CN107264664B - Driving integrated magnetic adsorption wheel type device - Google Patents
Driving integrated magnetic adsorption wheel type device Download PDFInfo
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- CN107264664B CN107264664B CN201710646132.5A CN201710646132A CN107264664B CN 107264664 B CN107264664 B CN 107264664B CN 201710646132 A CN201710646132 A CN 201710646132A CN 107264664 B CN107264664 B CN 107264664B
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to a driving integrated magnetic adsorption wheel type device which is characterized by comprising a transmission shaft, a harmonic reducer, a wheel body rubber coating shell, a motor, a transmission bracket, a pulley shaft, a magnet and a wheel body end cover, wherein the wheel body rubber coating shell and the wheel body end cover are matched to form a closed space; a motor and a magnet are respectively arranged in the space of the wheel body rubber coating shell on the two sides of the harmonic reducer, one side of the magnet is fixed with a first copper sleeve through a second magnet support, and the other side of the magnet is fixed with a transmission shaft through a first magnet support; one end of the motor is fixed with the transmission shaft through the transmission bracket; a pulley shaft is fixed on a transmission bracket between a transmission shaft and a motor, and an output shaft of the motor, the pulley shaft and the transmission shaft are parallel to each other and transmit power in a synchronous belt mode.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an adsorption and driving device of a magnetic adsorption wall-climbing robot, and specifically relates to an integrated magnetic adsorption wheel type device for generating adsorption force and driving force.
Background
The wall-climbing robot is a special robot which can be used for limit operation, and can carry a certain tool to replace a human to carry out operation on an overhead vertical wall surface. At present wall climbing robot mainly has structural style such as magnetism absorption, high-pressure electrostatic absorption and evacuation negative pressure absorption, and wherein magnetism adsorbs wall climbing robot has shown very outstanding advantage in some specific environment, not only has job stabilization, adsorption efficiency reinforce, still embodies stronger wall shape adaptability. The design of the magnetic adsorption device is closely related to the overall weight, the overall dimension, the motion flexibility and the working reliability of the wall-climbing robot, and the magnetic adsorption device is a key technology of the wall-climbing robot.
The existing magnetic adsorption wall-climbing robot mostly adopts wheel type adsorption (magnets are placed inside wheels) so as to improve the moving speed and the movement flexibility of the robot. However, the existing wheel type magnetic adsorption robot generally has the problem that an adsorption device is separated from a driving device, so that the wall-climbing robot is complex in structure, large in size and heavy in weight, and the movement flexibility is reduced. Meanwhile, the design optimization of the magnetic adsorption device mainly focuses on how to greatly improve the adsorption force, and the modular design of the structure is less considered. Therefore, the magnetic adsorption wheel type device is low in integration level and non-modularized, the universality of the magnetic adsorption device is poor, the working efficiency of the wall-climbing robot is reduced, the working occasions of the wall-climbing robot are limited, and the continuous operation of different working surfaces and different working conditions is particularly involved. Like the adsorption type wall climbing robot that patent document "adsorption type wall climbing robot (CN 104443096A)" relates to adopt adsorption equipment and drive arrangement separation mode, utilize the motor drive that directly links to the wheel, through arranging the strong magnet realization absorption in the automobile body belly, overall structure compactness is not good enough, is unfavorable for quick assembly disassembly, and does not possess waterproof function. Still like the magnetism of patent document "magnetism adsorb wall climbing robot and drive integration module (CN 106364583A)" the magnetism that relates to adsorb wall climbing robot adsorption equipment though integrate in the wheel module with adsorption equipment and drive arrangement, the dismouting of being convenient for, but its inner structure is too complicated, the overall arrangement lacks the rationality, lead to the inconvenient appearance of leading to the assembly to be oval-shaped, occupy a large amount of installation space, and then lead to the robot overall structure size great, synchronous belt drive is adopted at the device driving chain end simultaneously, the hold-in range that has certain flexibility works under the high load for a long time, reduce the transmission precision, need take the tensioning, do not have waterproof function in addition.
As described above, although the conventional magnetic attraction wheel type apparatus can provide the attraction force of the wall climbing robot, the following two disadvantages are common: first, adsorption equipment and drive arrangement separation, the integrated level is low, and the commonality is poor, and non-modularization can not realize quick assembly disassembly to lead to climbing wall robot structure complicacy, the volume is on the large side, the function singleness, work efficiency is low. Secondly, to current integration magnetism adsorb wheeled device, its inner structure is complicated, and overall dimension is great, occupies installation space, and the reliability is low. Therefore, there is a need to develop an integrated magnetic adsorption wheel device with high integration level, strong universality, high reliability, compact structure, easy assembly, quick disassembly and assembly and waterproof function.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: provided is a driving integrated magnetic adsorption wheel type device. The magnetic adsorption wheel type device realizes the integration of an adsorption device and a driving device, has high integration level, strong universality, high reliability, compact structure, easy assembly and quick disassembly, and utilizes static seal and dynamic seal to carry out waterproof treatment on the module. This module not only can provide the wall climbing robot adsorption affinity as a composite module of magnetism adsorption wall climbing robot, can provide drive power again, has simplified the body structure of wall climbing robot, reduces overall dimension, improves the flexibility of wall climbing robot. Utilize the installation axle to realize simultaneously with the quick combination of different wall climbing robot bodies, adapt to multiple operating mode requirement, make the robot more productionization, engineering.
The technical scheme adopted by the invention for solving the technical problems is as follows: the device is characterized by comprising a transmission shaft, a harmonic reducer, a wheel body rubber coating shell, a motor, a transmission support, a belt wheel shaft, a magnet, a first magnet support, a second magnet support and a wheel body end cover, wherein one end of the wheel body rubber coating shell is closed, one end of the wheel body rubber coating shell is opened, the open end of the wheel body rubber coating shell is connected and fixed with the wheel body end cover, a cantilever supporting beam is arranged on the inner side end face of the closed end of the wheel body rubber coating shell, the supporting beam comprises a first shaft section of the wheel body rubber coating shell and a second shaft section of the wheel body rubber coating shell, a shaft shoulder is arranged at the transition position of the first shaft section of the wheel body rubber coating shell and the second shaft section of the wheel body rubber coating shell, a first copper sleeve is fixedly arranged at the shaft shoulder positions of the first shaft section of the rubber coating wheel body shell and the second shaft section of the rubber coating shell, a positioning spigot and a flange are arranged at the outer end of the second shaft section of the rubber coating shell of the wheel body rubber coating shell, and the positioning spigot and the flange are connected with the output end of the harmonic reducer; the opening end of the wheel body rubber coating shell is in a step shape and consists of a first cylindrical surface and a second cylindrical surface, a step formed by the first cylindrical surface and the second cylindrical surface is used for axially positioning a second copper sleeve, and the second cylindrical surface is matched with an outer ring of the second copper sleeve to slide;
the wheel body rubber coating shell and the wheel body end cover are matched to form a closed space, the transmission shaft is arranged on a central axis of the wheel body rubber coating shell, one end of the transmission shaft extends out of the wheel body rubber coating shell and is connected with the vehicle body through the wheel body end cover, and the other end of the transmission shaft is connected with a rigid wheel of the harmonic speed reducer through a flange plate; a motor and a magnet are respectively arranged in the space of the wheel body rubber coating shell on the two sides of the harmonic reducer, one side of the magnet is fixed with a first copper sleeve through a second magnet support, and the other side of the magnet is fixed with a transmission shaft through a first magnet support; one end of the motor is fixed with the transmission shaft through the transmission bracket; a pulley shaft is fixed on a transmission bracket between a transmission shaft and a motor, an output shaft of the motor, the pulley shaft and the transmission shaft are mutually parallel, and power is transmitted in a synchronous belt mode; sealing rings are arranged between the wheel body rubber coating shell and the second copper sleeve, between the second copper sleeve and the wheel body end cover and between the wheel body end cover and the transmission shaft;
the harmonic reducer is hollow, the input end of the wave generator is flange input, and a rigid wheel of the harmonic reducer is connected with a flange plate of the transmission shaft and is a fixed end; and a flexible gear of the harmonic reducer is connected with a positioning spigot and a flange on a wheel body rubber coating shell and is an output end.
Compared with the prior art, the invention has the beneficial effects that:
1) The invention realizes the modularization of the magnetic adsorption wheel type device and is a combined module of the magnetic adsorption wall-climbing robot. Can realize through the transmission shaft with the rapid Assembly of wall climbing robot body, simple to operate can dismantle repeatedly, the transportation of being convenient for.
2) The adsorption unit and the driving unit are integrated and are arranged in the wheel body rubber-coated shell. When providing wall climbing robot adsorption affinity, can provide drive power again, the integrated level is high, and the commonality is strong, to different operating mode demands, can carry on different robot automobile bodies and arm, realizes the operation demand. And effectively simplify the body structure of wall climbing robot, reduced overall dimension, improved wall climbing robot's flexibility.
3) The driving integrated magnetic adsorption wheel type device is compact in structure, reasonable in layout and high in reliability. In the driving integrated magnetic adsorption wheel type device, a synchronous belt is adopted for carrying out zigzag layout from the output end of a motor to the input end of a harmonic reducer, so that secondary speed reduction is realized, and the transmission structure is more compact; when viewed from one end of the device, the adsorption unit and the driving unit are vertically distributed in a 1-shaped manner, the motor is positioned at the uppermost part of the device, and the magnet is positioned at the lowermost part of the device, so that the distance between the motor and the magnet is maximized, the influence of a magnetic field is reduced, the performance of the motor in long-time use is ensured, and the working reliability of the device is improved; the motor driver is placed on one side of the driving unit through the motor driver support, and the space in the wheel body rubber coating shell is fully used, so that the diameter of the wheel body rubber coating shell is slightly larger than the outer diameter of the magnet, and the whole size is reduced to the maximum extent under the condition of the same suction force. The layout mode ingeniously utilizes the effective space in the rubber-coated shell of the wheel body, the working reliability of the adsorption device is enhanced, the overall dimension is reduced, and the overall structure is more compact.
4) The device is internally connected in a single-shaft series connection mode, and has the advantages of simple and convenient structure and easiness in assembly while ensuring the coaxiality of important parts such as a harmonic reducer, a wheel body rubber coating shell, a magnet bracket, a wheel body end cover and the like. The inside main spare part of device all adopts the series system to arrange to the transmission shaft is the center, runs through harmonic speed reducer ware, magnet support, transmission support and wheel body end cover, ingenious utilization the transmission shaft guaranteed the axiality of important spare part, has realized the axial positioning and the circumference transmission of important structure, adopts lock nut fixed at last, makes the assembly of magnetism absorption wheeled device module more reasonable, convenient. Between wheel body end cover and wheel body rubber coating shell, all establish the copper sheathing between the inside supporting beam of magnet support and wheel body rubber coating shell, guarantee pivoted lubricity, avoid important spare part wearing and tearing.
5) The device has waterproof and dustproof performance. Through between wheel body rubber coating shell and copper sheathing, between copper sheathing and the wheel body end cover, establish O type sealing washer between wheel body end cover and the transmission shaft, utilize static seal and movive seal to carry out sealing process to this module, the cooperation uses waterproof quick connector, realizes waterproof function, improves the reliability of wheeled device to adapt to severe environment such as splash or liquid submergence.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of a driving integrated magnetic attraction wheel type device according to the present invention;
FIG. 2 is a schematic front view of an integrated magnetic attraction wheel driving device according to the present invention;
FIG. 3 isbase:Sub>A schematic cross-sectional view taken along the line A-A in FIG. 2;
FIG. 4 is a schematic cross-sectional view taken along the line B-B in FIG. 2;
FIG. 5 is a schematic right sectional view of a drive integrated magnetic attachment wheel apparatus of the present invention;
fig. 6 is a front view of a propeller shaft 1 of one embodiment of a driving integrated magnetic adsorption wheel type device of the present invention;
FIG. 7 is a block diagram of the drive bracket 5 of an embodiment of the present invention for driving an integrated magnetic attraction wheel device;
fig. 8 is a front view of the pulley shaft 9 of one embodiment of a driving integrated magnetic adsorption wheel type device of the present invention;
fig. 9 is a schematic perspective view of a wheel body rubber-coated housing 3 according to an embodiment of the driving integrated magnetic adsorption wheel type device of the present invention;
fig. 10 is a schematic perspective view of a first magnet holder 17 according to an embodiment of the present invention;
fig. 11 is a schematic perspective view of a second magnet holder 18 according to an embodiment of the present invention;
FIG. 12 is a schematic view of the driving integrated magnetic attraction wheel assembly connected to a vehicle body;
FIG. 13 is a top view of FIG. 12;
in the figure: 1 transmission shaft, 2 harmonic speed reducer, 3 wheel body rubber coating shell, 4 motor, 5 transmission support, 6 synchronous pulley, 7 synchronous belt, 8 synchronous pulley, 9 wheel shaft, 10 synchronous pulley, 11 synchronous belt, 12 synchronous pulley, 13 deep groove ball bearing, 14 hole retainer ring, 15 key, 16 magnet, 17 magnet support, 18 magnet support, 19 copper sleeve, 20 wheel body end cover, 21 copper sleeve, 22O-shaped sealing ring, 23O-shaped sealing ring, 24O-shaped sealing ring, 25 annular rubber, 26 waterproof quick connector, 27 motor driver support, 28 motor driver, 29 lock nut, 101 transmission shaft flange plate, 102 a first cylindrical section of a transmission shaft, 103 a second cylindrical section of the transmission shaft, 104 a square shaft section of the transmission shaft, 105 a third cylindrical section of the transmission shaft, 106 a threaded section of the transmission shaft, 107 a fourth cylindrical section of the transmission shaft, 108 a square shaft section of the transmission shaft with a threaded hole, 301 a first shaft section of a wheel body rubber-coated shell, 302 a second shaft section of a wheel body rubber-coated shell, 303 a first cylindrical surface, 304 a second cylindrical surface, 501 a through hole of a transmission support, 502 a boss of the transmission support, 503 a short boss of the transmission support, 504 a long boss of the transmission support, 901 a first shaft section of a pulley shaft, 902 a second shaft section of the pulley shaft, 903 a third shaft section of the pulley shaft, 904 a fourth shaft section of the pulley shaft, 905 a fifth shaft section of the pulley shaft and 906 a sixth shaft section of the pulley shaft.
Detailed Description
The invention will be further described with reference to the following examples and the accompanying drawings. The scope of the claims of the present application is not limited to the description of the embodiments.
The invention discloses a driving integrated magnetic adsorption wheel type device (for short, see fig. 1-6) which comprises a transmission shaft 1, a harmonic speed reducer 2, a wheel body rubber coating shell 3, a motor 4, a transmission support 5, a belt wheel shaft 9, a magnet 16, a first magnet support 17, a second magnet support 18 and a wheel body end cover 20, wherein the wheel body rubber coating shell 3 (see fig. 9) is a non-cover cylindrical cavity, one end of the wheel body rubber coating shell is closed, the other end of the wheel body rubber coating shell is opened, a cantilever hollow cylindrical rubber coating support beam is arranged on the inner side surface of the closed end, the support beam comprises a first wheel body rubber coating shell shaft section 301 and a second wheel body rubber coating shell shaft section 302, a shaft shoulder is arranged at the transition position of the first wheel body rubber coating shell shaft section 301 and the second wheel body rubber coating shell shaft section 302, a first copper sleeve 19 is fixedly arranged at the shaft shoulders of the first wheel body rubber coating shell shaft section 301 and the second wheel body rubber coating shell shaft section 302, a positioning spigot and a flange are arranged at the outer end of the second wheel body rubber coating shell section 302 of the support beam, the positioning spigot and the flange are connected with the output end of the harmonic speed reducer 2, and the harmonic speed reducer 2 drives the wheel body speed reducer 2 to rotate; the opening end of the wheel body rubber-coated outer shell 3 is in a step shape and is composed of a first cylindrical surface 303 and a second cylindrical surface 304, a step formed by the first cylindrical surface 303 and the second cylindrical surface 304 is used for axially positioning a second copper sleeve 21, and the second cylindrical surface 304 and the outer ring of the second copper sleeve 21 are matched to slide, so that when the wheel body rubber-coated outer shell 3 rotates, a lubricating effect is achieved, and the abrasion of the wheel body rubber-coated outer shell 3 is reduced;
the wheel body rubber coating shell 3 and the wheel body end cover 20 are matched to form a closed space, the transmission shaft 1 is arranged on the central axis of the wheel body rubber coating shell 3, one end of the transmission shaft extends out of the wheel body rubber coating shell 3 and is connected with a vehicle body through the wheel body end cover, and the other end of the transmission shaft is connected with the harmonic reducer 2; a motor 4 and a magnet 16 are respectively arranged in the space of the wheel body rubber coating shell 3 on the two sides of the harmonic reducer 2, one side of the magnet 16 is fixed with a first copper sleeve 19 through a second magnet support 18, and the other side of the magnet is fixed with the transmission shaft 1 through a first magnet support 17; one end of the motor 4 is fixed with the transmission shaft 1 through a transmission bracket 5; a wheel shaft 9 is fixed on a transmission bracket 5 between a transmission shaft and a motor 4, an output shaft of the motor 4, the wheel shaft 9 and the transmission shaft 1 are parallel to each other, and power is transmitted in a synchronous belt mode; sealing rings are arranged between the wheel body rubber coating shell 3 and the second copper sleeve 21, between the second copper sleeve 21 and the wheel body end cover 20 and between the wheel body end cover 20 and the transmission shaft 1;
the transmission shaft 1 (see fig. 6) is a flange stepped shaft, one end of the transmission shaft is provided with a flange 101, the other end of the transmission shaft is provided with a square shaft section 108 with a threaded hole, the transmission shaft is quickly connected and fixed with a vehicle body through the square shaft section 108 with the threaded hole, and the transmission shaft is connected with a rigid wheel of the harmonic reducer 2 through the flange 101; a first cylindrical section 102, a second cylindrical section 103, a square shaft section 104, a third cylindrical section 105, a threaded section 106 and a fourth cylindrical section 107 are sequentially arranged between the flange plate 110 and the square shaft section 108 with the threaded hole, the first cylindrical section 102 is matched with a central hole of the harmonic reducer 2 to ensure the concentricity of the harmonic reducer 2 and the transmission shaft 1, a shaft shoulder is arranged at the transition position of the second cylindrical section 103 and the square shaft section 104 and is matched with the square shaft section 104 to realize the axial and circumferential positioning of the first magnet support 17; a key groove is formed in the third cylindrical section 105 and used for circumferential positioning of the transmission support 5 and the wheel body end cover 20, the third cylindrical section 105 is located on the inner side of the wheel body end cover 20, and the thread section 106 extends out of the wheel body end cover; the thread section 106 is used for screwing the locking nut 29, and one end of the locking nut 29 presses the outer side of the wheel body end cover 20, so that the final axial positioning and locking of the shafting structure are realized. The third cylindrical section 105 on the transmission shaft 1 is positioned in the outer side of the wheel body end cover 20, so that the locking nut 29 is ensured to effectively act on the wheel body end cover 20;
the upper part of the transmission bracket 5 (see fig. 7) is provided with a through hole 501 matched with a spigot of the motor 4 for realizing the connection of the motor 4 and the transmission bracket 5, the middle part of the transmission bracket is provided with a transmission bracket boss 502 with a step hole, one side of the lower part of the transmission bracket is provided with a transmission bracket short boss 503 with a key slot hole, and the other side is provided with a transmission bracket long boss 504 with a key slot hole; the end surface of the transmission support short boss 503 is contacted with the first magnet support 17, the end surface of the transmission support long boss 504 is contacted with the inner side of the wheel body end cover 20, and the transmission support 5 is matched with the key groove of the third cylindrical section 105 on the transmission shaft through the mounting hole where the transmission support short boss 503 and the transmission support long boss 504 are located, so that the axial and circumferential positioning of the transmission support 5 is realized; the transmission bracket boss 502 is fixed with the belt wheel shaft 9 through the deep groove ball bearing 13 and the hole retainer ring 14; the upper through hole 501 of the transmission bracket, the boss 502 of the transmission bracket and the short boss of the transmission bracket are arranged in a triangle;
the belt wheel shaft 9 (see fig. 8) is a stepped shaft with a thick middle part and thin two ends, and sequentially comprises a belt wheel shaft six-number shaft section 906, a belt wheel shaft one-number shaft section 901, a belt wheel shaft two-number shaft section 902, a belt wheel shaft three-number shaft section 903, a belt wheel shaft four-number shaft section 904 and a belt wheel shaft five-number shaft section 905, shaft shoulders are arranged at the transition positions of all shaft sections, the belt wheel shaft one-number shaft section 901 penetrates through the deep groove ball bearing 13 and is matched with an inner hole of the deep groove ball bearing 13, the shaft shoulders of the belt wheel shaft one-number shaft section 901 and the belt wheel shaft two-number shaft section 902 act on the inner ring of the deep groove ball bearing 13, the belt wheel shaft three-number shaft section 903 and a hole in the transmission support boss 502 in the middle part of the transmission support 5 are fixed by using a retainer ring 14, and the belt wheel shaft 9 is fixed on the transmission support 5; the shaft shoulders of the fourth shaft section 904 and the fifth shaft section 905 of the belt wheel shaft are used for axially positioning the third synchronous belt wheel 10, the fifth shaft section 905 of the belt wheel shaft is provided with a key groove and a threaded hole, and the third synchronous belt wheel 10 is fixedly installed through key 15 connection and gasket screws, so that the circumferential transmission and the axial fixation of the third synchronous belt wheel are realized; the length of the fifth shaft section 905 of the belt wheel shaft is smaller than that of the inner hole of the third synchronous belt wheel 10, so that a gasket at the shaft end can be ensured to tightly press the third synchronous belt wheel 10; shaft shoulders at the first shaft section 901 and the sixth shaft section 906 of the belt wheel shaft are used for axially positioning the second synchronous belt wheel 8, the sixth shaft section 906 of the belt wheel shaft is provided with a key groove and a threaded hole, and the second synchronous belt wheel 8 is fixedly installed through key connection and a gasket screw, so that the circumferential transmission and the axial fixation of the second synchronous belt wheel are realized; the length of the No. six shaft section 906 of the belt wheel shaft is smaller than the length of an inner hole of the No. two synchronous belt wheels 8, so that a shaft end gasket can be ensured to be capable of pressing the No. two synchronous belt wheels 8;
the output shaft of the motor 4 is connected with a first synchronous belt pulley 6, and the first synchronous belt pulley 6 is provided with two jackscrew holes which are distributed in 90 degrees and used for fixing the first synchronous belt pulley 6 and the output shaft of the motor; the first synchronous pulley 6 is connected with the second synchronous pulley 8 through a first synchronous belt 7 and transmits power; the input end of a wave generator of the harmonic reducer 2 is connected with a fourth synchronous belt wheel, and a fourth synchronous belt wheel 12 is arranged on the second cylindrical section 103 and is concentric with the harmonic reducer 2; the third synchronous belt pulley 10 is connected with the fourth synchronous belt pulley 12 through a second synchronous belt 11 to drive the fourth synchronous belt pulley 12 to rotate; the diameter of a center hole of the fourth synchronous pulley 12 is larger than that of the second cylindrical section 103, the fourth synchronous pulley 12 is prevented from contacting the transmission shaft 1 when rotating, a counter bore concentric with the center hole of the wave generator of the harmonic reducer 2 is arranged at one end, connected with the wave generator of the harmonic reducer 2, of the fourth synchronous pulley 12, and the fourth synchronous pulley 12 is matched with the input end spigot of the harmonic reducer 2 through the counter bore, so that the concentricity of the fourth synchronous pulley 12 and the harmonic reducer 2 is guaranteed.
The harmonic reducer 2 is hollow, the input end of the wave generator is flange input, and a rigid wheel of the harmonic reducer 2 is connected with a flange plate 101 of the transmission shaft 1 and is a fixed end; the flexible gear of the harmonic reducer 2 is connected with a positioning spigot and a flange on the wheel body rubber coating shell 3 and is an output end;
the centers of the upper through hole of the transmission bracket 5 and the short boss of the lower transmission bracket are on the same vertical line. The motor 4 and the magnet 16 are symmetrically arranged in the wheel body rubber coating shell 3 relative to the central axis of the harmonic speed reducer 2, a certain gap is reserved between the motor 4 and the magnet 16 and the inner wall of the wheel body rubber coating shell 3, the arrangement mode maximizes the distance between the motor 4 and the magnet 16, reduces the influence of a magnetic field on the motor 4, and ensures the performance of the motor 4 in long-time use; a motor driver support 27 is arranged on the transmission support 5, a motor driver 28 is fixed on the motor driver support 27, the motor driver 28 is placed on one side of the motor 4, the motor 4 is driven to move, and the space in the wheel body rubber coating shell 3 is fully used.
The center of the wheel body end cover 20 is provided with a wheel body end cover boss with a key groove hole, the wheel body end cover boss with the key groove hole is matched with a key groove on the third cylindrical section 105, circumferential positioning of the wheel body end cover 20 is achieved, the inner end face of the wheel body end cover boss is in contact with the outer end face of the transmission support long boss 504, and axial positioning of the wheel body end cover 20 is achieved. A waterproof quick-connect connector 26 is mounted on the outside of the wheel end cover 20 for connection of the required circuitry within the device.
In the invention, a first magnet support 17 and a second magnet support 18 are matched to realize the fixation of a magnet 16, two magnet support through holes 172 which are bilaterally symmetrical are arranged at the lower part of the first magnet support 17 (see fig. 10), a first annular step 171 is arranged on the first magnet support between the two magnet support through holes 172, and the outer diameter of the first annular step is the same as the inner diameter of the magnet 16 and is used for the circumferential positioning of the magnet 16; a square hole 173 is formed in the upper portion of the first magnet support 17, the square hole is concentric with the first annular step 171, the magnet and the transmission shaft are ensured to be mounted coaxially, and the first magnet support 17 is hung on the transmission shaft 1 through the square hole 173; two bilaterally symmetrical threaded through holes 182 are formed in the lower portion of the second magnet support 18 (see fig. 11), a second annular step 181 is formed in the second magnet support 18 between the two threaded through holes, and the inner diameter of the second annular step is the same as that of the magnet 16 and used for circumferential positioning of the magnet 16; two through holes which are symmetrical left and right are arranged at the upper part of the magnet 16, and a fixing screw penetrates through the through hole of the magnet bracket I17, passes through the through hole on the magnet 16 and is screwed in the threaded through hole of the magnet bracket II 18 to fixedly install the magnet bracket I, the magnet bracket II and the magnet bracket II together; a round hole 183 is formed in the second magnet support 18 above the second annular step 181, the round hole 183 is concentric with the second annular step 181, it is guaranteed that the magnet and a supporting beam in the wheel body rubber coating shell 3 are mounted coaxially, and the second magnet support 18 is hung on the supporting beam in the wheel body rubber coating shell 3 through the round hole 183; a first copper sleeve 19 is arranged between the second magnet support 18 and the supporting beam of the wheel body rubber coating shell 3, so that the rotating lubricating property is ensured, and the contact surface between the second magnet support 18 and the supporting beam of the wheel body rubber coating shell 3 is prevented from being worn.
In the device, the magnet 16 is a permanent magnet or an electromagnet, the magnet 16 is in a quarter circular ring shape, two arc surfaces of the magnet 16 are magnetic poles, a gap is reserved between the outer arc surface of the magnet 16 and the inner arc surface of the wheel body rubber coating shell 3, and the inner arc surface is not interfered with a harmonic reducer.
In the device, the wheel body rubber coating shell 3 is coated with the annular rubber 25, the middle of the annular rubber 25 is concave, and two sides of the annular rubber 25 are planes, so that the contact area between the rubber and a working surface is increased, and the accumulation of extrusion sundries during the movement of the wheel is prevented.
An O-shaped sealing ring groove is formed in the outer ring of the second copper sleeve 21, and O-shaped sealing ring grooves are formed in the shaft hole of the wheel body end cover 20 and the outer ring. An O-shaped sealing ring 22 is arranged between the wheel body rubber coating outer shell 3 and the second copper sleeve 21, so that dynamic sealing between the wheel body rubber coating outer shell 3 and the second copper sleeve 21 in the integrated magnetic adsorption wheel type device can be realized. A second O-shaped sealing ring 23 is arranged between the second copper sleeve 21 and the wheel body end cover 20, so that static sealing between the contact surfaces of the second copper sleeve 21 and the wheel body end cover 20 in the integrated magnetic adsorption wheel type device is realized. A third O-shaped sealing ring 24 is arranged between the wheel body end cover 20 and the transmission shaft 1, so that static sealing between the contact surfaces of the wheel body end cover 20 and the transmission shaft 1 in the integrated magnetic adsorption wheel type device is realized. The device disclosed by the invention is matched with a waterproof quick-plugging connector 26 under the sealing of a first O-shaped sealing ring 22, a second O-shaped sealing ring 23 and a third O-shaped sealing ring 24, so that the integral sealing of the device is realized.
The whole working principle and process of the driving integrated magnetic adsorption wheel type device are as follows: the power is supplied to the motor driver 28, the motor 4 is driven and controlled to work, primary and secondary speed reduction is realized in a synchronous belt transmission mode, the primary and secondary speed reduction is performed on the input end of the harmonic speed reducer 2, tertiary speed reduction is realized through the harmonic speed reducer 2, final output torque is provided, and the wheel body rubber coating shell 3 is driven to rotate. The rigid wheel of the harmonic reducer 2 is connected with one end of a flange plate of the transmission shaft 1 and is a fixed end, and the flexible wheel is connected with a positioning spigot and a flange in the rubber-coated shell 3 of the wheel body and is an output end. The magnet provides the attractive force of the device. Meanwhile, sealing rings are arranged on the matching surfaces of the transmission shaft 1, the wheel body end cover 20, the second copper sleeve 21 and the wheel body rubber coating shell 3, and a waterproof quick connector 26 is matched, so that the waterproof function of the driving integrated magnetic adsorption wheel type device is realized.
The device utilizes the transmission characteristics and the structural form of the harmonic reducer, three-stage speed reduction is performed from the output end of a motor 4 to the output end of a harmonic reducer 2, synchronous belts are adopted for carrying out zigzag layout, first-stage speed reduction and second-stage speed reduction are realized, the speed reduction ratio is effectively increased, and the output torque is improved, namely, the transmission of a fourth synchronous belt pulley 12 and a third synchronous belt pulley 10 is realized through a second synchronous belt 11, the third synchronous belt pulley 10 is coaxially connected with a second synchronous belt pulley 8 through a belt pulley shaft 9, the second synchronous belt pulley 8 is in transmission with a first synchronous belt 6 through a first synchronous belt 7, and the first synchronous belt pulley 6 is arranged on the output shaft of the motor 4 to form first-stage speed reduction and second-stage speed reduction, so that the transmission of the torque is realized, and meanwhile, the structure arrangement is more compact. The motor passes through the speed reduction of two-stage hold-in range, provides the wave generator that the torque drove harmonic speed reducer ware and rotates to realize the rotation of wheel body rubber coating shell, and drive unit (motor) and absorption unit (magnet) all establish in wheel body rubber coating shell, realize drive and absorption integration. The supporting beam in the device is hollow cylindrical, and the first magnet support 17 and the second magnet support 18 are also hollowed out, so that the device is further lightened on the premise of ensuring the working requirement.
The invention is applicable to the prior art where nothing is said.
Claims (8)
1. A driving integrated magnetic adsorption wheel type device is characterized by comprising a transmission shaft, a harmonic speed reducer, a wheel body rubber coating shell, a motor, a transmission support, a belt wheel shaft, a magnet, a first magnet support, a second magnet support and a wheel body end cover, wherein one end of the wheel body rubber coating shell is closed, one end of the wheel body rubber coating shell is opened, the open end of the wheel body rubber coating shell is connected and fixed with the wheel body end cover, a cantilever supporting beam is arranged on the inner side end face of the closed end of the wheel body rubber coating shell, the supporting beam comprises a first shaft section of the wheel body rubber coating shell and a second shaft section of the wheel body rubber coating shell, a shaft shoulder is arranged at the transition position of the first shaft section of the wheel body rubber coating shell and the second shaft section of the wheel body rubber coating shell, a first copper sleeve supporting beam is fixedly arranged at the shaft shoulder position of the first shaft section of the wheel body rubber coating shell and the second shaft section of the wheel body rubber coating shell, a positioning spigot and a flange are arranged at the outer end of the second shaft section of the wheel body rubber coating shell, and the positioning spigot and the flange are connected with the output end of the harmonic speed reducer; the opening end of the wheel body rubber coating shell is in a step shape and consists of a first cylindrical surface and a second cylindrical surface, a step formed by the first cylindrical surface and the second cylindrical surface is used for axially positioning a second copper sleeve, and the second cylindrical surface and an outer ring of the second copper sleeve are matched to slide;
the wheel body rubber coating shell and the wheel body end cover are matched to form a closed space, the transmission shaft is arranged on a central axis of the wheel body rubber coating shell, one end of the transmission shaft extends out of the wheel body rubber coating shell and is connected with the vehicle body through the wheel body end cover, and the other end of the transmission shaft is connected with a rigid wheel of the harmonic reducer through a flange plate; a motor and a magnet are respectively arranged in the space of the wheel body rubber coating shell on the two sides of the harmonic reducer, one side of the magnet is fixed with a first copper sleeve through a second magnet support, and the other side of the magnet is fixed with a transmission shaft through a first magnet support; one end of the motor is fixed with the transmission shaft through the transmission bracket; a pulley shaft is fixed on a transmission bracket between a transmission shaft and a motor, an output shaft of the motor, the pulley shaft and the transmission shaft are mutually parallel, and power is transmitted in a synchronous belt mode; sealing rings are arranged between the wheel body rubber coating shell and the second copper sleeve, between the second copper sleeve and the wheel body end cover and between the wheel body end cover and the transmission shaft;
the harmonic reducer is hollow, the input end of the wave generator is flange input, and a rigid wheel of the harmonic reducer is connected with a flange plate of the transmission shaft and is a fixed end; the flexible gear of the harmonic reducer is connected with a positioning spigot and a flange on a wheel body rubber coating shell and is an output end;
the belt wheel shaft is a stepped shaft with a thick middle part and thin two ends and sequentially comprises a belt wheel shaft six shaft section, a belt wheel shaft I shaft section, a belt wheel shaft II shaft section, a belt wheel shaft III shaft section, a belt wheel shaft four shaft section and a belt wheel shaft five shaft section, shaft shoulders are arranged at the transition positions of the shaft sections, the belt wheel shaft I shaft section penetrates through the deep groove ball bearing and is matched with an inner hole of the deep groove ball bearing, the shaft shoulders of the belt wheel shaft I shaft section and the belt wheel shaft II shaft section act on an inner ring of the deep groove ball bearing, and the belt wheel shaft III shaft section is fixed with a hole in a boss of a transmission bracket in the middle of the transmission bracket through a check ring, so that the belt wheel shaft is fixed on the transmission bracket; the shaft shoulders of the fourth shaft section and the fifth shaft section of the belt wheel shaft are used for axially positioning the third synchronous belt wheel, the fifth shaft section of the belt wheel shaft is provided with a key slot and a threaded hole, and the third synchronous belt wheel is fixedly installed through key connection and a gasket screw; a shaft shoulder of a first shaft section of the belt wheel shaft and a shaft shoulder of a sixth shaft section of the belt wheel shaft are used for axially positioning a second synchronous belt wheel, a key groove and a threaded hole are formed in the sixth shaft section of the belt wheel shaft, and the second synchronous belt wheel is fixedly installed through key connection and a gasket screw.
2. The driving integrated magnetic adsorption wheel type device according to claim 1, wherein the transmission shaft is a flange stepped shaft, one end of the transmission shaft is provided with a flange, the other end of the transmission shaft is a square shaft section with a threaded hole, the square shaft section with the threaded hole is rapidly connected and fixed with a vehicle body, and the square shaft section with the threaded hole is connected with a rigid wheel of a harmonic reducer through the flange; a first cylindrical section, a second cylindrical section, a square shaft section, a third cylindrical section, a threaded section and a fourth cylindrical section are sequentially arranged between the flange plate and the square shaft section with the threaded hole, the first cylindrical section is matched with a central hole of the harmonic reducer, a shaft shoulder is arranged at the transition position of the second cylindrical section and the square shaft section, and the first cylindrical section and the square shaft section are matched to realize the axial and circumferential positioning of the first magnet support; the third cylindrical section is provided with a key groove for circumferential positioning of the transmission support and the wheel body end cover, the third cylindrical section is positioned on the inner side of the wheel body end cover, and the thread section extends out of the wheel body end cover; and a locking nut is screwed on the thread section, and one end of the locking nut tightly presses the outer side of the end cover of the wheel body.
3. The driving integrated magnetic adsorption wheel device of claim 2, wherein the upper part of the transmission bracket is provided with a through hole matched with the motor seam allowance, the middle part of the transmission bracket is provided with a transmission bracket boss with a stepped hole, one side of the lower part of the transmission bracket is provided with a transmission bracket short boss with a key slot hole, and the other side is provided with a transmission bracket long boss with a key slot hole; the end face of the transmission support short boss is in contact with the first magnet support, the end face of the transmission support long boss is in contact with the inner side of the wheel body end cover, and the transmission support is matched with a key groove of a third cylindrical section on the transmission shaft through a mounting hole where the transmission support short boss and the transmission support long boss are located, so that the axial and circumferential positioning of the transmission support is realized; the boss of the transmission bracket is fixed with the belt wheel shaft through a deep groove ball bearing and a hole check ring; the through hole at the upper part of the transmission bracket, the boss of the transmission bracket and the short boss of the transmission bracket are arranged in a triangular shape.
4. The driving integrated magnetic adsorption wheel device according to claim 3, wherein the centers of the upper through hole of the transmission bracket and the short boss of the lower transmission bracket are on the same vertical line.
5. The driving integrated magnetic adsorption wheel type device according to any one of claims 1 to 4, wherein a waterproof quick-connect plug is mounted on the outer side of the wheel body end cover.
6. The driving integrated magnetic adsorption wheel type device of claim 5, wherein the wheel body rubber coating shell is coated with annular rubber, the middle of the annular rubber is concave, and two sides of the annular rubber are flat.
7. The driving integrated magnetic adsorption wheel type device according to claim 1, wherein the magnet is a permanent magnet or an electromagnet, the magnet is of a circular ring type, two arc surfaces of the magnet are magnetic poles, and a gap is formed between an outer arc surface of the magnet and an inner arc surface of the wheel body encapsulation shell.
8. The driving integrated magnetic adsorption wheel type device according to claim 1, wherein two bilaterally symmetrical magnet support through holes are arranged at the lower part of the first magnet support, a first annular step is arranged on the first magnet support between the two magnet support through holes, and the outer diameter of the first annular step is the same as the inner diameter of the magnet; a square hole is formed in the upper part of the first magnet support and is concentric with the first annular step, and the first magnet support is hung on the transmission shaft through the square hole; two bilaterally symmetrical threaded through holes are formed in the lower portion of the second magnet support, a second annular step is arranged on the second magnet support between the two threaded through holes, and the inner diameter of the second annular step is the same as that of the magnet; a round hole is formed in the second magnet support above the second annular step, the round hole is concentric with the second annular step, and the second magnet support is suspended on the supporting beam in the wheel body rubber coating shell through the round hole.
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| CN201710646132.5A CN107264664B (en) | 2017-08-01 | 2017-08-01 | Driving integrated magnetic adsorption wheel type device |
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| JP6946242B2 (en) * | 2018-07-12 | 2021-10-06 | 株式会社日立製作所 | Passenger conveyor device |
| CN110371209B (en) * | 2019-07-31 | 2022-07-29 | 北京汇力智能科技有限公司 | Shell type magnetic wheel for adsorption robot and adsorption robot with shell type magnetic wheel |
| CN112960046A (en) * | 2021-03-29 | 2021-06-15 | 新天绿色能源股份有限公司 | Self-adaptive wall-climbing robot |
| CN114013531A (en) * | 2021-11-26 | 2022-02-08 | 江苏科技大学 | Magnetic adsorption wall-climbing spraying robot with curved surface adaptability and use method thereof |
| CN114655330A (en) * | 2022-03-28 | 2022-06-24 | 中国铁建重工集团股份有限公司 | Magnetic adsorption type wall-climbing robot chassis and magnetic wheel assembly |
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| CN1702008A (en) * | 2005-06-14 | 2005-11-30 | 胡广怀 | Magnetizing walking wheel unit for magnetic adsorption type wall-climbing device |
| CN101704241A (en) * | 2009-11-03 | 2010-05-12 | 大连海事大学 | Wall-climbing robot for removing rust on wall surfaces of ships and working method thereof |
| CN101947778B (en) * | 2010-09-22 | 2012-01-04 | 上海交通大学 | Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force |
| CN104369788B (en) * | 2014-10-08 | 2017-02-15 | 顿向明 | Permanent magnetic adsorption wall-climbing robot |
| CN106514608B (en) * | 2016-12-30 | 2020-04-24 | 洛阳圣瑞智能机器人有限公司 | Wall-climbing robot carrying connecting rod type mechanical arm |
| CN106515896A (en) * | 2016-12-30 | 2017-03-22 | 洛阳圣瑞智能机器人有限公司 | Wheel type magnet suspension absorbing device |
| CN206954340U (en) * | 2017-08-01 | 2018-02-02 | 河北工业大学 | The magnetically adsorbed device of one kind driving integration |
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