CN102699893A - Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom - Google Patents

Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom Download PDF

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Publication number
CN102699893A
CN102699893A CN2012101850112A CN201210185011A CN102699893A CN 102699893 A CN102699893 A CN 102699893A CN 2012101850112 A CN2012101850112 A CN 2012101850112A CN 201210185011 A CN201210185011 A CN 201210185011A CN 102699893 A CN102699893 A CN 102699893A
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wheel
module
mechanical arm
climbing
functional
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CN102699893B (en
Inventor
桂仲成
陈博翁
栗园园
官雪梅
贺骥
张帆
肖唐杰
李永龙
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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 specialized robots, in particular to a differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom. The multifunctional wall-climbing robot comprises a climbing mechanism and an operating mechanism, wherein the operating mechanism comprises the multifunctional mechanical arms and tail end work modules, wherein the bases of the multifunctional mechanical arms are fixed on the platform of the climbing mechanism; and the tail end work modules are fixed at the tail ends of the multifunctional mechanical arms. The multifunctional wall-climbing robot has the advantages that the attracting force is guaranteed while the structural compactness is improved; as a permanent magnet clearance attracting device is mounted on the chassis and around rear wheels, the high bearing power of the wall-climbing robot is guaranteed; and due to the combination of two attracting manners, which is not applied to related fields yet, the attracting is more reliable.

Description

The multi-functional climbing robot of differential driven magnetic absorption type with multi freedom degree mechanical arm
Technical field
The invention belongs to the specialized robot technical field, is a kind of multi-functional climbing robot of differential 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 differential 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 differential 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 of the front-wheel module that adopts universal rolling magnet-wheel device, 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 two trailing wheels adopt the differential mode of trailing wheel to be implemented in turning on the magnetic conduction wall as driving wheel.
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 adopts the universal rolling magnet-wheel, comprises annular permanent magnet and directional wheel, can follow car body and rotate flexibly.
Universal rolling magnet-wheel device comprises the annular permanent magnet of central authorities and the directional wheel of annular permanent magnet both sides, annular permanent magnet and two coaxial placements of directional wheel, annular permanent magnet axial charging; The wheel hub of the directional wheel of both sides is a mild steel, constitutes the part of magnetic circuit as yoke with the annular permanent magnet of central authorities; Outer rim at wheel hub evenly is provided with square groove respectively, and corresponding roller axle two ends are square, are installed in the square groove; Roller is installed on the roller axle; The shaft shoulder on the roller axle and sleeve pair of rollers location, roller structure is to coat one deck layer of polyurethane in the stainless steel bearing outer rim, roller and square groove quantity are complementary; Be uniformly distributed in around the wheel hub; The axis quadrature of roller axis and wheel hub, the directional wheel interlaced arrangement of both sides makes the axis projection of roller of a side directional wheel be positioned in the middle of two rollers of opposite side directional wheel; The roller that the both sides directional wheel contacts with ground when wheel has movement tendency vertically makes wheel still keep the pure rolling state around self axis rotation.
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 outer rim of said wheel hub evenly is provided with 18 square grooves respectively.
The invention has the advantages that:
1, climbing mechanism according to the invention adopts the complex method of contact magnet-wheel absorption (being the universal rolling magnet-wheel) and non-contact gap absorption (promptly comprising permanent magnetism gap adsorbent equipment), and tricycle structure relies on two rear wheels as driving wheel; Adopt the differential mode of trailing wheel to be implemented in turning on the magnetic conduction wall; Front-wheel is the universal rolling magnet-wheel, 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.When guaranteeing absorption affinity, improved the compactedness of structure; Simultaneously permanent magnetism gap adsorbent equipment has been installed on the chassis around trailing wheel; Guarantee that climbing robot has strong load capacity, adopt two kinds of suction types to combine and make absorption more reliable, do not see application as yet in association area.
2, 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.
3, mechanical arm according to the invention 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.
4, the present invention is under the cooperatively interacting of absorption type climbing mechanism, 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.
5, the climbing mechanism of multi-functional climbing robot of the present invention is the differential driving absorption type of a three-wheel climbing mechanism, and operating mechanism is the multi-functional mechanical arm; The front-wheel module of said climbing mechanism is an everything rolling magnet-wheel, remains the pure rolling state in the motion, and motion flexibly; 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, universal wheel attaches universal wheel unit when axis wheel rotates when magnetic, and the circular-arc envelope that the both sides roller is formed can be realized the rolling of universal wheel; When magnetic attaches universal wheel unit movement tendency is vertically arranged, the roller that universal wheel contacts with ground will rotate around self axle, make wheel still keep the pure rolling state.
7, universal wheel some small wheels that evenly distribute on the vertical direction around the larger wheels; Larger wheels is by motor-driven; Small wheels can freely be rotated; Making robot is sliding friction when the larger wheels vertical direction is breakked away, and universal wheel provides a moment of torsion along the distribution circle tangential direction at wheel place, realizes universal mobile purpose.
8, added permanent magnet in the middle of the universal wheel, jackshaft is to the special location of both sides universal wheel.
9, universal wheel keeps pure rolling along the wheel axially-movable, can reduce friction, conveniently turns to, and is more flexible when moving toward all directions.
10, (jackshaft is used for the location) located in the universal wheel assembling more easily, and be more convenient, and this patent is continous way with contacting of ground.
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 a universal rolling magnet-wheel structural representation.
Fig. 6 is a universal rolling magnet-wheel magnetic circuit sketch map.
Fig. 7 is a universal rolling magnet-wheel installation diagram.
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, directional wheel 13, annular permanent magnet 14; First wheel 15, roller 16, sleeve 17, roller axle 18, the second wheel hubs 19, screw 20, base 21; Turntable 22, big arm 23,, forearm 24, rotary module 25, polishing emery wheel 26; Support shell 27, drive unit 28, welding gun 29, connector 30, weld seam recognition system 31, gripping body 32 and anchor clamps 33.
The specific embodiment
A kind of multi-functional climbing robot of differential 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 of the front-wheel module that adopts universal rolling magnet-wheel device, 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 two trailing wheels adopt the differential mode of trailing wheel to be implemented in turning on the magnetic conduction wall as driving wheel; 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 adopts the universal rolling magnet-wheel, comprises annular permanent magnet and directional wheel, can follow car body and rotate flexibly; Universal rolling magnet-wheel device comprises the annular permanent magnet of central authorities and the directional wheel of annular permanent magnet both sides, annular permanent magnet and two coaxial placements of directional wheel, annular permanent magnet axial charging; The wheel hub of the directional wheel of both sides is a mild steel, constitutes the part of magnetic circuit as yoke with the annular permanent magnet of central authorities; Outer rim at wheel hub evenly is provided with square groove respectively, and corresponding roller axle two ends are square, are installed in the square groove; Roller is installed on the roller axle; The shaft shoulder on the roller axle and sleeve pair of rollers location, roller structure is to coat one deck layer of polyurethane in the stainless steel bearing outer rim, roller and square groove quantity are complementary; Be uniformly distributed in around the wheel hub; The axis quadrature of roller axis and wheel hub, the directional wheel interlaced arrangement of both sides makes the axis projection of roller of a side directional wheel be positioned in the middle of two rollers of opposite side directional wheel; The roller that the both sides directional wheel contacts with ground when wheel has movement tendency vertically makes wheel still keep the pure rolling state around self axis rotation;
Permanent magnetism gap adsorbent equipment is installed on the chassis around trailing wheel, is contactless between said permanent magnetism gap adsorbent equipment and magnetic conduction wall, 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.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.The chassis is a mild steel, constitutes magnetic circuit as yoke with the permanent magnet that is installed on the trailing wheel chassis around wheel.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 outer rim of wheel hub evenly is provided with 18 square grooves respectively.
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 climbing mechanism is made up of three parts, comprises that the trailing wheel module 4 that adopts permanent magnetism gap adsorbent equipment, the front-wheel module 5 of employing universal rolling magnet-wheel connect the vehicle frame 6 of front and back wheels.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.As shown in Figure 5, universal rolling magnet-wheel device comprises annular permanent magnet 14 and the directional wheel 13 of both sides, annular permanent magnet 14 and two directional wheel 13 coaxial placements of central authorities.15 millimeters of annular permanent magnet 14 diameter of bores, 75 millimeters of outer bore dias, 30 millimeters of thickness, axial charging.The wheel hub of the directional wheel 13 of both sides adopts mild steel (like Q235) manufacturing, constitutes the part of magnetic circuit as yoke with the annular permanent magnet 14 of central authorities.The magnetic circuit signal is shown in the dotted line loop among Fig. 6.The concrete structure of directional wheel 13 is as shown in Figure 7, and 98 millimeters of first wheel 15 and second wheel hub, 19 diameters adopt mild steel (like Q235) manufacturing.Outer rim at the first wheel 15 and second wheel hub 19 evenly is provided with 18 square grooves respectively, and corresponding roller axle 18 two ends are square, can be installed in the square groove.Roller 16 is installed on the roller axle 18, leans on the shaft shoulder and sleeve 17 location on the roller axle 18.5 millimeters of roller 16 internal diameters, 16 millimeters of external diameters, 5 millimeters of thickness, structure is the layer of polyurethane that coats one deck 2 millimeters thick in the stainless steel bearing outer rim.Roller 16 has 18, is uniformly distributed in around the wheel hub axis quadrature of roller 16 axis and first wheel 15 and second wheel hub 19.First wheel 15 is connected through screw 20 with second wheel hub 19.The directional wheel interlaced arrangement of both sides makes the axis projection of roller of a side directional wheel be positioned in the middle of two rollers of opposite side directional wheel.
Consult Fig. 8, mechanical arm of the present invention comprises base; Turntable is installed on the base through the revolute pair of horizontal direction; Big arm is installed on the turntable through the revolute pair of vertical direction; Forearm is installed on the big arm through the revolute pair of vertical direction; Rotary module is connected on the forearm through the axial rotation pair along the forearm direction; 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 and the rotary module is vertical each other; Each kinematic pair all adopts servomotor harmonic decelerator to drive; Base, turntable, big arm, forearm, select the agent structure material of revolving die piece to be high-strength aluminum alloy; Big arm adopts box structure, and other structural members all adopt thin-wall construction, to alleviate dead load.Slew gear comprises between base and the turntable, between turntable and the big arm, between big arm and the forearm, between forearm and the rotary module and the slew gear of rotary module self.
Adopt said structure; Turntable 22 is base 21 horizontal rotations relatively; Big arm 23 turntable 22 relatively vertically rotates, and forearm 24 can vertically rotate around big arm 23, and rotary module 25 is forearm 24 axial rotation relatively; The output of rotary module 25 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.Rotary module is divided into two parts, and two parts can relatively rotate, and has matured product to use on the market, like the prl module of SCHUNK company.
Shown in Figure 9 is polishing module in the terminal operational module 3, by polishing emery wheel 26, support shell 27 and drive unit 28 3 parts are formed.
Shown in Figure 10 is welding module in the terminal operational module 3, is made up of welding gun 29, connector 30 and weld seam recognition system 31, and an end of connector 30 is welding gun 29 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 32 and anchor clamps 33, and gripping body 32 can be selected the gripping product of maturation for use, and anchor clamps 33 are connected the output of gripping body 32, can be designed to different shapes according to the difference of gripping object.
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 two trailing wheels are driving wheel, leans on the differential of two trailing wheels to drive turning to of realization climbing mechanism, and the universal rolling wheel of front-wheel is supporting roller, follows the trailing wheel action; 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.

Claims (7)

1. have the multi-functional climbing robot of differential driven magnetic absorption type of multi freedom degree mechanical arm, comprise 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 (21) 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 (21), turntable (22), big arm (23), forearm (24), slew gear and driver module, and driver module base (21) is fixed on the vehicle frame (6) of climbing mechanism (1); Driver module comprises motor and decelerator; Described turntable (22) is installed on the base (21); Motor and decelerator drive it and do horizontal rotation with respect to base (21), and described big arm (23) is installed on the turntable (22), and motor and decelerator drive its relative turntable (22) and vertically rotate; Said forearm (24) is installed on the big arm (23); Motor and decelerator drive its big relatively arm (23) and vertically rotate, and described rotary module (25) is installed in the end of forearm (24), and forearm (24) axially rotates relatively; Rotary module (25) 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 (24) and the rotary module (25); The end of rotary module (25) is connected with terminal operational module (3);
Said climbing mechanism (1) comprises the vehicle frame (6) of the front-wheel module (5) that adopts universal rolling magnet-wheel device, the trailing wheel module (4) that adopts permanent magnetism gap adsorbent equipment, connection front and back wheel and is installed in the motor drive controller on the vehicle frame (6); Climbing mechanism (1) is a tricycle structure, and two trailing wheels adopt the differential mode of trailing wheel to be implemented in turning on the magnetic conduction wall as driving wheel;
Trailing wheel module (4) comprises chassis (8), is installed in the decelerator 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, two trailing wheel symmetric arrangement of trailing wheel module (4) around wheel (9); Front-wheel module (5) adopts the universal rolling magnet-wheel, comprises annular permanent magnet (14) and directional wheel (13), can follow car body and rotate flexibly;
Universal rolling magnet-wheel device comprises the annular permanent magnet (14) of central authorities and the directional wheel (13) of annular permanent magnet (14) both sides, annular permanent magnet (14) and the coaxial placement of two directional wheels (13), annular permanent magnet (14) axial charging; The wheel hub of the directional wheel of both sides (13) is a mild steel, constitutes the part of magnetic circuit as yoke with the annular permanent magnet (14) of central authorities; Outer rim at wheel hub evenly is provided with square groove respectively, and corresponding roller axle (18) two ends are square, are installed in the square groove; Roller (16) is installed on the roller axle (18); The shaft shoulder on the roller axle (18) and sleeve (17) pair of rollers (16) location; Roller (16) structure is to coat one deck layer of polyurethane in the stainless steel bearing outer rim; Roller (16) is complementary with square groove quantity, is uniformly distributed in around the wheel hub axis quadrature of roller axle (18) line and wheel hub; The directional wheel of both sides (13) interlaced arrangement; Make the axis projection of roller (16) of a side directional wheel (13) be positioned in the middle of two rollers (16) of opposite side directional wheel (13), the roller (16) that both sides directional wheel (13) contacts with ground when wheel (9) has movement tendency vertically makes wheel (9) still keep the pure rolling state around self axis rotation.
2. the multi-functional climbing robot of differential driven magnetic absorption type with multi freedom degree mechanical arm according to claim 1; 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.
3. the multi-functional climbing robot of differential driven magnetic absorption type with multi freedom degree mechanical arm according to claim 2; 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.
4. the multi-functional climbing robot of differential driven magnetic absorption type with multi freedom degree mechanical arm according to claim 3; It is characterized in that: said chassis (8) are mild steel, constitute magnetic circuit as yoke with the permanent magnet (7) that is installed on the trailing wheel chassis (8) around wheel (9).
5. the multi-functional climbing robot of differential driven magnetic absorption type with multi freedom degree mechanical arm according to claim 4; It is characterized in that: decelerator comprises first order planetary reducer (11) and second level turbine and worm decelerator (10); Connect two stage reducer behind the direct current generator (12) and drive wheel (9), second level turbine and worm decelerator (10) is mounted on the trailing wheel chassis (8) through screw.
6. the multi-functional climbing robot of differential driven magnetic absorption type with multi freedom degree mechanical arm according to claim 1; It is characterized in that: described multi-functional mechanical arm (2); Big arm (23) is a box structure, is formed by thin plate splicing, and its cross section is the hollow closed shape; Base (21), turntable (22), forearm (24) 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.
7. the multi-functional climbing robot of differential driven magnetic absorption type with multi freedom degree mechanical arm according to claim 1, it is characterized in that: said wheel hub outer rim evenly is provided with 18 square grooves respectively.
CN201210185011.2A 2012-06-07 2012-06-07 Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom Active CN102699893B (en)

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