CN105905181A

CN105905181A - Magnetic disk hanging circulation wall-climbing robot

Info

Publication number: CN105905181A
Application number: CN201610362113.5A
Authority: CN
Inventors: 路懿; 叶妮佳; 代卓宏
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2016-05-27
Filing date: 2016-05-27
Publication date: 2016-08-31
Anticipated expiration: 2036-05-27
Also published as: CN105905181B

Abstract

The invention discloses a magnetic disk hanging circulation wall-climbing robot. The magnetic disk hanging circulation wall-climbing robot comprises a machine base and two sets of magnetic disk hanging circulation mechanisms with the same structure, and the two sets of magnetic disk hanging circulation mechanisms are symmetrically distributed and arranged on the two sides of the machine base. Each magnetic disk hanging circulation mechanism comprises a motor, a gear, a track and a plurality of magnetic disk devices, wherein the track is a closed-loop track composed of two linear segments and two semi-circular arc segments, and the upper surface of the track is fixedly connected with the machine base; two bearing outer rings of each magnetic disk device are located in N-shaped grooves of the track; and the positions close to the mesial linear segments of the track are slightly lower than the other segments, so that the effects that the magnetic disk devices on the lower-position linear segments adsorb workpieces, and the magnetic disk devices on the higher-position segments are disengaged from the workpieces are ensured. The motors drive the gears and the magnetic disk devices in an engaged transmission mode, and all the magnetic disk devices are forced to circularly move along the tracks. When the two motors rotate in the same direction or in the reverse directions, the robot steers along the walls of the workpieces and crawls linearly. The magnetic disk hanging circulation wall-climbing robot is high in adsorption force, stable, flexible in movement, simple in structure and easy to control; and the machine base is provided with robot hands and tools so that defects of large-size equipment and the workpieces can be overcome.

Description

Disk hanging circulation climbing robot

Technical field

The present invention relates to robot, particularly to a kind of climbing robot.

Background technology

Climbing robot is a kind of can to have climbed the automated job beyond people's limit in perpendicular walls Robot, within nearly 20 years, become domestic and international robot field research focus and forward position.Climbing robot at present Have been used for oil storage tank defect detecting test, naval vessel sprays paint, military affairs are investigated, tall-building fire fighting, clean and spray, core Equipment checks thickness measuring etc..

Chinese patent 200710016408.8 discloses a kind of iron based tank climbing robot；Publication No. The Chinese patent of CN1739925 discloses a kind of non-contact magnetically adsorbed wall climbing robot；Publication No. The Chinese patent of CN1428226 discloses the implementation method of a kind of crawler-type multiple sucking disc wall climbing and described The robot of method；The Chinese patent of Publication No. CN101181913 discloses a kind of tandem modularized wall-climbing Robot；The Chinese patent of Publication No. CN101537619 discloses a kind of modular reconfigurable worm type wall climbing Robot；The Chinese patent of Publication No. CN102343588A discloses a kind of disk adsorbed wall-climbing machine People；The Chinese patent of Publication No. 02158876 discloses a kind of five foot climbing robots；Publication No. The Chinese patent of CN101746429A discloses a kind of Hexapodous biomimetic wet-sucking wall-climbing robot.Wall is climbed although above-mentioned Class robot differs from one another, but main equipment, equipment and big workpiece, defect field repair under extreme condition With remanufacture always climb wall class Robot Design, develop and apply in the difficult problem that faces.

Summary of the invention purpose and advantage:

It is an object of the invention to provide that a kind of absorption is stable, absorption affinity is strong, simple in construction, motion flexibly, Control simple disk hanging circulation climbing robot.

The present invention includes support and two groups of identical symmetrical disk hanging cycling mechanisms of structure；Described support Including mainboard, left plate, right panel, left outside baffle plate, right outer baffle, left inside baffle plate, right Internal baffle, described master Above plate two ends, overlap symmetrical with below left and right plate is connected respectively, is respectively equipped with vertical leading on coincidence face Hole, left and right plate outer end is vertical with left and right outer baffle respectively to be connected, the inner side relative with left and right outer baffle Mainboard be connected with left and right Internal baffle vertical symmetry separately below；

Described disk hanging cycling mechanism includes motor, gear, track, some disk sets, wherein, two Portion's motor is respectively provided at above above-mentioned left and right plate overlaps with mainboard, and motor shaft is each passed through above-mentioned coincidence face Through hole, this motor shaft is coaxially connected with gear respectively；Described track is located at the both sides of support, straight by two Line segment and two semicircle segmental arc composition closed loop tracks, track nearly cathetus section is slightly below other section, rail section In ∏ shape, its blind end is connected with support, and its fluting end is down；

Described disk set includes two bearings, bearing pin, suspension rod, set, permanent magnetic chuck, ring cowlings, two axles Hold in the ∏ shape groove that outer shroud lays respectively at above-mentioned disk hanging cycling mechanism track, the endoporus of two bearings and bearing pin Both ends are coaxially connected；Suspension rod upper end is provided with the lateral aperture vertical with its axis, is located at this level in the middle part of bearing pin In hole；The upper end of set is blind end, and its lower end is opening, and blind end is provided with small through hole, downrod lower end Rotating with the blind end small through hole of set and couple, permanent magnetic chuck is located in set, and ring cowling coaxially connects with the opening of set Connect.

Two bearings freely roll in the ∏ shape groove of track, and by bearing pin hanging disk set along orbital cycle Motion.Track nearly cathetus section is slightly below other section, it is ensured that the disk set at low level straightway adsorbs workpiece, Disk set in high-order section departs from workpiece, has absorption affinity, zerofriction force to workpiece.Motor is connected with support, Motor driving shaft is coaxially connected with gear through the through hole of support, and motor-driven gear engages with disk set Transmission, forces some disk sets to move along orbital cycle；If two motor rotating in same directions, this Robot Workpiece wall makees divertical motion, if two motors rotate backward, this Robot workpiece wall is for linear motion.

The present invention compared with prior art has the advantage that

Due to 8 permanent magnetic chuck Contact-sorption workpiece wall all the time, remaining permanent magnetic chuck is inhaled in noncontact low coverage all the time Attached workpiece wall, make this robot have absorption is stable, absorption affinity strong, simple in construction, motion flexibly, control Simple advantage, when the instruments such as support portable staff or milling cutter, laser gun, bistrique can complete extremely Under the conditions of to space station, core/power station, mining/metallurgy/handling facilities, adopt/defeated/reservoir hydrocarbon equipment, large-scale The Large-Scale Equipments such as naval vessel/aircraft and big Surface Flaw field repair and remanufacture, defect detecting test, rust cleaning, Spray paint and the task such as military investigation.

Accompanying drawing explanation

Fig. 1 is that the master of the present invention regards diagrammatic cross-sectional view.

Fig. 2 be the present invention look up sketch.

In figure: 1-1-mainboard, 1-2-left plate, the left outside baffle plate of 1-3-, the left inside baffle plate of 1-4-, 1-5-right panel, The right outer baffle of 1-6-, the right Internal baffle of 1-7-, 2-1-motor, 2-2-gear, 2-3-track, 2-4-bearing pin, 2-5-bearing, 2-6-suspension rod, 2-7-set, 2-8-permanent magnetic chuck, 2-9-ring cowling.

Detailed description of the invention

In circulation climbing robot schematic diagram hung by the disk shown in Fig. 1 and Fig. 2, the mainboard 1-1 of support Two ends above respectively overlap symmetrical with below left plate 1-2 and right panel 1-5 be connected, coincidence face sets respectively Have vertical through hole, left and right plate outer end respectively with left outside baffle plate 1-3, right outer baffle 1-6 is vertical is connected, with The mainboard of the inner side that left and right outer baffle is relative is vertical with left inside baffle plate 1-4 and right Internal baffle 1-7 separately below Symmetrical connection；Two motor 2-1 in disk hanging cycling mechanism are respectively provided at above-mentioned left and right plate and mainboard Above Chong Heing, motor shaft is each passed through the through hole in above-mentioned coincidence face, and this motor shaft is respectively with gear 2-2 even Connect；Track 2-3 is located at the both sides of support, two straightways and two semicircle segmental arcs form closed loop tracks, Rail section is ∏ shape, and its blind end is connected with support, and its fluting end is down；Two bearing 2-5 outer shrouds are respectively Being positioned at the ∏ shape groove of track, the endoporus of two bearings is coaxially connected with bearing pin 2-4 both ends；In disk set Suspension rod 2-6 upper end be provided with the lateral aperture vertical with its axis, in the bearing pin of above-mentioned disk hanging cycling mechanism Portion is located in this lateral aperture, and the upper end of set 2-7 is blind end, and its lower end is opening, and blind end is provided with Small through hole, downrod lower end rotates with the blind end small through hole of set and couples, and permanent magnetic chuck 2-8 is located in set, ring 2-9 is coaxially connected with the opening of set for lid；Two bearings freely roll in the ∏ shape groove of track, and pass through pin Axle hanging disk set moves along orbital cycle.

Claims

1. a disk hanging circulation climbing robot, it includes that support and two groups of structures are identical symmetrical Disk hanging cycling mechanism, it is characterised in that: described support include mainboard, left plate, right panel, left outside baffle plate, Right outer baffle, left inside baffle plate, right Internal baffle, above described mainboard two ends respectively with left and right plate below symmetrical Overlap connect, coincidence face is respectively equipped with vertical through hole, left and right plate outer end respectively with left and right outer gear Plate vertically connects, and the mainboard of the inner side relative with left and right outer baffle is vertical with left and right Internal baffle separately below Symmetrical connection；

Described disk hanging cycling mechanism includes motor, gear, track, some disk sets, wherein, two Portion's motor is respectively provided at above above-mentioned left and right plate overlaps with mainboard, and motor shaft is each passed through above-mentioned coincidence face Through hole, this motor shaft is coaxially connected with gear respectively；Described track is located at the both sides of support, straight by two Line segment and two semicircle segmental arc composition closed loop tracks, track nearly cathetus section is slightly below other section, rail section In Π shape, its blind end is connected with support, and its fluting end is down；

Described disk set includes two bearings, bearing pin, suspension rod, set, permanent magnetic chuck, ring cowlings, two axles Hold in the Π shape groove that outer shroud lays respectively at above-mentioned disk hanging cycling mechanism track, the endoporus of two bearings and bearing pin Both ends are coaxially connected；Suspension rod upper end is provided with the lateral aperture vertical with its axis, is located at this level in the middle part of bearing pin In hole；The upper end of set is blind end, and its lower end is opening, and blind end is provided with small through hole, downrod lower end Rotating with the blind end small through hole of set and couple, permanent magnetic chuck is located in set, and ring cowling coaxially connects with the opening of set Connect.