CN106514609A - Modular wheel type magnetic-attraction wall-climbing robot - Google Patents

Modular wheel type magnetic-attraction wall-climbing robot Download PDF

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Publication number
CN106514609A
CN106514609A CN201611260072.5A CN201611260072A CN106514609A CN 106514609 A CN106514609 A CN 106514609A CN 201611260072 A CN201611260072 A CN 201611260072A CN 106514609 A CN106514609 A CN 106514609A
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China
Prior art keywords
box body
left box
magnetic conduction
magnetic
heel piece
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CN201611260072.5A
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CN106514609B (en
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张卫
黄哲轩
张庆华
禹青
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Luoyang Shengrui Intelligent Robot Co Ltd
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Luoyang Shengrui Intelligent Robot Co Ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of industrial robots and discloses a modular wheel type magnetic-attraction wall-climbing robot comprising two mutually-independent body modules and four wheel type permanent-magnet attraction units of the same structure. The two mutually-independent body modules comprise a left body module and a right body module which are of the same structure, and the left body module and the right body module are in central symmetry about the connection plane of the two body modules. The left body module is formed in the manner that a left body box drive motor in a left body box is connected with a left body box front output shaft through a left body box motor driver and a left body box speed reducer, and the left body box front output shaft is connected with a left body box back output shaft through a left body box synchronous belt and a left body box synchronous belt wheel. The modular wheel type magnetic-attraction wall-climbing robot can pass through non-continuous operation areas or narrow transportation spaces on various magnetism-conducting faces to conduct rust removing, paint spraying, detecting and other corresponding extreme operations. The modular wheel type magnetic-attraction wall-climbing robot has the dust-proof and water-proof functions, rapid disassembly, transportation and butt joint of the modular wheel type magnetic-attraction wall-climbing robot can be achieved, the moving and turning manipulation of the modular wheel type magnetic-attraction wall-climbing robot is easy and convenient, and the modular wheel type magnetic-attraction wall-climbing robot is high in maneuverability.

Description

A kind of wheeled magnetic adsorption wall climbing robot of modularity
Technical field
The present invention relates to Industrial Robot Technology field, and in particular to for a kind of climbing robot, more particularly to one kind The wheeled magnetic adsorption wall climbing robot of modularity.The climbing robot can be applicable to all kinds of magnetic conductivity walls（Such as pipe surface, oil tank Wall, Ship body etc.）, flexibly creeping on complicated magnetic conduction face can be realized, and can be carried according to different mission requirements Different type mechanical arm or operation module, carry out corresponding limit operation on all kinds of magnetic conductivity walls（Corresponding mechanical arm is carried such as The correlation operation such as after operation module, can replace manually oil tank wall being carried out eliminating rust, paint, detect）.The climbing robot device Using permanent magnetic suck form and four-wheel four-drive transmission scheme, based on modular design method, mainly by two separate cars Module is constituted, and each intermodule mechanical electric is completely isolated, is provided simultaneously with independent dustproof and waterproof function, special in narrow and small limited grade When different working space carries out operation, the rapid disassembling of robot can be realized according to job requirements, transport and dock, by non- Working continuously extremely strong advantage of have in terms of region or narrow transport space.
Background technology
The field such as national economy and national defense construction is seen everywhere by all kinds of large complicated of the magnetic conductive materials such as iron and steel structure Equipment（Such as petroleum pipeline, chemical storage tank, large ship etc.）, it is the safe handling of Support Equipment, countries in the world need input every year Substantial amounts of manpower and materials periodically carry out the upkeep operations such as cleaning, detection to these equipments.At present, widely used biography in world wide The manual work method of system carries out corresponding upkeep operation, do not only exist low high labor intensive, working performance, working cycle length, The problems such as maintenance cost is high, operator are susceptible to suffer from occupation disease, and when be often accompanied by security incident generation.Therefore, research and development one are needed badly Set can be in all kinds of complicated magnetic conduction faces（Such as pipe surface, oil tank wall, Ship body etc.）On flexibly creep, can be according to different Mission requirements carry different type mechanical arm or operation module, and the intellectuality for carrying out corresponding upkeep operation on all kinds of magnetic conduction faces is climbed Wall robot system.
Climbing robot needs emphasis to solve adsorption form and two key problems of walking mechanism.It is for adsorption form, existing Mainly using electromagnetic adsorption and two kinds of forms of permanent magnetic suck, wherein electromagnetic adsorption structure is relative complex, in operation process for robot Additional electrical energy need to be consumed, and there is the potential safety hazard that accident power-off is caused, therefore using relatively fewer on climbing robot, with electricity Magnetic suck is compared, permanent magnetic suck have the advantages that simple structure, absorption do not consume energy, it is unaffected by removing electrical power.It is for walking mechanism, existing There is robot mainly using track structure or wheeled construction, wherein track structure is relative complex, and exercise performance is not good enough, especially It is that, when divertical motion is carried out, as between crawler belt and magnetic conduction wall, contact area is big, steering drag is big, and turning radius is big, turns It is poor to motility, and wheeled construction then has the advantages that simple structure, the speed of travel are fast, it is easy to turn, and compares and is adapted to each Realize on class magnetic conduction face flexibly mobile.
Literature search discoveries of the Jing to prior art, application number 201410628337.7, applying date 2014.11.11's Patent of invention discloses a kind of magnetically adsorbed wall climbing robot, though which is using four-wheel walking mechanism and permanent magnetic suck form, The robot four-wheel is independently driven by four sets of motors, and by be arranged in the permanent magnetic strong magnetic block group below car body realize robot with The absorption in magnetic conduction face, not only structure is relative complex, and manufacturing cost is higher, and is affected by magnetic signature, magnetic block group need to lead Magnetic surface low coverage arrangement, limits the obstacle performance of robot.What is more important robot does not possess dustproof and waterproof function, does not examine Consider modular design method, can not be split, so that robot is difficult to carry out corresponding operation after narrow and small transport space, limit The use range of robot.
A kind of magnetic adsorption wall climbing robot that 201410645993.8 patent documentation of Application No. is related to, the robot are adopted The Split type box body structure that can not be split, left and right two tanks are arranged in two tanks permanent magnetism shoe by fixed rotating shaft connection, realization Self adaptation of the band to magnetic conduction curved surface.Though the robot can solve the adjustment to magnetic conduction curved surface to a certain extent, but still deposit In the inevitable complex structure of crawler-type wall climbing robot, many limitations such as manufacturing cost is high, steering flexibility is poor.Together When, the robot does not possess dustproof and waterproof function yet, can not be split, so that robot is difficult to open after narrow and small transport space Corresponding operation is opened up, the use range of robot is limited.
In sum, existing climbing robot generally existing exercise performance is not good enough, structure excessively complicated, manufacturing cost is higher Etc. problems, while not considering modular design method, it is difficult to rapid disassembling, transport and installation, do not possess dustproof and waterproof work( Can, so that being difficult in adapt to the job requirements in various limit operation spaces.
The content of the invention
For above-mentioned technical deficiency, the present invention proposes a kind of wheeled magnetic adsorption wall climbing robot of modularity, and the present invention is based oneself upon Different type mechanical arm or operation module can be carried according to different mission requirements in climbing robot, be opened on all kinds of magnetic conduction faces The corresponding limit operation such as exhibition rust cleaning, spray painting, detection.The climbing robot is using permanent magnetic suck form and four-wheel four-drive transmission side Case, based on modular design method, mainly by two separate car body module compositions, each intermodule mechanical electric completely every From, independent dustproof and waterproof function is provided simultaneously with, when operation is carried out in narrow and small limited grade special operation space, can be according to operation Demand is realized the rapid disassembling of robot, transport and is docked, is easy to by discontinuous operating area or narrow transport space.
For achieving the above object, the present invention is adopted the following technical scheme that
A kind of wheeled magnetic adsorption wall climbing robot of modularity, including two separate car body modules and four groups of structure identicals Wheel-type permanent-magnet absorbing unit, described two separate car body modules are divided into left body module and right body module, the two knot Structure is identical, and profile is arranged symmetrically centered on the two is connected plane with internal structure, and wherein left body module is by left car Left box body motor 103 in casing passes through left box body motor driver, left box body decelerator 101 and left box body Front output shaft connects, left box body front output shaft by left box body Timing Belt 106, left box body synchronous pulley 109,111, Connect and compose with left box body rear output shaft 104.
A kind of wheeled magnetic adsorption wall climbing robot of modularity, the left box body is by left box body upper cover plate, left box body Balustrade deching, left box body bottom cover plate, left box body inside cover plate, left box body cover board of front end, left box body rear end tails Cover plate, left box body outer handle 102, left box body rear end tails handle 107, left box body front end handle, left box body drive Galvanic electricity machine 103 and left 101 support member of box body decelerator, left 101 hold-down support of box body decelerator, left box body Motor drive Device supports fixed support, left front end cap, left back end cap, locating piece the moon 110, locating piece sun 119 to constitute；
The left box body balustrade deching, left box body bottom cover plate, left box body cover board of front end, left box body rear end tails lid Plate, left box body outer handle, left box body rear end tails handle and left box body front end handle are arranged in left box body Surrounding, forms an integrally closed structure；The left box body upper cover plate and left box body inside cover plate Jing screws fix peace It is mounted on left box body upper surface and inner side end；Left box body upper cover plate lower right position be vertically arranged four it is of different sizes Waterproof anti-explosion plug hole, mechanical be isolated for car body integral sealed cabling and with electric；
The left box body motor 103 and 101 support member Jing screws of left box body decelerator are fixed on inside left box body, A kind of cage structure is constituted, motor 103 and decelerator 101 are positioned over inside cage, support motor that can not only be stable Car body strengths in tension and compression can also be improved with decelerator.
Left box body motor driver supports fixed support Jing screws to be fixed on left box body inside chassis side protuberance Position, left box body motor driver Jing screws are fixedly installed in left box body motor driver and support on fixed support.Left railway carriage Body decelerator hold-down support upper end is fixed on the mounting flange of left box body decelerator, and bottom Jing screws are fixed on left box body In bottom cover plate, for realizing the fixation of left box body decelerator with positioning.The left front end cap is exported before being located at left box body The outer fix that axle is contacted with left box body side cover plate, left back end cap are located at left box body rear output shaft and left box body side cover The outer fix that plate contacts；
A kind of wheeled magnetic adsorption wall climbing robot of modularity, the left front end cap and left back end cap of the left box body is with output shaft phase Contact site is sound double containment, for realizing keeping apart with left box body external environment condition inside left box body；I.e. left box body The upper surface contacted with left box body upper cover plate and side cover plate at which opens up rectangular seal groove with side end face, its with it is left front End cap opens up ring packing groove centered on output shaft with left back end cap junction, which is with left box body upper cover plate, side cover plate, The connection of left front end cap and left back end cap, realizes the overall static seal of car body by the O-ring arranged in sealed groove；In left car Casing front output shaft exports rear axle and opens up with the left back cover plate position that contacts with contact position and left box body of left front cover plate There is ring packing groove, for placing rubber o-ring, realize the rotary dynamic sealing of car body, reach whole car body fully closed Sealing.
A kind of wheeled magnetic adsorption wall climbing robot of modularity, the left box body rear end tails handle 107 and left box body Front end handle upper side position has been vertically arranged one group of through hole, right box body rear end tails handle 107 and right box body front end Handle upper side position has similarly been vertically arranged one group of through hole, is stitched together for two box body modules of left and right, is located at Through hole on left and right box body front end handle and rear end tails handle 107 aligns alignment, and bolt passes through the through hole with nut screw connection, Realize the rapid and convenient splicing of left and right box body；Contact with left box body inside cover plate position in left box body bottom cover plate In the middle part of chassis, Jing screws are fixed with locating piece the moon 110, contact with right box body inside cover plate position in right box body bottom cover plate In the middle part of the chassis put, Jing screws are mounted with locating piece sun 119；The locating piece sun 119 is one with bulge-structure, locating piece Cloudy 110 is a band sunk structure, the screwed hole of three groups of vertical distributions is distributed with, uses on locating piece sun 119 and locating piece the moon 110 It is combined together with locating piece 110 females of the moon in locating piece 119 bossings of sun, aligns left and right box body and be assembled in one Rise, then together with locating piece sun 119 is tightened to by Jing screws with locating piece the moon 110；Through handle side through hole bolt with The combination of nut and locating piece sun 119 and locating piece the moon 110 is connected, for realizing the quick splicing of left and right box body.
A kind of wheeled magnetic adsorption wall climbing robot of modularity, the left box body motor 103 and left box body slow down After device 101 is fixed together, it is arranged vertically at left box body motor and left box body decelerator support member 105 builds composition Cage structure inside；Left box body decelerator hold-down support 108 is a "convex" shaped shape, and Jing left box bodies in its upper end slow down The fixation flange aperture of device is fixed on 101 on left box body decelerator, and its bottom is fixed in left box body bottom cover plate, for reality Now by the fixation of motor 103 and decelerator 101 and positioning；Left box body front output shaft runs through left box body decelerator 101 It is fixed on bearing spider, front axle is parallel is fixed on bearing spider for left railway carriage daughter output rear axle 104 and the output of left box body, Left box body synchronous pulley 109,111 is fixed in left box body front output shaft and 104 equal one end of left box body rear output shaft, and one end is solid Fixed wheel formula permanent magnetic suck unit 210,220, is tensioned left box body Timing Belt 106 between two left box body synchronous pulleys 109,111, Power and torque for left box body motor is exported is delivered to left box body output rear axle 104, realizes unilateral car body The synchronized rotation of two magnet-wheels 210,220, realizes the four-wheel four-drive form of whole car body.
A kind of wheeled magnetic adsorption wall climbing robot of modularity, the wheel-type permanent-magnet absorbing unit is by annular permanent magnet 217, outer Side magnetic conduction heel piece 211, inner side magnetic conduction heel piece 213, positioning sleeve 219 and magnet-wheel outer rubber 212 are constituted, the annular permanent magnet 217 by strong magnetic material：The circulus that neodymium iron boron is prepared from, the circulus be axial charging state, the annular permanent magnet Body is used to provide the strong magnetic environment for producing absorption affinity；The outside magnetic conduction heel piece 211 is column " mountain " character form structure, wherein the heart Position is fixed with the round outside but spuare inside quill shaft for magnetic wheel driven automatic scan with assembling, and magnetic conduction heel piece 211 medial surface in outside has four rings Shape array screwed hole, for coordinating inner side magnetic conduction heel piece 213 side four screwed hole to realize the assembling of magnet-wheel；Inner side magnetic conduction heel piece 213 is column " king " character form structure, and heart position is equally fixed with a round outside but spuare inside quill shaft wherein, for magnet-wheel assembling and drive It is dynamic；Inner side 213 medial surface of magnetic conduction heel piece has the different annular array hole of two groups of radiuses, that larger group annular array hole of radius 214 are used to realize the dismounting of annular permanent magnet and safeguard, less that group annular array hole 215 of radius, for by screw Realize fixation and positioning, outside magnetic conduction heel piece 211 and the inner side conductive magnetic yoke of outside magnetic conduction heel piece 211 and inner side magnetic conduction heel piece 213 Ferrum 213 is by high-permeability material：Silicon steel, iron-nickel alloy are prepared from, and play a part of to dredge and gather magnetic induction line.The positioning Set 219 be one by made by non-permeable material setting element, one part is enclosed within outside magnetic conduction heel piece 211 round outside but spuare inside axle On cylindrical, hold out against outside magnetic conduction heel piece, another part be enclosed within inner side 213 round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, for protecting The axiality of card outside magnetic conduction heel piece and inner side magnetic conduction heel piece；The annular permanent magnet 217 be embedded in outside magnetic conduction heel piece 211 with In groove between the magnetic conduction heel piece 213 of inner side, inner and outer magnetic conduction heel piece wraps 217 side of annular permanent magnet and cylinder Face；Outside 211 warp beam end screw of magnetic conduction heel piece is fixed together with magnetic wheel driven automatic scan axle 216, outside yoke 211 and inner side conductive magnetic yoke Ferrum 213 is fixed by the screwed hole Jing screws of respective side and is tightened；It is coated on outside magnetic conduction heel piece 211 and inner side magnetic conduction heel piece Magnet-wheel outer rubber 212 on 213 outer surfaces, the situation for avoiding the demagnetization of permanent magnet high temperature occur, and prevent magnet-wheel from turning There is skidding during dynamic.
A kind of manufacture method of the wheeled magnetic adsorption wall climbing robot of modularity, it is separate, symmetrical using two It is symmetrical that car body module, two separate, symmetrical car body module profiles and internal structure connect plane with both Axle is arranged symmetrically, the wheeled magnetic adsorption wall climbing robot of modularity of making, and two intermodules are mechanically and electrically completely isolated, together When possess independent dustproof and waterproof function；
For sandwich structure, i.e., the side and the face of cylinder of annular permanent magnet is by the conductive magnetic yoke of both sides for the wheel-type permanent-magnet absorbing unit for adopting Ferrum is fully wrapped up, and leaves the air gap of a width on the face of cylinder of permanent magnet, forms a kind of sandwich structure；Annular permanent magnet its magnetic Sense line flows through outside magnetic conduction heel piece from N poles, through after magnetic conductivity wall, flows through inner side magnetic conduction heel piece, finally flows back to annular Permanent magnet S pole；The sandwich type structural, makes annular permanent magnet magnetic induction line gather together, and makes magnetic induction line pass through magnetic conductivity wall shape Into closed-loop path, the utilization rate of annular permanent magnet magnetic induction line is substantially improved, climbing robot is more firmly adsorbed in magnetic conduction On property wall；
Using four-wheel four-drive forms of motion, two magnet-wheel of unilateral car body rotated at the same speed, and the robot left and right sides gear unit is equal Using toothed belt transmission, car body motor is delivered to power and torque on car body front output shaft, car body Jing after decelerator deceleration Front output shaft and car body rear output shaft are arranged in parallel, and one end fixed installation car body synchronous pulley, other end fixed installation wheel Formula permanent magnetic suck unit；Car body Timing Belt is tensioned between two car body synchronous pulleys, so as to by the power and torque on car body front output shaft It is delivered on car body rear output shaft, so as to realize the synchronized rotation of two magnet-wheel of same side body, left and right sides transmission is identical, realizes whole The four-wheel four-drive forms of motion of individual car body.
Using car body integral seal, the left box body opened up in its upper surface contacted with left box body upper cover plate Rectangular seal groove, with rear end cap junction by output shaft centered on opens up ring packing groove with drive end bearing bracket at which, when its with Left box body upper cover plate, drive end bearing bracket and rear end cap realize the whole of car body by the rubber o-ring arranged in sealed groove when connecting Inside the drive end bearing bracket and rear end cap of body static seal, drive end bearing bracket and front output shaft, rear end cap and rear output shaft relative rotation position Ring packing groove is offered, for placing rubber o-ring, the rotary dynamic sealing of car body is realized, is finally reached whole car body complete The purpose of enclosure seal；Overall static seal and rotary dynamic sealing make climbing robot vehicle body and external environment completely every From so that robot can still keep good sealing on magnetic conductivity wall during Quick-climbing, realize robot and disliking Normal operation under bad environment.
Using wheel-type permanent-magnet absorbing unit by annular permanent magnet, outside magnetic conduction heel piece, inner side magnetic conduction heel piece, positioning sleeve, Magnet-wheel outer rubber is constituted, and annular permanent magnet therein is prepared from by strong magnetic material neodymium iron boron, for providing strong magnetic environment, And adopt axial charging mode；Outside magnetic conduction heel piece is column " mountain " character form structure, and central shaft is round outside but spuare inside hollow knot Structure, for magnetic wheel driven automatic scan and assembling, and outside magnetic conduction heel piece medial surface has four annular array screwed holes, for coordinating outside to lead The screwed hole of magnetic vibrating feeder yoke side four is realized being positioned at fixation in magnet-wheel assembling process；Inner side magnetic conduction heel piece is column " king " font Structure, wherein heart position be equally fixed with a round outside but spuare inside quill shaft, for magnet-wheel assembling with drive.Inner side magnetic conduction heel piece Medial surface has the different annular array hole of two groups of radiuses, and that larger group annular array hole of radius is used to realize annular permanent magnet Dismounting with safeguard that less that group annular array hole of radius is led for magnetic conduction heel piece and inner side on the outside of being realized by screw The fixation of magnetic vibrating feeder yoke and positioning, outside magnetic conduction heel piece and inner side magnetic conduction heel piece silicon steel, iron-nickel alloy by high-permeability material It is prepared from, plays a part of to dredge and gather magnetic induction line；
The positioning sleeve for adopting setting element made by non-permeable material, its one end are enclosed within outside magnetic conduction heel piece center On round outside but spuare inside axle, the other end be enclosed within the inner side round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, for ensure outside magnetic conduction heel piece with The axiality of inner side magnetic conduction heel piece；Using annular permanent magnet be embedded in outside magnetic conduction heel piece and inner side magnetic conduction heel piece between it is recessed In groove, inner and outer magnetic conduction heel piece wraps annular permanent magnet body side surface and the face of cylinder；Outside magnetic conduction heel piece warp beam end screw with Magnetic wheel driven automatic scan axle is fixed together, and outside yoke and inner side magnetic conduction heel piece are fixed by the screwed hole Jing screws of respective side and twisted Tightly；Magnet-wheel outer rubber is coated on outside magnetic conduction heel piece and inner side magnetic conduction heel piece outer surface, it is to avoid generation is coated on permanent magnet The upper situation for causing the demagnetization of permanent magnet high temperature, magnet-wheel outer rubber are used for increasing magnet-wheel frictional force, prevent magnet-wheel in rotation process In there is skidding, realize that climbing robot is flexibly moved on magnetic conduction wall；
When sandwich wheel-type permanent-magnet absorbing unit works, the magnetic induction line of annular permanent magnet is flowed out from N poles, and on the outside of Jing, magnetic conduction heel piece is dredged Lead after gathering, through magnetic conductivity wall, flow through inner side magnetic conduction heel piece, finally flow back to annular permanent magnet S poles, define closure magnetic strength Line loop, improves magnetic strength line use ratio, increase absorption affinity of the climbing robot on magnetic conduction wall, it is to avoid magnet-wheel is turning There is skidding during dynamic, realize climbing robot flexibly creeping on magnetic conductivity wall.
There is following superiority due to adopting technical scheme as above, the present invention：
（1）The invention is based on modularized car body design philosophy, climbing robot is designed as two structures identical, symmetrical Independent car body module, and two intermodules are mechanically and electrically completely isolated, two modules have independent dustproof and waterproof function simultaneously. Modularized design causes climbing robot when the narrow and small confined space is run into, and can realize easily and fast dismantling, transport and splicing, Well adapting to property.
（2）Wheel-type permanent-magnet body absorbing unit, which adopts " sandwich " structure, annular permanent magnet to be embedded between magnetic conduction heel piece Groove in, the sandwich structure can effectively gather the magnetic induction line of permanent magnet so as to magnetic induction line through magnetic conductivity wall formed closure Magnetic strength line loop, improves the utilization rate of permanent magnet magnetic induction line so that the stronger absorption of climbing robot is in magnetic conductivity wall On.
（3）The two side body module of climbing robot adopts toothed belt transmission, realizes the fortune of whole car body four-wheel four-drive Dynamic form.Car body motor Jing after decelerator deceleration is delivered to power and torque on car body front output shaft, then synchronized band, passes It is delivered on the car body rear output shaft being arranged in parallel with car body front output shaft, is respectively mounted on car body front output shaft and car body rear output shaft It is fixed with wheel-type permanent-magnet absorbing unit.It is identical with two magnetic drive wheel speed of side body so as to realize, reach car body four-wheel four-drive Forms of motion.The drive mechanism is simply compact, and robot movement is turned and manipulates simplicity, has very high mobility.
(4) car body integral seal.Upper surface and side that box body is contacted with box body upper cover plate and side cover plate at which Face opens up rectangular seal groove, by output shaft centered on opens up ring packing ditch with drive end bearing bracket and rear end cap junction at which Groove, the O-ring reality when which is connected with box body upper cover plate, side cover plate, drive end bearing bracket and rear end cap by arranging in sealed groove The overall static seal of existing car body.Rear axle is exported with bonnet with contact position and box body of front shroud in left box body front output shaft The plate position that contacts offers ring packing groove, for placing rubber o-ring, realizes the rotary dynamic sealing of car body.Sound Double containment causes climbing robot still to have good sealing during mobile climbing, realizes that whole car body totally enclosed type is close Envelope.Integral seal effectively prevents the immersion of the impurity such as water, dust, improves its adaptability and extends the work longevity of parts Life.
Description of the drawings
Fig. 1 is wheel-type permanent-magnet absorbing unit overall appearance axonometric drawing in the present invention；
Fig. 2 is wheel-type permanent-magnet absorbing unit left view of the present invention；
Fig. 3 is wheel-type permanent-magnet absorbing unit right view of the present invention；
Fig. 4 is wheel-type permanent-magnet absorbing unit internal view of the present invention；
Fig. 5 is locating piece the moon overall appearance axonometric drawing of the present invention；
Fig. 6 locating piece sun overall appearance axonometric drawings of the present invention；
Fig. 7 box body internal structure top views of the present invention；
Fig. 8 is box body inner side view of the present invention；
Fig. 9 is box body of the present invention and upper cover plate sealed structure chart；
Figure 10 is box body of the present invention and balustrade deching sealer composition；
Figure 11 is that car body of the present invention drives rear axle movable sealing structure figure；
Figure 12 is that car body of the present invention drives front axle movable sealing structure figure；
In figure：It is 101 left side casing decelerators, 102 left side box body outer handles, 103 left side box body motors, 104 left Side box body rear output shaft, 105 left side drive motors and decelerator fixed support, 106 left side Timing Belts, 107 left side box bodies Rear end tails handle, 108 left side decelerator hold-down supports, 109 left side box body front pulleys, 110 locating pieces are cloudy, 111 left side cars Belt wheel, 112 right side box body rear end tails handles, 113 right side drive motors and decelerator fixed support after casing, on the right side of 114 Box body rear output shaft, 115 right side box body motors, 116 right side box body outer handles, 117 right side casing decelerators, 118 left side decelerator hold-down supports, 119 locating pieces sun, 120 right side car body upper cover plate sealings, 121 left side car body upper cover plates are close Envelope, 122 car bodies drive rear output shaft static seal, 123 car bodies to drive front output shaft static seal, 124 left side box bodies defeated after driving Shaft dynamic sealing, 125 right side box bodies drive rear output shaft dynamic sealings, 125 left side box bodies drive front output shaft dynamic sealings, 126 right side box bodies drive front output shaft dynamic sealing.211 outside magnetic conduction heel pieces, 212 wheel body outer rubbers, 213 inner side conductive magnetic yokes Ferrum, 214 inner side magnetic conduction heel piece removal holes, 215 inner side magnetic conduction heel pieces are threadedly coupled screw, 216 magnet-wheels and are driven with outside magnetic conduction heel piece Moving axis, 217 annular permanent magnets, screw, 219 positioning sleeves, 210 left front magnet-wheel absorbing units, 220 left back magnet-wheels on the outside of 218 shaft ends Absorbing unit, 230 it is right before magnet-wheel absorbing units, magnet-wheel absorbing unit behind 240 right sides.
Specific embodiment
As shown in Figures 1 to 12, the wheeled magnetic adsorption wall climbing robot of a kind of modularity, can basis based on climbing robot Different mission requirements carry different type mechanical arm or operation module, carry out rust cleaning, spray painting, detection etc. on all kinds of magnetic conduction faces Corresponding limit operation.The climbing robot is thought based on modularized design using permanent magnetic suck form and four-wheel four-drive transmission scheme Think, mainly by two separate car body module compositions, each intermodule mechanical electric is completely isolated, be provided simultaneously with independent anti- Dirt water-proof function, when operation is carried out in narrow and small limited grade special operation space, can realize the fast of robot according to job requirements Speed is disassembled, transports and is docked, and is easy to by discontinuous operating area or narrow transport space.
The wheeled magnetic adsorption wall climbing robot of the modularity mainly includes two separate car body modules and four groups of structures Identical wheel-type permanent-magnet absorbing unit.The car body module is broadly divided into left body module and right body module, the two structure base This is identical, and overall dimensions are arranged symmetrically centered on the two is connected plane with internal structure, wherein left body module master Will be by defeated before left box body, left box body motor, left box body motor driver, left box body decelerator, left box body Shaft, left box body Timing Belt, left box body synchronous pulley, left box body rear output shaft are constituted.
The left box body is mainly by left box body upper cover plate, left box body balustrade deching, left box body bottom cover plate, a left side Box body inside cover plate, left box body cover board of front end, left box body rear end tails cover plate, left box body outer handle, left railway carriage The support member of body rear end tails handle, left box body front end handle, left box body motor and decelerator, left box body slow down Device hold-down support, left box body motor driver fixed support, left front end cap, left back end cap, locating piece are cloudy, locating piece sun structure Into.The left box body balustrade deching, left box body bottom cover plate, left box body cover board of front end, left box body rear end tails lid Plate, left box body outer handle, left box body rear end tails handle and left box body front end handle are looped around left box body respectively Surrounding relevant position, forms the semi-enclosed structure of an entirety.The left box body upper cover plate and left box body inside cover plate For movable members, after the parts inside the left box body are installed, the two is respectively mounted and is fixed on left box body upper surface And inner side end.Left box body upper cover plate lower right position is vertically distributed with four circular holes of different sizes, for realizing car body Integral sealed cabling is designed and machinery and the function being electrically isolated.The left box body motor and decelerator support member Jing screws are fixed on inside left box body, are built into a kind of cage structure, support motor that can not only be stable and decelerator Car body tension and comprcssive strength can also be improved, left box body motor is placed in the cage structure with decelerator.Left box body Motor driver fixed support Jing screws are fixed on left box body inside chassis side protruding parts, left box body motor driver Jing screws are fixedly installed on left box body motor driver fixed support.Left box body decelerator hold-down support upper end is fixed on On the mounting flange of left box body decelerator, bottom Jing screws are fixed on left box body motor and decelerator support member, For realizing the fixation of left box body decelerator with positioning.The left front end cap is located at left box body front output shaft and left box body The outer fix that balustrade deching contacts, left back end cap are contacted with left box body balustrade deching positioned at left box body rear output shaft Outer fix, left front end cap and left back end cap contact position using dynamic and static double containment with output shaft, so as to realize left car Box house and car body external environment condition are kept apart.The left box body is opened up in its upper surface contacted with left box body upper cover plate There is rectangular seal groove, ring packing groove by output shaft centered on is opened up with left back end cap junction with left front end cap at which, When which is connected with left box body upper cover plate, left front end cap and left back end cap by sealed groove in the rubber o-ring reality arranged The overall static seal of existing car body.Left box body front output shaft with left front cover plate contact position and left box body export rear axle with Left back cover plate contacts and offer ring packing groove at position, for placing rubber o-ring, realizes that car body is rotary dynamic close Envelope.It is finally reached the purpose of whole car body totally enclosed type sealing.
The left box body rear end tails handle has been vertically arranged one group with left box body front end handle side position and has led to Hole, right box body rear end tails handle have similarly been vertically arranged one group of through hole with right box body front end handle side position, After two box body modules of left and right are stitched together, the through hole pair on left and right box body front end handle and rear end tails handle Just align, bolt realizes the rapid and convenient splicing of left and right box body through the through hole with nut screw connection.In left box body bottom cover Plate contact with left box body inside cover plate position chassis in the middle part of, it is cloudy that Jing screws are mounted with locating piece, in right box body Bottom cover plate contact with right box body inside cover plate position chassis in the middle part of, Jing screws be mounted with locating piece sun.Positioning Block sun is a band bulge-structure, and it is a band sunk structure that locating piece is cloudy, on locating piece sun and locating piece the moon is distributed with three groups The screwed hole being vertically distributed, when locating piece male bosses point and locating piece the moon female are combined together, left and right box body pair Just fit together, then locating piece sun is tightened with locating piece the moon by Jing screws.Through handle side through hole bolts and nuts with And the quick splicing of left and right box body is realized in the dual fixation of locating piece male and female.
After the left box body motor is together with left box body decelerator fixing assembling, left railway carriage is arranged vertically at Body motor and left box body decelerator support member are built inside the cage structure of composition.Left box body decelerator hold-down support For "convex" shaped shape, the fixation flange aperture of the left box body decelerators of its upper end Jing is fixed on left box body decelerator, its bottom End is fixed on left box body bottom plate, realizes fixation and the positioning of left box body motor and decelerator.Before left box body Output shaft is fixedly mounted on bearing spider after left box body decelerator, and left railway carriage daughter output rear axle is defeated with left box body Go out that front axle is parallel to be fixed on bearing spider, left box body front output shaft and the equal one end fixed installation of left box body rear output shaft are left Box body synchronous pulley, one end fixed installation wheel-type permanent-magnet absorbing unit, is tensioned left railway carriage between two left box body synchronous pulleys Body Timing Belt, so as to the power that exports left box body motor and torque are delivered on left box body output rear axle, so as to reality The synchronized rotation of existing one side two magnet-wheel of car body, realizes the four-wheel four-drive form of whole car body.
The wheel-type permanent-magnet absorbing unit is mainly by annular permanent magnet, outside magnetic conduction heel piece, inner side magnetic conduction heel piece, positioning sleeve, magnetic Wheel outer rubber is constituted.The annular permanent magnet is by strong magnetic material（Such as neodymium iron boron）It is prepared from, for providing strong magnetic environment, And adopt axial charging mode.Outside magnetic conduction heel piece is column " mountain " character form structure, and central shaft is round outside but spuare inside hollow knot Structure, for magnetic wheel driven automatic scan and assembling, and outside magnetic conduction heel piece medial surface has four annular array screwed holes, for coordinating outside to lead The screwed hole of magnetic vibrating feeder yoke side four is realized being positioned at fixation in magnet-wheel assembling process.Inner side magnetic conduction heel piece is column " king " font Structure, wherein heart position be equally fixed with a round outside but spuare inside quill shaft, for magnet-wheel assembling with drive.Inner side magnetic conduction heel piece Medial surface has the different annular array hole of two groups of radiuses, and that larger group annular array hole of radius is used to realize annular permanent magnet Dismounting with safeguard that less that group annular array hole of radius is led for magnetic conduction heel piece and inner side on the outside of being realized by screw The fixation of magnetic vibrating feeder yoke and positioning, outside magnetic conduction heel piece and inner side magnetic conduction heel piece are by high-permeability material（As silicon steel, ferrum nickel are closed Gold）It is prepared from, plays a part of to dredge and gather magnetic induction line.The positioning sleeve is that unit is positioned by made by non-permeable material Part, its one end are enclosed within the round outside but spuare inside axle of outside magnetic conduction heel piece center, and it is cylindrical interior that the other end is enclosed within inner side magnetic conduction heel piece Square shaft it is cylindrical on, for ensureing the axiality of outside magnetic conduction heel piece and inner side magnetic conduction heel piece.The annular permanent magnet is embedded in In groove between outside magnetic conduction heel piece and inner side magnetic conduction heel piece, inner and outer magnetic conduction heel piece wraps annular permanent magnet body side surface And the face of cylinder.Outside magnetic conduction heel piece warp beam end screw is fixed together with magnetic wheel driven automatic scan axle, outside yoke and inner side magnetic conduction heel piece Fixed by the screwed hole Jing screws of respective side and tightened.Magnet-wheel outer rubber is coated on outside magnetic conduction heel piece and inner side conductive magnetic yoke On ferrum outer surface, it is to avoid generation is coated on permanent magnet the situation for causing the demagnetization of permanent magnet high temperature, magnet-wheel outer rubber is used for increasing Big magnet-wheel frictional force, prevents magnet-wheel from occurring skidding in rotation process, realizes climbing robot on magnetic conduction wall flexibly It is mobile.
When the sandwich wheel-type permanent-magnet absorbing unit works, the magnetic induction line of annular permanent magnet is flowed out from N poles, magnetic conduction on the outside of Jing Yoke is dredged after gathering, and through magnetic conductivity wall, is flowed through inner side magnetic conduction heel piece, is finally flowed back to annular permanent magnet S poles, define and close Magnetic strength line loop is closed, magnetic strength line use ratio is improve, is increased absorption affinity of the climbing robot on magnetic conduction wall.Avoid magnetic Wheel occurs skidding in rotation process, realizes climbing robot flexibly creeping on magnetic conductivity wall.
Designed based on modularized car body, climbing robot is designed as into two separate, symmetrical car body modules. Two car body module overall dimensions and internal structure connect plane with both and are arranged symmetrically as axis of symmetry, and two module room machines It is completely isolated with electric, it is provided simultaneously with independent dustproof and waterproof function.When narrow and small restricted clearance is run into, the robot is torn open Unload, transport, it is easy to assembly quick.Different mechanical arms can be carried according to different mission requirements selectivitys, be changed conveniently.Module Change the portability that design concept improves climbing robot, be easy to by small space（Such as pass through oil tank outer surface circular hole）, carry High its adaptability and work efficiency.
The wheel-type permanent-magnet absorbing unit adopts sandwich structure.The side and the face of cylinder of annular permanent magnet is by the magnetic conduction of both sides Yoke is fully wrapped up, and leaves the air gap of one fixed width on the face of cylinder of permanent magnet, forms a kind of sandwich structure.Annular permanent magnet Its magnetic induction line flows through outside magnetic conduction heel piece from N poles, through after magnetic conductivity wall, flows through inner side magnetic conduction heel piece, finally flows back to Annular permanent magnet S poles.The sandwich type structural makes annular permanent magnet magnetic induction line gather together, and makes magnetic induction line pass through magnetic conductivity wall Closed-loop path is formed, the utilization rate of annular permanent magnet magnetic induction line is substantially improved, climbing robot is more firmly adsorbed and leading On magnetic wall.
The robot integrally adopts four-wheel four-drive forms of motion, two magnet-wheel of unilateral car body to rotate at the same speed.The robot or so Both sides gear unit adopts toothed belt transmission, car body motor that power and torque are delivered to car body Jing after decelerator deceleration On front output shaft.Car body front output shaft and car body rear output shaft are arranged in parallel, and one end fixed installation car body synchronous pulley, separately One end fixedly mounts wheel-type permanent-magnet absorbing unit.Car body Timing Belt is tensioned between two car body synchronous pulleys, so as to will export before car body Power and torque on axle is delivered on car body rear output shaft, so as to realize the synchronized rotation of two magnet-wheel of same side body, the left and right sides Transmission is identical, realizes the four-wheel four-drive forms of motion of whole car body.
Car body adopts integral seal, and it is close that left box body opens up rectangle in itself and the upper surface that left box body upper cover plate is contacted Envelope groove, with rear end cap junction by output shaft centered on opens up ring packing groove with drive end bearing bracket at which, when itself and left railway carriage By the rubber o-ring arranged in sealed groove, body upper cover plate, drive end bearing bracket and rear end cap realize that the entirety of car body is quiet close when connecting Envelope.Offer inside drive end bearing bracket and the drive end bearing bracket and rear end cap of front output shaft, rear end cap and rear output shaft relative rotation position Ring packing groove, for placing rubber o-ring, realizes the rotary dynamic sealing of car body, is finally reached whole car body totally enclosed type The purpose of sealing.Overall static seal and rotary dynamic sealing make climbing robot vehicle body and external environment completely isolated, make Obtain robot and good sealing during Quick-climbing, can be still kept on magnetic conductivity wall, robot is realized in adverse circumstances Under normal operation.
The wheeled magnetic adsorption wall climbing robot of the modularity, specifically includes two separate car body modules and four groups of structures Identical wheel-type permanent-magnet absorbing unit.The car body module is broadly divided into left body module and right body module, the two structure base This is identical, and overall dimensions are arranged symmetrically centered on the two is connected plane with internal structure, wherein left body module master Will be by left box body, left box body motor 103, left box body motor driver, left box body decelerator 101, left railway carriage Body front output shaft, left box body Timing Belt 106, left box body synchronous pulley 109 and 111, left 104 structure of box body rear output shaft Into.
The left box body is mainly by left box body upper cover plate, left box body balustrade deching, left box body bottom cover plate, a left side Box body inside cover plate, left box body cover board of front end, left box body rear end tails cover plate, left box body outer handle 102, left car Box back afterbody handle 107, left box body front end handle, left box body motor 103 and left box body decelerator 101 Support member, left 101 hold-down support of box body decelerator, left box body motor driver support fixed support, left front end cap, left back end Lid, locating piece the moon 110, locating piece sun 119 are constituted.The left box body balustrade deching, left box body bottom cover plate, left box body Cover board of front end, left box body rear end tails cover plate, left box body outer handle, left box body rear end tails handle and left box body Front end handle is arranged in left box body surrounding, forms an integrally closed structure.The left box body upper cover plate and a left side Box body inside cover plate Jing screws are fixedly mounted on left box body upper surface and inner side end.The left box body upper cover plate lower right corner Position is vertically arranged four waterproof anti-explosion plug holes of different sizes, for realizing the design of car body integral sealed cabling and machine The function that tool is electrically isolated.The left box body motor 103 and 101 support member Jing screws of left box body decelerator are fixed Inside left box body, a kind of cage structure is formed, motor 103 and decelerator 101 are positioned over inside cage, can not only Stable support motor and decelerator can also improve car body strengths in tension and compression.Left box body motor driver supports fixed support Jing screws are fixed on left box body inside chassis side protruding parts, and left box body motor driver Jing screws are fixedly installed in a left side Box body motor driver is supported on fixed support.Left box body decelerator hold-down support upper end is fixed on left box body decelerator Mounting flange on, bottom Jing screws are fixed in left box body bottom cover plate, for realizing the fixation of left box body decelerator With positioning.The left front end cap is located at the outer fix that left box body front output shaft is contacted with left box body side cover plate, left back End cap is located at the outer fix that contacts with left box body side cover plate of left box body rear output shaft, left front end cap and left back end cap with Output shaft contacts position using sound double containment, so as to realize isolating with left box body external environment condition inside left box body Open.The left box body opens up rectangular seal with side end face in its upper surface contacted with left box body upper cover plate and side cover plate Groove, by output shaft centered on opens up ring packing groove with left back end cap junction with left front end cap at which, when itself and left car Box cover plate, side cover plate, left front end cap and left back end cap realize car body by the O-ring arranged in sealed groove when connecting Overall static seal.Rear axle is exported with left back cover plate with contact position and left box body of left front cover plate in left box body front output shaft The position that contacts offers ring packing groove, for placing rubber o-ring, realizes the rotary dynamic sealing of car body.Finally reach To the purpose of whole car body totally enclosed type sealing.
The left box body rear end tails handle 107 has been vertically arranged one with left box body front end handle upper side position Group through hole, right box body rear end tails handle 107 have similarly been vertically arranged with right box body front end handle upper side position One group of through hole, after two box body modules of left and right are stitched together, positioned at left and right box body front end handle and rear end tails handle Through hole on 107 aligns alignment, and bolt realizes the rapid and convenient splicing of left and right box body through the through hole with nut screw connection. Left box body bottom cover plate contact with left box body inside cover plate position chassis in the middle part of, Jing screws are mounted with locating piece Cloudy 110, right box body bottom cover plate contact with right box body inside cover plate position chassis in the middle part of, Jing screws are installed and are fixed There is locating piece sun 119.The locating piece sun 119 is a band bulge-structure, and locating piece cloudy 110 is a band sunk structure, in positioning Three groups of screwed holes being vertically distributed are distributed with block sun 119 and locating piece the moon 110, when locating piece 119 bossings of sun are with positioning Block 110 females of the moon are combined together, and left and right box body is aligned and fitted together, then Jing screws by locating piece sun 119 with it is fixed Position block the moon 110 is screwed together.Bolts and nuts and locating piece sun 119 through handle side through hole realizes a left side with cloudy 110 The quick splicing of right box body.
After the left box body motor 103 and left box body decelerator 101 are fixed on together, it is arranged vertically at Left box body motor and left box body decelerator support member 105 are built inside the cage structure of composition.Left box body slows down Device hold-down support 108 is a "convex" shaped shape, and the fixation flange aperture of the left box body decelerators of its upper end Jing is fixed on left railway carriage 101 on body decelerator, its bottom is fixed in left box body bottom cover plate, realizes consolidating motor 103 and decelerator 101 Fixed and positioning.Left box body front output shaft is fixedly mounted on bearing spider after left box body decelerator 101, left railway carriage Body exports the output of rear axle 104 and left box body front axle is parallel and is fixed on bearing spider, left box body front output shaft and left railway carriage 104 equal one end of body rear output shaft fixedly mounts left box body synchronous pulley 109 and 111, one end fixed installation wheel-type permanent-magnet absorption Unit 210 and 220, is tensioned left box body Timing Belt 106 between two left box body synchronous pulleys 109 and 111, so as to by left railway carriage The power and torque of body motor output is delivered on left box body output rear axle 104, so as to realize two magnet-wheel 210 of unilateral car body With 220 synchronized rotation, realize the four-wheel four-drive form of whole car body.
The wheel-type permanent-magnet absorbing unit is mainly by annular permanent magnet 217, outside magnetic conduction heel piece 211, inner side magnetic conduction heel piece 213rd, positioning sleeve 219 and magnet-wheel outer rubber 212 are constituted.The annular permanent magnet 217 is by strong magnetic material（Such as neodymium iron boron） The circulus being prepared from, and axial charging mode is taken, the annular permanent magnet is used to provide the strong magnetic for producing absorption affinity Environment.Outside magnetic conduction heel piece 211 is column " mountain " character form structure, and heart position is fixed with for magnetic wheel driven automatic scan and assembling wherein Round outside but spuare inside quill shaft, and magnetic conduction heel piece 211 medial surface in outside has four annular array screwed holes, for coordinating inner side conductive magnetic yoke Ferrum 213 side four screwed hole realizes the assembling of magnet-wheel.Inner side magnetic conduction heel piece 213 is column " king " character form structure, wherein the heart Position is equally fixed with a round outside but spuare inside quill shaft, for magnet-wheel assembling and driving.Inner side 213 medial surface of magnetic conduction heel piece has two groups The different annular array hole of radius, that larger group annular array hole 214 of radius be used to realizing the dismounting of annular permanent magnet with Safeguard, less that group annular array hole 215 of radius, for realizing outside magnetic conduction heel piece 211 and inner side magnetic conduction by screw The fixation of yoke 213 and positioning, outside magnetic conduction heel piece 211 and inner side magnetic conduction heel piece 213 are by high-permeability material（As silicon steel, Iron-nickel alloy）It is prepared from, plays a part of to dredge and gather magnetic induction line.The positioning sleeve 219 is one by non-permeable material system Into setting element, one part be enclosed within outside 211 round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, hold out against outside magnetic conduction heel piece, Another part be enclosed within inner side 213 round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, for ensureing outside magnetic conduction heel piece and inner side magnetic conduction The axiality of yoke.The annular permanent magnet 217 is embedded in recessed between outside magnetic conduction heel piece 211 and inner side magnetic conduction heel piece 213 In groove, inner and outer magnetic conduction heel piece wraps 217 side of annular permanent magnet and the face of cylinder.Outside 211 warp beam end of magnetic conduction heel piece Screw is fixed together with magnetic wheel driven automatic scan axle 216, the screw thread of outside yoke 211 and inner side magnetic conduction heel piece 213 by respective side Hole Jing screws are fixed and are tightened.Magnet-wheel outer rubber 212 is coated on outside 213 outer surface of magnetic conduction heel piece 211 and inner side magnetic conduction heel piece On, it is to avoid generation is coated on permanent magnet the situation for causing the demagnetization of permanent magnet high temperature, and magnet-wheel outer rubber 212 is used for increasing magnet-wheel Frictional force, prevents magnet-wheel from occurring skidding in rotation process, realizes that climbing robot is flexibly moved on magnetic conduction wall.

Claims (7)

1. a kind of wheeled magnetic adsorption wall climbing robot of modularity, is characterized in that：Including two separate car body modules and four Group structure identical wheel-type permanent-magnet absorbing unit, described two separate car body modules are divided into left body module and right body Module, the two structure are identical, and profile is arranged symmetrically centered on the two is connected plane with internal structure, wherein left body Module passes through left box body motor driver, left box body decelerator 101 by the left box body motor 103 in left railway carriage body It is connected with left box body front output shaft, left box body front output shaft passes through left box body Timing Belt 106, left box body synchronous pulley 109th, 111, connect and compose with left box body rear output shaft 104.
2. a kind of wheeled magnetic adsorption wall climbing robot of modularity, is characterized in that：The left box body is by left box body upper cover plate, a left side After box body balustrade deching, left box body bottom cover plate, left box body inside cover plate, left box body cover board of front end, left box body End afterbody cover plate, left box body outer handle 102, left box body rear end tails handle 107, left box body front end handle, left car Casing motor 103 and left 101 support member of box body decelerator, left 101 hold-down support of box body decelerator, left box body electricity Machine driver supports fixed support, left front end cap, left back end cap, locating piece the moon 110, locating piece sun 119 to constitute；
The left box body balustrade deching, left box body bottom cover plate, left box body cover board of front end, left box body rear end tails lid Plate, left box body outer handle, left box body rear end tails handle and left box body front end handle are arranged in left box body Surrounding, forms an integrally closed structure；The left box body upper cover plate and left box body inside cover plate Jing screws fix peace It is mounted on left box body upper surface and inner side end；Left box body upper cover plate lower right position be vertically arranged four it is of different sizes Waterproof anti-explosion plug hole, mechanical be isolated for car body integral sealed cabling and with electric；
The left box body motor 103 and 101 support member Jing screws of left box body decelerator are fixed on inside left box body, A kind of cage structure is constituted, motor 103 and decelerator 101 are positioned over inside cage, support motor that can not only be stable Car body strengths in tension and compression can also be improved with decelerator,
Left box body motor driver supports fixed support Jing screws to be fixed on left box body inside chassis side protruding parts, left Box body motor driver Jing screws are fixedly installed in left box body motor driver and support on fixed support, and left box body slows down Device hold-down support upper end is fixed on the mounting flange of left box body decelerator, and bottom Jing screws are fixed on left box body bottom cover On plate, for realizing the fixation of left box body decelerator and positioning, the left front end cap is located at left box body front output shaft with a left side The outer fix that box body side cover plate contacts, left back end cap are connected with left box body side cover plate positioned at left box body rear output shaft Tactile outer fix.
3. a kind of wheeled magnetic adsorption wall climbing robot of modularity, is characterized in that：The left front end cap of the left box body and left back end Lid contacts position for sound double containment with output shaft, for realizing isolating with left box body external environment condition inside left box body Open；I.e. left box body opens up rectangular seal ditch with side end face in its upper surface contacted with left box body upper cover plate and side cover plate Groove, by output shaft centered on opens up ring packing groove with left back end cap junction with left front end cap at which, itself and left box body The connection of upper cover plate, side cover plate, left front end cap and left back end cap, realizes the whole of car body by the O-ring arranged in sealed groove Body static seal；Rear axle is exported with left back cover plate phase with contact position and left box body of left front cover plate in left box body front output shaft Contact position offers ring packing groove, for placing rubber o-ring, realizes the rotary dynamic sealing of car body, reaches whole The fully closed sealing of car body.
4. a kind of wheeled magnetic adsorption wall climbing robot of modularity, is characterized in that：The left box body rear end tails handle 107 and a left side Box body front end handle upper side position has been vertically arranged one group of through hole, right box body rear end tails handle 107 and right railway carriage Body front end handle upper side position has similarly been vertically arranged one group of through hole, is connected on one for two box body module spliceds of left and right Rise, the through hole on left and right box body front end handle and rear end tails handle 107 aligns alignment, and bolt is through the through hole with spiral shell It is female to coordinate, realize the rapid and convenient splicing of left and right box body；Connect with left box body inside cover plate in left box body bottom cover plate In the middle part of the chassis of tactile position, Jing screws are fixed with locating piece the moon 110, in right box body bottom cover plate and right box body inside cover plate Contact in the middle part of the chassis of position, Jing screws are mounted with locating piece sun 119；The locating piece sun 119 is the raised knot of a band Structure, locating piece cloudy 110 are a band sunk structure, and three groups of vertical distributions are distributed with locating piece sun 119 and locating piece the moon 110 Screwed hole, is combined together with locating piece 110 females of the moon for locating piece 119 bossings of sun, makes left and right box body pair Just fit together, then together with locating piece sun 119 is tightened to by Jing screws with locating piece the moon 110；It is logical through handle side The combination of the bolts and nuts in hole and locating piece sun 119 and locating piece the moon 110 is connected, for realizing the quick of left and right box body Splicing.
5. a kind of wheeled magnetic adsorption wall climbing robot of modularity, is characterized in that：The left box body motor 103 and left railway carriage After body decelerator 101 is fixed together, it is arranged vertically at left box body motor and left box body decelerator support member 105 is taken Inside the cage structure being construed as；Left box body decelerator hold-down support 108 be a "convex" shaped shape, the left railway carriages of its upper end Jing The fixation flange aperture of body decelerator is fixed on 101 on left box body decelerator, and its bottom is fixed in left box body bottom cover plate, For realizing the fixation of motor 103 and decelerator 101 and positioning；Left box body front output shaft slows down through left box body Device 101 is fixed on bearing spider, and left railway carriage daughter output rear axle 104 is parallel with left box body output front axle to be fixed on bearing On seat, left box body synchronous pulley 109,111 is fixed in left box body front output shaft and 104 equal one end of left box body rear output shaft, Wheeled permanent magnetic suck unit 210,220 is fixed in one end, is tensioned left box body synchronization between two left box body synchronous pulleys 109,111 Band 106, the power and torque for left box body motor is exported are delivered to left box body output rear axle 104, realize single The synchronized rotation of two magnet-wheel 210,220 of side body, realizes the four-wheel four-drive form of whole car body.
6. a kind of wheeled magnetic adsorption wall climbing robot of modularity, is characterized in that：The wheel-type permanent-magnet absorbing unit is by annular permanent magnet Body 217, outside magnetic conduction heel piece 211, inner side magnetic conduction heel piece 213, positioning sleeve 219 and magnet-wheel outer rubber 212 are constituted, the annular Permanent magnet 217 is by strong magnetic material：The circulus that neodymium iron boron is prepared from, the circulus be axial charging state, the ring Shape permanent magnet is used to provide the strong magnetic environment for producing absorption affinity；The outside magnetic conduction heel piece 211 is column " mountain " character form structure, Its center is fixed with the round outside but spuare inside quill shaft for magnetic wheel driven automatic scan with assembling, and magnetic conduction heel piece 211 medial surface in outside has Four annular array screwed holes, for coordinating inner side magnetic conduction heel piece 213 side four screwed hole to realize the assembling of magnet-wheel；Lead inner side Magnetic vibrating feeder yoke 213 is column " king " character form structure, and heart position is equally fixed with a round outside but spuare inside quill shaft wherein, fills for magnet-wheel With with driving；Inner side 213 medial surface of magnetic conduction heel piece has the different annular array hole of two groups of radiuses, that larger group annular of radius Array hole 214 is used for dismounting and maintenance, less that group annular array hole 215 of radius, for leading to for realizing annular permanent magnet Cross fixation and positioning, outside magnetic conduction heel piece 211 and inner side that screw realizes outside magnetic conduction heel piece 211 and inner side magnetic conduction heel piece 213 Magnetic conduction heel piece 213 is by high-permeability material：Silicon steel, iron-nickel alloy are prepared from, and play a part of to dredge and gather magnetic induction line, institute State positioning sleeve 219 for one by made by non-permeable material setting element, one part be enclosed within outside magnetic conduction heel piece 211 it is cylindrical in Square shaft it is cylindrical on, hold out against outside magnetic conduction heel piece, another part be enclosed within inner side 213 round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, For ensureing the axiality of outside magnetic conduction heel piece and inner side magnetic conduction heel piece；The annular permanent magnet 217 is embedded in outside conductive magnetic yoke In groove between ferrum 211 and inner side magnetic conduction heel piece 213, inner and outer magnetic conduction heel piece wraps 217 side of annular permanent magnet And the face of cylinder；Outside 211 warp beam end screw of magnetic conduction heel piece is fixed together with magnetic wheel driven automatic scan axle 216, outside yoke 211 and inner side Magnetic conduction heel piece 213 is fixed by the screwed hole Jing screws of respective side and is tightened；It is coated on outside magnetic conduction heel piece 211 and inner side magnetic conduction Magnet-wheel outer rubber 212 on 213 outer surface of yoke, the situation for avoiding the demagnetization of permanent magnet high temperature occur, and prevent magnet-wheel Occurs skidding in rotation process.
7. a kind of manufacture method of the wheeled magnetic adsorption wall climbing robot of modularity, is characterized in that：Using two separate, left and right Symmetrical car body module, two separate, symmetrical car body module profiles and internal structure connect plane with both It is arranged symmetrically for axis of symmetry, the wheeled magnetic adsorption wall climbing robot of modularity of making, and two intermodules is mechanically and electrically complete Isolation, is provided simultaneously with independent dustproof and waterproof function；
For sandwich structure, i.e., the side and the face of cylinder of annular permanent magnet is by the conductive magnetic yoke of both sides for the wheel-type permanent-magnet absorbing unit for adopting Ferrum is fully wrapped up, and leaves the air gap of a width on the face of cylinder of permanent magnet, forms a kind of sandwich structure；Annular permanent magnet its magnetic Sense line flows through outside magnetic conduction heel piece from N poles, through after magnetic conductivity wall, flows through inner side magnetic conduction heel piece, finally flows back to annular Permanent magnet S pole；The sandwich type structural, makes annular permanent magnet magnetic induction line gather together, and makes magnetic induction line pass through magnetic conductivity wall shape Into closed-loop path, the utilization rate of annular permanent magnet magnetic induction line is substantially improved, climbing robot is more firmly adsorbed in magnetic conduction On property wall；
Using four-wheel four-drive forms of motion, two magnet-wheel of unilateral car body rotated at the same speed, and the robot left and right sides gear unit is equal Using toothed belt transmission, car body motor is delivered to power and torque on car body front output shaft, car body Jing after decelerator deceleration Front output shaft and car body rear output shaft are arranged in parallel, and one end fixed installation car body synchronous pulley, other end fixed installation wheel Formula permanent magnetic suck unit；Car body Timing Belt is tensioned between two car body synchronous pulleys, so as to by the power and torque on car body front output shaft It is delivered on car body rear output shaft, so as to realize the synchronized rotation of two magnet-wheel of same side body, left and right sides transmission is identical, realizes whole The four-wheel four-drive forms of motion of individual car body,
Using car body integral seal, the left box body opens up rectangle in its upper surface contacted with left box body upper cover plate Sealed groove, with rear end cap junction by output shaft centered on opens up ring packing groove with drive end bearing bracket at which, when itself and left car By the rubber o-ring arranged in sealed groove, box cover plate, drive end bearing bracket and rear end cap realize that the entirety of car body is quiet when connecting Sealing, opens up inside drive end bearing bracket and the drive end bearing bracket and rear end cap of front output shaft, rear end cap and rear output shaft relative rotation position There is ring packing groove, for placing rubber o-ring, realize the rotary dynamic sealing of car body, be finally reached whole car body totally-enclosed The purpose of formula sealing；Overall static seal and rotary dynamic sealing make climbing robot vehicle body and external environment completely isolated, So that robot can still keep good sealing on magnetic conductivity wall during Quick-climbing, robot is realized in severe ring Normal operation under border,
Using wheel-type permanent-magnet absorbing unit by annular permanent magnet, outside magnetic conduction heel piece, inner side magnetic conduction heel piece, positioning sleeve, magnet-wheel Outer rubber is constituted, and annular permanent magnet therein is prepared from by strong magnetic material neodymium iron boron, for providing strong magnetic environment, and is adopted Use axial charging mode；Outside magnetic conduction heel piece is column " mountain " character form structure, and central shaft is round outside but spuare inside hollow structure, is used In magnetic wheel driven automatic scan and assembling, and outside magnetic conduction heel piece medial surface has four annular array screwed holes, for coordinating outside conductive magnetic yoke The screwed hole of ferrum side four is realized being positioned at fixation in magnet-wheel assembling process；Inner side magnetic conduction heel piece is tied for column " king " font Structure, wherein heart position be equally fixed with a round outside but spuare inside quill shaft, for magnet-wheel assembling with drive, in the magnetic conduction heel piece of inner side There is the different annular array hole of two groups of radiuses side, and that larger group annular array hole of radius is used to realize annular permanent magnet Dismounting and maintenance, less that group annular array hole of radius, for realizing outside magnetic conduction heel piece and inner side magnetic conduction by screw The fixation of yoke and positioning, outside magnetic conduction heel piece and inner side magnetic conduction heel piece silicon steel, iron-nickel alloy system by high-permeability material It is standby to form, play a part of to dredge and gather magnetic induction line；
The positioning sleeve for adopting setting element made by non-permeable material, its one end are enclosed within outside magnetic conduction heel piece center On round outside but spuare inside axle, the other end be enclosed within the inner side round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, for ensure outside magnetic conduction heel piece with The axiality of inner side magnetic conduction heel piece；Using annular permanent magnet be embedded in outside magnetic conduction heel piece and inner side magnetic conduction heel piece between it is recessed In groove, inner and outer magnetic conduction heel piece wraps annular permanent magnet body side surface and the face of cylinder；Outside magnetic conduction heel piece warp beam end screw with Magnetic wheel driven automatic scan axle is fixed together, and outside yoke and inner side magnetic conduction heel piece are fixed by the screwed hole Jing screws of respective side and twisted Tightly；Magnet-wheel outer rubber is coated on outside magnetic conduction heel piece and inner side magnetic conduction heel piece outer surface, it is to avoid generation is coated on permanent magnet The upper situation for causing the demagnetization of permanent magnet high temperature, magnet-wheel outer rubber are used for increasing magnet-wheel frictional force, prevent magnet-wheel in rotation process In there is skidding, realize that climbing robot is flexibly moved on magnetic conduction wall；
When sandwich wheel-type permanent-magnet absorbing unit works, the magnetic induction line of annular permanent magnet is flowed out from N poles, and on the outside of Jing, magnetic conduction heel piece is dredged Lead after gathering, through magnetic conductivity wall, flow through inner side magnetic conduction heel piece, finally flow back to annular permanent magnet S poles, define closure magnetic strength Line loop, improves magnetic strength line use ratio, increase absorption affinity of the climbing robot on magnetic conduction wall, it is to avoid magnet-wheel is turning There is skidding during dynamic, realize climbing robot flexibly creeping on magnetic conductivity wall.
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CN111776103A (en) * 2020-07-14 2020-10-16 代志永 Wall surface self-adaptive walking module
CN114987107A (en) * 2021-03-01 2022-09-02 中核武汉核电运行技术股份有限公司 Rubber-coated magnetic wheel and assembling tool thereof

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