CN102039592A - Multi-body magnetic adsorption type adaptive wall climbing robot - Google Patents
Multi-body magnetic adsorption type adaptive wall climbing robot Download PDFInfo
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 41
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Abstract
The invention discloses a multi-body magnetic adsorption type adaptive wall climbing robot and belongs to the technical field of special robots. The robot comprises a main body device, at least one slave body device, at least one mechanical arm and a working tool arranged on each slave body device, wherein the main body device comprises a main body frame, a movable mechanism and a main body magnetic adsorption device; the slave body device comprises a slave body frame, a slave body magnetic adsorption device and at least one auxiliary supporting wheel; and each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints. The invention provides a wall climbing robot which flexibly moves and steers on a magnetized wall surface at full positions spatially, is adaptive to a spatial curved surface and can perform welding, gouging, cutting, grinding, milling, detecting, cleaning or spraying work. The robot has wide processing range, high carrying capacity, high flexibility of movement and high working efficiency.
Description
Technical field
The invention belongs to the specialized robot technical field, particularly a kind of structural design of many bodies magnetic adsorption type self adaptation climbing robot.
Background technology
There are numerous large-scale steel structure members in industry spot, as large-size spherical tank, large-scale steel structure building, large-scale water turbine, the processing and manufacturing of these large-scale steel structure members, installation, maintenance, spraying, the present overwhelming majority of detection are still adopting the manual type operation, labor strength greatly, condition of work and environment is abominable, have more danger in the work, these needs of work carry out robot automation's transformation.In the practical application, these occasions are magnetic conducting wall space of planes curved surface complexity often, and working space is narrow and small, operating force is big.The attached robot of existing magnetic is difficult to be used in such environment, so need a kind of curved surface adaptive and load capacity is strong, small and light, the high attached robot of magnetic of flexibility.
Application number is to have mentioned a kind of magnetic adsorption wall climbing robot with curved surface adaptive ability in 200510086382.5 the patent documentation; In being the patent documentation of 200510086383.X, application number mentioned a kind of non-contact magnetically adsorbed wall climbing robot; 200710053422.5 patent documentation introduced a kind of wheeled type permanent magnetism adsorption pipeline creeping robot.But these robots only are mobile platforms, do not possess corresponding organisation of working.
200510027326.4 patent documentation introduced a kind of attached crawler-type wall climbing robot of the magnetic based on synchronous cog belt that is applicable to underloading, publication number is that the document of CN1789062 has been introduced a kind of permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing that adopts the single armed structure.It is unwell to the workplace of little, the long distance of working space, big operating force.
The patent No. is that the document of CN2779351 is introduced a kind of magnetic Annex VI wheel split barrier formula that jumps and climbed wall detection machine people.What this robot adopted between each adsorbent is hinge arrangement, is applicable to measurement, can not be used to process operation.
In addition, both at home and abroad the turbine blade repair robot of development can be used for work such as welding, polishing, but adopts guide trackedly more, and its kinematic dexterity is relatively poor.
Summary of the invention
The purpose of present technique invention is at the deficiencies in the prior art, provide a kind of in the space full position magnetic conduction wall move flexibly and turn to, the space curved surface self adaptation, can weld, the climbing robot of gouge, cutting, grinding, milling, detection, cleaning or spraying operation, this processing of robots scope is big, load capacity is strong, kinematic dexterity good, high efficiency.
The present invention adopts following technical scheme:
A kind of many bodies magnetic adsorption type self adaptation climbing robot of the present invention comprises agent set and power tool, and described agent set comprises that main stand, travel mechanism and main body magnetic attaching put; Described travel mechanism is fixedly mounted on the main stand; Described main body magnetic attaching is put by travel mechanism and is contacted with the magnetic conduction wall; Described main body magnetic attaching is put and is comprised at least one main body magnetic absorbing unit, and the main body magnetic absorbing unit is affixed or be hinged on the main stand; Described main body magnetic absorbing unit comprises a yoke and polylith magnet, and yoke and magnet are formed magnetic circuit;
It is characterized in that: described many bodies magnetic adsorption type self adaptation climbing robot also comprises at least one from body device and at least one mechanical arm, and each is connected with agent set by a mechanical arm from body device; Described power tool is installed in from body device, contacts with the magnetic conduction wall by travel mechanism;
Each comprises from the body frame, puts and at least three supplemental support wheels from body magnetic attaching from body device; Described putting from body magnetic attaching comprises at least one from the body magnetic absorbing unit, and be affixed or be hinged on the body frame from the body magnetic absorbing unit, contacting with the magnetic conduction wall by the supplemental support wheel from the body frame; Describedly comprise a yoke and polylith magnet from the body magnetic absorbing unit, yoke and magnet are formed magnetic circuit;
Each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints; The 0th connecting rod and the described main stand of mechanical arm are affixed; The tail end connecting rod of mechanical arm and described affixed from the body frame; Active linear joint or the active rotation joint by driver drives adopted in described active joint; Described passive joint is the passive rotation joint.
A kind of many bodies magnetic adsorption type self adaptation climbing robot of the present invention is characterized in that: described each mechanical arm comprises five connecting rods, two active joints and two passive joints; Described two initiatively joints be respectively the active linear joint that directions X and Y direction move; The passive rotation joint that described passive joint rotates for the X-Z plane.
A kind of many bodies magnetic adsorption type self adaptation climbing robot of the present invention is characterized in that: described each mechanical arm comprises six connecting rods, three active joints and two passive joints; Described three active joints are the active rotation joint that X-Y plane rotates; The passive rotation joint that described passive joint rotates for the X-Z plane.
A kind of many bodies magnetic adsorption type self adaptation climbing robot of the present invention is characterized in that: described each mechanical arm comprises six connecting rods, two active joints and three passive joints; Described active joint is the active rotation joint that X-Y plane rotates; One or two passive rotation joints for the rotation of X-Z plane in the described passive joint, one or two is the passive rotation joint on Y-Z plane.
A kind of many bodies magnetic adsorption type self adaptation climbing robot of the present invention is characterized in that: described each mechanical arm comprises six connecting rods, two active joints and three passive joints; Described two initiatively joints be respectively the active linear joint that directions X and Y direction move; One or two passive rotation joints for the rotation of Y-Z plane in the described passive joint, one or two is the passive rotation joint on Y-Z plane.
A kind of many bodies magnetic adsorption type self adaptation climbing robot of the present invention is characterized in that: described each mechanical arm comprises six connecting rods, two active joints and three passive joints; One is the active linear joint that directions X or Y direction move in described two active joints, the active rotation joint for the X-Y plane rotation; One or two passive rotation joints for the rotation of X-Z plane in the described passive joint, one or two is the passive rotation joint on Y-Z plane.
A kind of many bodies magnetic adsorption type self adaptation climbing robot of the present invention, it is characterized in that: contain seven connecting rods, three active joints and three passive joints in described each mechanical arm, the order of connection is: the 0th connecting rod, first joint, first connecting rod, second joint, second connecting rod, the 3rd joint, third connecting rod, the 4th joint, the 4th connecting rod, the 5th joint, the 5th connecting rod, the 6th joint, the 6th connecting rod; The passive rotation joint that rotate for the Y-Z plane in first joint; Second joint is the active rotation joint that X-Y plane rotates; The 3rd joint is the active rotation joint that X-Y plane rotates; The passive rotation joint that rotate for the Y-Z plane in the 4th joint; The passive rotation joint that rotate for the X-Z plane in the 5th joint; The 6th joint is the active rotation joint that X-Y plane rotates.
In the technique scheme, described travel mechanism adopts wheeled travel mechanism, crawler type travel mechanism or sufficient formula travel mechanism; Magnet in the described main body magnetic absorbing unit adopts permanent magnet or electromagnet; Described magnet from the body magnetic absorbing unit adopts permanent magnet or electromagnet; Described permanent magnet adopts along the magnetized rectangle permanent magnet of short transverse.
Wheeled travel mechanism of the present invention comprises first driver, first reductor, first, first wheel, second driver, second reductor, second and second wheel; Described first driver is fixed under the described main stand, and the output shaft of first driver is connected to first by first reductor, and first affixed with first wheel; Described second driver is fixed under the described main stand, and the output shaft of second driver is connected to second by second reductor, and second affixed with second wheel; First, second is set under the main stand respectively; Described first wheel and the second wheel symmetric arrangement, first and second coaxial line; First wheel and second wheel adopt differential type of drive, rely on the differential of first wheel and second wheel to be implemented in turning on the magnetic conduction wall.
Technical characterictic of the present invention also is: described active joint is provided with angular displacement sensor or linear displacement transducer; Described passive joint is provided with angular displacement sensor or linear displacement transducer; Described power tool is welding, gouge, cutting, grinding, milling, detection, cleaning or Spray painting tool.
The present invention compared with prior art has the following advantages and the high-lighting effect:
The present invention realized a kind of in the space full position magnetic conduction wall move flexibly and turn to, the space curved surface self adaptation, can weld, the climbing robot of gouge, cutting, grinding, milling, detection, cleaning or spraying operation, this processing of robots scope is big, load capacity is strong, kinematic dexterity good, high efficiency; Adopt many magnetic Fufen body to finish long distance and heavy duty work; But equal installation and measuring or processing unit (plant) are to finish identical or different work on each adsorbent; Adopt the mechanical arm of forming by active joint, passive joint and connecting rod etc. to make it have curved surface adaptive ability between principal and subordinate's adsorbent; Adopting wheeled magnetic attaching to put can make it have the motion flexible characteristic.
Description of drawings
Fig. 1 is the structural principle schematic diagram of many bodies magnetic adsorption type self adaptation climbing robot provided by the invention.
Fig. 2 is the perspective view of Fig. 1.
Fig. 3 is that the present invention adopts three example structure schematic diagrames from body device and three mechanical arms.
Fig. 4 is the example structure figure of mechanical arm when adopting five connecting rods, two initiatively many bodies magnetic adsorption type self adaptation climbing robot in linear joints and two passive rotation joints working in cylinder.
Fig. 5 is the example structure figure of mechanical arm when adopting many bodies magnetic adsorption type self adaptation climbing robot in six connecting rods, three active rotation joints and two passive rotation joints to work in cylinder.
Fig. 6 is the example structure figure of mechanical arm when adopting many bodies magnetic adsorption type self adaptation climbing robot in six connecting rods, two active rotation joints and three passive rotation joints to work in sphere.
Fig. 7 is the example structure figure of mechanical arm when adopting six connecting rods, two initiatively many bodies magnetic adsorption type self adaptation climbing robot in linear joints and three passive rotation joints working in sphere.
Fig. 8 is that mechanical arm adopts six connecting rods, the example structure figure when one initiatively many bodies magnetic adsorption type self adaptation climbing robot in linear joint, an active rotation joint and three passive rotation joints works in sphere.
Fig. 9 is the mechanical arm order of connection structure chart that adopts seven connecting rods, three active joints and three passive rotation joints.
Figure 10 is the structural representation that travel mechanism adopts wheeled travel mechanism among the present invention.
Figure 11 is that power tool is installed in the structural representation from the body device, and wherein power tool adopts soldering appliance.
In Fig. 1 to Figure 11:
0-magnetic conduction wall, 1-agent set, 2-be from body device, the 3-mechanical arm,
The 4-power tool, the 11-main stand, 12-travel mechanism, 13-main body magnetic attaching is put,
21-is from the body frame, and 21-is from the body frame, and the 22-supplemental support is taken turns, and 23-puts from body magnetic attaching,
131-main body magnetic absorbing unit, 1311-yoke, 1312-magnet, 231-be from the body magnetic absorbing unit,
The 2311-yoke, the 2312-magnet, 120-first driver, 121-first reductor,
First of 122-, 123-first wheel, 124-second driver, 125-second reductor,
Second of 126-, 127-second wheel, 31-first joint, the 32-second joint,
33-the 3rd joint, 34-the 4th joint, 35-the 5th joint, 36-the 6th joint,
321-first motor, 331-second motor, 361-the 3rd motor, 322-first are with synchronously,
332-second is with synchronously, and 362-the 3rd is with synchronously, 313-first encoder, and 323-second encoder,
333-the 3rd encoder, 343-the 4th encoder, 353-the 5th encoder, 363-the 6th encoder,
300-the 0th connecting rod, the 310-first connecting rod, the 320-second connecting rod, the 330-third connecting rod,
340-the 4th connecting rod, 350-the 5th connecting rod, 360-the 6th connecting rod, 60-are agent set,
61-first mechanical arm, 71-second mechanical arm, 81-three-mechanical arm, 62-first be from body device,
72-second is from body device, and 82-the 3rd is from body device, the 91-welding gun, and the 92-welding power source system, 3001-passive rotation joint, 3002-is linear joint initiatively, 3003-active rotation joint
The specific embodiment
Be described in further detail concrete structure of the present invention and operation principle below in conjunction with drawings and Examples.
Fig. 1, the 2nd, the structural principle schematic diagram of many bodies magnetic adsorption type self adaptation climbing robot provided by the invention comprises agent set 1 and power tool 4, agent set comprises that main stand 11, travel mechanism 12 and main body magnetic attaching put 13; Travel mechanism is fixedly mounted on the main stand; Main body magnetic attaching is put by travel mechanism and is contacted with the magnetic conduction wall; Main body magnetic attaching is put and is comprised at least one main body magnetic absorbing unit 131, and the main body magnetic absorbing unit is affixed or be hinged on the main stand; Described main body magnetic absorbing unit comprises a yoke 1311 and polylith magnet 1312, and yoke and magnet are formed magnetic circuit.
Many bodies magnetic adsorption type self adaptation climbing robot also comprises at least one from body device 2 and at least one mechanical arm 3, and each is connected with agent set by a mechanical arm from body device; Power tool is installed in from body device, contacts with the magnetic conduction wall by travel mechanism.
Each comprises from body frame 21, puts 23 and at least three supplemental support wheel 22 from body magnetic attaching from body device; Put from body magnetic attaching and to comprise at least one from body magnetic absorbing unit 231, affixed or be hinged on the body frame from the body magnetic absorbing unit, contacting with the magnetic conduction wall by the supplemental support wheel from the body frame; Comprise a yoke and polylith magnet from the body magnetic absorbing unit, yoke and magnet are formed magnetic circuit.
Each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints; The 0th connecting rod and the main stand of mechanical arm are affixed; The tail end connecting rod of mechanical arm is with affixed from the body frame; Initiatively active linear joint 3002 or the active rotation joint 3003 by driver drives adopted in the joint; Passive joint is passive rotation joint 3001.
Fig. 3 is that the present invention adopts three example structure schematic diagrames from body device and three mechanical arms.
Fig. 4 is the example structure figure of mechanical arm when adopting five connecting rods, two initiatively many bodies magnetic adsorption type self adaptation climbing robot in linear joints and two passive rotation joints working in cylinder, and the mechanical arm order of connection is: passive rotation joint, the 4th connecting rod of the active linear joint that active linear joint, second connecting rod, the Y direction that passive rotation joint, first connecting rod, the directions X that rotate on the 0th connecting rod, X-Z plane moves moves, third connecting rod, the rotation of X-Z plane.
Fig. 5 is the example structure figure of mechanical arm when adopting many bodies magnetic adsorption type self adaptation climbing robot in six connecting rods, three active rotation joints and two passive rotation joints to work in cylinder, and the mechanical arm order of connection is: passive rotation joint, the 5th connecting rod of the active rotation joint that the active rotation joint that the active rotation joint that the passive rotation joint that rotate on the 0th connecting rod, X-Z plane, first connecting rod, X-Y plane rotate, second connecting rod, X-Y plane rotate, third connecting rod, X-Y plane rotate, the 4th connecting rod, the rotation of X-Z plane.
Fig. 6 is the example structure figure of mechanical arm when adopting many bodies magnetic adsorption type self adaptation climbing robot in six connecting rods, two active rotation joints and three passive rotation joints to work in sphere, and the mechanical arm order of connection is: passive rotation joint, the 5th connecting rod of the passive rotation joint that rotate on the active rotation joint that the active rotation joint that the passive rotation joint that rotate on the 0th connecting rod, Y-Z plane, first connecting rod, X-Y plane rotate, second connecting rod, X-Y plane rotate, third connecting rod, Y-Z plane, the 4th connecting rod, the rotation of X-Z plane.
Fig. 7 is the example structure figure of mechanical arm when adopting six connecting rods, two initiatively many bodies magnetic adsorption type self adaptation climbing robot in linear joints and three passive rotation joints working in sphere, and the mechanical arm order of connection is: passive rotation joint, the 5th connecting rod of the passive rotation joint that rotate on the active linear joint that active linear joint, second connecting rod, the directions X that passive rotation joint, first connecting rod, the Y direction that rotate on the 0th connecting rod, Y-Z plane moves moves, third connecting rod, Y-Z plane, the 4th connecting rod, the rotation of X-Z plane.
Fig. 8 is that mechanical arm adopts six connecting rods, the example structure figure when one initiatively many bodies magnetic adsorption type self adaptation climbing robot in linear joint, an active rotation joint and three passive rotation joints works in sphere, and the mechanical arm order of connection is: passive rotation joint, the 5th connecting rod that rotate on the passive rotation joint that rotate on the passive rotation joint that the active linear joint that passive rotation joint, first connecting rod, the Y direction that rotate on the 0th connecting rod, Y-Z plane moves, second connecting rod, X-Y plane rotate, third connecting rod, Y-Z plane, the 4th connecting rod, X-Z plane.
Fig. 9 is the mechanical arm order of connection structure chart that adopts seven connecting rods, three active joints and three passive rotation joints, and the order of connection is: the 0th connecting rod 300, first joint 31, first connecting rod 310, second joint 32, second connecting rod 320, the 3rd joint 33, third connecting rod 330, the 4th joint 34, the 4th connecting rod 340, the 5th joint 35, the 5th connecting rod 350, the 6th joint 36, the 6th connecting rod 360; The passive rotation joint that rotate for the Y-Z plane in first joint; Second joint is the active rotation joint that X-Y plane rotates; The 3rd joint is the active rotation joint that X-Y plane rotates; The passive rotation joint that rotate for the Y-Z plane in the 4th joint; The passive rotation joint that rotate for the X-Z plane in the 5th joint; The 6th joint is the active rotation joint that X-Y plane rotates.
Figure 10 is the structural representation that travel mechanism adopts wheeled travel mechanism among the present invention, and travel mechanism can adopt wheeled travel mechanism, crawler type travel mechanism or sufficient formula travel mechanism, and the magnet in the main body magnetic absorbing unit adopts permanent magnet or electromagnet; Magnet from the body magnetic absorbing unit adopts permanent magnet or electromagnet; Permanent magnet adopts along the magnetized rectangle permanent magnet of short transverse.Adopt wheeled travel mechanism in the present embodiment, the magnet in the main body magnetic absorbing unit adopts permanent magnet.Wheeled travel mechanism comprises first driver (120), first reductor (121), first (122), first wheel (123), second driver (124), second reductor (125), second (126) and second wheel (127); Described first driver is fixed under the described main stand, and the output shaft of first driver is connected to first by first reductor, and first affixed with first wheel; Described second driver is fixed under the described main stand, and the output shaft of second driver is connected to second by second reductor, and second affixed with second wheel; First, second is set under the main stand respectively; Described first wheel and the second wheel symmetric arrangement, first and second coaxial line; First wheel and second wheel adopt differential type of drive, rely on the differential of first wheel and second wheel to be implemented in turning on the magnetic conduction wall.
Figure 11 is that power tool is installed in the structural representation from the body device.Initiatively joint and passive joint are provided with angular displacement sensor or linear displacement transducer in order to the feedback joint rotation angle for each, power tool can be welding, gouge, cutting, grinding, milling, detection, cleaning or Spray painting tool, and power tool adopts soldering appliance in the present embodiment.
Operation principle is described below:
The mechanical arm structure diagram of robot is seen Fig. 9, and travel mechanism adopts the wheeled travel mechanism of Figure 10, original state as shown in Figure 1, this moment, mechanical arm 3 stretched, agent set 1 is with parallel from the bottom surface of body device 2.
This robot can be in full position magnetic conducting wall general work:
When robot was still in plane magnetic conduction wall 0: the main body magnetic absorbing unit 131 that agent set 1 is formed by yoke 1311 and magnet 1312 was adsorbed on the magnetic conduction wall 0; From body device 2 being adsorbed on the magnetic conduction wall 0 by yoke 2311 and magnet 2312 compositions from body magnetic absorbing unit 231.The absorption affinity of 0 pair of agent set 1 of magnetic conduction wall has guaranteed the agent set 1 magnetic conduction wall 0 that do not drop; The frictional force of 0 pair of agent set 1 of magnetic conduction wall has guaranteed agent set 1 not landing magnetic conduction wall 0.0 pair of absorption affinity from body device 2 of magnetic conduction wall makes from the body device 2 magnetic conduction wall 0 that do not drop.
When robot is still in the magnetic conduction wall 0 that curvature changes: initiatively in the joint second joint 32 and the 3rd joint 33 determined on X-Y plane robot from body device 2 to agent set 1 position and distance; Initiatively the 6th joint 36 has determined the rotational angle of machining tool entrained from body device 24 on X-Y plane in the joint; The curvature of magnetic conduction wall 0 variation on first joint 31 and the 35 self adaptation Y-Z planes, the 5th joint in the passive joint; The curvature of magnetic conduction wall 0 variation on the 34 self adaptation X-Z planes, the 4th joint in the passive joint.
When robot when the magnetic conduction wall is walked, first driver 120 of agent set 1 drives first 122 by first reductor 121 and rotates, first 122 drives first wheel 123 by key and rotates; Second driver 124 of agent set 1 drives second 126 by second reductor 125 and rotates, and second 126 drives second wheel 127 by key and rotate.First wheel 123 and second wheel 127 are arranged symmetrically on the agent set 1, and adopting differential type of drive is differential realization body device 1 the turning on the magnetic conduction wall of first wheel 123 and second wheel 127; Constant speed realization body device 1 moving forward and backward on the magnetic conduction wall by first wheel 123 and second wheel 127.When agent set 1 moved forward and backward, agent set 1 dragged from body device 2 and moves forward and backward.
When operation instrument 4 operations during in the magnetic conduction wall, initiatively second joint 32 and the 3rd joint 33 have guaranteed to arrive the position that needs processing from body device in the joint, and initiatively the 6th joint 36 has guaranteed the angle of emery wheel in the joint.First wheel 123 and second wheel 127 of agent set 1 are static, and it is locked by first reductor 121 and second reductor 125, under the absorption affinity of wall, can produce huge frictional force and be adsorbed on the wall simultaneously to guarantee that dolly is stable to agent set 1 main body magnetic absorbing unit 131; This moment is by first motor 321, second motor 331 of control mechanical arm 3, the rotation of the 3rd motor 361, drive to realize rotatablely moving of second joints 32, the 3rd joint 33, the 6th joint 36 with 362 synchronously with the 332, the 3rd synchronously with 322, second synchronously by first, making to reach from body device 2 under first encoder 313, second encoder 323, the 3rd encoder 333, the 4th encoder 343, the 5th encoder 353, the 6th encoder 363 accurate angle FEEDBACK CONTROL needs the position and the attitude of processing.Emery wheel from body device 2 is overcome the absorption affinity from body device 2 by wall owing to processing the normal reaction that produces, and tangential force and frictional force are delivered on the agent set 1 by mechanical arm 3 and are overcome by the frictional force of wall to agent set 1.Simultaneously magnetic conducting wall in the face of the absorption affinity of agent set 1 much larger than magnetic conducting wall in the face of absorption affinity from body device 2, guaranteed that also agent set is static all the time in the operation process.
Each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints among the present invention, and Fig. 4 is several embodiment that have the number in minimum connecting rod and joint when different curve is worked to Fig. 8, and is as follows:
Mechanical arm comprises five connecting rods, two active joints and two passive joints among Fig. 4 embodiment; Two initiatively the joint be respectively the active linear joint 3002 that directions X and Y direction move; The passive rotation joint 3001 that passive joint rotates for the X-Z plane; When robot worked in cylinder, the active linear joint that directions X and Y direction move made from body device and arrives position to be processed, and two passive rotation joints can self adaptation change robot from the direction of body device on the X-Z plane.
Mechanical arm comprises six connecting rods, three active joints and two passive joints among Fig. 5 embodiment; Three active joints are the active rotation joint that X-Y plane rotates; The passive rotation joint that passive joint rotates for the X-Z plane; When robot worked in cylinder, three active rotation joints made from body device and arrive position to be processed, and two passive rotation joints can self adaptation change robot from the direction of body device on the X-Z plane.
Mechanical arm comprises six connecting rods, two active joints and three passive joints among Fig. 6 embodiment; Initiatively the joint is the active rotation joint that X-Y plane rotates; Passive rotation joint in the passive joint for the rotation of X-Z plane, two is the passive rotation pass on Y-Z plane; When robot worked in sphere, two active rotation joints made from body device and arrive position to be processed, and three passive rotation joints can self adaptation change robot from the direction of body device on sphere.
Mechanical arm comprises six connecting rods, two active joints and three passive joints among Fig. 7 embodiment; Two initiatively the joint be respectively the active linear joint that directions X and Y direction move; Passive rotation joint in the passive joint for the rotation of X-Z plane, two is the passive rotation joint on Y-Z plane; When robot worked in sphere, two active linear joints made from body device and arrive position to be processed, and three passive rotation joints can self adaptation change robot from the direction of body device on sphere.
Mechanical arm comprises the mechanical arm structural representation of six connecting rods, two active joints and three passive joints among Fig. 8 embodiment; One is the active linear joint that directions X or Y direction move in described two active joints, the active rotation joint for the X-Y plane rotation; Passive rotation joint in the described passive joint for the rotation of X-Z plane, two is the passive rotation joint on Y-Z plane; When robot work sphere, two active linear joints make from body device and arrive position to be processed, and three passive rotation joints can self adaptation change robot from the direction of body device on sphere.
Claims (10)
1. the curved surface adaptive of body magnetic adsorption type more than kind climbing robot comprises agent set (1) and power tool (4), and described agent set comprises that main stand (11), travel mechanism (12) and main body magnetic attaching put (13); Described travel mechanism is fixedly mounted on the main stand; Described main body magnetic attaching is put by travel mechanism and is contacted with the magnetic conduction wall; Described main body magnetic attaching is put and is comprised at least one main body magnetic absorbing unit (131), and the main body magnetic absorbing unit is affixed or be hinged on the main stand; Described main body magnetic absorbing unit comprises a yoke (1311) and polylith magnet (1312), and yoke and magnet are formed magnetic circuit;
It is characterized in that: described many bodies magnetic adsorption type self adaptation climbing robot also comprises at least one from body device (2) and at least one mechanical arm (3), and each is connected with agent set by a mechanical arm from body device; Described power tool is installed in from body device, contacts with the magnetic conduction wall by travel mechanism;
Each comprises from body frame (21), puts (23) and at least three supplemental support wheels (22) from body magnetic attaching from body device; Described putting from body magnetic attaching comprises at least one from body magnetic absorbing unit (231), and be affixed or be hinged on the body frame from the body magnetic absorbing unit, contacting with the magnetic conduction wall by the supplemental support wheel from the body frame; Describedly comprise a yoke and polylith magnet from the body magnetic absorbing unit, yoke and magnet are formed magnetic circuit;
Each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints; The 0th connecting rod and the described main stand of mechanical arm are affixed; The tail end connecting rod of mechanical arm and described affixed from the body frame; Active linear joint or the active rotation joint by driver drives adopted in described active joint; Described passive joint is the passive rotation joint.
2. many bodies magnetic adsorption type self adaptation climbing robot as claimed in claim 1 is characterized in that: described each mechanical arm comprises five connecting rods, two active joints and two passive joints; Described two initiatively joints be respectively the active linear joint (3002) that directions X and Y direction move; The passive rotation joint (3001) that described passive joint rotates for the X-Z plane.
3. many bodies magnetic adsorption type self adaptation climbing robot as claimed in claim 1 is characterized in that: described each mechanical arm comprises six connecting rods, three active joints and two passive joints; Described three active joints are the active rotation joint (3003) that X-Y plane rotates; The passive rotation joint that described passive joint rotates for the X-Z plane.
4. many bodies magnetic adsorption type self adaptation climbing robot as claimed in claim 1 is characterized in that: described each mechanical arm comprises six connecting rods, two active joints and three passive joints; Described active joint is the active rotation joint that X-Y plane rotates; One or two passive rotation joints for the rotation of X-Z plane in the described passive joint, one or two is the passive rotation joint on Y-Z plane.
5. many bodies magnetic adsorption type self adaptation climbing robot as claimed in claim 1 is characterized in that: described each mechanical arm comprises six connecting rods, two active joints and three passive joints; Described two initiatively joints be respectively the active linear joint that directions X and Y direction move; One or two passive rotation joints for the rotation of X-Z plane in the described passive joint, one or two is the passive rotation joint on Y-Z plane.
6. many bodies magnetic adsorption type self adaptation climbing robot as claimed in claim 1 is characterized in that: described each mechanical arm comprises six connecting rods, two active joints and three passive joints; One is the active linear joint that directions X or Y direction move in described two active joints, the active rotation joint for the X-Y plane rotation; One or two passive rotation joints for the rotation of X-Z plane in the described passive joint, one or two is the passive rotation joint on Y-Z plane.
7. many bodies magnetic adsorption type self adaptation climbing robot as claimed in claim 1, it is characterized in that: contain seven connecting rods, three active joints and three passive joints in described each mechanical arm, the order of connection is: the 0th connecting rod (300), first joint (31), first connecting rod (310), second joint (32), second connecting rod (320), the 3rd joint (33), third connecting rod (330), the 4th joint (34), the 4th connecting rod (340), the 5th joint (35), the 5th connecting rod (350), the 6th joint (36), the 6th connecting rod (360); The passive rotation joint that rotate for the Y-Z plane in first joint; Second joint is the active rotation joint that X-Y plane rotates; The 3rd joint is the active rotation joint that X-Y plane rotates; The passive rotation joint that rotate for the Y-Z plane in the 4th joint; The passive rotation joint that rotate for the X-Z plane in the 5th joint; The 6th joint is the active rotation joint that X-Y plane rotates.
8. as the described many bodies magnetic adsorption type of the arbitrary claim of claim 1～7 self adaptation climbing robot, it is characterized in that: described travel mechanism adopts wheeled travel mechanism, crawler type travel mechanism or sufficient formula travel mechanism; Magnet in the described main body magnetic absorbing unit adopts permanent magnet or electromagnet; Described magnet from the body magnetic absorbing unit adopts permanent magnet or electromagnet; Described permanent magnet adopts along the magnetized rectangle permanent magnet of short transverse.
9. many bodies magnetic adsorption type self adaptation climbing robot as claimed in claim 8 is characterized in that: described wheeled travel mechanism comprises first driver (120), first reductor (121), first (122), first wheel (123), second driver (124), second reductor (125), second (126) and second wheel (127); Described first driver is fixed under the described main stand, and the output shaft of first driver is connected to first by first reductor, and first affixed with first wheel; Described second driver is fixed under the described main stand, and the output shaft of second driver is connected to second by second reductor, and second affixed with second wheel; First, second is set under the main stand respectively; Described first wheel and the second wheel symmetric arrangement, first and second coaxial line; First wheel and second wheel adopt differential type of drive, rely on the differential of first wheel and second wheel to be implemented in turning on the magnetic conduction wall.
10. as the described many bodies magnetic adsorption type of the arbitrary claim of claim 1～7 self adaptation climbing robot, it is characterized in that: described active joint is provided with angular displacement sensor or linear displacement transducer; Described passive joint is provided with angular displacement sensor or linear displacement transducer; Described power tool is welding, gouge, cutting, grinding, milling, detection, cleaning or Spray painting tool.
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| CN103934596A (en) * | 2014-02-28 | 2014-07-23 | 浙江海洋学院 | Hull wall climbing welding device |
| CN103934596B (en) * | 2014-02-28 | 2015-12-30 | 浙江海洋学院 | A kind of hull climbs wall welder |
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| CN104440952B (en) * | 2014-11-21 | 2016-08-24 | 清华大学 | A kind of permanent magnet platform and use the permanent magnetism gap adsorbent equipment of this permanent magnet platform |
| CN104648513A (en) * | 2014-12-23 | 2015-05-27 | 中科新松有限公司 | Climbing robot with curved surface self-adaption capability |
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| CN106828823A (en) * | 2016-12-28 | 2017-06-13 | 浙江海洋大学 | A kind of hull-rust extraction equipment |
| CN106828823B (en) * | 2016-12-28 | 2019-10-29 | 浙江海洋大学 | A kind of hull-rust extraction equipment |
| CN108454722A (en) * | 2018-03-07 | 2018-08-28 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of permanent magnetism |
| CN108454722B (en) * | 2018-03-07 | 2023-12-29 | 深圳市行知行机器人技术有限公司 | Permanent magnet wheel type wall climbing robot |
| CN114013528A (en) * | 2021-11-01 | 2022-02-08 | 重庆大学 | Wall-climbing robot for walking operation of boiler water wall in thermal power plant |
| CN114013528B (en) * | 2021-11-01 | 2023-07-21 | 重庆大学 | Wall climbing robot for walking operation of boiler water-cooled wall of thermal power plant |
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