CN102673670A - Novel full driving composite adsorption climbing robot - Google Patents
Novel full driving composite adsorption climbing robot Download PDFInfo
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- CN102673670A CN102673670A CN2012101852029A CN201210185202A CN102673670A CN 102673670 A CN102673670 A CN 102673670A CN 2012101852029 A CN2012101852029 A CN 2012101852029A CN 201210185202 A CN201210185202 A CN 201210185202A CN 102673670 A CN102673670 A CN 102673670A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 40
- 230000009194 climbing Effects 0.000 title claims abstract description 39
- 239000002131 composite material Substances 0.000 title abstract 4
- 230000005291 magnetic effect Effects 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000001360 synchronised effect Effects 0.000 claims description 41
- 230000005389 magnetism Effects 0.000 claims description 16
- 150000001875 compounds Chemical class 0.000 claims description 12
- 239000000758 substrate Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000035699 permeability Effects 0.000 abstract 2
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of specialized robots, and particularly relates to a novel full driving composite adsorption climbing robot which comprises a crawl mechanism. The crawl mechanism comprises a front wheel module adopting a driving and swerving integrated magnet wheel, a back wheel module adopting a permanent magnet interval adsorption device, a frame for connecting a front wheel and back wheels and a motor driven controller installed on the frame. The crawl mechanism is of a three-wheel structure, three wheels are all driving wheels, the front wheel is controlled to swerve, and swerve on a magnetic permeability wall face is achieved depending on differential of the two back wheels and controlled swerve of the front wheel. The novel full driving composite adsorption climbing robot has the advantages that the crawl mechanism adopts a composite mode of contact-type magnet-wheel adsorption and non-contact-type gap adsorption, the three-wheel structure is used, three wheels are all driving wheels, a redundancy control swerve mode is adopted, the swerve on the magnetic permeability wall face is achieved depending on the differential of the two back wheels and the controlled swerve of the front wheel, and swerve accuracy of the climbing robot is improved through accurate control of swerve angles of the front wheel.
Description
Technical field
The invention belongs to the specialized robot technical field, is the compound adsorbed wall-climbing robot of a kind of later-model full driving specifically.
Background technology
Magnetic adsorption wall climbing robot is a kind of of specialized robot; Be design be used under abominable, dangerous, limiting case, at a kind of automated machine device of the enterprising capable operations specific of magnetic conduction wall such as welding, polishing, inspection, detection etc., and more and more receive people's attention.Magnetic adsorption wall climbing robot has obtained using widely in the production and construction of ferromagnetic structures such as nuke industry, petrochemical industry, building industry, fire department, ship building industry at present.
Climbing robot must have two basic function: wall adsorption function and locomotive function.But; The two is again a contradiction: the load-carrying capacity of robot is strong more; Require the adsorption affinity between climbing robot and magnetic conduction wall big more, but this has also caused the resistance of climbing robot when motion big more, the adsorption power of climbing robot and travelling performance are contradiction.
Existing magnetic adsorption wall climbing robot mainly contains magnetic foot formula climbing robot, magnetic wheel type climbing robot, crawler type magnetic adsorption wall climbing robot, gap adsorbed wall-climbing robot.
Magnetic foot formula climbing robot is that the adsorption affinity that leans on the magnetic foot to provide is adsorbed on the wall, because its walking characteristics have determined that its adsorption affinity must be adjustable, adopts electromagnet that adsorption affinity is provided, like eight sufficient magnetic adsorption wall climbing robots of HIT's development more.But, magnetic foot formula climbing robot footwork control more complicated, kinematic dexterity is bad; In addition, adopt electromagnet that adsorption affinity is provided, not only need consumed power, the potential safety hazard that also exists accident power-off to cause.
The magnetic wheel type climbing robot is to be adsorbed on the magnetic conduction wall by absorbing force.The applying date is that January 5, application number in 2004 are " the magnet-wheel adsorbed wall-climbing robot " that 200410016429.6 patent documentation relates to; Its technical scheme is: comprise revolver structure, bearing support, detection architecture, roller, code-disc, location correction structure, right wheel construction, the revolver structure is identical with right wheel construction, and symmetry is fixed on the both sides of bearing support; Detection architecture is fixed on the front of bearing support; Roller and code-disc are fixed on the centre of bearing support, and the location correction structure is connected the bearing support rightmost side, and it can adapt to the curvature of wall; Do the rotation of certain angle around bearing support, in robot motion's process, proofread and correct the pose of robot.The present invention can accomplish the weld seam detection in the hazardous environments such as oil barrel.The characteristics of foregoing invention are that kinematic dexterity is better, but because effective adsorption area of magnet-wheel is little, and the magnetic energy utilization rate is not high, load-carrying capacity is relatively poor.
The crawler type magnetic adsorption wall climbing robot is to be adsorbed on the magnetic conduction wall by the suction piece that is installed in the crawler type travel mechanism.The applying date is that January 26, application number in 2000 are " the crawler-type permanent magnet wall climbing mechanism " that 00200795.9 patent documentation relates to; Its main technical schemes is: this climbing mechanism is by car body; Power pack section and traveling gear three parts are formed, and car body is a box-shaped flexible structure, and power pack section is installed in inside; Power pack section is two electrical motors and speed reduction gearing thereof, and its output shaft drives the drive sprocket of car body both sides respectively.Traveling gear is placed in the car body both sides, by drive sprocket, and guide wheel, permanent magnet and chain tensioning mechanism are formed, and each drive sprocket drives three closed chains, and two gap locations between three chains are looked the evenly layout permanent magnet that bears a heavy burden along the chain total length.Be characterized in that load-carrying capacity is strong, but its kinematic dexterity is relatively poor, particularly when carrying out divertical motion, because area of contact is big between crawler belt and the magnetic conduction wall, cornering resistance is big, and Turning radius is big, and steering flexibility is poor.
The gap adsorbed wall-climbing robot be by be installed on the chassis and the magnetic conduction wall between have a certain interval permanent magnet be adsorbed on the magnetic conduction wall.The applying date is " the wheeled non-contact magnetically adsorption wall climbing robot " that patent documentation that October 8, application number in 2005 are 200510086383.X relates to; Its technical scheme is: comprise wheeled travel mechanism and permanent magnetic adhesion device, wheeled travel mechanism comprises the chassis, be installed in driver train on the chassis, by the drive wheel of drive mechanism.Said drive wheel symmetric arrangement adopts differential type of drive, relies on the differential of drive wheel to be implemented in turning on the magnetic conduction wall; Permanent magnetic adhesion device is installed on the said chassis, is noncontact between said permanent magnetic adhesion device and magnetic conduction wall, and the magnetic energy utilization rate is high, high adsorption capacity.Above-mentioned patent characteristics are that adsorption affinity is big, but because all drive wheels all are that the cylinder that turns to of car body is taken turns relatively, and cornering resistance is big, steering flexibility is poor.
In sum, existing climbing robot or kinematic dexterity better and load-carrying capacity is poor, or load-carrying capacity is strong and kinematic dexterity is poor, fails to solve preferably the contradiction that climbing robot moves and adsorbs, Combination property is bad.
Summary of the invention
The objective of the invention is for overcoming the deficiency of prior art in Combination property aspect kinematic dexterity and the load-carrying capacity two; The contradiction that solves climbing robot absorption and move; Design the compound adsorbed wall-climbing robot of a kind of full driving; Make its can be on wall when having strong load-carrying capacity flexible motion, Combination property is better, thereby solves the problem that exists in the prior art.
For realizing above-mentioned purpose, technical scheme of the present invention is following:
The compound adsorbed wall-climbing robot of a kind of later-model full driving; Comprise climbing mechanism, it is characterized in that: said climbing mechanism comprises the vehicle frame that adopts the front-wheel module that drives steering integrated magnet-wheel, the trailing wheel module that adopts permanent magnetism gap adsorption plant, connection front and back wheel and is installed in the motor drive controller on the vehicle frame; Climbing mechanism is a tricycle structure, and three-wheel is drive wheel, adopts that front-wheel is controlled to turn to, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to be implemented in turning on the magnetic conduction wall.
The trailing wheel module comprises the chassis, is installed in the retarder of the permanent magnet on the trailing wheel chassis, two trailing wheels that pass the chassis, drive wheel, the DC machine of driving retarder, two trailing wheel symmetric arrangement of trailing wheel module around wheel.
The front-wheel module comprises permanent magnet and wheel for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel adopts along the magnetized annular permanent magnet of thickness direction.
Further, driving steering integrated magnet-wheel device specifically comprises car body fixed frame, turntable framework, turns to driver train, wheel drive mechanism and roller; Be provided with a passive inclination rotational structure between said car body fixed frame and the turntable framework, be provided with the independent steering structure between turntable framework and the magnet-wheel; Said inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame; Said turntable framework comprises turntable lower supporting plate, turret supports column, turntable cover plate and the turntable upper backup pad that links to each other successively; The said driver train that turns to comprises steer motor adapter plate and the drive motor that turns to mounted thereto; Turn to drive motor to adopt Disc brushless DC motor; Motor output shaft connects epicyclic reduction gear, drives steering shaft through one-level bevel drive and primary cylinder gear transmission again; Said wheel drive mechanism comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, drives magnet-wheel through synchronous strap drive and rolls; Said roller is a magnet-wheel, and said drive motor and the wheel rolling of turning to drives reducing motor drive configuration independently each other; Inclination rotating shaft one end is installed on the car body fixed frame, and other end turntable lower supporting plate connects, and turntable upper backup pad, turret supports column and turntable lower supporting plate are connected; The turntable cover plate is connected with the turntable upper backup pad, and tapered roller bearing is installed on two stay bearing plates, and steering shaft is bearing on the tapered roller bearing; Steering shaft is connected with 60 tooth straight-tooth gears, and angular transducer input shaft and steering shaft are affixed, and the angular transducer strut bar is connected with the turntable upper backup pad; Angular transducer is connected with the angular transducer strut bar; The steer motor adapter plate is connected with the turntable upper backup pad, turns to reducing motor to be connected with the steer motor adapter plate, and 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft; The 40 tooth spur bevel gear wheels that are meshed with it are mounted on the bevel gear shaft; Bevel gear shaft is by first deep groove ball bearing supporting that is installed in the turntable upper backup pad, and the opposite side of bevel gear shaft connects through flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears; The lower end of steering shaft is connected with turning to substrate; Wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate are connected with turning to substrate, drive reducing motor and are connected with the drive motor adapter plate, and the small synchronous pulley axle is affixed with the output shaft that drives reducing motor; Small synchronous pulley is installed on the small synchronous pulley axle through the flat key connection; Front-wheel module permanent magnet and wheel yoke are installed on the axletree through the flat key connection, and axletree is bearing between wheel left side adapter plate and the wheel right side adapter plate through first deep groove ball bearing and second deep groove ball bearing, and big synchronous pulley connects the opposite side that is installed in axletree through flat key; Connect by synchronous band between big synchronous pulley and the small synchronous pulley; Be connected through screw between tensioning running roller and the tensioning running roller strut bar, tensioning running roller strut bar is installed on the adapter plate of wheel left side through screw, drives between reducing motor and the axletree through synchronous strap drive; Turn to driver train also to comprise steering shaft, the steering shaft bottom is equipped with wheel drive mechanism and roller; Said steer axis and wheel axis perpendicular quadrature; Said driving reducing motor is a brush direct current motor.
Further; Described permanent magnetism gap adsorption plant is installed on the chassis around trailing wheel; Between said permanent magnetism gap adsorption plant and magnetic conduction wall is contactless, through said permanent magnetic adhesion device of distance setting between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall.
Further, said chassis is a dead-soft steel, constitutes magnetic circuit as yoke with the permanent magnet that is installed on the trailing wheel chassis around wheel.
Further, retarder comprises first order epicyclic reduction gear and second stage turbine and worm retarder, connects two-stage reduction gear behind the DC machine and drives wheel, and second stage turbine and worm retarder is mounted on the trailing wheel chassis through screw.
The steering integrated magnet-wheel concrete structure of said driving is: inclination rotating shaft one end is installed on the car body fixed frame, and other end turntable lower supporting plate connects, and turntable upper backup pad, turret supports column and turntable lower supporting plate are connected; The turntable cover plate is connected with the turntable upper backup pad, and tapered roller bearing is installed on two stay bearing plates, and steering shaft is bearing on the tapered roller bearing; Steering shaft is connected with 60 tooth straight-tooth gears, and angular transducer input shaft and steering shaft are affixed, and the angular transducer strut bar is connected with the turntable upper backup pad; Angular transducer is connected with the angular transducer strut bar, and the steer motor adapter plate is connected with the turntable upper backup pad, turns to reducing motor to be connected with the steer motor adapter plate; 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft; The 40 tooth spur bevel gear wheels that are meshed with it are mounted on the bevel gear shaft, and bevel gear shaft is by first deep groove ball bearing supporting that is installed in the turntable upper backup pad, and the opposite side of bevel gear shaft connects through flat key with 19 tooth straight-tooth gears; 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears; The lower end of steering shaft is connected with turning to substrate, and wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate are connected with turning to substrate, drive reducing motor and are connected with the drive motor adapter plate; The small synchronous pulley axle is affixed with the output shaft that drives reducing motor; Small synchronous pulley is installed on the small synchronous pulley axle through the flat key connection, and front-wheel module permanent magnet and wheel yoke are installed on the axletree through the flat key connection, and axletree is bearing between wheel left side adapter plate and the wheel right side adapter plate through first deep groove ball bearing and second deep groove ball bearing; Big synchronous pulley connects the opposite side that is installed in axletree through flat key; Connected by synchronous band between big synchronous pulley and the small synchronous pulley, be connected through screw between tensioning running roller and the tensioning running roller strut bar, tensioning running roller strut bar is installed on the left of the wheel on the adapter plate through screw; Drive between reducing motor and the axletree through synchronous strap drive; Turn to driver train also to comprise steering shaft, the steering shaft bottom is equipped with wheel drive mechanism and roller, said steer axis and wheel axis perpendicular quadrature.
The invention has the advantages that:
1, crawling device according to the invention adopts the complex method of contact magnet-wheel absorption (promptly driving steering integrated magnet-wheel) and non-contact gap absorption (promptly comprising permanent magnetism gap adsorption plant); Tricycle structure, all wheels are drive wheel, adopt the Redundant Control steering mode; Rely on the differential of two trailing wheels and controlled the turning to of front-wheel to be implemented in turning on the magnetic conduction wall; Accuracy control through the front-wheel steering angle has improved climbing robot and has turned to precision, and kinematic dexterity is good, can turn to around the car body center; Minimum turning radius is 0, and robot can and realize that independent and flexible moves in the reliable absorption of magnetic conduction wall.
2, steering hardware is introduced the Redundant Control mode, relies on the differential of two trailing wheels and controlled the turning to of front-wheel to be implemented in turning on the magnetic conduction wall, and the accuracy control through the front-wheel steering angle has improved climbing robot and turned to precision.
3, the present invention has adopted magnet-wheel and permanent magnetism gap adsorption plant simultaneously; Front-wheel adopts magnet-wheel; When guaranteeing adsorption affinity, improved the compactedness of structure, around trailing wheel permanent magnetism gap adsorption plant has been installed on the chassis simultaneously, guaranteed that climbing robot has strong load-carrying capacity.
4, the steering integrated magnet-wheel of driving is provided with and independently turns to degree of freedom and make steer axis and the wheel axis perpendicular quadrature, can realize the independent steering of wheel, improves the climbing robot kinematic dexterity.
5, drive steering integrated magnet-wheel be provided with passive banking degree of freedom and through inclination confinement block constrained side tilt angle positive and negative 10 spend in, make climbing robot have curved surface adaptive capacity preferably.
6, drive the function of the inclination confinement block of steering integrated magnet-wheel through mechanical position limitation realization constrained side degree of tilt.
7, the steering structure and the wheel rolling of the steering integrated magnet-wheel of driving all are provided with independent driving mechanisms.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention.
Fig. 2 is the structural representation of trailing wheel of the present invention.
Fig. 3 is a permanent magnetism gap adsorption plant structural representation.
Fig. 4 is for driving steering integrated magnet-wheel structural representation.
Fig. 5 crosses the cutaway view of steering shaft and bevel gear shaft for front-wheel.
Fig. 6 was a front-wheel axletree cutaway view.
In the accompanying drawing: front-wheel module 1, vehicle frame 2, driving governor 3, trailing wheel module 4, permanent magnet 5, chassis 6; Wheel 7, turbine and worm retarder 8, epicyclic reduction gear 9, DC machine 10 is with 11 synchronously, retarder 12; Turn to sole plate 13,20 tooth spur bevel gear wheels 14, motor 16, steering shaft 17,60 tooth cylindrical wheels 18; 19 tooth cylindrical wheels 19, bevel gear shaft 20,40 tooth spur bevel gear wheels 21, front-wheel module permanent magnet 22 and wheel yoke 23.
The specific embodiment
The compound adsorbed wall-climbing robot of a kind of later-model full driving comprises climbing mechanism, and said climbing mechanism comprises the vehicle frame that adopts the front-wheel module that drives steering integrated magnet-wheel, the trailing wheel module that adopts permanent magnetism gap adsorption plant, connection front and back wheel and is installed in the motor drive controller on the vehicle frame; Climbing mechanism is a tricycle structure, and three-wheel is drive wheel, adopts that front-wheel is controlled to turn to, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to be implemented in turning on the magnetic conduction wall.The trailing wheel module comprises the chassis, is installed in the retarder of the permanent magnet on the trailing wheel chassis, two trailing wheels that pass the chassis, drive wheel, the DC machine of driving retarder, two trailing wheel symmetric arrangement of trailing wheel module around wheel.The front-wheel module comprises permanent magnet and wheel for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel adopts along the magnetized annular permanent magnet of thickness direction.
Driving steering integrated magnet-wheel device specifically comprises car body fixed frame, turntable framework, turns to driver train, wheel drive mechanism and roller; Be provided with a passive inclination rotational structure between said car body fixed frame and the turntable framework, be provided with the independent steering structure between turntable framework and the magnet-wheel; Said inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame; Said turntable framework comprises turntable lower supporting plate, turret supports column, turntable cover plate and the turntable upper backup pad that links to each other successively; The said driver train that turns to comprises steer motor adapter plate and the drive motor that turns to mounted thereto; Turn to drive motor to adopt Disc brushless DC motor; Motor output shaft connects epicyclic reduction gear, drives steering shaft through one-level bevel drive and primary cylinder gear transmission again; Said wheel drive mechanism comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, drives magnet-wheel through synchronous strap drive and rolls; Said roller is a magnet-wheel, and said drive motor and the wheel rolling of turning to drives reducing motor drive configuration independently each other; Inclination rotating shaft one end is installed on the car body fixed frame, and other end turntable lower supporting plate connects, and turntable upper backup pad, turret supports column and turntable lower supporting plate are connected; The turntable cover plate is connected with the turntable upper backup pad, and tapered roller bearing is installed on two stay bearing plates, and steering shaft is bearing on the tapered roller bearing; Steering shaft is connected with 60 tooth straight-tooth gears, and angular transducer input shaft and steering shaft are affixed, and the angular transducer strut bar is connected with the turntable upper backup pad; Angular transducer is connected with the angular transducer strut bar; The steer motor adapter plate is connected with the turntable upper backup pad, turns to reducing motor to be connected with the steer motor adapter plate, and 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft; The 40 tooth spur bevel gear wheels that are meshed with it are mounted on the bevel gear shaft; Bevel gear shaft is by first deep groove ball bearing supporting that is installed in the turntable upper backup pad, and the opposite side of bevel gear shaft connects through flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears; The lower end of steering shaft is connected with turning to substrate; Wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate are connected with turning to substrate, drive reducing motor and are connected with the drive motor adapter plate, and the small synchronous pulley axle is affixed with the output shaft that drives reducing motor; Small synchronous pulley is installed on the small synchronous pulley axle through the flat key connection; Front-wheel module permanent magnet and wheel yoke are installed on the axletree through the flat key connection, and axletree is bearing between wheel left side adapter plate and the wheel right side adapter plate through first deep groove ball bearing and second deep groove ball bearing, and big synchronous pulley connects the opposite side that is installed in axletree through flat key; Connect by synchronous band between big synchronous pulley and the small synchronous pulley; Be connected through screw between tensioning running roller and the tensioning running roller strut bar, tensioning running roller strut bar is installed on the adapter plate of wheel left side through screw, drives between reducing motor and the axletree through synchronous strap drive; Turn to driver train also to comprise steering shaft, the steering shaft bottom is equipped with wheel drive mechanism and roller; Said steer axis and wheel axis perpendicular quadrature; Said driving reducing motor is a brush direct current motor.
Permanent magnetism gap adsorption plant is installed on the chassis around trailing wheel, is contactless between said permanent magnetism gap adsorption plant and magnetic conduction wall, through said permanent magnetic adhesion device of distance setting between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall.The chassis is a dead-soft steel, constitutes magnetic circuit as yoke with the permanent magnet that is installed on the trailing wheel chassis around wheel.Retarder comprises first order epicyclic reduction gear and second stage turbine and worm retarder, connects two-stage reduction gear behind the DC machine and drives wheel, and second stage turbine and worm retarder is mounted on the trailing wheel chassis through screw.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Fig. 1 is the complete whole three-dimensional model diagram that drives compound adsorbed wall-climbing robot.The compound adsorbed wall-climbing robot of full driving shown in Figure 1 is made up of four parts, comprises the vehicle frame 2 that adopts the front-wheel module 1 that drives steering integrated magnet-wheel, the trailing wheel module 4 that adopts permanent magnetism gap adsorption plant, connection front and back wheel and is installed in the motor drive controller 3 on the vehicle frame.
Fig. 2 is the three-dimensional model diagram of trailing wheel.Wherein, dead-soft steeies (like Q235) manufacturing is adopted on trailing wheel chassis 6, except that as the function that supports the back wheel construction, as yoke be installed in the part that permanent magnet 5 on the trailing wheel chassis 6 constitutes magnetic circuit around wheel.Connect two-stage reduction gear behind the DC machine 10 and drive wheel 7, the first order is an epicyclic reduction gear 9, and the second stage is turbine and worm retarder 8, and the turbine and worm retarder is mounted on the trailing wheel chassis 6 through screw.
Permanent magnetism gap adsorption plant is as shown in Figure 3; Nd-Fe-B permanent magnet by 12 thickness directions magnetize is formed; Each trailing wheel is respectively arranged 6 permanent magnets, and the N utmost point and the S utmost point formation magnetic circuit that is staggered is installed on the chassis around trailing wheel; Between said permanent magnetism gap adsorption plant and magnetic conduction wall is noncontact, through said permanent magnetic adhesion device of distance setting between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall.
Fig. 4 is the three-dimensional model diagram of front-wheel, and Fig. 5 is the cutaway view that front-wheel is crossed steering shaft and bevel gear shaft, and Fig. 6 was the cutaway view of front-wheel axletree.Wherein, Dc brushless motor and epicyclic reduction gear 9 are through 20 tooth spur bevel gear wheels 14 and 20 rotations of 40 tooth spur bevel gear wheels, 21 driving band dynamic bevel gear axles; Bevel gear shaft 20 drives steering shaft 17 rotations through 19 tooth cylindrical wheels 19 and 18 transmissions of 60 tooth cylindrical wheels again, steering shaft 17 and turn to sole plate 13 to fix through screw attachment.F-w-d motor and retarder 12 adopt brush direct current motor and epicyclic reduction gear, drive front-wheel through being with 11 transmissions synchronously.Front-wheel is a magnet-wheel, and structure is seen Fig. 6.Magnet-wheel is made up of 1 permanent magnet and 2 yokes.Said permanent magnet adopts along the magnetized annular permanent magnet of thickness direction, and permanent magnet can adopt manufacturings such as high performance permanent magnetic materials such as NdFeB, and yoke adopts dead-soft steel (like Q235 etc.) to make.
A kind of embodiment that drives steering integrated magnet-wheel does, inclination rotating shaft one end is by the sliding supported condition that is installed on the car body fixed frame, and the other end and turntable lower supporting plate are affixed through thread connection; Turntable upper backup pad, turret supports column and turntable lower supporting plate are connected through screw; The turntable cover plate is connected through screw with the turntable upper backup pad, and two tapered roller bearings are installed on two stay bearing plates face-to-face, and steering shaft is bearing on these two tapered roller bearings; Steering shaft is connected through flat key with 60 tooth straight-tooth gears; Angular transducer input shaft and steering shaft are affixed, and the angular transducer strut bar is connected through screw with the turntable upper backup pad, and angular transducer is connected through screw with the angular transducer strut bar; The steer motor adapter plate is connected through screw with the turntable upper backup pad; Turn to reducing motor to be connected through screw with the steer motor adapter plate, 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft, and the 40 tooth spur bevel gear wheels that are meshed with it are installed on the bevel gear shaft through the flat key connection; Bevel gear shaft is by first deep groove ball bearing supporting that is installed in the turntable upper backup pad; The opposite side of bevel gear shaft connects through flat key with 19 tooth straight-tooth gears, the engagement of 19 tooth straight-tooth gears and 60 tooth straight-tooth gears, the lower end of steering shaft with turn to substrate to pass through screw to be connected; Wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate and turn to substrate to pass through screw to be connected; Drive reducing motor and be connected through screw with the drive motor adapter plate, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, and small synchronous pulley is installed on the small synchronous pulley axle through the flat key connection; Front-wheel module permanent magnet and wheel yoke are installed on the axletree through the flat key connection; Axletree is bearing between wheel left side adapter plate and the wheel right side adapter plate through first deep groove ball bearing and second deep groove ball bearing, and big synchronous pulley connects the opposite side that is installed in axletree through flat key, is connected by synchronous band between big synchronous pulley and the small synchronous pulley; Be connected through screw between tensioning running roller and the tensioning running roller strut bar, tensioning running roller strut bar is installed on the adapter plate of wheel left side through screw.Magnet-wheel comprises front-wheel module permanent magnet and wheel yoke.
Claims (5)
1. compound adsorbed wall-climbing robot of later-model full driving; Comprise climbing mechanism, it is characterized in that: said climbing mechanism comprises the vehicle frame (2) that adopts the front-wheel module (1) that drives steering integrated magnet-wheel, the trailing wheel module (4) that adopts permanent magnetism gap adsorption plant, connection front and back wheel and is installed in motor (16) driving governor (3) on the vehicle frame (2); Climbing mechanism is a tricycle structure, and three-wheel is drive wheel, adopts that front-wheel is controlled to turn to, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to be implemented in turning on the magnetic conduction wall;
Trailing wheel module (4) comprises chassis (6), is installed in the retarder (12) of the permanent magnet (5) on the trailing wheel chassis (6), two trailing wheels that pass chassis (6), drive wheel (7), the DC machine (10) of driving retarder (12), two trailing wheel symmetric arrangement of trailing wheel module (4) around wheel (7);
Front-wheel module (1) comprises permanent magnet (5) and wheel (7) for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel (5) adopts along the magnetized annular permanent magnet of thickness direction (5).
2. the compound adsorbed wall-climbing robot of a kind of later-model full driving according to claim 1 is characterized in that: drive steering integrated magnet-wheel device and specifically comprise car body fixed frame, turntable framework, turn to driver train, wheel drive mechanism and roller; Be provided with a passive inclination rotational structure between said car body fixed frame and the turntable framework, be provided with the independent steering structure between turntable framework and the magnet-wheel; Said inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame; Said turntable framework comprises turntable lower supporting plate, turret supports column, turntable cover plate and the turntable upper backup pad that links to each other successively; The said driver train that turns to comprises steer motor adapter plate and the drive motor that turns to mounted thereto; Turn to drive motor to adopt Disc brushless DC motor; Motor output shaft connects epicyclic reduction gear (9), drives steering shaft (17) through one-level bevel drive and primary cylinder gear transmission again; Said wheel drive mechanism comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear (9), drives magnet-wheel through synchronous band (11) transmission and rolls; Said roller is a magnet-wheel, and said drive motor and the wheel rolling of turning to drives reducing motor drive configuration independently each other; Inclination rotating shaft one end is installed on the car body fixed frame, and other end turntable lower supporting plate connects, and turntable upper backup pad, turret supports column and turntable lower supporting plate are connected; The turntable cover plate is connected with the turntable upper backup pad; Tapered roller bearing is installed on two stay bearing plates, and steering shaft (17) is bearing on the tapered roller bearing, and steering shaft (17) is connected with 60 tooth straight-tooth gears; Angular transducer input shaft and steering shaft (17) are affixed; The angular transducer strut bar is connected with the turntable upper backup pad, and angular transducer is connected with the angular transducer strut bar, and the steer motor adapter plate is connected with the turntable upper backup pad; Turn to reducing motor to be connected with the steer motor adapter plate; 20 tooth spur bevel gear wheels (14) are fixed in and turn on the reducing motor output shaft, and the 40 tooth spur bevel gear wheels (21) that are meshed with it are mounted on the bevel gear shaft (20), and bevel gear shaft (20) is by first deep groove ball bearing supporting that is installed in the turntable upper backup pad; The opposite side of bevel gear shaft (20) connects through flat key with 19 tooth straight-tooth gears; 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft (17) is connected with turning to substrate, and wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate are connected with turning to substrate; Driving reducing motor is connected with the drive motor adapter plate; The small synchronous pulley axle is affixed with the output shaft that drives reducing motor, and small synchronous pulley is installed on the small synchronous pulley axle through the flat key connection, and front-wheel module permanent magnet (22) and wheel yoke (23) are installed on the axletree through the flat key connection; Axletree is bearing between wheel left side adapter plate and the wheel right side adapter plate through first deep groove ball bearing and second deep groove ball bearing; Big synchronous pulley connects the opposite side that is installed in axletree through flat key, is connected by synchronous band between big synchronous pulley and the small synchronous pulley, is connected through screw between tensioning running roller and the tensioning running roller strut bar; Tensioning running roller strut bar is installed on the adapter plate of wheel left side through screw, drives between reducing motor and the axletree through band (11) transmission synchronously; Turn to driver train also to comprise steering shaft (17), steering shaft (17) bottom is equipped with wheel drive mechanism and roller; Said steering shaft (17) line and wheel axis perpendicular quadrature; Said driving reducing motor is a brush direct current motor.
3. the compound adsorbed wall-climbing robot of a kind of later-model full driving according to claim 1; It is characterized in that: described permanent magnetism gap adsorption plant is installed on the chassis (6) around trailing wheel; Between said permanent magnetism gap adsorption plant and magnetic conduction wall is contactless, through said permanent magnetic adhesion device of distance setting between adjusting chassis (6) and the magnetic conduction wall and the air gap between the magnetic conduction wall.
4. the compound adsorbed wall-climbing robot of a kind of later-model full driving according to claim 3 is characterized in that: said chassis (6) are dead-soft steel, constitute magnetic circuit as the permanent magnet (5) of yoke be installed in trailing wheel chassis (6) around wheel on.
5. the compound adsorbed wall-climbing robot of a kind of later-model full driving according to claim 4; It is characterized in that: retarder comprises first order epicyclic reduction gear (9) and second stage turbine and worm retarder (8); Connect two-stage reduction gear behind the DC machine (10) and drive wheel, second stage turbine and worm retarder (8) is mounted on the trailing wheel chassis (6) through screw.
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| CN 201210185202 CN102673670B (en) | 2012-06-07 | 2012-06-07 | Full driving composite adsorption climbing robot |
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| CN 201210185202 CN102673670B (en) | 2012-06-07 | 2012-06-07 | Full driving composite adsorption climbing robot |
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| CN102673670B CN102673670B (en) | 2013-12-25 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102897241A (en) * | 2012-11-09 | 2013-01-30 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
| CN103171640A (en) * | 2013-04-15 | 2013-06-26 | 山东科技大学 | Wall-climbing robot based on permanent magnet adsorption structure |
| CN103639629A (en) * | 2013-12-04 | 2014-03-19 | 镇江新区汇达机电科技有限公司 | Magnetic creeping type cutting machine of tubular structure |
| CN105945890A (en) * | 2016-05-13 | 2016-09-21 | 中国东方电气集团有限公司 | Curved-surface self-adaptive adsorption type omni-directional mobile platform |
| CN107128389A (en) * | 2017-06-30 | 2017-09-05 | 河北工业大学 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
| CN107380258A (en) * | 2017-08-15 | 2017-11-24 | 广东电网有限责任公司电力科学研究院 | A kind of electric chassis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102897241A (en) * | 2012-11-09 | 2013-01-30 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
| CN102897241B (en) * | 2012-11-09 | 2015-05-20 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
| CN103171640A (en) * | 2013-04-15 | 2013-06-26 | 山东科技大学 | Wall-climbing robot based on permanent magnet adsorption structure |
| CN103639629A (en) * | 2013-12-04 | 2014-03-19 | 镇江新区汇达机电科技有限公司 | Magnetic creeping type cutting machine of tubular structure |
| CN105945890A (en) * | 2016-05-13 | 2016-09-21 | 中国东方电气集团有限公司 | Curved-surface self-adaptive adsorption type omni-directional mobile platform |
| CN105945890B (en) * | 2016-05-13 | 2018-01-12 | 中国东方电气集团有限公司 | A kind of curved surface adaptive absorption type omni-directional moving platform |
| CN109070628A (en) * | 2016-05-18 | 2018-12-21 | 沙特阿拉伯石油公司 | Magnetic omni-directional wheel with rolling wheel support |
| CN107128389A (en) * | 2017-06-30 | 2017-09-05 | 河北工业大学 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
| CN107128389B (en) * | 2017-06-30 | 2022-12-30 | 河北工业大学 | Curved surface self-adaptive magnetic adsorption wall-climbing paint spraying robot |
| CN107380258A (en) * | 2017-08-15 | 2017-11-24 | 广东电网有限责任公司电力科学研究院 | A kind of electric chassis |
| CN109515585A (en) * | 2018-11-29 | 2019-03-26 | 东北大学 | A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform |
| CN109515585B (en) * | 2018-11-29 | 2023-11-10 | 东北大学 | Double-wheel coupling type omnidirectional inverted pendulum balance moving platform |
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