CN102673671A - Composite magnetic adsorption visual detection climbing robot - Google Patents
Composite magnetic adsorption visual detection climbing robot Download PDFInfo
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- CN102673671A CN102673671A CN2012101852033A CN201210185203A CN102673671A CN 102673671 A CN102673671 A CN 102673671A CN 2012101852033 A CN2012101852033 A CN 2012101852033A CN 201210185203 A CN201210185203 A CN 201210185203A CN 102673671 A CN102673671 A CN 102673671A
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Abstract
The invention belongs to the technical field of robot welding and particularly relates to a composite magnetic adsorption visual detection climbing robot which comprises a frame, a front wheel module and a back wheel module, wherein the front wheel module and the back wheel module are installed at two ends of the frame. A visual detection pan tilt is installed on the frame, the composite magnetic adsorption visual detection climbing robot is of a three-wheel structure, and three wheels are all driving wheels. The composite magnetic adsorption visual detection climbing robot has the advantages that the composite magnetic adsorption visual detection climbing robot adopts a wheel-type movement mechanism, all wheels are driving wheels, movement flexibility is good, the robot can swerve around the center of the robot body, and the minimum turning radius is 0. An adsorption device simultaneously adopts a magnet wheel and a permanent magnet interval adsorption device, a front wheel adopts the magnet wheel, compactness of the structure is improved while guaranteeing adsorption force, and simultaneously the permanent magnet interval adsorption device is installed on a chassis and around back wheels to guarantee that the robot has strong loading capability.
Description
Technical field
The invention belongs to the robotic welding technology field, is a kind of compound magnetic adsorption type Video Detection climbing robot specifically.
Background technology
Magnetic adsorption wall climbing robot is a kind of of specialized robot, be a kind of 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, detection etc.Compound magnetic adsorption type Video Detection climbing robot can move on the magnetic conduction wall of large-sized structural parts and the surrounding environment image real-time Transmission that photographs returned on the local computer flexibly, and operation such as the welding of carrying out after for it, polishing provides the environment reference information.
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.Foot formula climbing robot footwork control more complicated, kinematic dexterity is bad.In addition, adopt electromagnet that adsorption affinity is provided, need consumed power, and the potential safety hazard that 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.
Number of patent application is 200510027714.2 for another example; The applying date is 2005-7-14; Name is called the patent of invention of " driving and steering integrated wheel of moon craft "; Its technical scheme is for comprising: wheel rim, outer shrouding, wheel hub, drive sleeve, connection support, deep groove ball bearing, electric machine support cover, drive sealing in sealing in DC speed-reducing, the shaft-cup, shaft-cup, adapter sleeve, the shrouding, inner sealed board, the moving wheel just of harmonic gear reducer, the quiet firm wheel of harmonic gear reducer, harmonic gear reducer input axle sleeve, sliding supporting sleeve, harmonic gear deceleration wave producer, baffle plate, cover plate, rotating shaft, the interior sealing of end cap, end cap, a set of cups, two angular contact ball bearings, motor bearing, turning DC reducing motor, support tube, screw top, link span; The whole wheel of the present invention adopts sealed construction; Wheel rim and wheel hub adopt sectional construction, go to drive DC speed-reducing and harmonic gear deceleration coaxial line install in series.The wheel of above-mentioned patent is not a magnet-wheel, but is set to common the wheel according to the traditional approach front-wheel, does not still break away from the prejudice of prior art, and its magnet-wheel is comparatively single, and structure is comparatively complicated, all has than big problem at alerting ability with aspect turning in the practical application; 2. drive motor is motor-retarder-wheel to the messenger chain structure of wheel, this structure cause motor and retarder must with the same axle mounting of wheel, increase motor mounting space indirectly; For moon exploration, the space size perhaps is not very important, if but this robot application being arrived the welding robot field, then can not be suitable for; The messenger chain structure of steer motor is motor-retarder-turning cylinder, makes that motor and retarder and turning cylinder are coaxial, also increases motor mounting space.
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 a kind of compound magnetic adsorption type Video Detection climbing robot; Make it when having strong load-carrying capacity, can be on wall flexible motion and pass the video image that photographs back local computer in real time, thereby solve the problem that exists in the prior art.
For realizing above-mentioned purpose, technical scheme of the present invention is following:
A kind of compound magnetic adsorption type Video Detection climbing robot; Comprise vehicle frame, be installed in the front-wheel module and the trailing wheel module at vehicle frame two ends, the Video Detection The Cloud Terrace is installed on the vehicle frame, it is characterized in that: the artificial tricycle structure of said compound magnetic adsorption type Video Detection wall-climbing device; Three-wheel is drive wheel; Said front-wheel module adopts and drives steering integrated magnet-wheel, and the trailing wheel module adopts permanent magnetism gap adsorption structure, specifically; The trailing wheel module comprises that chassis, below, chassis are around the retarder of the permanent magnet of trailing wheel, two trailing wheels that pass the chassis, drive wheel, the DC machine of driving retarder; The front-wheel module adopts and drives steering integrated magnet-wheel, and the front-wheel of front-wheel module is a magnet-wheel, controlled turning to; The chassis of trailing wheel module is provided with permanent magnetism gap adsorption plant, and two trailing wheel symmetric arrangement of trailing wheel module 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;
The steering integrated magnet-wheel of driving that said front-wheel adopts specifically is to adopt along the magnetized annular permanent magnet of thickness direction;
Described Video Detection The Cloud Terrace has the rotary freedom of two quadratures; The setting range of lens control system is level+170 °～-170 °; Range of vertical adjustment is
; The lens optical zoom is 18 times; Data transfer mode is WIFI or 3G network, and concrete mode is at first carried out analogue to digital conversion with vision signal for to carry out transmission over radio through data transmission systems; Compression is passed to far-end through WIFI or 3G interface module more then.
The front-wheel module comprise the motor that turns to sole plate, turn to sole plate below, retarder, front-wheel, synchronously with and be arranged on spur bevel gear wheel and the retarder that turns on the sole plate; Dc brushless motor and epicyclic reduction gear drive the bevel gear shaft rotation through 20 tooth spur bevel gear wheels and 40 tooth Straight Bevel Gear Drive; Bevel gear shaft drives the steering shaft rotation through 19 tooth cylindrical wheels and 60 tooth spur gear drives again; Steering shaft with turn to sole plate to fix through screw attachment; F-w-d motor and retarder adopt brush direct current motor and epicyclic reduction gear, drive front-wheel through synchronous strap drive.
Further; Described permanent magnetism gap adsorption plant is installed on the chassis around trailing wheel; Be 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.
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 invention has the advantages that:
1, the present invention adopts wheeled travel mechanism, and all wheels are drive wheel, and kinematic dexterity is good, can turn to around the car body center, and minimum turning radius is 0.
2, adsorption plant of 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.
3, 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;
4, the lens control system setting range is big; Be level
; Vertically
; Can remedy the deficiency that magnetic attaches the robot locomitivity; Data transmission systems adopts the WIFI/3G network, overcomes the influence that the employed coaxial cable of traditional wire transmission bears a heavy burden to robot.
5, monitor front wheel steering angle in real time through steering angle sensor,, realize the accuracy control of front wheel steering angle as the feedback fraction of front-wheel steering angle closed loop control.
6, pass through synchronous strap drive between driving reducing motor and the axletree, can obtain bigger installing space, improve drive torque thereby more high-performance driving reducing motor is installed through regulating the transmission width between centers.
7, be provided with and independently turn to degree of freedom and make steer axis and the wheel axis perpendicular quadrature, can realize the independent steering of wheel, improve the climbing robot kinematic dexterity.
7, be provided with passive banking degree of freedom and through inclination confinement block constrained side tilt angle positive and negative 10 the degree in, make climbing robot have curved surface adaptive capacity preferably.
9, the inclination confinement block is realized the function of constrained side degree of tilt through mechanical position limitation.
10, said steering structure and wheel rolling all are provided with independent driving mechanisms.
Description of drawings
Fig. 1 is the whole three-dimensional model diagram of compound magnetic adsorption type Video Detection climbing robot.
Fig. 2 is the three-dimensional model diagram of the trailing wheel of compound magnetic adsorption type Video Detection climbing robot.
Fig. 3 is the three-dimensional model diagram of the front-wheel of compound magnetic adsorption type Video Detection climbing robot.
Fig. 4 is the cutaway view that compound magnetic adsorption type Video Detection climbing robot front-wheel is crossed steer axis and finishing bevel gear cuter axis.
Fig. 5 is the cutaway view of compound magnetic adsorption type Video Detection climbing robot through the front-wheel wheel axis.
Fig. 6 is compound magnetic adsorption type Video Detection climbing robot measuring ability schematic diagram.
1 front-wheel module in the accompanying drawing, 2 vehicle frames, 3 motor drive controllers, 4 trailing wheel modules;
5 permanent magnets, 6 chassis, 7 wheels, 8 turbine and worm retarders, 9 epicyclic reduction gears, 10 DC machine;
11 are with synchronously, 12 retarders, and 13 turn to sole plate, 14.20 tooth spur bevel gear wheels, 16 motors, 17 steering shafts, 18.60 tooth cylindrical wheels, 19.19 tooth cylindrical wheels, 20 bevel gear shafts, 21. 40 tooth spur bevel gear wheels;
The 22nd, front-wheel module permanent magnet, the 23rd, wheel yoke.
The specific embodiment
A kind of compound magnetic adsorption type Video Detection climbing robot comprises vehicle frame, is installed in the front-wheel module and the trailing wheel module at vehicle frame two ends; The Video Detection The Cloud Terrace is installed on the vehicle frame; The artificial tricycle structure of said compound magnetic adsorption type Video Detection wall-climbing device, three-wheel is drive wheel, and said front-wheel module adopts and drives steering integrated magnet-wheel; The trailing wheel module adopts permanent magnetism gap adsorption structure; Specifically, the trailing wheel module comprises chassis, below, chassis around the retarder of the permanent magnet of trailing wheel, two trailing wheels that pass the chassis, drive wheel, the DC machine of driving retarder, and the front-wheel module adopts and drives steering integrated magnet-wheel; The front-wheel of front-wheel module is a magnet-wheel, controlled turning to; The chassis of trailing wheel module is provided with permanent magnetism gap adsorption plant, and two trailing wheel symmetric arrangement of trailing wheel module 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;
The steering integrated magnet-wheel of driving that said front-wheel adopts specifically is to adopt along the magnetized annular permanent magnet of thickness direction;
Described Video Detection The Cloud Terrace has the rotary freedom of two quadratures; The setting range of lens control system is level+170 °～-170 °; Range of vertical adjustment is
; The lens optical zoom is 18 times; Data transfer mode is WIFI or 3G network, and concrete mode is at first carried out analogue to digital conversion with vision signal for to carry out transmission over radio through data transmission systems; Compression is passed to far-end through WIFI or 3G interface module more then.
The front-wheel module comprise the motor that turns to sole plate, turn to sole plate below, retarder, front-wheel, synchronously with and be arranged on spur bevel gear wheel and the retarder that turns on the sole plate; Dc brushless motor and epicyclic reduction gear drive the bevel gear shaft rotation through 20 tooth spur bevel gear wheels and 40 tooth Straight Bevel Gear Drive; Bevel gear shaft drives the steering shaft rotation through 19 tooth cylindrical wheels and 60 tooth spur gear drives again; Steering shaft with turn to sole plate to fix through screw attachment; F-w-d motor and retarder adopt brush direct current motor and epicyclic reduction gear, drive front-wheel through synchronous strap drive.
Described 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.
Said chassis is a dead-soft steel, constitutes magnetic circuit as yoke with the permanent magnet 5 that is installed in around wheel on the trailing wheel chassis 6.
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.
Steering angle sensor is the feedback fraction of deflection angle closed loop control.
Below in conjunction with accompanying drawing the present invention is further specified.
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.
Fig. 3 is the three-dimensional model diagram of front-wheel, and Fig. 4 is the cutaway view that front-wheel is crossed steering shaft and bevel gear shaft, and Fig. 5 was the cutaway view of front-wheel axletree.Wherein, Dc brushless motor and epicyclic reduction gear 15 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. 5.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.Video Detection The Cloud Terrace 3 is fixed on the vehicle frame through screw attachment, has the rotary freedom of 2 quadratures.
The video detection system principle is as shown in Figure 6, angle, the zoom multiple of lens control system control camera; Camera system is responsible for the acquisition front end vision signal; Data transmission systems is passed through video inputs mouth receiving video signals, and is encoded to digital signal, and the control port transmitting control commands is given lens control system, and WIFI is responsible for being connected with computing machine with the 3G interface.
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 (6)
1. compound magnetic adsorption type Video Detection climbing robot; Comprise vehicle frame (2), be installed in the front-wheel module (1) and the trailing wheel module (4) at vehicle frame (2) two ends; Vehicle frame is equipped with the Video Detection The Cloud Terrace on (2); It is characterized in that: the artificial tricycle structure of said compound magnetic adsorption type Video Detection wall-climbing device, three-wheel is drive wheel, and said front-wheel module (1) adopts and drives steering integrated magnet-wheel; Trailing wheel module (4) adopts permanent magnetism gap adsorption structure; Specifically, trailing wheel module (4) comprises chassis (6), chassis (6) below around the retarder (12) of the permanent magnet (5) of trailing wheel, two trailing wheels that pass chassis (6), drive wheel (7), the DC machine (10) of driving retarder (12), and front-wheel module (1) adopts and drives steering integrated magnet-wheel; The front-wheel of front-wheel module (1) is a magnet-wheel, controlled turning to; The chassis (6) of trailing wheel module (4) is provided with permanent magnetism gap adsorption plant, and two trailing wheel symmetric arrangement of trailing wheel module (4) 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;
The steering integrated magnet-wheel of driving that said front-wheel adopts specifically is to adopt along the magnetized annular permanent magnet of thickness direction;
Described Video Detection The Cloud Terrace has the rotary freedom of two quadratures; The setting range of lens control system is level+170 °～-170 °; Range of vertical adjustment is
; The lens optical zoom is 18 times; Data transfer mode is WIFI or 3G network, and concrete mode is at first carried out analogue to digital conversion with vision signal for to carry out transmission over radio through data transmission systems; Compression is passed to far-end through WIFI or 3G interface module more then.
2. a kind of compound magnetic adsorption type Video Detection climbing robot according to claim 1; It is characterized in that: front-wheel module (1) comprises motor (16), retarder (12), front-wheel, the synchronous band (11) that turns to sole plate (13), turns to sole plate (13) below and is arranged on spur bevel gear wheel and the retarder (12) that turns on the sole plate (13); Dc brushless motor and epicyclic reduction gear (9) are through 20 tooth spur bevel gear wheels (14) and the rotation of 40 tooth spur bevel gear wheel (21) driving band dynamic bevel gear axles (20); Bevel gear shaft (20) drives steering shaft (17) rotation through 19 tooth cylindrical wheels (19) and 60 tooth cylindrical wheel (18) transmissions again; Steering shaft (17) with turn to sole plate (13) to fix through screw attachment; F-w-d motor and retarder adopt brush direct current motor and epicyclic reduction gear (9), drive front-wheel through synchronous band (11) transmission.
3. a kind of compound magnetic adsorption type Video Detection climbing robot according to claim 2; It is characterized in that: described permanent magnetism gap adsorption plant is installed on the chassis (6) around trailing wheel; Be contactless between said permanent magnetism gap adsorption plant and magnetic conduction wall, 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. a kind of compound magnetic adsorption type Video Detection climbing robot according to claim 3 is characterized in that: said chassis (6) are dead-soft steel, constitute magnetic circuit as yoke with the permanent magnet that is installed on the trailing wheel chassis (6) around wheel (7).
5. a kind of compound magnetic adsorption type Video Detection climbing robot 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 (7), second stage turbine and worm retarder (8) is mounted on the trailing wheel chassis (6) through screw.
6. according to any described a kind of compound magnetic adsorption type Video Detection climbing robot of claim 1-5; It is characterized in that: the steering integrated magnet-wheel concrete structure of said driving is: inclination rotating shaft one end is by the sliding supported condition that is installed on the car body fixed frame; 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, and 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; Steering shaft (17) is bearing on these two tapered roller bearings; Steering shaft (17) is connected through flat key with 60 tooth straight-tooth gears, and angular transducer input shaft and steering shaft (17) are affixed, and the angular transducer strut bar is connected through screw with the turntable upper backup pad; 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, turns to reducing motor to be connected through screw with the steer motor adapter plate, and 20 tooth spur bevel gear wheels (14) are fixed in and turn on the reducing motor output shaft; The 40 tooth spur bevel gear wheels (21) that are meshed with it are installed on the bevel gear shaft (20) through the flat key connection; Bevel gear shaft (20) 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 (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) 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, to drive reducing motor and be connected through screw with the drive motor adapter plate, the output shaft of little synchronous band (11) wheel shaft and driving reducing motor is affixed; Little synchronous band (11) wheel is installed on little synchronous band (11) wheel shaft through the flat key connection; Front-wheel module permanent magnet (22) and wheel yoke (23) 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 band (11) is synchronously taken turns through flat key and connected the opposite side that is installed in axletree; Connect by synchronous band (11) between big wheel of band (11) synchronously and little synchronous band (11) wheel; 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, and magnet-wheel comprises front-wheel module permanent magnet (22) and wheel yoke (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210185203.3A CN102673671B (en) | 2012-06-07 | 2012-06-07 | Composite magnetic adsorption visual detection climbing robot |
Applications Claiming Priority (1)
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| CN106080036A (en) * | 2016-07-20 | 2016-11-09 | 广东大仓机器人科技有限公司 | The robot architecture that a kind of band steering wheel controls |
| CN106608306A (en) * | 2016-07-25 | 2017-05-03 | 中科新松有限公司 | Wall-climbing robot |
| CN106828650A (en) * | 2017-03-24 | 2017-06-13 | 洛阳圣瑞智能机器人有限公司 | A kind of magnetic suck steering wheel for magnetic adsorption wall climbing robot |
| CN106882285A (en) * | 2017-03-24 | 2017-06-23 | 洛阳圣瑞智能机器人有限公司 | A kind of climbing robot chassis with servo-actuated universal wheel |
| CN107031748A (en) * | 2017-04-25 | 2017-08-11 | 中科新松有限公司 | The universal drive module and its general driving unit of a kind of climbing robot |
| CN107351934A (en) * | 2017-08-30 | 2017-11-17 | 烟台皇宸智能制造有限公司 | A kind of wheeled magnetic adsorption wall climbing robot |
| CN107416061A (en) * | 2017-06-28 | 2017-12-01 | 成都圭目机器人有限公司 | A kind of autonomous type restructural climbing robot detecting system and its application method |
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| CN115027589A (en) * | 2022-06-22 | 2022-09-09 | 江苏镌极特种设备有限公司 | Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force |
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| CN109865969A (en) * | 2017-12-05 | 2019-06-11 | 南京机器人研究院有限公司 | The magnetic suck robot and its working method of visualized operation |
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| CN109282766A (en) * | 2018-12-04 | 2019-01-29 | 浙江省特种设备检验研究院 | One kind climbing wall detection robot |
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| CN111230898A (en) * | 2020-02-19 | 2020-06-05 | 北京中安吉泰科技有限公司 | Magnetic adsorption flexible wall-climbing robot |
| CN112744309A (en) * | 2021-02-08 | 2021-05-04 | 高维智控机器人科技(苏州)有限公司 | Multi-motion-mode three-wheel self-adaptive magnetic wall-climbing robot |
| CN112744309B (en) * | 2021-02-08 | 2024-09-27 | 苏州伸之助科技服务有限公司 | Multi-motion-mode three-wheel self-adaptive magnetic wall climbing robot |
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