CN106915389A - A kind of magnetic adsorbability self-adaptive regulating and method based on spring deformation - Google Patents
A kind of magnetic adsorbability self-adaptive regulating and method based on spring deformation Download PDFInfo
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- CN106915389A CN106915389A CN201710241481.9A CN201710241481A CN106915389A CN 106915389 A CN106915389 A CN 106915389A CN 201710241481 A CN201710241481 A CN 201710241481A CN 106915389 A CN106915389 A CN 106915389A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The present invention relates to a kind of magnetic adsorbability self-adaptive regulating based on spring deformation and method that wall dolly is climbed for non-contact permanent magnetic.It overcome it is existing absorption apparatus for adjusting force cannot self adaptation real-time regulation, reach and directly test and control to adjust magnetic adsorbability.Its technical scheme：The adsorbing mechanism of the self-adaptive regulating is arranged on dolly chassis bottom with elevating mechanism, adsorbing mechanism is connected by spring, spring inner specifies motion path with sliding guide, and the leading screw of elevating mechanism is connected with the nut being fixed on brass sheet, and displacement transducer is connected on plate；Travel mechanism is arranged on dolly chassis both sides and bottom；Control reponse system is arranged on the top of dolly chassis, and the information of detection is processed through system and passes to controller, the signal data contrast that will be obtained.Magnetic adsorbability Automatic adjusument is realized by changing the deformation quantity of spring.That the present apparatus has the advantages that motion is flexibly loaded is big, and directly regulation magnetic adsorbability controls the absorption affinity size to apply under complex working condition.
Description
Technical field
The self-adaptive regulating and method of magnetic adsorbability are adjusted based on spring deformation amount the present invention relates to a kind of, it is wide
The general non-contact permanent magnetic that is applied to climbs wall dolly.
Background technology
Climbing robot is a kind of operation to be carried out in vertical walls and the automation with mobile and adsorption function sets
It is standby, it is applied to storage tank defects detection, with good applicability.But for large-scale storage tank, its tank wall thickness from
Foundation ring can be thinning successively to collar, meanwhile, tank skin is likely to occur the situation of the wall out-of-flatness such as pit or projection, and this requirement is climbed
Wall robot must have the ability that (1) independently adapts to wall thickness change；(2) with the adsorption capacity of movement which matches；(3) obstacle detouring energy
Power.For the wall of ferrimagnet, generally using permanent magnet as absorptive element.Permanent magnetic adhesion device is separated with tested wall
Certain interval, produces magnetic adsorbability between the two, and magnetic attraction is bigger, and resistance of motion during robot motion is bigger, its motion spirit
Activity is poorer；Magnetic attraction is smaller, and robot motion is more flexible, but it is likely to occur in crawling process and topples, it is impossible to work.Inhale
Attached system is needed to weigh the size of absorption affinity in stabilization absorption with flexible motion, and this is deposited for climbing robot adsorption system
In technical barrier, therefore a kind of adjustable permanent magnetic suck system of absorption affinity of design has important future in engineering applications.
For the adjustable permanent magnetic suck system of absorption affinity, permanent magnet is generally placed in crawler belt, wheel at home and abroad studying
Or on chassis, the control using change permanent magnet arrangement mode or by adjusting the size of air gap to realize to absorption affinity.Text
Offer：In the research (Zhang Qiangqiang Institutes Of Technology Of Taiyuan, 2013) of the wheeled climbing robot of variable magnetic force permanent magnetism, it is proposed that Yi Zhongxin
The variable magnetic force permanent magnetism car wheel structure of type, is mutually rotated to an angle by permanent magnetism wheel outer ring yoke with permanent magnet, is changed forever
The magnetic force size that magnetic wheel is produced, realizes magnetic force adjustment；U.S.Pat.NO.6,125,955 equally also devises magnetic wheel type absorption
Device, wheel include some adjacent annular permanent magnetism magnetic pole groups, permanent magnet disk array on the circumference of magnetic pole group, on each wheel hub
A permanent magnetism magnetic pole group is at least fixed, other magnetic pole groups are connected with spring assembly, for the wall not usually change of absorption affinity.Magnetic
Wheeled design defect is wheel too small with the contact area of wall, and magnetic energy utilization rate is low, while magnetic adsorbability is small, to full
Sufficient load request, then need to increase magnet-wheel, and can so cause the deadweight of climbing robot increases, and loses the flexibility of motion.
U.S.Pat.NO.9428231 proposes to install a hitch with elastic runner chain on robot chassis,
Permanent magnet is placed in adsorbent equipment, can be realized in the presence of telescopic spring when uneven wall is run into；
The patents such as U.S.Pat.NO.3810515, U.S.Pat.NO.6793026, Chinese Patent Application No. CN201010289541.2 with
And article：Development (the Xue Sheng hero mechanical engineering journals of magnetic-gap wall-climbing robot：2011,47 (21)：037-42) propose,
Magnetic gap between absorbing unit and experiment steel plate is adjusted by magnetic gap adjusting means, but only to realize absorption affinity big for such device
It is small adjustable, the function without the regulation of absorption affinity size adaptation.
Chinese Patent Application No. 201410677649.7 " a kind of permanent magnet platform and using this between the permanent magnetism of magnet platform
Gap adsorbent equipment " proposes that manually knob and range sensor are engaged, and control the lifting of elevating mechanism to adjust permanent magnet
The distance of platform and magnetic conduction wall, so as to adjust the load capacity of magnetic adsorbability and climbing robot；Paper：Tank wall is creeped
Robot key technology research (Sun Ying flies Daqing Petroleum Institutes, 2010) and plant oil tank climbing robot permanent magnetic suck with
The permanent magnetic chuck device of research (Han Haimin He'nan University of Technology, the 2014) design of flexible mobility, by up-down deflection
Structure realizes that gap changes, and the latter provides internal balance power between body panels and support frame by installing spring.Also
The design that permanent magnet arrangement side is combined control magnetic adsorbability size simultaneously with regulation air gap, such as paper will be changed：It is wheeled to climb wall
Robot magnetic suck performance and the wheeled climbing robot of Magnetic Control research (tower month in and month out Northeast Petroleum University, 2012) design
Adsorbing mechanism includes two parts, it is possible to provide four magnetic wheels of constant magnetic adsorbability and four magnetic of the variable magnetic adsorbability of offer
Property sucker, magnetic chuck is embedded in the shell that NULL is made, and it controls it to lift by leading screw, two coupled non-thread
What property spring was adsorbed to it has controlled certain booster action, by the angle or air gap of the feedback control magnetic chuck of sensor
Size.Several magnetic gap adjusting meanss measure magnetic gap distance values to change the size of absorption affinity by range sensor above, this
It is a kind of method of indirect regulation magnetic adsorbability size, but the change of storage tank wall thickness can change the magnetized state of tank skin
Become, so as to influence the size of absorption affinity, cause in the case of same gap correspondence different wall, its absorption affinity is inconsistent.Therefore, on
The method of stating cannot accurately determine the absorption affinity size of robot in the case of change wall thickness, so as to can not accurately control absorption affinity to be maintained at
In optimal number range.
The content of the invention
The purpose of the present invention is：In order to overcome it is existing absorption apparatus for adjusting force cannot self adaptation real-time regulation, for
The requirement that wall dolly magnetic adsorbability realizes accurate regulation is climbed in the case where wall thickness state is become, directly to test and control to adjust magnetic suck
The principle of the spring deformation amount that power causes, develop it is a kind of based on spring deformation amount come adjust magnetic adsorbability Automatic adjusument fill
Put and method, it is widely used under the operating mode of complexity.
The technical scheme is that：The adjusting means is by travel mechanism, adsorbing mechanism, elevating mechanism and control feedback
System is constituted, and the adsorbing mechanism is connected installed in dolly chassis bottom with elevating mechanism；Adsorbing mechanism is connected by spring, spring
Internal sliding guide specifies motion path；The leading screw of elevating mechanism is connected with the nut screw being fixed on brass sheet, brass
Displacement transducer is connected with plate；The travel mechanism is arranged on the both sides and bottom of dolly chassis, and travel mechanism drives whole
Wall dolly is climbed to be operated；The control reponse system is arranged on the top of dolly chassis.
Described travel mechanism includes：Wheel driving motor 3 (a, b, c, d), driving wheel 1 (a, b, c, d), chassis 2, wherein：Wheel
Drive motor 3 (a, b, c, d) and be separately mounted to the bottom of dolly chassis 2, its motor output shaft be connected to driving wheel 1 (a, b,
C, d) and the both sides of dolly chassis 2 are also separately fixed at, the effect of moving cart is to drive whole to climb wall dolly and be operated.
Described adsorbing mechanism includes：Magnet steel 13 (a, b, c, d), yoke 12 (a, b), by rectangular-shaped magnet steel 13 (a, b, c,
D) it is arranged in order in order, two ends bolt of magnet steel 13 or so is fixed on yoke 12 (a, b), the top of magnet steel 13 is fixed on liter
The bottom of the brass sheet B5 of descending mechanism.
Described elevating mechanism includes：Lifting motor 8, shaft coupling 9, leading screw 11, nut 10, brass sheet A4, brass sheet B5,
Spring 14 (a, b, c, d), sliding guide A7 and sliding guide B16 composition, wherein：The output shaft of lifting motor 8 with shaft coupling 9 with
Leading screw 11 is connected, and leading screw 11 is connected with the spiral of nut 10 being fixed on brass sheet A4；The upper end of spring 14 is welded on brass sheet
A4 bottoms, the lower end of spring 14 is welded on brass sheet B5 tops；The sliding guide B16 upper ends connect in it are welded on brass sheet A4；
Sliding guide B16 lower ends are slidably connected with brass sheet B5.
Described control reponse system includes displacement transducer 15 (a, b, c, d), data acquisition unit 17, controller 18, electricity
Source circuit 19, drive circuit 20, lifting motor 8.Wherein, displacement transducer 15 detects the deflection of extension spring, and drives defeated
Exit port exports high potential negative pulse data signal；The high potential negative pulse data signal is entered line level and is turned through data acquisition unit 17
Change, drag down into the 5v signals of suitable controller, send controller to；The signal data that controller will be obtained and the bullet for prestoring
The optimal deflection of spring (scope) is contrasted, and judges now whether spring is in optimal deformation stage, need not if in this stage
Control, needs to drive lifting motor 8 to rotate through overdrive circuit 20, so as to control to adjust the liter of plate if this stage is not at
Drop, power circuit 19 provides operating voltage for overall process.
The principle of the invention is as follows：In the range of the linear deformation of spring, by Hooke's law：
Wherein F, KF, Δ X, FmThe respectively tensile force of spring, the stiffness coefficient of spring, spring deflection, magnetic adsorbability.
According to above-mentioned formula, then can draw, the deflection Δ X of control spring 14 (a, b, c, d) can realize absorption affinity
The change of size；And in order to realize the Automatic adjusument to whole device, the present apparatus introduces control reponse system.
Adjusting method of the invention, for adjusting spring deformation quantity Δ X in above-mentioned self-adaptive regulating, including step is such as
Under：
1) whether the measurement spring deformation amount Δ X is in the optimum range of regulation；
2) result according to measurement adjusts the spring deformation amount Δ X so that optimum range of the spring deformation amount in regulation
It is interior.
Further, the step 1) it is specially：The spring that displacement transducer 15 (a, b, c, d) on brass sheet 4A is measured
The information of 14 deflections via control reponse system process, the deflection Δ X of spring 14 that controller 18 will be obtained with prestore
The optimal deformation range of spring (Δ X1~Δ X2) compare, if Δ X1≤ΔX≤ΔX2, controller 18 controls through drive circuit 20
Lifting motor 8 is stalled, and brass sheet 4A is in original position constant；
Further, if the result of measurement does not set in optimal deformation range (Δ X1~Δ X2) herein, step 2 is carried out)
Regulation, it is specially：If Δ X<ΔX1, controller 18 through drive circuit 20 control lifting motor 8 rotate forward, brass sheet 4A decline；
If Δ X>ΔX2, controller 18 through drive circuit 20 control lifting motor 8 invert, brass sheet 4A rise.
Further, after the spring deflection Δ X has been adjusted, repeat step 1), 2) until reaching the optimal shape of setting
Untill becoming scope (Δ X1~Δ X2).
Adjustable range (the Δ X of the spring 14 for being given in the entire system1~Δ X2), wherein Δ X1With Δ X2Respectively：Climb
When wall dolly is advanced with 1.5m/min and 2.5m/min, corresponding magnetic adsorbability (Fm) deformation quantity of spring 14 that causes, (Fm) meter
Calculating formula is：
Wherein v is the linear velocity of driving wheel 3；R is the radius of driving wheel 3；N is the rotating speed of wheel driving motor 1；P is wheel driving electricity
The power output of machine 1；fmThe stiction suffered by driving wheel 3；ρ is the averag density of driving wheel 3；β is angular acceleration；G attaches most importance to
Power acceleration；K is the proportionality coefficient of static friction and sliding friction, typically takes 1.3；μ is the coefficient of kinetic friction；FmIt is magnetic adsorbability.
The Fm for calculating is substituted into formula (1), can calculate the deformation quantity Δ X of spring1With Δ X2。
The beneficial effects of the invention are as follows：
(1) device travel mechanism of the invention is driven entirely using four-wheel, and suction type is adsorbed for non-contact gap, is had
Motion is flexible and loads big advantage.
(2) present invention take into account change wall thickness can cause magnetic adsorbability different so that the magnetized state of tube wall changes,
Therefore directly the regulation magnetic adsorbability spring deformation amount that causes controls absorption affinity size.
Brief description of the drawings
Fig. 1 is self-adaptive regulating overall structure diagram, in figure：
1-wheel driving motor, 2-chassis, 3-driving wheel, 4-brass sheet A 5-brass sheet B, 6-sliding bearing, 7-cunnings
Dynamic guide rod A
Fig. 2 is the primary structure schematic diagram of self-adaptive regulating, in figure：
8-lifting motor, 9-shaft coupling, 10-nut, 11-leading screw, 12-yoke, 13-magnet steel, 100-tank wall
Face
Fig. 3 is adsorbing mechanism and elevating mechanism interaction part-structure in self-adaptive regulating, in figure：
14-spring, 15-displacement transducer, 16-sliding guide B
Fig. 4 is the structural representation of the adsorbing mechanism of self-adaptive regulating, in figure：
Length W-the magnet steel of L-magnet steel, the width H-magnet steel of yoke, the thickness of the height Le-yoke of yoke
Fig. 5 is the schematic diagram of the Halbach magnetizing directions of self-adaptive regulating adsorbing mechanism, in figure：
Fig. 6 is the control reponse system schematic diagram of self-adaptive regulating, in figure：
15-displacement transducer, 17-data acquisition unit, 18-controller, 19-power circuit, 20-drive circuit
8-lifting motor
Specific embodiment
The present invention is specifically described below by embodiment, further the present invention will be described.
Such as Fig. 1, such as Fig. 2 and such as Fig. 3, the structure of the present embodiment include：Travel mechanism, elevating mechanism, adsorbing mechanism, control
Reponse system.Adsorbing mechanism is connected and positioned at dolly chassis bottom with elevating mechanism, and travel mechanism is located at the both sides of dolly chassis
And bottom, control reponse system is positioned at the top of dolly chassis.
Described travel mechanism includes：Wheel driving motor 1, driving wheel 3, chassis 2, wherein：Wheel driving motor 1 (a, b, c, d) is solid
The bottom of dolly chassis 2 is scheduled on, its output shaft is fixedly connected on driving wheel 3 (a, b, c, d), and it is separately fixed at dolly chassis
2 both sides.Driving is entirely climbed wall dolly and is operated during the effect of travel mechanism.
Described elevating mechanism includes：Lifting motor 8, shaft coupling 9, the nut 10 of leading screw 11, brass sheet A4, brass sheet B5,
Spring 14, sliding guide A7, sliding guide B16, wherein：The output shaft of motor 8 is connected by shaft coupling 9 with leading screw 11, and
Leading screw 11 is connected with the spiral of nut 10 being fixed on brass sheet A4, spring 14 (a, b, c, d) be respectively welded at brass sheet A4 with
Between brass sheet B5, on brass sheet A4, bottom is slidably connected the sliding guide B16 upper welds connect in it with brass sheet B5.
Spring 14 select be cylindroid helical-coil extension spring, maximum allowable deflection Δ X=22mm, the spring of selection it is straight
Footpath d=2mm, central diameter D=14mm, number of active coils n=8.25, free height H0=31mm；Magnetic suck mechanism produces with tank body wall
Raw magnetic adsorbability is balanced by the elastic force that spring elongation is produced, from Hooke's law, by the deformation quantity for changing spring
The change absorption affinity size that Δ X can be quantified.
Leading screw 11 constitutes a pair of kinematic pairs with nut 10, and the pitch that both select respectively is 2mm and 3.5mm；Leading screw 11 exists
Rotated under the driving of lifting motor 8 so that brass sheet A4 moves along a straight line up and down, change the deformation quantity of spring 14, entered
And adjust the size of absorption affinity.
The effect of sliding guide A7 and sliding guide B16 is all to guide and stabilising arrangement, wherein：Sliding guide B16 is to draw
Guided missile spring 14 and brass sheet B5 move along a straight line up and down, and sliding guide A7 is to guide brass sheet A4 to move along a straight line up and down and rise to stablize whole
The effect of individual elevating mechanism.
Such as Fig. 2, adsorbing mechanism includes：Magnet steel 13, yoke 12, wherein：Magnet steel 13 (a, b, c, d) is arranged in order, its two ends
Be fixed by bolts to yoke 12 (a, b), and yoke 12 (a, b) respectively left and right be fixed on elevating mechanism brass sheet B5 bottom.
The NFeB that described magnetic steel material is selected, uses Halbach principles and is magnetized, wherein：L=60mm, W=
200mm, H=25mm, total size is：300mm×200mm×25mm；By the analysis of finite element software, during Δ X=20mm, magnetic
Absorption affinity is 2200N；During Δ X=3.5mm, magnetic adsorbability is 817N；Adjustable extent of the invention is：3.5mm≤ΔX≤
20mm。
Such as Fig. 6, control reponse system of the invention includes displacement transducer 15, data acquisition unit 17, controller 18, power supply
Circuit 19, drive circuit 20, lifting motor 8.Wherein, power circuit 19 provides operating voltage；Displacement transducer 15 (a, b, c, d)
Using Hall displacement transducer；Controller 18 uses STM32 single-chip microcomputers；Data acquisition unit 17 has multi pass acquisition function,
Extendible under Single-chip Controlling is 128 tunnels.
The adjusting method of self-adaptive regulating of the invention, for adjusting spring deflection Δ X in above-described embodiment, bag
Include following steps：
Be mounted with self-adaptive regulating of the present invention climbs wall dolly when by becoming wall thickness work wall, installed in brass
The deflection that displacement transducer 15 (a, b, c, d) on plate 4A detects extension spring 14 (a, b, c, d) is d, data acquisition electricity
The spring deflection that road 17 will detect sends controller 18 to, the spring deformation amount d that controller 18 will be obtained with prestore
The optimal deflection of spring (Δ X1~Δ X2) contrast, if Δ X1≤d≤Δ X2, controller 18 through drive circuit 20 control rise
Drop motor 8 is stalled, and brass sheet A4 is constant in original position, i.e., magnetic adsorbability is constant；If d<Δ X1, controller 18 is through drive circuit
20 control lifting motors 8 are rotated forward, and brass sheet 4A declines, i.e. magnetic adsorbability increase；If d>Δ X2, controller 18 is through drive circuit 20
Control lifting motor 8 is inverted, and brass sheet 4A rises, i.e., magnetic adsorbability reduces.
Steps be repeated alternatively until that the optimal deformation range (Δ X1~Δ X2) of deflection d regulations to the setting of spring is interior.
Claims (3)
1. a kind of magnetic adsorbability self-adaptive regulating based on spring deformation, wall dolly is climbed for non-contact permanent magnetic, described
Self-adaptive regulating is made up of travel mechanism, elevating mechanism, adsorbing mechanism, control reponse system, it is characterised in that：It is described
Adsorbing mechanism is connected and installed in dolly chassis bottom with elevating mechanism, and adsorbing mechanism is connected by spring, and spring inner is slided
Guide rod specifies motion path, and the leading screw of elevating mechanism is connected with the nut screw being fixed on brass sheet, is connected with brass sheet
Displacement transducer；The travel mechanism is arranged on the both sides and bottom of dolly chassis, and the effect of travel mechanism is to drive entirely to climb
Wall dolly is operated；It is described control reponse system be arranged on dolly chassis top, displacement transducer detection information via
Control reponse system treatment, passes to controller, and the signal data that controller will be obtained most preferably deforms with the spring for prestoring
Amount contrast, in the range of the linear deformation of spring, by the self adaptation for changing the deformation quantity of spring to realize magnetic adsorbability size
Regulation.
2. the magnetic adsorbability self-adaptive regulating of spring deformation is based on as claimed in claim 1, it is characterised in that：The liter
Descending mechanism is by lifting motor 8, shaft coupling 9, nut 10, leading screw 11, brass sheet A4, brass sheet B5, spring 14, sliding guide A7
Constituted with sliding guide B16, the output shaft shaft coupling 9 of its lifting motor 8 is connected with leading screw 11；Leading screw 11 be fixed on Huang
The spiral of nut 10 connection on copper coin A4；The upper end of spring 14 is welded on brass sheet A4 bottoms, and the lower end of spring 14 is welded on brass sheet
B5 tops；The sliding guide B16 upper ends connect in it are welded on brass sheet A4；Slided with brass sheet B5 sliding guide B16 lower ends
Connection.
3. the adjusting method of self-adaptive regulating as claimed in claim 1, it is characterised in that：First measure the spring deformation amount
Whether in the optimum range of regulation, its step is to measure the displacement transducer 15 (a, b, c, d) on brass sheet A4 to Δ X
The information of the deflection of spring 14 via control reponse system process, the deflection Δ X of spring 14 that controller 18 will be obtained with it is advance
The optimal deformation range of spring (the Δ X of storage1~Δ X2) compare, if Δ X1≤ΔX≤ΔX2, controller 18 is through drive circuit 20
Control lifting motor 8 is stalled, and brass sheet A4 is in original position constant；If the result for measuring does not set optimal deformation range herein
In (Δ X1~Δ X2), then adjust the spring deformation amount Δ X so that spring deformation amount in optimum range, its concrete operations
It is：If Δ X<Δ X1, controller 18 is rotated forward through the control lifting motor 8 of drive circuit 20, and brass sheet A4 declines；If Δ X>ΔX2,
Controller 18 is inverted through the control lifting motor 8 of drive circuit 20, and brass sheet A rises, and is adjusting the spring deformation amount Δ X
Afterwards, repeat the above steps, untill the optimal deformation scope (Δ X1~Δ X2) for reaching setting.
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| CN108945142A (en) * | 2018-08-20 | 2018-12-07 | 南昌大学 | A kind of adjustable permanent magnetism gap adsorbent equipment of the adsorption capacity based on internal balance theory |
| CN109050705A (en) * | 2018-08-22 | 2018-12-21 | 浙江大学 | Wall wheel is climbed in a kind of inflation of the magnetic adsorption type that deformation is stable |
| CN110434896A (en) * | 2019-09-10 | 2019-11-12 | 河北工业大学 | Barrier-crossing wall-climbing robot combined type variable magnetic force adsorption module |
| CN111439318A (en) * | 2020-05-09 | 2020-07-24 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Self-adaptive magnetic adsorption wall-climbing robot |
| CN111655567A (en) * | 2018-02-06 | 2020-09-11 | 沙特阿拉伯石油公司 | Spring-based magnetic attachment method for tracked vehicles |
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