CN106514609B - A kind of wheeled magnetic adsorption wall climbing robot of modularization - Google Patents

A kind of wheeled magnetic adsorption wall climbing robot of modularization Download PDF

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Publication number
CN106514609B
CN106514609B CN201611260072.5A CN201611260072A CN106514609B CN 106514609 B CN106514609 B CN 106514609B CN 201611260072 A CN201611260072 A CN 201611260072A CN 106514609 B CN106514609 B CN 106514609B
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box
magnetic
magnetic conduction
heel piece
conduction heel
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CN106514609A (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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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/005Manipulators mounted on wheels or on carriages mounted on endless tracks or belts

Abstract

The present invention relates to Industrial Robot Technology fields, a kind of disclosed wheeled magnetic adsorption wall climbing robot of modularization, including two mutually independent car body modules and the identical wheel-type permanent-magnet absorbing unit of four groups of structures, two mutually independent car body modules are divided into the identical left body module of structure and right body module, it is arranged symmetrically centered on the two connection plane, wherein left body module passes through left box body motor driver by the intracorporal left box body driving motor of left railway carriage, left box body retarder is connect with left box body front output shaft, left box body front output shaft passes through left box body synchronous belt, left box body synchronous pulley, it is connected and composed with left box body rear output shaft.The present invention can carry out the corresponding limit operations such as derusting, spray painting, detection by discontinuous operating area or narrow transport space on all kinds of magnetic conduction faces.Be provided simultaneously with dustproof and waterproof function, and can rapid disassembling, transport with dock, movement turning manipulation is easy, and mobility is high.

Description

A kind of wheeled magnetic adsorption wall climbing robot of modularization
Technical field
The present invention relates to Industrial Robot Technology fields, and in particular to is a kind of climbing robot, more particularly to one kind The wheeled magnetic adsorption wall climbing robot of modularization.The climbing robot can be applied to all kinds of magnetic conductivity wall surface (such as pipe surfaces, oil tank Wall surface, Ship body etc.), it can be realized flexibly creeping on complicated magnetic conduction face, and can carry according to different mission requirements Different type mechanical arm or operation module carry out corresponding limit operation on all kinds of magnetic conductivity wall surfaces and (such as carry corresponding mechanical arm After operation module, the related operation such as manually derusted, painted to oil tank wall surface, detected can be replaced).The climbing robot device Using permanent magnetic suck form and four-wheel four-drive transmission scheme, it is based on modular design method, mainly by two mutually independent vehicles Module composition, each intermodule mechanical electric is completely isolated, is provided simultaneously with independent dustproof and waterproof function, in narrow limited equal spies When different working space carries out operation, the rapid disassembling of robot, transport can be realized according to job requirements and is docked, by non- Working continuously in terms of region or narrow transport space has extremely strong advantage.
Background technique
The fields such as national economy and national defense construction are seen everywhere by all kinds of large complicated of the magnetic conductive materials such as steel building It equips (such as petroleum pipeline, chemical storage tank, large ship), is the safe handling of Support Equipment, countries in the world need to put into every year A large amount of manpower and material resources, which equip these, periodically carries out the upkeep operations such as cleaning, detection.Currently, biography is widely used in world wide The manual work method of system carries out corresponding upkeep operation, not there is only large labor intensity, operating efficiency is low, the duty cycle is long, The problems such as maintenance cost is high, operator is susceptible to suffer from occupational disease, and when be often accompanied by safety accident.Therefore, research and development one are needed Set can flexibly creep on all kinds of complicated magnetic conduction faces (such as pipe surface, oil tank wall surface, Ship body), can be according to different Mission requirements carry different type mechanical arm or operation module, the intelligence for carrying out corresponding upkeep operation on all kinds of magnetic conduction faces are climbed Wall robot system.
Climbing robot needs emphasis to solve adsorption form and two key problems of walking mechanism.It is existing for adsorption form Robot mainly uses electromagnetic adsorption and two kinds of forms of permanent magnetic suck, and wherein electromagnetic adsorption structure is relative complex, in operation process Additional electrical energy need to be consumed, and there are security risks caused by accident power-off, therefore using relatively fewer on climbing robot, with electricity Magnetic suck is compared, and permanent magnetic suck has many advantages, such as that structure is simple, adsorbs and do not consume energy, is unaffected by removing electrical power.It is existing for walking mechanism There is robot mainly to use track structure or wheeled construction, wherein track structure is relative complex, and movenent performance is not good enough, especially It is when carrying out divertical motion, since contact area is big between crawler belt and magnetic conduction wall surface, steering resistence is big, and turning radius is big, turns It is poor to flexibility, and wheeled construction then has many advantages, such as that structure is simple, the speed of travel is fast, turning is easy, and compares and is suitble to each It is realized on class magnetic conduction face flexibly mobile.
Through the literature search of existing technologies, application number 201410628337.7, applying date 2014.11.11's Patent of invention discloses a kind of magnetically adsorbed wall climbing robot, though 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 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 influenced by magnetic signature, magnetic block group need to lead Magnetic surface low coverage arrangement, limits the obstacle performance of robot.More importantly robot does not have dustproof and waterproof function, do not examine Consider modular design method, can not be split, so that robot is difficult to limit by carrying out corresponding operation after narrow transport space The use scope of robot.
Application No. is a kind of magnetic adsorption wall climbing robot that 201410645993.8 patent documents are related to, which is used 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 shaft connection, realization Band is adaptive 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 crawler-type wall climbing robot many limitations such as inevitably structure is complicated, manufacturing cost is high, steering flexibility is poor.Together When, which does not have dustproof and waterproof function yet, can not be split, so that robot is difficult to by opening after narrow transport space Corresponding operation is opened up, the use scope of robot is limited.
In conclusion the existing generally existing movenent performance of climbing robot is not good enough, structure is excessively complicated, manufacturing cost is higher Etc. problems, while not considering modular design method, it is difficult to which rapid disassembling, transport and installation do not have dustproof and waterproof function Can, so that being difficult to adapt to the job requirements in various limit operation spaces.
Summary of the invention
Insufficient in view of the above technology, the present invention proposes a kind of wheeled magnetic adsorption wall climbing robot of modularization, and the present invention bases 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 operations such as exhibition derusting, spray painting, detection.The climbing robot is using permanent magnetic suck form and four-wheel four-drive transmission side Case is based on modular design method, mainly by two mutually independent car body module compositions, each intermodule mechanical electric completely every From, it is provided simultaneously with independent dustproof and waterproof function, it, can be according to operation when operation is carried out in narrow limited equal special operations space Demand is realized the rapid disassembling of robot, transport and is docked, convenient for passing through discontinuous operating area or narrow transport space.
For achieving the above object, the present invention adopts the following technical scheme that
A kind of wheeled magnetic adsorption wall climbing robot of modularization, including two mutually independent car body modules and four groups of structure phases With wheel-type permanent-magnet absorbing unit, described two mutually independent car body modules are divided into left body module and right body module, two Person's structure is identical, and shape and internal structure by the two connect plane centered on be arranged symmetrically, wherein left body module by The left intracorporal left box body driving motor 103 of railway carriage passes through left box body motor driver, left box body retarder 101 and left vehicle Cabinet front output shaft connection, left box body front output shaft by left box body synchronous belt 106, left box body synchronous pulley 109, 111, it is connected and composed with left box body rear output shaft 104.
A kind of wheeled magnetic adsorption wall climbing robot of modularization, 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 board, left box body outer handle 102, left box body rear end tails handle 107, left box body front end handle, left box body drive Dynamic motor 103 and left 101 supporting element of box body retarder, left 101 hold-down support of box body retarder, left box body motor driven Device supports fixed bracket, left front end cap, left back end cap, locating piece yin 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 tail Portion's cover board, left box body outer handle, left box body rear end tails handle and left box body front end handle are arranged in left vehicle Cabinet surrounding forms an integrally closed structure;The left box body upper cover plate and left box body inside cover plate are solid through screw Dingan County is on left box body upper surface and inner side end;Left box body upper cover plate lower right position is vertically arranged there are four size Different waterproof anti-explosion plug holes is isolated for car body integral sealed cabling and machinery with electrical;
The left box body driving motor 103 and left 101 supporting element of box body retarder are fixed on left box body through screw Inside constitutes a kind of cage structure, and driving motor 103 and retarder 101 are placed in inside cage, support that can not only be stable Motor and retarder can also improve car body strengths in tension and compression.
Left box body motor driver supports fixed bracket to be fixed on left box body inside chassis side protrusion through screw Position, left box body motor driver are fixedly installed in left box body motor driver through screw and support on fixed bracket.Left railway carriage Body retarder hold-down support upper end is fixed on the mounting flange of left box body retarder, and bottom end is fixed on left box body through screw In bottom cover plate, for realizing the fixation and positioning of left box body retarder.The left front end cap exports before being located at left box body The outer fix that axis is in contact 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 is in contact;
A kind of wheeled magnetic adsorption wall climbing robot of modularization, the left front end cap and left back end cap of the left box body are with output Axis is in contact position for sound double containment, for realizing keeping apart inside left box body with left box body external environment;I.e. left vehicle Cabinet opens up rectangular seal groove in the upper surface that it is contacted with left box body upper cover plate and side cover plate and side end face, its with Left front end cap and left back end cap junction open up ring packing groove centered on output shaft, with left box body upper cover plate, side The whole static seal of car body is realized in the connection of cover board, left front end cap and left back end cap by the O-ring arranged in sealed groove; It exports rear axle be in contact position and left box body of left front cover board in left box body front output shaft and is in contact position with left back cover board Ring packing groove is offered, for placing rubber o-ring, the rotary dynamic sealing of car body is realized, reaches entire car body and seal entirely The sealing of enclosed.
A kind of wheeled magnetic adsorption wall climbing robot of modularization, 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, is located at for two box body modules of left and right To positive alignment, bolt passes through the through-hole and cooperates with nut through-hole on left and right box body front end handle and rear end tails handle 107, Realize the rapid and convenient splicing of left and right box body;It is in contact with left box body inside cover plate position in left box body bottom cover plate In the middle part of chassis, it is fixed with locating piece yin 110 through screw, is in contact with right box body inside cover plate position in right box body bottom cover plate In the middle part of the chassis set, locating piece sun 119 is mounted with through screw;The locating piece sun 119 is a band bulge-structure, locating piece Yin 110 is a band sunk structure, and three groups of threaded holes being distributed vertically are distributed on locating piece sun 119 and locating piece yin 110, use It is combined together in positive 119 convex portions of locating piece with negative 110 depressed sections of locating piece, makes left and right box body to being just assembled in one It rises, then is tightened to locating piece sun 119 and locating piece yin 110 together through screw;Across handle side through-hole bolt with The combination of nut and locating piece sun 119 and locating piece yin 110 is connect, for realizing the quick splicing of left and right box body.
A kind of wheeled magnetic adsorption wall climbing robot of modularization, the left box body driving motor 103 and left box body slow down After device 101 is fixed together, it is arranged vertically at left box body driving motor and left box body retarder supporting element 105 builds composition Cage structure inside;Left box body retarder hold-down support 108 is a "convex" shaped shape, and the upper end is slowed down through left box body The fixation flange aperture of device is fixed on 101 on left box body retarder, and bottom end is fixed in left box body bottom cover plate, for real Now by the fixation and positioning of driving motor 103 and retarder 101;Left box body front output shaft runs through left box body retarder 101 It being fixed on bearing spider, left railway carriage daughter output rear axle 104 exports that front axle is parallel to be fixed on bearing spider with left box body, The fixed left box body synchronous pulley 109,111 of left box body front output shaft and the equal one end of left box body rear output shaft 104, one end is solid Fixed wheel formula permanent magnetic suck unit 210,220 is tensioned left box body synchronous belt 106 between two left box body synchronous pulleys 109,111, Power and torque for exporting left box body driving motor are transmitted to left box body output rear axle 104, realize unilateral car body The synchronized rotation of two magnet-wheels 210,220, realizes the four-wheel four-drive form of entire car body.
A kind of wheeled magnetic adsorption wall climbing robot of modularization, the wheel-type permanent-magnet absorbing unit is by annular permanent magnet 217, outer Side magnetic conduction heel piece 211, inside 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 cyclic structure that neodymium iron boron is prepared, which is axial charging state, the annular permanent magnet Body is used to provide the strong magnetic environment for generating adsorption capacity;The outside magnetic conduction heel piece 211 is column " mountain " character form structure, in its center Position is fixed with the round outside but spuare inside hollow shaft for magnetic wheel driven automatic scan and assembly, and there are four rings for 211 medial surface of outside magnetic conduction heel piece Shape array threaded hole, for cooperating inside 213 side of magnetic conduction heel piece four threaded hole to realize the assembly of magnet-wheel;Inside magnetic conduction heel piece 213 be column " king " character form structure, and position is equally fixed with a round outside but spuare inside hollow shaft in its center, assembles and drives for magnet-wheel It is dynamic;The annular array hole that magnetic conduction heel piece 213 medial surface in inside has two groups of radiuses different, that biggish group annular array hole of radius 214 for realizing annular permanent magnet disassembly and maintenance, that lesser group annular array hole 215 of radius, for passing through screw Realize the fixation and positioning of outside magnetic conduction heel piece 211 and inside magnetic conduction heel piece 213, outside magnetic conduction heel piece 211 and inside conductive magnetic yoke Iron 213 is by high-permeability material: silicon steel, iron-nickel alloy are prepared, and play the role of dredging and gather magnetic induction line.The positioning Set 219 is a setting element made of non-permeable material, part of it set magnetic conduction heel piece 211 round outside but spuare inside axis on the outside In outer circle, outside magnetic conduction heel piece is held out against, another part covers in the outer circle of the round outside but spuare inside axis of inside magnetic conduction heel piece 213, for protecting The concentricity of card outside magnetic conduction heel piece and inside magnetic conduction heel piece;The annular permanent magnet 217 be embedded in outside magnetic conduction heel piece 211 with In groove between inside magnetic conduction heel piece 213, inner and outer magnetic conduction heel piece wraps 217 side of annular permanent magnet and cylinder Face;Outside magnetic conduction heel piece 211 is fixed together through shaft end screw with magnetic wheel driven automatic scan axis 216, outside yoke 211 and inside conductive magnetic yoke Iron 213 is tightened by the threaded hole of respective side through screw fixation;It is coated on outside magnetic conduction heel piece 211 and inside magnetic conduction heel piece Magnet-wheel outer rubber 212 on 213 outer surfaces the case where for avoiding permanent magnet high temperature from demagnetizing, and prevents magnet-wheel from turning Phenomenon is had skidded during dynamic.
A kind of production method of the wheeled magnetic adsorption wall climbing robot of modularization, it is mutually indepedent, symmetrical using two Car body module, it is symmetrical that two mutually indepedent, symmetrical car body module shapes, which connect plane with internal structure with the two, Axis is arranged symmetrically, the wheeled magnetic adsorption wall climbing robot of the modularization of production, and two intermodules are mechanically and electrically completely isolated, together When have independent dustproof and waterproof function;
The wheel-type permanent-magnet absorbing unit used is interlayer structure, i.e. side and cylindrical surface the leading by two sides of annular permanent magnet Magnetic vibrating feeder yoke sufficiently wraps up, and on the cylindrical surface of permanent magnet, there are the air gaps of a width, form a kind of interlayer structure;Annular permanent magnet Its magnetic induction line flows through outside magnetic conduction heel piece from the pole N, after passing through magnetic conductivity wall surface, flows through inside magnetic conduction heel piece, finally flows back to The pole annular permanent magnet S;The sandwich type structural makes annular permanent magnet magnetic induction line gather together, and magnetic induction line is made to pass through magnetic conductivity wall Face forms closed circuit, substantially improves the utilization rate of annular permanent magnet magnetic induction line, is adsorbed on climbing robot more firmly On magnetic conductivity wall surface;
The four-wheel four-drive forms of motion of use, unilateral two magnet-wheel of car body rotate at the same speed, and transmission is single at left and right sides of the robot Member is all made of toothed belt transmission, and power and torque are transmitted on car body front output shaft by car body driving motor after retarder slows down, Car body front output shaft and car body rear output shaft parallel arrangement, and car body synchronous pulley, the fixed peace of the other end is fixedly mounted in one end Fill wheel-type permanent-magnet absorbing unit;Between two car body synchronous pulleys be tensioned car body synchronous belt, thus by car body front output shaft power and Torque is transmitted on car body rear output shaft, to realize the synchronized rotation with two magnet-wheel of side body, left and right sides transmission is identical, real The now four-wheel four-drive forms of motion of entire car body.
The car body integral seal of use, the left box body are opened up in the upper surface that it is contacted with left box body upper cover plate Rectangular seal groove, it is with drive end bearing bracket and rear end cap junction opens up ring packing groove centered on output shaft, when its with The whole of car body is realized by the rubber o-ring arranged in sealed groove when left box body upper cover plate, drive end bearing bracket are connected with rear end cap Inside body static seal, drive end bearing bracket and front output shaft, the drive end bearing bracket of rear end cap and rear output shaft relative rotation position and rear end cap Ring packing groove is offered, for placing rubber o-ring, the rotary dynamic sealing of car body is realized, it is complete to be finally reached entire car body The purpose of enclosure seal;Whole static seal and rotary dynamic sealing make climbing robot vehicle body and external environment completely every From realizing robot and disliking so that robot is still able to maintain good leakproofness in Quick-climbing on magnetic conductivity wall surface Normal operation under bad environment.
The wheel-type permanent-magnet absorbing unit of use by annular permanent magnet, outside magnetic conduction heel piece, inside magnetic conduction heel piece, positioning sleeve, Magnet-wheel outer rubber is constituted, and annular permanent magnet therein is prepared by strong magnetic material neodymium iron boron, for providing strong magnetic environment, And 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 knot Structure, for magnetic wheel driven automatic scan and assembly, and there are four annular array threaded holes for outside magnetic conduction heel piece medial surface, for cooperating outside to lead The threaded hole of magnetic vibrating feeder yoke side four, which is realized in magnet-wheel assembling process, is positioned at fixation;Inside magnetic conduction heel piece is column " king " font Structure, position is equally fixed with a round outside but spuare inside hollow shaft in its center, assembles and drives for magnet-wheel.Inside magnetic conduction heel piece The annular array hole that medial surface has two groups of radiuses different, that biggish group annular array hole of radius is for realizing annular permanent magnet Disassembly and maintenance, that lesser group annular array hole of radius, for by screw realize outside magnetic conduction heel piece and inside lead The fixation and positioning of magnetic vibrating feeder yoke, silicon steel, the iron-nickel alloy of outside magnetic conduction heel piece and inside magnetic conduction heel piece by high-permeability material It is prepared, plays the role of dredging and gather magnetic induction line;
The positioning sleeve used is setting element made of non-permeable material, one end cap magnetic conduction heel piece centre bit on the outside On the round outside but spuare inside axis set, another end cap is in the outer circle of the interior round outside but spuare inside axis of side magnetic conduction heel piece, for guaranteeing outside conductive magnetic yoke The concentricity of iron and inside magnetic conduction heel piece;The annular permanent magnet of use is embedded between outside magnetic conduction heel piece and inside magnetic conduction heel piece Groove in, inner and outer magnetic conduction heel piece wraps annular permanent magnet body side surface and cylindrical surface;Outside magnetic conduction heel piece is through shaft end spiral shell Nail is fixed together with magnetic wheel driven automatic scan axis, and outside yoke and inside magnetic conduction heel piece are fixed by the threaded hole of respective side through screw It tightens;Magnet-wheel outer rubber is coated on outside magnetic conduction heel piece and inside magnetic conduction heel piece outer surface, and generation is avoided to be coated on permanent magnetism The case where making permanent magnet high temperature demagnetize on body, magnet-wheel outer rubber are used to increase magnet-wheel frictional force, prevent magnet-wheel from rotating Phenomenon is had skidded in journey, realizes that climbing robot flexibly moves on magnetic conduction wall surface;
When sandwich wheel-type permanent-magnet absorbing unit works, the magnetic induction line of annular permanent magnet is flowed out from the pole N, through outside conductive magnetic yoke Iron is dredged gather after, pass through magnetic conductivity wall surface, flow through inside magnetic conduction heel piece, finally flow back to the pole annular permanent magnet S, form closure Magnetic strength line loop improves magnetic strength line use ratio, increases adsorption capacity of the climbing robot on magnetic conduction wall surface, avoids magnet-wheel Phenomenon is had skidded during rotation, realizes climbing robot flexibly creeping on magnetic conductivity wall surface.
Due to the adoption of the technical scheme as described above, the present invention has the following advantages:
(1) invention be based on modularized car body design philosophy, by climbing robot be designed as two structures it is identical, left and right pair The independent car body module claimed, and two intermodules are mechanically and electrically completely isolated, two modules have independent dustproof and waterproof simultaneously Function.Modularized design makes climbing robot when encountering the narrow confined space, can realize easily and fast disassembly, transport with Splicing, well adapting to property.
(2) wheel-type permanent-magnet body absorbing unit, uses " sandwich " structure, and annular permanent magnet is embedded between magnetic conduction heel piece Groove in, which can effectively gather the magnetic induction line of permanent magnet, make its magnetic induction line pass through magnetic conductivity wall surface formed closure Magnetic strength line loop improves the utilization rate of permanent magnet magnetic induction line, so that climbing robot is stronger to be adsorbed on magnetic conductivity wall surface On.
(3) the two side body module of climbing robot is all made of toothed belt transmission, realizes the fortune of entire car body four-wheel four-drive Dynamic form.Power and torque are transmitted on car body front output shaft by car body driving motor after retarder slows down, then synchronized band, are passed It is delivered on the car body rear output shaft with car body front output shaft parallel arrangement, 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 to realize, reach car body four-wheel four-drive Forms of motion.The drive mechanism is simple and compact, and the mobile turning manipulation of robot is easy, there is very high mobility.
(4) car body integral seal.The upper surface and side that box body is contacted at it with box body upper cover plate and side cover plate Face opens up rectangular seal groove, it is with drive end bearing bracket and rear end cap junction opens up ring packing ditch centered on output shaft Slot, it is real by the O-ring arranged in sealed groove when it connect with box body upper cover plate, side cover plate, drive end bearing bracket and rear end cap The whole static seal of existing car body.Left box body front output shaft with front shroud be in contact position and box body output rear axle with rear cover The plate position that is in contact offers ring packing groove, for placing rubber o-ring, realizes the rotary dynamic sealing of car body.Sound Double containment makes climbing robot still have good leakproofness during mobile climbing, realizes that entire car body totally enclosed type is close Envelope.Integral seal effectively prevent the immersion of the impurity such as water, dust, improves its adaptability and extends the work longevity of components Life.
Detailed description of the invention
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 yin overall appearance axonometric drawing of the present invention;
Fig. 6 locating piece sun overall appearance axonometric drawing of the present invention;
Fig. 7 box body internal structure top view 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 car body driving rear axle movable sealing structure figure of the present invention;
Figure 12 is car body driving front axle movable sealing structure figure of the present invention;
In figure: 101 left side cabinet retarders, 102 left side box body outer handles, 103 left side box body driving motors, 104 left side box body rear output shafts, 105 left side drive motors and retarder fixed bracket, 106 left side synchronous belts, 107 left side vehicles Box back tail portion handle, 108 left side retarder hold-down supports, 109 left side box body front pulleys, 110 locating pieces yin, 111 left sides Belt wheel, 112 right side box body rear end tails handles, 113 right side drive motors and retarder fixed bracket, 114 after the box body of side Right side box body rear output shaft, 115 right side box body driving motors, 116 right side box body outer handles, 117 right side cabinets subtract Fast device, 118 left side retarder hold-down supports, 119 locating pieces sun, the sealing of 120 right side car body upper cover plates, 121 left side car body upper covers Plate sealing, 122 car bodies driving rear output shaft static seal, 123 car bodies driving front output shaft static seal, the driving of 124 left side box bodies Rear output shaft dynamic sealing, 125 right side box bodies driving rear output shaft dynamic sealing, 125 left side box bodies driving front output shaft move close Envelope, 126 right side box bodies drive front output shaft dynamic sealing.211 outside magnetic conduction heel pieces, 212 wheel body outer rubbers, 213 insides are led Magnetic vibrating feeder yoke, 214 inside magnetic conduction heel piece removal holes, 215 inside magnetic conduction heel pieces are threadedly coupled screw, 216 magnetic with outside magnetic conduction heel piece It is wheel drive shaft, 217 annular permanent magnets, screw on the outside of 218 shaft ends, 219 positioning sleeves, 210 left front magnet-wheel absorbing units, 220 left back Magnet-wheel absorbing unit behind magnet-wheel absorbing unit, 240 right sides before magnet-wheel absorbing unit, 230 right sides.
Specific embodiment
As shown in Figures 1 to 12, the wheeled magnetic adsorption wall climbing robot of a kind of modularization, can basis based on climbing robot Different mission requirements carry different type mechanical arm or operation module, carry out derusting, spray painting, detection etc. on all kinds of magnetic conduction faces Corresponding limit operation.The climbing robot is thought using permanent magnetic suck form and four-wheel four-drive transmission scheme based on modularized design Think, mainly by two mutually independent car body module compositions, each intermodule mechanical electric is completely isolated, is provided simultaneously with independent anti- Dirt water-proof function can realize the fast of robot according to job requirements when operation is carried out in narrow limited equal special operations space Speed dismantling is transported and is docked, convenient for passing through discontinuous operating area or narrow transport space.
The wheeled magnetic adsorption wall climbing robot of the modularization mainly includes two mutually independent 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 outer dimension and internal structure by the two connect plane centered on be arranged symmetrically, wherein left body module master It will be by defeated before left box body, left box body driving motor, left box body motor driver, left box body retarder, left box body Shaft, left box body synchronous 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 board, left box body outer handle, left railway carriage Supporting element, the deceleration of left box body of body rear end tails handle, left box body front end handle, left box body driving motor and retarder The fixed bracket of device hold-down support, left box body motor driver, left front end cap, left back end cap, locating piece yin, locating piece sun structure At.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 corresponding position forms the semi-enclosed structure an of entirety.The left box body upper cover plate and left box body inside cover plate For movable members, after the installation is completed, the two is fixed on left box body upper surface to the components inside left box body respectively And inner side end.Left box body upper cover plate lower right position is distributed vertically there are four circular hole of different sizes, for realizing car body The design of integral sealed cabling and function that is mechanical and being electrically isolated.The left box body driving motor and retarder supporting element It is fixed on inside left box body through screw, is built into a kind of cage structure, support driving motor and retarder that can not only be stable Car body tension and compression strength can also be improved, left box body driving motor and retarder are placed in the cage structure.Left box body The fixed bracket of motor driver is fixed on left box body inside chassis side protruding parts, left box body motor driver through screw It is fixedly installed on the fixed bracket of left box body motor driver through screw.Left box body retarder hold-down support upper end is fixed on On the mounting flange of left box body retarder, bottom end is fixed on left box body driving motor and retarder supporting element through screw, For realizing the fixation and positioning of left box body retarder.The left front end cap is located at left box body front output shaft and left box body The outer fix that balustrade deching is in contact, left back end cap are located at left box body rear output shaft and are in contact with left box body balustrade deching Outer fix, left front end cap and left back end cap are in contact position using dynamic and static double containment with output shaft, to realize left vehicle Box house and car body external environment are kept apart.The left box body is opened up in the upper surface that it is contacted with left box body upper cover plate There is rectangular seal groove, it is with left front end cap and left back end cap junction opens up ring packing groove centered on output shaft, It is real by the rubber o-ring arranged in sealed groove when it connect with left box body upper cover plate, left front end cap and left back end cap The whole static seal of existing car body.Left box body front output shaft with left front cover board be in contact position and left box body output rear axle with Left back cover board, which is in contact at position, offers ring packing groove, and for placing rubber o-ring, it is close to realize that car body rotatably moves Envelope.It is finally reached the purpose of entire car body totally enclosed type sealing.
The left box body rear end tails handle and left box body front end handle side position have been vertically arranged one group and have led to Hole, right box body rear end tails handle and right box body front end handle side position have similarly been vertically arranged one group of through-hole, Through-hole pair after two box body modules are stitched together when left and right, on left and right box body front end handle and rear end tails handle Positive alignment, bolt pass through the through-hole and cooperate with nut, realize the rapid and convenient splicing of left and right box body.In left box body bottom cover Plate is in contact in the middle part of the chassis of position with left box body inside cover plate, locating piece yin is mounted with through screw, in right box body Bottom cover plate is in contact in the middle part of the chassis of position with right box body inside cover plate, is mounted with locating piece sun through screw.Positioning Block sun is a band bulge-structure, and locating piece yin is a band sunk structure, is distributed with three groups on locating piece sun and locating piece yin The threaded hole being distributed vertically divides when locating piece male bosses and is combined together with locating piece yin depressed section, left and right box body pair It just fits together, then tightens locating piece sun and locating piece yin through screw.Across handle side through-hole bolts and nuts with And the dual fixed quick splicing for realizing left and right box body of locating piece male and female.
After the left box body driving motor is together with left box body retarder fixing assembling, it is arranged vertically at left railway carriage Body driving motor and left box body retarder supporting element are built inside the cage structure of composition.Left box body retarder hold-down support For "convex" shaped shape, the upper end is fixed on left box body retarder through the fixation flange aperture of left box body retarder, bottom End is fixed on left box body bottom plate, realizes the fixation and positioning of left box body driving motor and retarder.Before left box body Output shaft is fixedly mounted on bearing spider after running through left box body retarder, and left railway carriage daughter output rear axle and left box body are defeated Front axle is fixed on bearing spider in parallel out, and a left side is fixedly mounted in left box body front output shaft and the equal one end of left box body rear output shaft Box body synchronous pulley, one end are fixedly mounted wheel-type permanent-magnet absorbing unit, are tensioned left railway carriage between two left box body synchronous pulleys Body synchronous belt, to the power of left box body driving motor output and torque are transmitted on left box body output rear axle, thus real The synchronized rotation of existing unilateral side two magnet-wheel of car body, realizes the four-wheel four-drive form of entire car body.
The wheel-type permanent-magnet absorbing unit is mainly by annular permanent magnet, outside magnetic conduction heel piece, inside magnetic conduction heel piece, positioning Set, magnet-wheel outer rubber are constituted.The annular permanent magnet is prepared by strong magnetic material (such as neodymium iron boron), for providing strong magnetic Environment, and use axial charging mode.Outside magnetic conduction heel piece is column " mountain " character form structure, and central shaft is in round outside but spuare inside Hollow structure, for magnetic wheel driven automatic scan and assembly, and there are four annular array threaded holes for outside magnetic conduction heel piece medial surface, outer for cooperating The threaded hole of side magnetic conduction heel piece side four, which is realized in magnet-wheel assembling process, is positioned at fixation.Inside magnetic conduction heel piece is column " king " Character form structure, position is equally fixed with a round outside but spuare inside hollow shaft in its center, assembles and drives for magnet-wheel.Inside magnetic conduction The annular array hole that yoke medial surface has two groups of radiuses different, that biggish group annular array hole of radius for realizing annular forever The disassembly and maintenance of magnet, that lesser group annular array hole of radius, for magnetic conduction heel piece and interior on the outside of being realized by screw The fixation and positioning of side magnetic conduction heel piece, outside magnetic conduction heel piece and inside magnetic conduction heel piece are by high-permeability material (such as silicon steel, iron nickel Alloy) it is prepared, play the role of dredging and gathers magnetic induction line.The positioning sleeve is that member is positioned made of non-permeable material Part, one end cap is on the outside on the round outside but spuare inside axis of magnetic conduction heel piece center, and another end cap is in interior side magnetic conduction heel piece outer circle In the outer circle of square shaft, for guaranteeing the concentricity of outside magnetic conduction heel piece and inside magnetic conduction heel piece.The annular permanent magnet is embedded in In groove between outside magnetic conduction heel piece and inside magnetic conduction heel piece, inner and outer magnetic conduction heel piece wraps annular permanent magnet body side surface The cylindrical surface and.Outside magnetic conduction heel piece is fixed together through shaft end screw with magnetic wheel driven automatic scan axis, outside yoke and inside magnetic conduction heel piece It is tightened by the threaded hole of respective side through screw fixation.Magnet-wheel outer rubber is coated on outside magnetic conduction heel piece and inside conductive magnetic yoke On iron outer surface, generation is avoided to be coated on permanent magnet the case where permanent magnet high temperature is demagnetized, magnet-wheel outer rubber is used to increase Big magnet-wheel frictional force, prevents magnet-wheel from having skidded phenomenon during rotation, realizes climbing robot on magnetic conduction wall surface 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 the pole N, through outside magnetic conduction Yoke is dredged gather after, pass through magnetic conductivity wall surface, flow through inside magnetic conduction heel piece, finally flow back to the pole annular permanent magnet S, form and close Magnetic strength line loop is closed, magnetic strength line use ratio is improved, increases adsorption capacity of the climbing robot on magnetic conduction wall surface.Avoid magnetic Wheel has skidded phenomenon during rotation, realizes climbing robot flexibly creeping on magnetic conductivity wall surface.
It is designed based on modularized car body, climbing robot is designed as two mutually indepedent, symmetrical car body modules. Two car body module outer dimensions connect plane using the two with internal structure and are arranged symmetrically as symmetry axis, and two module room machines With it is electrical completely isolated, be provided simultaneously with independent dustproof and waterproof function.When encountering narrow restricted clearance, which is torn open It unloads, transport, is easy to assembly quick.Different mechanical arms can be selectively carried according to different mission requirements, changed conveniently.Module Change the portability that design concept improves climbing robot, convenient for mentioning by small space (as passed through oil tank outer surface circular hole) High its adaptability and working efficiency.
The wheel-type permanent-magnet absorbing unit uses interlayer structure.The side and cylindrical surface of annular permanent magnet are by the magnetic conduction of two sides Yoke sufficiently wraps up, and on the cylindrical surface of permanent magnet, there are the air gaps of one fixed width, form a kind of interlayer structure.Annular permanent magnet Its magnetic induction line flows through outside magnetic conduction heel piece from the pole N, after passing through magnetic conductivity wall surface, flows through inside magnetic conduction heel piece, finally flows back to The pole annular permanent magnet S.The sandwich type structural makes annular permanent magnet magnetic induction line gather together, and magnetic induction line is made to pass through magnetic conductivity wall surface Closed circuit is formed, the utilization rate of annular permanent magnet magnetic induction line is substantially improved, is adsorbed on climbing robot more firmly and leads On magnetic wall surface.
The robot integrally uses four-wheel four-drive forms of motion, and unilateral two magnet-wheel of car body rotates at the same speed.The robot or so Two sides gear unit is all made of toothed belt transmission, and car body driving motor is transmitted to car body after retarder slows down, by power and torque On front output shaft.Car body front output shaft and car body rear output shaft parallel arrangement, and car body synchronous pulley is fixedly mounted in one end, separately Wheel-type permanent-magnet absorbing unit is fixedly mounted in one end.Car body synchronous belt is tensioned between two car body synchronous pulleys, thus by exporting before car body Power and torque on axis are transmitted on car body rear output shaft, to realize the synchronized rotation with two magnet-wheel of side body, the left and right sides It is driven identical, realizes the four-wheel four-drive forms of motion of entire car body.
Car body uses integral seal, and it is close that left box body in the upper surface that it is contacted with left box body upper cover plate opens up rectangle Groove is sealed, it is with drive end bearing bracket and rear end cap junction opens up ring packing groove centered on output shaft, when itself and left railway carriage Realize that the entirety of car body is quiet close by the rubber o-ring arranged in sealed groove when body upper cover plate, drive end bearing bracket are connected with rear end cap Envelope.It is offered 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 realizes the rotary dynamic sealing of car body, is finally reached entire car body totally enclosed type for placing rubber o-ring The purpose of sealing.Whole static seal and rotary dynamic sealing keep climbing robot vehicle body and external environment completely isolated, make It obtains robot and is still able to maintain good leakproofness in Quick-climbing on magnetic conductivity wall surface, realize robot in adverse circumstances Under normal operation.
The wheeled magnetic adsorption wall climbing robot of the modularization specifically includes two mutually independent 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 outer dimension and internal structure by the two connect plane centered on be arranged symmetrically, wherein left body module master It will be by left box body, left box body driving motor 103, left box body motor driver, left box body retarder 101, left railway carriage Body front output shaft, left box body synchronous belt 106, left box body synchronous pulley 109 and 111, left 104 structure of box body rear output shaft At.
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 board, left box body outer handle 102, left vehicle Box back tail portion handle 107, left box body front end handle, left box body driving motor 103 and left box body retarder 101 Support member, left 101 hold-down support of box body retarder, left box body motor driver support fixed bracket, left front end cap, left back end Lid, locating piece yin 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 board, 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 is fixedly mounted on left box body upper surface and inner side end through screw.The left box body upper cover plate lower right corner Position is vertically arranged there are four waterproof anti-explosion plug hole 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 driving motor 103 and left 101 supporting element of box body retarder are fixed through screw Inside left box body, a kind of cage structure is formed, driving motor 103 and retarder 101 are placed in inside cage, it can not only Stable support motor and retarder can also improve car body strengths in tension and compression.Left box body motor driver supports fixed bracket It is fixed on left box body inside chassis side protruding parts through screw, left box body motor driver is fixedly installed in a left side through screw Box body motor driver supports on fixed bracket.Left box body retarder hold-down support upper end is fixed on left box body retarder Mounting flange on, bottom end is fixed in left box body bottom cover plate through screw, for realizing the fixation of left box body retarder With positioning.The left front end cap is located at the outer fix that left box body front output shaft is in contact with left box body side cover plate, left back End cap be located at the outer fix that left box body rear output shaft is in contact with left box body side cover plate, left front end cap and left back end cap with Output shaft is in contact position using sound double containment, so that realizing will be isolated inside left box body with left box body external environment It opens.The left box body opens up rectangular seal in the upper surface that it is contacted with left box body upper cover plate and side cover plate and side end face Groove, it is with left front end cap and left back end cap junction opens up ring packing groove centered on output shaft, when itself and left vehicle Car body is realized by the O-ring arranged in sealed groove when box cover plate, side cover plate, left front end cap are connected with left back end cap Whole static seal.Left box body front output shaft with left front cover board be in contact position and left box body output rear axle with left back cover board The position that is in contact offers ring packing groove, for placing rubber o-ring, realizes the rotary dynamic sealing of car body.Finally reach The purpose sealed to entire car body totally enclosed type.
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 is located at left and right box body front end handle and rear end tails handle after two box body modules are stitched together when left and right To positive alignment, bolt passes through the through-hole and cooperates with nut through-hole on 107, realizes the rapid and convenient splicing of left and right box body.? Left box body bottom cover plate is in contact in the middle part of the chassis of position with left box body inside cover plate, is mounted with locating piece through screw Yin 110 is in contact with right box body inside cover plate in the middle part of the chassis of position, through screw installation fixation in right box body bottom cover plate There is locating piece sun 119.The locating piece sun 119 is a band bulge-structure, and locating piece yin 110 is a band sunk structure, is being positioned Three groups of threaded holes being distributed vertically are distributed on block sun 119 and locating piece yin 110, when positive 119 convex portions of locating piece are with positioning Block 110 depressed sections of yin are combined together, left and right box body to just fitting together, then through screw by locating piece sun 119 with it is fixed Position block yin 110 is screwed together.Bolts and nuts and locating piece sun 119 across handle side through-hole realizes a left side with yin 110 The quick splicing of right box body.
After the left box body driving motor 103 and left box body retarder 101 are fixed on together, it is arranged vertically at Left box body driving motor and left box body retarder supporting element 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 upper end is fixed on left railway carriage through the fixation flange aperture of left box body retarder 101 on body retarder, bottom end is fixed in left box body bottom cover plate, realizes consolidating driving motor 103 and retarder 101 Fixed and positioning.Left box body front output shaft is fixedly mounted on bearing spider after running through left box body retarder 101, left railway carriage Body output rear axle 104 and left box body export that front axle is parallel to be fixed on bearing spider, left box body front output shaft and left railway carriage Left box body synchronous pulley 109 and 111 is fixedly mounted in the equal one end of body rear output shaft 104, and wheel-type permanent-magnet absorption is fixedly mounted in one end Unit 210 and 220 is tensioned left box body synchronous belt 106 between two left box body synchronous pulleys 109 and 111, thus by left railway carriage The power and torque of body driving motor output are transmitted on left box body output rear axle 104, to realize unilateral two magnet-wheel 210 of car body With 220 synchronized rotation, realize the four-wheel four-drive form of entire car body.
The wheel-type permanent-magnet absorbing unit is mainly by annular permanent magnet 217, outside magnetic conduction heel piece 211, inside 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 (such as neodymium iron boron) The cyclic structure being prepared, and axial charging mode is taken, which is used to provide the strong magnetic for generating adsorption capacity Environment.Outside magnetic conduction heel piece 211 is column " mountain " character form structure, and position is fixed with for magnetic wheel driven automatic scan and assembly in its center Round outside but spuare inside hollow shaft, and there are four annular array threaded holes for 211 medial surface of outside magnetic conduction heel piece, for cooperating inside conductive magnetic yoke The threaded hole of 213 side of iron four realizes the assembly of magnet-wheel.Inside magnetic conduction heel piece 213 is column " king " character form structure, in its center Position is equally fixed with a round outside but spuare inside hollow shaft, assembles and drives for magnet-wheel.Magnetic conduction heel piece 213 medial surface in inside has two groups The different annular array hole of radius, that biggish group annular array hole 214 of radius for realizing annular permanent magnet disassembly with Maintenance, that lesser group annular array hole 215 of radius, for realizing outside magnetic conduction heel piece 211 and inside magnetic conduction by screw The fixation and positioning of yoke 213, outside magnetic conduction heel piece 211 and inside magnetic conduction heel piece 213 by high-permeability material (such as silicon steel, Iron-nickel alloy) it is prepared, play the role of dredging and gathers magnetic induction line.The positioning sleeve 219 is one by non-permeable material system At setting element, part of it set in the outer circle of the round outside but spuare inside axis of magnetic conduction heel piece 211, holds out against outside magnetic conduction heel piece on the outside, Another part covers in the outer circle of the round outside but spuare inside axis of inside magnetic conduction heel piece 213, for guaranteeing outside magnetic conduction heel piece and inside magnetic conduction The concentricity of yoke.The annular permanent magnet 217 is embedded in recessed between outside magnetic conduction heel piece 211 and inside magnetic conduction heel piece 213 In slot, inner and outer magnetic conduction heel piece wraps 217 side of annular permanent magnet and cylindrical surface.Outside magnetic conduction heel piece 211 is through shaft end Screw is fixed together with magnetic wheel driven automatic scan axis 216, the screw thread that outside yoke 211 and inside magnetic conduction heel piece 213 pass through respective side It is tightened through screw fixation in hole.Magnet-wheel outer rubber 212 is coated on outside magnetic conduction heel piece 211 and 213 outer surface of inside magnetic conduction heel piece On, avoid generation from being coated on permanent magnet the case where permanent magnet high temperature is demagnetized, magnet-wheel outer rubber 212 is used to increase magnet-wheel Frictional force prevents magnet-wheel from having skidded phenomenon during rotation, realizes that climbing robot flexibly moves on magnetic conduction wall surface.

Claims (5)

1. a kind of wheeled magnetic adsorption wall climbing robot of modularization, it is characterized in that: including two mutually independent car body modules and four The identical wheel-type permanent-magnet absorbing unit of group structure, described two mutually independent car body modules are divided into left body module and right body Module, the two structure is identical, and shape and internal structure by the two connect plane centered on be arranged symmetrically, wherein left body Module passes through left box body motor driver, left box body retarder by the intracorporal left box body driving motor (103) of left railway carriage (101) it is connect with left box body front output shaft, left box body front output shaft passes through left box body synchronous belt (106), left box body Synchronous pulley (109), is connected and composed with left box body rear output shaft (104) (111);
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 After side cover plate, left box body cover board of front end, left box body rear end tails cover board, left box body outer handle (102), left box body Hold tail portion handle (107), left box body front end handle, left box body driving motor (103) and left box body retarder (101) branch Support member, left box body retarder (101) hold-down support, left box body motor driver support fixed bracket, left front end cap, left back End cap, locating piece negative (110), locating piece positive (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 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 are pacified through screw is fixed On left box body upper surface and inner side end;Left box body upper cover plate lower right position is vertically arranged there are four of different sizes Waterproof anti-explosion plug hole, for car body integral sealed cabling and mechanical with being isolated electrically;
The left box body driving motor (103) and left box body retarder (101) supporting element are fixed on left box body through screw Inside constitutes a kind of cage structure, and driving motor (103) and retarder (101) are placed in inside cage structure, can not only be steady Fixed support motor and retarder can also improve car body strengths in tension and compression,
Left box body motor driver supports fixed bracket to be fixed on left box body inside chassis side protruding parts through screw, left Box body motor driver is fixedly installed in left box body motor driver through screw and supports on fixed bracket, and left box body slows down Device hold-down support upper end is fixed on the mounting flange of left box body retarder, and bottom end is fixed on left box body bottom cover through screw On plate, for realizing the fixation and positioning of left box body retarder, the left front end cap is located at left box body front output shaft and a left side The outer fix that box body side cover plate is in contact, left back end cap are located at left box body rear output shaft and connect with left box body side cover plate The outer fix of touching;
The left front end cap and left back end cap of the left box body are in contact position for sound double containment, for realizing a left side with output shaft Keep apart inside box body with left box body external environment;I.e. left box body is contacted at it with left box body upper cover plate and side cover plate Upper surface and side end face open up rectangular seal groove, at it with left front end cap and during left back end cap junction with output shaft is The heart opens up ring packing groove, the connection with left box body upper cover plate, side cover plate, left front end cap and left back end cap, by close Seal the whole static seal that the O-ring arranged in groove realizes car body;It is in contact position in left box body front output shaft with left front end cap It sets and offers ring packing groove with the left back end cap position that is in contact with left box body rear output shaft, for placing RUBBER O shape Circle realizes the rotary dynamic sealing of car body, reaches the fully closed sealing of entire car body.
2. the wheeled magnetic adsorption wall climbing robot of a kind of modularization according to claim 1, it is characterized in that: the left box body Rear end tails handle (107) and left box body front end handle upper side position have been vertically arranged one group of through-hole, after right box body End tail portion handle (107) and right box body front end handle upper side position have similarly been vertically arranged one group of through-hole, for a left side Right two box body modules are stitched together, the through-hole pair being located on left and right box body front end handle and rear end tails handle (107) Positive alignment, bolt pass through the through-hole and cooperate with nut, realize the rapid and convenient splicing of left and right box body;In left box body bottom cover Plate is in contact in the middle part of the chassis of position with left box body inside cover plate, locating piece yin (110) is fixed with through screw, in right box body Bottom cover plate is in contact in the middle part of the chassis of position with right box body inside cover plate, and it is positive (119) to be mounted with locating piece through screw; The locating piece positive (119) is a band bulge-structure, and locating piece yin (110) is a band sunk structure, in locating piece positive (119) and Three groups of threaded holes being distributed vertically are distributed on locating piece yin (110), for positive (119) convex portion of locating piece with locating piece yin (110) depressed section is combined together, and makes left and right box body to just fitting together, then through screw by locating piece positive (119) with Locating piece yin (110) is tightened to together;Across the bolts and nuts and locating piece of handle side through-hole positive (119) and fixed Position block negative (110) combines connection, for realizing the quick splicing of left and right box body.
3. the wheeled magnetic adsorption wall climbing robot of a kind of modularization according to claim 1, it is characterized in that: the left box body After driving motor (103) and left box body retarder (101) are fixed together, it is arranged vertically at left box body driving motor and a left side Box body retarder supporting element (105) is built inside the cage structure of composition;Left box body retarder hold-down support (108) is one "convex" shaped shape, the upper end are fixed on left box body retarder (101) through the fixation flange aperture of left box body retarder, Bottom end is fixed in left box body bottom cover plate, for realizing by the fixation of driving motor (103) and retarder (101) and calmly Position;Left box body front output shaft is fixed on bearing spider through left box body retarder (101), and left railway carriage daughter exports rear axle (104) parallel with left box body front output shaft to be fixed on bearing spider, it is exported after left box body front output shaft and left box body The fixed left box body synchronous pulley (109,111) in axis (104) one end, the fixed wheeled permanent magnetic suck unit (210,220) in one end, It is tensioned left box body synchronous belt (106) between two left box body synchronous pulleys (109,111), is used for left box body driving motor The power and torque of output are transmitted on left box body rear output shaft 104, realize that the synchronized of unilateral two magnet-wheel of car body (210,220) turns It is dynamic, realize the four-wheel four-drive form of entire car body.
4. the wheeled magnetic adsorption wall climbing robot of a kind of modularization according to claim 1, it is characterized in that: the wheel-type permanent-magnet Absorbing unit is by annular permanent magnet (217), outside magnetic conduction heel piece (211), inside magnetic conduction heel piece (213), positioning sleeve (219) and magnetic Outer rubber (212) to be taken turns to constitute, the annular permanent magnet (217) is by strong magnetic material: the cyclic structure that neodymium iron boron is prepared, The cyclic structure is axial charging state, which is used to provide the strong magnetic environment for generating adsorption capacity;It leads in the outside Magnetic vibrating feeder yoke (211) is column " mountain " character form structure, and position is fixed with for the round outside but spuare inside of magnetic wheel driven automatic scan and assembly in its center Hollow shaft, and there are four annular array threaded holes for outside magnetic conduction heel piece (211) medial surface, for cooperating inside magnetic conduction heel piece (213) threaded hole of side four realizes the assembly of magnet-wheel;Inside magnetic conduction heel piece (213) is column " king " character form structure, wherein Heart position is equally fixed with a round outside but spuare inside hollow shaft, assembles and drives for magnet-wheel;Inside magnetic conduction heel piece (213) medial surface has The different annular array hole of two groups of radiuses, that biggish group annular array hole (214) of radius is for realizing annular permanent magnet Disassembly and maintenance, that lesser group annular array hole (215) of radius, for realizing outside magnetic conduction heel piece (211) by screw With the fixation and positioning of inside magnetic conduction heel piece (213), outside magnetic conduction heel piece (211) and inside magnetic conduction heel piece (213) are by high magnetic Conductivity material: silicon steel, iron-nickel alloy are prepared, and play the role of dredging and gather magnetic induction line, the positioning sleeve (219) be one by Setting element made of non-permeable material, part of it set in the outer circle of magnetic conduction heel piece (211) round outside but spuare inside axis, push up on the outside Tight outside magnetic conduction heel piece, another part cover in the outer circle of inside magnetic conduction heel piece (213) round outside but spuare inside axis, for guaranteeing that outside is led The concentricity of magnetic vibrating feeder yoke and inside magnetic conduction heel piece;The annular permanent magnet (217) is embedded in outside magnetic conduction heel piece (211) and inside In groove between magnetic conduction heel piece (213), inner and outer magnetic conduction heel piece wraps annular permanent magnet (217) side and cylinder Face;Outside magnetic conduction heel piece (211) is fixed together through shaft end screw with magnetic wheel driven automatic scan axis (216), outside magnetic conduction heel piece (211) and Inside magnetic conduction heel piece (213) is tightened by the threaded hole of respective side through screw fixation;Be coated on outside magnetic conduction heel piece (211) and Magnet-wheel outer rubber (212) on inside magnetic conduction heel piece (213) outer surface, for avoid permanent magnet high temperature demagnetize the case where hair It is raw, and prevent magnet-wheel from having skidded phenomenon during rotation.
5. a kind of production method of the wheeled magnetic adsorption wall climbing robot of modularization as described in claim 1, it is characterized in that: using Two mutually indepedent, symmetrical car body modules, two mutually indepedent, symmetrical car body module shapes and internal structure It is arranged symmetrically using the two connection plane as symmetry axis, the wheeled magnetic adsorption wall climbing robot of the modularization of production, and two modules Room machine and electrical completely isolated, is provided simultaneously with independent dustproof and waterproof function;
The wheel-type permanent-magnet absorbing unit used is interlayer structure, i.e., the side and cylindrical surface of annular permanent magnet are by the conductive magnetic yoke of two sides Iron sufficiently wraps up, and on the cylindrical surface of permanent magnet, there are the air gaps of a width, form a kind of interlayer structure;Its magnetic of annular permanent magnet Line is felt from the pole N, flows through outside magnetic conduction heel piece, after passing through magnetic conductivity wall surface, is flowed through inside magnetic conduction heel piece, is finally flowed back to annular Permanent magnet S pole;The interlayer structure makes annular permanent magnet magnetic induction line gather together, and so that magnetic induction line is passed through magnetic conductivity wall surface and is formed Closed circuit substantially improves the utilization rate of annular permanent magnet magnetic induction line, climbing robot is made more firmly to be adsorbed on magnetic conductivity On wall surface;
The four-wheel four-drive forms of motion of use, unilateral two magnet-wheel of car body rotate at the same speed, and gear unit is equal at left and right sides of the robot Using toothed belt transmission, power and torque are transmitted on car body front output shaft, car body by car body driving motor after retarder slows down Front output shaft and car body rear output shaft parallel arrangement, and car body synchronous pulley is fixedly mounted in one end, wheel is fixedly mounted in the other end Formula permanent magnetic suck unit;Car body synchronous belt is tensioned between two car body synchronous pulleys, thus by power and torque on car body front output shaft It is transmitted on car body rear output shaft, to realize the synchronized rotation with two magnet-wheel of side body, left and right sides transmission is identical, realizes whole The four-wheel four-drive forms of motion of a car body;
The car body integral seal of use, the left box body open up rectangle in the upper surface that it is contacted with left box body upper cover plate Sealed groove, it is with drive end bearing bracket and rear end cap junction opens up ring packing groove centered on output shaft, when itself and left vehicle Realize that the entirety of car body is quiet by the rubber o-ring arranged in sealed groove when box cover plate, drive end bearing bracket are connected with rear end cap It seals, is opened 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, realizes the rotary dynamic sealing of car body, it is totally-enclosed to be finally reached entire car body The purpose of formula sealing;Whole static seal and rotary dynamic sealing keep climbing robot vehicle body and external environment completely isolated, So that robot is still able to maintain good leakproofness in Quick-climbing on magnetic conductivity wall surface, robot is realized in severe ring Normal operation under border,
The wheel-type permanent-magnet absorbing unit of use is by annular permanent magnet, outside magnetic conduction heel piece, inside magnetic conduction heel piece, positioning sleeve, magnet-wheel Outer rubber is constituted, and annular permanent magnet therein is prepared by strong magnetic material neodymium iron boron, for providing strong magnetic environment, and is adopted With 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 assembly, and there are four annular array threaded holes for outside magnetic conduction heel piece medial surface, for cooperating outside conductive magnetic yoke The threaded hole of iron side four realizes the positioning and fixing in magnet-wheel assembling process;Inside magnetic conduction heel piece is column " king " font knot Structure, position is equally fixed with a round outside but spuare inside hollow shaft in its center, assembles and drives for magnet-wheel, in the magnetic conduction heel piece of inside The annular array hole that side has two groups of radiuses different, that biggish group annular array hole of radius is for realizing annular permanent magnet Disassembly and maintenance, that lesser group annular array hole of radius, for realizing outside magnetic conduction heel piece and inside magnetic conduction by screw The fixation and positioning of yoke, outside magnetic conduction heel piece and inside magnetic conduction heel piece are by the silicon steel of high-permeability material, iron-nickel alloy system It is standby to form, play the role of dredging and gathers magnetic induction line;
The positioning sleeve used is setting element made of non-permeable material, one end cap magnetic conduction heel piece center on the outside On round outside but spuare inside axis, another end cap in the outer circle of the interior round outside but spuare inside axis of side magnetic conduction heel piece, for guarantee outside magnetic conduction heel piece with The concentricity of inside magnetic conduction heel piece;The annular permanent magnet of use is embedded in recessed between outside magnetic conduction heel piece and inside magnetic conduction heel piece In slot, inner and outer magnetic conduction heel piece wraps annular permanent magnet body side surface and cylindrical surface;Outside magnetic conduction heel piece through shaft end screw with Magnetic wheel driven automatic scan axis is fixed together, and outside magnetic conduction heel piece and inside magnetic conduction heel piece are fixed by the threaded hole of respective side through screw It tightens;Magnet-wheel outer rubber is coated on outside magnetic conduction heel piece and inside magnetic conduction heel piece outer surface, and generation is avoided to be coated on permanent magnetism The case where making permanent magnet high temperature demagnetize on body, magnet-wheel outer rubber are used to increase magnet-wheel frictional force, prevent magnet-wheel from rotating Phenomenon is had skidded in journey, realizes that climbing robot flexibly moves on magnetic conduction wall surface;
When sandwich wheel-type permanent-magnet absorbing unit works, the magnetic induction line of annular permanent magnet is flowed out from the pole N, is dredged through outside magnetic conduction heel piece It leads after gathering, passes through magnetic conductivity wall surface, flow through inside magnetic conduction heel piece, finally flow back to the pole annular permanent magnet S, form closure magnetic strength Line loop improves magnetic strength line use ratio, increases adsorption capacity of the climbing robot on magnetic conduction wall surface, avoids magnet-wheel and is turning Phenomenon is had skidded during dynamic, realizes climbing robot flexibly creeping on magnetic conductivity wall surface.
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