CN102700646B - Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm - Google Patents

Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm Download PDF

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Publication number
CN102700646B
CN102700646B CN201210185012.7A CN201210185012A CN102700646B CN 102700646 B CN102700646 B CN 102700646B CN 201210185012 A CN201210185012 A CN 201210185012A CN 102700646 B CN102700646 B CN 102700646B
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wheel
turntable
module
motor
steering
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CN102700646A (en
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桂仲成
栗园园
陈博翁
官雪梅
莫堃
张帆
贺骥
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 special robots, and particularly relates to a fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arms, which comprises a climbing mechanism and a control mechanism, wherein the control mechanism comprises multi-functional robotic arms and an end working module, the bases of the multi-functional robotic arms are fixedly arranged on the adsorption type climbing mechanism, and the end working module is fixedly arranged at the tail ends of the multi-functional robotic arms. With the adoption of the combination mode of contact magnetic wheel adsorption and non-contact clearance adsorption and the three-wheel structure, the fully-driven magnet-adsorption type multifunctional wall-climbing robot with the small folding robotic arms has the advantages that all wheels are driving wheels, the redundancy control steering mode is adopted, steering on the magnet conductive wall surface is realized by speed difference between two rear wheels and controlled steering of the front wheel, and the movement flexibility is good, steering around the body center with minimum radius of 0 is realized, and a robot can be reliably adsorbed on a magnet conductive wall surface and realize automatic and free movement.

Description

The full driving magnetically adsorbed wall-climbing robot with little folded size mechanical arm
Technical field
The invention belongs to specialized robot technical field, is a kind of full driving magnetically adsorbed wall-climbing robot with little folded size mechanical arm specifically.
Background technology
Magnetic adsorption wall climbing robot is a kind of of specialized robot, its principal feature is can be 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 framing member of field maintemance creeps, 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 three kinds of functions of operation.Adsorption function should guarantee that it is adsorbed on framing member magnetic conduction wall reliably, when mobile and operation, can not drop; Locomotive function should make it possess to move forward and backward, 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 is attached, crawler type magnetic is attached, magnetic wheel type magnetic is accompanied by and the large class of clearance-type magnetic Annex V.The move mode matching 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.
Trapped orbit formula suction type needs at operation surface, to lay track in advance, is unfavorable for flexible operating; Vacuum suction mode is adsorbed on body structure surface by vacuum cup, and the adsorption plant needing is more, and after vacuum cup absorption, is not easy to mobile; Magnetic foot formula magnetic suction type is that the adsorption affinity providing by magnetic foot is adsorbed on wall, because its walking feature has determined that its adsorption affinity is necessary adjustable, adopts electromagnet that adsorption affinity is provided, as eight sufficient magnetic adsorption wall climbing robots of HIT's development more.Foot formula climbing robot footwork is controlled more complicated, and kinematic dexterity is bad.In addition, adopt electromagnet that adsorption affinity is provided, need to consume electric energy, and the potential safety hazard that exists accident power-off to cause; Magnetic wheel type magnetic suction type is to lean on the adsorption affinity of magnet-wheel to be adsorbed on magnetic conduction wall.The applying date is on January 5th, 2004, application number is " magnetic roller adsorption type wall climbing robot " that 200410016429.6 patent documentation relates to, its technical scheme is: comprise revolver structure, bearing support, detection architecture, roller, code-disc, location correction structure, right wheel construction, revolver structure is identical with right wheel construction, symmetry is fixed on the both sides of bearing support, detection architecture is fixed on the front of bearing support, roller and code-disc are fixed on the centre of bearing support, location correction structure is connected to the bearing support rightmost side, it can adapt to the curvature of wall, around bearing support, do the rotation of certain angle, in robot motion's process, proofread and correct the pose of robot.The present invention can complete the weld seam detection in the hazardous environments such as oil barrel.The feature of foregoing invention is that kinematic dexterity is better, but because effective adsorption area of magnet-wheel is little, magnetic energy utilization rate is not high, and load-carrying capacity is poor.
Crawler type magnetic adsorption wall climbing robot is that the suction block by being arranged in crawler-type mobile mechanism is adsorbed on magnetic conduction wall.The applying date is " the crawler-type permanent magnet wall climbing mechanism " that patent documentation that January 26, application number in 2000 are 00200795.9 relates to, its main technical schemes is: this climbing mechanism is by car body, power pack section and traveling gear three parts form, car body is a box-shaped flexible structure, power pack section is installed in inside, power pack section is two electrical motors and speed reduction gearing thereof, and its output shaft is respectively with the drive sprocket of motor vehicles bodies both sides.Traveling gear is placed in car body both sides, by drive sprocket, and guide wheel, permanent magnet and chain tensioning mechanism form, and each drive sprocket drives three closed chains, and two gap locations between three chains are evenly arranged permanent magnet along chain total length depending on bearing a heavy burden.Be characterized in that load-carrying capacity is strong, but its kinematic dexterity is poor, particularly, when carrying out divertical motion, because area of contact between crawler belt and magnetic conduction wall is large, cornering resistance is large, and Turning radius is large, and steering flexibility is poor.
Gap adsorbed wall-climbing robot be by be arranged on chassis and magnetic conduction wall between there is certain interval permanent magnet be adsorbed on magnetic conduction wall.The applying date is " the wheeled non-contact magnetically adsorption wall climbing robot " that patent documentation that October 8, application number in 2005 are 200510086383.X relates to, its technical scheme is: comprise wheel type mobile mechanism and permanent magnetic adhesion device, wheel type mobile mechanism comprises chassis, is arranged on the driver train on chassis, the drive wheel being driven by driver train.Described drive wheel is arranged symmetrically with, and adopts differential type of drive, relies on the differential of drive wheel to realize turning on magnetic conduction wall; Permanent magnetic adhesion device is arranged on described chassis, between described permanent magnetic adhesion device and magnetic conduction wall, is non-contacting, and magnetic energy utilization rate is high, high adsorption capacity.Above-mentioned patent feature is that adsorption affinity is large, but because all drive wheels are all the cylinder wheels that car body turns to relatively, cornering resistance is large, and steering flexibility is poor.
Rectangular coordinate system mechanical arm consists of straight-line motion pair, the applying date is " Multi-axle manipulator " that patent documentation that October 30, application number in 2006 are 200620149190.4 relates to, be characterized in the secondary formation of three straight-line motions, operation that can optional position, implementation space, simple in structure, cost is lower, but that itself takies volume is larger, and end equipment cannot angle changing.Multi-joint manipulator arm consists of a plurality of revolute pairs, and flexible movements take volume little, but have no at present, has the report that little folded size mechanical arm is applied in magnetically adsorbed wall-climbing robot field.
In sum, existing mechanical arm climbing robot volume is larger, end equipment is angle changing arbitrarily, also has kinematic dexterity better and load-carrying capacity is poor, or load-carrying capacity is strong and kinematic dexterity is poor, fail to solve preferably the contradiction that climbing robot moves and adsorbs, Combination property is bad.
Summary of the invention
The object of the invention is for overcoming prior art in the deficiency of Combination property aspect kinematic dexterity and load-carrying capacity two, solve climbing robot absorption and mobile contradiction, and for little folded size mechanical arm, there is the problem of alerting ability deficiency, providing a kind of can adsorb reliably and move flexibly on magnetic conduction wall, can realize several work mode, the small and exquisite full driving magnetically adsorbed wall-climbing robot flexibly with little folded size mechanical arm.
For achieving the above object, technical scheme of the present invention is as follows:
A full driving magnetically adsorbed wall-climbing robot with little folded size mechanical arm, comprises 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 absorption type climbing mechanism, and end operational module is fixed on the end of multi-functional mechanical arm.
Multi-functional mechanical arm comprises base, turntable, large arm, forearm, camera and swing type mechanism; Swing type mechanism specifically comprises between base and turntable, between turntable and large arm, between large arm and forearm, between forearm and rotary module and the swing type mechanism of rotary module self.Swing type mechanism comprises rotary module and relevant connection parts.
Described multi-functional mechanical arm specifically comprises base, turntable, large arm, forearm, rotary module, camera, butt flange and driver module, base is fixed on the vehicle frame of absorption type climbing mechanism, described turntable is arranged on base, and motor is done and horizontally rotated with the relative base of retarder driving turntable; Large arm is arranged on turntable, and motor drives large arm to do vertical rotation relative to turntable with retarder; Described forearm is arranged on large arm, and motor drives forearm vertically to rotate relative to large arm with retarder; Described rotary module one end adopts flange to be connected with forearm, and rotary module vertically rotates relative to forearm, and self axially rotates rotary module, and the rotary module other end is connected with end operational module by flange arrangement; Described camera is arranged on the flange arrangement between end operational module and rotary module; Large arm appearance profile is to the recessed SPL of a side, when making it folding, the recessed position of this curve and radius of curvature can avoid the space of base and turntable, above-mentioned mechanical arm comprises 5 degree of freedom, is respectively 1 horizontal rotation degree of freedom, 3 vertical rotational freedoms and 1 axial rotation degree of freedom.
Described climbing mechanism comprises that employing drives the front-wheel module of steering integrated magnet-wheel, adopt the trailing wheel module of permanent magnetism gap adsorption plant, connect the vehicle frame of front and back wheel and be arranged on the motor drive controller on vehicle frame; Climbing mechanism is tricycle structure, and three-wheel is drive wheel, adopts that front-wheel controlledly turns to, two trailing wheels adopt Redundant Control steering modes, relies on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on magnetic conduction wall.
Trailing wheel module comprise chassis, around wheel be arranged on permanent magnet on trailing wheel chassis, through two trailing wheels on chassis, with the retarder of motor car wheel, drive the DC machine of retarder, 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.
2. further, drive steering integrated magnet-wheel device, comprise car body fixed frame, turntable framework, steering driving mechanism, drive mechanism for wheel and roller, between described car body fixed frame and turntable framework, be provided with a passive inclination rotational structure, between turntable framework 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 framework, and the self-lubricating plain bearing of installing at car body fixed frame, described turntable framework comprises successively connected turntable lower supporting plate, turret supports column, turntable cover plate and turntable upper backup pad, described steering driving mechanism comprises steer motor adapter plate and the mounted thereto drive motor that turns to, turn to drive motor to adopt Disc brushless DC motor, motor output shaft connects epicyclic reduction gear, then drives steering shaft by one-level bevel drive and primary cylinder gear transmission, described drive mechanism for wheel comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, by toothed belt transmission, drives magnet-wheel to roll, described roller is magnet-wheel, described in turn to drive motor and wheel rolling to drive reducing motor drive configuration independently 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, tapered roller bearing is arranged on two stay bearing plates, steering shaft is bearing on tapered roller bearing, steering shaft is connected with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft are affixed, angular transducer strut bar is connected with turntable upper backup pad, angular transducer is connected with angular transducer strut bar, steer motor adapter plate is connected with turntable upper backup pad, turn to reducing motor to be connected with steer motor adapter plate, 20 tooth spur bevel gear wheels are fixed in and turn on reducing motor output shaft, the 40 tooth spur bevel gear wheels that are meshed are with it mounted on bevel gear shaft, bevel gear shaft is supported by the first deep groove ball bearing that is arranged on turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft is connected with turning to substrate, wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate is connected with turning to substrate, drive reducing motor to be connected with drive motor adapter plate, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is connected and is arranged on small synchronous pulley axle by flat key, wheel permanent-magnet body and wheel yoke are connected and are arranged on axletree by flat key, axletree is bearing between wheel left side adapter plate and wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is arranged on axletree by flat key, between large synchronous pulley and small synchronous pulley, by Timing Belt, connected, between tensioning running roller and tensioning running roller strut bar, be connected by screw, tensioning running roller strut bar is arranged on the adapter plate of wheel left side by screw, drive between reducing motor and axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering shaft, and steering shaft 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.
3. further, described permanent magnetism gap adsorption plant is arranged on chassis around trailing wheel, between described permanent magnetism gap adsorption plant and magnetic conduction wall, be contactless, by regulating the distance between chassis and magnetic conduction wall to set the air gap between described permanent magnetic adhesion device and magnetic conduction wall.
4. described in, 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.
5 is further, and described chassis is dead-soft steel, as yoke, forms magnetic circuit be arranged on the permanent magnet on trailing wheel chassis around wheel together with.
6 is further, and retarder comprises first order epicyclic reduction gear and second stage turbine and worm retarder, connects two-stage reduction gear band motor car wheel after DC machine, and second stage turbine and worm retarder is connected by screw and is arranged on trailing wheel chassis.
Large arm, forearm, turntable, base and the butt flange of the multi-functional mechanical arm described in 7 all adopt box type construction or thin-wall construction, material all adopts high strength aluminum alloy, box type construction is exactly the enclosed construction that thin plate splicing forms, and what its cross section was hollow is close-shaped.
The cross section of above-mentioned close-shaped similar chest, thin-wall construction has been characterised in that thin plate splicing forms, but it differs and is decided to be the box type construction of sealing.
The invention has the advantages that:
1, climbing mechanism of the present invention adopts the complex method of contact magnet-wheel absorption (driving steering integrated magnet-wheel) and non-contact gap absorption (comprising permanent magnetism gap adsorption plant), tricycle structure, all wheels are drive wheel, adopt Redundant Control steering mode, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on magnetic conduction wall, kinematic dexterity is good, can be around car body zero turn radius, minimum turning radius is 0, and robot can reliably adsorb and realize independent and flexible and move at magnetic conduction wall.2, the present invention is equipped with little folded size mechanical arm, arm has 5 degree of freedom, respectively a horizontal rotation degree of freedom, three vertical rotational freedoms and an axial rotation degree of freedom, arm end capable of replacing welding module, polishing module or three kinds of different equipments of gripping module, realized several working ways.Adopt the mode of this 5DOF collocation, can make arm end in work area optional position, arbitrarily angledly carry out work, the mechanical arm motion less compared with other degree of freedom is more flexible.Little folded size arm, is that index arm is folding compact according to explanation, and folding rear size is less, shows the shape of each arm, and especially large arm adopts Curve Design, when folding, can dodge other structures.
3, the present invention is under the cooperatively interacting of absorption type climbing mechanism, multi-functional mechanical arm and end operational module, can move in large-scale steel structure table surface all-position independent and flexible, reliably adsorb, rely on the multi-functional mechanical arm end different equipment that changes the outfit, can weld large-scale steel structure, polish, the several work such as monitoring.
4, steering hardware is introduced Redundant Control mode, front-wheel is controlled to be turned to, two trailing wheels adopt Redundant Control steering modes, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on magnetic conduction wall, and the accurate control by front-wheel steering angle has improved climbing robot and turned to precision.
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 and drive steering integrated function, and the adsorption affinity of trailing wheel module can be adjusted 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 between the driving reducing motor of steering integrated magnet-wheel and axletree by toothed belt transmission, by regulating transmission width between centers can obtain larger installing space, thereby the driving reducing motor that relatively high power is installed improves drive torque.
7, drive steering integrated magnet-wheel to be provided with and independently turn to degree of freedom and make steer axis and wheel axis perpendicular quadrature, can realize the independent steering of wheel, improve climbing robot kinematic dexterity.
8, drive steering integrated magnet-wheel to be provided with passive banking degree of freedom and by rolling confinement block constrained side tilt angle in positive and negative 10 degree, make climbing robot there is good curved surface adaptive capacity.
9, drive the inclination confinement block of steering integrated magnet-wheel by mechanical position limitation, to realize the function of constrained side degree of tilt.
10, drive the steering structure of steering integrated magnet-wheel and wheel rolling to be all provided with independently driver train.
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 construction schematic diagram.
Fig. 4 is permanent magnetism gap adsorption plant structural representation.
Fig. 5 is for driving steering integrated magnet-wheel structural representation.
Fig. 6 is the cutaway view that front-wheel is crossed steering shaft and bevel gear shaft.
Fig. 7 is magnet-wheel cutaway view.
Fig. 8 is multi-functional mechanical arm structure schematic diagram.
Fig. 9 is multi-functional mechanical arm birds-eye view.
Figure 10 is multi-functional mechanical arm folded state diagram.
Figure 11 is polishing modular construction schematic diagram.
Figure 12 is welding module structural representation.
Figure 13 is gripping modular construction 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 retarder 10, epicyclic reduction gear 11, DC machine 12, Timing Belt 13, retarder 14, turn to sole plate 15, 20 tooth spur bevel gear wheels 16, epicyclic reduction gear 17, motor 18, steering shaft 19, 60 tooth cylindrical wheels 20, 19 tooth cylindrical wheels 21, bevel gear shaft 22, 40 tooth spur bevel gear wheels 23, wheel permanent-magnet body 24, wheel yoke 25, base 26, turntable 27, large arm 28, forearm 29, rotary module 30, camera 31, the first flange 32, the second flange 33, the first servomotor 34, first harmonic retarder 35, the second servomotor 36, second harmonic retarder 37, the 3rd servomotor 38, third harmonic retarder 39, the 4th servomotor 40, the 4th harmonic speed reducer 41, grinding wheel 42, supporting outer 43, actuating device 44, welding gun 45, attaching parts 46, weld seam recognition system 47, gripping body 48, fixture 49.
The specific embodiment
A kind of full driving magnetically adsorbed wall-climbing robot with little folded size mechanical 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 absorption type climbing mechanism, and end operational module is fixed on the end of multi-functional mechanical arm.Multi-functional mechanical arm comprises base, turntable, large arm, forearm, camera and swing type mechanism; Swing type mechanism specifically comprises between base and turntable, between turntable and large arm, between large arm and forearm, between forearm and rotary module and the swing type mechanism of rotary module self.Swing type mechanism comprises rotary module and relevant connection parts.Described multi-functional mechanical arm specifically comprises base, turntable, large arm, forearm, rotary module, camera, butt flange and driver module, base is fixed on the vehicle frame of absorption type climbing mechanism, described turntable is arranged on base, and motor is done and horizontally rotated with the relative base of retarder driving turntable; Large arm is arranged on turntable, and motor drives large arm to do vertical rotation relative to turntable with retarder; Described forearm is arranged on large arm, and motor drives forearm vertically to rotate relative to large arm with retarder; Described rotary module one end adopts flange to be connected with forearm, and rotary module vertically rotates relative to forearm, and self axially rotates rotary module, and the rotary module other end is connected with end operational module by flange arrangement; Described camera is arranged on the flange arrangement between end operational module and rotary module; Large arm appearance profile is to the recessed SPL of a side, when making it folding, the recessed position of this curve and radius of curvature can avoid the space of base and turntable, above-mentioned mechanical arm comprises 5 degree of freedom, is respectively 1 horizontal rotation degree of freedom, 3 vertical rotational freedoms and 1 axial rotation degree of freedom.Described climbing mechanism comprises that employing drives the front-wheel module of steering integrated magnet-wheel, adopt the trailing wheel module of permanent magnetism gap adsorption plant, connect the vehicle frame of front and back wheel and be arranged on the motor drive controller on vehicle frame; Climbing mechanism is tricycle structure, and three-wheel is drive wheel, adopts the controlled mode turning to of front-wheel turning on magnetic conduction wall.Trailing wheel module comprise chassis, around wheel be arranged on permanent magnet on trailing wheel chassis, through two trailing wheels on chassis, with the retarder of motor car wheel, drive the DC machine of retarder, 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.
Drive steering integrated magnet-wheel device, comprise car body fixed frame, turntable framework, steering driving mechanism, drive mechanism for wheel and roller, between described car body fixed frame and turntable framework, be provided with a passive inclination rotational structure, between turntable framework 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 framework, and the self-lubricating plain bearing of installing at car body fixed frame, described turntable framework comprises successively connected turntable lower supporting plate, turret supports column, turntable cover plate and turntable upper backup pad, described steering driving mechanism comprises steer motor adapter plate and the mounted thereto drive motor that turns to, turn to drive motor to adopt Disc brushless DC motor, motor output shaft connects epicyclic reduction gear, then drives steering shaft by one-level bevel drive and primary cylinder gear transmission, described drive mechanism for wheel comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, by toothed belt transmission, drives magnet-wheel to roll, described roller is magnet-wheel, described in turn to drive motor and wheel rolling to drive reducing motor drive configuration independently 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, tapered roller bearing is arranged on two stay bearing plates, steering shaft is bearing on tapered roller bearing, steering shaft is connected with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft are affixed, angular transducer strut bar is connected with turntable upper backup pad, angular transducer is connected with angular transducer strut bar, steer motor adapter plate is connected with turntable upper backup pad, turn to reducing motor to be connected with steer motor adapter plate, 20 tooth spur bevel gear wheels are fixed in and turn on reducing motor output shaft, the 40 tooth spur bevel gear wheels that are meshed are with it mounted on bevel gear shaft, bevel gear shaft is supported by the first deep groove ball bearing that is arranged on turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft is connected with turning to substrate, wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate is connected with turning to substrate, drive reducing motor to be connected with drive motor adapter plate, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is connected and is arranged on small synchronous pulley axle by flat key, wheel permanent-magnet body and wheel yoke are connected and are arranged on axletree by flat key, axletree is bearing between wheel left side adapter plate and wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is arranged on axletree by flat key, between large synchronous pulley and small synchronous pulley, by Timing Belt, connected, between tensioning running roller and tensioning running roller strut bar, be connected by screw, tensioning running roller strut bar is arranged on the adapter plate of wheel left side by screw, drive between reducing motor and axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering shaft, and steering shaft 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.
Permanent magnetism gap adsorption plant is arranged on chassis around trailing wheel, between described permanent magnetism gap adsorption plant and magnetic conduction wall, is contactless, by regulating the distance between chassis and magnetic conduction wall to set the air gap between described permanent magnetic adhesion device and magnetic conduction wall.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.Chassis is dead-soft steel, as yoke, forms magnetic circuit be arranged on the permanent magnet on trailing wheel chassis around wheel together with.Retarder comprises first order epicyclic reduction gear and second stage turbine and worm retarder, connects two-stage reduction gear band motor car wheel after DC machine, and second stage turbine and worm retarder is connected by screw and is arranged on trailing wheel chassis.Large arm, forearm, turntable, base and the butt flange of multi-functional mechanical arm all adopt box type construction or thin-wall construction, and material all adopts high strength aluminum alloy, and box type construction is exactly the enclosed construction that thin plate splicing forms, and what its cross section was hollow is close-shaped.The cross section of above-mentioned close-shaped similar chest, thin-wall construction has been characterised in that thin plate splicing forms, but it differs and is decided to be the box type construction of sealing.
The multi-functional climbing robot of differential driving magnetic adsorption type with little folded size mechanical arm shown in Fig. 1 is comprised 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 erecting stage 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 respectively welding module, polishing module and gripping module, the end operational module shown in Fig. 1 is gripping module.
As shown in Figure 2, absorption type climbing mechanism consists of three parts, comprises adopting driving the front-wheel module 5 of steering integrated magnet-wheel, the trailing wheel module 4 and the vehicle frame 6 that is connected front and back wheel of employing permanent magnetism gap adsorption plant.
As shown in Figure 3, trailing wheel chassis 8 adopts dead-soft steel (as Q235) manufacture, except the function as support rear-wheel structure, also as yoke, form a part for magnetic circuit together with the permanent magnet 7 being arranged on around wheel on trailing wheel chassis 8, DC machine 12 connects two-stage reduction gear band motor car wheel 9, the first order is epicyclic reduction gear 11, and the second stage is turbine and worm retarder 10, and turbine and worm retarder is connected by screw and is arranged on trailing wheel chassis 8.
Permanent magnetism gap adsorption plant as shown in Figure 4, the Nd-Fe-B permanent magnet being magnetized by 12 thickness directions forms, each trailing wheel is respectively arranged 6 permanent magnets, the N utmost point and the S utmost point formation magnetic circuit that is staggered, around trailing wheel, be arranged on chassis, between described permanent magnetism gap adsorption plant and magnetic conduction wall, be non-contacting, by regulating the distance between chassis and magnetic conduction wall to set the air gap between described permanent magnetic adhesion device and magnetic conduction wall.
Fig. 5 is the three-dimensional model diagram of front-wheel, and Fig. 6 is the cutaway view that front-wheel is crossed steering shaft and bevel gear shaft, and Fig. 7 was the cutaway view of front-wheel axletree.Wherein, DC brushless motor 18 and epicyclic reduction gear 17 are through 20 tooth spur bevel gear wheels 16 and 40 tooth spur bevel gear wheel 23 driving band dynamic bevel gear axle 22 rotations, bevel gear shaft 22 drives steering shafts 19 rotations by 19 tooth cylindrical wheels 21 and 60 tooth cylindrical wheel 20 transmissions again, steering shaft 19 with turn to sole plate 15 to fix by screw attachment.F-w-d motor and retarder 14 adopt brush direct current motor and epicyclic reduction gear, by Timing Belt 13 transmissions, drive front-wheel.Front-wheel is magnet-wheel, and structure is shown in Fig. 7.Magnet-wheel consists of 1 permanent magnet and 2 yokes.Described permanent magnet adopts the magnetized annular permanent magnet of through-thickness, and permanent magnet can adopt high performance permanent magnetic materials as manufactures such as NdFeB, and yoke adopts dead-soft steel (as Q235 etc.) to manufacture.Wheel permanent-magnet body 24 and wheel yoke 25 form magnet-wheel.
Consult Fig. 8,9, mechanical arm of the present invention, comprises base 26; Turntable 27 is arranged on base 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 on large arm 28 by the revolute pair of vertical direction; Rotary module 30 is threaded connection with the first flange 32 and is connected; The first flange 32 is connected with forearm 29 by the revolute pair of vertical direction; One end of the second flange 33 is threaded connection with rotary module 30 and is connected, and the other end is connected with end operational module; Camera 31 is threaded connection with the upper plane of the second flange 33 and is connected, and lens direction is pointed to end operational module; The input end of the first servomotor 34, the second servomotor 36, the 3rd servomotor 38, the 4th servomotor 40 is connected with the input end of first harmonic retarder 35, second harmonic retarder 37, third harmonic retarder 39, the 4th harmonic speed reducer 41 respectively; The shell of first harmonic retarder 35 is threaded connection with turntable 27 and is connected, and output shaft is connected with base 26 and is connected by key; The shell of second harmonic retarder 37 is threaded connection with turntable 27 and is connected, and output shaft is connected with one end of large arm 28 and is connected by key; The shell of third harmonic retarder 39 is threaded connection with one end of forearm 29 and is connected, and output shaft is connected with the other end of large arm 28 and is connected by key; The shell of the 4th harmonic speed reducer 41 is bolted with the other end of forearm 29 and is connected, and mouth is connected with the first flange 32 and is connected by key; The material of base 26, turntable 27, large arm 28, forearm 29, the first flange 32, the second flange 33 is high strength aluminum alloy; Large arm 28, forearm 29 all adopt box type construction, and other framing members all adopt thin-wall construction, to alleviate dead load; Rotary module 30 can be selected the matured product on market.
Adopt said structure, turntable 27 is base 26 horizontal rotations relatively, large arm 28 can vertically rotate relative to turntable 27; forearm 29 can vertically rotate around large arm 28; rotary module 30 can vertically rotate relative to forearm 29; mouth of rotary module 30 and input end can rotate to axial, thereby drives end equipment to axially rotate.Each kinematic pair makes mechanical arm have 5 degree of freedom above, is respectively 1 horizontal rotation degree of freedom, 3 vertical rotational freedoms and 1 axial rotation degree of freedom.By programming control, make the first servomotor 34, the second servomotor 36, the 3rd servomotor 38, the 4th servomotor 40, rotary module 30 coordinations, thereby realize mechanical arm optional position and operation at any angle in swinging radius.
Consult Figure 10, the profile of large arm 28 is to the recessed SPL of a side, and the recess of curve can be avoided the space of base 26, turntable 27, the first servomotor 34 and first harmonic retarder 35 when folded state, to reduce mechanical arm at the minimum constructive height of folded state.
Figure 11 shows that the polishing module in end operational module 3, by grinding wheel 42, supporting outer 43 and actuating device 44 3 parts, formed; Figure 12 shows that the welding module in end operational module 3, welding gun 45, attaching parts 46 and weld seam recognition system 47, consist of, one end of attaching parts 46 is welding gun 45 fixedly, and the other end is connected with the end of multi-functional mechanical arm 2; Figure 13 is the gripping module in end operational module 3, gripping body 48 and fixture 49, consists of, and gripping body 48 can be selected ripe gripping product, and fixture 49 is connected to the mouth of gripping body 48, according to the difference of gripping object, can be designed to different shapes.
Rotary module is an independently functional module, and itself has actuating device, can drive its head and the tail two ends to relatively rotate.This module can be selected matured product, as the PRL module product of SCHUNK company.
Described box type construction is exactly the enclosed construction that thin plate splicing forms, and what its cross section was hollow is close-shaped, 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 type construction of sealing.
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 adsorption affinity of trailing wheel module can be adjusted by the gap between chassis and magnetic conduction wall; Each joint freedom degrees of multi-functional mechanical arm is by driven by servomotor, by programming control rotational angle and speed, to realize location, attitude adjustment and the working trajectory adjustment of end operational module; End operational module has three kinds, is respectively welding module, polishing module and gripping module, the end operational module that changes the outfit different under different operating modes.Between climbing mechanism, multi-functional mechanical arm and end operational module, by program, realize coordination, with the demand of fulfiling assignment.
The present invention is not only confined to above embodiment, and any modification in protection domain of the present invention, all thinks and fall within the scope of protection of the present invention.

Claims (7)

1. a full driving magnetically adsorbed wall-climbing robot with little folded size mechanical arm, comprises climbing mechanism (1), operating mechanism, it is characterized in that:
Described operating mechanism comprises multi-functional mechanical arm (2) and end operational module (3), it is upper that the base (26) of multi-functional mechanical arm (2) is fixed on absorption type 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) specifically comprises base (26), turntable (27), large arm (28), forearm (29), rotary module (30), camera (31), butt flange and driver module, base (26) is fixed on the vehicle frame (6) of absorption type climbing mechanism (1), it is upper that described turntable (27) is arranged on base (26), and motor (18) is done and horizontally rotated with retarder (14) the driving relative base of turntable (27) (26); It is upper that large arm (28) is arranged on turntable (27), and motor (18) drives large arm (28) to do vertical rotation relative to turntable (27) with retarder (14); It is upper that described forearm (29) is arranged on large arm (28), and motor (18) drives forearm (29) vertically to rotate relative to large arm (28) with retarder (14); Described rotary module (30) one end adopts flange to be connected with forearm (29), rotary module (30) vertically rotates relative to forearm (29), rotary module (30) axially rotates self, and rotary module (30) other end is connected with end operational module (3) by flange arrangement; Described camera (31) is arranged on the flange arrangement between end operational module (3) and rotary module (30); Large arm (28) appearance profile is to the recessed SPL of a side, when making it folding, the recessed position of this curve and radius of curvature can avoid the space of base (26) and turntable (27), above-mentioned mechanical arm comprises 5 degree of freedom, is respectively 1 horizontal rotation degree of freedom, 3 vertical rotational freedoms and 1 axial rotation degree of freedom;
Described climbing mechanism (1) comprises that employing drives the front-wheel module (5) of steering integrated magnet-wheel, adopt the trailing wheel module (4) of permanent magnetism gap adsorption plant, connect the vehicle frame (6) of front and back wheel and be arranged on motor (18) driving governor on vehicle frame (6); Climbing mechanism (1) is tricycle structure, and three-wheel is drive wheel, adopts that front-wheel controlledly turns to, two trailing wheels adopt Redundant Control steering modes, relies on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on magnetic conduction wall;
Trailing wheel module (4) comprises chassis (8), around wheel (9), is arranged on the permanent magnet (7) on trailing wheel chassis (8), two trailing wheels that pass chassis (8), the DC machine (12) of the retarder (14) of band motor car wheel (9), driving retarder (14), and two trailing wheels of trailing wheel module (4) are arranged symmetrically with;
Front-wheel module comprises permanent magnet (7) and wheel (9), and the permanent magnet of front-wheel (7) adopts the magnetized annular permanent magnet of through-thickness.
2. the full driving magnetically adsorbed wall-climbing robot with little folded size mechanical arm according to claim 1, it is characterized in that: drive steering integrated magnet-wheel, comprise car body fixed frame, turntable framework, steering driving mechanism, drive mechanism for wheel and roller, between described car body fixed frame and turntable framework, be provided with a passive inclination rotational structure, between turntable framework and roller, 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 framework, and the self-lubricating plain bearing of installing at car body fixed frame, described turntable framework comprises successively connected turntable lower supporting plate, turret supports column, turntable cover plate and turntable upper backup pad, described steering driving mechanism comprises steer motor adapter plate and the mounted thereto drive motor that turns to, turn to drive motor to adopt Disc brushless DC motor, motor output shaft connects epicyclic reduction gear (17), then drives steering shaft (19) by one-level bevel drive and primary cylinder gear transmission, described drive mechanism for wheel comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear (17), by Timing Belt (13) transmission, drives roller to roll, described roller is magnet-wheel, described in turn to drive motor and wheel rolling to drive reducing motor drive configuration independently 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, tapered roller bearing is arranged on two stay bearing plates, steering shaft (19) is bearing on tapered roller bearing, steering shaft (19) is connected with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft (19) are affixed, angular transducer strut bar is connected with turntable upper backup pad, angular transducer is connected with angular transducer strut bar, steer motor adapter plate is connected with turntable upper backup pad, turn to reducing motor to be connected with steer motor adapter plate, 20 tooth spur bevel gear wheels (16) are fixed in and turn on reducing motor output shaft, the 40 tooth spur bevel gear wheels (23) that are meshed are with it mounted on bevel gear shaft (22), bevel gear shaft (22) is supported by the first deep groove ball bearing that is arranged on turntable upper backup pad, the opposite side of bevel gear shaft (22) connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft (19) is connected with turning to substrate, wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate is connected with turning to substrate, drive reducing motor to be connected with drive motor adapter plate, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is connected and is arranged on small synchronous pulley axle by flat key, wheel permanent-magnet body (24) and wheel yoke (25) are connected and are arranged on axletree by flat key, axletree is bearing between wheel left side adapter plate and wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is arranged on axletree by flat key, between large synchronous pulley and small synchronous pulley, by Timing Belt (13), connected, between tensioning running roller and tensioning running roller strut bar, be connected by screw, tensioning running roller strut bar is arranged on the adapter plate of wheel left side by screw, drive between reducing motor and axletree by Timing Belt (13) transmission, steering driving mechanism also comprises steering shaft (19), and steering shaft (19) bottom is provided with drive mechanism for wheel and roller, described steering shaft (19) line and wheel axis perpendicular quadrature, described driving reducing motor is brush direct current motor.
3. the full driving magnetically adsorbed wall-climbing robot with little folded size mechanical arm according to claim 1, it is characterized in that: described permanent magnetism gap adsorption plant is arranged on chassis (8) around trailing wheel, between described permanent magnetism gap adsorption plant and magnetic conduction wall, be contactless, by regulating the distance between chassis (8) and magnetic conduction wall to set the air gap between described permanent magnetic adhesion device and magnetic conduction wall.
4. the full driving magnetically adsorbed wall-climbing robot with little folded size mechanical arm according to claim 1, it is characterized in that: described end 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 by flange arrangement.
5. the full driving magnetically adsorbed wall-climbing robot with little folded size mechanical arm according to claim 1, it is characterized in that: further, described chassis (8) is dead-soft steel, as yoke, forms magnetic circuit with together with permanent magnet be arranged on trailing wheel chassis (8) around wheel on.
6. the full driving magnetically adsorbed wall-climbing robot with little folded size mechanical arm according to claim 1, it is characterized in that: further, retarder comprises first order epicyclic reduction gear (11) and second stage turbine and worm retarder (10), after DC machine (12), connect two-stage reduction gear band motor car wheel, second stage turbine and worm retarder (10) is connected by screw and is arranged on trailing wheel chassis (8).
7. the full driving magnetically adsorbed wall-climbing robot with little folded size mechanical arm according to claim 1, it is characterized in that: the large arm (28) of described multi-functional mechanical arm (2), forearm (29), turntable, base (26) and butt flange all adopt box type construction or thin-wall construction, material all adopts high strength aluminum alloy, box type construction is exactly the enclosed construction that thin plate splicing forms, and what its cross section was hollow is close-shaped.
CN201210185012.7A 2012-06-07 2012-06-07 Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm Active CN102700646B (en)

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WO2016103303A1 (en) * 2014-12-26 2016-06-30 川崎重工業株式会社 Self-propelled articulated robot
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