme of the utility model, when the robot main body carries the wall surface detector to be detected and avoid running, the connecting rod driving assembly drives the wall surface detector to reciprocate on the sliding rail assembly, so that the wall surface detector can detect a wider detection area in the walking direction of the wall climbing robot, the detection data of the wall surface is improved, and the detection efficiency is improved.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the utility model, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the utility model and together with the description serve to explain the utility model and not to limit the utility model. On the attachment

In the figure:

fig. 1 shows a perspective view of an embodiment of a wall-climbing robot according to the utility model;

fig. 2 shows a front structural schematic view of the wall-climbing robot of fig. 1;

fig. 3 shows a back structural view of the wall-climbing robot of fig. 1.

Wherein the figures include the following reference numerals:

10. a robot main body; 20. a central console; 30. a crawler belt; 40. a mounting frame; 51. a slide rail; 52. a sliding seat; 53. a connecting bolt; 54. a connecting plate; 55. a wall surface detector; 56. rotating the driving member; 57. a drive link; 58. a driven connecting rod; 61. a base plate; 62. a reduction motor; 63. rotating the bracket; 64. an image collector; 70. a light supplement lamp; 80. a power supply interface; 90. and a communication interface.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the utility model herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Fig. 1 shows an embodiment of the wall-climbing robot of the present invention, which includes a robot main body 10 and a wall surface detector 55, and includes a mounting frame 40, a slide rail assembly, and a link driving assembly. Wherein, the mounting frame 40 is provided on the robot main body 10, the rail assembly is installed on the mounting frame 40, and the wall surface detector 55 is installed on the rail assembly. The link driving assembly is mounted on the mounting frame 40 and is in driving connection with the wall detector 55 for driving the wall detector 55 to reciprocate on the slide rail assembly.

By applying the technical scheme of the utility model, when the robot main body 10 carries the wall surface detector 55 to be detected and avoid operation, the connecting rod driving component drives the wall surface detector 55 to reciprocate on the sliding rail component, so that the wall surface detector 55 can detect a wider detection area in the walking direction of the wall climbing robot, the detection data of the wall surface is improved, and the detection efficiency is improved.

Optionally, as shown in fig. 1 and fig. 2, in the technical solution of this embodiment, the slide rail assembly includes a slide rail 51 and a slide seat 52, the slide rail 51 extends along the width direction of the robot main body 10 and is disposed on the mounting frame 40, the slide seat 52 is slidably mounted on the slide rail 51, the wall surface detector 55 is mounted on the slide seat 52, and the link driving assembly is drivingly connected to the slide seat 52. The slide rail 51 can limit the moving track of the wall surface detector 55, and the slide seat 52 can move on the slide rail 51 more smoothly, so that the wall surface detector 55 can detect more efficiently.

As a preferred embodiment, as shown in fig. 1 and 2, in the solution of the present embodiment, the link driving assembly includes a rotary driving member 56, a driving link 57 and a driven link 58. The rotary driving member 56 is fixedly disposed on the mounting frame 40, a first end of the driving link 57 is connected to the rotary driving member 56, a first end of the driven link 58 is hinged to a second end of the driving link 57, and a second end of the driven link 58 is hinged to the sliding seat 52. In use, the rotary driving member 56 rotates the driving link 57, and since the driven link 58 is hinged between the rotary driving member 56 and the sliding seat 52, the rotating driving link 57 causes the driven link 58 to swing back and forth, so that the sliding seat 52 drives the wall surface detector 55 to move back and forth. Optionally, in the solution of the present embodiment, the rotary driving member 56 is a motor, and the driving link 57 is a cam mounted on an output shaft of the motor.

More preferably, the slide holder 52 is provided with a connection plate 54, and the wall surface detector 55 is attached to the slide holder 52 through the connection plate 54. Specifically, the periphery of the surface of the sliding seat 52 is fixedly connected with a connecting bolt 53, the bottom of the sliding seat 52 is fixedly connected with a connecting plate 54 through the connecting bolt 53, and the bottom of the connecting plate 54 is fixedly provided with a wall surface detector 55. Optionally, in the technical solution of this embodiment, the wall surface detector 55 is an electromagnetic ultrasonic thickness gauge, and the distance between the electromagnetic ultrasonic thickness gauge and the wall surface is 3-5 mm.

Optionally, the rotary driving member 56 is a stepping motor, the stepping motor is fixed inside the mounting frame 40, an output end of the stepping motor is fixedly connected with a cam, one end of the cam is hinged with a driven link 58, and one end of the driven link 58 is hinged with one side of the sliding seat 5252. During the specific use, step motor drives output end fixed connection's cam 57 when rotating and follows the rotation with, cam 57 rotates and drives one end articulated driven connecting rod 58 and follows the rotation, and driven connecting rod 58 drives one end articulated sliding seat 52 and slides on slide rail 51 surface, thereby sliding seat 52 slides and drives the electromagnetism supersound calibrator of bottom installation and follow the removal and survey many places position to the flue inner wall for it is convenient for know the state of flue inner wall to survey more data.

As a preferred embodiment, as shown in fig. 1 and fig. 2, in the technical solution of this embodiment, the wall-climbing robot further includes an image collector 64 and a rotating mechanism, and the image collector 64 is mounted on the mounting bracket 40 through the rotating mechanism. When the dust collector is used, images and pictures can be shot on the dust distribution on the inner wall of the flue through the image collector 64, and the image collector 64 can be adjusted by the rotating mechanism to shoot in more directions. Optionally, in the technical solution of this embodiment, the rotating mechanism includes a speed reduction motor 62 and a rotating bracket 63, the rotating bracket 63 is installed at an output end of the speed reduction motor 62, and the image collector 64 is installed on the rotating bracket 63. When the dust collector is used, the speed reduction motor 62 rotates to drive the rotating support 63 fixedly connected with the output end to rotate, the rotating support 63 rotates to drive the image collector 64 mounted at the top to rotate, and therefore the image collector 64 is adjusted to carry out multidirectional shooting on the dust distribution of the inner wall of the flue. Preferably, in the technical solution of this embodiment, the image collector 64 is a high-definition camera.

As an alternative embodiment, in order to facilitate shooting, in the solution of the present embodiment, the rotating mechanism further includes a backing plate 61, and the speed reduction motor 62 is mounted on the mounting bracket 40 through the backing plate 61. When the installation is carried out, the surface of the backing plate 61 is fixedly provided with the speed reducing motor 62 for supporting and installing the speed reducing motor 62,

as shown in fig. 3, in order to have a lighting function, in the technical solution of this embodiment, the wall-climbing robot further includes a light supplement lamp 70, and the light supplement lamp 70 is installed on the mounting frame 40. During the use, the illumination that wall climbing robot passes through light filling lamp 70 in the advancing process can be clear provides the luminance of shooing for image collector 64, is convenient for simultaneously observe the direction of advancing, bypasses the barrier, realizes independently dodging.

In order to supply power and transmit information, as shown in fig. 3, in the solution of the present embodiment, the mounting bracket 40 is mounted on the front side of the robot main body 10, and the power supply interface 80 and the communication interface 90 are mounted on the rear side of the robot main body 10. The power supply interface 80 can realize power supply by adopting an active cable, so that the power requirement of the system is met; the communication interface 90 is connected with a wired communication cable meeting the communication requirement, so that the long-term stable operation of the communication system is met.

In addition to the above structure, as shown in fig. 1, a central console 20 is installed at the top of the robot main body 10, the crawler belts 30 are installed on both sides of the wall-climbing robot, a mounting frame 40 is fixedly installed in the middle of the front end of the wall-climbing robot, a wall surface detector 55 and an image collector 64 are fixedly installed at the front end of the mounting frame 40, the wall surface detector 55 is used for detecting the thickness of the inner wall of the flue, detected data are transmitted to the central console and are finally transmitted to a control terminal through a communication interface 90, and data records are provided for operators.

In the present embodiment, the wall surface detector 55, the rotary driving member 56, the decelerating motor 62, the image collector 64, and the light supplement lamp 70 are all electrically connected to the central console 20, the central console 20 is electrically connected to the communication interface 90, and the communication interface 90 and the power supply interface 80 are all electrically connected to the external power source. When the wall surface detector is used specifically, after the communication interface 90 and the power supply interface 80 are connected with an external power supply, the central console 20 is powered on and then operates, the rotary driving piece 56 and the speed reducing motor 62 are controlled to operate to drive the wall surface detector 55 and the image collector 64 to collect data, the detected data are transmitted to the central console 20 and finally transmitted to the control terminal through the communication interface 90, and data records are provided for operators.

Compared with the prior art, the utility model has the beneficial effects that:

1. through the wall surface detector 55, the surface of the slide rail 51 arranged at the front end of the mounting rack is connected with the slide seat 52 in a sliding manner, the bottom of the slide seat 52 is fixedly connected with a connecting plate for mounting the wall surface detector 55, the distance between the detection end of the wall surface detector 55 and the flue is 3-5mm for detecting the thickness of the inner wall of the flue, the detection data is transmitted to the central console and is finally transmitted to the control terminal through the communication interface 90, and data record is provided for operators;

2. through the image collector 64 that is equipped with, install the backing plate 61 at the mount frame top and be used for supporting gear motor 62, gear motor 62 rotates the rotation support 63 that drives output end fixed connection and follows the rotation, rotation support 63 rotates the image collector 64 that drives the top installation and follows the rotation, thereby image and picture are shot to the dust distribution of flue inner wall through image collector 64, the picture of shooing passes through central control console and conveys communication interface 90, and finally convey control terminal, be convenient for master the inside situation of flue.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A wall climbing robot including a robot main body (10) and a wall surface detector (55), characterized by comprising:

a mounting frame (40) provided on the robot main body (10);

a rail assembly mounted on the mounting bracket (40), the wall detector (55) being mounted on the rail assembly;

and the connecting rod driving assembly is mounted on the mounting frame (40), is in driving connection with the wall surface detector (55), and is used for driving the wall surface detector (55) to reciprocate on the sliding rail assembly.

2. The wall-climbing robot of claim 1, wherein the slide rail assembly comprises:

a slide rail (51) extending along the width direction of the robot main body (10) and provided on the mounting frame (40);

the sliding seat (52) is slidably mounted on the sliding rail (51), the wall surface detector (55) is mounted on the sliding seat (52), and the connecting rod driving assembly is in driving connection with the sliding seat (52).

3. The wall-climbing robot of claim 2, wherein the link drive assembly comprises:

the rotary driving piece (56) is fixedly arranged on the mounting rack (40);

a drive link (57), a first end of the drive link (57) being connected to the rotary drive (56);

a driven connecting rod (58), wherein a first end of the driven connecting rod (58) is hinged with a second end of the driving connecting rod (57), and a second end of the driven connecting rod (58) is hinged with the sliding seat (52).

4. A wall climbing robot according to claim 3, characterized in that the rotational drive (56) is a motor and the drive link (57) is a cam mounted on an output shaft of the motor.

5. A wall climbing robot according to claim 2, characterized in that the slide shoe (52) is provided with a connection plate (54), and the wall detector (55) is mounted on the slide shoe (52) via the connection plate (54).

6. The wall climbing robot according to claim 1, further comprising an image collector (64) and a rotating mechanism, wherein the image collector (64) is mounted on the mounting frame (40) through the rotating mechanism.

7. A wall-climbing robot as claimed in claim 6, characterized in that the rotating mechanism comprises a gear motor (62) and a rotating bracket (63), the rotating bracket (63) being mounted at the output of the gear motor (62), the image collector (64) being mounted on the rotating bracket (63).

8. A wall-climbing robot as claimed in claim 7, characterized in that the rotating mechanism further comprises a backing plate (61), the gear motor (62) being mounted on the mounting frame (40) by means of the backing plate (61).

9. The wall climbing robot according to claim 1, further comprising a light supplement lamp (70), wherein the light supplement lamp (70) is mounted on the mounting frame (40).

10. Wall-climbing robot according to claim 1, characterized in that the mounting frame (40) is mounted at the front side of the robot body (10), and the power supply interface (80) and the communication interface (90) are mounted at the rear side of the robot body (10).