CN102673671B - Composite magnetic adsorption visual detection climbing robot - Google Patents
Composite magnetic adsorption visual detection climbing robot Download PDFInfo
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- CN102673671B CN102673671B CN201210185203.3A CN201210185203A CN102673671B CN 102673671 B CN102673671 B CN 102673671B CN 201210185203 A CN201210185203 A CN 201210185203A CN 102673671 B CN102673671 B CN 102673671B
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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 robotic welding technology field, is that a kind of compound magnetic adsorption type video detects climbing robot specifically.
Background technology
Magnetic adsorption wall climbing robot is a kind of of specialized robot, is that a kind of design is used under severe, danger, limiting case, on magnetic conduction wall, carries out operations specific as a kind of automated machine device of welding, polishing, detection etc.Compound magnetic adsorption type video detects climbing robot and can on the magnetic conduction wall of large-sized structural parts, move and the surrounding environment Image Real-time Transmission photographing is returned on local computer flexibly, and the operations such as the welding of carrying out afterwards for it, polishing provide environment reference information.
Climbing robot must have two basic function: wall adsorption function and locomotive function.But, the two is again contradiction: the load-carrying capacity of robot is stronger, require the adsorption affinity between climbing robot and magnetic conduction wall larger, but this has also caused the resistance of climbing robot when motion larger, 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 providing by magnetic foot is adsorbed on wall, because its walking feature has determined that its adsorption affinity is necessary adjustable, adopts electromagnet that adsorption affinity is provided, as eight sufficient magnetic adsorption wall climbing robots of HIT's development more.Foot formula climbing robot footwork is controlled more complicated, and kinematic dexterity is bad.In addition, adopt electromagnet that adsorption affinity is provided, need to consume electric energy, and the potential safety hazard that exists accident power-off to cause.
Magnetic wheel type climbing robot is to lean on the adsorption affinity of magnet-wheel to be adsorbed on magnetic conduction wall.The applying date is on January 5th, 2004, application number is " magnetic roller adsorption type 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, revolver structure is identical with right wheel construction, 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, location correction structure is connected to the bearing support rightmost side, it can adapt to the curvature of wall, around bearing support, do the rotation of certain angle, in robot motion's process, proofread and correct the pose of robot.The present invention can complete the weld seam detection in the hazardous environments such as oil barrel.The feature of foregoing invention is that kinematic dexterity is better, but because effective adsorption area of magnet-wheel is little, magnetic energy utilization rate is not high, and load-carrying capacity is poor.
Crawler type magnetic adsorption wall climbing robot is that the suction block by being arranged in crawler-type mobile mechanism is adsorbed on magnetic conduction wall.The applying date is " the crawler-type permanent magnet wall climbing mechanism " that patent documentation that January 26, application number in 2000 are 00200795.9 relates to, its main technical schemes is: this climbing mechanism is by car body, power pack section and traveling gear three parts form, car body is a box-shaped flexible structure, power pack section is installed in inside, power pack section is two electrical motors and speed reduction gearing thereof, and its output shaft is respectively with the drive sprocket of motor vehicles bodies both sides.Traveling gear is placed in car body both sides, by drive sprocket, and guide wheel, permanent magnet and chain tensioning mechanism form, and each drive sprocket drives three closed chains, and two gap locations between three chains are evenly arranged permanent magnet along chain total length depending on bearing a heavy burden.Be characterized in that load-carrying capacity is strong, but its kinematic dexterity is poor, particularly, when carrying out divertical motion, because area of contact between crawler belt and magnetic conduction wall is large, cornering resistance is large, and Turning radius is large, and steering flexibility is poor.
Gap adsorbed wall-climbing robot be by be arranged on chassis and magnetic conduction wall between there is certain interval permanent magnet be adsorbed on 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 wheel type mobile mechanism and permanent magnetic adhesion device, wheel type mobile mechanism comprises chassis, is arranged on the driver train on chassis, the drive wheel being driven by driver train.Described drive wheel is arranged symmetrically with, and adopts differential type of drive, relies on the differential of drive wheel to realize turning on magnetic conduction wall; Permanent magnetic adhesion device is arranged on described chassis, between described permanent magnetic adhesion device and magnetic conduction wall, is non-contacting, and magnetic energy utilization rate is high, high adsorption capacity.Above-mentioned patent feature is that adsorption affinity is large, but because all drive wheels are all the cylinder wheels that car body turns to relatively, cornering resistance is large, and steering flexibility is poor.
For another example number of patent application is 200510027714.2, 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 bracket, deep groove ball bearing, electric machine support cover, drive DC speed-reducing, sealing in shaft-cup, shaft-cup, adapter sleeve, sealing in shrouding, inner sealed board, the moving just wheel of harmonic gear reducer, the quiet firm wheel of harmonic gear reducer, harmonic gear reducer input axle sleeve, sliding supporting sleeve, harmonic reduction gear wave producer, baffle plate, cover plate, rotating shaft, sealing in end cap, end cap, a set of cups, two angular contact ball bearings, motor support base, 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, travel and drive DC speed-reducing and harmonic reduction gear coaxial line install in series.The wheel of above-mentioned patent is not magnet-wheel, but is set to ordinary wheel according to 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, has larger problem in practical application at alerting ability with aspect turning to; 2. drive motor is motor-retarder-wheel to the messenger chain structure of wheel, and this structure causes motor and retarder coaxially to install with wheel, indirectly increases motor mounting space; For moon exploration, space size is not perhaps very important, if but this robot application being arrived to welding robot field, can not be suitable for; The messenger chain structure of steer motor is motor-retarder-turning cylinder, makes motor and retarder and turning cylinder coaxial, also increases motor mounting space.
In sum, 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 for existing climbing robot or kinematic dexterity, and Combination property is bad.
Summary of the invention
The object of the invention is for overcoming prior art in the deficiency of Combination property aspect kinematic dexterity and load-carrying capacity two, solve climbing robot absorption and mobile contradiction, design a kind of compound magnetic adsorption type video and detect climbing robot, make it when thering is strong load-carrying capacity, can be on wall flexible motion pass in real time the video image photographing back local computer, thereby solve problems of the prior art.
For achieving the above object, technical scheme of the present invention is as follows:
A kind of compound magnetic adsorption type video detects climbing robot, comprise vehicle frame, be arranged on front-wheel module and the trailing wheel module at vehicle frame two ends, video is installed on vehicle frame and detects The Cloud Terrace, it is characterized in that: described compound magnetic adsorption type video detects the artificial tricycle structure of wall-climbing device, three-wheel is drive wheel, described front-wheel module adopts and drives steering integrated magnet-wheel, trailing wheel module adopts permanent magnetism gap adsorption structure, specifically, trailing wheel module comprises chassis, below, chassis is around the permanent magnet of trailing wheel, two trailing wheels through chassis, retarder with motor car wheel, drive the DC machine of retarder, front-wheel module adopts and drives steering integrated magnet-wheel, the front-wheel of front-wheel module is magnet-wheel, controlled turning to, on the chassis of trailing wheel module, be provided with permanent magnetism gap adsorption plant, two trailing wheels of trailing wheel module are arranged symmetrically with, and adopt Redundant Control steering mode, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on magnetic conduction wall,
The steering integrated magnet-wheel of driving that described front-wheel adopts specifically adopts the magnetized annular permanent magnet of through-thickness;
Described video detects the rotary freedom that The Cloud Terrace has two quadratures, and the setting range of lens control system is level+170 °～-170 °, and range of vertical adjustment is
, lens optical zoom is 18 times, and data transfer mode is WIFI or 3G network, and concrete mode, for to carry out transmission over radio by data transmission systems, is first carried out analogue to digital conversion by vision signal, then compression, then pass to far-end by WIFI or 3G interface module.
Front-wheel module comprises and turns to sole plate, turn to the motor of sole plate below, retarder, front-wheel, Timing Belt and be arranged on spur bevel gear wheel and the retarder turning on sole plate, DC brushless motor and epicyclic reduction gear drive bevel gear shaft rotation through 20 tooth spur bevel gear wheels and 40 tooth Straight Bevel Gear Drive, bevel gear shaft drives steering shaft to rotate by 19 tooth cylindrical wheels and 60 tooth spur gear drives again, steering shaft with turn to sole plate to fix by screw attachment, f-w-d motor and retarder adopt brush direct current motor and epicyclic reduction gear, by toothed belt transmission, drive front-wheel.
Further, described permanent magnetism gap adsorption plant is arranged on chassis around trailing wheel, between described permanent magnetism gap adsorption plant and magnetic conduction wall, be contactless, by regulating the distance between chassis and magnetic conduction wall to set the air gap between described permanent magnetic adhesion device and magnetic conduction wall.
Further, described chassis is dead-soft steel, as yoke, forms magnetic circuit be arranged on the permanent magnet on trailing wheel chassis around wheel together with.
Further, retarder comprises first order epicyclic reduction gear and second stage turbine and worm retarder, connects two-stage reduction gear band motor car wheel after DC machine, and second stage turbine and worm retarder is connected by screw and is arranged on trailing wheel chassis.
The invention has the advantages that:
1, the present invention adopts wheel type mobile mechanism, and all wheels are drive wheel, and kinematic dexterity is good, can be around car body zero turn radius, 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, permanent magnetism gap adsorption plant has been installed on chassis around trailing wheel, guaranteed that climbing robot has strong load-carrying capacity simultaneously.
3, steering hardware is introduced Redundant Control mode, relies on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on magnetic conduction wall, and the accurate control by front-wheel steering angle has improved climbing robot and turned to precision;
4, lens control system setting range is large, is level
, vertical
, can make up the deficiency of magnetic adsorption engine device people locomitivity, data transmission systems adopts WIFI/3G network, overcomes the impact that coaxial cable that traditional wire transmission used bears a heavy burden on robot.
5, by steering angle sensor Real-Time Monitoring front wheel steering angle, as the feedback fraction of front-wheel steering angle closed loop control, realize the accurate control of front wheel steering angle.
6, drive between reducing motor and axletree and pass through toothed belt transmission, by regulating transmission width between centers can obtain larger installing space, thereby the driving reducing motor raising drive torque of relatively high power is installed.
7, be provided with and independently turn to degree of freedom and make steer axis and wheel axis perpendicular quadrature, can realize the independent steering of wheel, improve climbing robot kinematic dexterity.
7, be provided with passive banking degree of freedom and by rolling confinement block constrained side tilt angle in positive and negative 10 degree, make climbing robot there is good curved surface adaptive capacity.
9, roll confinement block and by mechanical position limitation, realize the function of constrained side degree of tilt.
10, described steering structure and wheel rolling are all provided with independently driver train.
Accompanying drawing explanation
Fig. 1 is the whole three-dimensional model diagram that compound magnetic adsorption type video detects climbing robot.
Fig. 2 is the three-dimensional model diagram that compound magnetic adsorption type video detects the trailing wheel of climbing robot.
Fig. 3 is the three-dimensional model diagram that compound magnetic adsorption type video detects the front-wheel of climbing robot.
Fig. 4 is that compound magnetic adsorption type video detects the cutaway view that climbing robot front-wheel is crossed steer axis and finishing bevel gear cuter axis.
Fig. 5 is that compound magnetic adsorption type video detects climbing robot through the cutaway view of front-wheel wheel axis.
Fig. 6 is that compound magnetic adsorption type video detects climbing robot measuring ability schematic diagram.
1 front-wheel module in 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 Timing Belts, 12 retarders, 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 detects climbing robot and comprises vehicle frame, be arranged on front-wheel module and the trailing wheel module at vehicle frame two ends, video is installed on vehicle frame and detects The Cloud Terrace, described compound magnetic adsorption type video detects the artificial tricycle structure of wall-climbing device, three-wheel is drive wheel, described front-wheel module adopts and drives steering integrated magnet-wheel, trailing wheel module adopts permanent magnetism gap adsorption structure, specifically, trailing wheel module comprises chassis, below, chassis is around the permanent magnet of trailing wheel, two trailing wheels through chassis, retarder with motor car wheel, drive the DC machine of retarder, front-wheel module adopts and drives steering integrated magnet-wheel, the front-wheel of front-wheel module is magnet-wheel, controlled turning to, on the chassis of trailing wheel module, be provided with permanent magnetism gap adsorption plant, two trailing wheels of trailing wheel module are arranged symmetrically with, and adopt Redundant Control steering mode, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on magnetic conduction wall,
The steering integrated magnet-wheel of driving that described front-wheel adopts specifically adopts the magnetized annular permanent magnet of through-thickness;
Described video detects the rotary freedom that The Cloud Terrace has two quadratures, and the setting range of lens control system is level+170 °～-170 °, and range of vertical adjustment is
, lens optical zoom is 18 times, and data transfer mode is WIFI or 3G network, and concrete mode, for to carry out transmission over radio by data transmission systems, is first carried out analogue to digital conversion by vision signal, then compression, then pass to far-end by WIFI or 3G interface module.
Front-wheel module comprises and turns to sole plate, turn to the motor of sole plate below, retarder, front-wheel, Timing Belt and be arranged on spur bevel gear wheel and the retarder turning on sole plate, DC brushless motor and epicyclic reduction gear drive bevel gear shaft rotation through 20 tooth spur bevel gear wheels and 40 tooth Straight Bevel Gear Drive, bevel gear shaft drives steering shaft to rotate by 19 tooth cylindrical wheels and 60 tooth spur gear drives again, steering shaft with turn to sole plate to fix by screw attachment, f-w-d motor and retarder adopt brush direct current motor and epicyclic reduction gear, by toothed belt transmission, drive front-wheel.
Described permanent magnetism gap adsorption plant is arranged on chassis around trailing wheel, between described permanent magnetism gap adsorption plant and magnetic conduction wall, is contactless, by regulating the distance between chassis and magnetic conduction wall to set the air gap between described permanent magnetic adhesion device and magnetic conduction wall.
Described chassis is dead-soft steel, as yoke, forms magnetic circuit together with the permanent magnet 5 being arranged on around wheel on trailing wheel chassis 6.
Retarder comprises first order epicyclic reduction gear and second stage turbine and worm retarder, connects two-stage reduction gear band motor car wheel after DC machine, and second stage turbine and worm retarder is connected by screw and is arranged on trailing wheel chassis.
Steering angle sensor is the feedback fraction of deflection angle closed loop control.
Below in conjunction with accompanying drawing, the present invention will be further described.
Fig. 1 is the whole three-dimensional model diagram that entirely drives composite adsorption climbing robot.Shown in Fig. 1, entirely drive composite adsorption climbing robot to be formed by four parts, comprise and adopt front-wheel module 1, the vehicle frame 2 of the trailing wheel module 4 that adopts permanent magnetism gap adsorption plant, connection front and back wheel that drives steering integrated magnet-wheel and be arranged on the motor drive controller 3 on vehicle frame.
Fig. 2 is the three-dimensional model diagram of trailing wheel.Wherein, trailing wheel chassis 6 adopts dead-soft steel (as Q235) manufacture, except as supporting the function of rear-wheel structure, forms a part for magnetic circuit as yoke together with the permanent magnet 5 being arranged on around wheel on trailing wheel chassis 6.After DC machine 10, connect two-stage reduction gear band motor car wheel 7, the first order is epicyclic reduction gear 9, and the second stage is turbine and worm retarder 8, and turbine and worm retarder is connected by screw and is arranged on trailing wheel chassis 6.
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 40 tooth spur bevel gear wheel 21 driving band dynamic bevel gear axle 20 rotations, bevel gear shaft 20 drives steering shafts 17 rotations by 19 tooth cylindrical wheels 19 and 60 tooth cylindrical wheel 18 transmissions again, steering shaft 17 with turn to sole plate 13 to fix by screw attachment.F-w-d motor and retarder 12 adopt brush direct current motor and epicyclic reduction gear, by Timing Belt 11 transmissions, drive front-wheel.Front-wheel is magnet-wheel, and structure is shown in Fig. 5.Magnet-wheel consists of 1 permanent magnet and 2 yokes.Described permanent magnet adopts the magnetized annular permanent magnet of through-thickness, and permanent magnet can adopt high performance permanent magnetic materials as manufactures such as NdFeB, and yoke adopts dead-soft steel (as Q235 etc.) to manufacture.Video detects The Cloud Terrace 3 and is fixed on vehicle frame by screw attachment, has the rotary freedom of 2 quadratures.
As shown in Figure 6, lens control system is controlled angle, the zoom multiple of camera to video detection system principle; Camera system is responsible for gathering front end vision signal; Data transmission systems is passed through video input port receiving video signals, and is encoded to digital signal, and control port sends control command to lens control system, and WIFI is responsible for being connected with computing machine with 3G interface.
Drive a kind of embodiment of steering integrated magnet-wheel to be, roll rotating shaft one end by the sliding supported condition being arranged on car body fixed frame, the other end and turntable lower supporting plate are affixed by thread connection, turntable upper backup pad, turret supports column and turntable lower supporting plate are connected by screw, turntable cover plate and turntable upper backup pad are connected by screw, two tapered roller bearings are arranged on two stay bearing plates face-to-face, steering shaft is bearing on these two tapered roller bearings, steering shaft is connected by flat key with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft are affixed, angular transducer strut bar and turntable upper backup pad are connected by screw, angular transducer and angular transducer strut bar are connected by screw, steer motor adapter plate and turntable upper backup pad are connected by screw, turn to reducing motor and steer motor adapter plate to be connected by screw, 20 tooth spur bevel gear wheels are fixed in and turn on reducing motor output shaft, the 40 tooth spur bevel gear wheels that are meshed are with it connected and are arranged on bevel gear shaft by flat key, bevel gear shaft is supported by the first deep groove ball bearing that is arranged on turntable upper backup pad, the opposite side of bevel gear shaft connects by 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 with turn to substrate to be connected by screw, wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate with turn to substrate to be connected by screw, drive reducing motor and drive motor adapter plate to be connected by screw, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is connected and is arranged on small synchronous pulley axle by flat key, front-wheel module permanent magnet and wheel yoke are connected and are arranged on axletree by flat key, axletree is bearing between wheel left side adapter plate and wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is arranged on axletree by flat key, between large synchronous pulley and small synchronous pulley, by Timing Belt, connected, between tensioning running roller and tensioning running roller strut bar, be connected by screw, tensioning running roller strut bar is arranged on the adapter plate of wheel left side by screw.Magnet-wheel comprises front-wheel module permanent magnet and wheel yoke.
Claims (5)
1. a compound magnetic adsorption type video detects climbing robot, comprise vehicle frame (2), be arranged on front-wheel module (1) and the trailing wheel module (4) at vehicle frame (2) two ends, video is installed on vehicle frame (2) and detects The Cloud Terrace, it is characterized in that: described compound magnetic adsorption type video detects the artificial tricycle structure of wall-climbing device, three-wheel is drive wheel, described 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), below, chassis (6) is around the permanent magnet (5) of trailing wheel, two trailing wheels through chassis (6), the retarder (12) of band motor car wheel (7), drive the DC machine (10) of retarder (12), front-wheel module (1) adopts and drives steering integrated magnet-wheel, the front-wheel of front-wheel module (1) is magnet-wheel, controlled turning to, on the chassis (6) of trailing wheel module (4), be provided with permanent magnetism gap adsorption plant, two trailing wheels of trailing wheel module (4) are arranged symmetrically with, and adopt Redundant Control steering mode, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on magnetic conduction wall,
The steering integrated magnet-wheel of driving that described front-wheel adopts specifically adopts the magnetized annular permanent magnet of through-thickness;
Described video detects the rotary freedom that The Cloud Terrace has two quadratures, and the setting range of lens control system is level+170 °～-170 °, and range of vertical adjustment is
, lens optical zoom is 18 times, and data transfer mode is WIFI or 3G network, and concrete mode, for to carry out transmission over radio by data transmission systems, is first carried out analogue to digital conversion by vision signal, then compression, then pass to far-end by WIFI or 3G interface module;
The steering integrated magnet-wheel concrete structure of described driving is: roll rotating shaft one end by the sliding supported condition being arranged on car body fixed frame, the other end and turntable lower supporting plate are affixed by thread connection, turntable upper backup pad, turret supports column and turntable lower supporting plate are connected by screw, turntable cover plate and turntable upper backup pad are connected by screw, two tapered roller bearings are arranged on two stay bearing plates face-to-face, steering shaft (17) is bearing on these two tapered roller bearings, steering shaft (17) is connected by flat key with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft (17) are affixed, angular transducer strut bar and turntable upper backup pad are connected by screw, angular transducer and angular transducer strut bar are connected by screw, steer motor adapter plate and turntable upper backup pad are connected by screw, turn to reducing motor and steer motor adapter plate to be connected by screw, 20 tooth spur bevel gear wheels (14) are fixed in and turn on reducing motor output shaft, the 40 tooth spur bevel gear wheels (21) that are meshed are with it connected and are arranged on bevel gear shaft (20) by flat key, bevel gear shaft (20) is supported by the first deep groove ball bearing that is arranged on turntable upper backup pad, the opposite side of bevel gear shaft (20) connects by 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 be connected by screw, wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate with turn to substrate to be connected by screw, drive reducing motor and drive motor adapter plate to be connected by screw, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is connected and is arranged on small synchronous pulley axle by flat key, front-wheel module permanent magnet (22) and wheel yoke (23) are connected and are arranged on axletree by flat key, axletree is bearing between wheel left side adapter plate and wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is arranged on axletree by flat key, between large synchronous pulley and small synchronous pulley, by Timing Belt (11), connected, between tensioning running roller and tensioning running roller strut bar, be connected by screw, tensioning running roller strut bar is arranged on the adapter plate of wheel left side by screw, magnet-wheel comprises front-wheel module permanent magnet (22) and wheel yoke (23).
2. a kind of compound magnetic adsorption type video according to claim 1 detects climbing robot, it is characterized in that: front-wheel module (1) comprises and turns to sole plate (13), turn to the motor (16) of sole plate (13) below, retarder (12), front-wheel, Timing Belt (11) and be arranged on spur bevel gear wheel and the retarder (12) turning on 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 by 19 tooth cylindrical wheels (19) and 60 tooth cylindrical wheel (18) transmissions again, steering shaft (17) with turn to sole plate (13) to fix by screw attachment, f-w-d motor and retarder adopt brush direct current motor and epicyclic reduction gear (9), by Timing Belt (11) transmission, drive front-wheel.
3. a kind of compound magnetic adsorption type video according to claim 2 detects climbing robot, it is characterized in that: described permanent magnetism gap adsorption plant is arranged on chassis (6) around trailing wheel, between described permanent magnetism gap adsorption plant and magnetic conduction wall, be contactless, by regulating the distance between chassis (6) and magnetic conduction wall to set the air gap between described permanent magnetic adhesion device and magnetic conduction wall.
4. a kind of compound magnetic adsorption type video according to claim 3 detects climbing robot, it is characterized in that: described chassis (6), for dead-soft steel, form magnetic circuit as yoke be arranged on the permanent magnet on trailing wheel chassis (6) around wheel (7) together with.
5. a kind of compound magnetic adsorption type video according to claim 4 detects climbing robot, it is characterized in that: retarder comprises first order epicyclic reduction gear (9) and second stage turbine and worm retarder (8), after DC machine (10), connect two-stage reduction gear band motor car wheel (7), second stage turbine and worm retarder (8) is connected by screw and is arranged on trailing wheel chassis (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210185203.3A CN102673671B (en) | 2012-06-07 | 2012-06-07 | Composite magnetic adsorption visual detection climbing robot |
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| CN201210185203.3A CN102673671B (en) | 2012-06-07 | 2012-06-07 | Composite magnetic adsorption visual detection climbing robot |
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| CN102673671B true CN102673671B (en) | 2014-03-19 |
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