CN108974166A - A kind of adaptive curved surface climbing robot of magnetic suck - Google Patents
A kind of adaptive curved surface climbing robot of magnetic suck Download PDFInfo
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- CN108974166A CN108974166A CN201810929222.XA CN201810929222A CN108974166A CN 108974166 A CN108974166 A CN 108974166A CN 201810929222 A CN201810929222 A CN 201810929222A CN 108974166 A CN108974166 A CN 108974166A
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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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a kind of adaptive curved surface climbing robots of magnetic suck, including chassis, front driving wheel group, rear drive sprocket group, the first swing arm system, the second swing arm system, electronic compartment and fastener attachment；The electronic compartment is fixed on the upper surface of robot chassis, and the inside of electronic compartment is equipped with robot controller and electric elements, for controlling robot；The front driving wheel group and rear drive sprocket group are respectively positioned on the lower section on chassis, one in front and one in back arrange, for providing magnetic adsorbability and driving force；The first swing arm system and the second swing arm system structure having the same, are alternately fixed on the two sides on chassis, for providing magnetic adsorbability and driving force respectively.The adaptive curved surface climbing robot of magnetic suck provided by the present invention has the ability of adaptive adsorption curve curvature wide variation, so that robot be made to can be applied to steel construction, tank body, the structure cleaning of oil platform, preservative detection；After pressure compensation, it can also be applied under 300 meters or so of the depth of water.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of adaptive curved surface climbing robot of magnetic suck.
Background technique
Magnetic adsorption wall climbing robot application in terms of shipping cleaning, pipeline at present is relatively broad.Climbing robot
Driving on chassis, which provides, increases permanent magnet or electromagnet to be adsorbed onto ship or metal surface, utilizes magnetic adsorbability
With robot self gravity is overcome under frictional force collective effect, allow robot in inclination, on even vertical metal surface
Do crawling exercises.The climbing robot of electromagnet absorption due to controlling relative complex, same adsorption capacity in the case where electromagnet
Weight is also with respect to permanent magnetism weight, therefore the magnetic adsorption wall climbing robot of electromagnet adsorption form only makes under very special circumstances
With.Therefore, the magnetic adsorption wall climbing robot of permanent magnet absorption is current application mainstream and trend.
Current magnetic adsorption wall climbing robot is mainly applied in plane or slight curves curved surface, this climbing robot
Mainly with crawler belt and it is wheeled based on, adsorption capacity is more sensitive to the curvature of absorption surface, generally requires the song of absorption surface
Rate should change to a very small extent.And the magnetic suck robot for being applied to pipeline welding is mainly with parallel wheeled driving
Mode, the direction of walking around the circumferencial direction of pipeline mainly to move, and major advantage is to have to adapt to for this mode
The ability of various pipe diameters, the disadvantage is that efficiency is especially low when along pipeline axial traveling.
Existing magnetic suck robot is primarily present following problems:
(1) ability of adaptive adsorption curve Curvature varying is poor, is simply possible to use on plane or slight curves curved surface；
(2) although the magnetic adsorption wall climbing robot with the variation of adaptive adsorption curve has certain adaptive absorption bent
The ability in face, but it is only capable of the circular motion along pipeline, in the occasion of some curved surfaces variation Irregular Boundary Surface, bad adaptability；
(3) distance of the magnetic adsorption wall climbing robot unit time walking with the variation of adaptive adsorption curve is shorter, effect
Rate is low.
Summary of the invention
For the above-mentioned problems in the prior art, the present invention provides a kind of adaptive curved surface crawling machines of magnetic suck
People, is different from conventional magnetic adsorption wall climbing robot, and the adaptive curved surface climbing robot of magnetic suck provided by the present invention has certainly
The ability of adsorption curve curvature wide variation is adapted to, so that robot be made to can be applied to steel construction, tank body, oil platform
Structure cleaning, preservative inspection；After pressure compensation, it can also be applied under 300 meters or so of the depth of water.
For this purpose, the invention adopts the following technical scheme:
A kind of adaptive curved surface climbing robot of magnetic suck, including chassis, front driving wheel group, rear drive sprocket group, the first pendulum
Arm system, the second swing arm system, electronic compartment and fastener attachment；The chassis includes chassis girder, and chassis girder is rectangular
Figure frame structure, for providing the basis of entire robot；The electronic compartment is fixed on the upper surface of robot chassis, electronic compartment
Inside be equipped with robot controller and electric elements, for controlling robot；The front driving wheel group and rear drive sprocket group are equal
It positioned at the lower section on chassis, one in front and one in back arranges, for providing driving force and magnetic adsorbability；The first swing arm system and the second pendulum
Arm system structure having the same, is alternately fixed on the two sides on chassis, for providing magnetic adsorbability and driving force respectively.
Preferably, the front driving wheel group includes the left driving wheel with taper, the right driving wheel with taper, driving wheel group turn
To axis and underwater electrical connector；Left driving wheel and right driving wheel are fixed on the two sides of steering shaft with nuts and bolt respectively, and watertight connects
Plug-in unit is threadedly secured to the top of steering shaft, is hollow, control and driving conducting wire as driving wheel inside steering shaft
Cable tray；The steering shaft of front driving wheel group is passed through from bottom to top to two sliding bearings for being fixed on chassis front, and the bottom of at
Steering shaft is fixed with two the first locking nuts in the upside of disk, so that front driving wheel group can be rotated relative to chassis.
Further, the left driving wheel with taper and the taper α having the same of the right driving wheel with taper, they take turns
The outer of the axial section of son forms angle a β, β and is accordingly designed according to adsorption curve difference, and β is made to adapt to adsorb
The variation of curved surface；Driving wheel group steering shaft has pressure compensation interface, for robot 300 meters of application under water.
Preferably, the rear drive sprocket group includes the left driving wheel with taper, the right driving wheel with taper and driving wheel group
Steering shaft；Left driving wheel and right driving wheel are fixed on the two sides of steering shaft with nuts and bolt respectively, and underwater electrical connector passes through spiral shell
Line is fixed on the top of steering shaft, is hollow, control and driving conductor wiring channel as driving wheel inside steering shaft；Afterwards
The steering shaft of driving wheel group is passed through from bottom to top to two sliding bearings for being fixed on chassis tail portion, and in the upside on chassis with two
The fixed steering shaft of a first locking nut, so that rear drive sprocket group can be rotated relative to chassis.
Further, the left driving wheel with taper and the taper α having the same of the right driving wheel with taper, they take turns
The outer of the axial section of son forms angle a β, β and is accordingly designed according to adsorption curve difference, and β is made to adapt to adsorb
The variation of curved surface；Driving wheel group steering shaft has pressure compensation interface, for robot 300 meters of application under water.
Preferably, the first swing arm system and the second swing arm system are successively by upper swing arm axis swing arm pedestal, upper pendulum
Arm axle and upper swing arm drive system, upper swing arm, lower swing arm pin shaft, lower swing arm and bottom arm strength sensing mechanism, swing arm driving wheel group
Axis, the left driving wheel with taper, the right driving wheel with taper and attachment are connected into the swing arm system of two rotational freedoms；
Entire swing arm system is fixed on chassis by the hole that bolt passes through on swing arm pedestal；The left driving wheel with taper and with taper
Right driving wheel be bolted to the two sides of swing arm driving wheel group axis；Left driving wheel with taper and the right driving wheel with taper
Taper α having the same, the outer of the axial section of their wheels form angle a β, β and are carried out according to adsorption curve difference
Corresponding design, makes β adapt to the variation of adsorption curve.
Further, the bottom arm strength sensing mechanism is mainly by lower swing arm, force snesor, swing arm driving wheel group axis, water
Touch the composition such as plug-in unit and O-ring；The middle part of the swing arm driving wheel group axis is equipped with a circular protrusions, and centre is threaded
Hole；The longitudinal direction of rectangular lower swing arm is equipped with a hole, and inside machined circular inner hole, be machined with spiral shell in the bottom of circular inner hole
Pit, the stud at force snesor both ends are connected with the threaded hole of the threaded hole of lower swing arm and swing arm driving wheel group axis respectively；It is O-shaped
Circle is mounted in the middle part of swing arm driving wheel group axis and has on the radial slot of a circular protrusions, respectively with the circular inner hole of lower swing arm and
The male cooperation of swing arm driving wheel group axis, for providing axial seal.
Further, the lower swing arm pin shaft sequentially pass through be installed on upper swing arm one end, perpendicular on the pin hole of Y shape slot
Sliding bearing, rectangular lower swing arm the other end have a pin hole being transversely to the machine direction, end uses shaft block ring fixing them
Position.
Further, the upper swing arm drive system is mainly by submersible machine, worm gear, worm screw, tapered roller bearing, upper pendulum
The composition such as the driving mechanism pedestal of arm, key, upper swing arm axis, swing arm pedestal；Submersible machine is installed on the driving mechanism base of upper swing arm
On seat, one end of worm screw and the output shaft of submersible machine are fastened, and the other end of worm screw sequentially passes through respectively in axial direction is installed on drive
The tapered roller bearing of O-ring and a pair of back-to-back installation in dynamic mechanism base, in the second locking nut of the end of worm screw
Fixed, the side of tapered roller bearing is equipped with washer；The driving mechanism pedestal side is mounted with end cap, and is screwed, end cap
Be radially machined with O-ring slot for mounting O-shaped rings；Worm gear is axially mounted to upper swing arm axis one end, and is fixed with key；On
Arm shaft sequentially passes through end cap along axial direction, is installed on the circular cone being machined on the hole perpendicular to Y shape slot on swing arm pedestal one end
Roller bearing, longitudinal pin hole perpendicular to lower swing arm one end, are fixed in upper swing arm the tip of the axis with the second locking nut；Swing arm
Two end caps fastened with screw are installed on the both sides of the face of pedestal, covers and machined radial O-ring slot, be mounted with above
O-ring is for sealing.
Preferably, it is equipped with lifting hanging ring before and after the chassis girder on the chassis, for lifting by crane robot；The electronic compartment
On electronic compartment underwater electrical connector is installed, electronic compartment passes through electronic compartment underwater electrical connector and external connection；The electronic compartment has
Pressure compensation interface, for robot 300 meters of application under water.
Compared with prior art, the beneficial effects of the present invention are:
(1) ability of adaptive adsorption curve Curvature varying is strong, can use in the case where curvature of curved surface changes occasion greatly.
(2) high-efficient.It can be used for the occasion of pipe walking, can be axially moved along pipeline, the distance of unit time walking
It is long.
(3) it can be used under land and underwater environment, system can be applied after pressure compensation and aseptic technic processing
In 300 meters or so of the depth of water.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of the adaptive curved surface climbing robot of magnetic suck provided by the present invention.
Fig. 2 is a kind of main view of the adaptive curved surface climbing robot of magnetic suck provided by the present invention.
Fig. 3 is a kind of bottom view of the adaptive curved surface climbing robot of magnetic suck provided by the present invention.
Fig. 4 is a kind of left view of the adaptive curved surface climbing robot of magnetic suck provided by the present invention.
Fig. 5 is the main view of the first swing arm system in a kind of adaptive curved surface climbing robot of magnetic suck provided by the present invention
Figure.
Fig. 6 is that the first swing arm system is looked up in a kind of adaptive curved surface climbing robot of magnetic suck provided by the present invention
Figure.
Fig. 7 is that first swing arm system is freely closed in a kind of adaptive curved surface climbing robot of magnetic suck provided by the present invention
Save cross-sectional view.
Fig. 8 is a kind of adaptive curved surface climbing robot of magnetic suck provided by the present invention in R1=600mm cylinder tube wall
On application schematic diagram of creeping.
Fig. 9 is a kind of adaptive curved surface climbing robot of magnetic suck provided by the present invention in R2=2000mm cylinder tube wall
On application schematic diagram of creeping.
Description of symbols: I, chassis；II, the first swing arm system；III, electronic compartment；IV, rear drive sprocket group；V, the second pendulum
Arm system；VI, front driving wheel group；1, hanging ring is lifted by crane；2, chassis girder；3, sliding bearing；4, the first locking nut；5, watertight connects
Plug-in unit；6, submersible machine；7, pressure compensation interface；8, driving wheel group steering shaft；9, electronic compartment underwater electrical connector；10, nut；
11, bolt；12, with the left driving wheel of taper；13, with the right driving wheel of taper；14, upper swing arm；15, key；16, worm gear；17, on
Arm shaft；18, worm screw；19, swing arm pedestal；20, O-ring；21, the driving mechanism pedestal of upper swing arm；22, tapered roller bearing；
23, end cap；24, screw；25, the second locking nut；26, washer；27, swing arm driving wheel group axis；28, force snesor；29, the bottom
Arm；30, retaining ring；31, lower swing arm pin shaft.
Specific embodiment
With reference to the accompanying drawing and specific embodiment come the present invention will be described in detail, specific embodiment therein and explanation only
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, the invention discloses a kind of adaptive curved surface climbing robot of magnetic suck, including chassis I, preceding driving
Wheel group VI, rear drive sprocket group IV, the first swing arm system II, the second swing arm system V, electronic compartment III and fastener attachment；It is described
Chassis I includes chassis girder 2, and chassis girder 2 is cuboid-type frame structure, for providing the basis of entire robot；It is described
Electronic compartment III is fixed on the upper surface of robot chassis I, and the inside of electronic compartment III is equipped with robot controller and electric elements, is used for
Control robot；The front driving wheel group VI and the structure having the same of rear drive sprocket group IV, and be respectively positioned under chassis I
Side, is one in front and one in back arranged, for providing driving force and magnetic adsorbability；The first swing arm system II and the second swing arm system V tool
There is identical structure, the two sides on chassis I is alternately fixed on respectively, for providing driving force and magnetic adsorbability.
Specifically, as shown in Fig. 2-Fig. 7, the front driving wheel group VI includes the left driving wheel 12 with taper, with taper
Right driving wheel 13, driving wheel group steering shaft 8 and underwater electrical connector 5；Left driving wheel 12 and right driving wheel 13 use 10 He of nut respectively
Bolt 11 is fixed on the two sides of steering shaft 8, and underwater electrical connector 5 is threadedly secured to the top of steering shaft 8, inside steering shaft 8
It is hollow, control and driving conductor wiring channel as driving wheel；The steering shaft 8 of front driving wheel group VI passes through from bottom to top
It is turned to two sliding bearings 3 for being fixed on I front of chassis, and in the upside on chassis I with two the first locking nuts 4 are fixed
Axis, so that front driving wheel group VI can be rotated relative to chassis I.
Specifically, the left driving wheel 12 with taper and the taper α having the same of the right driving wheel with taper 13, they
The outer of the axial section of wheel forms angle a β, β and is accordingly designed according to adsorption curve difference, and β is made to adapt to inhale
The variation of attached curved surface；Driving wheel group steering shaft 8 has pressure compensation interface 7, for robot 300 meters of applied field under water
It closes.
Specifically, the rear drive sprocket group IV includes the left driving wheel 12 with taper, the right driving wheel 13 with taper and drives
Driving wheel group steering shaft 8；Left driving wheel 12 and right driving wheel 13 are fixed on the two sides of steering shaft 8 with nut 10 and bolt 11 respectively,
Underwater electrical connector 5 is threadedly secured to the top of steering shaft 8, be inside steering shaft 8 it is hollow, as driving wheel control and
Drive conductor wiring channel；The steering shaft 8 of rear drive sprocket group IV is passed through from bottom to top to two slidings for being fixed on I tail portion of chassis
Bearing, and in the upside on the chassis I fixed steering shaft of two the first locking nuts 4, so that rear drive sprocket group IV can be with respect to chassis I
Rotation.
Specifically, the left driving wheel 12 with taper and the taper α having the same of the right driving wheel with taper 13, they
The outer of the axial section of wheel forms angle a β, β and is accordingly designed according to adsorption curve difference, and β is made to adapt to inhale
The variation of attached curved surface；Driving wheel group steering shaft 8 has pressure compensation interface 7, for robot 300 meters of applied field under water
It closes.
Specifically, the first swing arm system II and the second swing arm system V are successively by upper swing arm axis swing arm pedestal
19, upper swing arm axis 17 and upper swing arm drive system, upper swing arm 14, lower swing arm pin shaft 31, lower swing arm 29 and bottom arm strength sense machine
Structure, swing arm driving wheel group axis 27, the left driving wheel 12 with taper, the right driving wheel 13 with taper and attachment are connected into one two
The swing arm system of rotational freedom；Entire swing arm system is fixed on chassis I by the hole that bolt 11 passes through on swing arm pedestal 19；Institute
It states the left driving wheel 12 with taper and the bolt 11 of the right driving wheel with taper 13 is fixed on the two sides of swing arm driving wheel group axis 27；
Left driving wheel 12 with taper and the taper α having the same of the right driving wheel with taper 13, the axial section of their wheels it is outer
It is accordingly designed along angle a β, β is formd according to adsorption curve difference, β is made to adapt to the variation of adsorption curve.
Specifically, the bottom arm strength sensing mechanism is mainly by lower swing arm 29, force snesor 28, swing arm driving wheel group axis
27, underwater electrical connector 5 and O-ring 20 etc. form；The middle part of the swing arm driving wheel group axis 27 is equipped with a circular protrusions, intermediate
It is threaded hole；The longitudinal direction of rectangular lower swing arm 29 is equipped with a hole, and inside machined circular inner hole, in circular inner hole
Bottom is threaded hole, the stud at 28 both ends of force snesor respectively with the threaded hole of lower swing arm 29 and swing arm driving wheel group axis
27 threaded hole connection；The middle part that O-ring 20 is mounted on swing arm driving wheel group axis 27 has on the radial slot of a circular protrusions, point
Not with the male cooperation of the circular inner hole of lower swing arm 29 and swing arm driving wheel group axis 27, for providing axial seal.
Specifically, the lower swing arm pin shaft 31, which sequentially passes through, is installed on 14 one end of upper swing arm, pin hole perpendicular to Y shape slot
On sliding bearing, rectangular lower swing arm 29 the other end have a pin hole being transversely to the machine direction, end uses shaft block ring 30 fixed
Their position.
Specifically, the upper swing arm drive system is mainly by submersible machine 6, worm gear 16, worm screw 18, tapered roller bearing
22, the driving mechanism pedestal 21 of upper swing arm, key 15, upper swing arm axis 17, swing arm pedestal 19 etc. form；Submersible machine 6 is installed on
On the driving mechanism pedestal 21 of swing arm, one end of worm screw 18 and the output shaft of submersible machine 6 are fastened, the other end difference of worm screw 18
The tapered roller bearing of the O-ring 20 being installed on driving mechanism pedestal 21 and a pair of back-to-back installation is sequentially passed through along axial direction
22, fixed with the second locking nut 25 in the end of worm screw 18, the side of tapered roller bearing 22 is equipped with washer 26；Driving mechanism
The side of pedestal 21 is mounted with end cap 23, and fixed with screw 24, and end cap 23 is radially machined with O-ring slot for mounting O-shaped
Circle 20；Worm gear 16 is axially mounted to 17 one end of upper swing arm axis, and fixed with key 15；Upper swing arm axis 17 sequentially passes through end along axial direction
Lid 23 is installed on the tapered roller bearing 22 being machined on the hole perpendicular to Y shape slot on 19 one end of swing arm pedestal, perpendicular under
Longitudinal pin hole of 29 one end of swing arm, it is fixed with the second locking nut 25 in the end of upper swing arm axis 17；The two of swing arm pedestal 19
Two end caps 23 fastened with screw 24 are installed on side end face, covers and machined radial O-ring slot, be mounted with above O-shaped
Circle 20 is for sealing.
Specifically, lifting hanging ring 1 is equipped with before and after the chassis girder 2 on the chassis I, for lifting by crane robot；The electricity
Electronic compartment underwater electrical connector 9 is installed, electronic compartment III passes through electronic compartment underwater electrical connector 9 and external connection on sub- cabin III；It is described
Electronic compartment III has pressure compensation interface 7, for robot 300 meters of application under water.
Embodiment
A kind of adaptive curved surface climbing robot of magnetic suck, the robot mainly include chassis, front driving wheel group, rear driving
Wheel group, the first swing arm system, the second swing arm system, electronic compartment and fastener attachment etc..
Above-mentioned electronic compartment is fixed on the upper surface of robot chassis, internal on electronic compartment to placed robot controller and electricity
Device element passes through the electronic compartment underwater electrical connector and external connection being mounted on electronic compartment；Pressure compensation can be had on electronic compartment
Interface, for robot 300 meters of application under water.
Above-mentioned front driving wheel group by the left driving wheel with taper, the right driving wheel with taper, driving wheel group steering shaft and
The attachmentes such as underwater electrical connector composition.Left driving wheel and right driving wheel are respectively bolted to the two sides of steering shaft, and watertight patches
Part is threadedly secured to the top of steering shaft, be inside steering shaft it is hollow, as driving wheel control and driving conducting wire walk
Line passage；The steering shaft of front driving wheel group is passed through from bottom to top to two sliding bearings for being fixed on chassis front, and on chassis
Upside fix steering shaft with two the first locking nuts, so that front driving wheel group can be rotated relative to chassis；Left drive with taper
Driving wheel and right driving wheel taper α having the same with taper, the outer of the axial section of their wheels forms an angle
β, β can be according to adsorption curve different designs, so that β be made to adapt to the variation of adsorption curve；Driving wheel group steering shaft can have
Pressure compensation interface, for robot 300 meters of application under water.
Above-mentioned rear drive sprocket group is by the left driving wheel with taper, the right driving wheel with taper and driving wheel group steering shaft group
At.Left driving wheel and right driving wheel are respectively bolted to the two sides of steering shaft；The steering shaft of front driving wheel group is from bottom to top
Steering is fixed with two the first locking nuts across to two sliding bearings for being fixed on chassis tail portion, and in the upside on chassis
Axis, so that rear drive sprocket group can be rotated relative to chassis；Left driving wheel with taper and the right driving wheel with taper are having the same
Taper α, the outer of the axial section of their wheels form angle a β, β can according to adsorption curve different designs, thus
β is set to adapt to the variation of adsorption curve；Driving wheel group steering shaft can have pressure compensation interface, to be used for robot under water
300 meters of application.
Above-mentioned left swing arm system and right swing arm system structure having the same, they pass through bolt respectively and alternately fix
In the two sides on chassis.They be successively by upper swing arm axis swing arm pedestal, upper swing arm axis and upper swing arm drive system, upper swing arm, under
Swing arm pin shaft, lower swing arm and bottom arm strength sensing mechanism, swing arm driving wheel group axis, the left driving wheel with taper, the right side with taper
Driving wheel and attachment are connected into the swing arm system of two rotational freedoms.The hole that bolt passes through on swing arm pedestal will entirely be put
Arm system is fixed on chassis.Left driving wheel with taper and the right driving wheel with taper are bolted to swing arm driving wheel group
The two sides of axis；Left driving wheel with taper and the right driving wheel with taper have identical taper α, the axial section of their wheels
Outer forms angle a β, β can be according to adsorption curve different designs, so that β be made to adapt to the variation of adsorption curve.
Above-mentioned bottom arm strength sensing mechanism is by lower swing arm, force snesor, swing arm driving wheel group axis, underwater electrical connector and O-shaped
The composition such as circle.There are a circular protrusions in the middle part of swing arm driving wheel group axis, centre is threaded hole；Rectangular lower swing arm is indulged
To there is a hole, inside machined circular inner hole, be threaded hole, the spiral shell at force snesor both ends in the bottom of circular inner hole
Column is connected with the threaded hole of the threaded hole of lower swing arm and swing arm driving wheel group axis respectively；O-ring is mounted on swing arm driving wheel group
On the radial slot for having a circular protrusions in the middle part of axis, respectively with the protrusion of the circular inner hole of lower swing arm and swing arm driving wheel group axis
Cooperation, provides axial seal.
Above-mentioned lower swing arm pin shaft sequentially pass through be installed on upper swing arm one end, perpendicular to the sliding axle on the pin hole of Y shape slot
Hold, the other end of rectangular lower swing arm has the pin hole being transversely to the machine direction, end use shaft block ring fixing them position.
Above-mentioned upper swing arm drive system by submersible machine, worm gear, worm screw, tapered roller bearing, swing arm driving mechanism base
The composition such as seat, key, upper swing arm axis, swing arm pedestal.Submersible machine is installed on the driving mechanism pedestal of swing arm, one end of worm screw with
The output shaft of submersible machine fastens, the other end of worm screw sequentially pass through respectively in axial direction be installed on it is O-shaped on driving mechanism pedestal
The tapered roller bearing of circle and a pair of back-to-back installation, is fixed in the end of worm screw with the second locking nut；Driving mechanism pedestal
The side is mounted with end cap, and is screwed, and end cap is radially machined with O-ring slot for mounting O-shaped rings.Worm gear installs edge
It is axially mounted to upper swing arm axis one end, and is fixed with key；Upper swing arm axis sequentially passes through end cap along axial direction, is installed in swing arm pedestal
The tapered roller bearing on the hole perpendicular to Y shape slot, longitudinal pin hole perpendicular to lower swing arm one end are machined on one end, upper
Swing arm the tip of the axis is fixed with the second locking nut.Two ends fastened with screw are installed on the both sides of the face of swing arm pedestal
Lid, what is covered machined radial O-ring slot, be mounted with O-ring for sealing above.
Using the adaptive curved surface climbing robot of magnetic suck described in the present embodiment in R1=600mm, R2=2000mm circle
Creeping using as shown in Figure 8 and Figure 9 respectively in vial wall.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to restrict the invention, all in essence of the invention
Made any modification, equivalent replacement and improvement etc., should be included in protection scope of the present invention within mind and spirit
Within.
Claims (10)
1. a kind of adaptive curved surface climbing robot of magnetic suck, including chassis (I), front driving wheel group (VI), rear drive sprocket group
(IV), the first swing arm system (II), the second swing arm system (V), electronic compartment (III) and fastener attachment, it is characterised in that: institute
Stating chassis (I) includes chassis girder (2), and chassis girder (2) is cuboid-type frame structure, for providing the base of entire robot
Plinth；The electronic compartment (III) is fixed on the upper surface of robot chassis (I), the inside of electronic compartment (III) be equipped with robot controller and
Electric elements, for controlling robot；The front driving wheel group (VI) and rear drive sprocket group (IV) are respectively positioned under chassis (I)
Side, is one in front and one in back arranged, for providing magnetic adsorbability and driving force；The first swing arm system (II) and the second swing arm system
(V) structure having the same is alternately fixed on the two sides of chassis (I), for providing magnetic adsorbability and driving force respectively.
2. the adaptive curved surface climbing robot of a kind of magnetic suck according to claim 1, it is characterised in that: driving before described
Wheel group (VI) includes the left driving wheel (12) with taper, the right driving wheel (13) with taper, driving wheel group steering shaft (8) and watertight
Connector (5)；Left driving wheel (12) and right driving wheel (13) are fixed on steering shaft (8) with nut (10) and bolt (11) respectively
Two sides, underwater electrical connector (5) are threadedly secured to the top of steering shaft (8), be inside steering shaft (8) it is hollow, as drive
The control of driving wheel and driving conductor wiring channel；The steering shaft (8) of front driving wheel group (VI) is passed through to being fixed on bottom from bottom to top
Two sliding bearings (3) of disk (I) front, and steering shaft is fixed with two the first locking nuts (4) in the upside of chassis (I),
To which front driving wheel group (VI) can rotate relative to chassis (I).
3. the adaptive curved surface climbing robot of a kind of magnetic suck according to claim 2, it is characterised in that: the band taper
Left driving wheel (12) and right driving wheel (13) taper α having the same with taper, the outer of the axial section of their wheels
It forms angle a β, β accordingly to be designed according to adsorption curve difference, β is made to adapt to the variation of adsorption curve；Driving wheel
Group steering shaft (8) has pressure compensation interface (7), for robot 300 meters of application under water.
4. the adaptive curved surface climbing robot of a kind of magnetic suck according to claim 1, it is characterised in that: driving after described
Wheel group (IV) includes the left driving wheel (12) with taper, right driving wheel (13) and driving wheel group steering shaft (8) with taper；Left drive
Driving wheel (12) and right driving wheel (13) are fixed on the two sides of steering shaft (8) with nut (10) and bolt (11) respectively, and watertight patches
Part (5) is threadedly secured to the top of steering shaft (8), and it is hollow, as driving wheel control and drive that steering shaft (8) is internal
Dynamic conductor wiring channel；The steering shaft (8) of rear drive sprocket group (IV) is passed through from bottom to top to being fixed on two of chassis (I) tail portion
Sliding bearing, and in the upside of chassis (I) the fixed steering shaft of two the first locking nuts (4), thus rear drive sprocket group (IV)
It can be rotated relative to chassis (I).
5. the adaptive curved surface climbing robot of a kind of magnetic suck according to claim 4, it is characterised in that: the band taper
Left driving wheel (12) and right driving wheel (13) taper α having the same with taper, the outer of the axial section of their wheels
It forms angle a β, β accordingly to be designed according to adsorption curve difference, β is made to adapt to the variation of adsorption curve；Driving wheel
Group steering shaft (8) has pressure compensation interface (7), for robot 300 meters of application under water.
6. the adaptive curved surface climbing robot of a kind of magnetic suck according to claim 1, it is characterised in that: first pendulum
Arm system (II) and the second swing arm system (V) are successively by upper swing arm axis swing arm pedestal (19), upper swing arm axis (17) and upper pendulum
Arm drive system, upper swing arm (14), lower swing arm pin shaft (31), lower swing arm (29) and bottom arm strength sensing mechanism, swing arm driving wheel
Group axis (27), the left driving wheel (12) with taper, the right driving wheel (13) with taper and attachment are connected into two rotations certainly
By the swing arm system spent；Entire swing arm system is fixed on chassis (I) by the hole that bolt (11) passes through on swing arm pedestal (19)；Institute
It states the left driving wheel (12) with taper and the right driving wheel (13) with taper and is fixed on swing arm driving wheel group axis with bolt (11)
(27) two sides；Left driving wheel (12) with taper and right driving wheel (13) the taper α having the same with taper, their wheels
The outer of axial section form angle a β, β and accordingly designed according to adsorption curve difference, so that β is adapted to absorption bent
The variation in face.
7. the adaptive curved surface climbing robot of a kind of magnetic suck according to claim 6, it is characterised in that: the lower swing arm
Power sensing mechanism is mainly by lower swing arm (29), force snesor (28), swing arm driving wheel group axis (27), underwater electrical connector (5) and O-shaped
Enclose the composition such as (20)；The middle part of the swing arm driving wheel group axis (27) is equipped with a circular protrusions, and centre is threaded hole；Side
The longitudinal direction of the lower swing arm (29) of shape is equipped with a hole, and inside machined circular inner hole, be machined with spiral shell in the bottom of circular inner hole
Pit, the stud at force snesor (28) both ends spiral shell with the threaded hole of lower swing arm (29) and swing arm driving wheel group axis (27) respectively
Pit connection；O-ring (20), which is mounted in the middle part of swing arm driving wheel group axis (27), to be had on the radial slot of a circular protrusions, respectively
With the circular inner hole of lower swing arm (29) and the male cooperation of swing arm driving wheel group axis (27), for providing axial seal.
8. the adaptive curved surface climbing robot of a kind of magnetic suck according to claim 7, it is characterised in that: the lower swing arm
Pin shaft (31) sequentially pass through be installed on upper swing arm (14) one end, perpendicular on the pin hole of Y shape slot sliding bearing, it is rectangular under
The other end of swing arm (29) has the pin hole being transversely to the machine direction, and end uses the position of shaft block ring (30) fixing them.
9. the adaptive curved surface climbing robot of a kind of magnetic suck according to claim 8, it is characterised in that: the upper swing arm
Drive system mainly by submersible machine (6), worm gear (16), worm screw (18), tapered roller bearing (22), upper swing arm driving mechanism
The composition such as pedestal (21), key (15), upper swing arm axis (17), swing arm pedestal (19)；Submersible machine (6) is installed on the driving of upper swing arm
In mechanism base (21), the output shaft of one end of worm screw (18) and submersible machine (6) is fastened, the other end of worm screw (18) edge respectively
Axially sequentially pass through the tapered roller bearing of the O-ring (20) being installed on driving mechanism pedestal (21) and a pair of back-to-back installation
(22), fixed with the second locking nut (25) in the end of worm screw (18), the side of tapered roller bearing (22) is equipped with washer
(26)；Driving mechanism pedestal (21) side is mounted with end cap (23), and, the radially processing of end cap (23) fixed with screw (24)
There is O-ring slot for mounting O-shaped rings (20)；Worm gear (16) is axially mounted to upper swing arm axis (17) one end, and solid with key (15)
It is fixed；Upper swing arm axis (17) sequentially passes through end cap (23) along axial direction, is installed on and is machined on swing arm pedestal (19) one end perpendicular to Y
Tapered roller bearing (22) on the hole of shape slot, longitudinal pin hole perpendicular to lower swing arm (29) one end, in upper swing arm axis (17)
End it is fixed with the second locking nut (25)；Two fastened with screw (24) are installed on the both sides of the face of swing arm pedestal (19)
A end cap (23), covers and machined radial O-ring slot, is mounted with O-ring (20) for sealing above.
10. the adaptive curved surface climbing robot of a kind of magnetic suck according to any one of claim 1 to 9, feature exist
In: lifting hanging ring (1) is equipped with before and after the chassis girder (2) of the chassis (I), for lifting by crane robot；The electronic compartment
(III) it is equipped on electronic compartment underwater electrical connector (9), electronic compartment (III) passes through electronic compartment underwater electrical connector (9) and external connection；
The electronic compartment (III) has pressure compensation interface (7), for robot 300 meters of application under water.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810929222.XA CN108974166B (en) | 2018-08-15 | 2018-08-15 | Magnetic adsorption self-adaptive curved surface crawling robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810929222.XA CN108974166B (en) | 2018-08-15 | 2018-08-15 | Magnetic adsorption self-adaptive curved surface crawling robot |
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| CN108974166B CN108974166B (en) | 2023-06-30 |
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| CN108974166B (en) | 2023-06-30 |
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