CN102689295A - Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm - Google Patents
Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm Download PDFInfo
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- CN102689295A CN102689295A CN2012101855756A CN201210185575A CN102689295A CN 102689295 A CN102689295 A CN 102689295A CN 2012101855756 A CN2012101855756 A CN 2012101855756A CN 201210185575 A CN201210185575 A CN 201210185575A CN 102689295 A CN102689295 A CN 102689295A
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- 230000009194 climbing Effects 0.000 title claims abstract description 68
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 238000003466 welding Methods 0.000 claims abstract description 14
- 238000005498 polishing Methods 0.000 claims abstract description 12
- 238000010521 absorption reaction Methods 0.000 claims description 32
- 230000001360 synchronised effect Effects 0.000 claims description 29
- 210000000245 forearm Anatomy 0.000 claims description 26
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 16
- 239000003463 adsorbent Substances 0.000 claims description 14
- 230000005389 magnetism Effects 0.000 claims description 14
- 238000010276 construction Methods 0.000 claims description 13
- 239000000758 substrate Substances 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 7
- 229910001209 Low-carbon steel Inorganic materials 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000009193 crawling Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 229910001651 emery Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of special robots, and in particular relates to a full-driven magnetic attraction type multifunctional wall climbing robot with a multi-degree-of-freedom robotic arm. The wall climbing robot comprises a climbing mechanism and an operation mechanism, wherein the operation mechanism comprises a multifunctional robotic arm and a tail end working module; a base of the multifunctional robotic arm is fixed on a platform of the climbing mechanism; and the tail end working module is fixed at the tail end of the multifunctional robotic arm. The wall climbing robot has the advantages that the multifunctional robotic arm is carried, the arm has five degrees of freedom, namely a horizontal rotary degree of freedom, two vertical rotary degrees of freedom and two axial rotation degree of freedom; three different working devices, namely a welding module, a polishing module or a clamping module can be placed at the tail end of the arm, and a plurality of working modes are realized.
Description
Technical field
The invention belongs to the specialized robot technical field, is a kind of multi-functional climbing robot of full driven magnetic absorption type with multi freedom degree mechanical arm specifically.
Background technology
Magnetic adsorption wall climbing robot is a kind of of specialized robot; Its main feature is can be at large-sized structural parts such as boats and ships; And the magnetic conduction wall that personnel such as power station turbine blade are difficult to the structural member of on-site maintenance creeps, and accomplishes a kind of automated machine device of several work mode (like welding, polishing, defects detection, gripping etc.).
Climbing robot should have absorption, move and three kinds of functions of operation.Adsorption function should guarantee that it is adsorbed on structural member magnetic conduction wall reliably, when moving with operation, can not drop; Locomotive function should make it possess and move forward and backward, the left-right rotation function, and moving process is stable, and can adapt to the operation wall of different curvature.
The common suction type of climbing robot has: trapped orbit formula, vacuum suction, magnetic foot formula magnetic attach, the crawler type magnetic attaches, the magnetic wheel type magnetic attaches and the big class of clearance-type magnetic Annex V.The move mode that is complementary with suction type has: guide tracked, sufficient formula, crawler type and wheeled four big classes; Working mechanism is rectangular coordinate system mechanical arm or multi-joint manipulator arm normally.
Magnetic foot formula climbing robot is that the absorption affinity of leaning on the magnetic foot to provide is adsorbed on the wall, because its walking characteristics have determined that its absorption affinity must be adjustable, adopts electromagnet that absorption 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 absorption 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, position 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 position 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 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 section and walking mechanism three parts are formed, and car body is a box-shaped flexible structure, and power section is installed in inside; Power section is two motor and reducing gear thereof, and its output shaft drives the drive sprocket of car body both sides respectively.Walking mechanism 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 capacity is strong, but its kinematic dexterity is relatively poor, particularly when carrying out divertical motion, because contact area is big between crawler belt and the magnetic conduction wall, steering drag 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 driving mechanism on the chassis, by the driving wheel of drive mechanism.Said driving wheel symmetric arrangement adopts differential type of drive, relies on the differential of driving 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 absorption affinity is big, but because all driving wheels all are that the cylinder that turns to of car body is taken turns relatively, and steering drag is big, steering flexibility is poor.
The rectangular coordinate system mechanical arm is made up of the rectilinear motion pair; The applying date is that October 30, application number in 2006 are " the multiaxial type mechanical arm " that 200620149190.4 patent documentation relates to, has been characterized in that three rectilinear motions are secondary to constitute, but the operation of optional position, implementation space; Simple in structure; Cost is lower, but that itself takies volume is bigger, and terminal equipment can't angle changing.The multi-joint manipulator arm is made up of a plurality of revolute pairs, flexible movements, and it is little to take volume, but does not see that the multi-joint manipulator arm is used in the report in magnetically adsorbed wall-climbing robot field at present.
In sum; It is bigger that existing mechanical arm climbing robot itself takies volume; Terminal equipment can't angle changing, also has kinematic dexterity better and load capacity is poor, or load capacity is strong and kinematic dexterity is poor; Fail to solve the contradiction that climbing robot moves and adsorbs preferably, and 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 capacity two; The contradiction that solves climbing robot absorption and move; And there is not enough problem to the mechanical arm flexibility; Providing a kind of can adsorb on the magnetic conduction wall and move flexibly reliably, can realize the several work mode, the small and exquisite multi-functional climbing robot of full driven magnetic absorption type that has the multi freedom degree mechanical arm flexibly.
For realizing above-mentioned purpose, technical scheme of the present invention is following:
A kind of multi-functional climbing robot of full driven magnetic absorption type with multi freedom degree mechanical arm comprises climbing mechanism, operating mechanism, it is characterized in that:
Said operating mechanism comprises multi-functional mechanical arm and terminal operational module, and the base of multi-functional mechanical arm is fixed on the platform of climbing mechanism, and terminal operational module is fixed on the end of multi-functional mechanical arm.
Said multi-functional mechanical arm comprises base, turntable, big arm, forearm, slew gear and driver module, and the driver module base is fixed on the vehicle frame of climbing mechanism; Driver module comprises motor and decelerator, and described turntable is installed on the base, and motor and decelerator drive it and do horizontal rotation with respect to base; Described big arm is installed on the turntable; Motor and decelerator drive its relative turntable and vertically rotate, and said forearm is installed on the big arm, and motor and decelerator drive its big relatively arm and vertically rotate; Described rotary module is installed in the end of forearm; Relatively forearm axially rotates, and rotary module has an axial rotation free degree, and the axle center of axial rotation is vertical each other between the axle center of its axial rotation and forearm and the rotary module; The end of rotary module is connected with terminal operational module.
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 adsorbent equipment, 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 driving 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 decelerator of the permanent magnet on the trailing wheel chassis, two trailing wheels that pass the chassis, drive wheel, the direct current generator of driving decelerator, 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, drive steering integrated magnet-wheel device, comprise car body fixed frame, turntable framework, turn to driving mechanism, 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 driving mechanism that turns to comprises steer motor installing plate and the drive motors that turns to mounted thereto; Turn to drive motors to adopt Disc brushless DC motor; Motor output shaft connects planetary reducer, drives steering spindle through one-level Bevel Gear Transmission and primary cylinder gear transmission again; Said wheel drive mechanism comprises that drive motors installing plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects planetary reducer, drives magnet-wheel through synchronous band transmission and rolls; Said roller is a magnet-wheel, and said drive motors and the wheel rolling of turning to drives reducing motor Drive Structure 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 taper roll bearing is installed on two gripper shoes, and steering spindle is bearing on the taper roll bearing; Steering spindle is connected with 60 tooth straight-tooth gears, and angular transducer power shaft and steering spindle are affixed, and the angular transducer support bar is connected with the turntable upper backup pad; Angular transducer is connected with the angular transducer support bar; The steer motor installing plate is connected with the turntable upper backup pad, turns to reducing motor to be connected with the steer motor installing plate, and 20 tooth straight bevel gears are fixed in and turn on the reducing motor output shaft; The 40 tooth straight bevel gears 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 spindle is connected with turning to substrate; Wheel left side installing plate, wheel right side installing plate, drive motors installing plate are connected with turning to substrate, drive reducing motor and are connected with the drive motors installing 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; Wheel permanent-magnet body and wheel yoke are installed on the axletree through the flat key connection, and axletree is bearing between wheel left side installing plate and the wheel right side installing 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 support bar, tensioning running roller support bar is installed on the installing plate of wheel left side through screw, drives between reducing motor and the axletree through band transmission synchronously; Turn to driving mechanism also to comprise steering spindle, the steering spindle 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 adsorbent equipment is installed on the chassis around trailing wheel; Between said permanent magnetism gap adsorbent equipment and magnetic conduction wall is contactless, sets the air gap between said permanent magnetic adhesion device and magnetic conduction wall through the distance of regulating between chassis and the magnetic conduction wall.
Said terminal operational module comprises welding module, polishing module or gripping module, and three kinds of modules are connected with the end of multi-functional mechanical arm respectively through flange arrangement.
Further, said chassis is a mild steel, constitutes magnetic circuit as yoke with the permanent magnet that is installed on the trailing wheel chassis around wheel.
Further, decelerator comprises first order planetary reducer and second level turbine and worm decelerator, connects two stage reducer behind the direct current generator and drives wheel, and second level turbine and worm decelerator is mounted on the trailing wheel chassis through screw.
Described multi-functional mechanical arm, big arm is a box structure, is formed by thin plate splicing, its cross section is the hollow closed shape; Base, turntable, forearm and other connectors are thin-wall construction, by thin plate bending or be welded.Box structure is exactly the enclosed construction that thin plate splicing forms, and its cross section is the hollow closed shape, the cross section of similar chest; Thin-wall construction has been characterised in that thin plate splicing forms, but it differs and is decided to be the box structure of sealing.
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 adsorbent equipment); Tricycle structure, all wheels are driving 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; Accurate control through the front-wheel steer 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, multi-functional climbing robot of the present invention is equipped with the multi-functional mechanical arm; Arm has 5 frees degree; Be respectively 1 horizontal rotation free degree, 2 vertical rotational freedoms and 2 axial rotation frees degree; Arm end can change the outfit welding module, polishing module or three kinds of different working devices of gripping module have been realized several working ways.
3, multi-functional climbing robot of the present invention is under the cooperatively interacting of absorption type crawling device, multi-functional mechanical arm and terminal operational module; Can move, reliably adsorb in full position, large-scale steel structure surface independent and flexible; Rely on the multi-functional mechanical arm end different working device that changes the outfit, can weld large-scale steel structure, polish, several work such as monitoring.
4, steering mechanism introduces 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 accurate control through the front-wheel steer angle has improved climbing robot and turned to precision.
5, climbing mechanism of the present invention is that three-wheel drives the absorption type climbing mechanism entirely, and operating mechanism is the multi-functional mechanical arm; The front-wheel module of said climbing mechanism can realize driving steering integrated function, and the absorption affinity of trailing wheel module can be adjusted through the gap between chassis and the magnetic conduction wall; Described terminal equipment can change the outfit at the end of multi-functional mechanical arm according to different working conditions, realizes the several work mode.
6, pass through band transmission synchronously between the driving reducing motor of the steering integrated magnet-wheel of driving and the axletree, can obtain bigger installing space through regulating transmission centre-to-centre spacing, thus the more powerful driving reducing motor raising of installation driving moment.
7, the steering integrated magnet-wheel of driving is provided with and independently turns to the free degree and make steer axis and the wheel axis perpendicular quadrature, can realize the independent steering of wheel, improves the climbing robot kinematic dexterity.
8, 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.
9, drive the function of the inclination confinement block of steering integrated magnet-wheel through mechanical position limitation realization constrained side degree of tilt.
10, 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 overall appearance figure of the present invention.
Fig. 2 is an absorption type climbing mechanism structural representation.
Fig. 3 is a trailing wheel modular structure sketch map.
Fig. 4 is a permanent magnetism gap adsorbent equipment structural representation.
Fig. 5 is for driving steering integrated magnet-wheel structural representation.
Fig. 6 crosses the cutaway view of steering spindle and bevel gear shaft for front-wheel.
Fig. 7 is the magnet-wheel cutaway view.
Fig. 8 is a multi-functional mechanical arm structure sketch map.
Fig. 9 is polishing modular structure sketch map.
Figure 10 is the welding module structural representation.
Figure 11 is a gripping modular structure sketch map.
In the accompanying drawing: climbing mechanism 1, multi-functional mechanical arm 2, terminal operational module 3, trailing wheel module 4, front-wheel module 5, vehicle frame 6, permanent magnet 7; Chassis 8, wheel 9, turbine and worm decelerator 10, planetary reducer 11, direct current generator 12 is with 13 synchronously, decelerator 14; Turn to soleplate 15,20 tooth straight bevel gears 16, planetary reducer 17, motor 18, steering spindle 19,60 tooth roller gears 20; 19 tooth roller gears 21, bevel gear shaft 22,40 tooth straight bevel gears 23, wheel permanent-magnet body 24, wheel yoke 25, base 26; Turntable 27, big arm 28,, forearm 29, rotary module 30, polishing emery wheel 31; Support shell 32, drive unit 33, welding gun 34, connector 35, weld seam recognition system 36, gripping body 37 and anchor clamps 38.
The specific embodiment
A kind of multi-functional climbing robot of full driven magnetic absorption type with multi freedom degree mechanical arm comprises climbing mechanism, operating mechanism; Said operating mechanism comprises multi-functional mechanical arm and terminal operational module; The base of multi-functional mechanical arm is fixed on the platform of climbing mechanism, and terminal operational module is fixed on the end of multi-functional mechanical arm.
Said multi-functional mechanical arm comprises base, turntable, big arm, forearm, slew gear and driver module, and the driver module base is fixed on the vehicle frame of climbing mechanism; Driver module comprises motor and decelerator, and described turntable is installed on the base, and motor and decelerator drive it and do horizontal rotation with respect to base; Described big arm is installed on the turntable; Motor and decelerator drive its relative turntable and vertically rotate, and said forearm is installed on the big arm, and motor and decelerator drive its big relatively arm and vertically rotate; Described rotary module is installed in the end of forearm; Relatively forearm axially rotates, and rotary module has an axial rotation free degree, and the axle center of axial rotation is vertical each other between the axle center of its axial rotation and forearm and the rotary module; The end of rotary module is connected with terminal operational module.
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 adsorbent equipment, 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 driving wheel, 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;
Mode turning on the magnetic conduction wall.
The trailing wheel module comprises the chassis, is installed in the decelerator of the permanent magnet on the trailing wheel chassis, two trailing wheels that pass the chassis, drive wheel, the direct current generator of driving decelerator, 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, drive steering integrated magnet-wheel device, comprise car body fixed frame, turntable framework, turn to driving mechanism, 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 driving mechanism that turns to comprises steer motor installing plate and the drive motors that turns to mounted thereto; Turn to drive motors to adopt Disc brushless DC motor; Motor output shaft connects planetary reducer, drives steering spindle through one-level Bevel Gear Transmission and primary cylinder gear transmission again; Said wheel drive mechanism comprises that drive motors installing plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects planetary reducer, drives magnet-wheel through synchronous band transmission and rolls; Said roller is a magnet-wheel, and said drive motors and the wheel rolling of turning to drives reducing motor Drive Structure 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 taper roll bearing is installed on two gripper shoes, and steering spindle is bearing on the taper roll bearing; Steering spindle is connected with 60 tooth straight-tooth gears, and angular transducer power shaft and steering spindle are affixed, and the angular transducer support bar is connected with the turntable upper backup pad; Angular transducer is connected with the angular transducer support bar; The steer motor installing plate is connected with the turntable upper backup pad, turns to reducing motor to be connected with the steer motor installing plate, and 20 tooth straight bevel gears are fixed in and turn on the reducing motor output shaft; The 40 tooth straight bevel gears 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 spindle is connected with turning to substrate; Wheel left side installing plate, wheel right side installing plate, drive motors installing plate are connected with turning to substrate, drive reducing motor and are connected with the drive motors installing 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; Wheel permanent-magnet body and wheel yoke are installed on the axletree through the flat key connection, and axletree is bearing between wheel left side installing plate and the wheel right side installing 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 support bar, tensioning running roller support bar is installed on the installing plate of wheel left side through screw, drives between reducing motor and the axletree through band transmission synchronously; Turn to driving mechanism also to comprise steering spindle, the steering spindle 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 adsorbent equipment is installed on the chassis around trailing wheel; Between said permanent magnetism gap adsorbent equipment and magnetic conduction wall is contactless, sets the air gap between said permanent magnetic adhesion device and magnetic conduction wall through the distance of regulating between chassis and the magnetic conduction wall.
Said terminal operational module comprises welding module, polishing module or gripping module, and three kinds of modules are connected with the end of multi-functional mechanical arm respectively through flange arrangement.
Further, said chassis is a mild steel, constitutes magnetic circuit as yoke with the permanent magnet that is installed on the trailing wheel chassis around wheel.
Further, decelerator comprises first order planetary reducer and second level turbine and worm decelerator, connects two stage reducer behind the direct current generator and drives wheel, and second level turbine and worm decelerator is mounted on the trailing wheel chassis through screw.
Described multi-functional mechanical arm, big arm is a box structure, is formed by thin plate splicing, its cross section is the hollow closed shape; Base, turntable, forearm and other connectors are thin-wall construction, by thin plate bending or be welded.Box structure is exactly the enclosed construction that thin plate splicing forms, and its cross section is the hollow closed shape, the cross section of similar chest; Thin-wall construction has been characterised in that thin plate splicing forms, but it differs and is decided to be the box structure of sealing.
Below in conjunction with accompanying drawing the present invention is described in further detail.
The multi-functional climbing robot of differential driven magnetic absorption type with 5DOF mechanical arm shown in Figure 1 is made up of three parts; Comprise absorption type climbing mechanism 1, multi-functional mechanical arm 2 and terminal operational module 3; The base of multi-functional mechanical arm 2 is installed on the mounting platform of absorption type climbing mechanism 1; Terminal operational module 3 is installed in the end of multi-functional mechanical arm 2; Terminal operational module 3 has three kinds, is respectively welding module, polishing module and gripping module, and terminal operational module shown in Figure 1 is a welding module.
As shown in Figure 2, the absorption type crawling device is made up of three parts, comprises adopting the front-wheel module 5 that drives steering integrated magnet-wheel, the trailing wheel module 4 and the vehicle frame that is connected front and back wheel 6 that adopts permanent magnetism gap adsorbent equipment.
As shown in Figure 3; Mild steel (like Q235) manufacturing is adopted on trailing wheel chassis 8, except that as the function that supports the back wheel construction, also as yoke be installed in the part that permanent magnet 7 on the trailing wheel chassis 8 constitutes magnetic circuit around wheel; Direct current generator 12 connects two stage reducer and drives wheel 9; The first order is a planetary reducer 11, and the second level is turbine and worm decelerator 10, and the turbine and worm decelerator is mounted on the trailing wheel chassis 8 through screw.
Permanent magnetism gap adsorbent equipment is as shown in Figure 4; 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 adsorbent equipment and magnetic conduction wall is noncontact, sets the air gap between said permanent magnetic adhesion device and magnetic conduction wall through the distance of regulating between chassis and the magnetic conduction wall.
Fig. 5 is the three-dimensional model diagram of front-wheel, and Fig. 6 is the cutaway view that front-wheel is crossed steering spindle and bevel gear shaft, and Fig. 7 was the cutaway view of front-wheel axletree.Wherein, Dc brushless motor and planetary reducer 17 are through 20 tooth straight bevel gears 16 and 22 rotations of 40 tooth straight bevel gears, 23 driving-belt dynamic bevel gear axles; Bevel gear shaft 22 drives steering spindle 19 rotations through 19 tooth roller gears 21 and 20 transmissions of 60 tooth roller gears again, steering spindle 19 and turn to soleplate 15 to fix through screw attachment.Front-wheel drive motor and decelerator 14 adopt brush direct current motor and planetary reducer, drive front-wheel through being with 13 transmissions synchronously.Front-wheel is a magnet-wheel, and structure is seen Fig. 7.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 mild steel (like Q235 etc.) to make.
Specifically, inclination rotating shaft one end that drives steering integrated magnet-wheel 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 taper roll bearings are installed on two gripper shoes face-to-face, and steering spindle is bearing on these two taper roll bearings; Steering spindle is connected through flat key with 60 tooth straight-tooth gears; Angular transducer power shaft and steering spindle are affixed, and the angular transducer support bar is connected through screw with the turntable upper backup pad, and angular transducer is connected through screw with the angular transducer support bar; The steer motor installing plate is connected through screw with the turntable upper backup pad; Turn to reducing motor to be connected through screw with the steer motor installing plate, 20 tooth straight bevel gears are fixed in and turn on the reducing motor output shaft, and the 40 tooth straight bevel gears that are meshed with it are installed on the bevel gear shaft through the flat key connection; Bevel gear shaft is by the 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 the tooth straight-tooth gear, the engagement of 19 tooth straight-tooth gears and 60 tooth straight-tooth gears, the lower end of steering spindle with turn to substrate to pass through screw to be connected; Wheel left side installing plate, wheel right side installing plate, drive motors installing plate and turn to substrate to pass through screw to be connected; Drive reducing motor and be connected through screw with the drive motors installing 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; Wheel permanent-magnet body and wheel yoke are installed on the axletree through the flat key connection; Axletree is bearing between wheel left side installing plate and the wheel right side installing plate through two deep groove ball bearings, and big synchronous pulley connects the opposite side that is installed in axletree 35 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 support bar, tensioning running roller support bar is installed on the installing plate of wheel left side through screw.
Consult Fig. 8, mechanical arm of the present invention comprises base 26; Turntable 27 is installed on the base 26 through the revolute pair of horizontal direction; Big arm 28 is installed on the turntable 27 through the revolute pair of vertical direction; Forearm 29 is installed on the big arm 28 through the revolute pair of vertical direction; Rotary module 30 is connected on the forearm 29 through the axial rotation pair along forearm 29 directions; Rotary module 30 self has an axial rotation pair, and the secondary axle center of the axial rotation between the axle center of this revolute pair and forearm 29 and the rotary module 30 is vertical each other; Each kinematic pair all adopts servomotor harmonic decelerator to drive; Base 26, turntable 27, big arm 28, forearm 29, select the agent structure material of revolving die piece 30 to be high-strength aluminum alloy; Big arm 28 adopts box structure, and other structural members all adopt thin-wall construction, to alleviate dead load.
Adopt said structure; Turntable 27 is base 26 horizontal rotations relatively; Big arm 28 turntable 27 relatively vertically rotates, and forearm 29 can vertically rotate around big arm 28, and rotary module 30 is forearm 29 axial rotation relatively; The output of rotary module 30 and input can rotate to axial, axially rotate thereby drive terminal equipment.More than each kinematic pair make mechanical arm have 5 frees degree, be respectively 1 horizontal rotation free degree, 2 vertical rotational freedoms and 2 axial rotation frees degree.Make each driver module coordination through programme-control, thereby realize mechanical arm optional position and operation at any angle in the radius of clean-up.
Shown in Figure 9 is polishing module in the terminal operational module 3, by polishing emery wheel 31, support shell 32 and drive unit 33 3 parts are formed; Shown in Figure 10 is welding module in the terminal operational module 3, is made up of welding gun 34, connector 35 and weld seam recognition system 36, and an end of connector 35 is welding gun 34 fixedly, and the other end links to each other with the end of multi-functional mechanical arm 2; Figure 11 is the gripping module in the terminal operational module 3, is made up of gripping body 37 and anchor clamps 38, and gripping body 37 can be selected the gripping product of maturation for use, and anchor clamps 38 are connected the output of gripping body 37, can be designed to different shapes according to the difference of gripping object.
The Redundant Control steering mode is 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 jointly, and redundant part is arranged in the control, and this mode makes the stressed better of climbing robot steering procedure, and it is more accurate to move.
Rotary module is divided into two parts, and two parts can relatively rotate, and the prl module of matured product such as SCHUNK company is arranged on the market.The present invention not only is confined to above embodiment, and any modification in protection domain of the present invention is all thought to fall in protection scope of the present invention.
During work; Climbing mechanism is adsorbed on the structural member surface, and the three-wheel wheel is driving wheel, and each joint freedom degrees of multi-functional mechanical arm is leaned on driven by servomotor; By programme-control rotational angle and speed, with location, attitude adjustment and the adjustment of work track that realizes terminal operational module; Terminal operational module has three kinds, is respectively welding module, polishing module and gripping module, and different terminal operational modules changes the outfit under different working conditions.Lean on program to realize coordination between climbing mechanism, multi-functional mechanical arm and the terminal operational module, with the demand of fulfiling assignment.
The climbing mechanism of multi-functional climbing robot of the present invention is that three-wheel drives the absorption type climbing mechanism entirely, and operating mechanism is the multi-functional mechanical arm; The steering integrated magnet-wheel of front-wheel module drive of said climbing mechanism; The absorption affinity of trailing wheel module can be adjusted through the gap between chassis and the magnetic conduction wall; Described terminal equipment can change the outfit at the end of multi-functional mechanical arm according to different working conditions, realizes the several work mode.
Claims (7)
1. the multi-functional climbing robot of full driven magnetic absorption type with multi freedom degree mechanical arm comprises climbing mechanism (1), operating mechanism, it is characterized in that:
Said operating mechanism comprises multi-functional mechanical arm (2) and terminal operational module (3); The base (26) of multi-functional mechanical arm (2) is fixed on the platform of climbing mechanism (1), and terminal operational module (3) is fixed on the end of multi-functional mechanical arm (2);
Said multi-functional mechanical arm (2) comprises base (26), turntable (27), big arm (28), forearm (29), slew gear and driver module, and driver module base (26) is fixed on the vehicle frame (6) of climbing mechanism (1); Driver module comprises motor (18) and decelerator (14); Described turntable (27) is installed on the base (26); Motor (18) and decelerator (14) drive it and do horizontal rotation with respect to base (26), and described big arm (28) is installed on the turntable (27), and motor (18) and decelerator (14) drive its relative turntable (27) and vertically rotate; Said forearm (29) is installed on the big arm (28); Motor (18) and decelerator (14) drive its big relatively arm (28) and vertically rotate, and described rotary module (30) is installed in the end of forearm (29), and forearm (29) axially rotates relatively; Rotary module (30) has an axial rotation free degree, and the axle center of axial rotation is vertical each other between the axle center of its axial rotation and forearm (29) and the rotary module (30); The end of rotary module (30) is connected with terminal operational module (3);
Said climbing mechanism (1) comprises the vehicle frame (6) that adopts the front-wheel module (5) that drives steering integrated magnet-wheel, the trailing wheel module (4) that adopts permanent magnetism gap adsorbent equipment, connection front and back wheel and is installed in motor (18) driving governor on the vehicle frame (6); Climbing mechanism (1) is a tricycle structure, and three-wheel is driving wheel, adopts the differential of dependence 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 (8), is installed in the decelerator (14) of the permanent magnet (7) on the trailing wheel chassis (8), two trailing wheels that pass chassis (8), drive wheel (9), the direct current generator (12) of driving decelerator (14), two trailing wheel symmetric arrangement of trailing wheel module (4) around wheel (9); Front-wheel module (5) comprises permanent magnet (7) and wheel (9) for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel (7) adopts along the magnetized annular permanent magnet of thickness direction.
2. the multi-functional climbing robot of full driven magnetic absorption type with multi freedom degree mechanical arm according to claim 1, it is characterized in that: the steering integrated magnet-wheel of said driving comprises car body fixed frame, turntable framework, turns to driving mechanism, 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 driving mechanism that turns to comprises steer motor installing plate and the drive motors that turns to mounted thereto; Turn to drive motors to adopt Disc brushless DC motor; Motor output shaft connects planetary reducer (17), drives steering spindle (19) through one-level Bevel Gear Transmission and primary cylinder gear transmission again; Said wheel drive mechanism comprises that drive motors installing plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects planetary reducer (17), drives magnet-wheel through synchronous band (13) transmission and rolls; Said roller is a magnet-wheel, and said drive motors and the wheel rolling of turning to drives reducing motor Drive Structure 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; Taper roll bearing is installed on two gripper shoes, and steering spindle (19) is bearing on the taper roll bearing, and steering spindle (19) is connected with 60 tooth straight-tooth gears; Angular transducer power shaft and steering spindle (19) are affixed; The angular transducer support bar is connected with the turntable upper backup pad, and angular transducer is connected with the angular transducer support bar, and the steer motor installing plate is connected with the turntable upper backup pad; Turn to reducing motor to be connected with the steer motor installing plate; 20 tooth straight bevel gears (16) are fixed in and turn on the reducing motor output shaft, and the 40 tooth straight bevel gears (23) that are meshed with it are mounted on the bevel gear shaft (22), and bevel gear shaft (22) is by first deep groove ball bearing supporting that is installed in the turntable upper backup pad; The opposite side of bevel gear shaft (22) 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 spindle (19) is connected with turning to substrate, and wheel left side installing plate, wheel right side installing plate, drive motors installing plate are connected with turning to substrate; Driving reducing motor is connected with the drive motors installing plate; Little synchronous band (13) wheel shaft is affixed with the output shaft that drives reducing motor, and little synchronous band (13) wheel is installed on little synchronous band (13) wheel shaft through the flat key connection, and wheel permanent-magnet body (24) and wheel yoke (25) are installed on the axletree through the flat key connection; Axletree is bearing between wheel left side installing plate and the wheel right side installing plate through first deep groove ball bearing and second deep groove ball bearing; The big wheel of band (13) synchronously connects the opposite side that is installed in axletree through flat key, by synchronous band (13) connection, is connected through screw between tensioning running roller and the tensioning running roller support bar between the big wheel of band (13) synchronously and little synchronous band (13) wheel; Tensioning running roller support bar is installed on the installing plate of wheel left side through screw, drives between reducing motor and the axletree through band (13) transmission synchronously; Turn to driving mechanism also to comprise steering spindle (19), steering spindle (19) bottom is equipped with wheel drive mechanism and roller; Said steering spindle (19) line and wheel axis perpendicular quadrature; Said driving reducing motor is a brush direct current motor.
3. the multi-functional climbing robot of full driven magnetic absorption type with multi freedom degree mechanical arm according to claim 2; It is characterized in that: described permanent magnetism gap adsorbent equipment is installed on the chassis (8) around trailing wheel; Between said permanent magnetism gap adsorbent equipment and magnetic conduction wall is contactless, sets the air gap between said permanent magnetic adhesion device and magnetic conduction wall through the distance of regulating between chassis (8) and the magnetic conduction wall.
4. the multi-functional climbing robot of full driven magnetic absorption type with multi freedom degree mechanical arm according to claim 3; It is characterized in that: said terminal operational module (3) comprises welding module, polishing module or gripping module, and three kinds of modules are connected with the end of multi-functional mechanical arm (2) respectively through flange arrangement.
5. the multi-functional climbing robot of full driven magnetic absorption type with multi freedom degree mechanical arm according to claim 4; It is characterized in that: said chassis (8) are mild steel, constitute magnetic circuit as the permanent magnet (7) of yoke be installed in trailing wheel chassis (8) around wheel on.
6. the multi-functional climbing robot of full driven magnetic absorption type with multi freedom degree mechanical arm according to claim 5; It is characterized in that: decelerator (14) comprises first order planetary reducer (17) and second level turbine and worm decelerator (10); Connect two stage reducer behind the direct current generator (12) and drive wheel, second level turbine and worm decelerator (10) is mounted on the trailing wheel chassis (8) through screw.
7. the multi-functional climbing robot of full driven magnetic absorption type with multi freedom degree mechanical arm according to claim 6; It is characterized in that: described multi-functional mechanical arm (2); Big arm (28) is a box structure, is formed by thin plate splicing, and its cross section is the hollow closed shape; Base (26), turntable, forearm (29) and other connectors are thin-wall construction, and by thin plate bending or be welded, box structure is exactly the enclosed construction that thin plate splicing forms, and its cross section is the hollow closed shape, the cross section of similar chest; Thin-wall construction has been characterised in that thin plate splicing forms, but it differs and is decided to be the box structure of sealing.
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| CN106816959A (en) * | 2017-02-16 | 2017-06-09 | 浙江工业大学 | A kind of combined type super-pressure variable flow valve monitoring and dedusting robot |
| CN107322468A (en) * | 2017-08-03 | 2017-11-07 | 厦门市瑞尔兰科技有限公司 | A kind of modular array formula multi-working-head end effector |
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| CN110814472A (en) * | 2019-10-22 | 2020-02-21 | 清华大学 | Master-slave type wall climbing welding robot system suitable for large steel structural member |
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| CN106816959A (en) * | 2017-02-16 | 2017-06-09 | 浙江工业大学 | A kind of combined type super-pressure variable flow valve monitoring and dedusting robot |
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| CN110814472A (en) * | 2019-10-22 | 2020-02-21 | 清华大学 | Master-slave type wall climbing welding robot system suitable for large steel structural member |
| CN110861065A (en) * | 2019-12-17 | 2020-03-06 | 吉林大学 | Robot for automatically storing and taking books in library and control system and control method thereof |
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Effective date of registration: 20180425 Address after: 610000 18 West core road, hi-tech West District, Chengdu, Sichuan Patentee after: Dongfang Electric Co., Ltd. Address before: 610036 Shu Han Road, Jinniu District, Chengdu, Sichuan Province, No. 333 Patentee before: Dongfang Electric Corporation |