CN106915389B - 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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- CN106915389B CN106915389B CN201710241481.9A CN201710241481A CN106915389B CN 106915389 B CN106915389 B CN 106915389B CN 201710241481 A CN201710241481 A CN 201710241481A CN 106915389 B CN106915389 B CN 106915389B
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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
Abstract
The present invention relates to a kind of magnetic adsorbability self-adaptive regulatings and method based on spring deformation that wall trolley is climbed for non-contact permanent magnetic.It overcomes the real-time adjusting that existing absorption apparatus for adjusting force can not be adaptive, reaches and directly tests and control to adjust magnetic adsorbability.Its technical solution: the adsorbing mechanism and elevating mechanism of the self-adaptive regulating are mounted on dolly chassis lower part, adsorbing mechanism is connected by spring, spring inner sliding guide provides that motion path, the lead screw of elevating mechanism are connect with the nut being fixed on brass sheet, and displacement sensor is connected on plate；Mobile mechanism is mounted on dolly chassis two sides and bottom；Control feedback system is mounted on the top of dolly chassis, and the information of detection is handled through system passes to controller, and obtained signal data is compared.Magnetic adsorbability automatic adjusument is realized by changing the deformation quantity of spring.It is big that the present apparatus has the advantages that movement flexibly loads, and directly adjusting magnetic adsorbability can apply under complex working condition to control adsorption capacity size.
Description
Technical field
The present invention relates to a kind of to adjust the self-adaptive regulating and method of magnetic adsorbability based on spring deformation amount, it is wide
The general non-contact permanent magnetic that is applied to climbs wall trolley.
Background technique
Climbing robot is a kind of to carry out operation in vertical walls and there is mobile and adsorption function automation to set
It is standby, it is applied to storage tank defects detection, there is good applicability.But for large-scale storage tank, tank wall thickness from
Foundation ring can successively be thinned to collar, meanwhile, the case where tank skin is likely to occur the wall surfaces out-of-flatness such as pit or protrusion, this requirement is climbed
The ability that wall robot must have (1) independently to adapt to wall thickness change；(2) adsorption capacity to match with movement；(3) obstacle detouring energy
Power.For the wall surface of ferrimagnet, permanent magnet is generallyd use as absorptive element.Permanent magnetic adhesion device is separated with tested wall surface
Certain interval generates magnetic adsorbability between the two, and magnetic attraction is bigger, and resistance of motion when robot motion is bigger, movement 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, and can not work.It inhales
Attached system is needed in the size stablized absorption with weigh adsorption capacity in flexible motion, this is deposited for climbing robot adsorption system
In technical problem, therefore designs a kind of adjustable permanent magnetic suck system of adsorption capacity there is important future in engineering applications.
For the adjustable permanent magnetic suck system of adsorption capacity, permanent magnet is generally at home and abroad placed in crawler belt, wheel in research
Or on chassis, the control to adsorption capacity is realized using permanent magnet arrangement mode or the size by adjusting air gap is changed.Text
It offers: in the research (Zhang Qiangqiang Institutes Of Technology Of Taiyuan, 2013) of the wheeled climbing robot of variable magnetic force permanent magnetism, proposing a kind of new
The variable magnetic force permanent magnetism car wheel structure of type mutually rotates 1 by permanent magnetism wheel outer ring yoke and permanent magnet and determines angle, changes permanent magnetism
The magnetic force size that wheel generates realizes magnetic force adjustment；U.S.Pat.NO.6,125,955 equally also devises magnetic wheel type absorption dress
Set, wheel includes several adjacent annular permanent magnetism magnetic pole groups, permanent magnet disk array on the circumference of magnetic pole group, each wheel hub up to
A permanent magnetism magnetic pole group is fixed less, other magnetic pole groups are connected with spring arrangement, for the wall surface not usually change of adsorption capacity.Magnet-wheel
The design defect of formula is that the contact area of wheel and wall surface is too small, and magnetic energy utilization rate is low, while magnetic adsorbability is small, to meet
Load requirement then needs to increase magnet-wheel, and the self weight that will cause climbing robot in this way increases, and loses the flexibility of movement.
U.S.Pat.NO.9428231 proposes that installation one has the suspension mechanism of elastic runner chain on robot chassis,
Permanent magnet is placed in adsorbent equipment, can be realized under the action of telescopic spring when encountering uneven wall surface；
The patents such as U.S.Pat.NO.3810515, U.S.Pat.NO.6793026, Chinese Patent Application No. CN201010289541.2 with
And article: the development (Xue Shengxiong mechanical engineering journal: 2011,47 (21): 037-42) of magnetic-gap wall-climbing robot proposes,
Absorbing unit is adjusted by magnetic gap regulating device and tests the magnetic gap between steel plate, but only to realize adsorption capacity big for such device
It is small adjustable, the function of being adjusted without adsorption capacity 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 " proposition is matched by manual knob and range sensor, controls the lifting of elevating mechanism to adjust permanent magnet
The distance of platform and magnetic conduction wall surface, to adjust the load capacity of magnetic adsorbability and climbing robot；Paper: tank wall is creeped
Robot key technology research (Sun Yingfei Daqing Petroleum Institute, 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, passes through up-down deflection
Structure realizes gap variation, and the latter provides internal balance power by installation spring between body panels and support frame.Also
Change permanent magnet arrangement side is combined to the design for controlling magnetic adsorbability size simultaneously, such as paper: wheeled to climb wall with adjusting air gap
Robot magnetic suck performance and the wheeled climbing robot of magnetic force 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 of the magnetic wheel of four of constant magnetic adsorbability and the variable magnetic adsorbability of offer
Property sucker, magnetic chuck is in the shell made of the magnetic separator, it controls its lifting by lead screw, and two are coupled non-thread
What property spring adsorbed it has controlled certain booster action, passes through the angle or air gap of the feedback control magnetic chuck of sensor
Size.Above several magnetic gap regulating devices change the size of adsorption capacity by range sensor measurement magnetic gap distance values, this
It is a kind of method for adjusting magnetic adsorbability size indirectly, but the variation of storage tank wall thickness can be such that the magnetized state of tank skin changes
Become, to influence the size of adsorption capacity, in the case of causing same gap to correspond to different wall thickness, adsorption capacity is inconsistent.Therefore, on
The method of stating can not accurately measure the adsorption capacity size of robot in the case of change wall thickness, be maintained at so that adsorption capacity cannot be accurately controlled
In optimal numberical range.
Summary of the invention
The purpose of the present invention is: in order to overcome the existing real-time adjusting adsorbed apparatus for adjusting force can not be adaptive, for
Wall trolley magnetic adsorbability of climbing in the case where becoming wall thickness state realizes the requirement accurately adjusted, directly to test and control to adjust magnetic suck
The principle of spring deformation amount caused by power develops a kind of automatic adjusument dress that magnetic adsorbability is adjusted based on spring deformation amount
It sets and method, can be widely used under complicated operating condition.
The technical scheme is that the regulating device is by mobile mechanism, adsorbing mechanism, elevating mechanism and control feedback
System composition, the adsorbing mechanism is connect with elevating mechanism is mounted on dolly chassis lower part；The mobile mechanism is mounted on trolley
The two sides and bottom on chassis；The control feedback system is mounted on the top of dolly chassis.
The mobile mechanism includes: that wheel drives motor 3 (a, b, c, d), driving wheel 1 (a, b, c, d), chassis 2, in which: wheel
The lower part that motor 3 (a, b, c, d) is fixed on dolly chassis 2 is driven, output shaft is connected to driving wheel 1 (a, b, c, d) and also distinguishes
It is fixed on 2 two sides of dolly chassis.
The adsorbing mechanism includes: magnet steel 13 (a, b, c, d), yoke 12 (a, b), in which: magnet steel 13 (a, b, c, d)
It is arranged successively, both ends bolt or so is fixed on yoke 12 (a, b), and 13 top of magnet steel is fixed on the second Huang of elevating mechanism
The lower part of copper sheet 5.
The elevating mechanism includes: lifting motor 8, shaft coupling 9, lead screw 11, nut 10, first the 4, second Huang of brass sheet
Copper sheet 5, spring 14 (a, b, c, d), the first sliding guide 7, the second sliding guide 16, in which: the output shaft of lifting motor 8 is used
Shaft coupling 9 is connected with lead screw 11, and lead screw 11 is connect with 10 spiral of nut being fixed on the first brass sheet 4, and spring 14 divides
It is not welded on 4 lower part of the first brass sheet and 5 top of the second brass sheet, inscribed 16 upper end of the second sliding guide is welded in
On one brass sheet 4, lower end is slidably connected with the second brass sheet 5.
The control feedback system includes displacement sensor 15 (a, b, c, d), data collector 17, controller 18, electricity
Source circuit 19, driving circuit 20, lifting motor 8.Wherein, displacement sensor 15 detects the deformation quantity of extension spring, and drives defeated
Exit port exports high potential negative pulse digital signal；The high potential negative pulse digital signal carries out level through data collector 17 and turns
It changes, drags down into the 5v signal of suitable controller, send controller to；Controller is by obtained signal data and pre-stored bullet
Spring optimal deformation amount (range) comparison, whether spring is in the optimal deformation stage at this time for judgement, does not need if in this stage
Control needs to drive lifting motor 8 to rotate through overdrive circuit 20 if being not at this stage, to control to adjust the liter of plate
Drop.Power circuit 19 provides operating voltage.
The principle of the invention is as follows: within the scope of the linear deformation of spring, by Hooke's law:
Wherein F, KF, Δ X, FmThe respectively drawing force of spring, the stiffness coefficient of spring, spring deformation amount, magnetic adsorbability.
According to above-mentioned formula, then it can be concluded that, the deformation quantity Δ X of control spring 14 (a, b, c, d) can realize adsorption capacity
The change of size；And in order to realize the automatic adjusument to whole device, the present apparatus introduces control feedback 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) the spring deformation amount Δ X is measured whether in defined optimum range；
2) the spring deformation amount Δ X is adjusted according to the result of measurement, so that spring deformation amount is in defined optimum range
It is interior.
Further, the step 1) specifically: the bullet that the displacement sensor 15 (a, b, c, d) on the first brass sheet 4 measures
The information of 14 deformation quantity of spring via control feedback system processing, controller 18 by obtained 14 deformation quantity Δ X of spring with deposit in advance
Spring optimal deformation range (the Δ X of storage1~Δ X2) compare, if Δ X1≤ΔX≤ΔX2, controller 18 controls through driving circuit 20
Lifting motor 8 processed stalls, and so that the first brass sheet 4 is in original position constant；
Further, if setting optimal deformation range (Δ X1~Δ X2) is not interior herein for the result of measurement, step 2) is carried out
It adjusts, specifically: if Δ X < Δ X1, controller 18 controls lifting motor 8 through driving circuit 20 and rotates forward, under the first brass sheet 4
Drop；If Δ X > Δ X2, controller 18 is through the control reversion of lifting motor 8 of driving circuit 20, the rising of the first brass sheet 4.
Further, after having adjusted the spring deformation amount Δ X, step 1) is repeated, 2) until reaching the best shape of setting
Until becoming range (Δ X1~Δ X2).
Adjustable range (the Δ X of the spring (14) provided in the entire system1~Δ X2), wherein Δ X1With Δ X2It is respectively as follows:
When climbing wall trolley with 1.5m/min and 2.5m/min traveling, corresponding magnetic adsorbability (Fm) caused by 14 deformation quantity of spring, (Fm)
Calculation formula are as follows:
Wherein v is the linear velocity of driving wheel 3；R is the radius of driving wheel 3；N is the revolving speed that wheel drives motor 1；P is that wheel drives electricity
The output power of machine 1；fmFor 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, generally takes 1.3；μ is dynamic friction coefficient；FmFor magnetic adsorbability.
Calculated FmSubstitute into the deformation quantity Δ X that spring can be calculated into formula (1)1With Δ X2。
The beneficial effects of the present invention are:
(1) the device of the invention mobile mechanism is driven entirely using four-wheel, and suction type is non-contact gap absorption, is had
The advantage that movement is flexible and load is big.
(2) present invention, which considers change wall thickness, can make the magnetized state of tube wall change, and cause magnetic adsorbability different,
Therefore spring deformation amount caused by magnetic adsorbability is adjusted directly to control adsorption capacity size.
Detailed description of the invention
Fig. 1 is self-adaptive regulating overall structure diagram, in figure:
1-wheel drives the 4-the first brass sheet of 2-chassis of motor, 3-driving wheel 6-sliding bearing of the 5-the second brass sheet
7-the first sliding guide
Fig. 2 is the primary structure schematic diagram of self-adaptive regulating, in figure:
8-lifting motor 9-shaft coupling, 10-nut, 11-lead screw, 12-yoke, 13-magnet steel, 100-tank walls
Face
Fig. 3 is that adsorbing mechanism and elevating mechanism interact part-structure in self-adaptive regulating, in figure:
14-the 16-the second sliding guides of 15-displacement sensor of spring
Fig. 4 is the structural schematic diagram of the adsorbing mechanism of self-adaptive regulating, in figure:
L-magnet steel length W-magnet steel, width H-magnet steel of yoke, yoke height Le-yoke thickness
Fig. 5 is the schematic diagram of the Halbach magnetizing direction of self-adaptive regulating adsorbing mechanism, in figure:
Fig. 6 is the control feedback system schematic diagram of self-adaptive regulating, in figure:
15-displacement sensor 17-data collector, 18-controller, 19-power circuit, 20-driving circuits
8-lifting motors
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 includes: mobile mechanism, elevating mechanism, adsorbing mechanism, control
Feedback system.Adsorbing mechanism connect with elevating mechanism and is located at dolly chassis lower part, and mobile mechanism is located at the two sides of dolly chassis
And bottom, control feedback system are located at the top of dolly chassis.
The mobile mechanism includes: that wheel drives motor 1, driving wheel 3, chassis 2, in which: it is solid that wheel drives motor 1 (a, b, c, d)
It is scheduled on the lower part of dolly chassis 2, its output shaft is fixedly connected on driving wheel 3 (a, b, c, d), is separately fixed at dolly chassis
2 two sides.Driving entirely climbs wall trolley and works when the effect of mobile mechanism.
The elevating mechanism includes: lifting motor 8, shaft coupling 9,11 nut 10 of lead screw, first the 4, second Huang of brass sheet
Copper sheet 5, spring 14, the first sliding guide 7, the second sliding guide 16, in which: the output shaft of motor 8 passes through shaft coupling 9 and silk
Thick stick 11 is connected, and lead screw 11 is connect with 10 spiral of nut being fixed on the first brass sheet 4, and spring 14 (a, b, c, d) is respectively
It is welded between the first brass sheet 4 and the second brass sheet 5, inscribed 16 top of the second sliding guide is welded in the first brass sheet
On 4, lower part is slidably connected with the second brass sheet 5.
Spring 14 select be cylindroid helical-coil extension spring, maximum allowable deformation quantity Δ X=22mm, the spring of selection it is straight
Diameter d=2mm, central diameter D=14mm, number of active coils n=8.25, free height H0=31mm；Magnetic suck mechanism and tank body wall surface produce
Raw magnetic adsorbability is balanced by the elastic force that spring elongation generates, by Hooke's law it is found that the deformation quantity for passing through change spring
The change adsorption capacity size that Δ X can be quantified.
Lead screw 11 and nut 10 constitute 1 pair of kinematic pair, and the screw pitch that the two is selected respectively is 2mm and 3.5mm；Lead screw 11 is rising
It drops and makes rotating motion under the driving of motor 8, so that the first about 4 brass sheet moves along a straight line, change the deformation quantity of spring 14, into
And adjust the size of adsorption capacity.
The effect of first sliding guide 7 and the second sliding guide 16 is all guidance and stabilising arrangement, in which: the second sliding is led
Bar 16 is guide springs 14 and the second about 5 brass sheet linear motion, and the first sliding guide 7 is the first about 4 brass sheet of guidance
It moves along a straight line and plays a part of to stablize entire elevating mechanism.
Such as Fig. 4, adsorbing mechanism includes: magnet steel 13, yoke 12, in which: magnet steel 13 (a, b, c, d) is arranged successively, both ends
It is fixed by bolts to yoke 12 (a, b), and yoke 12 (a, b) respectively be fixed under the second brass sheet 5 of elevating mechanism by left and right
Portion.
The NFeB that the magnetic steel material is selected, magnetizes, in which: L=60mm, W using Halbach principle
=200mm, H=25mm, total size are as follows: 300mm × 200mm × 25mm；By the analysis of finite element software, Δ X=20mm
When, magnetic adsorbability 2200N；When Δ X=3.5mm, magnetic adsorbability 817N；Adjustable extent of the invention are as follows: 3.5mm≤
ΔX≤20mm。
Such as Fig. 4, control feedback system of the invention includes displacement sensor 15, data collector 17, controller 18, power supply
Circuit 19, driving circuit 20, lifting motor 8.Wherein, power circuit 19 provides operating voltage；Displacement sensor 15 (a, b, c, d)
Using Hall displacement transducer；Controller 18 uses STM32 single-chip microcontroller；Data collector 17 has the function of multi pass acquisition,
Extendible under single-chip microcontroller control is 128 tunnels.
The adjusting method of self-adaptive regulating of the invention is wrapped for adjusting spring deformation quantity Δ X in above-described embodiment
Include following steps:
Be mounted with self-adaptive regulating of the present invention climbs wall trolley when by becoming wall thickness work wall surface, is mounted on first
Displacement sensor 15 (a, b, c, d) on brass sheet 4 detects that the deformation quantity of extension spring 14 (a, b, c, d) is d, and data are adopted
The spring deformation amount that collector 17 will test sends controller 18 to, and controller 18 is by obtained spring deformation amount d and in advance
The spring optimal deformation amount (Δ X1~Δ X2) of storage compares, if Δ X1≤d≤Δ X2, controller 18 is through driving circuit 20
It controls lifting motor 8 to stall, the first brass sheet 4 is in that original position is constant, i.e., magnetic adsorbability is constant；If d < Δ X1, controller 18
It controls lifting motor 8 through driving circuit 20 to rotate forward, the decline of the first brass sheet 4, i.e. magnetic adsorbability increase；If d > Δ X2, controller
18, which control lifting motor 8 through driving circuit 20, inverts, and the first brass sheet 4 rises, i.e., magnetic adsorbability reduces.
It steps be repeated alternatively until that the deformation quantity d of spring is adjusted into the optimal deformation range (Δ X1~Δ X2) of setting.
Claims (3)
1. a kind of magnetic adsorbability self-adaptive regulating based on spring deformation climbs wall trolley for non-contact permanent magnetic, described
Self-adaptive regulating is made of mobile mechanism, elevating mechanism, adsorbing mechanism, control feedback system, it is characterised in that: described
Adsorbing mechanism connect with elevating mechanism and is mounted on dolly chassis lower part, and adsorbing mechanism is connected by spring, spring inner sliding
Guide rod provides that motion path, the lead screw of elevating mechanism connect with the nut screw being fixed on brass sheet, be connected on brass sheet
Displacement sensor；The mobile mechanism is mounted on the two sides and bottom of dolly chassis, and the effect of mobile mechanism is that driving is entirely climbed
Wall trolley works；The control feedback system is mounted on the top of dolly chassis, the information of displacement sensor detection via
Feedback system processing is controlled, passes to controller, controller is by obtained signal data and pre-stored spring optimal deformation
Amount comparison realizes the adaptive of magnetic adsorbability size by changing the deformation quantity of spring within the scope of the linear deformation of spring
It adjusts.
2. a kind of magnetic adsorbability self-adaptive regulating based on spring deformation as described in claim 1, it is characterised in that: institute
Stating elevating mechanism is by lifting motor (8), shaft coupling (9), nut (10), lead screw (11), the first brass sheet (4), the second brass
Plate (5), spring (14), the first sliding guide (7) and the second sliding guide (16) composition, the output shaft of lifting motor (8) are used
Shaft coupling (9) is connected with lead screw (11)；Lead screw (11) is connect with nut (10) spiral being fixed on the first brass sheet (4)；
Spring (14) upper end is welded on the first brass sheet (4) lower part, and spring (14) lower end is welded on the second brass sheet (5) top；In it
The second sliding guide (16) upper end connect is welded on the first brass sheet (4)；Second sliding guide (16) lower end and the second brass
Plate (5) is slidably connected.
3. a kind of adjusting method of self-adaptive regulating as described in claim 1, it is characterised in that: first measure spring deformation amount
Whether in defined optimum range, step is Δ X, by the first brass sheet (4) displacement sensor (15a, 15b, 15c,
The information of spring deformation amount 15d) measured is via control feedback system processing, the spring deformation amount Δ that controller (18) will obtain
X is compared with the spring optimal deformation range (Δ X1~Δ X2) stored in advance, if Δ X1≤Δ X≤Δ X2, controller (18) warp
Driving circuit (20) controls lifting motor (8) stalling, so that the first brass sheet (4) is in original position constant；If the result measured is not
Herein in setting optimal deformation range (Δ X1~Δ X2), then the spring deformation amount Δ X is adjusted, so that spring deformation amount is most
In good range, concrete operations are: if Δ X < Δ X1, controller (18) is rotated forward through driving circuit (20) control lifting motor (8),
First brass sheet (4) decline；If Δ X > Δ X2, controller (18) is inverted through driving circuit (20) control lifting motor (8), first
Brass sheet (4) rises, and after having adjusted the spring deformation amount Δ X, repeats the above steps, the optimal deformation until reaching setting
Until range (Δ X1~Δ X2).
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| CN114526430B (en) * | 2022-02-18 | 2023-10-20 | 安徽理工大学 | Cage guide inspection trolley |
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