CN108974166B

CN108974166B - Magnetic adsorption self-adaptive curved surface crawling robot

Info

Publication number: CN108974166B
Application number: CN201810929222.XA
Authority: CN
Inventors: 罗高生; 姜哲; 王彪; 郭威
Original assignee: Shanghai Ocean University
Current assignee: Shanghai Ocean University
Priority date: 2018-08-15
Filing date: 2018-08-15
Publication date: 2023-06-30
Anticipated expiration: 2038-08-15
Also published as: CN108974166A

Abstract

The invention discloses a magnetic adsorption self-adaptive curved surface crawling robot which comprises a chassis, a front driving wheel set, a rear driving wheel set, a first swing arm system, a second swing arm system, an electronic cabin and a fastener accessory, wherein the chassis is provided with a plurality of front driving wheel sets and rear driving wheel sets; the electronic cabin is fixed on the robot chassis, and a robot controller and electrical elements are arranged in the electronic cabin and used for controlling the robot; the front driving wheel set and the rear driving wheel set are arranged in tandem and are positioned below the chassis and used for providing magnetic attraction force and driving force; the first swing arm system and the second swing arm system have the same structure and are respectively fixed on two sides of the chassis in a staggered manner and used for providing magnetic adsorption force and driving force. The magnetic adsorption self-adaptive curved surface crawling robot provided by the invention has the capability of self-adaptively adsorbing wide-range change of the curvature of the curved surface, so that the robot can be applied to structural cleaning and preservative detection of steel structures, tank bodies and oil platforms; after pressure compensation, the water can be applied under the water depth of about 300 meters.

Description

Magnetic adsorption self-adaptive curved surface crawling robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a magnetic adsorption self-adaptive curved surface crawling robot.

Background

At present, the magnetic adsorption wall climbing robot is widely applied to the aspects of ship cleaning, pipeline welding and the like. The wall climbing robot is provided with a permanent magnet or an electromagnet on the drive supply of the chassis to be adsorbed on a ship or a metal surface, and the gravity of the robot is overcome under the combined action of magnetic adsorption force and friction force, so that the robot can perform crawling motion on the inclined or even vertical metal surface. The electromagnet-attracted wall climbing robot is used only in very special cases because the electromagnet weight is relatively heavy compared with the permanent magnet weight under the conditions of relatively complex control and equal attraction force. Therefore, a magnetic adsorption wall climbing robot adsorbed by a permanent magnet is a mainstream and trend of current application.

The current magnetic adsorption wall climbing robot is mainly applied to a plane or a micro-bending curved surface, the wall climbing robot mainly uses a track and a wheel, the adsorption force is sensitive to the curvature of an adsorption surface, and the curvature of the adsorption surface is generally required to be changed within a small range. The magnetic adsorption robot applied to pipeline welding mainly adopts a parallel wheel type driving mode, the walking direction mainly adopts a mode of moving around the circumferential direction of the pipeline, the mode has the main advantages of being capable of adapting to various pipeline diameters, and the defect of low efficiency of walking along the axial direction of the pipeline is overcome.

The existing magnetic adsorption robot mainly has the following problems:

(1) The self-adaptive adsorption curved surface curvature change capability is poor, and the self-adaptive adsorption curved surface curvature change capability can only be used on a plane or a micro-bending curved surface;

(2) Although the magnetic adsorption wall climbing robot with the self-adaptive adsorption curved surface change has certain self-adaptive adsorption curved surface capacity, the magnetic adsorption wall climbing robot can only move along the circumference of a pipeline, and has poor adaptability in the occasion that some curved surfaces change irregular curved surfaces;

(3) The magnetic adsorption wall climbing robot with self-adaptive adsorption curved surface change has the advantages of short walking distance per unit time and low efficiency.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a magnetic adsorption self-adaptive curved surface crawling robot, which is different from a conventional magnetic adsorption wall crawling robot, has the capability of changing the curvature of a self-adaptive adsorption curved surface in a large range, so that the robot can be applied to structural cleaning and preservative inspection of steel structures, tanks and oil platforms; after pressure compensation, the water can be applied under the water depth of about 300 meters.

For this purpose, the invention adopts the following technical scheme:

a magnetic adsorption self-adaptive curved surface crawling robot comprises a chassis, a front driving wheel set, a rear driving wheel set, a first swing arm system, a second swing arm system, an electronic cabin and a fastener accessory; the chassis comprises a chassis main beam, wherein the chassis main beam is of a cuboid type frame structure and is used for providing a foundation of the whole robot; the electronic cabin is fixed on the robot chassis, and a robot controller and electrical elements are arranged in the electronic cabin and used for controlling the robot; the front driving wheel set and the rear driving wheel set are arranged in tandem and are used for providing driving force and magnetic adsorption force; the first swing arm system and the second swing arm system have the same structure and are respectively fixed on two sides of the chassis in a staggered manner and used for providing magnetic adsorption force and driving force.

Preferably, the front driving wheel set comprises a left driving wheel with taper, a right driving wheel with taper, a steering shaft of the driving wheel set and a watertight connector; the left driving wheel and the right driving wheel are respectively fixed on two sides of the steering shaft by nuts and bolts, the watertight connector is fixed on the top of the steering shaft by threads, and the steering shaft is hollow and is used as a control and driving wire routing channel of the driving wheels; the steering shaft of the front driving wheel group passes through two sliding bearings fixed on the front part of the chassis from bottom to top, and the steering shaft is fixed on the upper side of the chassis by two first locking nuts, so that the front driving wheel group can rotate relative to the chassis.

Further, the left tapered driving wheel and the right tapered driving wheel have the same taper alpha, and the outer edges of the axial sections of the wheels form an included angle beta, and the included angle beta is correspondingly designed according to the different adsorption curved surfaces, so that the angle beta can adapt to the change of the adsorption curved surfaces; the steering shaft of the driving wheel group is provided with a pressure compensation interface and is used for the application occasion of the robot under water of 300 meters.

Preferably, the rear driving wheel group comprises a left driving wheel with taper, a right driving wheel with taper and a steering shaft of the driving wheel group; the left driving wheel and the right driving wheel are respectively fixed on two sides of the steering shaft by nuts and bolts, the watertight connector is fixed on the top of the steering shaft by threads, and the steering shaft is hollow and is used as a control and driving wire routing channel of the driving wheels; the steering shaft of the rear driving wheel group passes through two sliding bearings fixed at the tail part of the chassis from bottom to top, and the steering shaft is fixed at the upper side of the chassis by two first locking nuts, so that the rear driving wheel group can rotate relative to the chassis.

Preferably, the first swing arm system and the second swing arm system are respectively a swing arm system with two degrees of rotation degrees of freedom, which are formed by sequentially connecting an upper swing arm shaft swing arm base, an upper swing arm shaft, an upper swing arm driving system, an upper swing arm, a lower swing arm pin shaft, a lower swing arm and lower swing arm force sensing mechanism, a swing arm driving wheel group shaft, a left driving wheel with taper, a right driving wheel with taper and an accessory in series; bolts pass through holes on the swing arm base to fix the whole swing arm system on the chassis; the left driving wheel with taper and the right driving wheel with taper are fixed on two sides of the swing arm driving wheel group shaft by bolts; the left driving wheel with taper and the right driving wheel with taper have the same taper alpha, and the outer edges of the axial sections of the wheels form an included angle beta, and the included angle beta is correspondingly designed according to the different adsorption curved surfaces, so that the beta can adapt to the change of the adsorption curved surfaces.

Further, the lower swing arm force sensing mechanism mainly comprises a lower swing arm, a force sensor, a swing arm driving wheel group shaft, a watertight connector, an O-shaped ring and the like; the middle part of the swing arm driving wheel group shaft is provided with a circular bulge, and the middle part is provided with a threaded hole; a hole is formed in the longitudinal direction of the square lower swing arm, a circular inner hole is machined in the square lower swing arm, a threaded hole is machined in the bottom of the circular inner hole, and studs at two ends of the force sensor are respectively connected with the threaded hole of the lower swing arm and the threaded hole of the swing arm driving wheel group shaft; the O-shaped ring is arranged on a radial groove with a circular bulge in the middle of the swing arm driving wheel group shaft, and is respectively matched with a circular inner hole of the lower swing arm and the bulge of the swing arm driving wheel group shaft for providing axial sealing.

Further, the pin shaft of the lower swing arm sequentially penetrates through a sliding bearing arranged at one end of the upper swing arm and perpendicular to a pin hole of the Y-shaped groove, the other end of the square lower swing arm is provided with a pin hole perpendicular to the longitudinal direction, and the tail end of the pin shaft is fixed at the position by using a check ring for the shaft.

Further, the upper swing arm driving system mainly comprises an underwater motor, a worm wheel, a worm, a tapered roller bearing, a driving mechanism base of an upper swing arm, a key, an upper swing arm shaft, a swing arm base and the like; the underwater motor is arranged on a driving mechanism base of the upper swing arm, one end of the worm is fastened with an output shaft of the underwater motor, the other end of the worm sequentially penetrates through an O-shaped ring arranged on the driving mechanism base and a pair of tapered roller bearings arranged back to back along the axial direction, the tail end of the worm is fixed by a second locking nut, and a gasket is arranged on one side of each tapered roller bearing; an end cover is arranged on the side of the driving mechanism base and is fixed by a screw, and an O-shaped ring groove is formed in the radial direction of the end cover and is used for installing an O-shaped ring; the worm wheel is axially arranged at one end of the upper swing arm shaft and is fixed by a key; the upper swing arm shaft sequentially penetrates through the end cover, a tapered roller bearing arranged on a hole which is formed in one end of the swing arm base and is perpendicular to the Y-shaped groove, and a longitudinal pin hole which is perpendicular to one end of the lower swing arm, and the tail end of the upper swing arm shaft is fixed by a second locking nut; two end covers fastened by screws are arranged on the end surfaces of the two sides of the swing arm base, radial O-shaped ring grooves are formed in the cover, and O-shaped rings are arranged on the O-shaped ring grooves for sealing.

Preferably, lifting rings are arranged at the front and back of the chassis main beam of the chassis and used for lifting the robot; the electronic cabin is provided with an electronic cabin watertight connector, and the electronic cabin is connected with the outside through the electronic cabin watertight connector; the electronic cabin is provided with a pressure compensation interface and is used for an application occasion of the robot under water of 300 meters.

Compared with the prior art, the invention has the beneficial effects that:

(1) The self-adaptive adsorption curved surface curvature change capability is strong, and the self-adaptive adsorption curved surface curvature change device can be used in occasions with large curved surface curvature change.

(2) High efficiency. The device can be used for occasions of pipeline walking, can axially move along the pipeline, and has long walking distance in unit time.

(3) The system can be used in land and underwater environments, and can be applied to water depths of about 300 meters after being subjected to pressure compensation and corrosion protection technology treatment.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a magnetic adsorption self-adaptive curved surface crawling robot.

Fig. 2 is a front view of a magnetic adsorption adaptive curved surface crawling robot provided by the invention.

Fig. 3 is a bottom view of the magnetic adsorption self-adaptive curved surface crawling robot provided by the invention.

Fig. 4 is a left side view of the magnetic adsorption self-adaptive curved surface crawling robot provided by the invention.

Fig. 5 is a front view of a first swing arm system in a magnetic adsorption adaptive curved crawling robot provided by the invention.

Fig. 6 is a bottom view of a first swing arm system of the magnetic attraction adaptive curved crawling robot provided by the invention.

Fig. 7 is a cross-sectional view of a free joint of a first swing arm system in a magnetic adsorption adaptive curved crawling robot.

Fig. 8 is a schematic diagram of a crawling application of the magnetic adsorption adaptive curved surface crawling robot provided by the invention on a cylindrical pipe wall with r1=600mm.

Fig. 9 is a schematic diagram of a crawling application of the magnetic adsorption adaptive curved surface crawling robot provided by the invention on a r2=2000 mm cylindrical pipe wall.

Reference numerals illustrate: i, a chassis; II, a first swing arm system; III, an electronic cabin; IV, rear driving wheel sets; v, a second swing arm system; VI, a front driving wheel group; 1. lifting a lifting ring; 2. a chassis main beam; 3. a sliding bearing; 4. a first lock nut; 5. a watertight connector; 6. an underwater motor; 7. a pressure compensation interface; 8. driving a steering shaft of the wheel set; 9. an electronic cabin watertight connector; 10. a nut; 11. a bolt; 12. a left driving wheel with taper; 13. a right driving wheel with taper; 14. an upper swing arm; 15. a key; 16. a worm wheel; 17. a swing arm shaft; 18. a worm; 19. a swing arm base; 20. an O-ring; 21. a driving mechanism base of the upper swing arm; 22. tapered roller bearings; 23. an end cap; 24. a screw; 25. a second lock nut; 26. a gasket; 27. the swing arm drives a wheel group shaft; 28. a force sensor; 29. a lower swing arm; 30. a retainer ring; 31. and a lower swing arm pin shaft.

Detailed Description

The present invention will be described in detail below with reference to the drawings and the specific embodiments thereof, which are for explanation of the present invention only, but not for limitation of the present invention.

As shown in fig. 1, the invention discloses a magnetic adsorption self-adaptive curved surface crawling robot, which comprises a chassis I, a front driving wheel set VI, a rear driving wheel set IV, a first swing arm system II, a second swing arm system V, an electronic cabin III and a fastener accessory; the chassis I comprises a chassis main beam 2, wherein the chassis main beam 2 is of a cuboid type frame structure and is used for providing a foundation of the whole robot; the electronic cabin III is fixed on the robot chassis I, and a robot controller and an electric element are arranged in the electronic cabin III and used for controlling the robot; the front driving wheel set VI and the rear driving wheel set IV have the same structure, are positioned below the chassis I and are arranged in tandem and used for providing driving force and magnetic adsorption force; the first swing arm system II and the second swing arm system V have the same structure and are respectively fixed on two sides of the chassis I in a staggered manner and used for providing driving force and magnetic adsorption force.

Specifically, as shown in fig. 2-7, the front driving wheel set vi includes a tapered left driving wheel 12, a tapered right driving wheel 13, a driving wheel set steering shaft 8 and a watertight connector 5; the left driving wheel 12 and the right driving wheel 13 are respectively fixed on two sides of the steering shaft 8 by nuts 10 and bolts 11, the watertight connector 5 is fixed on the top of the steering shaft 8 by threads, and the steering shaft 8 is hollow and is used as a control and driving wire routing channel of the driving wheels; the steering shaft 8 of the front drive wheelset vi passes from below upwards to two slide bearings 3 fixed to the front of the chassis i and is fixed on the upper side of the chassis i by two first lock nuts 4, so that the front drive wheelset vi can rotate relative to the chassis i.

Specifically, the left driving wheel 12 with taper and the right driving wheel 13 with taper have the same taper alpha, and the outer edges of the axial sections of the wheels form an included angle beta, and the included angle beta is correspondingly designed according to the different adsorption curved surfaces, so that the angle beta can adapt to the change of the adsorption curved surfaces; the steering shaft 8 of the driving wheel set is provided with a pressure compensation interface 7 for the application of the robot 300 meters under water.

Specifically, the rear driving wheel set IV comprises a left tapered driving wheel 12, a right tapered driving wheel 13 and a driving wheel set steering shaft 8; the left driving wheel 12 and the right driving wheel 13 are respectively fixed on two sides of the steering shaft 8 by nuts 10 and bolts 11, the watertight connector 5 is fixed on the top of the steering shaft 8 by threads, and the steering shaft 8 is hollow and is used as a control and driving wire routing channel of the driving wheels; the steering shaft 8 of the rear driving wheel group IV passes through two sliding bearings fixed to the tail of the chassis I from bottom to top, and is fixed on the upper side of the chassis I by two first locking nuts 4, so that the rear driving wheel group IV can rotate relative to the chassis I.

Specifically, the first swing arm system ii and the second swing arm system v are respectively a swing arm system with two degrees of rotational freedom, which are sequentially formed by an upper swing arm shaft swing arm base 19, an upper swing arm shaft 17, an upper swing arm driving system, an upper swing arm 14, a lower swing arm pin shaft 31, a lower swing arm 29, a lower swing arm force sensing mechanism, a swing arm driving wheel group shaft 27, a left driving wheel 12 with taper, a right driving wheel 13 with taper and an accessory in series; the bolt 11 passes through a hole on the swing arm base 19 to fix the whole swing arm system on the chassis I; the left tapered driving wheel 12 and the right tapered driving wheel 13 are fixed on two sides of the swing arm driving wheel group shaft 27 by bolts 11; the left driving wheel 12 with taper and the right driving wheel 13 with taper have the same taper alpha, and the outer edges of the axial sections of the wheels form an included angle beta, and the included angle beta is correspondingly designed according to the different adsorption curved surfaces, so that the angle beta can adapt to the change of the adsorption curved surfaces.

Specifically, the lower swing arm force sensing mechanism mainly comprises a lower swing arm 29, a force sensor 28, a swing arm driving wheel group shaft 27, a watertight connector 5, an O-shaped ring 20 and the like; the middle part of the swing arm driving wheel group shaft 27 is provided with a circular bulge, and the middle part is provided with a threaded hole; a hole is longitudinally formed in the square lower swing arm 29, a circular inner hole is machined in the square lower swing arm 29, a threaded hole is machined in the bottom of the circular inner hole, and studs at two ends of the force sensor 28 are respectively connected with the threaded hole of the lower swing arm 29 and the threaded hole of the swing arm driving wheel group shaft 27; the O-ring 20 is mounted in a radial groove having a circular boss in the middle of the swing arm drive wheelset shaft 27, and cooperates with the circular inner bore of the lower swing arm 29 and the boss of the swing arm drive wheelset shaft 27, respectively, to provide an axial seal.

Specifically, the lower swing arm pin shaft 31 sequentially passes through a sliding bearing mounted on a pin hole perpendicular to the Y-shaped groove at one end of the upper swing arm 14, the other end of the square lower swing arm 29 has a pin hole perpendicular to the longitudinal direction, and the ends are fixed in their positions by using a shaft retainer ring 30.

Specifically, the upper swing arm driving system mainly comprises an underwater motor 6, a worm wheel 16, a worm 18, a tapered roller bearing 22, a driving mechanism base 21 of an upper swing arm, a key 15, an upper swing arm shaft 17, a swing arm base 19 and the like; the underwater motor 6 is arranged on a driving mechanism base 21 of the upper swing arm, one end of a worm 18 is fastened with an output shaft of the underwater motor 6, the other end of the worm 18 sequentially penetrates through an O-shaped ring 20 arranged on the driving mechanism base 21 and a pair of tapered roller bearings 22 arranged back to back along the axial direction, the tail end of the worm 18 is fixed by a second locking nut 25, and one side of each tapered roller bearing 22 is provided with a gasket 26; the driving mechanism base 21 is provided with an end cover 23 at the side and fixed by a screw 24, and an O-shaped ring groove is formed in the radial direction of the end cover 23 for installing the O-shaped ring 20; the worm wheel 16 is axially arranged at one end of the upper swing arm shaft 17 and is fixed by a key 15; the upper swing arm shaft 17 sequentially penetrates through the end cover 23, a tapered roller bearing 22 arranged on a hole which is processed on one end of the swing arm base 19 and is vertical to the Y-shaped groove, and a longitudinal pin hole which is vertical to one end of the lower swing arm 29 along the axial direction, and the tail end of the upper swing arm shaft 17 is fixed by a second locking nut 25; two end covers 23 fastened by screws 24 are arranged on the two side end surfaces of the swing arm base 19, radial O-shaped ring grooves are formed on the covers, and O-shaped rings 20 are arranged on the covers for sealing.

Specifically, the chassis main beam 2 of the chassis I is provided with lifting rings 1 at the front and back for lifting the robot; an electronic cabin watertight connector 9 is arranged on the electronic cabin III, and the electronic cabin III is connected with the outside through the electronic cabin watertight connector 9; the electronic cabin III is provided with a pressure compensation interface 7 and is used for the application occasion of the robot under water of 300 meters.

Examples

The utility model provides a magnetism adsorbs self-adaptation curved surface robot of crawling, this robot mainly includes chassis, front drive wheelset, back drive wheelset, first swing arm system, second swing arm system, electronic cabin and fastener annex etc..

The electronic cabin is fixed on the robot chassis, a robot controller and electrical elements are arranged in the electronic cabin, and the electronic cabin is connected with the outside through an electronic cabin watertight connector arranged on the electronic cabin; the electronic cabin can be provided with a pressure compensation interface for the application of the robot under water of 300 meters.

The front driving wheel set consists of a left driving wheel with taper, a right driving wheel with taper, a steering shaft of the driving wheel set, watertight connectors and other accessories. The left driving wheel and the right driving wheel are respectively fixed on two sides of the steering shaft through bolts, the watertight connector is fixed on the top of the steering shaft through threads, and the steering shaft is hollow and is used as a control and driving wire routing channel of the driving wheels; the steering shaft of the front driving wheel set passes through two sliding bearings fixed on the front part of the chassis from bottom to top, and the steering shaft is fixed on the upper side of the chassis by two first locking nuts, so that the front driving wheel set can rotate relative to the chassis; the left driving wheel with taper and the right driving wheel with taper have the same taper alpha, the outer edges of the axial sections of the wheels form an included angle beta, and the included angle beta can be designed according to different adsorption curved surfaces, so that the beta can adapt to the change of the adsorption curved surfaces; the steering shaft of the driving wheel set can be provided with a pressure compensation interface for the application of the robot under water of 300 meters.

The rear driving wheel set consists of a left driving wheel with taper, a right driving wheel with taper and a steering shaft of the driving wheel set. The left driving wheel and the right driving wheel are respectively fixed on two sides of the steering shaft by bolts; the steering shaft of the front driving wheel group passes through two sliding bearings fixed at the tail part of the chassis from bottom to top, and the steering shaft is fixed at the upper side of the chassis by two first locking nuts, so that the rear driving wheel group can rotate relative to the chassis; the left driving wheel with taper and the right driving wheel with taper have the same taper alpha, the outer edges of the axial sections of the wheels form an included angle beta, and the included angle beta can be designed according to different adsorption curved surfaces, so that the beta can adapt to the change of the adsorption curved surfaces; the steering shaft of the driving wheel set can be provided with a pressure compensation interface for the application of the robot under water of 300 meters.

The left swing arm system and the right swing arm system have the same structure and are respectively fixed on two sides of the chassis in a staggered manner through bolts. The swing arm system with two degrees of rotation degrees of freedom is formed by sequentially connecting an upper swing arm shaft, an upper swing arm driving system, an upper swing arm, a lower swing arm pin shaft, a lower swing arm force sensing mechanism, a swing arm driving wheel group shaft, a left tapered driving wheel, a right tapered driving wheel and an accessory in series. Bolts pass through holes in the swing arm base to fix the whole swing arm system to the chassis. The left driving wheel with taper and the right driving wheel with taper are fixed on two sides of the swing arm driving wheel group shaft by bolts; the left driving wheel with taper and the right driving wheel with taper have the same taper alpha, the outer edges of the axial sections of the wheels form an included angle beta, and the included angle beta can be designed according to different adsorption curved surfaces, so that the beta can adapt to the change of the adsorption curved surfaces.

The lower swing arm force sensing mechanism consists of a lower swing arm, a force sensor, a swing arm driving wheel set shaft, a watertight connector, an O-shaped ring and the like. The middle part of the swing arm driving wheel group shaft is provided with a circular bulge, and the middle part is provided with a threaded hole; the square lower swing arm is longitudinally provided with a hole, a round inner hole is machined in the square lower swing arm, a threaded hole is machined in the bottom of the round inner hole, and studs at two ends of the force sensor are respectively connected with the threaded hole of the lower swing arm and the threaded hole of the swing arm driving wheel group shaft; the O-shaped ring is arranged on a radial groove with a circular bulge in the middle of the swing arm driving wheel group shaft and is respectively matched with a circular inner hole of the lower swing arm and the bulge of the swing arm driving wheel group shaft to provide axial sealing.

The lower swing arm pin shaft sequentially penetrates through a sliding bearing arranged at one end of the upper swing arm and perpendicular to a pin hole of the Y-shaped groove, the other end of the square lower swing arm is provided with a pin hole perpendicular to the longitudinal direction, and the tail end of the square lower swing arm is fixed at the position by using a shaft check ring.

The upper swing arm driving system consists of an underwater motor, a worm wheel, a worm, a tapered roller bearing, a driving mechanism base of a swing arm, a key, an upper swing arm shaft, a swing arm base and the like. The underwater motor is arranged on a driving mechanism base of the swing arm, one end of the worm is fastened with an output shaft of the underwater motor, the other end of the worm sequentially penetrates through an O-shaped ring arranged on the driving mechanism base and a pair of tapered roller bearings arranged back to back along the axial direction, and the tail end of the worm is fixed by a second locking nut; the side of the driving mechanism base is provided with an end cover which is fixed by screws, and an O-shaped ring groove is formed in the radial direction of the end cover for installing an O-shaped ring. The worm wheel is axially arranged at one end of the upper swing arm shaft and is fixed by a key; the upper swing arm shaft sequentially penetrates through the end cover, a tapered roller bearing arranged on a hole which is processed on one end of the swing arm base and is perpendicular to the Y-shaped groove, and a longitudinal pin hole which is perpendicular to one end of the lower swing arm, and the tail end of the upper swing arm shaft is fixed by a second locking nut. Two end covers fastened by screws are arranged on the end surfaces of the two sides of the swing arm base, radial O-shaped ring grooves are formed in the cover, and O-shaped rings are arranged on the cover for sealing.

The crawling applications of the magnetic adsorption adaptive curved surface crawling robot on the cylindrical pipe wall with r1=600mm and r2=2000 mm according to the embodiment are shown in fig. 8 and fig. 9 respectively.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the invention, but any modifications, equivalents, and improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a magnetism adsorbs self-adaptation curved surface robot of crawling, includes chassis (I), front drive wheelset (VI), back drive wheelset (IV), first swing arm system (II), second swing arm system (V), electronic cabin (III) and fastener annex, its characterized in that: the chassis (I) comprises a chassis main beam (2), and the chassis main beam (2) is of a cuboid type frame structure and is used for providing a foundation of the whole robot; the electronic cabin (III) is fixed on the robot chassis (I), and a robot controller and an electric element are arranged in the electronic cabin (III) and used for controlling the robot; the front driving wheel set (VI) and the rear driving wheel set (IV) are arranged below the chassis (I) and are used for providing magnetic adsorption force and driving force; the first swing arm system (II) and the second swing arm system (V) have the same structure and are respectively fixed on two sides of the chassis (I) in a staggered manner and used for providing magnetic adsorption force and driving force;

the first swing arm system (II) and the second swing arm system (V) are respectively formed by sequentially connecting an upper swing arm shaft swing arm base (19), an upper swing arm shaft (17) and an upper swing arm driving system, an upper swing arm (14), a lower swing arm pin shaft (31), a lower swing arm (29) and a lower swing arm force sensing mechanism, a swing arm driving wheel group shaft (27), a left tapered driving wheel (12), a right tapered driving wheel (13) and an accessory in series to form a swing arm system with two rotation degrees of freedom; the bolt (11) passes through a hole on the swing arm base (19) to fix the whole swing arm system on the chassis (I); the left driving wheel (12) with taper and the right driving wheel (13) with taper are fixed on two sides of the swing arm driving wheel group shaft (27) by bolts (11); the left driving wheel (12) with taper and the right driving wheel (13) with taper have the same taper alpha, and the outer edges of the axial sections of the wheels form an included angle beta, and the included angle beta is correspondingly designed according to the different adsorption curved surfaces, so that the beta can adapt to the change of the adsorption curved surfaces.

2. The magnetic attraction adaptive curved surface crawling robot according to claim 1, wherein: the front driving wheel set (VI) comprises a left tapered driving wheel (12), a right tapered driving wheel (13), a driving wheel set steering shaft (8) and a watertight connector (5); the left driving wheel (12) and the right driving wheel (13) are respectively fixed on two sides of the steering shaft (8) by nuts (10) and bolts (11), the watertight connector (5) is fixed on the top of the steering shaft (8) through threads, and the inside of the steering shaft (8) is hollow and is used as a control and driving wire routing channel of the driving wheels; the steering shaft (8) of the front driving wheel set (VI) passes through two sliding bearings (3) fixed to the front part of the chassis (I) from bottom to top, and the steering shaft is fixed on the upper side of the chassis (I) by two first locking nuts (4), so that the front driving wheel set (VI) can rotate relative to the chassis (I).

3. The magnetic attraction adaptive curved surface crawling robot according to claim 2, wherein: the left driving wheel (12) with taper and the right driving wheel (13) with taper have the same taper alpha, the outer edges of the axial sections of the wheels form an included angle beta, and the included angle beta is correspondingly designed according to the different adsorption curved surfaces, so that the beta can adapt to the change of the adsorption curved surfaces; the steering shaft (8) of the driving wheel group is provided with a pressure compensation interface (7) for the application occasion of the robot under water of 300 meters.

4. The magnetic attraction adaptive curved surface crawling robot according to claim 1, wherein: the rear driving wheel set (IV) comprises a left tapered driving wheel (12), a right tapered driving wheel (13) and a driving wheel set steering shaft (8); the left driving wheel (12) and the right driving wheel (13) are respectively fixed on two sides of the steering shaft (8) by nuts (10) and bolts (11), the watertight connector (5) is fixed on the top of the steering shaft (8) through threads, and the inside of the steering shaft (8) is hollow and is used as a control and driving wire routing channel of the driving wheels; the steering shaft (8) of the rear driving wheel set (IV) passes through two sliding bearings fixed on the tail of the chassis (I) from bottom to top, and the steering shaft is fixed on the upper side of the chassis (I) by two first locking nuts (4), so that the rear driving wheel set (IV) can rotate relative to the chassis (I).

5. The magnetic attraction adaptive curved surface crawling robot according to claim 4, wherein: the left driving wheel (12) with taper and the right driving wheel (13) with taper have the same taper alpha, the outer edges of the axial sections of the wheels form an included angle beta, and the included angle beta is correspondingly designed according to the different adsorption curved surfaces, so that the beta can adapt to the change of the adsorption curved surfaces; the steering shaft (8) of the driving wheel group is provided with a pressure compensation interface (7) for the application occasion of the robot under water of 300 meters.

6. The magnetic attraction adaptive curved surface crawling robot according to claim 1, wherein: the lower swing arm force sensing mechanism mainly comprises a lower swing arm (29), a force sensor (28), a swing arm driving wheel group shaft (27), a watertight connector (5), an O-shaped ring (20) and the like; the middle part of the swing arm driving wheel group shaft (27) is provided with a circular bulge, and the middle part is provided with a threaded hole; a hole is formed in the longitudinal direction of the square lower swing arm (29), a circular inner hole is machined in the square lower swing arm, a threaded hole is machined in the bottom of the circular inner hole, and studs at two ends of the force sensor (28) are respectively connected with the threaded hole of the lower swing arm (29) and the threaded hole of the swing arm driving wheel group shaft (27); the O-shaped ring (20) is arranged on a radial groove with a circular bulge at the middle part of the swing arm driving wheel group shaft (27), and is respectively matched with a circular inner hole of the lower swing arm (29) and the bulge of the swing arm driving wheel group shaft (27) for providing axial sealing.

7. The magnetic attraction adaptive curved surface crawling robot according to claim 6, wherein: the lower swing arm pin shaft (31) sequentially penetrates through a sliding bearing which is arranged at one end of the upper swing arm (14) and is perpendicular to a pin hole of the Y-shaped groove, a pin hole perpendicular to the longitudinal direction is arranged at the other end of the square lower swing arm (29), and the positions of the lower swing arm pin shaft and the square lower swing arm are fixed by using a shaft retainer ring (30).

8. The magnetic attraction adaptive curved surface crawling robot according to claim 7, wherein: the upper swing arm driving system mainly comprises an underwater motor (6), a worm wheel (16), a worm (18), a tapered roller bearing (22), a driving mechanism base (21) of an upper swing arm, a key (15), an upper swing arm shaft (17), a swing arm base (19) and the like; the underwater motor (6) is arranged on a driving mechanism base (21) of the upper swing arm, one end of the worm (18) is fastened with an output shaft of the underwater motor (6), the other end of the worm (18) sequentially penetrates through an O-shaped ring (20) arranged on the driving mechanism base (21) and a pair of tapered roller bearings (22) arranged back to back along the axial direction, the tail end of the worm (18) is fixed by a second lock nut (25), and one side of each tapered roller bearing (22) is provided with a gasket (26); an end cover (23) is arranged on one side of the driving mechanism base (21) and is fixed by a screw (24), and an O-shaped ring groove is formed in the radial direction of the end cover (23) and used for installing an O-shaped ring (20); the worm wheel (16) is axially arranged at one end of the upper swing arm shaft (17) and is fixed by a key (15); the upper swing arm shaft (17) sequentially penetrates through the end cover (23), a tapered roller bearing (22) arranged on a hole which is processed on one end of the swing arm base (19) and is perpendicular to the Y-shaped groove, and a longitudinal pin hole which is perpendicular to one end of the lower swing arm (29), and the tail end of the upper swing arm shaft (17) is fixed by a second lock nut (25); two end covers (23) fastened by screws (24) are arranged on the end surfaces of the two sides of the swing arm base (19), radial O-shaped ring grooves are formed in the covers, and O-shaped rings (20) are arranged on the O-shaped ring grooves for sealing.

9. The magnetic attraction adaptive curved surface crawling robot according to any one of claims 1 to 8, characterized in that: lifting hanging rings (1) are arranged on the front and rear sides of a chassis main beam (2) of the chassis (I) and are used for lifting the robot; an electronic cabin watertight connector (9) is arranged on the electronic cabin (III), and the electronic cabin (III) is connected with the outside through the electronic cabin watertight connector (9); the electronic cabin (III) is provided with a pressure compensation interface (7) and is used for an application occasion of the robot under water of 300 meters.