CN107140153B - Adaptive strain born of the same parents crawler belt traveling mechanism - Google Patents
Adaptive strain born of the same parents crawler belt traveling mechanism Download PDFInfo
- Publication number
- CN107140153B CN107140153B CN201710345776.0A CN201710345776A CN107140153B CN 107140153 B CN107140153 B CN 107140153B CN 201710345776 A CN201710345776 A CN 201710345776A CN 107140153 B CN107140153 B CN 107140153B
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- China
- Prior art keywords
- crawler belt
- adaptive
- same parents
- backup pad
- upper backup
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
-
- 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
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- 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
- B62D55/30—Track-tensioning means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of adaptive strain born of the same parents crawler belt traveling mechanism, including crawler belt, crawler belt are set on driving wheel and tensioning wheel；The tensioning wheel is connected with expansion regulating mechanism；Adaptive mechanism is installed between driving wheel and tensioning wheel；The adaptive mechanism includes spring, spring one end connecting vehicle frame, and the other end connects upper backup pad, and support plate is connect by shaft and vehicle frame axis；Support plate is connected with lower supporting plate by steering engine, and lower supporting plate is connected with carrying roller.The present invention enables to carrying roller and creeper tread to be tightly attached to the adsorption effect that wall surfaces of ships guarantees permanent magnet, is adapted to various wall surfaces on ship.
Description
Technical field
The invention belongs to machinery fields, more particularly to a kind of adaptive strain born of the same parents crawler belt traveling mechanism.
Background technique
Traditional cleaning machine mode all there is a problem of different degrees of.Artificial cleaning takes time and effort, and cleanup crew's work
Make that condition is poor, does not meet the automation trend of today's society；Chemical method cleaning is easy to cause the biggish marine eco-environment
Pollution, the method cleaning effect of high-pressure water shot is limited and expends biggish energy, and the cleaning of traditional robot list brush is working
In with surface can generate vibration, limited by surface condition.Modern clean ship robot cleaner mode, which mainly has in foreign countries, to be compared
Good development.
NASA and California Institute of Technology jet propulsion laboratory (NASA-JPL) have developed for carrying ship
Oceangoing ship derusts the climbing robot M series of washer, if but the permanent magnetic suck that uses of such robot move back during the work time
Magnetic encounters non-ferromagnetic material surface and will appear the situation that can not be adsorbed, while adsorption capacity is affected by magnetic situation.Using height
Pressure hydraulic giant injection causes service load larger, while influencing adsorption effect.
NASA-JPL combines the titanium that the had developed M3500 type machine people of Ka Naiji-Mei Long university robot research uses
Alloy and other composite materials and kneed adaptation mechanism have comprehensive excellent cleaning effect, and mechanical structure is more
Complicated material cost simultaneously is higher.
Flow company has developed Hydro-Cat and Hydro-Crawler.The vacuum suction that Hydro-Cat robot uses
Structure causes absorption difficulty big, and relies on ship hull surface shape, incurs destruction to avoid vacuum condition.Crawler travel and lack
It is unreliable that adaptive mechanism will lead to walking absorption.
French Cybernetix company has developed the permanent magnetic suck structure that Octopus robot still uses, and equally having can
It is unreliable to cause to adsorb because of demagnetization.Running on wheels mode obstacle detouring is good, but reliability of walking is low.
Cartagena University of Science and Technology of the Spain research department DSIE professor Iborra etc. has developed a kind of rail type cantilever carrying
Climb wall rust removing robot EFTCOR.EFTCOR can only clean the larger plane in side due to needing to overlap track, have certain
Limitation.
Shenyang Inst of Automation, Chinese Academy of Sciences's Wang Hong light etc. has succeeded in developing a variety of climbing robots.Have developed one kind
New-type wheel walking combined wall climbing robot, it is more deep to walking research, but it is underwater situation that study condition, which is not, and
It is not intended to clean robot.
Positive Yao of Maritime Affairs University Of Dalian's clothing etc. has developed the two alternative climbing robots in carrying ship derusting washer and lacks
Adaptive structure, while the single cleaning brush configuration used, unstable when leading to work, the problems such as being easy to appear vibration noise.
Existing wall-climbing cleaning robot is due to that cannot make crawler belt fit closely with Chuan Bi, in the body surface of greater curvature ship
Face is it is easier that robot is detached from hull.
Summary of the invention
To solve the above problems, the present invention provides a kind of adaptive strain born of the same parents crawler belt traveling mechanisms.The present invention enables to
Carrying roller and creeper tread are tightly attached to the adsorption effect that wall surfaces of ships guarantees permanent magnet, guarantee the absorption reliability and row of pedrail mechanism
Safety is sailed, various wall surfaces on ship are adapted to.
To reach above-mentioned technical effect, the technical scheme is that
A kind of adaptive strain born of the same parents crawler belt traveling mechanism, including crawler belt, crawler belt are set on driving wheel and tensioning wheel, and described
Bearing up pulley is connected with expansion regulating mechanism；Adaptive mechanism is installed between driving wheel and tensioning wheel；The adaptive mechanism includes spring,
Spring one end connecting vehicle frame, the other end connect upper backup pad, and upper backup pad is connect by shaft and vehicle frame axis；Upper backup pad passes through rudder
Machine is connected with lower supporting plate, and lower supporting plate is connected with carrying roller.
Spring provides pretightning force for upper backup pad and drives carrying roller to rotate in turn so that upper backup pad rotates around the axis,
So that carrying roller fitting support crawler belt；When encountering recess, expansion regulating mechanism drives tensioning wheel to move back, meanwhile, under steering engine drives
Support plate rotation, fits closely to realize with hull recess；When encountering protrusion, steering engine drives lower supporting plate reversely to turn
It is dynamic, so that crawler belt and holding and high spot fit closely；In the smooth place of hull, after expansion regulating mechanism drives tensioning wheel
Forward is moved, while steering engine drives lower supporting plate homing.
Further to improve, the expansion regulating mechanism is hydraulic cylinder.
It is further to improve, the support sprocket wheel with crawler belt cooperation is also equipped on the vehicle frame.
Further to improve, the grouser shoe of the crawler belt is fixed with permanent magnet by permanent magnet support frame；The lower branch
Fagging connects carrying roller by first bearing, is fixed with carrying roller end cap on carrying roller；Second bearing is arranged with outside the shaft；
Driving wheel is connected with driving wheel motor；Cleaning mechanism is connected with cleaning mechanism motor.
Further to improve, the adaptive mechanism is no less than two.
Further to improve, the adaptive strain born of the same parents crawler belt traveling mechanism is mounted on ship naval vessels wall surface wall-climbing cleaning device
On the vehicle frame of people.
It is further to improve, the spacer pin with upper backup pad cooperation is fixed on the vehicle frame；Spacer pin is for preventing
Support plate rotates down the landform adaptive functions for influencing lower supporting plate rotation, remains the shock-absorbing function of spring when encountering obstacle.
It is further to improve, the arc groove with spacer pin cooperation is formed on the upper backup pad.
Detailed description of the invention
Fig. 1 is the schematic perspective view of ship naval vessels wall surface wall-climbing cleaning robot；
Fig. 2 is the overlooking structure diagram of ship naval vessels wall surface wall-climbing cleaning robot；
Fig. 3 is the structural schematic diagram of adaptive strain born of the same parents' crawler belt traveling mechanism；
Fig. 4 is the structural schematic diagram of adaptive mechanism；
Fig. 5 is the structural schematic diagram of cleaning mechanism.
Specific embodiment
Technical solution of the present invention is illustrated below by way of specific embodiment and in conjunction with attached drawing.
Embodiment 1
A kind of ship naval vessels wall surface wall-climbing cleaning robot as Figure 1-Figure 2, including vehicle frame 1 are equipped on vehicle frame 1
Adaptive strain born of the same parents' crawler belt traveling mechanism 2, cleaning mechanism 3 and thrust adsorbing mechanism 4.
As shown in Figure 3 and Figure 4, adaptive strain born of the same parents' crawler belt traveling mechanism 2 includes crawler belt 5, and crawler belt 5 is set in 6 He of driving wheel
On tensioning wheel 7；Tensioning wheel 7 is connected with expansion regulating mechanism 8, and expansion regulating mechanism 8 is hydraulic cylinder or other telescopic devices, such as
Cylinder etc..Adaptive mechanism is installed between driving wheel 6 and tensioning wheel 7；Adaptive mechanism includes spring 9,9 one end connecting vehicle frame of spring
1, the other end connects upper backup pad 10, and upper backup pad 10 is connect by shaft 14 and 1 axis of vehicle frame；Upper backup pad 10 is connected by steering engine 11
It is connected to lower supporting plate 12, lower supporting plate 12 is connected with carrying roller 13.
Spring 9 is that upper backup pad 10 provides pretightning force so that upper backup pad 10 14 rotates around the shaft and then drives load-bearing
13 rotation of wheel, so that the fitting support crawler belt 5 of carrying roller 13；When encountering recess, expansion regulating mechanism 8 drives tensioning wheel 7 to move back, together
When, steering engine 11 drives lower supporting plate 12 to rotate, and fits closely to realize with hull recess；When encountering protrusion, steering engine 11
Lower supporting plate 12 is driven to rotate backward, so that crawler belt 5 is fitted closely with holding with high spot；In the smooth place of hull, stretch
Contracting regulating mechanism 8 drives tensioning wheel 7 to move back Forward, while steering engine 11 drives 12 homing of lower supporting plate.
Robot controls release or constraint support plate freedom degree by steering engine according to traveling demand.It is flexible to control dual-gripper plate
So that carrying roller and creeper tread are tightly attached to the adsorption effect that wall surfaces of ships guarantees permanent magnet.The mechanism combination spring hydraulic device,
The absorption reliability and driving safety for guaranteeing pedrail mechanism, are adapted to various wall surfaces on ship.
The support sprocket wheel 15 cooperated with crawler belt 5 is also equipped on vehicle frame 1.The grouser shoe 16 of crawler belt 5 is supported by permanent magnet
Frame 17 is fixed with permanent magnet 18；Lower supporting plate 12 connects carrying roller 13 by first bearing 19, is fixed with load-bearing on carrying roller 13
Take turns end cap 21；Second bearing 20 is arranged with outside shaft 14；Driving wheel 6 is connected with driving wheel motor 601；Cleaning mechanism 3 is connected with
Cleaning mechanism motor 301.Adaptive mechanism is no less than two, and three are selected as in the present embodiment, so that crawler belt totally adapts to
A variety of landform.
The spacer pin 22 cooperated with upper backup pad 10 is fixed on vehicle frame 1；Spacer pin 22 for prevent upper backup pad 10 to
Lower rotation influences the landform adaptive functions that lower supporting plate 12 rotates, and remains the shock-absorbing function of spring 9 when encountering obstacle.Upper support
The arc groove cooperated with spacer pin 22 is formed on plate 10.
As shown in Figure 1, thrust adsorbing mechanism 4 is propeller, propeller is connected with propeller motor.Propeller be two and
It is located at 1 two sides of vehicle frame.Permanent magnet absorption combines the suction type of airscrew thrust adsorbing mechanism.Robot is improved not
With the reliability and job stability under environment.Robot is adsorbed in wall surface by magnetic force by robot.Magnetic suck mode is climbed
It must be permeability magnetic material that wall robot, which requires wall surface, but structure is simple, and adaptable to the bumps of wall surface.When robot row
It crosses journey and touches the meeting partial failure of demagnetization material permanent magnetic suck power, in order to guarantee that robot will not be peeled off from wall surface, propeller
The negative-pressure adsorption of generation is a kind of mode that robot is attached to wall surface by air-negative-pressure power, generates negative pressure in addition to generating
Robot is attached to other than the normal force of wall surface, while it also relies on its wall surface tangential component and robot is made to overcome itself
Gravity and wall friction power and advance.It is limited to overcome single permanent magnetic suck obstacle detouring, material limitation etc. influences.It is protected using double helix
Demonstrate,prove dynamic balance and moving equilibrium.
As shown in figure 5, cleaning mechanism 3 includes sun gear 302 and planet carrier 303；Between sun gear 302 and planet carrier 303
It is engaged with planetary gear 304, planetary gear 304 is connected with cleaning brush 305.It is equipped between planetary gear 304 and cleaning brush 305
Adjustment spring 306.Sun gear 302 is connect by 3rd bearing 307 with planetary gear 304；Shaft block ring is arranged on sun gear 302
308；Sun gear is connected with sun wheel shaft 309, and sun wheel shaft 309 is engaged with bevel gear shaft 310, the connection cleaning of bevel gear shaft 310
Mechanism motor 301.
Drive planetary gear 304 to revolve by sun gear 302 in this way, planetary gear 304 again by the power of engaging tooth into
Row rotation uniformly derusts to hull in conjunction with rotation by revolving.Brush is connected in planetary gear lower end, in axial direction
Install spring arrangement additional, spring has certain pretightning force.This structure enables brush to move in the axial direction, and keeps brush filament that can be close to ship
Body surface face, and it is provided with certain normal pressure, it is ensured that derusting is gone on smoothly.It completes to clean work with water during robot traveling
Industry.Relative to general single brush, mechanism cleaning area is big, and uniform force, bearing capacity is strong, and intensity is higher, can be fine
Reach equilibrium condition, the cleaning efficiency improved.
Robot is controlled by control system, and control system selects 51 SCM systems, is to realize robot motion
The core of control.Its various sensor received signal according to robot in the process of moving, deals with to signal, transmits
Initiation parameter and action command carry out path planning, two decelerating step motors (driving wheel motor 601) are driven, to control
The movement of robot processed；The feedback signal for obtaining obliquity sensor, controls the posture of robot, prevents convex due to hull surface
Recessed injustice, the track of crawler belt is different when causing robot mobile or so, and robot is made to occur climbing inclined phenomenon, guarantees Robot rule
Fixed path walking.Common submersible machine (cleaning mechanism motor 301) is driven, the operation of brushing machine is completed.Drive propeller
Stepper motor, when necessary realize airscrew thrust mechanism auxiliary suction-operated.The obstacle that can not be crossed over and recess are encountered, by
Infrared sensor receives signal feedback to control centre, the movement of robot command.Cleaning effect is differentiated by visualization system
Fruit determines the need for carrying out secondary cleaning.
It above are only the specifically guiding embodiment of of the invention one, but the design concept of the present invention is not limited to this,
It is all to be made a non-material change to the present invention using this design, it should belong to the behavior for invading protection scope of the present invention.
Claims (8)
1. a kind of adaptive strain born of the same parents crawler belt traveling mechanism, including crawler belt (5), crawler belt (5) are set in driving wheel (6) and tensioning wheel
(7) on, which is characterized in that the tensioning wheel (7) is connected with expansion regulating mechanism (8)；Between driving wheel (6) and tensioning wheel (7)
Adaptive mechanism is installed；The adaptive mechanism includes spring (9), spring (9) one end connecting vehicle frame (1), is propped up in other end connection
Fagging (10), upper backup pad (10) are connect by shaft (14) and vehicle frame (1) axis；Upper backup pad (10) is connected with by steering engine (11)
Lower supporting plate (12), lower supporting plate (12) are connected with carrying roller (13)；
Spring (9) is that upper backup pad (10) provide pretightning force so that upper backup pad (10) is rotated and then driven around the shaft (14)
Carrying roller (13) rotation, so that carrying roller (13) fitting support crawler belt (5)；When encountering recess, expansion regulating mechanism (8), which drives, to be opened
Bearing up pulley (7) moves back, meanwhile, steering engine (11) drives lower supporting plate (12) rotation, fits closely to realize with hull recess；
When encountering protrusion, steering engine (11) drives lower supporting plate (12) to rotate backward, so that the close patch of crawler belt (5) and holding and high spot
It closes；In the smooth place of hull, expansion regulating mechanism (8) drives tensioning wheel (7) to move back Forward, while steering engine (11) drives lower
Fagging (12) homing.
2. adaptive strain born of the same parents crawler belt traveling mechanism as described in claim 1, which is characterized in that the expansion regulating mechanism (8)
For hydraulic cylinder.
3. adaptive strain born of the same parents crawler belt traveling mechanism as described in claim 1, which is characterized in that also installed on the vehicle frame (1)
There is the support sprocket wheel (15) with crawler belt (5) cooperation.
4. adaptive strain born of the same parents crawler belt traveling mechanism as described in claim 1, which is characterized in that the caterpillar chain of the crawler belt (5)
Plate (16) is fixed with permanent magnet (18) by permanent magnet support frame (17)；The lower supporting plate (12) is connected by first bearing (19)
It connects carrying roller (13), carrying roller end cap (21) is fixed on carrying roller (13)；Second bearing is arranged with outside the shaft (14)
(20)；Driving wheel (6) is connected with driving wheel motor (601)；Cleaning mechanism (3) is connected with cleaning mechanism motor (301).
5. adaptive strain born of the same parents crawler belt traveling mechanism as described in claim 1, which is characterized in that the adaptive mechanism is no less than two
It is a.
6. adaptive strain born of the same parents crawler belt traveling mechanism as described in claim 1, which is characterized in that the adaptive strain born of the same parents crawler belt row
Mechanism is sailed to be mounted on the vehicle frame (1) of ship naval vessels wall surface wall-climbing cleaning robot.
7. adaptive strain born of the same parents crawler belt traveling mechanism as claimed in claim 6, which is characterized in that be fixed on the vehicle frame (1)
With the spacer pin (22) of upper backup pad (10) cooperation；Spacer pin (22) under the influence of preventing upper backup pad (10) from rotating down for propping up
The landform adaptive functions of fagging (12) rotation, remain the shock-absorbing function of spring when encountering obstacle (9).
8. adaptive strain born of the same parents crawler belt traveling mechanism as claimed in claim 7, which is characterized in that on the upper backup pad (10) at
Shape has the arc groove with spacer pin (22) cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710345776.0A CN107140153B (en) | 2017-05-17 | 2017-05-17 | Adaptive strain born of the same parents crawler belt traveling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710345776.0A CN107140153B (en) | 2017-05-17 | 2017-05-17 | Adaptive strain born of the same parents crawler belt traveling mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN107140153A CN107140153A (en) | 2017-09-08 |
| CN107140153B true CN107140153B (en) | 2018-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710345776.0A Expired - Fee Related CN107140153B (en) | 2017-05-17 | 2017-05-17 | Adaptive strain born of the same parents crawler belt traveling mechanism |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107918396A (en) * | 2017-11-30 | 2018-04-17 | 深圳市智能机器人研究院 | A kind of underwater cleaning robot paths planning method and system based on hull model |
| CN107826171B (en) * | 2017-12-01 | 2023-12-05 | 北京履坦科技有限公司 | Joint crawler belt with posture adjusting mechanism |
| CN108673469B (en) * | 2018-06-14 | 2023-04-25 | 河北工业大学 | Caterpillar band deformable robot moving platform for dangerous disaster site environment |
| CN108638087A (en) * | 2018-06-29 | 2018-10-12 | 深圳聚纵科技有限公司 | The attached recyclable robot of double suction |
| CN110435845B (en) * | 2019-09-11 | 2024-02-06 | 广东海洋大学 | Rotary ship body cleaning robot |
| CN116279879B (en) * | 2022-12-05 | 2024-06-21 | 广东工业大学 | Magnetic force controllable wheel foot module, wheel leg mechanism and wheel leg composite crawling robot |
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| US4838373A (en) * | 1988-06-30 | 1989-06-13 | Caterpillar Inc. | Suspension structure for a tracked vehicle |
| DE102008035670A1 (en) * | 2007-08-11 | 2009-02-12 | RIMO Transportgeräte GmbH & Co. KG | Sales cabinet i.e. beach sales vehicle, for e.g. transporting goods, has chassis with track drive and supporting device for goods, and electric motors provided with flanged transmissions, where motors drive track chains |
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