CN111483530A - Climbing robot with magnetic force adsorption equipment - Google Patents
Climbing robot with magnetic force adsorption equipment Download PDFInfo
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- CN111483530A CN111483530A CN201910078679.9A CN201910078679A CN111483530A CN 111483530 A CN111483530 A CN 111483530A CN 201910078679 A CN201910078679 A CN 201910078679A CN 111483530 A CN111483530 A CN 111483530A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 119
- 230000009194 climbing Effects 0.000 title claims abstract description 65
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 230000000712 assembly Effects 0.000 description 17
- 238000000429 assembly Methods 0.000 description 17
- 238000000034 method Methods 0.000 description 5
- 241001465754 Metazoa Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000002156 adsorbate Substances 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 241000446313 Lamella Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
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- 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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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a climbing robot with a magnetic adsorption device, which comprises a control device, a robot body, a first slide block, a second slide block and the magnetic adsorption device, wherein the robot body is a structure frame in a shape of Chinese character 'ri' consisting of four longitudinal cylinders and three transverse cylinders, connecting pieces connected with the longitudinal cylinders are arranged at two ends of the transverse cylinders arranged in the middle, and the upper end and the lower end of each connecting piece are respectively connected with the bottoms of the longitudinal cylinders arranged at the upper side and the tops of the longitudinal cylinders arranged at the lower side; a first sliding block is connected to each longitudinal cylinder, a first connecting plate connected with the transverse cylinder is arranged at one end, away from the longitudinal cylinder, of each first sliding block, a second sliding block is connected to each transverse cylinder, a second connecting plate is connected to one end, away from the transverse cylinder, of each second sliding block, a third connecting plate connected with the first sliding block is connected to one end of each transverse cylinder, and magnetic adsorption devices are connected to the second connecting plate, the third connecting plate and the connecting piece; a first piston for driving the first sliding block is arranged in the longitudinal cylinder, and a second piston for driving the second sliding block is arranged in the transverse cylinder.
Description
Technical Field
The invention relates to the technical field of climbing robots, in particular to a climbing robot with a magnetic adsorption device.
Background
Wind power generation is used as a renewable clean energy source, the wind power generation system is widely popularized in all countries in the world in recent years, a wind power generator is used as main equipment in a wind power generation system, maintenance of a wind turbine generator, cleaning of a tower drum, an outer ship body of a ship, a steel tank body and detection of fan blades are more and more important, at present, work such as high-altitude cleaning and inspection of steel structures such as the tower drum of the wind power generator and the like is generally operated by a spider man or a hanging basket carrying man, the labor intensity is high, the construction period is long, the maintenance cost is high, and great potential safety hazards exist.
Disclosure of Invention
The climbing robot comprises a climbing robot body, a magnetic force adsorption device, a control center and a controller, wherein the climbing robot body is provided with a fan tower cylinder, the magnetic force adsorption device is used as a grasping device, the fan tower cylinder is fixed on a working position, the fan tower cylinder is unfolded to work, the rodless cylinder is used for moving up and down and steering according to a bionic foot animal crawling principle, the purpose of going to any position of the tower cylinder or other adsorbable objects is achieved, the climbing robot body is simple in structure, the self weight of the robot body is greatly reduced, the climbing robot body works flexibly and conveniently, the controller is controlled and works by sending an instruction through the control center, the whole process is automatic, manpower is completely replaced, the problems of potential safety hazards, long period, low efficiency and the like in the manual working process are effectively avoided, and the climbing robot body has a very practical value.
In order to solve the technical problems, the invention provides the following technical scheme: a climbing robot with a magnetic adsorption device comprises a control device, a robot body, a first sliding block, a second sliding block and the magnetic adsorption device, wherein the robot body is a structure frame in a shape of Chinese character 'ri' consisting of four longitudinal cylinders and three transverse cylinders, the four longitudinal cylinders are arranged in parallel in pairs, the three transverse cylinders are arranged in parallel, connecting pieces connected with the longitudinal cylinders are arranged at two ends of the transverse cylinder arranged in the middle, and the upper end and the lower end of each connecting piece are respectively connected to the bottoms of the longitudinal cylinders arranged at the upper side and the tops of the longitudinal cylinders arranged at the lower side; the first sliding block is connected to each longitudinal cylinder, a first connecting plate connected with the transverse cylinder is arranged at one end, away from the longitudinal cylinder, of the first sliding block, the second sliding block is connected to each transverse cylinder, a second connecting plate is connected to one end, away from the transverse cylinder, of the second sliding block, a third connecting plate connected with the first sliding block is connected to one end of the transverse cylinder, and the magnetic adsorption devices are connected to the second connecting plate, the third connecting plate and the connecting piece; the pneumatic rotary device is characterized in that a first piston for driving the first sliding block to move up and down is arranged in the longitudinal cylinder, a second piston for driving the second sliding block to move left and right is arranged in the transverse cylinder, air sources are connected to the longitudinal cylinder, the transverse cylinder and the pneumatic rotary device respectively, the control device is connected to one side of the longitudinal cylinder, and the control device is connected with the longitudinal cylinder, the transverse cylinder and the magnetic adsorption device in a control mode respectively.
Foretell climbing robot with magnetic adsorption device, wherein, controlling means include the control box and set up in inside controller, the valve island of control box, the control box connect in indulge one side of jar, the air supply with the valve island is connected, be equipped with on the valve island respectively with indulge the jar violently the jar trachea that pneumatic circulator is connected, control respectively the connection the valve island indulge the jar violently the jar magnetic adsorption device.
The climbing robot with the magnetic adsorption device is characterized in that the control box is connected to the two longitudinal cylinders on the upper side or the two longitudinal cylinders on the lower side.
The climbing robot with the magnetic adsorption device is characterized in that a support connected with the third connecting plate is arranged at any one end of two ends of the transverse cylinder.
The climbing robot with the magnetic adsorption device is characterized in that the transverse cylinders on the upper side and the lower side are respectively provided with a fixing rod connected with the end points of the longitudinal cylinders, and the side, deviating from the connecting piece, of each transverse cylinder is provided with a fixing rod connected with the end points of the longitudinal cylinders.
The climbing robot with the magnetic adsorption device comprises a push-pull assembly and a magnetic adsorption assembly, wherein the push-pull assembly comprises a push-pull cylinder, an intermediate plate and a fixing flange, the magnetic adsorption assembly comprises a pneumatic rotator, a permanent magnet, a magnetizer and an outer hexagonal cylinder, a push-pull rod inside the push-pull cylinder is connected with the intermediate plate in a driving mode, a connecting rod connected with the fixing flange is arranged on the intermediate plate, a sphere connected with the connecting rod is arranged inside the fixing flange, one side, away from the connecting rod, of the fixing flange is connected with the magnetizer through a bolt, a connecting flange connected with the pneumatic rotator is arranged on the magnetizer, a fixing groove for placing the permanent magnet is formed inside the magnetizer, a hexagonal through hole for placing the hexagonal cylinder is formed inside the permanent magnet, and a rotating shaft inside the pneumatic rotator extends out of the pneumatic rotator and penetrates through the connecting flange and the hexagonal through Connecting the corner columns;
the magnetizer is fixedly connected with two symmetrically arranged magnetizer shells, and an aluminum sheet is connected between the two magnetizer shells;
the controller is respectively connected with the push-pull cylinder and the pneumatic rotator in a control mode.
The climbing robot with the magnetic adsorption device is characterized in that the connecting piece is provided with a fixing plate connected with the push-pull cylinder, the push-pull cylinder is connected to one side of the fixing plate, and two connecting grooves are symmetrically formed in one side, deviating from the fixing plate, of the connecting piece.
The climbing robot with the magnetic adsorption device is characterized in that three push-pull rods connected with the middle plate are arranged inside the push-pull cylinder.
Foretell climbing robot with magnetic force adsorption equipment, wherein, be equipped with two connections on the intermediate lamella flange the connecting rod, the inside matching that is equipped with of flange two of connecting rod the spheroid.
The climbing robot with the magnetic adsorption device is characterized in that the two spheres are arranged up and down.
According to the technical scheme provided by the climbing robot with the magnetic adsorption device, the climbing robot has the advantages that: through magnetic force adsorption equipment as promptly device, adsorb the climbing robot on fan tower section of thick bamboo and fix and expand functional work at the operating position, utilize the bionic sufficient animal of rodless cylinder to creep the principle about going on, turn to the removal, reach the purpose of going to the optional position of a tower section of thick bamboo or other adsorbable objects, moreover, the steam generator is simple in structure, greatly reduced the self weight of robot, make nimble convenience when working, send the instruction through control center and realize control and work to the controller, whole automatic work, the manpower has been replaced completely, also effectively avoided the potential safety hazard in the manpower working process, the cycle length, the inefficiency scheduling problem, has very practical value, and the steam generator is simple in structure, and is suitable for use
Drawings
FIG. 1 is a schematic view of a climbing robot provided with a magnetic force adsorption device according to the present invention in a use state;
FIG. 2 is a schematic structural view of a climbing robot provided with a magnetic force adsorption device according to the present invention;
FIG. 3 is a second state diagram of the climbing robot with a magnetic force adsorption device according to the present invention;
FIG. 4 is a schematic structural view of a climbing robot with a magnetic force adsorption device, in which a push-pull cylinder is connected to a second connecting plate;
FIG. 5 is a schematic structural view of a climbing robot with a magnetic force adsorption device, in which a push-pull cylinder is connected to a third connecting plate;
FIG. 6 is a schematic structural view of a magnetic force adsorption assembly in the climbing robot provided with the magnetic force adsorption device according to the present invention;
FIG. 7 is a schematic diagram of an internal structure of a magnetic force adsorption assembly of the climbing robot with the magnetic force adsorption device according to the present invention;
FIG. 8 is a schematic structural view of a working principle of a magnetic force adsorption assembly in the climbing robot provided with the magnetic force adsorption device according to the present invention;
FIG. 9 is a schematic structural view of a working principle of a magnetic force adsorption assembly in the climbing robot provided with the magnetic force adsorption device according to the present invention;
fig. 10 is a schematic structural diagram of a connecting piece in a climbing robot provided with a magnetic force adsorption device.
Wherein the reference numbers are as follows: the robot comprises a control device 101, a robot body 102, a push-pull assembly 103, a magnetic adsorption assembly 104, a longitudinal cylinder 201, a transverse cylinder 202, a fixed rod 203, a push-pull cylinder 204, a connecting piece 205, a first sliding block 206, a second sliding block 207, a first connecting plate 208, a second connecting plate 209, a third connecting plate 210, a bracket 211, an intermediate plate 301, a fixed flange 302, a pneumatic rotator 303, a magnetizer 304, a push-pull rod 305, a connecting rod 306, a connecting flange 307, a sphere 308, an aluminum sheet 401, a permanent magnet 501, an outer hexagonal cylinder 502, a rotating shaft 503, a magnetic conductive shell 601, a fixed plate 701 and a connecting groove 702.
Detailed Description
In order to make the technical means, the characteristics, the purposes and the functions of the invention easy to understand, the invention is further described with reference to the specific drawings.
The climbing robot comprises a magnetic force adsorption device, a fan tower cylinder, a rodless cylinder, a controller, a control center and a controller, wherein the magnetic force adsorption device is arranged on the fan tower cylinder, the controller is connected with the controller through a connecting rod, the controller is connected with the magnetic force adsorption device, the controller is connected with the controller through a connecting rod, and the controller is connected with the controller through a connecting rod.
As shown in fig. 1-2, a climbing robot with a magnetic adsorption device, wherein the climbing robot comprises a control device 101, a robot body 102, a first slider 206, a second slider 207, and a magnetic adsorption device, the robot body 102 is a structure frame in a shape of a Chinese character ri consisting of four longitudinal cylinders 201 and three transverse cylinders 202, the four longitudinal cylinders 201 are arranged in parallel in pairs, the three transverse cylinders 202 are arranged in parallel, connecting pieces 205 connected to the longitudinal cylinders 201 are arranged at two ends of the transverse cylinder 202 arranged in the middle, and the upper and lower ends of the connecting pieces 205 are respectively connected to the bottom of the longitudinal cylinder 201 arranged at the upper side and the top of the longitudinal cylinder 201 arranged at the lower side; a first sliding block 206 is connected to each longitudinal cylinder 201, a first connecting plate 208 connected with the transverse cylinder 202 is arranged at one end, away from the longitudinal cylinder 201, of the first sliding block 206, a second sliding block 207 is connected to each transverse cylinder 202, a second connecting plate 209 is connected to one end, away from the transverse cylinder 202, of the second sliding block 207, a third connecting plate 210 connected with the first sliding block 206 is connected to one end of the transverse cylinder 202, and magnetic adsorption devices are connected to the second connecting plate 209, the third connecting plate 210 and the connecting piece 205; the vertical cylinder 201 is internally provided with a first piston for driving the first sliding block 206 to move up and down, the horizontal cylinder 202 is internally provided with a second piston for driving the second sliding block 207 to move left and right, the vertical cylinder 201, the horizontal cylinder 202 and the pneumatic rotator 303 are all externally connected and provided with air sources, the control device 101 is connected to one side of the vertical cylinder 201, and the control device 101 is respectively connected with the vertical cylinder 201, the horizontal cylinder 202 and the magnetic adsorption device in a control mode.
The climbing robot with the magnetic adsorption device provided by the embodiment adopts a control device 101 which comprises a control box and a controller and a valve island which are arranged inside the control box, wherein the control box is connected to one side of a longitudinal cylinder 201, an air source is connected with the valve island, the valve island is provided with an air pipe which is respectively connected with the longitudinal cylinder 201, a transverse cylinder 202 and a pneumatic rotator 303, and the control is respectively connected with the valve island, the longitudinal cylinder 201, the transverse cylinder 202 and the magnetic adsorption device.
The climbing robot provided with the magnetic force adsorption device provided by the embodiment adopts a control box connected to two vertical cylinders 201 on the upper side or two vertical cylinders 201 on the lower side.
As shown in fig. 3, in the climbing robot provided with the magnetic force adsorption device according to this embodiment, a bracket 211 connected to a third connecting plate 210 is disposed at any one of two ends of a horizontal cylinder 202.
According to the climbing robot with the magnetic adsorption device provided by the embodiment, the fixing rods 203 connected with the end points of the longitudinal cylinders 201 are respectively arranged on the sides, deviating from the connecting piece 205, of the transverse cylinders 202 on the upper side and the lower side of the climbing robot.
As shown in fig. 4-7, in the climbing robot with a magnetic adsorption device provided in this embodiment, the magnetic adsorption device includes a push-pull assembly 103 and a magnetic adsorption assembly 104, the push-pull assembly 103 includes a push-pull cylinder 204, an intermediate plate 301 and a fixing flange 302, the magnetic adsorption assembly 104 includes a pneumatic rotator 303, a permanent magnet 501, a magnetizer 304 and an outer hexagonal cylinder 502, a push-pull rod 305 inside the push-pull cylinder 204 is connected to the intermediate plate 301 in a driving manner, a connecting rod 306 connected to the fixing flange 302 is disposed on the intermediate plate 301, a sphere 308 connected to the connecting rod 306 is disposed inside the fixing flange 302, one side of the fixing flange 302 away from the connecting rod 306 is connected to the magnetizer 304 through a bolt, a connecting flange 307 connected to the pneumatic rotator 303 is disposed on the magnetizer 304, a fixing groove for placing the permanent magnet 501 is disposed inside the magnetizer 304, a hexagonal through hole for placing the hexagonal cylinder is, a rotating shaft 503 in the pneumatic rotator 303 extends out of the pneumatic rotator 303 and penetrates through a connecting flange 307 to be connected with the hexagonal cylinder;
the magnetizer 304 is fixedly connected with two symmetrically arranged magnetizer shells 601, and aluminum sheets 401 are connected between the two magnetizer shells 601;
the controller respectively controls and connects the push-pull cylinder 204 and the pneumatic rotator 303.
The working principle of the magnetic adsorption component 104 in the climbing robot provided by the embodiment is as follows: as shown in fig. 8, the initial state is an unadsorbed state, at this time, the N-level and the S-level of the permanent magnet 501 are respectively close to the two aluminum sheets 401, the two levels of the permanent magnet 501 respectively form a closed loop with the two magnetic conductive shells 601, and there is no adsorption force on the adsorbate at the working position, as shown in fig. 9, the pneumatic rotator 303 is driven to rotate to drive the hexagonal cylinder to rotate so as to drive the permanent magnet 501 to rotate 90 degrees, so that the two levels of the permanent magnet 501 and the adsorbate form a closed loop to generate an adsorption force to be adsorbed on the adsorba.
As shown in fig. 10, in the climbing robot with a magnetic force adsorption device provided in this embodiment, a fixing plate 701 connected with a push-pull cylinder 204 is disposed on a connecting member 205, the push-pull cylinder 204 is connected to one side of the fixing plate 701, and two connecting grooves 702 are symmetrically disposed on one side of the connecting member 205 away from the fixing plate 701.
In the climbing robot with the magnetic adsorption device provided by the embodiment, three push-pull rods 305 connected with the middle plate 301 are arranged inside the push-pull cylinder 204.
The climbing robot with the magnetic force adsorption device provided by the embodiment is characterized in that two connecting rods 306 connected with the fixing flange 302 are arranged on the middle plate 301, and two spheres 308 matched with the connecting rods 306 are arranged inside the fixing flange 302.
The climbing robot with the magnetic force adsorption device provided by the embodiment adopts two spheres 308 which are arranged up and down.
The climbing robot provided with the magnetic force adsorption device provided by the embodiment can move in the following modes when in use:
moving upwards: assuming that all the magnetic adsorption assemblies 104 are in an adsorption state, the magnetic force of the two magnetic adsorption assemblies 104 on the lower lateral cylinder 202 is released, the push-pull cylinder 204 pulls up the two magnetic adsorption assemblies 104 on the lower side, the controller drives the two first pistons on the lower side to drive the first slide block 206 to move upwards so as to drive the lateral cylinder 202 on the lower side to move to one end near the connecting piece 205, and then the push-pull cylinder 204 pushes out and adsorbs the two magnetic adsorption assemblies 104 on the lower side, secondly, the magnetic force of the four magnetic adsorption components 104 at the upper side and the middle side is released simultaneously, the push-pull cylinders 204 at the upper side and the middle side pull up the magnetic adsorption components 104, the controller controls the first piston to work to drive the two longitudinal cylinders 201 at the lower side to move upwards so as to move upwards integrally, then the push-pull cylinders 204 at the upper side and the middle side push out the magnetic adsorption components 104 and adsorb the magnetic adsorption components 104 simultaneously, and finally the two steps are repeated to move upwards;
moving downwards: assuming that all the magnetic force adsorption components 104 are in an adsorption state, contrary to the upward movement, the two magnetic force adsorption components 104 on the upper side move downward first, and then the magnetic force adsorption components 104 on the middle and lower sides move downward;
moving to the left: assuming that all the magnetic adsorption assemblies 104 are in an adsorption state, the magnetic adsorption assemblies 104 on the second sliding blocks 207 on the transverse cylinders 202 on the upper and lower sides release the magnetic force and simultaneously drive the second sliding blocks 207 to move leftwards through the second pistons, the adsorption is performed when the magnetic adsorption assemblies reach the positions, the magnetic adsorption of all the remaining air cylinders is released, the controller controls the second pistons to drive the second sliding blocks 207 to slide rightwards on the transverse cylinders 202, so that the whole body moves leftwards, and the adsorption is performed when the magnetic adsorption assemblies reach the positions;
rightward movement: assuming that all the magnetic adsorption components 104 are in an adsorption state, the magnetic adsorption components 104 on the second slider 207 adsorb, and all the remaining magnetic adsorption components 104 release, and the second piston is controlled to drive the second slider 207 to move so as to move the whole to the right, so that the whole moves to the right;
turning and moving: assuming that all the magnetic adsorption assemblies 104 are in an adsorption state, the magnetic forces of the two magnetic adsorption assemblies 104 on the second sliding blocks 207 of the two upper and middle horizontal cylinders 202 are released, the two push-pull cylinders 204 pull up the magnetic adsorption assemblies 104, the controller respectively controls the two second pistons to drive the second sliding blocks 207 to move towards the direction of the bracket 211 by the same distance, then the two push-pull cylinders 204 push out the magnetic adsorption assemblies 104 while the magnetic adsorption assemblies 104 adsorb, then the magnetic forces of the remaining magnetic adsorption assemblies 104 are released simultaneously, the push-pull cylinders 204 pull up the magnetic adsorption assemblies 104, then the two magnetic adsorption assemblies 104 in the adsorption state are driven by the second sliding blocks 207 to move towards one end away from the bracket 211 under the control of the controller, and then the released magnetic adsorption assemblies 104 are pushed out by the push-pull cylinders 204 and adsorb to realize rotation towards the left or the right.
In conclusion, the climbing robot with the magnetic adsorption device can be used as a grasping device to adsorb the climbing robot on a fan tower cylinder and fix the climbing robot at a working position for functional work, the rodless cylinder bionic foot animal crawling principle is utilized for up-and-down and steering movement, the purpose of going to any position of the tower cylinder or other adsorbable objects is achieved, the structure is simple, the self weight of the robot is greatly reduced, the climbing robot is flexible and convenient to work, the controller is controlled and works by sending instructions through the control center, the climbing robot works automatically in the whole process, manpower is completely replaced, the problems of potential safety hazards, long period, low efficiency and the like in the manual working process are effectively avoided, and the climbing robot has a very practical value.
Specific embodiments of the invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; various changes or modifications may be made by one skilled in the art within the scope of the claims without departing from the spirit of the invention, and without affecting the spirit of the invention.
Claims (10)
1. A climbing robot with a magnetic adsorption device is characterized by comprising a control device, a robot body, a first sliding block, a second sliding block and the magnetic adsorption device, wherein the robot body is a structure frame shaped like a Chinese character 'ri' and composed of four longitudinal cylinders and three transverse cylinders, the four longitudinal cylinders are arranged in pairs in parallel, the three transverse cylinders are arranged in parallel, connecting pieces connected with the longitudinal cylinders are arranged at two ends of the transverse cylinder arranged in the middle, and the upper end and the lower end of each connecting piece are respectively connected to the bottoms of the longitudinal cylinders arranged at the upper side and the tops of the longitudinal cylinders arranged at the lower side; the first sliding block is connected to each longitudinal cylinder, a first connecting plate connected with the transverse cylinder is arranged at one end, away from the longitudinal cylinder, of the first sliding block, the second sliding block is connected to each transverse cylinder, a second connecting plate is connected to one end, away from the transverse cylinder, of the second sliding block, a third connecting plate connected with the first sliding block is connected to one end of the transverse cylinder, and the magnetic adsorption devices are connected to the second connecting plate, the third connecting plate and the connecting piece; the pneumatic rotary device is characterized in that a first piston for driving the first sliding block to move up and down is arranged in the longitudinal cylinder, a second piston for driving the second sliding block to move left and right is arranged in the transverse cylinder, air sources are connected to the longitudinal cylinder, the transverse cylinder and the pneumatic rotary device respectively, the control device is connected to one side of the longitudinal cylinder, and the control device is connected with the longitudinal cylinder, the transverse cylinder and the magnetic adsorption device in a control mode respectively.
2. The climbing robot with the magnetic adsorption device as claimed in claim 1, wherein the control device comprises a control box, and a controller and a valve island which are arranged inside the control box, the control box is connected to one side of the longitudinal cylinder, the air source is connected to the valve island, the valve island is provided with air pipes which are respectively connected to the longitudinal cylinder, the transverse cylinder and the pneumatic rotator, and the controller is respectively connected to the valve island, the longitudinal cylinder, the transverse cylinder and the magnetic adsorption device.
3. A climbing robot provided with a magnetic force adsorption device as claimed in claim 2, characterized in that said control box is connected to two said longitudinal cylinders on the upper side or on the lower side of the two said longitudinal cylinders.
4. The climbing robot with the magnetic adsorption device as claimed in claim 2, wherein a bracket connected with the third connecting plate is arranged at any one of two ends of the transverse cylinder.
5. The climbing robot with the magnetic adsorption device as claimed in claim 4, wherein the sides of the transverse cylinders on the upper and lower sides, which are far away from the connecting piece, are respectively provided with a fixing rod connected with the end point of the longitudinal cylinder.
6. The climbing robot with the magnetic force adsorption device according to claim 5, wherein the magnetic force adsorption device comprises a push-pull assembly and a magnetic force adsorption assembly, the push-pull assembly comprises a push-pull cylinder, an intermediate plate and a fixing flange, the magnetic force adsorption assembly comprises a pneumatic rotator, a permanent magnet, a magnetizer and an outer hexagonal column, a push-pull rod inside the push-pull cylinder is connected with the intermediate plate in a driving manner, a connecting rod connected with the fixing flange is arranged on the intermediate plate, a sphere connected with the connecting rod is arranged inside the fixing flange, one side of the fixing flange, which is far away from the connecting rod, is connected with the magnetizer through a bolt, a connecting flange connected with the pneumatic rotator is arranged on the magnetizer, a fixing groove for placing the permanent magnet is arranged inside the magnetizer, a hexagonal through hole for placing the hexagonal column is arranged inside the permanent magnet, a rotating shaft in the pneumatic rotator extends out of the pneumatic rotator and penetrates through the connecting flange to be connected with the hexagonal cylinder;
the magnetizer is fixedly connected with two symmetrically arranged magnetizer shells, and an aluminum sheet is connected between the two magnetizer shells;
the controller is respectively connected with the push-pull cylinder and the pneumatic rotator in a control mode.
7. The climbing robot with the magnetic adsorption device as claimed in claim 6, wherein the connecting member is provided with a fixing plate connected with the push-pull cylinder, the push-pull cylinder is connected with one side of the fixing plate, and two connecting grooves are symmetrically arranged on one side of the connecting member away from the fixing plate.
8. A climbing robot with magnetic adsorption device as claimed in claim 7, characterized in that three push-pull rods connected with the middle plate are arranged inside the push-pull cylinder.
9. The climbing robot with the magnetic adsorption device as claimed in claim 8, wherein two connecting rods connected with the fixing flanges are arranged on the middle plate, and two spheres matched with the connecting rods are arranged inside the fixing flanges.
10. A climbing robot provided with a magnetic force adsorption device as claimed in claim 9, wherein two spheres are arranged above each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078679.9A CN111483530A (en) | 2019-01-28 | 2019-01-28 | Climbing robot with magnetic force adsorption equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078679.9A CN111483530A (en) | 2019-01-28 | 2019-01-28 | Climbing robot with magnetic force adsorption equipment |
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| Publication Number | Publication Date |
|---|---|
| CN111483530A true CN111483530A (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910078679.9A Pending CN111483530A (en) | 2019-01-28 | 2019-01-28 | Climbing robot with magnetic force adsorption equipment |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN105216898A (en) * | 2015-11-04 | 2016-01-06 | 湘潭大学 | Walking pneumatic wall-climbing robot |
| CN205380666U (en) * | 2016-03-13 | 2016-07-13 | 河北工业大学 | Pylon climbing robot's manipulator device |
| CN108284888A (en) * | 2018-03-27 | 2018-07-17 | 伍伟 | Blower fan tower barrel robot |
| CN209634600U (en) * | 2019-01-28 | 2019-11-15 | 上海识质电力科技有限公司 | A kind of climbing robot equipped with magnetic force adsorption apparatus |
-
2019
- 2019-01-28 CN CN201910078679.9A patent/CN111483530A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN105216898A (en) * | 2015-11-04 | 2016-01-06 | 湘潭大学 | Walking pneumatic wall-climbing robot |
| CN205380666U (en) * | 2016-03-13 | 2016-07-13 | 河北工业大学 | Pylon climbing robot's manipulator device |
| CN108284888A (en) * | 2018-03-27 | 2018-07-17 | 伍伟 | Blower fan tower barrel robot |
| CN209634600U (en) * | 2019-01-28 | 2019-11-15 | 上海识质电力科技有限公司 | A kind of climbing robot equipped with magnetic force adsorption apparatus |
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