CN217805011U - Lightweight negative-pressure wall-climbing robot for detecting bridge diseases - Google Patents
Lightweight negative-pressure wall-climbing robot for detecting bridge diseases Download PDFInfo
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- CN217805011U CN217805011U CN202222367916.3U CN202222367916U CN217805011U CN 217805011 U CN217805011 U CN 217805011U CN 202222367916 U CN202222367916 U CN 202222367916U CN 217805011 U CN217805011 U CN 217805011U
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Abstract
The utility model relates to a lightweight negative pressure wall climbing robot for bridge disease detection, which comprises a negative pressure cavity, a brushless motor, an impeller supporting plate, a flow guide cover, a flexible sealing skirt, a driving module and a control module; the negative pressure cavity is of a thin-wall shell structure with an opening at the lower end, the center of the negative pressure cavity is provided with an air hole, the bottom of the negative pressure cavity is provided with a splayed reinforcing rib and a linear reinforcing rib, the splayed reinforcing rib comprises two arc-shaped ribs which are symmetrically distributed at the bottom of the negative pressure cavity by taking the center line of the negative pressure cavity as a symmetry axis, and the linear reinforcing rib is positioned below the splayed reinforcing rib; the flexible sealing skirt is positioned at the lower part of the side wall of the negative pressure cavity, the air guide sleeve is installed on the negative pressure cavity, the impeller supporting plate is installed on the air guide sleeve, the impeller and the brushless motor are respectively installed at the bottom and the top of the impeller supporting plate, and the output shaft of the brushless motor penetrates through the impeller supporting plate to be connected with the impeller. The rigidity of the negative pressure cavity is improved by the reinforcing ribs, so that the wall thickness of the negative pressure cavity can be properly reduced, the negative pressure cavity is made of lighter materials, and the lightweight of the robot is realized.
Description
Technical Field
This use is novel belongs to bridge disease check out test set technical field, specifically is a lightweight negative pressure wall climbing robot for bridge disease detects.
Background
The defects of cracking, rusting and the like of the wall surface of the bridge seriously affect the durability of the structure and bring certain hidden danger to the safety of the bridge. In order to accurately detect the above-mentioned diseases, bridge detection is necessary. However, in practical engineering, in regions such as high piers and beam bottoms in the river and sea canyons, detection personnel are usually difficult to reach, so that detection dead corners can appear in bridge detection, comprehensive and accurate judgment on bridge health is not facilitated, and the problem of manual detection can be solved by means of the wall climbing robot.
Most of the existing wall climbing robots adopt a magnetic adsorption mode, and the magnetic adsorption wall climbing robot can only adsorb on a magnetic conduction wall surface and cannot be applied to a concrete wall surface. And a few negative pressure adsorption wall-climbing robots, such as window-cleaning robots, have poor adaptability to curved walls (such as curved piers) due to poor deformation capability of sealing devices. In addition, the dead weight of existing wall climbing robot is great, and adsorption structure burden is heavy, and its reason lies in: on one hand, in order to avoid the large deformation of the robot body during the operation of the robot, the wall thickness of each stress component is often large; on the other hand, the material of the negative pressure cavity is usually a metal material with higher strength, the density is higher, the self weight is increased, and the requirement on the performance of negative pressure adsorption is higher.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model discloses the technical problem who plans to solve provides a lightweight negative pressure wall climbing robot for bridge disease detects.
In order to achieve the above purpose, the utility model provides a technical scheme as follows:
a lightweight negative-pressure wall-climbing robot for bridge disease detection comprises a negative-pressure cavity, a brushless motor, an impeller supporting plate, a flow guide cover, a flexible sealing skirt, a driving module and a control module; the negative pressure cavity is of a thin-wall shell structure with an opening at the lower end, the center of the negative pressure cavity is provided with an air hole, the bottom of the negative pressure cavity is provided with a splayed reinforcing rib and a linear reinforcing rib, the splayed reinforcing rib comprises two arc-shaped ribs which are symmetrically distributed at the bottom of the negative pressure cavity by taking the center line of the negative pressure cavity as a symmetry axis, the linear reinforcing rib is positioned below the splayed reinforcing rib, and the linear reinforcing rib is vertical to the symmetry axis of the two arc-shaped ribs;
the flexible sealing skirt is arranged at the lower part of the side wall of the negative pressure cavity in a surrounding manner, the air guide sleeve is installed on the negative pressure cavity, the center of the air guide sleeve is provided with an air hole, the peripheral side wall of the air guide sleeve is provided with a hollow structure, the impeller supporting plate is installed on the air guide sleeve, the impeller and the brushless motor are respectively installed at the bottom and the top of the impeller supporting plate, the output shaft of the brushless motor penetrates through the impeller supporting plate to be connected with the impeller, the air inlet of the impeller and the air hole of the negative pressure cavity are opposite to the air hole of the air guide sleeve, and the air outlet of the impeller faces the hollow structure on the side wall of the air guide sleeve; the driving module is used for walking of the robot, and the control module is connected with the brushless motor and the driving module.
Furthermore, the included angle between the upper half part of each arc rib and the horizontal direction is 80 degrees, the included angle between the lower half part of each arc rib and the horizontal direction is 40 degrees, the bending angle between the upper half part and the lower half part of each arc rib is 135 degrees, and the distance between the upper end parts of the two arc ribs is 20mm; the linear reinforcing rib comprises an upper rib and a lower rib, the distance between the upper rib and the central point of the negative pressure cavity is 0.5 time of the radius of the negative pressure cavity, and the distance between the upper rib and the lower rib is 20mm.
Further, the inside of the flexible sealing skirt is filled with absorbent cotton; an annular boss is arranged around the inner side of the side wall of the negative pressure cavity, and a gum brush is arranged on the annular boss.
Furthermore, the negative pressure cavity is bowl-shaped, is made of ABS photosensitive resin, and has a diameter of 25cm and a wall thickness of 1mm.
Further, the driving module comprises a direct current speed reducing motor, a driving wheel and a universal wheel; two sides of the negative pressure cavity are respectively connected with driving wheels, and each driving wheel is connected with an output shaft of a respective direct current speed reducing motor; the rear center of the negative pressure cavity is connected with a universal wheel.
Furthermore, the control module comprises a controller, an electronic speed regulator, a motor driving module, a power module and a communication module; the electronic speed regulator is connected with the brushless motor, the motor driving module is connected with the direct current speed reduction motor, the controller is respectively connected with the electronic speed regulator, the motor driving module and the communication module, and the power supply module is respectively connected with the electronic speed regulator and the motor driving module.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses with drive structure direct mount on the negative pressure cavity, saved components such as bottom plate to eight style of calligraphy stiffening ribs and linear type stiffening rib have been designed to the negative pressure cavity through topological optimization, have improved the rigidity of negative pressure cavity, make the wall thickness of negative pressure cavity can suitably reduce and adopt the material preparation of lighter, realized the lightweight of robot. The flexible sealing skirt is used as a sealing structure between the negative pressure cavity and the wall surface to be adsorbed, the sealing performance is guaranteed, meanwhile, the deformation capacity of the sealing structure is improved, the wall surface adaptability of the sealing structure is improved, and the flexible sealing skirt can adapt to curved wall surfaces such as cylindrical piers. The flexible sealing skirt has low overall rigidity and cannot transmit the supporting force from the wall surface, so that the supporting force of the wall surface on the wheel is larger under the condition of the same adsorption force, the friction force between the wheel and the wall surface is increased along with the increase of the supporting force, and the possibility of wheel idling is reduced.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a structural diagram of the bottom of the negative pressure chamber of the present invention;
fig. 3 is a connection diagram of the dc gear motor and the driving wheel of the present invention;
fig. 4 is a schematic view of the position of the impeller and the air guide sleeve of the present invention;
FIG. 5 is a dimension chart of the splay-shaped reinforcing rib and the linear reinforcing rib of the present invention;
fig. 6 is a cross-sectional view of a flexible sealing skirt of the present invention;
FIG. 7 is a schematic diagram of a control module of the present invention;
in the figure: 1. a negative pressure cavity; 2. a DC gear motor; 3. a drive wheel; 4. a universal wheel; 5. a brushless motor; 6. an impeller; 7. a flexible sealing skirt; 8. a control module; 9. a drive wheel mounting frame; 10. a universal wheel mounting bracket; 11. a coupling; 12. a pod; 13. an impeller support plate; 14. absorbent cotton; 15. a gum brush;
101. a reinforcing rib shaped like Chinese character 'ba'; 102. linear reinforcing ribs; 103. an annular boss; 801. a controller; 802. an electronic governor; 803. a motor drive module; 804. a power supply module; 805. and a communication module.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying examples and drawings, without limiting the scope of the invention.
The utility model relates to a lightweight negative pressure wall climbing robot (refer to wall climbing robot for short, see fig. 1-7) for bridge disease detection, which comprises a negative pressure cavity 1, a direct current speed reducing motor 2, a driving wheel 3, a universal wheel 4, a brushless motor 5, an impeller 6, an impeller supporting plate 13, a flow guide cover 15, a flexible sealing skirt 7 and a control module 8;
the negative pressure cavity 1 is of a thin-wall shell structure with an opening at the lower end, and an air hole is formed in the center; in order to improve the strength of the negative pressure cavity 1 and realize the light weight of the robot, the bottom of the negative pressure cavity 1 is provided with a splayed reinforcing rib 101 and a linear reinforcing rib 102, the splayed reinforcing rib 101 is composed of two arc-shaped ribs, the two arc-shaped ribs are symmetrically distributed at the bottom of the negative pressure cavity 1 by taking the central line of the negative pressure cavity 1 as a symmetry axis, the linear reinforcing rib 102 is positioned below the splayed reinforcing rib 101, and the linear reinforcing rib 102 is perpendicular to the symmetry axes of the two arc-shaped ribs.
Two sides of the negative pressure cavity 1 are respectively connected with driving wheels 3 through driving wheel mounting frames 9, each driving wheel 3 is respectively and fixedly connected with an output shaft of each direct current speed reducing motor 2 through a coupler 11, and each direct current speed reducing motor 2 is fixedly connected to the corresponding driving wheel mounting frame 9; the center position of the rear side of the negative pressure cavity 1 is connected with a universal wheel 4 through a universal wheel mounting frame 10, two direct current speed reducing motors 2 drive respective driving wheels 3 to rotate, and the universal wheel 4 moves in a following manner to realize the walking of the robot; when the rotating speeds of the driving wheels 3 on the two sides are the same, the robot can walk linearly; when the rotating speeds of the driving wheels 3 on the two sides are different, the robot can turn to the side with the smaller rotating speed; when one side driving wheel 3 rotates and the other side driving wheel 3 is static, the robot makes circular motion by taking the static driving wheel 3 as the center of a circle.
The flexible sealing skirt 7 is arranged at the lower part of the side wall of the negative pressure cavity 1 in a surrounding way, and the lower edge of the flexible sealing skirt 7 is slightly lower than that of the negative pressure cavity 1; the air guide sleeve 12 is arranged at the center of the negative pressure cavity 1, an air hole is also formed in the center of the air guide sleeve 12, hollow structures are formed in the peripheral side wall of the air guide sleeve 12, the impeller supporting plate 13 is fixed on the air guide sleeve 12, the impeller 6 and the brushless motor 5 are fixedly arranged at the bottom and the top of the impeller supporting plate 13 respectively, the output shaft of the brushless motor 5 penetrates through the impeller supporting plate 13 to be connected with the impeller 6, the air inlet of the impeller 6 is opposite to the air hole of the negative pressure cavity 1 and the air hole of the air guide sleeve 12, and the air outlet of the impeller 6 faces the hollow structures in the side wall of the air guide sleeve 12; the brushless motor 5 drives the impeller 6 to rotate, so that air flow flows in from the flexible sealing skirt 7, flows out from the hollow structure on the side wall of the air guide sleeve 12 through the air hole of the negative pressure cavity 1, the air hole of the air guide sleeve 12 and the air inlet of the impeller 6, and forms negative pressure difference with the external environment, and negative pressure walking of the robot is achieved.
The direct current speed reducing motor 2 and the brushless motor 5 are both connected with the control module 8.
In order to realize the light weight of the robot, the optimal structure setting of the negative pressure cavity 1 is obtained through topology optimization, namely the negative pressure cavity 1 is bowl-shaped, the diameter is 25cm, and the wall thickness is 1mm. Two driving wheels 3 and a universal wheel 4 are uniformly arranged on the side wall of the bowl-shaped negative pressure cavity 1 in a circumferential mode, so that the included angle between every two adjacent wheels is 120 degrees, the distance between the driving wheels 3 on the two sides is about 25cm, and the minimum turning radius of the robot is 25cm. The negative pressure cavity 1, the air guide sleeve 12 and the impeller supporting plate 13 are all made of ABS photosensitive resin through 3D printing, and the impeller negative pressure cavity has the characteristics of small density, good surface smoothness and the like. As shown in fig. 5, the angle θ between the upper half of the arc rib and the horizontal direction 1 About 80 deg., and the angle theta between the lower half and the horizontal 2 About 40 DEG, and the bending angle theta between the upper half part and the lower half part of the arc rib 3 About 135 deg., and the distance d between the upper end portions of the two arc-shaped ribs 1 About 20mm; the linear reinforcing rib 102 includes an upper sub-rib and a lower sub-rib, and a distance d between the upper sub-rib and a central point of the negative pressure chamber 1 3 About 0.5 times of the radius of the negative pressure cavity 1, and the distance d between the upper sub-rib and the lower sub-rib 2 About 20mm; arc rib, last rib and lower rib have all carried out the fretwork and have handled, have guaranteed the inside aerodynamic performance of negative pressure cavity 1, have further alleviateed negative pressure cavity 1's whole weight simultaneously, realize the robot lightweight.
The flexible sealing skirt 7 is made of glass fiber cloth, the plasticity and the wear resistance are good, and a small amount of absorbent cotton 14 is filled in the flexible sealing skirt 7 to enhance the air resistance. The peripheral side wall of the negative pressure cavity 1 is provided with the annular boss 103, the annular boss 103 is adhered with the gum brush 15, the gum brush 15 uses the sealing wool tops produced by 3M company, the gum is adhered on the annular boss 103 through the gum in the belt, the sealing performance of the flexible sealing skirt 7 is further enhanced, and the negative pressure effect of the robot is ensured.
The model of the direct current speed reducing motor 2 is JGB37-520, the coupler 11 is a 6mm copper hexagonal coupler, the driving wheel 3 is a 65mm rubber wheel, and the brushless motor 5 is a Langyu 2216 rear-shaft-out brushless motor.
The control module 8 comprises a controller 801, an electronic speed regulator 802, a motor driving module 803, a power supply module 804 and a communication module 805; the controller 801 is of the type Atmega328P; the electronic speed regulator 802 adopts electric regulation by a person who is happy and brushless, the rated current is 40A, the model of the motor driving module 803 is ZK-5AD, and two paths of motors can be independently controlled; the communication module 805 is HC-06 in model number, and can implement communication between the controller 801 and an upper computer. In this embodiment, pin No. 2 of the controller 801 is connected to a TX pin of the communication module 805; the pin 3 of the controller 801 is connected with the RX pin of the communication module 805 through a voltage divider circuit; pins 5, 11, 12 and 16 of the controller 801 are connected with pins D0, D1, D2 and D3 of the motor driving module 803; a No. 7 pin of the controller 801 is connected with VCC pins of the electronic speed regulator 802, the motor driving module 803 and the communication module 805; a No. 8 pin of the controller 801 is connected with GND pins of the electronic speed regulator 802, the motor driving module 803 and the communication module 805 respectively; pin 15 of the controller 801 is connected with the PWM pin of the electronic governor 802; the + and-interfaces of the power module 804 are respectively connected with the + and-interfaces of the electronic speed regulator 802 and the motor driving module 803; the output interface of the electronic speed regulator 802 is connected with the brushless motor 5; the output interface of the motor driving module 803 is connected to the dc speed-reducing motor 2.
The utility model discloses a theory of operation and working process do:
firstly, the flexible sealing skirt 7 is smoothed out, so that the lower edge of the flexible sealing skirt 7 exceeds the lower edge of the negative pressure cavity 1; the robot is placed on the wall surface of the bridge, and the flexible sealing skirt 7 is automatically attached to the wall surface of the bridge due to compression deformation; secondly, the upper computer sends an instruction to the controller 801 through the communication module 805, after the controller 801 receives the instruction, the electronic speed regulator 802 drives the brushless motor 5 to rotate, so as to drive the impeller 6 to rotate, air flow flows in from the flexible sealing skirt 7, and flows out from the hollow structure of the side wall of the air guide cover 12 continuously through the air hole of the negative pressure cavity 1, the air hole of the air guide cover 12 and the air inlet of the impeller 6, so that the air pressure in the negative pressure cavity 1 is smaller than the atmospheric pressure of the external environment, and the robot is adsorbed on the wall surface of the bridge. Finally, the controller 801 drives the direct current speed reduction motors 2 through the motor driving module 803, and the two direct current speed reduction motors 2 drive respective driving wheels 3 to rotate, so that the robot walks; when the rotating speeds of the driving wheels 3 on the two sides are the same, the robot can walk linearly; when the rotating speeds of the driving wheels 3 on the two sides are different, the robot can turn to the side with the smaller rotating speed; when one side driving wheel 3 rotates and the other side driving wheel 3 is static, the robot makes circular motion by taking the static driving wheel 3 as the center of a circle. The robot is provided with the detection module, so that the wall surface disease detection can be realized in the robot walking process.
The utility model discloses the part not mentioned is applicable to prior art, and the equal accessible commercial acquisition of related electronic components.
Claims (6)
1. A lightweight negative-pressure wall-climbing robot for bridge disease detection comprises a negative-pressure cavity, a brushless motor, an impeller supporting plate, a flow guide cover, a flexible sealing skirt, a driving module and a control module; it is characterized in that the preparation method is characterized in that,
the negative pressure cavity is of a thin-wall shell structure with an opening at the lower end, an air hole is formed in the center of the negative pressure cavity, a splayed reinforcing rib and a linear reinforcing rib are arranged at the bottom of the negative pressure cavity, the splayed reinforcing rib comprises two arc-shaped ribs which are symmetrically distributed at the bottom of the negative pressure cavity by taking the center line of the negative pressure cavity as a symmetry axis, the linear reinforcing rib is positioned below the splayed reinforcing rib, and the linear reinforcing rib is perpendicular to the symmetry axis of the two arc-shaped ribs;
the flexible sealing skirt is arranged on the lower portion of the side wall of the negative pressure cavity in a surrounding mode, the air guide sleeve is installed on the negative pressure cavity, the center of the air guide sleeve is provided with an air hole, the peripheral side wall of the air guide sleeve is provided with a hollow structure, the impeller supporting plate is installed on the air guide sleeve, the impeller and the brushless motor are installed at the bottom and the top of the impeller supporting plate respectively, the output shaft of the brushless motor penetrates through the impeller supporting plate to be connected with the impeller, the air inlet of the impeller and the air hole of the negative pressure cavity are opposite to the air hole of the air guide sleeve, and the air outlet of the impeller faces the hollow structure on the side wall of the air guide sleeve; the driving module is used for walking of the robot, and the control module is connected with the brushless motor and the driving module.
2. The light negative pressure wall-climbing robot for detecting bridge diseases according to claim 1, wherein an included angle between the upper half part of each arc-shaped rib and the horizontal direction is 80 degrees, an included angle between the lower half part of each arc-shaped rib and the horizontal direction is 40 degrees, a bending angle between the upper half part and the lower half part of each arc-shaped rib is 135 degrees, and a distance between the upper end parts of the two arc-shaped ribs is 20mm; the linear reinforcing rib comprises an upper sub-rib and a lower sub-rib, the distance between the upper sub-rib and the central point of the negative pressure cavity is 0.5 time of the radius of the negative pressure cavity, and the distance between the upper sub-rib and the lower sub-rib is 20mm.
3. The lightweight negative pressure wall-climbing robot for detecting bridge diseases according to claim 1, characterized in that the interior of the flexible sealing skirt is filled with absorbent cotton; an annular boss is arranged around the inner side of the side wall of the negative pressure cavity, and a gum brush is arranged on the annular boss.
4. The light negative pressure wall-climbing robot for detecting the bridge diseases is characterized in that the negative pressure cavity is bowl-shaped, is made of ABS photosensitive resin, and has a diameter of 25cm and a wall thickness of 1mm.
5. The light negative pressure wall climbing robot for detecting the bridge diseases according to any one of claims 1 to 4, wherein the driving module comprises a direct current speed reducing motor, a driving wheel and a universal wheel; two sides of the negative pressure cavity are respectively connected with driving wheels, and each driving wheel is connected with an output shaft of a respective direct current speed reducing motor; the rear center of the negative pressure cavity is connected with a universal wheel.
6. The light negative pressure wall climbing robot for detecting bridge diseases according to claim 1, wherein the control module comprises a controller, an electronic speed regulator, a motor driving module, a power supply module and a communication module; the electronic speed regulator is connected with the brushless motor, the motor driving module is connected with the direct-current speed reduction motor, the controller is respectively connected with the electronic speed regulator, the motor driving module and the communication module, and the power supply module is respectively connected with the electronic speed regulator and the motor driving module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222367916.3U CN217805011U (en) | 2022-09-07 | 2022-09-07 | Lightweight negative-pressure wall-climbing robot for detecting bridge diseases |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222367916.3U CN217805011U (en) | 2022-09-07 | 2022-09-07 | Lightweight negative-pressure wall-climbing robot for detecting bridge diseases |
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| Publication Number | Publication Date |
|---|---|
| CN217805011U true CN217805011U (en) | 2022-11-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222367916.3U Active CN217805011U (en) | 2022-09-07 | 2022-09-07 | Lightweight negative-pressure wall-climbing robot for detecting bridge diseases |
Country Status (1)
| Country | Link |
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| CN (1) | CN217805011U (en) |
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2022
- 2022-09-07 CN CN202222367916.3U patent/CN217805011U/en active Active
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