CN104369788A - Permanent magnetic adsorption wall-climbing robot - Google Patents
Permanent magnetic adsorption wall-climbing robot Download PDFInfo
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- CN104369788A CN104369788A CN201410525205.1A CN201410525205A CN104369788A CN 104369788 A CN104369788 A CN 104369788A CN 201410525205 A CN201410525205 A CN 201410525205A CN 104369788 A CN104369788 A CN 104369788A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a permanent magnetic adsorption wall-climbing robot. The permanent magnetic adsorption wall-climbing robot comprises a base disc, a main motor and a vehicle body; the vehicle body and the main motor are arranged on the base disc; the base disc comprises a first machine base and three wheel modules which are fixed to the circumference above the first machine base and are evenly distributed; three magnets are evenly distributed on the circumference below the first machine base; a hollow shaft is fixed to the center of the first machine base and is sleeved with four deep groove ball bearings; every two deep groove ball bearings are connected with a nylon gear; the main motor is fixed to the hollow shaft through a motor flange; a clutch suction cup portion is fixed to the motor flange; a clutch coil portion is fixed to a bearing plate and is connected with a suspension clamp and a suspension ring bolt. A vehicle body upper cover is arranged above a holder; a bearing is arranged below the holder; a bearing and a bearing ring are arranged at the corresponding positions of the machine base; and a vehicle body is connected to the bearing ring. The needed number of the wheel modules and a driving motor can be selected according to loads; the cost of the motor is saved; and the mechanical transmission efficiency is improved, and the service life of the robot is prolonged.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of robot based on disk suction type.
Background technology
The load mode that current, pipeline transportation is high as a kind of efficiency, cost is low is more and more extensive in sector applications such as communication, oil, chemical industry, electric power.In the use procedure of pipeline, because of burn into pressure and the damage of other external force, tube wall is often inevitably caused to occur the breakage of various degree.Thus, occur damaging once monitor tube wall, need to be changed in time, otherwise can major accident be led to.
Consider that most usual operating personals of pipeline environment cannot directly contact, pipeline operations generally adopts robot to implement.Mode of operation according to pipe robot divides, and a class is walking robot, and another kind of is climbing robot.Due to walking robot complex structure, technical risk large and comformability and poor stability, and the comformability of climbing robot and stability are comparatively strong, and current priority research areas focuses on climbing robot.It can be divided into vacuum suction and disk absorption by adsorption function, and in magnetic suck mode, magnet can be electromagnet, also can be permanent magnet, electromagnet formula maintains absorption to be needed to provide electric energy to electromagnet, but controls more convenient, and permanent magnet type is not by the impact of power-off, safe and reliable.
In the prior art, a kind of climbing robot adopts permanent magnet disk as magnetic suck function, detects and repair pipeline.This climbing robot uses this disk as drive wheel, more additional two revolving wheels come auxiliary adjustment direction, carry out climbing wall operation.Because disk can freely around vertical axis revolving, so that robot can curved surface operation, in addition, this disk structure also can produce comparatively ideal absorption weight ratio, thus alleviates the overall weight of structure.But the disk of this climbing robot and wall angulation are changeless, thus cause magnetic adsorbability not change, therefore this climbing robot cannot solve the contradiction between wall adsorption and mobile operating.In addition, it is comparatively large still to there is quality in existing climbing robot, the problems such as Engineering Orientedization application is flexible not enough.
Summary of the invention
For the above-mentioned defect that permanent magnetic suck climbing robot of the prior art is existing when designing, the invention provides a kind of novel adsorbed wall-climbing robot
According to one aspect of the present invention, provide a kind of permanent magnetic suck climbing robot, comprise chassis, mair motor and car body, car body and mair motor are installed on chassis, wherein said chassis comprises the first support and is fixed on circumference on the first support and well-distributed three wheel module, below first support, even circumferential distributes three magnet, magnet is arranged in disk flange and magnet hub, disk flange is connected on the first support by disk post, hollow shaft is fixed with at the center of the first support, on hollow shaft, cover has four deep groove ball bearings, every two ball-bearing casings connect a nylon gear and between ball-bearing casing, interval keeps off and fixed position with the second bearing, gear wherein connects coupler, coupler is connected with motor shaft by rotating shaft flange, described mair motor is fixed on hollow shaft by motor flange, and arranges motor cover in order to cover motor in the bottom of the first support, is provided with clutch shaft bearing gear in order to the bearing below withstanding below motor flange, described permanent magnetic suck climbing robot also comprises mair motor power-transfer clutch, there is power-transfer clutch suction cup portion and clutch coil part, described power-transfer clutch suction cup portion is fixed on motor flange, described clutch coil partial fixing is on bearing plate and connect suspension clamp and lifting eye bolt, described bearing plate is bolted together on retainer, be provided with car body upper cover above retainer and below retainer, bearing is set, the support position corresponding with retainer arranges bearing and bearing collar, and described car body is connected on bearing collar.
An embodiment wherein, described permanent magnetic suck climbing robot also comprises wheel steering motor, be installed on the connection location of retainer and motor cabinet, reductor shaft connects finishing bevel gear cuter and engages the finishing bevel gear cuter of another vertical direction, its key to be connected on steering shaft and with the bearing righting be arranged on retainer, a straight gear is connected in steering shaft lower end is arranged at and is fixed on the first support bearing assembly at its underpart key, when wheel need turn to, power is delivered on steering shaft by finishing bevel gear cuter, transmission of power is also taken turns module to described thus realize wheel steering by the big gear wheel on straight gear engagement hollow shaft.
An embodiment wherein, described permanent magnetic suck climbing robot also comprises car body steer motor, be installed on the connection location of the first support and motor cabinet, reductor shaft connects gear in order to engage the flexible rack on car body, when car body need turn to, power is realized car body by gear transmission turn to flexible rack.
An embodiment wherein, described permanent magnetic suck climbing robot also comprises metal grating, is fixedly connected with motor shaft, receives the location information of metal grating thus detect car body rotation by opto-electronic pickup.
An embodiment wherein, the wheel of wheel module bottom connects finishing bevel gear cuter, the wheel center of wheel connects wheel shaft, wheel shaft is provided with bearing and bearing gear, wheel shaft two ends are separately positioned on bearing seat and wheel carrier, bearing seat connects wheel carrier, wheel carrier outside is fastened on the bearing on the first support, the upper cover of wheel carrier top fifth wheel module, gear is clamped between the upper cover of wheel carrier and wheel module, the upper cover top of wheel module connects hollow bearing gear, thrust baring is provided with inside and outside it, be fixed on above thrust baring that hollow bearing blocks and the second support is set, it is fixing that the second support bearing seat be fastened on the first support makes whole position of taking turns module be balanced, second support is connected with retainer by support, an axle is had at the center of wheel module, axle top arranges gear hub and gear, axle bottom key connects gear and the gear on another root axle top in meshing wheel module, axle bottom connect gear and wheel on gears meshing, gear on wheel is provided with cover of dust.
An embodiment wherein, the mouth of reductor connects described mair motor power-transfer clutch, when described mair motor power-transfer clutch is in released state, mair motor outputting power the big gear wheel be delivered on hollow shaft, by the gears meshing of big gear wheel with wheel module upper end, transmission of power, to the gear being fixedly connected on wheel, realizes advance or the retrogressing of car body; When described mair motor power-transfer clutch is in engagement state, wheel drive motor is remained static by the locked robot that makes.
An embodiment wherein, car body is provided with wireless camera, in order to the mode of operation of real-time supervisory-controlled robot.
An embodiment wherein, described mair motor is DC brushless motor.
Adopt permanent magnetic suck climbing robot of the present invention, at least have the following advantages:
1) take turns module and adopt planet topological design, wheel module number required for can selecting according to load and drive motor, this structure can save motor cost, the motor-driven gear uniform force making driving torque maximum, improves machinery driving efficiency and service life.In addition, the direction of wheel module uses planet layout equally, all modules of taking turns promptly can be turned to simultaneously, improve the operating flexibility of robot;
2) take turns module and adopt closed design, effectively can prevent the impact that dust iron filings may cause mechanical drive.Both too much iron filings can have been avoided to be adsorbed for the shell that magnet is customized, also can play the effect of protection magnet;
3) adopt non-contacting suction type, avoid the wearing and tearing of rigid contact to wall of high strength, also regulate adsorption affinity size by shirtsleeve operation, adapt to the tank skin of different-thickness and load-carrying capacity and obstacle climbing ability.
Compared with prior art, the wheel module number required for the present invention can select according to load and drive motor, save motor cost.In addition, the present invention, also by the motor-driven gear uniform force that planet topological design makes driving torque maximum, improves machinery driving efficiency and service life.Moreover the main material of robot adopts aluminum alloy, intensity is high, withstanding corrosion and quality is little, coordinates wireless controller to carry out control operation, overall operation flexibly, convenient.
Accompanying drawing explanation
Reader, after having read the specific embodiment of the present invention with reference to accompanying drawing, will become apparent various aspects of the present invention.Wherein,
Fig. 1 illustrates the front view of the permanent magnetic suck climbing robot according to an embodiment of the present invention;
Fig. 2 illustrates the wheels erection plan of the permanent magnetic suck climbing robot of Fig. 1;
Fig. 3 illustrates another view of the wheels of the permanent magnetic suck climbing robot of Fig. 2;
Fig. 4 illustrates the wheel function structure chart of the permanent magnetic suck climbing robot of Fig. 1; And
Fig. 5 illustrates the magnet erection plan of the permanent magnetic suck climbing robot of Fig. 1.
Detailed description of the invention
The technology contents disclosed to make the application is more detailed and complete, and can refer to accompanying drawing and following various specific embodiment of the present invention, mark identical in accompanying drawing represents same or analogous assembly.But, it will be understood by those of skill in the art that hereinafter provided embodiment is not used for limiting the scope that contains of the present invention.In addition, accompanying drawing, only for being schematically illustrated, is not drawn according to its life size.
With reference to the accompanying drawings, the specific embodiment of the present invention is described in detail.
Fig. 1 illustrates the front view of the permanent magnetic suck climbing robot according to an embodiment of the present invention.Fig. 2 illustrates the wheels erection plan of the permanent magnetic suck climbing robot of Fig. 1.Fig. 3 illustrates another view of the wheels of the permanent magnetic suck climbing robot of Fig. 2.Fig. 4 illustrates the wheel function structure chart of the permanent magnetic suck climbing robot of Fig. 1.Fig. 5 illustrates the magnet erection plan of the permanent magnetic suck climbing robot of Fig. 1.
With reference to Fig. 1 ~ Fig. 5, permanent magnetic suck climbing robot of the present invention comprises chassis, mair motor and car body, and car body and mair motor are installed on chassis.Further, this permanent magnetic suck climbing robot also comprises mair motor power-transfer clutch, has power-transfer clutch suction cup portion and clutch coil part, controls power transmission by the separation of mair motor power-transfer clutch with engaging.Such as, the mouth of reductor 2 connects mair motor power-transfer clutch, when mair motor power-transfer clutch is in released state, mair motor outputting power the big gear wheel be delivered on hollow shaft 15, by the gears meshing of big gear wheel with wheel module upper end, transmission of power, to the gear being fixedly connected on wheel, realizes advance or the retrogressing of car body; When mair motor power-transfer clutch is in engagement state, motor is remained static by the locked robot that makes.
Specifically, chassis comprises the first support 7 and is fixed on circumference on the first support 7 and well-distributed three wheel module, and below the first support 7, even circumferential distributes three magnet 47.Magnet 47 is arranged in disk flange 45 and magnet hub 48, and disk flange 45 is connected on the first support 7 by disk post 49, is fixed with hollow shaft 15 at the center of the first support 7.On hollow shaft 15, cover has four deep groove ball bearings 17, every two ball-bearing casings 17 connect a nylon gear 13 and between ball-bearing casing 17, interval keeps off 18 and fixed position with the second bearing, gear wherein connects coupler 12, and coupler 12 is connected with motor shaft by rotating shaft flange.Mair motor is fixed on hollow shaft 15 by motor flange 14, and arranges motor cover 46 in order to cover motor in the bottom of the first support 7, is provided with clutch shaft bearing gear 16 in order to the bearing below withstanding below motor flange 14.Power-transfer clutch suction cup portion is fixed on motor flange 14, and clutch coil partial fixing is on bearing plate and connect suspension clamp and lifting eye bolt, and bearing plate is bolted together on retainer 22.Be provided with car body 23 upper cover above retainer 22 and below retainer 22, bearing is set.The support position corresponding with retainer 22 arranges bearing and bearing collar, and car body 23 is connected on bearing collar.
According to a specific embodiment, this permanent magnetic suck climbing robot also comprises wheel steering motor 24, be installed on the connection location of retainer 22 and motor cabinet 3, reductor shaft connects finishing bevel gear cuter 25 and engages the finishing bevel gear cuter of another vertical direction, its key to be connected on steering shaft 8 and with the bearing righting be arranged on retainer 22, steering shaft 8 lower end is arranged at and is fixed in bearing assembly on the first support 7 10 and connects a straight gear 9 at its underpart key, when wheel need turn to, power is delivered on steering shaft 8 by finishing bevel gear cuter 25, straight gear 9 engages the big gear wheel on hollow shaft 15 and transmission of power is taken turns module to described thus realized wheel steering.
According to a specific embodiment, this permanent magnetic suck climbing robot also comprises car body steer motor 1, be installed on the connection location of the first support 7 and motor cabinet 3, reductor shaft connects gear 4 in order to engage the flexible rack 5 on car body 23, when car body need turn to, power is delivered to flexible rack 5 by gear 4 thus is realized car body and turns to.
In addition, the wheel 36 of wheel module bottom connects finishing bevel gear cuter 33, the wheel center of wheel 36 connects wheel shaft 38, wheel shaft 38 is provided with bearing and bearing gear, wheel shaft 38 two ends are separately positioned on bearing seat 32 and wheel carrier 39, bearing seat 32 connects wheel carrier 39, wheel carrier outside is fastened on the bearing on the first support 7, the upper cover 41 of wheel carrier top fifth wheel module, gear 40 is clamped between the upper cover 41 of wheel carrier and wheel module, upper cover 41 top of wheel module connects hollow bearing gear 44, thrust baring is provided with inside and outside it, be fixed on above the thrust baring on hollow bearing gear 44 and second support 20 is set, it is fixing that second support 20 bearing seat 21 be fastened on the first support 7 makes whole position of taking turns module be balanced, second support 20 is connected with retainer 22 by support 19, an axle 26 is had at the center of wheel module, axle 26 top arranges gear hub 27 and gear 28, axle 26 bottom key connects gear 43 and the gear 29 on another root axle 31 top in meshing wheel module, the gear 30 that axle 26 bottom connects engages with the gear 33 on wheel, gear on wheel is provided with cover of dust 34.
In addition, reductor shaft is connected with metallic grid, receives the location information of metal grating by opto-electronic pickup thus detect car body rotation.The control system of robot adopts dead reckoning, in conjunction with onboard wireless camera, and passes through control position and the picture of the real-time supervisory-controlled robot of opto-electronic pickup, uses the operation of the free control easily of wireless controller.
Adopt permanent magnetic suck climbing robot of the present invention, at least have the following advantages:
1) take turns module and adopt planet topological design, wheel module number required for can selecting according to load and drive motor, this structure can save motor cost, the motor-driven gear uniform force making driving torque maximum, improves machinery driving efficiency and service life.In addition, the direction of wheel module uses planet layout equally, all modules of taking turns promptly can be turned to simultaneously, improve the operating flexibility of robot;
2) take turns module and adopt closed design, effectively can prevent the impact that dust iron filings may cause mechanical drive.Both too much iron filings can have been avoided to be adsorbed for the shell that magnet is customized, also can play the effect of protection magnet;
3) adopt non-contacting suction type, avoid the wearing and tearing of rigid contact to wall of high strength, also regulate adsorption affinity size by shirtsleeve operation, adapt to the tank skin of different-thickness and load-carrying capacity and obstacle climbing ability.
Compared with prior art, the wheel module number required for the present invention can select according to load and drive motor, save motor cost.In addition, the present invention, also by the motor-driven gear uniform force that planet topological design makes driving torque maximum, improves machinery driving efficiency and service life.Moreover the main material of robot adopts aluminum alloy, intensity is high, withstanding corrosion and quality is little, coordinates wireless controller to carry out control operation, overall operation flexibly, convenient.
Above, the specific embodiment of the present invention is described with reference to the accompanying drawings.But those skilled in the art can understand, when without departing from the spirit and scope of the present invention, various change and replacement can also be done to the specific embodiment of the present invention.These change and replace and all drop in claims of the present invention limited range.
Claims (8)
1. a permanent magnetic suck climbing robot, comprises chassis, mair motor and car body, and described car body and described mair motor are installed on chassis, it is characterized in that,
Described chassis comprises the first support (7) and is fixed on the upper circumference of the first support (7) and well-distributed three wheel module, first support (7) below even circumferential distributes three magnet (47), magnet (47) is arranged in disk flange (45) and magnet hub (48), disk flange (45) is connected on the first support (7) by disk post (49), hollow shaft (15) is fixed with at the center of the first support (7), the upper cover of hollow shaft (15) has four deep groove ball bearings (17), every two ball-bearing casings (17) connect a nylon gear (13) and between ball-bearing casing (17), interval keeps off (18) and fixed position with the second bearing, gear wherein connects coupler (12), coupler (12) is connected with motor shaft by rotating shaft flange,
Described mair motor is fixed on hollow shaft (15) by motor flange (14), and in the bottom of the first support (7), motor cover (46) is set in order to cover motor, below motor flange (14), be provided with clutch shaft bearing gear (16) in order to the bearing below withstanding;
Wherein, described permanent magnetic suck climbing robot also comprises mair motor power-transfer clutch, there is power-transfer clutch suction cup portion and clutch coil part, described power-transfer clutch suction cup portion is fixed on motor flange (14), described clutch coil partial fixing is on bearing plate and connect suspension clamp and lifting eye bolt, described bearing plate is bolted together on retainer (22), retainer (22) top is provided with car body (23) upper cover and retainer (22) below arranges bearing, the support position corresponding with retainer (22) arranges bearing and bearing collar, described car body (23) is connected on bearing collar.
2. permanent magnetic suck climbing robot according to claim 1, it is characterized in that, described permanent magnetic suck climbing robot also comprises wheel steering motor (24), be installed on the connection location of retainer (22) and motor cabinet (3), reductor shaft connects finishing bevel gear cuter (25) and engages the finishing bevel gear cuter of another vertical direction, it is upper and with the bearing righting be arranged on retainer (22) that its key is connected to steering shaft (8), a straight gear (9) is connected in steering shaft (8) lower end is arranged at and is fixed on the first support (7) bearing assembly (10) at its underpart key, when wheel need turn to, power is delivered on steering shaft (8) by finishing bevel gear cuter (25), transmission of power is also taken turns module to described thus realize wheel steering by the big gear wheel in straight gear (9) engagement hollow shaft (15).
3. permanent magnetic suck climbing robot according to claim 1, it is characterized in that, described permanent magnetic suck climbing robot also comprises car body steer motor (1), be installed on the connection location of the first support (7) and motor cabinet (3), reductor shaft connects gear (4) in order to engage the flexible rack (5) on car body (23), when car body need turn to, power is delivered to flexible rack (5) by gear (4) thus is realized car body and turns to.
4. permanent magnetic suck climbing robot according to claim 3, it is characterized in that, described permanent magnetic suck climbing robot also comprises metal grating (6), is fixedly connected with motor shaft, receives the location information of metal grating thus detect car body rotation by opto-electronic pickup.
5. permanent magnetic suck climbing robot according to claim 1, it is characterized in that, the wheel (36) of wheel module bottom connects finishing bevel gear cuter (33), the wheel center of wheel (36) connects wheel shaft (38), wheel shaft (38) is provided with bearing and bearing gear, wheel shaft (38) two ends are separately positioned on bearing seat (32) and wheel carrier (39), bearing seat (32) connects wheel carrier (39), wheel carrier outside is fastened on the bearing on the first support (7), the upper cover (41) of wheel carrier top fifth wheel module, gear (40) is clamped between the upper cover (41) of wheel carrier and wheel module, upper cover (41) top of wheel module connects hollow bearing gear (44), thrust baring is provided with inside and outside it, be fixed on above the thrust baring on hollow bearing gear (44) and the second support (20) is set, it is fixing that second support (20) bearing seat (21) be fastened on the first support (7) makes whole position of taking turns module be balanced, second support (20) is connected with retainer (22) by support (19), an axle (26) is had at the center of wheel module, axle (26) top arranges gear hub (27) and gear (28), axle (26) bottom key connects gear (43) and the gear (29) on another root axle (31) top in meshing wheel module, the gear (30) that axle (26) bottom connects engages with the gear (33) on wheel, gear on wheel is provided with cover of dust (34).
6. permanent magnetic suck climbing robot according to claim 1, it is characterized in that, the mouth of reductor (2) connects described mair motor power-transfer clutch, when described mair motor power-transfer clutch is in released state, mair motor outputting power the big gear wheel be delivered on hollow shaft (15), by the gears meshing of big gear wheel with wheel module upper end, transmission of power, to the gear being fixedly connected on wheel, realizes advance or the retrogressing of car body; When described mair motor power-transfer clutch is in engagement state, wheel drive motor is remained static by the locked robot that makes.
7. permanent magnetic suck climbing robot according to claim 1, is characterized in that, car body (23) is provided with wireless camera, in order to the mode of operation of real-time supervisory-controlled robot.
8. permanent magnetic suck climbing robot according to claim 1, is characterized in that, described mair motor is DC brushless motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410525205.1A CN104369788B (en) | 2014-10-08 | 2014-10-08 | Permanent magnetic adsorption wall-climbing robot |
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| CN201410525205.1A CN104369788B (en) | 2014-10-08 | 2014-10-08 | Permanent magnetic adsorption wall-climbing robot |
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| CN104369788A true CN104369788A (en) | 2015-02-25 |
| CN104369788B CN104369788B (en) | 2017-02-15 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106240665A (en) * | 2016-08-17 | 2016-12-21 | 哈尔滨歌瑞得莱机器人制造有限公司 | The three huge steel pipes of magnet-wheel are creeped job platform |
| CN106347514A (en) * | 2015-10-22 | 2017-01-25 | 哈尔滨龙海特机器人科技有限公司 | Magnet wheel for permanent magnetic adsorption wall-climbing robot |
| CN106882285A (en) * | 2017-03-24 | 2017-06-23 | 洛阳圣瑞智能机器人有限公司 | A kind of climbing robot chassis with servo-actuated universal wheel |
| CN107264664A (en) * | 2017-08-01 | 2017-10-20 | 河北工业大学 | The integrated magnetically adsorbed device of one kind driving |
| CN108127656A (en) * | 2018-02-09 | 2018-06-08 | 张智林 | Climbing robot |
| CN110086275A (en) * | 2019-04-22 | 2019-08-02 | 上海海洋大学 | A kind of magnetic absorption driving wheel structure controllable with adsorption capacity |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108127656B (en) * | 2018-02-09 | 2024-02-06 | 张智林 | Wall climbing robot |
| CN110086275A (en) * | 2019-04-22 | 2019-08-02 | 上海海洋大学 | A kind of magnetic absorption driving wheel structure controllable with adsorption capacity |
| CN110086275B (en) * | 2019-04-22 | 2024-02-23 | 上海海洋大学 | Magnetic adsorption driving wheel structure with controllable adsorption force |
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| CN104369788B (en) | 2017-02-15 |
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