CN108974170A - A kind of magnetic absorption wheel construction of outer round tube climbing robot - Google Patents
A kind of magnetic absorption wheel construction of outer round tube climbing robot Download PDFInfo
- Publication number
- CN108974170A CN108974170A CN201810929224.9A CN201810929224A CN108974170A CN 108974170 A CN108974170 A CN 108974170A CN 201810929224 A CN201810929224 A CN 201810929224A CN 108974170 A CN108974170 A CN 108974170A
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- Prior art keywords
- magnetic absorption
- wheel
- taper
- absorption wheel
- magnetic
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/006—Magnetic wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
Abstract
The invention discloses a kind of magnetic absorption wheel constructions of outer round tube climbing robot, including magnetic absorption wheel unit, magnetic absorption wheel steering shaft, pressure compensation interface and underwater electrical connector；The magnetic absorption wheel unit is fixed in magnetic absorption wheel steering shaft, for being adsorbed on tube wall；The magnetic absorption wheel steering shaft is used to adjust the direction of whole device；The pressure compensation interface is for connecting pressure compensator；The underwater electrical connector is connected for watertight.The robot for configuring this magnetic absorption wheel construction can adapt to adsorbed round tube diameter change, it can be moved along round tube axial direction, and it can be carried out appropriate steering, after the external pressure compensator of pressure compensation interface on this magnetic absorption wheel, magnetic absorption wheel can be applied to the environment of the underwater several hundred meters of depth of water.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of magnetic absorption wheel knot of outer round tube climbing robot
Structure.
Background technique
Climbing robot is provided in the driving on its chassis increases permanent magnet or electromagnet to be adsorbed onto ship or gold
Metal surface allows robot in inclination, very using robot self gravity is overcome under magnetic adsorbability and frictional force collective effect
Crawling exercises is done on to vertical metal surface.The climbing robot of electromagnet absorption is due to controlling relative complex, same absorption
The weight of electromagnet is also with respect to permanent magnetism weight in the case where power, therefore the magnetic adsorption wall climbing robot of electromagnet adsorption form only exists
It is used in the case where very special.The magnetic adsorption wall climbing robot of permanent magnet absorption is current application mainstream and trend.
The climbing robot of the applications such as anti-corrosion, cleaning and structure detection for current offshore oilfield platform round tube steel construction
Less, one of Major Difficulties need absorption caused by adapting to canal surface from the sorption wheel of this climbing robot
Power declines and bring adsorption capacity is insufficient.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, the disadvantage is that especially low along pipeline axial traveling efficiency,
Even can not be along pipeline axial traveling, therefore it is not particularly suited for anti-corrosion, cleaning and the structure of offshore oilfield platform round tube steel construction
The occasion of the large area operations demands such as detection.
In addition, the standpipe of offshore oilfield platform is usually located at underwater tens meters even several hundred meters underwater, therefore robot
Ontology includes that magnetic absorption wheel thereon needs can apply to underwater tens even several hundred meters of the depth of waters.
Just need thus it is a kind of it is high-efficient, can adapt to absorption round tube diameter change, be able to satisfy it is land and underwater several
The magnetic absorbing wheel of the outer round tube climbing robot requirement of hundred meters of depths.
The magnetic absorption wheel of existing climbing robot is primarily present following problems:
(1) it can not apply and adapt to round tube diameter change.
(2) magnetic absorbing wheel of the magnetic suck machine person form of pipeline welding, can only move along the circumferencial direction of pipeline, axial
Movement velocity is slow, low efficiency.
(3) the underwater several hundred meters of depth of waters can not be applied to.
Summary of the invention
Aiming at the above shortcomings existing in the prior art, the present invention provides a kind of magnetism of outer round tube climbing robot to inhale
Wheel structure, the robot for configuring this magnetic absorption wheel can adapt to adsorbed round tube diameter change, can be along round tube axial direction
Direction movement, and can be carried out appropriate steering, utilize the external pressure compensator of pressure compensation interface on this magnetic absorption wheel
Afterwards, magnetic absorption wheel can be applied to the environment of the underwater several hundred meters of depth of water.
For this purpose, the invention adopts the following technical scheme:
A kind of magnetic absorption wheel construction of outer round tube climbing robot, including magnetic absorption wheel unit, magnetic absorption rotation
To axis, pressure compensation interface and underwater electrical connector；The magnetic absorption wheel unit is fixed in magnetic absorption wheel steering shaft, is used for
It is adsorbed on tube wall；The magnetic absorption wheel steering shaft is used to adjust the direction of whole device；The pressure compensation interface is used for
Connect pressure compensator；The underwater electrical connector is connected for watertight.
Preferably, the magnetic absorption wheel unit includes left magnetic absorption wheel unit and right magnetic absorption wheel unit, described
Identical, the pairs of use with right magnetic absorption wheel cellular construction of left magnetic absorption wheel unit, is respectively bolted to magnetic absorption
Take turns the left and right sides of steering shaft.
Preferably, the magnetic absorption wheel unit is mainly deep by switching end cap, deep groove ball bearing, motor output shaft, biserial
Ditch ball bearing, rimless motor stator, rimless rotor, rimless motor housing, electromechanical transducer circuit board, first stage decelerator group
Part, double reduction device assembly, midway drive wheel hub, right taper magnetic conduction wheel, taper permanent magnet wheel, left taper magnetic conduction wheel, compression ring,
If taper wear ring, several O-rings, bolt stem and several screws composition；
There is circular outer circle on the rimless motor housing, is machined with O-ring slot above, the 5th O is installed in O-ring slot
Type circle；Rimless motor housing is equipped with a big hole and the small sircle hole that is located next to, and interference fit installs rimless motor on big hole
Stator, rimless motor stator one end are close to the end face of small sircle hole, installation electromechanical transducer circuit board are close on other end；Electricity
It is close to the switching end cap that installation is fastened with the second screw on the rimless motor housing of machine sensor circuit board side；Outside rimless motor
It is machined with the counterbore coaxial with aperture on the other side end face of shell, the counterbore and the input terminal boss of double reduction device assembly are matched
It closes, double reduction device assembly input side end face is close to blending bolt with rimless motor housing end face and is fixed；
The change-over terminal cover rim is axially machined with motor shaft bearing bore, and for installing deep groove ball bearing, change-over terminal is stamped one
The big hole of excircle and rimless motor housing excessively cooperates, and O-ring slot is machined on circumference, the 4th O-ring is equipped on slot；
Switching is machined with O-ring slot on the end face of the end cap other side, and third O-ring is equipped on O-ring slot；
The motor output shaft interference is equipped with rimless rotor, and motor is close in a side end face of rimless rotor
The shaft shoulder of output shaft；The both ends of motor output shaft are each passed through and cooperate with deep groove ball bearing and biserial deep groove ball bearing, and tightly
It is affixed on the both ends shaft shoulder of motor output shaft；
The primary speed-down device assembly inner hole is installed on the motor output shaft of deep groove ball bearing side, and with the motor shaft shaft shoulder
It is close to；Primary speed-down device assembly is fixed on motor output shaft by other side using third bolt and gasket；
There is the end face of protrusion in the double reduction device assembly output shaft side, which is fitted snugly into midway drive wheel hub
On step-like inner hole, and with the second bolt fastening；
The midway drive wheel hub have one similar to cap shape shape, it is internal that there are two the macropores and aperture of step；Macropore
With rimless motor housing outer circle clearance fit；The cooperation of the convex transitional of aperture and double reduction device assembly output end, and with second
Bolt is fixed；
The right taper magnetic conduction wheel, taper permanent magnet wheel, left taper magnetic conduction wheel, two both ends of the surface of compression ring are close to install mutually
Onto the outer circle of midway drive wheel hub, the right end face and midway drive hub cap of right taper magnetic conduction wheel are along abutting, with the first spiral shell
They are compressed and are fixed on midway drive wheel hub by the hole that bolt passes through on compression ring；
The internal taper hole set of the taper wear ring is attached to right taper magnetic conduction wheel, taper permanent magnet wheel, on left taper magnetic conduction wheel,
Interior male cone (strobilus masculinus) between them is worked in coordination, and using the first screw pass through taper wear ring right end face upper bolt hole by its
It is fastened on right taper magnetic conduction wheel；
It is machined with O-ring slot respectively on the surfaces externally and internally circumference of the right taper magnetic conduction wheel, the 6th O is separately installed on slot
Type circle and the 7th O-ring；It is machined with O-ring slot respectively on the surfaces externally and internally circumference of the left taper magnetic conduction wheel, pacifies respectively on slot
Equipped with the first O-ring and the second O-ring.
Preferably, the magnetic absorption wheel steering shaft is the hollow structure of an inverted T-shaped, for left magnetic absorption wheel to be arranged
The power and control line of unit and right magnetic absorption wheel unit drive system；The two sides of the bottom of the steering shaft of inverted T-shaped are equipped with installation
Flange, for installing left magnetic absorption wheel unit and right magnetic absorption wheel unit.
Preferably, the threaded hole for installing underwater electrical connector is equipped at the top of the intermediate uprights of the steering shaft of the inverted T-shaped,
Side is equipped with the screw thread for installing pressure compensation interface.
Preferably, the one end fits of the row of the falling T bottom of a side end face and magnetic absorption wheel steering shaft for the switching end cap.
Preferably, it is respectively α's that the magnetic absorption wheel unit, which is by permanent magnet wheel and two sides taper that a taper is α,
One shape of magnetizer wheel composition is that the magnetic absorption wheel of α taper is whole.
Preferably, the magnetic absorption wheel unit in pairs in use, be bolted to magnetic absorption wheel steering shaft respectively
Two sides, the outer of two wheel axial sections form angle a β, β according to absorption round tube diameter difference accordingly designed,
β is set to adapt to the variation of absorption pipe diameter.
Preferably, the rimless motor housing, switching end cap, right taper magnetic conduction wheel, left taper magnetic conduction wheel are all made of magnetic conduction
Property material is process, and the midway drive wheel hub and taper wear ring are all made of non-permeable material and are process.
Compared with prior art, the beneficial effects of the present invention are:
(1) robot for configuring this magnetic absorption wheel can adapt to absorption round tube diameter change.
(2) robot for configuring this magnetic absorption wheel can be moved along round tube axial direction, and can be carried out appropriate turn
To.
(3) after using the external pressure compensator of pressure compensation interface on this magnetic absorption wheel, magnetic absorption wheel can be answered
Environment for the underwater several hundred meters of depth of water.
(4) this magnetic absorption wheel construction is compact, small and exquisite, can in robot flexible configuration.
(5) axial creep speed of the outer round tube climbing robot on round tube is improved, efficiency is improved.
Detailed description of the invention
Fig. 1 is a kind of overall structure signal of the magnetic absorption wheel construction of outer round tube climbing robot provided by the present invention
Figure.
Fig. 2 is a kind of overall structure main view of the magnetic absorption wheel construction of outer round tube climbing robot provided by the present invention
Figure sectional view.
Fig. 3 is a kind of overall structure left view of the magnetic absorption wheel construction of outer round tube climbing robot provided by the present invention
Figure.
Fig. 4 is that a kind of overall structure of the magnetic absorption wheel construction of outer round tube climbing robot provided by the present invention is overlooked
Figure.
Fig. 5 is magnetic absorption wheel list in a kind of magnetic absorption wheel construction of outer round tube climbing robot provided by the present invention
First sectional view.
Fig. 6 is that a kind of magnetic absorption wheel construction of outer round tube climbing robot provided by the present invention is adsorbed on R1=
Schematic diagram on 600mm cylinder tube wall.
Fig. 7 is that a kind of magnetic absorption wheel construction of outer round tube climbing robot provided by the present invention is adsorbed on R1=
Schematic diagram on 2000mm cylinder tube wall.
Description of symbols: 1, taper wear ring；2, left taper magnetic conduction wheel；3, the first O-ring；4, compression ring；5, intermediate
Drive hub；6, the first bolt；7, the second bolt；8, double reduction device assembly；9, third bolt；10, gasket；11, level-one subtracts
Fast device assembly；12, the second O-ring；13, taper permanent magnet wheel；14, rimless motor housing；15, rimless motor stator；16, rimless
Rotor；17, motor output shaft；18, the first screw；19, right taper magnetic conduction wheel；20, the second screw；21, switching end cap；
22, electromechanical transducer circuit board；23, motor shaft bearing bore；24, deep groove ball bearing；25, third O-ring；26, the 4th O-ring；27,
5th O-ring；28, the 6th O-ring；29, the 7th O-ring；30, biserial deep groove ball bearing.
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 Figure 1-Figure 4, the invention discloses a kind of magnetic absorption wheel constructions of outer round tube climbing robot, including magnetic
Property sorption wheel unit, magnetic absorption wheel steering shaft V, pressure compensation interface IV and underwater electrical connector II；The magnetic absorption wheel list
Member is fixed in magnetic absorption wheel steering shaft V, for being adsorbed on tube wall；The magnetic absorption wheel steering shaft V is for adjusting
The direction of whole device；The pressure compensation interface IV is for connecting pressure compensator；The underwater electrical connector II is used for water
Close connection.
Specifically, the magnetic absorption wheel unit includes left magnetic absorption wheel unit I and right magnetic absorption wheel unit III, institute
Identical, the pairs of use with III structure of right magnetic absorption wheel unit of left magnetic absorption wheel unit I is stated, magnetism is respectively bolted to
The left and right sides of sorption wheel steering shaft V.
Specifically, as shown in figure 5, the magnetic absorption wheel unit is mainly by switching end cap 21, deep groove ball bearing 24, motor
Output shaft 17, biserial deep groove ball bearing 30, rimless motor stator 15, rimless rotor 16, rimless motor housing 14, motor pass
Sensor circuit board 22, primary speed-down device assembly 11, double reduction device assembly 8, midway drive wheel hub 5, right taper magnetic conduction wheel 19, cone
If shape permanent magnet wheel 13, left taper magnetic conduction wheel 2, compression ring 4, taper wear ring 1, several O-rings, bolt stem and several screw groups
At；
There is circular outer circle on the rimless motor housing 14, be machined with O-ring slot above, is equipped in O-ring slot
Five O-rings 27；Rimless motor housing 14 is equipped with a big hole and the small sircle hole that is located next to, interference fit installation nothing on big hole
The end face of small sircle hole is close in frame motor stator 15, rimless 15 one end of motor stator, and installation motor sensing is close on other end
Device circuit board 22；It is close to what installation was fastened with the second screw 20 on the rimless motor housing 14 of 22 side of electromechanical transducer circuit board
Switching end cap 21；It is machined with the counterbore coaxial with aperture on the other side end face of rimless motor housing 14, the counterbore and second level
The input terminal boss of reducer assemblies 8 cooperates, and double reduction device assembly 8 inputs side end face and is close to rimless 14 end face of motor housing
Blending bolt is fixed；
The switching end cap 21 is machined with motor shaft bearing bore 23 along axial direction, for installing deep groove ball bearing 24, end cap of transferring
21 have an excircle and the big hole of rimless motor housing 14 excessively to cooperate, and O-ring slot is machined on circumference, is equipped on slot
4th O-ring 26；Switching is machined with O-ring slot on another side end face of end cap 21, and third O-ring 25 is equipped on O-ring slot；
17 interference of motor output shaft is equipped with rimless rotor 16, and a side end face of rimless rotor 16 is close to
The shaft shoulder of motor output shaft 17；The both ends of motor output shaft 17 are each passed through and and deep groove ball bearing 24 and biserial deep-groove ball axis
30 cooperations are held, and are fastened on the both ends shaft shoulder of motor output shaft 17；
11 inner hole of primary speed-down device assembly is installed on the motor output shaft 17 of 24 side of deep groove ball bearing, and and motor
The axis shaft shoulder is close to；Primary speed-down device assembly 11 is fixed to motor output shaft 17 using third bolt 9 and gasket 10 by other side
On；
There is the end face of protrusion in the 8 output shaft side of double reduction device assembly, which is fitted snugly into midway drive wheel hub 5
Step-like inner hole on, and with the second bolt 7 fasten；
The midway drive wheel hub 5 have one similar to cap shape shape, it is internal that there are two the macropores and aperture of step；Macropore
With rimless 14 outer circle clearance fit of motor housing；The convex transitional of 8 output end of aperture and double reduction device assembly cooperates, and with the
Two bolts 7 are fixed；
4 liang of right taper magnetic conduction wheel 19, taper permanent magnet wheel 13, left taper magnetic conduction wheel 2, compression ring both ends of the surface are tight mutually
Patch is installed in the outer circle of midway drive wheel hub 5, and the right end face and 5 cap of midway drive wheel hub of right taper magnetic conduction wheel 19 are along tight
They are compressed with hole of first bolt 6 on compression ring 4 and are fixed on midway drive wheel hub 5 by patch；
The internal taper hole set of the taper wear ring 1 is attached to right taper magnetic conduction wheel 19, taper permanent magnet wheel 13, left taper magnetic conduction
On wheel 2, the interior male cone (strobilus masculinus) between them is worked in coordination, and using the first screw 18 in the right end face of taper wear ring 1
Bolt hole secures it on right taper magnetic conduction wheel 19；
It is machined with O-ring slot respectively on the surfaces externally and internally circumference of the right taper magnetic conduction wheel 19, is separately installed on slot
Six O-rings 28 and the 7th O-ring 29；It is machined with O-ring slot, slot respectively on the surfaces externally and internally circumference of the left taper magnetic conduction wheel 2
On be separately installed with the first O-ring 3 and the second O-ring 12.
Specifically, the magnetic absorption wheel steering shaft V is the hollow structure of an inverted T-shaped, for left magnetic absorption to be arranged
Take turns the power and control line of unit I and right III drive system of magnetic absorption wheel unit；The two sides of the bottom of the steering shaft of inverted T-shaped are equipped with
Mounting flange, for installing left magnetic absorption wheel unit I and right magnetic absorption wheel unit III.
Specifically, the screw thread for installing underwater electrical connector II is equipped at the top of the intermediate uprights of the steering shaft of the inverted T-shaped
Hole, side are equipped with the screw thread for installing pressure compensation interface IV.
Specifically, one end of the row of the falling T bottom of a side end face and magnetic absorption wheel steering shaft V for the switching end cap 21
Cooperation.
Specifically, it is respectively α's that the magnetic absorption wheel unit, which is by permanent magnet wheel and two sides taper that a taper is α,
One shape of magnetizer wheel composition is that the magnetic absorption wheel of α taper is whole.
Specifically, the magnetic absorption wheel unit in pairs in use, be bolted to magnetic absorption wheel steering shaft respectively
V two sides, the outer of two wheel axial sections form angle a β, β and are accordingly set according to absorption round tube diameter difference
Meter makes β adapt to the variation of absorption pipe diameter.
Specifically, the rimless motor housing 14, switching end cap 21, right taper magnetic conduction wheel 19, left taper magnetic conduction wheel 2 are adopted
Be process with magnetic conductive material, the midway drive wheel hub 5 and taper wear ring 1 be all made of non-permeable material processing and
At.
R1=is adsorbed on using a kind of magnetic absorption wheel construction of outer round tube climbing robot provided by the present invention respectively
Schematic diagram difference on 600mm, R2=2000mm cylinder tube wall is as shown in Figure 6 and Figure 7.
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 (9)
1. a kind of magnetic absorption wheel construction of outer round tube climbing robot, including magnetic absorption wheel unit (I, III), magnetic absorption
Take turns steering shaft (V), pressure compensation interface (IV) and underwater electrical connector (II), it is characterised in that: the magnetic absorption wheel unit is solid
It is scheduled in magnetic absorption wheel steering shaft (V), for being adsorbed on tube wall；The magnetic absorption wheel steering shaft (V) is for adjusting
The direction of whole device；The pressure compensation interface (IV) is for connecting pressure compensator；The underwater electrical connector (II) is used
It is connected in watertight.
2. a kind of magnetic absorption wheel construction of outer round tube climbing robot according to claim 1, it is characterised in that: described
Magnetic absorption wheel unit includes left magnetic absorption wheel unit (I) and right magnetic absorption wheel unit (III), the left magnetic absorption wheel
Unit (I) is identical with right magnetic absorption wheel unit (III) structure, pairs of use, be respectively bolted to magnetic absorption rotate to
The left and right sides of axis (V).
3. a kind of magnetic absorption wheel construction of outer round tube climbing robot according to claim 2, it is characterised in that: described
Magnetic absorption wheel unit is mainly by switching end cap (21), deep groove ball bearing (24), motor output shaft (17), biserial deep groove ball bearing
(30), rimless motor stator (15), rimless rotor (16), rimless motor housing (14), electromechanical transducer circuit board (22),
Primary speed-down device assembly (11), double reduction device assembly (8), midway drive wheel hub (5), right taper magnetic conduction wheel (19), taper are forever
Magnet wheel (13), left taper magnetic conduction wheel (2), compression ring (4), taper wear ring (1) if, several O-rings, bolt stem and several spiral shells
Nail composition；
There is circular outer circle on the rimless motor housing (14), is machined with O-ring slot above, the 5th O is installed in O-ring slot
Type circle (27)；Rimless motor housing (14) is equipped with a big hole and the small sircle hole that is located next to, is interference fitted installation on big hole
Rimless motor stator (15), rimless motor stator (15) one end are close to the end face of small sircle hole, installation electricity are close on other end
Machine sensor circuit board (22)；It is close to installation on the rimless motor housing (14) of electromechanical transducer circuit board (22) side with second
The switching end cap (21) of screw (20) fastening；It is machined on the other side end face of rimless motor housing (14) coaxial with aperture
The input terminal boss of counterbore, the counterbore and double reduction device assembly (8) cooperates, double reduction device assembly (8) input side end face with
It is close to blending bolt and fixes in rimless motor housing (14) end face；
The switching end cap (21) is machined with motor shaft bearing bore (23) along axial direction, for installing deep groove ball bearing (24), change-over terminal
Lid (21) has an excircle and the big hole of rimless motor housing (14) excessively to cooperate, and is machined with O-ring slot on circumference, on slot
4th O-ring (26) is installed；Switching is machined with O-ring slot on end cap (21) another side end face, is equipped with third on O-ring slot
O-ring (25)；
Motor output shaft (17) interference is equipped with rimless rotor (16), and a side end face of rimless rotor (16) is tight
Against the shaft shoulder of motor output shaft (17)；The both ends of motor output shaft (17) are each passed through and and deep groove ball bearing (24) and biserial
Deep groove ball bearing (30) cooperation, and be fastened on the both ends shaft shoulder of motor output shaft (17)；
Primary speed-down device assembly (11) inner hole is installed on the motor output shaft (17) of deep groove ball bearing (24) side, and and electricity
The arbor shaft shoulder is close to；Primary speed-down device assembly (11) are fixed to motor using third bolt (9) and gasket (10) by other side
On output shaft (17)；
There is the end face of protrusion in double reduction device assembly (8) the output shaft side, which is fitted snugly into midway drive wheel hub (5)
Step-like inner hole on, and with the second bolt (7) fasten；
The midway drive wheel hub (5) have one similar to cap shape shape, it is internal that there are two the macropores and aperture of step；Macropore and
Rimless motor housing (14) outer circle clearance fit；The cooperation of the convex transitional of aperture and double reduction device assembly (8) output end, is used in combination
Second bolt (7) is fixed；
The right taper magnetic conduction wheel (19), taper permanent magnet wheel (13), left taper magnetic conduction wheel (2), (4) two both ends of the surface of compression ring are mutual
It is mutually fitted snugly into the outer circle of midway drive wheel hub (5), the right end face and midway drive wheel hub of right taper magnetic conduction wheel (19)
(5) they are compressed with the hole of the first bolt (6) on compression ring (4) along abutting and are fixed to midway drive wheel hub (5) by cap
On；
The internal taper hole set of the taper wear ring (1) is attached to right taper magnetic conduction wheel (19), taper permanent magnet wheel (13), left taper are led
On magnet-wheel (2), the interior male cone (strobilus masculinus) between them is worked in coordination, and the right side of taper wear ring (1) is passed through using the first screw (18)
Side end face upper bolt hole secures it on right taper magnetic conduction wheel (19)；
It is machined with O-ring slot respectively on the surfaces externally and internally circumference of the right taper magnetic conduction wheel (19), the 6th O is separately installed on slot
Type circle (28) and the 7th O-ring (29)；It is machined with O-ring slot respectively on the surfaces externally and internally circumference of the left taper magnetic conduction wheel (2),
The first O-ring (3) and the second O-ring (12) are separately installed on slot.
4. a kind of magnetic absorption wheel construction of outer round tube climbing robot according to claim 3, it is characterised in that: described
Magnetic absorption wheel steering shaft (V) is the hollow structure of an inverted T-shaped, for left magnetic absorption wheel unit (I) and right magnetism to be arranged
The power and control line of sorption wheel unit (III) drive system；The two sides of the bottom of the steering shaft of inverted T-shaped are equipped with mounting flange, are used for
Left magnetic absorption wheel unit (I) and right magnetic absorption wheel unit (III) are installed.
5. a kind of magnetic absorption wheel construction of outer round tube climbing robot according to claim 4, it is characterised in that: described
The threaded hole for installing underwater electrical connector (II) is equipped at the top of the intermediate uprights of the steering shaft of inverted T-shaped, side is equipped with for pacifying
Fill the screw thread of pressure compensation interface (IV).
6. a kind of magnetic absorption wheel construction of outer round tube climbing robot according to claim 4, it is characterised in that: described
The one end fits of the row of the falling T bottom of a side end face and magnetic absorption wheel steering shaft (V) for switching end cap (21).
7. a kind of magnetic absorption wheel construction of outer round tube climbing robot according to any one of claim 1 to 6, special
Sign is: the magnetic absorption wheel unit is by the permanent magnet wheel that a taper is α and the magnetizer wheel that two sides taper is respectively α
One shape of composition is that the magnetic absorption wheel of α taper is whole.
8. a kind of magnetic absorption wheel construction of outer round tube climbing robot according to claim 7, it is characterised in that: described
Magnetic absorption wheel unit in pairs in use, be bolted to the two sides of magnetic absorption wheel steering shaft (V), two wheel axles respectively
Angle a β, β are formd to the outer of section accordingly to be designed according to absorption round tube diameter difference, and β is made to adapt to adsorption tube
The variation of sub- diameter.
9. a kind of magnetic absorption wheel construction of outer round tube climbing robot according to any one of claim 3 to 6, special
Sign is: the rimless motor housing (14), switching end cap (21), right taper magnetic conduction wheel (19), left taper magnetic conduction wheel (2) are adopted
It is process with magnetic conductive material, the midway drive wheel hub (5) and taper wear ring (1) are all made of non-permeable material processing
It forms.
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| CN110086275A (en) * | 2019-04-22 | 2019-08-02 | 上海海洋大学 | A kind of magnetic absorption driving wheel structure controllable with adsorption capacity |
| WO2022251864A3 (en) * | 2021-05-26 | 2023-01-12 | Symbotic Llc | Autonomous transport vehicle |
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| CN108974170B (en) | 2023-06-30 |
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