CN107226146B - A kind of adjustable suspension fork mechanism of three axis for robot - Google Patents
A kind of adjustable suspension fork mechanism of three axis for robot Download PDFInfo
- Publication number
- CN107226146B CN107226146B CN201710299841.0A CN201710299841A CN107226146B CN 107226146 B CN107226146 B CN 107226146B CN 201710299841 A CN201710299841 A CN 201710299841A CN 107226146 B CN107226146 B CN 107226146B
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- swivel mount
- robot
- bolt
- wheel
- fixing seat
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/43—Mechanical actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adjustable suspension fork mechanisms of three axis for robot, including vehicle frame, two Y-direction swivel mounts being arranged in parallel on the vehicle frame, four groups of suspension clamp mechanisms being independently arranged on the Y-direction swivel mount, two suspension clamp mechanisms are set on each Y-direction swivel mount, and each suspension clamp mechanism includes the X that is mounted on Y-direction swivel mount to swivel mount, is mounted on Z-direction fixing seat of the X on swivel mount, is mounted on the wheel in the Z-direction fixing seat by wheel shaft and bearing block.The present invention can change wheel, magnet in X, Y, the angle of Z-direction by changing the position of corresponding bolt and sliding slot, thus it is possible to vary the angle of wheel and contact surface changes simultaneously the spacing of magnet and contact surface.The mechanism realizes adaptation of the wheel to different metal curved surface or other curved surfaces, adapts to curved surface for robot and provides very high motion credibility.
Description
Technical field
The invention belongs to robots and Vehicle Engineering, are related to a kind of adjustable suspension of three axis that can be used in robot
Mechanism may be implemented to move on metal curved surface or other curved surfaces (such as ground).
Background technique
Climbing robot is one kind of mobile robot, including pipeline climbing robot, wall surface climbing robot and spherical surface
Climbing robot, the walking manner of robot can be divided into wheeled.Crawler type, solution cavity stone etc..According to different driving method and function
The climbing robot that can design a variety of different structures and purposes, as detected climbing robot, electromagnetic adsorption in pneumatic tube
Polypody climbing robot, electric drive wall surface welding arc climbing robot etc., the climbing robot of each form has respective answer
Use feature.
Since Japanese western bright professor in 1966 develops first climbing robot, climbing robot is obtained in Japan
It flourishes.Later, the states such as Britain, Spain, the U.S., Germany and Russia also develop a variety of wall-climbing device proper manners in succession
Machine.Since the 1980s, domestic many universities and colleges and R&D institution also achieve significant progress in climbing robot field,
Have developed various types of climbing robots.
Climbing robot be it is a kind of can creep the limit operation robot of operation in wall surface, it is collecting mechanism, senses
The high-tech product that technology, control and information technology etc. are integrated, Japan, big country, robot, the world grind in limit operation robot
It is especially positive to study carefully aspect.In in the past few decades, climbing robot technology is worldwide rapidly developed, also in succession
Different types of model machine is had developed, some have been put into practical.In this field, what Japan obtained makes an outstanding achievement, the U.S., English
The states such as state, France, Italy, Spain, Australia, South Korea are also in the research that deepens continuously.
Climbing robot is by locomotive function point mainly sucked type, wheel type and crawler type.Sucked type can be across very little
Obstacle, but movement speed is slow；Wheel type movement speed is fast, control flexibly, but maintains certain adsorption capacity more difficult；Crawler type pair
Wall surface is adaptable, and the area that lands is big, but is not easy to turn.And the obstacle crossing ability of these three move modes is all very weak.
Currently, it is actually rare in the robot for being suitable for different curve movement, wall machine is climbed especially on metal curved surface
Device people, since the variation of curved surface radian brings very big puzzlement to robot motion.
Summary of the invention
Technical problem: the present invention provides one kind and is suitable for different curvature working face (such as metal covering, ground), makes robot
Wheel normally contacts in each curvature cambered surface, it is reliable to guarantee movement, and can change the angle of three axial directions of suspension, increases work arc
The adjustable suspension fork mechanism of three axis for robot of face range.
Technical solution: the adjustable suspension fork mechanism of three axis for robot of the invention, including vehicle frame, it is arranged in parallel in institute
State two on vehicle frame Y-direction swivel mounts, four groups of suspension clamp mechanisms being independently arranged on the Y-direction swivel mount, each Y-direction rotation
Two suspension clamp mechanisms are set on frame, each suspension clamp mechanism include the X that is mounted on Y-direction swivel mount to swivel mount, be mounted on
Z-direction fixing seat of the X on swivel mount is mounted on the wheel in the Z-direction fixing seat by wheel shaft and bearing block.
Further, in the present invention, Y-direction swivel mount is connected by the first bolt and the first adjustable bolt vehicle frame, and described the
One adjustable bolt is mounted in the sliding slot of vehicle frame side, and the folder of Y-direction swivel mount and vehicle frame is adjusted by the different location in sliding slot
Angle.
Further, in the present invention, X is connect by the second bolt and the second adjustable bolt with Y-direction swivel mount to swivel mount,
Second adjustable bolt is mounted in the sliding slot of Y-direction swivel mount side, adjusts X to swivel mount by the different location in sliding slot
With the angle of Y-direction swivel mount.
Further, in the present invention, Z-direction fixing seat is connected by third bolt and third adjustable bolt and X to swivel mount,
The third adjustable bolt is mounted on X into the arc chute of swivel mount, adjusts Z-direction fixing seat by the different location in sliding slot
The angle rotated with X to swivel mount.
Further, Z-direction fixing seat is internally provided with the fastener for preventing stress excessive deformation.Fastener generally passes through
Bolt is fixed on inside Z-direction fixing seat.
Further, wheel, wheel shaft, bearing block, motor, fastener and Z-direction fixing seat are connected as one by bolt or bearing
Angles and positions locating for wheel can be changed in body, the angles and positions by changing this suspension.
Mechanism of the present invention can adapt to difference by changing the inclination angle Lai Shi robot in three directions of wheel and contact surface
Curvature working face (such as metal covering, ground) realizes that wheel suspension in the adjustable of three degree of freedom, can well adapt to
Different types of working face makes the relatively reliable stabilization of robot motion.
The utility model has the advantages that compared with prior art, the present invention having the advantage that
Perhaps climbing robot can only adapt to smooth working face in special cambered surface or spherical surface to existing mobile robot
On the working face of equal curved surfaces, even disable since the variation that wheel can not adapt to curvature causes movenent performance to weaken, the present invention can
So that wheels of robot normally contacts in each curvature cambered surface, it is reliable to guarantee movement, and the angle of three axial directions of suspension can be changed,
Increase the range of work cambered surface.
(1) it can change Y-direction swivel mount with respect to vehicle by changing the position of the first adjustable bolt in Y-direction swivel mount upper hopper chute
The angle of frame, and then change the posture and angle of wheel suspension in the Y direction, make robot respectively take turns between shape in the Y direction
Curved surface is adapted at required angle.
(2) it can change X to swivel mount relative to Y-direction to the position of the second bolt in swivel mount upper hopper chute by changing X
The angle of swivel mount, and then change the posture and angle of wheel suspension in the X direction, make robot respectively take turns between in X-direction
Angle needed for upper formation adapts to curved surface.
(3) by changing X, the position of third bolt can change Z-direction fixing seat relative to X in arc groove on swivel mount
To the angle of swivel mount, and then change the posture and angle of wheel in z-direction, make robot respectively take turns between in z-direction
Required angle is formed to adapt to curved surface.
(4) on different curvature metal covering or the robot of other curved surfaces (such as ground), since curved surface is to robot
The negative influence that movenent performance generates, the angle by changing X, Y, Z three degree of freedom are adapted to curved surface, make wheels of robot
It is in tangency location with curved surface, very big stabilization is generated to robot motion.
(5) when creeping on metal covering, source of the permanent magnet as robot adsorption capacity can be used, design near wheel
Obstacle detouring and adsorption capacity of the robot on metal covering are not only increased, and adjustable Three Degree Of Freedom mechanism can change permanent magnetism
The gap of body and adsorption plane, and then change the size of adsorption capacity, it is wider to be allowed to the scope of application.
Detailed description of the invention
Fig. 1 is three dimensional structure diagram of the present invention.
Fig. 2 is the single suspension partial schematic diagram of the present invention.
Fig. 3 is that the present invention changes wheel suspension in car body X, Y-axis angle schematic diagram.
Specific embodiment
Below with reference to embodiment and Figure of description, the present invention is further illustrated.
As depicted in figs. 1 and 2, the invention discloses a kind of adjustable suspension fork mechanisms of three axis for robot, including vehicle
Frame 1,4, four groups of two Y-direction swivel mounts be arranged in parallel on the vehicle frame 1 are independently arranged at outstanding on the Y-direction swivel mount 4
Shelf mechanism, two suspension clamp mechanisms are arranged on each Y-direction swivel mount 4, and each suspension clamp mechanism includes being mounted on Y-direction swivel mount
X on 4 to swivel mount 5, be mounted on Z-direction fixing seat 6 of the X on swivel mount 5, be mounted on by wheel shaft 10 and bearing block 7
Wheel 2 in the Z-direction fixing seat 6 is mounted on the magnet 9 of 6 bottom end of Z-direction fixing seat by dormant bolt, is installed by bolt
Fastener 8 inside Z-direction fixing seat 6.
In the preferred embodiment of the present invention, Y-direction swivel mount 4 passes through the first bolt 401 and the first adjustable bolt 402 and vehicle frame
1 connection, first adjustable bolt 402 are mounted in the sliding slot of 1 side of vehicle frame, adjust Y-direction by the different location in sliding slot
The angle of swivel mount 4 and vehicle frame 1.X is connected by the second bolt 501 and the second adjustable bolt 502 with Y-direction swivel mount 4 to swivel mount 5
It connects, second adjustable bolt 502 is mounted in the sliding slot of 4 side of Y-direction swivel mount, adjusts X by the different location in sliding slot
To the angle of swivel mount 5 and Y-direction swivel mount 4.Z-direction fixing seat 6 passes through third bolt 601 and third adjustable bolt 602 and X to rotation
Pivoted frame 5 connects, and the third adjustable bolt 602 is mounted on X into the arc chute of swivel mount 5, by the different positions of sliding slot
Set adjustment Z-direction fixing seat 6 and the angle that rotates to swivel mount 5 of X.
In the preferred embodiment of the present invention, 6 lower end of Z-direction fixing seat is connected by dormant bolt and permanent magnet 9, in metal covering
Adsorption capacity is provided when upper movement, other curved surfaces such as ground can dismantle down.Fastener 8 is bolted on Z-direction fixing seat 6
Inside, for preventing stress excessive deformation.Wheel 2, wheel shaft 10, permanent magnet 9, bearing block 7, motor 3, fastener 8 and Z-direction are fixed
Seat 6 is connected as one by bolt or bearing, by changing angle locating for the i.e. changeable wheel 2 of suspension angle and permanent magnet 9
The position and.
It, can in the position of 4 sliding slot of Y-direction swivel mount by changing the first adjustable bolt 402 in the preferred embodiment of the present invention
So that 4 relative frame 1 of Y-direction swivel mount rotates by a certain angle, and then change wheel 2 and permanent magnet 9 angle in the Y direction and position
It sets；X can be made to swivel mount 5 with respect to Y-direction swivel mount to the position of 5 sliding slot of swivel mount in X by changing the second adjustable bolt 502
4 rotate by a certain angle, and then change wheel 2 and permanent magnet 9 in the angles and positions of X-direction；Existed by changing adjustable bolt 602
X can make Z-direction fixing seat 6 rotate by a certain angle with respect to X to swivel mount 5 to the position of 5 arc groove of swivel mount, and then change wheel
2 and permanent magnet 9 Z-direction angles and positions.
The suspension fork mechanism course of work of above structure is:
When creeping on the metal covering of different curvature, such as large-scale basin, spherical tank, since contact surface is curved surface, to machine
Device people's wheel contacts mode influences greatly.Absorption, which is creeped, on the cylindrical tank or spherical tank of different-diameter is, by changing Y-direction rotation
Frame, X to the rotation angle of swivel mount, Z-direction fixing seat can change wheels of robot, and opposite inclination angle is fitted in the X, Y, Z direction
Answer different curved surfaces.While changing wheel inclination angle, corresponding change is had also been made in permanent magnet, maintains metastable gap
To provide enough adsorption capacities.
When robot moves on other curved surfaces, such as ground of special radian is adapted to by adjusting suspension fork mechanism
The radian of curved surface changes, and can change robot to the rotation angle of swivel mount, Z-direction fixing seat by changing Y-direction swivel mount, X
Opposite inclination angle adapts to different curved surfaces to wheel in the X, Y, Z direction, provides better adaptability for robot motion.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill of the art
For personnel, without departing from the principle of the present invention, several improvement and equivalent replacement can also be made, these are to the present invention
Claim improve with the technical solution after equivalent replacement, each fall within protection scope of the present invention.
Claims (4)
1. a kind of adjustable suspension fork mechanism of three axis for robot, which is characterized in that the suspension fork mechanism includes vehicle frame (1), puts down
Row be arranged two Y-direction swivel mounts (4) on the vehicle frame (1), four groups be independently arranged at it is outstanding on the Y-direction swivel mount (4)
Shelf mechanism, two suspension clamp mechanisms are arranged on each Y-direction swivel mount (4), and each suspension clamp mechanism includes being mounted on Y-direction rotation
X on frame (4) to swivel mount (5), be mounted on Z-direction fixing seat (6) of the X on swivel mount (5), by wheel shaft (10) and axis
The wheel (2) that seat (7) is mounted on the Z-direction fixing seat (6) is held, the Y-direction swivel mount (4) passes through the first bolt (401)
It is connect with the first adjustable bolt (402) with vehicle frame (1), first adjustable bolt (402) is mounted on the sliding slot of vehicle frame (1) side
It is interior, the angle of Y-direction swivel mount (4) and vehicle frame (1) is adjusted by the different location in sliding slot.
2. the three axis adjustable suspension fork mechanism according to claim 1 for robot, which is characterized in that the X to
Swivel mount (5) is connect by the second bolt (501) and the second adjustable bolt (502) with Y-direction swivel mount (4), and described second is adjustable
Bolt (502) is mounted in the sliding slot of Y-direction swivel mount (4) side, adjusts X to swivel mount (5) by the different location in sliding slot
With the angle of Y-direction swivel mount (4).
3. the three axis adjustable suspension fork mechanism according to claim 1 or 2 for robot, which is characterized in that the Z
It is connected to fixing seat (6) by third bolt (601) and third adjustable bolt (602) and X to swivel mount (5), the third can
It adjusts bolt (602) to be mounted on X into the arc chute of swivel mount (5), Z-direction fixing seat is adjusted by the different location in sliding slot
(6) and the angle that is rotated to swivel mount (5) of X.
4. the three axis adjustable suspension fork mechanism according to claim 1 or 2 for robot, which is characterized in that the Z-direction
Fixing seat (6) is internally provided with the fastener (8) for preventing stress excessive deformation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710299841.0A CN107226146B (en) | 2017-04-28 | 2017-04-28 | A kind of adjustable suspension fork mechanism of three axis for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710299841.0A CN107226146B (en) | 2017-04-28 | 2017-04-28 | A kind of adjustable suspension fork mechanism of three axis for robot |
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| CN107226146A CN107226146A (en) | 2017-10-03 |
| CN107226146B true CN107226146B (en) | 2019-03-12 |
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| CN201710299841.0A Active CN107226146B (en) | 2017-04-28 | 2017-04-28 | A kind of adjustable suspension fork mechanism of three axis for robot |
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| 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 |
| CN110371210B (en) * | 2019-07-31 | 2021-08-10 | 上海酷酷机器人有限公司 | Magnetic force robot |
| CN111055647B (en) * | 2019-12-28 | 2021-03-23 | 芜湖安普机器人产业技术研究院有限公司 | Control system of trolley capable of walking on reducing cambered surface of rotary cement kiln |
| CN111391598A (en) * | 2020-04-21 | 2020-07-10 | 东南大学 | Robot suspension structure suitable for curved surface crawling |
| CN111873742A (en) * | 2020-06-16 | 2020-11-03 | 吉利汽车研究院（宁波）有限公司 | Vehicle control method and device and computer storage medium |
| CN111706741A (en) * | 2020-06-18 | 2020-09-25 | 山东理工大学 | Multifunctional pipeline vehicle capable of developing |
| CN113371092B (en) * | 2021-07-01 | 2022-12-27 | 江苏省特种设备安全监督检验研究院 | Laser-guided multi-degree-of-freedom damage detection wall-climbing robot device |
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|---|---|---|---|---|
| US4932489A (en) * | 1988-04-07 | 1990-06-12 | Transitions Research Corporation | Steering and drive means for robot vehicle |
| CN204355187U (en) * | 2014-12-23 | 2015-05-27 | 上海新松机器人自动化有限公司 | Curved surface adaptive safety precaution climbing robot device |
| CN204845424U (en) * | 2015-06-19 | 2015-12-09 | 北京特种机械研究所 | Mecanum wheel device that can independent self -adaptation pushes down |
| CN105291745A (en) * | 2015-11-11 | 2016-02-03 | 江苏省特种设备安全监督检验研究院 | Permanent magnet adsorption type suspension vibration isolation device of Mecanum-wheel vehicle |
| CN105424732A (en) * | 2015-11-11 | 2016-03-23 | 江苏省特种设备安全监督检验研究院 | Digital radiographic testing digital flat-panel detector end robot based on Mecanum wheels |
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2017
- 2017-04-28 CN CN201710299841.0A patent/CN107226146B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4932489A (en) * | 1988-04-07 | 1990-06-12 | Transitions Research Corporation | Steering and drive means for robot vehicle |
| CN204355187U (en) * | 2014-12-23 | 2015-05-27 | 上海新松机器人自动化有限公司 | Curved surface adaptive safety precaution climbing robot device |
| CN204845424U (en) * | 2015-06-19 | 2015-12-09 | 北京特种机械研究所 | Mecanum wheel device that can independent self -adaptation pushes down |
| CN105291745A (en) * | 2015-11-11 | 2016-02-03 | 江苏省特种设备安全监督检验研究院 | Permanent magnet adsorption type suspension vibration isolation device of Mecanum-wheel vehicle |
| CN105424732A (en) * | 2015-11-11 | 2016-03-23 | 江苏省特种设备安全监督检验研究院 | Digital radiographic testing digital flat-panel detector end robot based on Mecanum wheels |
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| CN107226146A (en) | 2017-10-03 |
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