CN102689295B - 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 PDF

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Publication number
CN102689295B
CN102689295B CN201210185575.6A CN201210185575A CN102689295B CN 102689295 B CN102689295 B CN 102689295B CN 201210185575 A CN201210185575 A CN 201210185575A CN 102689295 B CN102689295 B CN 102689295B
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wheel
turntable
module
motor
arm
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CN102689295A (en
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桂仲成
陈博翁
栗园园
官雪梅
张帆
李永龙
徐立强
金之铂
徐进峰
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Dongfang Electric Co., Ltd.
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Dongfang Electric Corp
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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

There is the multi-functional climbing robot of full driving magnetic adsorption type of Multi-freedom-degreemanipulator manipulator arm
Technical field
The invention belongs to specialized robot technical field, specifically a kind of multi-functional climbing robot of full driving magnetic adsorption type with Multi-freedom-degreemanipulator manipulator arm.
Background technology
Magnetic adsorption wall climbing robot is the one of specialized robot, its main feature is can at large-sized structural parts such as boats and ships, and the magnetic conduction wall that the personnel such as Power Station Turbine blade are difficult to the structural member of on-site maintenance is creeped, and complete a kind of automated machine device of several work mode (as welding, polishing, defects detection, gripping etc.).
Climbing robot should have absorption, mobile and operation three kinds of functions.Adsorption function should guarantee that it is reliably adsorbed on structural member magnetic conduction wall, can not drop when movement and operation; Locomotive function should make it possess movable, left-right rotation function, and moving process is stablized, 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 suck, crawler type magnetic suck, magnetic wheel type magnetic suck and the large class of clearance-type magnetic Annex V.The move mode matched with suction type has: guide tracked, sufficient formula, crawler type and wheeled four large 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 provided by magnetic foot is adsorbed on wall, due to its walking feature determines its absorption affinity must be adjustable, the electromagnet that adopts provides absorption affinity, as eight sufficient magnetic adsorption wall climbing robots of HIT's development more.Foot formula climbing robot footwork controls more complicated, and kinematic dexterity is bad.In addition, adopt electromagnet to provide absorption affinity, need to consume electric energy, and there is the potential safety hazard that accident power-off causes.
Magnetic wheel type climbing robot leans on the absorption affinity of magnet-wheel to be adsorbed on magnetic conduction wall.The applying date is on January 5th, 2004, application number is the patent document " magnetic roller adsorption type wall climbing robot " that relate to of 200410016429.6, its technical scheme is: comprise revolver structure, bearing support, detection architecture, roller, code-disc, position 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, position correction anatomical connectivity is in the bearing support rightmost side, it can adapt to the curvature of wall, the rotation of certain angle is done around bearing support, the pose of robot is corrected in robot kinematics.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 due to effective adsorption area of magnet-wheel little, magnetic energy utilization rate is not high, and load capacity is poor.
Crawler type magnetic adsorption wall climbing robot is adsorbed on magnetic conduction wall by the suction block be arranged in crawler-type mobile mechanism." crawler-type permanent magnet wall climbing mechanism " that the patent document that the applying date is on January 26th, 2000, application number is 00200795.9 relates to, its main technical schemes is: this climbing mechanism is by car body, power section and walking mechanism three part composition, car body is a box-shaped flexible structure, in inside, power section is installed, power section is two motor and reducing gear thereof, the drive sprocket of its output shaft respectively with motor vehicles bodies both sides.Walking mechanism is placed in car body both sides, and by drive sprocket, guide wheel, permanent magnet and chain tensioning mechanism composition, 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 heavy burden.Be characterized in that load capacity is strong, but its kinematic dexterity is poor, particularly when carrying out divertical motion, because contact area between crawler belt and magnetic conduction wall is large, steering drag is large, and turning radius is large, and steering flexibility is poor.
Gap adsorbed wall-climbing robot is adsorbed on magnetic conduction wall by being arranged on the permanent magnet between on chassis and magnetic conduction wall with certain interval." wheeled non-contact magnetically adsorption wall climbing robot " that the patent document that the applying date is on October 8th, 2005, application number is 200510086383.X relates to, its technical scheme is: comprise wheeled locomotion mechanism and permanent magnetic adhesion device, and wheeled locomotion mechanism comprises chassis, the driving mechanism be arranged on chassis, the driving wheel that driven by driving mechanism.Described driving wheel is arranged symmetrically with, and adopts Differential Driving mode, relies on the differential of driving wheel to realize turning on magnetic conduction wall; Permanent magnetic adhesion device is arranged on described chassis, and be non-contacting between described permanent magnetic adhesion device and magnetic conduction wall, magnetic energy utilization rate is high, high adsorption capacity.Above-mentioned patent feature is that absorption affinity is large, but due to all driving wheels be all can not the cylinder wheel that turns to of car body relatively, greatly, steering flexibility is poor in steering drag.
Rectangular coordinate system mechanical arm is made up of rectilinear motion pair, " Multi-axle manipulator " that the patent document that the applying date is on October 30th, 2006, application number is 200620149190.4 relates to, be characterized in that three rectilinear motion pairs are formed, can the operation of optional position, implementation space, structure is simple, cost is lower, but it is comparatively large itself to take volume, and end equipment cannot angle changing.Multi-joint manipulator arm is made up of multiple revolute pair, and flexible movements take volume little, but has no the report that multi-joint manipulator arm is used in magnetically adsorbed wall-climbing robot field at present.
In sum, it is larger that existing mechanical arm climbing robot itself takies volume, end equipment cannot angle changing, also have kinematic dexterity better and load capacity is poor, or load capacity is strong and kinematic dexterity is poor, fail to solve preferably the contradiction that climbing robot moves and adsorbs, and combination property is bad.
Summary of the invention
The object of the invention is the deficiency for overcoming prior art combination property in kinematic dexterity and load capacity two, solve the contradiction of climbing robot absorption and movement, and for the problem of mechanical arm flexibility Shortcomings, one is provided reliably to adsorb on magnetic conduction wall and to move flexibly, several work mode can be realized, the small and exquisite multi-functional climbing robot of full driving magnetic adsorption type flexibly with Multi-freedom-degreemanipulator manipulator arm.
For achieving the above object, technical scheme of the present invention is as follows:
There is the multi-functional climbing robot of full driving magnetic adsorption type of Multi-freedom-degreemanipulator manipulator arm, comprise climbing mechanism, operating mechanism, it is characterized in that:
Described operating mechanism comprises multi-functional mechanical arm and end operational module, and the base of multi-functional mechanical arm is fixed on the platform of climbing mechanism, and end operational module is fixed on the end of multi-functional mechanical arm.
Described multi-functional mechanical arm comprises base, turntable, large arm, forearm, slew gear and driver module, and driver module base is fixed on the vehicle frame of climbing mechanism, driver module comprises motor and decelerator, described turntable is arranged on base, motor and decelerator drive it to do horizontal rotation relative to base, described large arm is arranged on turntable, motor and decelerator drive it vertically to rotate relative to turntable, described forearm is arranged in large arm, motor and decelerator drive it vertically to rotate relative to large arm, described rotary module is arranged on the end of forearm, relative forearm axially rotates, rotary module has an axial rotation free degree, the axle center of its axial rotation and between forearm with rotary module the axle center of axial rotation mutually vertical, the end of rotary module is connected with end operational module.
Described climbing mechanism comprises the motor drive controller adopting and drive the front-wheel module of steering integrated magnet-wheel, the trailing wheel module of employing permanent magnetism gap adsorbent equipment, the vehicle frame of connection front and back wheel and be arranged on vehicle frame; Climbing mechanism is tricycle structure, and three-wheel is driving wheel, adopts front-wheel controlledly to turn to, relies on the differential of two trailing wheels and the controlled of front-wheel to turn to realize turning on magnetic conduction wall.
Trailing wheel module comprises chassis, the permanent magnet be arranged on around wheel on trailing wheel chassis, two trailing wheels through chassis, the decelerator of band motor car wheel, the direct current generator of driving decelerator, and two trailing wheels of trailing wheel module are arranged symmetrically with.
Front-wheel module, for driving steering integrated magnet-wheel, comprises permanent magnet and wheel, and the permanent magnet of front-wheel adopts the magnetized annular permanent magnet of through-thickness.
Further, drive steering integrated magnet-wheel device, comprise car body fixed frame, turntable frame, steering driving mechanism, drive mechanism for wheel and roller, be provided with a passive inclination rotational structure between described car body fixed frame and turntable frame, between turntable frame and magnet-wheel, be provided with independent steering structure, described inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable frame, and at the self-lubricating plain bearing that car body fixed frame is installed, described turntable frame comprises the turntable lower supporting plate, turret supports column, turntable cover plate and the turntable upper backup pad that are connected successively, described steering driving mechanism comprises steer motor installing plate and mounted thereto turns to drive motors, drive motors is turned to adopt Disc brushless DC motor, motor output shaft connects planetary reducer, then drives steering spindle by one-level Bevel Gear Transmission and primary cylinder gear transmission, described drive mechanism for wheel comprises drive motors installing plate and wheel rolling mounted thereto drives reducing motor, and motor output shaft connects planetary reducer, drives magnet-wheel to roll by toothed belt transmission, described roller is magnet-wheel, described in turn to drive motors and wheel rolling to drive reducing motor independently drives structure each other, rolling rotating shaft one end is arranged on car body fixed frame, other end turntable lower supporting plate connects, turntable upper backup pad, turret supports column is connected with turntable lower supporting plate, turntable cover plate is connected with turntable upper backup pad, taper roll bearing is arranged in two gripper shoes, steering spindle is bearing on taper roll bearing, steering spindle is connected with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle affixed, angular transducer support bar is connected with turntable upper backup pad, angular transducer is connected with angular transducer support bar, steer motor installing plate is connected with turntable upper backup pad, reducing motor is turned to be connected with steer motor installing plate, 20 tooth straight bevel gears are fixed in and turn on reducing motor output shaft, the 40 tooth straight bevel gears be meshed with it are mounted on bevel gear shaft, bevel gear shaft is supported by the first deep groove ball bearing being arranged on turntable upper backup pad, opposite side and the 19 tooth straight-tooth gears of bevel gear shaft pass through Flat dey joint, 19 tooth straight-tooth gears engage with 60 tooth straight-tooth gears, the lower end of steering spindle is connected with turning to substrate, installing plate on the left of wheel, installing plate on the right side of wheel, drive motors installing plate is connected with turning to substrate, reducing motor is driven to be connected with drive motors installing plate, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is arranged on small synchronous pulley axle by Flat dey joint, wheel permanent-magnet body and wheel yoke are arranged on axletree by Flat dey joint, axletree to be bearing on the left of wheel on the right side of installing plate and wheel between installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley is arranged on the opposite side of axletree by Flat dey joint, connected by Timing Belt between large synchronous pulley and small synchronous pulley, be connected by screw between tensioning running roller and tensioning running roller support bar, tensioning running roller support bar to be arranged on the left of wheel on installing plate by screw, drive between reducing motor and axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering spindle, and steering shaft lower portion is provided with drive mechanism for wheel and roller, described steer axis and wheel axis perpendicular quadrature, described driving reducing motor is brush direct current motor.
Further, described permanent magnetism gap adsorbent equipment is arranged on chassis around trailing wheel, be contactless between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, set the air gap between described permanent magnetic adhesion device and magnetic conduction wall by the distance between adjustment chassis and magnetic conduction wall.
Described end 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 by flange arrangement.
Further, described chassis is mild steel, forms magnetic circuit as yoke with being arranged on around wheel together with the permanent magnet on trailing wheel chassis.
Further, decelerator comprises first order planetary reducer and second level turbine and worm decelerator, connects two stage reducer band motor car wheel after direct current generator, and second level turbine and worm decelerator is connected by screw and is arranged on trailing wheel chassis.
Described multi-functional mechanical arm, large arm is box structure, is formed by thin plate splicing, and its cross section is the close-shaped of hollow; Base, turntable, forearm and other connectors are thin-wall construction, bent or be welded by thin plate.Box structure is exactly the enclosed construction of thin plate splicing, and its cross section is the cross section of the close-shaped of hollow, similar chest; The feature of thin-wall construction has been that thin plate splicing forms, but it differs and is decided to be closed box structure.
The invention has the advantages that:
1, crawling device of the present invention adopts the complex method of contact magnet-wheel absorption (namely driving steering integrated magnet-wheel) and non-contact gap absorption (namely comprising permanent magnetism gap adsorbent equipment), tricycle structure, all wheels are driving wheel, adopt Redundant Control steering mode, rely on the differential of two trailing wheels and the controlled of front-wheel to turn to and realize turning on magnetic conduction wall, improve climbing robot by the accurate control of front-wheel steer angle and turn to precision, kinematic dexterity is good, can around car body zero turn radius, minimum turning radius is 0, robot can reliably adsorb at magnetic conduction wall and realize independent and flexible and moves.
2, multi-functional climbing robot of the present invention is equipped with multi-functional mechanical arm, arm has 5 frees degree, 1 horizontal rotation free degree, 2 vertical rotational freedoms and 2 axial rotation frees degree respectively, the equipment that arm end replacing welding module, polishing module or gripping module three kinds are different, realizes 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 end operational module, can move, reliably adsorb in large-scale steel structure surface all positon independent and flexible, rely on multi-functional mechanical arm end to change the outfit different equipments, can weld large-scale steel structure, polish, the several work such as monitoring.
4, steering mechanism introduces Redundant Control mode, relies on the differential of two trailing wheels and the controlled of front-wheel to turn to and realizes turning on magnetic conduction wall, improve climbing robot turn to precision by the accurate control of front-wheel steer angle.
5, climbing mechanism of the present invention is that three-wheel drives absorption type climbing mechanism entirely, and operating mechanism is multi-functional mechanical arm; The front-wheel module of described climbing mechanism can realize driving steering integrated function, and the absorption affinity of trailing wheel module adjusts by the gap between chassis and magnetic conduction wall; Described end equipment can change the outfit at the end of multi-functional mechanical arm according to different operating modes, realizes several work mode.
6, drive by toothed belt transmission between the driving reducing motor of steering integrated magnet-wheel and axletree, by regulating drive centre distancc can obtain larger installing space, the driving reducing motor of relatively high power being installed thus improving driving moment.
7, drive steering integrated magnet-wheel to be provided with independently turn to the free degree and make steer axis and wheel axis perpendicular quadrature, the independent steering of wheel can be realized, improve climbing robot kinematic dexterity.
8, drive steering integrated magnet-wheel to be provided with passive banking degree of freedom and by rolling confinement block constrained side tilt angle within positive and negative 10 degree, make climbing robot be provided with good curved surface adaptive capacity.
9, the inclination confinement block of steering integrated magnet-wheel is driven to be realized the function of constrained side degree of tilt by mechanical position limitation.
10, the steering structure of steering integrated magnet-wheel and wheel rolling is driven all to be provided with independently driving mechanism.
Accompanying drawing explanation
Fig. 1 is overall appearance figure of the present invention.
Fig. 2 is absorption type climbing mechanism structural representation.
Fig. 3 is trailing wheel modular structure schematic diagram.
Fig. 4 is permanent magnetism gap adsorbent equipment structural representation.
Fig. 5 is for driving steering integrated magnet-wheel structural representation.
Fig. 6 is the sectional view that front-wheel crosses steering spindle and bevel gear shaft.
Fig. 7 is magnet-wheel sectional view.
Fig. 8 is multi-functional mechanical arm structure schematic diagram.
Fig. 9 is polishing modular structure schematic diagram.
Figure 10 is welding module structural representation.
Figure 11 is gripping modular structure schematic diagram.
In accompanying drawing: climbing mechanism 1, multi-functional mechanical arm 2, end 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, Timing Belt 13, 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, large arm 28, , forearm 29, rotary module 30, grinding wheel 31, supporting outer 32, drive unit 33, welding gun 34, connector 35, weld seam recognition system 36, gripping body 37 and fixture 38.
Detailed description of the invention
A kind of multi-functional climbing robot of full driving magnetic adsorption type with Multi-freedom-degreemanipulator manipulator arm comprises climbing mechanism, operating mechanism, described operating mechanism comprises multi-functional mechanical arm and end operational module, the base of multi-functional mechanical arm is fixed on the platform of climbing mechanism, and end operational module is fixed on the end of multi-functional mechanical arm.
Described multi-functional mechanical arm comprises base, turntable, large arm, forearm, slew gear and driver module, and driver module base is fixed on the vehicle frame of climbing mechanism, driver module comprises motor and decelerator, described turntable is arranged on base, motor and decelerator drive it to do horizontal rotation relative to base, described large arm is arranged on turntable, motor and decelerator drive it vertically to rotate relative to turntable, described forearm is arranged in large arm, motor and decelerator drive it vertically to rotate relative to large arm, described rotary module is arranged on the end of forearm, relative forearm axially rotates, rotary module has an axial rotation free degree, the axle center of its axial rotation and between forearm with rotary module the axle center of axial rotation mutually vertical, the end of rotary module is connected with end operational module.
Described climbing mechanism comprises the motor drive controller adopting and drive the front-wheel module of steering integrated magnet-wheel, the trailing wheel module of employing permanent magnetism gap adsorbent equipment, the vehicle frame of connection front and back wheel and be arranged on vehicle frame; Climbing mechanism is tricycle structure, and three-wheel is driving wheel, relies on the differential of two trailing wheels and the controlled of front-wheel to turn to and realizes turning on magnetic conduction wall;
Mode turning on magnetic conduction wall.
Trailing wheel module comprises chassis, the permanent magnet be arranged on around wheel on trailing wheel chassis, two trailing wheels through chassis, the decelerator of band motor car wheel, the direct current generator of driving decelerator, and two trailing wheels of trailing wheel module are arranged symmetrically with.
Front-wheel module, for driving steering integrated magnet-wheel, comprises permanent magnet and wheel, and the permanent magnet of front-wheel adopts the magnetized annular permanent magnet of through-thickness.
Further, drive steering integrated magnet-wheel device, comprise car body fixed frame, turntable frame, steering driving mechanism, drive mechanism for wheel and roller, be provided with a passive inclination rotational structure between described car body fixed frame and turntable frame, between turntable frame and magnet-wheel, be provided with independent steering structure, described inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable frame, and at the self-lubricating plain bearing that car body fixed frame is installed, described turntable frame comprises the turntable lower supporting plate, turret supports column, turntable cover plate and the turntable upper backup pad that are connected successively, described steering driving mechanism comprises steer motor installing plate and mounted thereto turns to drive motors, drive motors is turned to adopt Disc brushless DC motor, motor output shaft connects planetary reducer, then drives steering spindle by one-level Bevel Gear Transmission and primary cylinder gear transmission, described drive mechanism for wheel comprises drive motors installing plate and wheel rolling mounted thereto drives reducing motor, and motor output shaft connects planetary reducer, drives magnet-wheel to roll by toothed belt transmission, described roller is magnet-wheel, described in turn to drive motors and wheel rolling to drive reducing motor independently drives structure each other, rolling rotating shaft one end is arranged on car body fixed frame, other end turntable lower supporting plate connects, turntable upper backup pad, turret supports column is connected with turntable lower supporting plate, turntable cover plate is connected with turntable upper backup pad, taper roll bearing is arranged in two gripper shoes, steering spindle is bearing on taper roll bearing, steering spindle is connected with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle affixed, angular transducer support bar is connected with turntable upper backup pad, angular transducer is connected with angular transducer support bar, steer motor installing plate is connected with turntable upper backup pad, reducing motor is turned to be connected with steer motor installing plate, 20 tooth straight bevel gears are fixed in and turn on reducing motor output shaft, the 40 tooth straight bevel gears be meshed with it are mounted on bevel gear shaft, bevel gear shaft is supported by the first deep groove ball bearing being arranged on turntable upper backup pad, opposite side and the 19 tooth straight-tooth gears of bevel gear shaft pass through Flat dey joint, 19 tooth straight-tooth gears engage with 60 tooth straight-tooth gears, the lower end of steering spindle is connected with turning to substrate, installing plate on the left of wheel, installing plate on the right side of wheel, drive motors installing plate is connected with turning to substrate, reducing motor is driven to be connected with drive motors installing plate, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is arranged on small synchronous pulley axle by Flat dey joint, wheel permanent-magnet body and wheel yoke are arranged on axletree by Flat dey joint, axletree to be bearing on the left of wheel on the right side of installing plate and wheel between installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley is arranged on the opposite side of axletree by Flat dey joint, connected by Timing Belt between large synchronous pulley and small synchronous pulley, be connected by screw between tensioning running roller and tensioning running roller support bar, tensioning running roller support bar to be arranged on the left of wheel on installing plate by screw, drive between reducing motor and axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering spindle, and steering shaft lower portion is provided with drive mechanism for wheel and roller, described steer axis and wheel axis perpendicular quadrature, described driving reducing motor is brush direct current motor.
Further, described permanent magnetism gap adsorbent equipment is arranged on chassis around trailing wheel, be contactless between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, set the air gap between described permanent magnetic adhesion device and magnetic conduction wall by the distance between adjustment chassis and magnetic conduction wall.
Described end 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 by flange arrangement.
Further, described chassis is mild steel, forms magnetic circuit as yoke with being arranged on around wheel together with the permanent magnet on trailing wheel chassis.
Further, decelerator comprises first order planetary reducer and second level turbine and worm decelerator, connects two stage reducer band motor car wheel after direct current generator, and second level turbine and worm decelerator is connected by screw and is arranged on trailing wheel chassis.
Described multi-functional mechanical arm, large arm is box structure, is formed by thin plate splicing, and its cross section is the close-shaped of hollow; Base, turntable, forearm and other connectors are thin-wall construction, bent or be welded by thin plate.Box structure is exactly the enclosed construction of thin plate splicing, and its cross section is the cross section of the close-shaped of hollow, similar chest; The feature of thin-wall construction has been that thin plate splicing forms, but it differs and is decided to be closed box structure.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The multi-functional climbing robot of Differential Driving magnetic adsorption type with 5DOF mechanical arm shown in Fig. 1 is made up of three parts, comprise absorption type climbing mechanism 1, multi-functional mechanical arm 2 and end operational module 3, the floor installation of multi-functional mechanical arm 2 is on the mounting platform of absorption type climbing mechanism 1, end operational module 3 is arranged on the end of multi-functional mechanical arm 2, end operational module 3 has three kinds, be welding module, polishing module and gripping module respectively, the end operational module shown in Fig. 1 is welding module.
As shown in Figure 2, absorption type crawling device is made up of three parts, comprises and adopts the front-wheel module 5 driving steering integrated magnet-wheel, the trailing wheel module 4 adopting permanent magnetism gap adsorbent equipment and the vehicle frame 6 being connected front and back wheel.
As shown in Figure 3, trailing wheel chassis 8 adopts mild steel (as Q235) to manufacture, except the function as support rear-wheel structure, also as yoke be arranged on the part forming magnetic circuit together with the permanent magnet 7 on trailing wheel chassis 8 around wheel, direct current generator 12 connects two stage reducer band motor car wheel 9, the first order is planetary reducer 11, and the second level is turbine and worm decelerator 10, and turbine and worm decelerator is connected by screw and is arranged on trailing wheel chassis 8.
Permanent magnetism gap adsorbent equipment as shown in Figure 4, the Nd-Fe-B permanent magnet magnetized by 12 pieces of thickness directions forms, each trailing wheel respectively arranges 6 pieces of permanent magnets, N pole and S pole are staggered formation magnetic circuit, be arranged on chassis around trailing wheel, be non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, set the air gap between described permanent magnetic adhesion device and magnetic conduction wall by the distance between adjustment chassis and magnetic conduction wall.
Fig. 5 is the three-dimensional model diagram of front-wheel, and Fig. 6 is the sectional view that front-wheel crosses steering spindle and bevel gear shaft, and Fig. 7 was the sectional view of front-wheel axletree.Wherein, DC brushless motor and planetary reducer 17 rotate through 20 tooth straight bevel gear 16 and 40 tooth straight bevel gear 23 driving-belt dynamic bevel gear axles 22, bevel gear shaft 22 drives steering spindles 19 to rotate by 19 tooth roller gear 21 and 60 tooth roller gear 20 transmissions again, steering spindle 19 with turn to soleplate 15 to be fixed by screw attachment.Front-wheel drive motor and decelerator 14 adopt brush direct current motor and planetary reducer, drive front-wheel by Timing Belt 13 transmission.Front-wheel is magnet-wheel, and structure is shown in Fig. 7.Magnet-wheel is made up of 1 piece of permanent magnet and 2 pieces of 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 mild steel (as Q235 etc.) manufacture.
Specifically, drive inclination rotating shaft one end of steering integrated magnet-wheel by the sliding supported condition be arranged on car body fixed frame, it is affixed that the other end and turntable lower supporting plate pass through 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 taper roll bearings are arranged in two gripper shoes face-to-face, steering spindle is bearing on these two taper roll bearings, steering spindle is connected by flat key with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle affixed, angular transducer support bar and turntable upper backup pad are connected by screw, angular transducer and angular transducer support bar are connected by screw, steer motor installing plate and turntable upper backup pad are connected by screw, reducing motor and steer motor installing plate is turned to be connected by screw, 20 tooth straight bevel gears are fixed in and turn on reducing motor output shaft, the 40 tooth straight bevel gears be meshed with it are arranged on bevel gear shaft by Flat dey joint, bevel gear shaft is supported by the deep groove ball bearing being arranged on turntable upper backup pad, opposite side and the tooth straight-tooth gear of bevel gear shaft pass through Flat dey joint, 19 tooth straight-tooth gears engage with 60 tooth straight-tooth gears, the lower end of steering spindle with turn to substrate to be connected by screw, installing plate on the left of wheel, installing plate on the right side of wheel, drive motors installing plate with turn to substrate to be connected by screw, reducing motor and drive motors installing plate is driven to be connected by screw, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is arranged on small synchronous pulley axle by Flat dey joint, wheel permanent-magnet body and wheel yoke are arranged on axletree by Flat dey joint, axletree to be bearing on the left of wheel on the right side of installing plate and wheel between installing plate by two deep groove ball bearings, large synchronous pulley is arranged on the opposite side of axletree 35 by Flat dey joint, connected by Timing Belt between large synchronous pulley and small synchronous pulley, be connected by screw between tensioning running roller and tensioning running roller support bar, tensioning running roller support bar to be arranged on the left of wheel on installing plate by screw.
Consult Fig. 8, mechanical arm of the present invention, comprise base 26; Turntable 27 is installed on base plate 26 by the revolute pair of horizontal direction; Large arm 28 is arranged on turntable 27 by the revolute pair of vertical direction; Forearm 29 is arranged in large arm 28 by the revolute pair of vertical direction; Rotary module 30 is by being connected on forearm 29 along the axial rotation pair in forearm 29 direction; Rotary module 30 self has an axial rotation pair, and the axle center of this revolute pair is mutually vertical with the axle center of the axial rotation pair between forearm 29 and rotary module 30; Each kinematic pair all adopts servomotor and harmonic speed reducer to drive; Base 26, turntable 27, large arm 28, forearm 29, the agent structure material of revolving die block 30 is selected to be high-strength aluminum alloy; Large arm 28 adopts box structure, and other structural members all adopt thin-wall construction, to alleviate dead load.
Adopt said structure, turntable 27 can respect thereto 26 horizontal rotation, large arm 28 vertically can be rotated relative to turntable 27; forearm 29 vertically can rotate around large arm 28; rotary module 30 can forearm 29 axial rotation relatively; the output of rotary module 30 and input can rotate to axial, thus drive end equipment to axially rotate.Each kinematic pair makes mechanical arm have 5 frees degree above, is 1 horizontal rotation free degree, 2 vertical rotational freedoms and 2 axial rotation frees degree respectively.Make each driver module coordination by programme-control, thus realize mechanical arm optional position and operation at any angle in the radius of clean-up.
Figure 9 shows that the polishing module in end operational module 3, be made up of grinding wheel 31, supporting outer 32 and drive unit 33 3 part; Figure 10 shows that the welding module in end operational module 3, be made up of welding gun 34, connector 35 and weld seam recognition system 36, welding gun 34 is fixed in one end of connector 35, and the other end is connected with the end of multi-functional mechanical arm 2; Figure 11 is the gripping module in end operational module 3, is made up of gripping body 37 and fixture 38, and gripping body 37 can select ripe gripping product, and fixture 38 is connected to the output of gripping body 37, and the difference according to gripping object can be designed to different shapes.
Redundant Control steering mode is that the differential of dependence two trailing wheel and the controlled of front-wheel turn to common realization turning on magnetic conduction wall, and control has redundancy part, this mode makes the better stressed of climbing robot steering procedure, moves more accurate.
Rotary module is divided into two parts, and two parts can relatively rotate, and market has matured product as the prl module of SCHUNK company.The present invention is not only confined to above embodiment, and any amendment in scope, all thinks and fall within the scope of protection of the present invention.
During work, climbing mechanism is adsorbed on structural member surface, and three-wheel wheel is driving wheel, and each joint freedom degrees of multi-functional mechanical arm is by driven by servomotor, by programme-control rotational angle and speed, to realize the location of end operational module, pose adjustment and working trajectory adjustment; End operational module has three kinds, is welding module, polishing module and gripping module respectively, the end operational module changing the outfit different under different operating modes.Climbing mechanism, realize coordination by program between multi-functional mechanical arm and end 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 absorption type climbing mechanism entirely, and operating mechanism is multi-functional mechanical arm; The steering integrated magnet-wheel of front-wheel module drive of described climbing mechanism; The absorption affinity of trailing wheel module adjusts by the gap between chassis and magnetic conduction wall; Described end equipment can change the outfit at the end of multi-functional mechanical arm according to different operating modes, realizes several work mode.

Claims (6)

1. there is the multi-functional climbing robot of full driving magnetic adsorption type of Multi-freedom-degreemanipulator manipulator arm, comprise climbing mechanism (1), operating mechanism, it is characterized in that:
Described operating mechanism comprises multi-functional mechanical arm (2) and end operational module (3), the base (26) of multi-functional mechanical arm (2) is fixed on the platform of climbing mechanism (1), and end operational module (3) is fixed on the end of multi-functional mechanical arm (2);
Described multi-functional mechanical arm (2) comprises base (26), turntable (27), large arm (28), forearm (29), slew gear and driver module, and driver module and base (26) are fixed on the vehicle frame (6) of climbing mechanism (1), driver module comprises motor (18) and decelerator (14), described turntable (27) is arranged on base (26), motor (18) and decelerator (14) drive it to do horizontal rotation relative to base (26), described large arm (28) is arranged on turntable (27), motor (18) and decelerator (14) drive it vertically to rotate relative to turntable (27), described forearm (29) is arranged in large arm (28), motor (18) and decelerator (14) drive it vertically to rotate relative to large arm (28), rotary module (30) is arranged on the end of forearm (29), relative forearm (29) axially rotates, rotary module (30) has an axial rotation free degree, the axle center of its axial rotation and between forearm (29) with rotary module (30) axle center of axial rotation mutually vertical, the end of rotary module (30) is connected with end operational module (3),
Described climbing mechanism (1) comprises motor (18) driving governor adopting and drive the front-wheel module (5) of steering integrated magnet-wheel, the trailing wheel module (4) of employing permanent magnetism gap adsorbent equipment, the vehicle frame (6) of connection front and back wheel and be arranged on vehicle frame (6); Climbing mechanism (1) is tricycle structure, and three-wheel is driving wheel, adopts the differential of dependence two trailing wheel and the controlled of front-wheel to turn to and realizes turning on magnetic conduction wall;
Trailing wheel module (4) comprises chassis (8), the permanent magnet (7) be arranged on around wheel (9) on trailing wheel chassis (8), two trailing wheels through chassis (8), the decelerator (14) of band motor car wheel (9), the direct current generator (12) of driving decelerator (14), and two trailing wheels of trailing wheel module (4) are arranged symmetrically with; Front-wheel module (5), for driving steering integrated magnet-wheel, comprises permanent magnet (7) and wheel (9), and the permanent magnet (7) of front-wheel adopts the magnetized annular permanent magnet of through-thickness;
The steering integrated magnet-wheel of described driving comprises car body fixed frame, turntable frame, steering driving mechanism, drive mechanism for wheel and roller, be provided with a passive inclination rotational structure between described car body fixed frame and turntable frame, between turntable frame and magnet-wheel, be provided with independent steering structure, described inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable frame, and at the self-lubricating plain bearing that car body fixed frame is installed, described turntable frame comprises the turntable lower supporting plate, turret supports column, turntable cover plate and the turntable upper backup pad that are connected successively, described steering driving mechanism comprises steer motor installing plate and mounted thereto turns to drive motors, drive motors is turned to adopt Disc brushless DC motor, motor output shaft connects planetary reducer (17), then drives steering spindle (19) by one-level Bevel Gear Transmission and primary cylinder gear transmission, described drive mechanism for wheel comprises drive motors installing plate and wheel rolling mounted thereto drives reducing motor, and motor output shaft connects planetary reducer (17), drives magnet-wheel to roll by Timing Belt (13) transmission, described roller is magnet-wheel, described in turn to drive motors and wheel rolling to drive reducing motor independently drives structure each other, rolling rotating shaft one end is arranged on car body fixed frame, the other end is connected with turntable lower supporting plate, turntable upper backup pad, turret supports column is connected with turntable lower supporting plate, turntable cover plate is connected with turntable upper backup pad, taper roll bearing is arranged in described two gripper shoes, steering spindle (19) is bearing on taper roll bearing, steering spindle (19) is connected with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle (19) affixed, angular transducer support bar is connected with turntable upper backup pad, angular transducer is connected with angular transducer support bar, steer motor installing plate is connected with turntable upper backup pad, drive motors is turned to be connected with steer motor installing plate, 20 tooth straight bevel gears (16) are fixed in and turn on drive motors output shaft, the 40 tooth straight bevel gears (23) be meshed with it are mounted on bevel gear shaft (22), bevel gear shaft (22) is supported by the first deep groove ball bearing being arranged on turntable upper backup pad, opposite side and the 19 tooth straight-tooth gears of bevel gear shaft (22) pass through Flat dey joint, 19 tooth straight-tooth gears engage with 60 tooth straight-tooth gears, the lower end of steering spindle (19) is connected with turning to substrate, installing plate on the left of wheel, installing plate on the right side of wheel, drive motors installing plate is connected with turning to substrate, reducing motor is driven to be connected with drive motors installing plate, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is arranged on small synchronous pulley axle by Flat dey joint, wheel permanent-magnet body (24) and wheel yoke (25) are arranged on axletree by Flat dey joint, axletree to be bearing on the left of wheel on the right side of installing plate and wheel between installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley is arranged on the opposite side of axletree by Flat dey joint, connected by Timing Belt (13) between large synchronous pulley and small synchronous pulley, be connected by screw between tensioning running roller and tensioning running roller support bar, tensioning running roller support bar to be arranged on the left of wheel on installing plate by screw, drive between reducing motor and axletree by Timing Belt (13) transmission, steering driving mechanism also comprises steering spindle (19), and steering spindle (19) bottom is provided with drive mechanism for wheel and roller, described steer axis and wheel axis perpendicular quadrature, described driving reducing motor is brush direct current motor.
2. the multi-functional climbing robot of full driving magnetic adsorption type with Multi-freedom-degreemanipulator manipulator arm according to claim 1, it is characterized in that: described permanent magnetism gap adsorbent equipment is arranged on chassis (8) around trailing wheel, be contactless between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, set the air gap between described permanent magnetism gap adsorbent equipment and magnetic conduction wall by the distance between adjustment chassis (8) and magnetic conduction wall.
3. the multi-functional climbing robot of full driving magnetic adsorption type with Multi-freedom-degreemanipulator manipulator arm according to claim 2, it is characterized in that: described end operational module (3) is welding module, polishing module or gripping module, and three kinds of modules are connected with the end of multi-functional mechanical arm (2) respectively by flange arrangement.
4. the multi-functional climbing robot of full driving magnetic adsorption type with Multi-freedom-degreemanipulator manipulator arm according to claim 3, it is characterized in that: described chassis (8) are mild steel, form magnetic circuit as yoke with being arranged on around wheel together with the permanent magnet (7) on trailing wheel chassis (8).
5. the multi-functional climbing robot of full driving magnetic adsorption type with Multi-freedom-degreemanipulator manipulator arm according to claim 4, it is characterized in that: decelerator (14) comprises first order planetary reducer and second level turbine and worm decelerator (10), connect two stage reducer band motor car wheel after direct current generator (12), second level turbine and worm decelerator (10) is connected by screw and is arranged on trailing wheel chassis (8).
6. the multi-functional climbing robot of full driving magnetic adsorption type with Multi-freedom-degreemanipulator manipulator arm according to claim 5, it is characterized in that: described multi-functional mechanical arm (2), large arm (28) is box structure, is formed by thin plate splicing, and its cross section is the close-shaped of hollow; Base (26), turntable, forearm (29) are thin-wall construction, bent or be welded by thin plate, and box structure is exactly the enclosed construction of thin plate splicing, and its cross section is the close-shaped of hollow; Thin-wall construction is formed by thin plate splicing.
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