CN107021144B - Magnetic track climbing robot of self-adaptation contact - Google Patents
Magnetic track climbing robot of self-adaptation contact Download PDFInfo
- Publication number
- CN107021144B CN107021144B CN201710367820.8A CN201710367820A CN107021144B CN 107021144 B CN107021144 B CN 107021144B CN 201710367820 A CN201710367820 A CN 201710367820A CN 107021144 B CN107021144 B CN 107021144B
- Authority
- CN
- China
- Prior art keywords
- crawler
- wheel system
- magnetic
- support
- sliding
- Prior art date
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
Abstract
The invention discloses a self-adaptive contact magnetic crawler climbing robot, which comprises a main body bracket, and a crawler driving motor, a power transmission assembly, a magnetic crawler wheel system, a crawler wheel system installation assembly and a crawler wheel system pre-tightening assembly which are arranged on the main body bracket, wherein the crawler driving motor is in power transmission connection with the magnetic crawler wheel system through the power transmission assembly; the magnetic crawler wheel system is connected with the main body bracket through a crawler wheel system mounting assembly, and the crawler wheel system mounting assembly comprises a swinging mechanism for the magnetic crawler wheel system to be independent or linked; the main body support carries out pretension to magnetism track train through track train pretension subassembly, includes elastic mechanism in the track train pretension subassembly. The invention has good surface contact adaptability and steering capability, and magnetic lines of force can be superposed and amplified, thus realizing larger permanent magnetic adsorption force.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a self-adaptive contact magnetic crawler climbing robot capable of moving on a magnetic conductive surface of large equipment.
Background
The climbing robot can replace the manual work to climb the operation, and can provide fixed operation platform for the operation of successor, and the effectual current relevant trade high altitude construction danger coefficient that has solved is high, the problem of inefficiency.
The climbing robot has great difference in function and structure between the structure principle and the ground walking mechanism, needs to overcome the influence of gravity during operation, and needs to adopt different motion modes according to different operation surface characteristics. Aiming at the climbing operation requirements of detection and maintenance of wind power, thermal power, oil and gas pipelines and large-scale equipment in China at present, the climbing device needs to climb horizontally or vertically along the wall surface of the equipment, so that the climbing device has higher requirements on the adsorption force and the reliability of the climbing device.
When equipment such as the present large-scale hull of china, the jar body, pipeline, tower section of thick bamboo overhauls the detection operation, generally scramble and ascend a height by manual work and carry out equipment surface and inside detection and maintenance operation, its operational environment is comparatively abominable, is difficult to guarantee the security of maintenance operation workman, and not only efficiency is lower, and the risk is great moreover. The surface of general large-scale equipment is generally a magnetic iron plate or a magnetic steel plate and is mostly a plane or a cambered surface, the maintenance operation of the equipment such as welding quality detection, flaw detection, rust removal, paint spraying and the like can be realized by adopting a magnetic or vacuum adsorption type climbing trolley mode, but the current vacuum adsorption type climbing trolley is difficult to overcome obstacles such as welding seams, rivets, bolts and the like on the surface of the equipment.
The data disclosed in the existing Chinese patent show that the permanent magnet caterpillar belt appears in 1998 for the first time, CN98110551.3 automatic crawling X-ray flaw detector for ship tank welding seam, and the flaw detection main machine is driven by a permanent magnet caterpillar belt adsorption type chain on a hinged flexible connection movable frame to crawl; patent application documents relating to climbing and magnetic force disclose more than 50 related technologies.
Such as university of vinpocetine CN201310528724.9 "a magnetic climbing vehicle", the magnetic chuck is provided with a magnet thereon for magnetically attaching the magnetic climbing vehicle to a tower wall made of a steel material of a tower to be climbed.
Zhejiang industrial university CN201610299159.7 self-driven permanent magnet rotating wheel suitable for wall adsorption climbing, comprising a hub, an annular magnet and a stator shaft core, wherein the annular magnet and the stator shaft core are coaxially arranged in the hub, the stator shaft core penetrates through a central hole of the annular magnet, and two ends of the stator shaft core extend out of a central through hole of the hub to form mounting ends; the wheel hub comprises a solid rubber tire, a left wheel hub and a right wheel hub, the left wheel hub and the right wheel hub are fixedly connected in opposite directions to form a central cavity for accommodating the annular magnetic wheel, and the solid rubber tire is sleeved on the outer ring of the wheel hub; the stator shaft core comprises a fixed shaft, a coil winding, a left claw disc and a right claw disc, wherein the left claw disc and the right claw disc are matched with each other and arranged on the fixed shaft, and an annular claw disc cavity is formed under the constraint of a shaft shoulder of the fixed shaft. The invention has the beneficial effects that: the magnetic wheel can run automatically without being additionally provided with an external drive; the magnet of a many effort is provided, and the ring structure of magnet in the magnetism wheel provides drive power inwards, provides the adsorption affinity outward, can realize adsorbing the climbing to the wall.
The inside top-down of Nanchang reason institute CN201610379710.9 "adsorption equipment and climbing cleaning robot who uses this adsorption equipment" sleeve is equipped with first electro-magnet, magnetic sheet, sliding block and second electro-magnet in proper order, and above-mentioned adsorption equipment adsorption efficiency is strong, and adsorbs and breaks away from the switching simple swift, easily practicality.
Guangzhou college of southern Rich worker university CN201620390050.X crawler-type multifunctional climbing robot adopts a foot-type structure crawler type, and is adsorbed by an electromagnetic chuck, so that the robot walks on a wall. Paint or cleaning fluid on the ground is conveyed to the working module adsorbed on the wall through the hose, so that the painting or cleaning function is realized, the painting speed and quality are improved, and the problems of high labor intensity and low labor efficiency in manual cleaning are solved.
It is not difficult to find the applications of the permanent magnet caterpillar and the permanent magnet caterpillar robot in the related public technologies. Most of the magnetic adsorption trolleys are magnetic crawler-type trolleys, and if a large adsorption force is required to be generated, a large permanent magnet or electromagnet needs to be installed on a crawler plate, so that the crawler plate is heavy in self weight and large in size. Therefore, aiming at the requirements of the climbing robot for magnetic adsorption operation at present, the magnetic track transmission robot which is strengthened in magnetic circuit, can adapt to the surface of a magnetic conductor through an elastic element and can realize the functions of quick movement, steering and the like is designed, and is an embodiment form of main creative labor of the invention, so that the aim of the invention is realized.
Disclosure of Invention
Aiming at the requirements of maintenance and detection operation on the surface of equipment in China at present, the self-adaptive contact magnetic crawler climbing robot is designed, and the crawler belt can generate firm adsorption force by strong magnetic force and can quickly climb along a magnetic conduction operation surface through superposition and amplification of magnetic force lines. The device has stable in structure and reliable, and the climbing is fast, and the operation is stable, characteristics that load capacity is stronger.
The technical scheme of the invention is as follows:
a self-adaptive contact magnetic crawler climbing robot comprises a main body support and a crawler driving motor, a power transmission assembly, a magnetic crawler wheel system, a crawler wheel system installation assembly and a crawler wheel system pre-tightening assembly, wherein the crawler driving motor, the power transmission assembly, the crawler wheel system installation assembly and the crawler wheel system pre-tightening assembly are arranged on the main body support; the magnetic crawler wheel system is connected with the main body bracket through a crawler wheel system mounting assembly, and the crawler wheel system mounting assembly comprises a swinging mechanism for the magnetic crawler wheel system to singly or jointly move; the main body support carries out pretension to magnetism track train through track train pretension subassembly, includes elastic mechanism in the track train pretension subassembly.
Further, the power transmission assembly comprises a T-shaped differential gear box, a universal joint coupler and crawler wheel transmission shafts, output shafts on two sides of the T-shaped differential gear box are connected to the crawler wheel transmission shafts on two sides through the universal joint couplers on two sides respectively, the crawler wheel transmission shafts are used as power input transmission shafts of the magnetic crawler wheel system, output shafts on the left side and the right side of the T-shaped differential gear box respectively form a differential drive mechanism, and the universal joint coupler is used as a transmission direction changing mechanism.
Further, the crawler wheel system mounting assembly comprises a crawler wheel system support and a crawler wheel system movable support, and the crawler wheel system support is connected with the main body support through a connecting rod; the crawler belt wheel system movable support comprises a crawler belt wheel system left supporting tube and a crawler belt wheel system right supporting tube, the crawler belt wheel system left supporting tube and the crawler belt wheel system right supporting tube are respectively provided with two foot supporting tubes arranged in the front and at the back, the inner ends of the foot supporting tubes and the main body support form independent or linked sliding and rotating connection, and the outer ends of the foot supporting tubes are connected with the magnetic crawler belt wheel system.
Furthermore, the foot supporting tube adopts a telescopic sliding structure.
Further, each foot stay tube inner is through one, two or many stay tube rotation axes and main part leg joint, sliding bracket and back limiting bracket behind sliding bracket and the limiting plate before installing spacing support and limiting plate on the main part bracket, sliding bracket and back limiting bracket all are equipped with vertical sliding tray behind sliding bracket and the limiting plate before preceding limiting bracket and the limiting plate, each vertical sliding tray constitutes a set ofly, two sets of or multiunit rotation axis spout, each foot stay tube inner is through one, sliding connection about two or many stay tube rotation axes and the vertical sliding tray, and simultaneously, each foot stay tube inner is through one, two or many stay tube rotation axes rotate with vertical sliding tray and be connected.
Furthermore, one, two or more limiting plates are arranged between the front limiting plate sliding support and the rear limiting plate sliding support in a sliding mode, the limiting plates are connected with the front limiting plate sliding support and the rear limiting plate sliding support in an up-and-down sliding mode through guide pillars or guide grooves, and the inner ends of the foot supporting tubes are connected with the vertical sliding grooves in a limiting mode through the limiting plates in a limiting mode when sliding up and down through supporting tube rotating shafts.
Furthermore, when the same supporting tube rotating shaft is adopted, the supporting tube rotating shaft penetrates through the shaft hole of the limiting plate to be connected with the group of rotating shaft sliding chutes in a sliding and rotating mode; when the left and right support tube rotating shafts are adopted, the left and right support tube rotating shafts respectively pass through the shaft holes of the left and right limiting plates to be connected with the left and right groups of rotating shaft sliding chutes in a sliding and rotating manner; when a plurality of supporting tube rotating shafts are adopted, the inner ends of the supporting tubes of the legs are respectively connected with an independent supporting tube rotating shaft, each independent supporting tube rotating shaft is inserted into the shaft hole of an independent limiting plate, the independent limiting plate forms a limiting sliding module combination, and the limiting sliding module combination is connected with the front sliding support of the limiting plate and the rear sliding support of the limiting plate in a vertical sliding mode through guide columns or guide grooves.
Further, the crawler wheel system pre-tightening assembly comprises a gas spring mounting support and a gas spring, the gas spring mounting support is arranged in the main body support, the upper end of the gas spring is rotatably connected with the gas spring mounting support, and the lower end of the gas spring is rotatably connected with the crawler wheel system support on the magnetic crawler wheel system.
Preferably: the main body support is internally provided with a limiting plate front sliding support and a limiting plate rear sliding support, and the upper ends of the limiting plate front sliding support and the limiting plate rear sliding support are provided with air spring mounting supports.
The crawler wheel is fixed in the crawler wheel train support in the crawler wheel train installation assembly through the crawler wheel bearing support, and the crawler wheel in the magnetic crawler wheel train is in power connection with a crawler wheel transmission shaft in the power transmission assembly; on one hand, the magnetic crawler wheel system is connected with the main body bracket through a crawler wheel system bracket and a crawler wheel system movable bracket in the crawler wheel system mounting assembly; on the other hand, the crawler wheel system bracket and the connecting rod in the crawler wheel system mounting assembly are connected with the main body bracket in a mounting way; the crawler wheel system bracket is connected with the main body bracket in a pre-tightening way through a gas spring in the crawler wheel system pre-tightening assembly.
Preferably, the crawler wheel train support is arranged on the periphery of the crawler wheel bearing support; the crawler wheel train movable support is connected with the crawler wheel train support and the crawler wheel bearing support in an installing mode.
Preferably, the upper end surface of the crawler wheel system bracket is provided with a connecting rod seat which is rotationally connected with the connecting rod; the upper end surface of the crawler wheel system support is also provided with a spring seat which is rotationally connected with the gas spring.
Preferably, the crawler wheel system support is respectively connected with the crawler wheel system movable support, the connecting rod and the air spring to form three linkage installation mechanisms of the magnetic crawler wheel system.
Further, a magnetic adsorption mechanism is arranged in the magnetic crawler wheel system, the magnetic adsorption mechanism comprises a crawler plate permanent magnet and a fixed permanent magnet, magnetic lines of force of the fixed permanent magnet and magnetic lines of force of the crawler plate permanent magnet are overlapped relative to the adsorption operation surface, magnetic poles of the fixed permanent magnet and the crawler plate permanent magnet are arranged in a manner of like poles repelling each other, and when the crawler plate permanent magnet enters or leaves the fixed permanent magnet, a pair of repulsion forces which are equal in size and opposite in direction and act in crawler belt over-movement can be generated; the length of the fixed permanent magnet is the length of the permanent magnet adsorption surface of the magnetic crawler wheel system.
Preferably, the track shoe permanent magnet is mounted in a permanent magnet track shoe yoke in the permanent magnet track shoe, and the fixed permanent magnet is mounted in a track support yoke in the crawler wheel support.
Preferably, two rows of track shoe pressing rollers are mounted on a magnetic yoke of the track support, the permanent magnets are fixed above the track shoe permanent magnets relative to the adsorption operation surface, and the track shoe pressing rollers face the adsorption operation surface.
Preferably, the cross section state when the track shoe permanent magnet moves to the fixed permanent magnet below is that the south and north poles of the track shoe permanent magnet are opposite to the south and north poles of the fixed permanent magnet one by one.
The crawler driving motor is connected to the main body support through the motor mounting support, and is respectively connected to the magnetic crawler wheel trains on the left side and the right side through the two universal joint couplers after passing through the gear box, so that rotary power is provided for the magnetic crawler wheel trains, the magnetic crawler wheel trains are mounted on the crawler wheel train support, the crawler wheel train support is connected to the main body support through four groups of two-link mechanisms formed by the fixed seat connecting rods and the crawler wheel train connecting rods, meanwhile, the crawler wheel train support is also connected with the gas spring mounting support through the gas spring, and the gas spring mounting support is connected to the main body support, so that the magnetic crawler wheel trains can rotate by taking the pin of the universal joint couplers as the center, and the left magnetic crawler wheel train and the right magnetic crawler wheel trains can be self-adaptive to adsorption surfaces with a certain radian or uneven left side and right side through the elastic action of the gas spring. Simultaneously the track wheel system support still through track wheel system movable support be connected to the main part support on, thereby the track wheel system support can slide on track wheel system movable support and satisfy the motion requirement of two connecting rods, further improves the connection rigidity of track wheel system support.
Thereby crawler drive motor output shaft is connected to the athey wheel of magnetism crawler train through the cardan shaft coupling and drives the track rotation and produce the power of crawling, and T type differential gear box can realize the difference output of left and right sides output shaft through automatically controlled to realize the differential drive of left and right sides magnetism crawler train, thereby realize magnetism crawler climbing robot's the function of turning to.
The linear guiding axle of main part support limiting plate accessible is installed and is gone up to the front and back sliding support and can carry out the rectilinear slip, and the both ends of limiting plate link to each other with the track train movable support through rotatory round pin axle respectively, and spacing support and back spacing support are used for restricting the sliding distance of limiting plate before still installing in the main part support simultaneously to restriction track train movable support's swing angle makes the main part support can not bump with the contact surface.
The structure of caterpillar track wheel system movable support accessible stay tube slides in the sleeve pipe of caterpillar track wheel system support is flexible, and after caterpillar track wheel system movable support was connected to the limiting plate, the independent rotatory swing of both sides about can going on through the stay tube rotation axis of limiting plate to the angle of both sides magnetism caterpillar track wheel system for main part support about the change, make magnetism caterpillar track wheel system can adapt to the operation face that adsorbs of curved surface and left and right sides height unevenness.
The magnetic adsorption structure of the magnetic crawler wheel system is composed of a plurality of permanent magnet crawler plates and a crawler support magnetic yoke, the permanent magnet crawler plates are connected through a crawler plate hinge pin, the crawler support magnetic yoke is fixed into the crawler wheel system support and is provided with a fixed permanent magnet, and the length of the fixed permanent magnet is the length of the permanent magnet adsorption surface of the magnetic crawler wheel system.
The magnetic force lines of the fixed permanent magnets and the track shoe permanent magnets are superposed through the track support magnetic yoke and the permanent magnet track shoe which can be used as the magnetic yoke, so that a magnetic field is amplified and then circulates below the permanent magnet track shoe, the permanent magnet track shoe can be adsorbed to an adsorption operation surface with stronger magnetic force below the fixed permanent magnets, the size and the weight of the track shoe permanent magnets can be reduced, and meanwhile, larger permanent magnet adsorption force can be achieved.
The crawler wheel transmission shaft is used for transmitting rotary power so as to drive the crawler wheel to drive the permanent magnet crawler plate to rotate.
The two sets of magnetic crawler wheel trains adopted by the invention can be subjected to self-adaptive contact adjustment through the connecting rod, the air spring and the sliding mechanism according to the shape of an adsorption operation surface, so that the magnetic crawler wheel trains can adapt to various adsorption surfaces, and can also be respectively and independently driven to realize steering, so that the magnetic crawler climbing robot has good surface contact adaptability and steering capacity.
Drawings
FIG. 1 is a schematic structural view of an adaptive contact magnetic track climbing robot according to the present invention;
FIG. 2 is a schematic diagram of the internal structure of the adaptive contact magnetic track climbing robot according to the present invention;
FIG. 3 is an adaptive functional schematic of the adaptive contact magnetic track climbing robot according to the present invention;
FIG. 4 is a schematic view of a magnetic track configuration of an adaptive contact magnetic track climbing robot according to the present invention;
FIG. 5 is a schematic view of the permanent magnetic adsorption principle of the adaptive contact magnetic crawler climbing robot according to the present invention;
fig. 6 is a schematic structural view of a track wheel train of the adaptive contact magnetic track climbing robot according to the present invention.
Description of reference numerals: the crawler belt type crawler belt wheel comprises a crawler belt driving motor 1, a motor mounting support 2, a main body support 3, a universal joint coupler 4, a magnetic crawler belt wheel train 5, a fixed seat connecting rod 6, a crawler belt wheel train connecting rod 7, a crawler belt wheel train support 8, a gas spring 9, a crawler belt wheel train movable support 10, a gas spring mounting support 11, a T-shaped differential gear case 12, a front limiting support 13, a limiting plate front sliding support 14, a limiting plate 15, a limiting plate rear sliding support 16, a rear limiting support 17, a crawler belt wheel train left supporting tube 18, a supporting tube rotating shaft 19, a crawler belt wheel train right supporting tube 20, an adsorption operation surface 21, a permanent magnet crawler belt 22, a crawler belt hinge pin 23, a crawler belt support magnetic yoke 24, a fixed permanent magnet 25, a crawler belt permanent magnet 26, a crawler belt pressing roller 27, magnetic lines of force 28, a crawler wheel 29, a crawler wheel bearing support 30 and a crawler wheel driving shaft 31.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Example 1:
as shown in figure 1, the magnetic crawler climbing robot with the self-adaptive contact comprises a crawler driving motor 1, a motor mounting bracket 2, a main body bracket 3, a universal joint coupler 4, a magnetic crawler wheel system 5, a fixing seat connecting rod 6, a crawler wheel system connecting rod 7, a crawler wheel system bracket 8, an air spring 9, a crawler wheel system movable bracket 10 and an air spring mounting bracket 11. Track driving motor 1 is through drive magnetism track train 5 to make magnetism track climbing robot can remove on adsorbing the operation face.
Specifically, as shown in fig. 1, a track driving motor 1 is mounted on a motor mounting bracket 2, the motor mounting bracket 2 is connected with a main body bracket 3, a T-shaped differential gear case 12 is arranged inside the main body bracket 3 and connected with the driving motor 1, and outputs the power of the driving motor 1 through two universal joint couplers 4 connected with the main body bracket 3, the universal joint couplers 4 are respectively connected to magnetic track wheel trains 5 on the left and right sides and drive the track wheel trains 5 to move, the magnetic track wheel trains 5 are mounted on track wheel train brackets 8, the two track wheel train brackets 8 are respectively connected to the main body bracket 3 through two sets of two link mechanisms composed of a fixed seat link 6 and a track wheel train link 7, and the track wheel train brackets 8 are also connected with a gas spring mounting bracket 11 mounted on the main body bracket 3 through a gas spring 9, so that the track wheel train brackets 8 can pass through the two link mechanisms and the elastic force of the gas spring and can rotate around the pin of the universal joint couplers 4 as the center, and the left and right magnetic track wheel trains 5 can be adapted to have a certain or left and right uneven adsorption surface with high radian through the elastic force of the gas spring 9.
As shown in fig. 1, fig. 2 and fig. 3, the crawler wheel system bracket 8 is further connected to the main body bracket 3 through the crawler wheel system movable bracket 10, the crawler wheel system movable bracket 10 is composed of a crawler wheel system left support tube 18 and a crawler wheel system right support tube 20, the crawler wheel system movable bracket 10 can slide in a telescopic manner in the crawler wheel system bracket 8 through the structures of the support tubes, the crawler wheel system movable bracket 10 is connected to and can rotate around the support tube rotating shafts 19 at two ends of the limiting plate 15, the support tube rotating shafts 19 can limit the support tube rotating shafts 19 through the front limiting bracket 13 and the rear limiting bracket 17 installed in the main body bracket 3, the swinging angle of the crawler wheel system movable bracket 10 can be limited, meanwhile, the support tube rotating shafts 19 can drive the limiting plates 15 to move up and down on the limiting plate front sliding bracket 14 and the limiting plate rear sliding bracket 16 installed in the main body bracket 3, so as to balance the swinging of the crawler wheel system movable bracket 10, so that the main body bracket 3 does not collide with a contact surface, the support tube rotating shafts 19 of the crawler wheel system movable bracket 10 can swing independently on the left side and right side and can meet the sliding requirements of the crawler wheel system movable bracket 5 for magnetic connection of the crawler wheel system, and the crawler wheel system movable bracket can change the magnetic face of the crawler wheel system, and the crawler wheel system movable bracket 5 can change the magnetic face of the crawler wheel system.
As shown in FIG. 2, an output shaft of a track driving motor 1 is connected to a T-shaped differential gear case 12, the T-shaped differential gear case 12 is installed inside a main body bracket 3, an output shaft of the T-shaped differential gear case 12 is connected to track wheels of a magnetic track wheel train 5 through a cardan shaft coupler 4 so as to drive the tracks to rotate and generate crawling power, the T-shaped differential gear case 12 can realize the respective output of the output shafts on the left side and the right side through electric control, so that the differential driving of the magnetic track wheel trains 5 on the left side and the right side is realized, and the steering function of the magnetic track climbing robot is realized.
As shown in fig. 4, the magnetic attraction structure of the magnetic crawler wheel system 5 is composed of a plurality of permanent magnet track shoes 22 and a crawler wheel frame yoke 24, the permanent magnet track shoes 22 are connected by track shoe hinge pins 23, and the crawler wheel frame yoke 24 is fixed in the crawler wheel system frame 8 and is provided with a fixed permanent magnet 25.
As shown in fig. 5, track shoe permanent magnets 26 are installed in the permanent magnet track shoes 22, when the track shoe permanent magnets 26 pass under the fixed permanent magnets 25 under the driving of the track train, the magnetic lines of force of the fixed permanent magnets 25 and the magnetic lines of force of the track shoe permanent magnets 26 pass through the track support yokes 24 and the permanent magnet track shoes 22 which can be used as yokes to superpose and amplify the magnetic lines of force and circulate outside the permanent magnet track shoes 22, and when the track shoe permanent magnets 26 enter or leave the fixed permanent magnets 25, a pair of repulsion forces which are equal in size and opposite in direction and act on the track over-movement are generated between the fixed permanent magnets 25 and the track shoe permanent magnets 26, wherein like poles of the two poles repel each other. That is, when the track shoe permanent magnet 26 is ready to enter the magnetic field below the fixed permanent magnet 25, the fixed permanent magnet 25 will generate a reverse repulsive force to the track shoe permanent magnet 26 along the track traveling direction, and when the track shoe permanent magnet 26 is ready to leave the magnetic field below the fixed permanent magnet 25, the fixed permanent magnet 25 will also generate a forward repulsive force to the track shoe permanent magnet 26 along the track traveling direction, and the two reverse and forward repulsive forces have exactly the same magnitude and are opposite in direction and offset each other on the track, so that the driving force is not affected by the repulsive force of the magnetic field, and the driving of the track driving motor 1 is not affected; meanwhile, two rows of track shoe pressing rollers 27 are mounted on the track support magnetic yoke 24, so that the permanent magnet track shoe 22 can be always attached to the adsorption operation surface 21, and the permanent magnet track shoe 22 can be adsorbed to the adsorption operation surface 21 through a small air gap and strong magnetic force below the fixed permanent magnet 25.
As shown in fig. 6, the permanent magnet track shoes 22 are connected to two track wheels 29 by a track shoe hinge pin 23 to form a chain structure, the track wheels 29 are fixed to the track train bracket 8 by a track wheel bearing bracket 30, and a track wheel transmission shaft 31 is further installed on the track wheels 29 for transmitting rotary power to drive the track wheels 29 to drive the permanent magnet track shoes 22 to rotate.
In other embodiments, the inner end of each foot support tube is connected with the main body bracket 3 through two or more support tube rotating shafts 19, the main body bracket 3 is provided with a front limiting bracket 13, a front limiting plate sliding bracket 14, a rear limiting plate sliding bracket 16 and a rear limiting bracket 17, the front limiting bracket 13, the front limiting plate sliding bracket 14, the rear limiting plate sliding bracket 16 and the rear limiting bracket 17 are provided with vertical sliding grooves, each vertical sliding groove forms two or more groups of rotating shaft sliding grooves, the inner end of each foot support tube is connected with the vertical sliding grooves in a vertical sliding mode through the two or more support tube rotating shafts 19, and meanwhile, the inner end of each foot support tube is rotatably connected with the vertical sliding grooves through the two or more support tube rotating shafts 19.
Two or more limiting plates 15 are slidably arranged between the front limiting plate sliding support 14 and the rear limiting plate sliding support 16, the limiting plates 15 are vertically and slidably connected with the front limiting plate sliding support 14 and the rear limiting plate sliding support 16 through guide columns or guide grooves, and the inner ends of the supporting tubes of all legs are in limiting connection with the limiting plates 15 when vertically sliding through the supporting tube rotating shafts 19 and the vertical sliding grooves.
When the left and right support tube rotating shafts 19 are adopted, the left and right support tube rotating shafts 19 respectively pass through the shaft holes of the left and right limiting plates 15 to be connected with the left and right groups of rotating shaft sliding chutes in a sliding and rotating manner; when a plurality of supporting tube rotating shafts 19 are adopted, the inner ends of the supporting tubes of the legs are respectively connected with an independent supporting tube rotating shaft 19, the independent supporting tube rotating shafts are inserted into the shaft holes of the independent limiting plates, the independent limiting plates form a limiting sliding module combination, and the limiting sliding module combination is connected with the front sliding support 14 of the limiting plate and the rear sliding support 16 of the limiting plate in an up-and-down sliding mode through guide columns or guide grooves.
The magnetic crawler climbing robot has the advantages that magnetic adsorption and self-adaptive adjustment are realized through two groups of magnetic crawler wheel trains after magnetic force reinforcement and optimization, a link mechanism of the magnetic crawler wheel trains and elastic deformation capacity, the function of differential steering is realized, and the magnetic crawler climbing robot is simple in structure, light in weight, convenient to use and maintain and low in cost.
Obviously, the above techniques can be combined in various ways under the guidance of embodiment 1. Therefore, the above-mentioned embodiments only express the embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (7)
1. A self-adaptive contact magnetic crawler climbing robot is characterized by comprising a main body support (3), a crawler driving motor (1), a power transmission assembly, a magnetic crawler wheel system (5), a crawler wheel system installation assembly and a crawler wheel system pre-tightening assembly, wherein the crawler driving motor (1) is installed on the main body support (3), the crawler driving motor is in power transmission connection with the magnetic crawler wheel system (5) through the power transmission assembly, and the power transmission assembly comprises a differential driving mechanism and a transmission direction changing mechanism; the magnetic crawler wheel system (5) is connected with the main body bracket (3) through a crawler wheel system mounting assembly, and the crawler wheel system mounting assembly comprises a swinging mechanism used for enabling the magnetic crawler wheel system (5) to be independent or linked; the main body bracket (3) pre-tightens the magnetic crawler wheel system (5) through a crawler wheel system pre-tightening assembly, and the crawler wheel system pre-tightening assembly comprises an elastic mechanism;
the crawler wheel system mounting assembly comprises a crawler wheel system support (8) and a crawler wheel system movable support (10), and the crawler wheel system support (8) is connected with the main body support (3) through a connecting rod; the crawler belt wheel system movable support (10) consists of a crawler belt wheel system left support tube (18) and a crawler belt wheel system right support tube (20), the crawler belt wheel system left support tube (18) and the crawler belt wheel system right support tube (20) are respectively provided with two foot support tubes which are arranged in the front and at the back, the inner ends of the foot support tubes are in independent or linked sliding and rotating connection with the main body support (3), and the outer ends of the foot support tubes are connected with the magnetic crawler belt wheel system (5);
the inner ends of the foot supporting tubes are connected with a main body bracket (3) through one, two or more supporting tube rotating shafts (19), the main body bracket (3) is provided with a front limiting bracket (13), a limiting plate front sliding bracket (14), a limiting plate rear sliding bracket (16) and a rear limiting bracket (17), the front limiting bracket (13), the limiting plate front sliding bracket (14), the limiting plate rear sliding bracket (16) and the rear limiting bracket (17) are respectively provided with a vertical sliding groove, each vertical sliding groove forms one, two or more groups of rotating shaft sliding grooves, the inner ends of the foot supporting tubes are vertically and slidably connected with the vertical sliding grooves through one, two or more supporting tube rotating shafts (19), and meanwhile, the inner ends of the foot supporting tubes are rotatably connected with the vertical sliding grooves through one, two or more supporting tube rotating shafts (19);
the crawler belt wheel system pre-tightening assembly comprises a gas spring mounting support (11) and a gas spring (9), the gas spring mounting support (11) is arranged in the main body support (3), the upper end of the gas spring (9) is rotatably connected with the gas spring mounting support (11), and the lower end of the gas spring (9) is rotatably connected with a crawler belt wheel system support (8) on the magnetic crawler belt wheel system (5).
2. The adaptive-contact magnetic crawler climbing robot according to claim 1, wherein the power transmission assembly comprises a T-shaped differential gear box (12), a universal joint coupler (4) and crawler wheel transmission shafts (31), two side output shafts of the T-shaped differential gear box (12) are respectively connected to the crawler wheel transmission shafts (31) through the two side universal joint couplers (4), the crawler wheel transmission shafts (31) are used as power input transmission shafts of the magnetic crawler wheel train (5), the left and right side output shafts of the T-shaped differential gear box (12) are respectively output to form a differential drive mechanism, and the universal joint couplers (4) are used as transmission direction changing mechanisms.
3. The adaptive contact magnetic track climbing robot according to claim 1, wherein the foot supporting tube adopts a telescopic sliding structure.
4. The adaptive-contact magnetic crawler climbing robot according to claim 1, wherein one, two or more limiting plates (15) are slidably arranged between the front limiting plate sliding support (14) and the rear limiting plate sliding support (16), the limiting plates (15) are slidably connected with the front limiting plate sliding support (14) and the rear limiting plate sliding support (16) up and down through guide columns or guide grooves, and the inner ends of the supporting tubes of all feet are in limit connection with the vertical sliding grooves through the limiting plates (15) when sliding up and down through supporting tube rotating shafts (19).
5. The adaptive contact magnetic crawler climbing robot according to claim 4, wherein when the same supporting tube rotating shaft (19) is adopted, the supporting tube rotating shaft (19) passes through the shaft hole of the limiting plate (15) to be connected with a group of rotating shaft sliding grooves in a sliding and rotating way; when the left and right support tube rotating shafts (19) are adopted, the left and right support tube rotating shafts (19) respectively pass through shaft holes of the left and right limiting plates (15) to be connected with the left and right groups of rotating shaft sliding chutes in a sliding and rotating manner; when a plurality of supporting tube rotating shafts (19) are adopted, the inner ends of the supporting tubes of all feet are respectively connected with an independent supporting tube rotating shaft (19), the independent supporting tube rotating shafts are inserted into the shaft holes of the independent limiting plates, the independent limiting plates form a limiting sliding module combination, and the limiting sliding module combination is connected with the front sliding support (14) of the limiting plate and the rear sliding support (16) of the limiting plate in a vertical sliding mode through guide columns or guide grooves.
6. An adaptive contact magnetic track climbing robot according to claim 1, characterized in that the magnetic track train (5) comprises track wheels (29), a track consisting of a plurality of linked permanent magnet track plates (22), and a track wheel bearing support (30), the track wheels (29) being fixed to the track train support (8) in the track wheel train mounting assembly by the track wheel bearing support (30), the track wheels (29) in the magnetic track train (5) being in power connection with a track wheel drive shaft (31) in the power transmission assembly; the magnetic crawler wheel system (5) is connected with the main body bracket (3) through a crawler wheel system bracket (8) and a crawler wheel system movable bracket (10) in the crawler wheel system mounting assembly; on the other hand, the crawler wheel system bracket (8) and the connecting rod in the crawler wheel system mounting assembly are connected with the main body bracket (3) in a mounting way; the crawler wheel system bracket (8) is connected with the main body bracket (3) in a pre-tightening way through a gas spring (9) in the crawler wheel system pre-tightening assembly.
7. The adaptive contact magnetic crawler climbing robot according to claim 6, wherein a magnetic adsorption mechanism is arranged in the magnetic crawler wheel train (5), the magnetic adsorption mechanism comprises a crawler plate permanent magnet (26) and a fixed permanent magnet (25), relative to the adsorption operation surface (21), magnetic lines of force of the fixed permanent magnet (25) and magnetic lines of force of the crawler plate permanent magnet (26) are superposed relative to the adsorption operation surface (21), between the fixed permanent magnet (25) and the crawler plate permanent magnet (26), magnetic poles of the fixed permanent magnet and the crawler plate permanent magnet repel each other in the same polarity, and when the crawler plate permanent magnet (26) enters or leaves the fixed permanent magnet (25), a pair of repulsion forces which are equal in size and opposite in direction and act in the crawler movement process are generated; the length of the fixed permanent magnet (25) is the length of the permanent magnet adsorption surface of the magnetic crawler wheel system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710367820.8A CN107021144B (en) | 2017-05-23 | 2017-05-23 | Magnetic track climbing robot of self-adaptation contact |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710367820.8A CN107021144B (en) | 2017-05-23 | 2017-05-23 | Magnetic track climbing robot of self-adaptation contact |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107021144A CN107021144A (en) | 2017-08-08 |
| CN107021144B true CN107021144B (en) | 2022-12-13 |
Family
ID=59529876
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710367820.8A Active CN107021144B (en) | 2017-05-23 | 2017-05-23 | Magnetic track climbing robot of self-adaptation contact |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107021144B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216409B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Flexible peristaltic climbing robot |
| CN108674511B (en) * | 2018-05-31 | 2024-04-09 | 杭州展翔智能科技有限公司 | Autonomous climbing device capable of carrying application device |
| CN109267758A (en) * | 2018-06-15 | 2019-01-25 | 汤瑞平 | A kind of three brush glass curtain wall cleaning equipments |
| CN111204379B (en) * | 2018-11-22 | 2022-07-29 | 临颍县爬杆机器人有限公司 | Magnetic adsorption type pole-climbing robot |
| CN110053679A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of strong magnetic suck snake section type crawler attachment applied to climbing robot |
| CN110053680A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of magnetic adsorption type obstacle detouring crawler attachment applied to climbing robot |
| CN109854464B (en) * | 2019-03-22 | 2024-02-23 | 湖南沄耀中创科技有限公司 | Be applied to magnetism climbing robot that fan tower section of thick bamboo washd and detected |
| CN110077553A (en) * | 2019-04-24 | 2019-08-02 | 河北工业大学 | A kind of dredging robot |
| CN110371210B (en) * | 2019-07-31 | 2021-08-10 | 上海酷酷机器人有限公司 | Magnetic force robot |
| CN110329370B (en) * | 2019-07-31 | 2024-03-15 | 北京履坦科技有限公司 | Arched movable chassis with steering wheel legs |
| CN110510022A (en) * | 2019-08-05 | 2019-11-29 | 湖南沄耀中创科技有限公司 | A kind of blower fan tower barrel flaw detection climbing robot |
| CN110282042B (en) * | 2019-08-06 | 2024-03-22 | 山东国兴智能科技股份有限公司 | High-performance self-adaptive crawler chassis device and working method |
| CN111761519A (en) * | 2020-06-03 | 2020-10-13 | 武汉理工大学 | Wall-climbing robot for derusting inner wall of buried oil tank |
| CN113844565B (en) * | 2021-11-01 | 2023-01-20 | 成都熊谷加世电器有限公司 | Magnetic adsorption device for climbing trolley |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0512378U (en) * | 1991-07-29 | 1993-02-19 | 三菱重工業株式会社 | Crawler type wall adsorption self-propelled device |
| JPH11208538A (en) * | 1998-01-28 | 1999-08-03 | Komatsu Engineering Kk | Rough terrain travelling working vehicle |
| JP2001151170A (en) * | 1999-11-25 | 2001-06-05 | Mitsubishi Heavy Ind Ltd | Magnetic wall surface traveling device |
| CN101092151A (en) * | 2007-07-24 | 2007-12-26 | 于复生 | Wall-climbing robot on surface of iron based tank |
| CN101722508A (en) * | 2008-10-10 | 2010-06-09 | 东华大学 | Robot capable of walking in vertical pipeline |
| CN203019367U (en) * | 2012-12-13 | 2013-06-26 | 浙江大学 | Magnetic wheel type wall-climbing robot with curved surface self-adaptive adsorption function |
| CN105035202A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Derusting wall-climbing robot for ship |
| CN205930981U (en) * | 2016-05-31 | 2017-02-08 | 张敏 | Marine robot |
-
2017
- 2017-05-23 CN CN201710367820.8A patent/CN107021144B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0512378U (en) * | 1991-07-29 | 1993-02-19 | 三菱重工業株式会社 | Crawler type wall adsorption self-propelled device |
| JPH11208538A (en) * | 1998-01-28 | 1999-08-03 | Komatsu Engineering Kk | Rough terrain travelling working vehicle |
| JP2001151170A (en) * | 1999-11-25 | 2001-06-05 | Mitsubishi Heavy Ind Ltd | Magnetic wall surface traveling device |
| CN101092151A (en) * | 2007-07-24 | 2007-12-26 | 于复生 | Wall-climbing robot on surface of iron based tank |
| CN101722508A (en) * | 2008-10-10 | 2010-06-09 | 东华大学 | Robot capable of walking in vertical pipeline |
| CN203019367U (en) * | 2012-12-13 | 2013-06-26 | 浙江大学 | Magnetic wheel type wall-climbing robot with curved surface self-adaptive adsorption function |
| CN105035202A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Derusting wall-climbing robot for ship |
| CN205930981U (en) * | 2016-05-31 | 2017-02-08 | 张敏 | Marine robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107021144A (en) | 2017-08-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107021144B (en) | Magnetic track climbing robot of self-adaptation contact | |
| CN206766176U (en) | A kind of magnetic track climbing robot adaptively contacted | |
| CN106995014B (en) | Magnetic circuit structure beneficial to crawler adsorption transmission and climbing device | |
| CN102689296B (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN108275215B (en) | Wall climbing vehicle and detection robot based on same | |
| KR101494644B1 (en) | Inspecting robot for regenerating superannuated pipes | |
| CN102672704B (en) | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms | |
| CN107600214B (en) | Wall climbing operation robot suitable for wall surface movement with variable curvature | |
| CN105035202A (en) | Derusting wall-climbing robot for ship | |
| CN107128389B (en) | Curved surface self-adaptive magnetic adsorption wall-climbing paint spraying robot | |
| CN102673671B (en) | Composite magnetic adsorption visual detection climbing robot | |
| CN109533069B (en) | Constant torque wheel type obstacle surmounting robot | |
| CN102079339B (en) | Robot operated on surface of oil storage tank | |
| CN108791555B (en) | Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot | |
| CN107804384B (en) | Self-adaptive wall surface four-crawler wall climbing robot | |
| CN107310645B (en) | Wall climbing robot with adjustable shock absorption | |
| CN102689295A (en) | Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm | |
| CN103523109A (en) | Quasi-wheel wall-climbing robot | |
| CN111572662A (en) | Magnetic gap type wall-climbing robot | |
| CN105945894A (en) | Track type wall climbing robot capable of randomly steering | |
| CN108382480A (en) | A kind of power steel pipe tower climbing robot | |
| CN114348135B (en) | Six-foot wheel-leg-track hybrid mobile robot | |
| CN209888977U (en) | Magnetic gap type wall-climbing robot | |
| CN205916690U (en) | A AGV dolly that is used for uneven ground surface's actuating system and contains this system | |
| CN106394714B (en) | A kind of sucked type climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |