CN106926912A - A kind of magnetic force distribution absorption type three-wheel climbing robot - Google Patents
A kind of magnetic force distribution absorption type three-wheel climbing robot Download PDFInfo
- Publication number
- CN106926912A CN106926912A CN201710179867.1A CN201710179867A CN106926912A CN 106926912 A CN106926912 A CN 106926912A CN 201710179867 A CN201710179867 A CN 201710179867A CN 106926912 A CN106926912 A CN 106926912A
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- Prior art keywords
- chassis
- wheel
- climbing robot
- mounting platform
- shell
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
A kind of magnetic force distribution absorption type three-wheel climbing robot, including chassis, chassis is provided with three height adjustable mounting platforms, universal wheel is provided with the mounting platform in front；Direct current generator and infrared electro encoder are mounted on two other mounting platform, trailing wheel is installed on direct current generator, infrared external reflection coding disk is inlaid with trailing wheel；Several the first magnet are evenly equipped with the bottom surface on chassis；Chassis front and back end is mounted on IR evading obstacle sensors, and ultrasonic sensor, control system, obliquity sensor and battery are additionally provided with chassis, and ultrasonic sensor is connected by telescopic connecting rod with chassis.The climbing robot have the advantages that simple structure, absorption it is uniform it is firm, from heavy and light, barycenter is low, steering is flexible, feature-rich, intelligence degree is high, overcome big existing climbing robot volume, weight weight, turn to the shortcomings of difficult, payload is small, high-precision can carry out range measurement and weld seam detection；With important application value.
Description
Technical field
The invention belongs to Industrial Robot Technology field, it is related to a kind of climbing robot, more particularly to a kind of magnetic force distribution
Absorption type three-wheel climbing robot.
Background technology
In oil movement and storage industry, appearance and size and the safety of welding seam of metal oil storage tank are influence POL measuring precision and operations
The key factor of safety.Oil storage tank appearance and size is huge, traditional artificial calibrating and detection operation, exists that workload is big, essence
Spend low, complex operation, the low shortcoming of job safety coefficient.So, using robot technology automated job mode into
It is a kind of development trend that cannot avoid.
Existing metal adsorption formula climbing robot, more using the absorption of permanent magnet crawler type, the absorption of permanent magnet road wheel and
Monolithic permanent magnet adsorbs disc type suction type, and some are also adopted by negative-pressure adsorption mode.But for metal can, negative-pressure adsorption side
Formula has high energy consumption, untethered and powers the defects such as difficulty, does not possess practical value.Metal adsorption formula climbing robot, in walking
Substantially it is divided into the symmetrical wheeled of crawler type and four-wheel and the above in mechanism.It is rough that symmetrical wheeled construction will solve walking surface
Problem, need to increase the wheel of connecting rod or spring automatic mechanism high.So, including including track structure, existing metal
Climbing robot is respectively provided with big volume, weight weight, turns to the shortcomings of difficult, payload is small, and this causes climbing robot in gold
Limited by more in the calibrating of category tank body and detection operation.High-precision range measurement is the important of metal can calibration operation
Content, weld seam detection helps to find the safety problem of tank body that not yet discovery has the metal wall-climbing device of such function at present
People.
The content of the invention
It is an object of the invention to provide the magnetic force distribution absorption that a kind of small volume, lightweight, payload greatly, are easily turned to
Formula three-wheel climbing robot, can not only without restriction carry out metal can calibrating and detection operation, and can carry out high accuracy
Range measurement and weld seam detection.
To achieve the above object, the technical solution adopted in the present invention is：A kind of magnetic force distribution absorption type three-wheel climbs wall machine
Device people, including chassis, the front portion on chassis are provided with the second mounting platform, and the branch of " second " font is connected with the second mounting platform
Frame, the free end of support is provided with universal wheel；Chassis rear portion has been mounted side by side two the first mounting platforms, on the first mounting platform
Direct current generator and infrared electro encoder are installed, trailing wheel is installed on direct current generator, infrared external reflection coding is inlaid with trailing wheel
Disk；Several the first magnet are evenly equipped with the bottom surface on chassis；Chassis front end and rear end are mounted on IR evading obstacle sensors, chassis
On be additionally provided with ultrasonic sensor, control system, obliquity sensor and battery, ultrasonic sensor passes through telescopic connecting rod
It is connected with chassis；Control system respectively with obliquity sensor, ultrasonic sensor, all of IR evading obstacle sensors, all
Infrared electro encoder and all of direct current generator signal connection；When using, the quantity changeable of the first magnet, first installs
The height-adjustable of platform and the second mounting platform.
Climbing robot of the present invention uses and embedded in annular magnet and be equipped with wheel, the three-wheel of infrared external reflection coding disk
The car body of structure is with regulating height and has the dolly chassis of equally distributed ring magnet, uniform with simple structure, absorption
It is firm, from heavy and light, barycenter is low, steering is flexible, feature-rich, intelligence degree is high the advantages of, overcome existing wall-climbing device
People's volume is big, weight heavy, turn to the shortcomings of difficult, payload is small, high-precision can carry out range measurement and weld seam detection；Tool
There is important application value.
Brief description of the drawings
Fig. 1 is the schematic diagram of climbing robot of the present invention.
Fig. 2 is the right view of Fig. 1.
Fig. 3 is the schematic diagram of trailing wheel in climbing robot of the present invention.
Fig. 4 is the right view of Fig. 3.
In figure：1. chassis, 2. obliquity sensor, 3. battery, 4. the first magnet, 5. IR evading obstacle sensors, 6. front-wheel, 7.
Control system, 8. ultrasonic sensor, 9. direct current generator, 10. trailing wheel, 11. infrared electro encoders, 12. first mounting platforms,
13. second mounting platforms, 14. supports, 15. links, 16. gap, 17. shells, 18. protective cases, 19. second magnet, 20. is red
External reflectance coding disk, 21. axle sleeves.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
As depicted in figs. 1 and 2, climbing robot of the present invention, including chassis 1, the front end on chassis 1 is machined with gap 16, bottom
The front portion of disk 1 is provided with the second mounting platform 13, and the support 14 of " second " font, support 14 are connected with the second mounting platform 13
One end it is affixed with the second mounting platform 13, the other end of support 14 is free end, and the free end of support 14 is hinged with link
15, link 15 can be rotated to any direction on the support 14, and front-wheel 6 is provided with link 15, and front-wheel 6 is located at gap 16
It is interior, the tactical diameter with diameter greater than front-wheel 6 of gap 16；The rear portion of chassis 1 has been mounted side by side two the first mounting platforms 12, second
Mounting platform 13 and two the first mounting platforms 12 constitute triangle disposition；The He of direct current generator 9 is installed on first mounting platform 12
Infrared electro encoder 11, is provided with trailing wheel 10 on the motor shaft of direct current generator 9；Several the first magnet are installed on chassis 1
4, several first magnet 4 are distributed on the bottom surface on chassis 1；The front end of chassis 1 is provided with two IR evading obstacle sensors 5, bottom
The rear end of disk 1 is also provided with two IR evading obstacle sensors 5；Chassis 1 between second mounting platform 13 and the first mounting platform 12
On ultrasonic sensor 8, control system 7, obliquity sensor 2 and battery 3 has been arranged side by side.
Ultrasonic sensor 8 is connected by connecting rod with chassis 1, and the connecting rod can stretch.
First magnet 4 uses the annular magnet with chamfering circular hole, can install flat head screw, and by screw and the phase of chassis 1
Connection.First magnet 4 is respectively positioned on the bottom surface on chassis 1.
First mounting platform 12 and two the second mounting platforms 13 are connected by four stay bolts with chassis 1.First peace
The height of the mounting platform 13 of assembling platform 12 and second can be adjusted up and down.
Battery 3 is connected with two direct current generators 9 and control system 7 respectively.
As shown in Figure 3 and Figure 4, the trailing wheel 10 in climbing robot of the present invention, including barrel-shaped shell 17, shell 17 are opened
Mouth end is set with protective case 18 towards the second mounting platform 13 on the lateral wall of shell 17, the end face of the openend of shell 17 is inside
The groove of annular is machined with, the second magnet 19 is installed in the groove；The axle sleeve 21 of tubulose is connected with shell 17；In shell 17
Infrared external reflection coding disk 20 is inlaid with the base plate of the shell 17 between side wall and axle sleeve 21.Axle sleeve 21 is sleeved on direct current generator 9
Motor shaft on.
Second magnet 19 is annular ndfeb magnet.
The infrared probe of infrared electro-optical encoder 11 is stretched into trailing wheel 10 and just to infrared external reflection coding disk 20.
The structure of front-wheel 6 is essentially identical with the structure of trailing wheel 10, and difference between the two is：It is fitted without on front-wheel 6 red
External reflectance coding disk 20.
Control system 7 respectively with obliquity sensor 2, ultrasonic sensor 8, all of IR evading obstacle sensors 5, all of
Infrared electro encoder 11 and the signal of all of direct current generator 9 are connected.
Front-wheel 6 and link 15 composition universal wheel in climbing robot of the present invention, two trailing wheels 10 are driving wheel, are passed through
Infrared electro encoder 11 on driving wheel can be measured and calculate metal can girth equidimension.Ultrasonic sensor 8 passes through
One connecting rod is connected on chassis 1, and ultrasonic sensor 8 can be placed on outside chassis 1 when using, and is recoverable to when not using
Onto chassis 1.On chassis 1, surrounding is equipped with four IR evading obstacle sensors 5, and cooperation control system 7 and ultrasonic sensor 8 are being
The system good track route of internal layout.
Climbing robot of the present invention, can be prevented by metal surface of oil storage tank out-of-flatness institute well using tricycle structure
The unstable phenomenon of the car body absorption that causes occurs, because tricycle structure can avoid what the height difference on wheel both sides brought from asking
Topic, meanwhile, the annular magnetic body inlayed in wheel can bring certain absorption affinity, and chassis 1 several first magnet
Absorption affinity can further be increased.The tricycle structure is simple, and can extend the service life of climbing robot of the present invention, can take
More appendix are carried, the function of cost and later maintenance is also reduced.
Several dismountable first magnet 4 being distributed on the bottom surface of chassis 1 are employed in climbing robot of the present invention, can
Without the large-sized magnet of monoblock, to solve the problems, such as that dolly volume is big and weight is heavy.Simultaneously can be by changing the first magnetic
The installation number of body 4, adjusts the absorption affinity of this climbing robot, is prevented from because the absorption affinity of monoblock large scale magnet is excessive
The difficult phenomenon of caused steering.In addition, the difference of different tank bodies or actually used situation may make dolly needs more
Big absorption affinity, or need reduction absorption affinity dolly is smoothly walked, to reduce power consumption and motor fret.Institute
With, the One On The Chassis detachable toroidal magnet the user can be allowed can to adjust absorption affinity according to the actual conditions at scene.It is adapted to
Absorption affinity can avoid due to moment start wheel caused by wheel-slip problem, reduce the error rate of photoelectric code disk.
In order that dolly can will reflect infrared coding disk 20 along weld seam automatically walk, climbing robot use of the present invention
The way that embedded wheel, three kinds of modes of B-ultrasound and avoidance sensor are combined.Ultrasonic sensor 8 is used to detect first
The vestige of weld data and collection weld seam, while the barrier on tank body is detected by avoidance sensor 5, in control system 7
The course of dolly is drawn out in inside, and the specific track route of dolly is controlled by control system 7.Because the present invention climbs wall machine
Device people is walked along weld seam beside weld seam, it is not possible to ridden in welded joints, so ultrasonic sensor 8 will be placed when in use
In body exterior, after complete, then withdrawal is rotated by connecting rod.
Climbing robot of the present invention is coordinated installed in the One On The Chassis red with the infrared external reflection coding disk 20 of installation in trailing wheel 10
Outer photoelectric encoder 11 can accurately learn the speed and travel distance of now each trailing wheel 10, and be controlled by control system 7
The speed of each trailing wheel 10 is made, two trailing wheels 10 is produced speed difference so that front-wheel 6 obtains the function of turning to.Due to shell 17
The protective case 18 that rubber is made is set with lateral wall, both preventing from skidding can also play a part of to protect the second magnet 19.It is logical
Crossing coding disk can draw the girth equidimension of metal can, facilitate the maintenance in later stage, and front-wheel 6 to be arranged on first and install flat
On platform 12, trailing wheel 10, direct current generator 9 and infrared electro encoder 11 are arranged on the second mounting platform 13, and three are installed flat
Platform is independently arranged on chassis 1, to adapt to not same surface curvature, can be by adjusting three mounting platforms on chassis
Height on 1 controls the height of the bottom surface of chassis 1.By chassis height adjustment also adjustable chassis assembly to tank body absorption affinity
Size.
In climbing robot running of the present invention, obliquity sensor 2 predominantly detects walking road of the car body in tank body side
Line whether level, and with horizontal angle, to plan the course of car body.
Claims (5)
1. a kind of magnetic force distribution absorption type three-wheel climbing robot, including chassis（1）, it is characterised in that chassis（1）Anterior peace
Equipped with the second mounting platform（13）, the second mounting platform（13）On be connected with the support of " second " font（14）, support（14）From
Universal wheel is provided with by end；Chassis（1）Rear portion has been mounted side by side two the first mounting platforms（12）, the first mounting platform（12）On
Direct current generator is installed（9）With infrared electro encoder（11）, direct current generator（9）On trailing wheel is installed（10）, trailing wheel（10）It is interior
It is inlaid with infrared external reflection coding disk（20）；Chassis（1）Bottom surface on be evenly equipped with several the first magnet（4）；Chassis（1）Front end and
Rear end is mounted on IR evading obstacle sensors（5）, chassis（1）On be additionally provided with ultrasonic sensor（8）, control system（7）, incline
Angle transducer（2）And battery（3）, ultrasonic sensor（8）By telescopic connecting rod and chassis（1）It is connected；Control system
（7）Respectively with obliquity sensor（2）, ultrasonic sensor（8）, all of IR evading obstacle sensors（5）, all of infrared electro
Encoder（11）With all of direct current generator（9）Signal is connected；When using, the first magnet（4）Quantity changeable, first install
Platform（12）With the second mounting platform（13）Height-adjustable.
2. magnetic force distribution absorption type three-wheel climbing robot according to claim 1, it is characterised in that described trailing wheel
（10）Including barrel-shaped shell（17）, shell（17）Openend towards the second mounting platform（13）, shell（17）Lateral wall
On be set with protective case（18）, shell（17）The end face of openend is inwardly machined with the groove of annular, and the is provided with the groove
Two magnet（19）；Shell（17）Inside it is connected with the axle sleeve of tubulose（21）；Shell（17）Madial wall and axle sleeve（21）Between shell
（17）Base plate on inlay base plate on be inlaid with infrared external reflection coding disk（20）, infrared electro-optical encoder（11）Infrared probe stretch
Enter in trailing wheel (10), axle sleeve（21）It is sleeved on direct current generator（9）Motor shaft on.
3. magnetic force distribution absorption type three-wheel climbing robot according to claim 1, it is characterised in that the chassis（1）
Front end is machined with gap（16）, support（14）One end and the second mounting platform（13）It is affixed, support（14）The other end be from
By holding, support（14）Free end be hinged with link（15）, link（15）Can be in support（14）On to any direction turn
It is dynamic, link（15）On front-wheel is installed（6）, front-wheel（6）Positioned at gap（16）It is interior, gap（16）With diameter greater than front-wheel（6）
Tactical diameter, link（15）And front-wheel（6）Composition universal wheel.
4. magnetic force distribution absorption type three-wheel climbing robot according to claim 1, it is characterised in that the first described magnetic
Iron（4）By flat head screw and chassis（1）It is connected.
5. magnetic force distribution absorption type three-wheel climbing robot according to claim 4, it is characterised in that the first described magnetic
Iron（4）Using the annular magnet with chamfering circular hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710179867.1A CN106926912B (en) | 2017-03-23 | 2017-03-23 | A kind of magnetic force distribution absorption type three-wheel climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710179867.1A CN106926912B (en) | 2017-03-23 | 2017-03-23 | A kind of magnetic force distribution absorption type three-wheel climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106926912A true CN106926912A (en) | 2017-07-07 |
| CN106926912B CN106926912B (en) | 2018-10-26 |
Family
ID=59426405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710179867.1A Active CN106926912B (en) | 2017-03-23 | 2017-03-23 | A kind of magnetic force distribution absorption type three-wheel climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106926912B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502043A (en) * | 2018-04-28 | 2018-09-07 | 姜涛 | It is strong to squeeze adsorbed wall-climbing robot |
| CN110065547A (en) * | 2018-01-24 | 2019-07-30 | 南京机器人研究院有限公司 | A kind of wall-climbing robot and its working method |
| CN110069021A (en) * | 2018-01-24 | 2019-07-30 | 南京机器人研究院有限公司 | A kind of robot and its working method based on uneven climbing surface |
| CN110667719A (en) * | 2019-10-16 | 2020-01-10 | 山东交通学院 | Marine omnidirectional movement wall climbing robot |
| CN113848909A (en) * | 2021-09-27 | 2021-12-28 | 北京理工大学 | Control system and control method of turnover paddle type wall-climbing robot |
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| JPS6215178A (en) * | 1985-07-11 | 1987-01-23 | Hitachi Ltd | Wall-surface adsorption transferring robot apparatus |
| JPH09175454A (en) * | 1995-12-28 | 1997-07-08 | Honsyu Shikoku Renrakukiyou Kodan | Mobile type wall surface moving device employing magnet built-in type suction wheel |
| CN101554726A (en) * | 2009-05-15 | 2009-10-14 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
| CN202243767U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Magnetic adsorption type wall-climbing robot |
| CN106240665A (en) * | 2016-08-17 | 2016-12-21 | 哈尔滨歌瑞得莱机器人制造有限公司 | The three huge steel pipes of magnet-wheel are creeped job platform |
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2017
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Patent Citations (5)
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| JPS6215178A (en) * | 1985-07-11 | 1987-01-23 | Hitachi Ltd | Wall-surface adsorption transferring robot apparatus |
| JPH09175454A (en) * | 1995-12-28 | 1997-07-08 | Honsyu Shikoku Renrakukiyou Kodan | Mobile type wall surface moving device employing magnet built-in type suction wheel |
| CN101554726A (en) * | 2009-05-15 | 2009-10-14 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065547A (en) * | 2018-01-24 | 2019-07-30 | 南京机器人研究院有限公司 | A kind of wall-climbing robot and its working method |
| CN110069021A (en) * | 2018-01-24 | 2019-07-30 | 南京机器人研究院有限公司 | A kind of robot and its working method based on uneven climbing surface |
| CN108502043A (en) * | 2018-04-28 | 2018-09-07 | 姜涛 | It is strong to squeeze adsorbed wall-climbing robot |
| CN110667719A (en) * | 2019-10-16 | 2020-01-10 | 山东交通学院 | Marine omnidirectional movement wall climbing robot |
| CN110667719B (en) * | 2019-10-16 | 2021-11-30 | 山东交通学院 | Marine omnidirectional movement wall climbing robot |
| CN113848909A (en) * | 2021-09-27 | 2021-12-28 | 北京理工大学 | Control system and control method of turnover paddle type wall-climbing robot |
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| Publication number | Publication date |
|---|---|
| CN106926912B (en) | 2018-10-26 |
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