CN109018054B - Self-adaptive arc surface magnetic adsorption crawling robot - Google Patents

Abstract

The invention provides a self-adaptive cambered surface magnetic adsorption crawling robot, which is characterized in that a magnetic adsorption crawler mechanism is hinged with a vehicle body, and a shock absorber is arranged, when large-angle vertical crawling is required to be carried out on an inner arc or an outer arc of a steel pipe, the magnetic adsorption crawler mechanism adaptively rotates around the vehicle body along with the radian of the ground, and the shock absorber plays roles of supporting and damping, so that the self-adaptive cambered surface crawling robot is suitable for steel pipes or cambered surfaces with different radians; furthermore, the motor is arranged in the chain track, so that a complex gear speed change mechanism is not required to be installed, and the operation is more stable; the driving gear and the driven gear are arranged, and the interval between the driving gear and the driven gear can be adjusted according to actual needs, so that the tension of the crawler belt can be conveniently adjusted; the guiding mechanism is arranged, so that the device is suitable for uneven ground and reduces impact force in the walking process.

Description

Adaptive curved magnetic adsorption crawling robot

Technical Field

The invention relates to the field of crawling robots, and in particular to an adaptive curved surface magnetic adsorption crawling robot.

Background technique

A pipeline robot is an integrated mechanical, electrical and instrumentation system that can automatically walk along the inside or outside of a small pipeline, carry one or more sensors and detection equipment, and perform a series of pipeline operations under remote control by staff or automatic computer control.

The magnetic adsorption crawling robots currently on the market can only move on a flat surface and cannot move on the inner or outer curved surfaces of curved steel pipes. When it is necessary to crawl at a large angle or vertically on the inner or outer curve of a steel pipe, due to its own structural reasons, the adsorption force is insufficient, causing the crawler to fall and cause safety accidents and losses. In order to achieve large-angle and vertical movement on the steel pipe, the magnetic tracks or magnetic wheels are generally made into curved surfaces with a known curvature of the steel pipe to meet the needs of steel pipes or curved surfaces with the same curvature. In this way, a robot needs to be equipped with multiple types of magnetic tracks or magnetic wheels, which requires frequent replacement of the magnetic tracks or magnetic wheels.

Summary of the invention

In view of this, the present invention proposes an adaptive curved surface magnetic adsorption crawling robot.

The technical solution of the present invention is achieved as follows: the present invention provides an adaptive curved surface magnetic adsorption crawling robot, which comprises a vehicle body (1) and two magnetic adsorption crawler mechanisms (2), wherein the magnetic adsorption crawler mechanism (2) comprises a frame (21), a driving gear (22), a driven gear (23) and a chain crawler (24), wherein the driving gear (22) and the driven gear (23) are rotatably connected to the frame (21) and mesh with the chain crawler (24), and further comprises at least two shock absorbers (3), wherein the two frames (21) are arranged on both sides of the vehicle body (1) and are hingedly connected thereto, and the two ends of the shock absorber (3) are respectively hingedly connected to the vehicle body (1) and the frame (21).

On the basis of the above technical solution, preferably, the shock absorber (3) comprises two hinged seats (31), a threaded rod (32) and a spring (33), the two ends of the threaded rod (32) are respectively threadedly connected to the two hinged seats (31), the spring (33) is nested on the threaded rod (32) and the two ends respectively abut against the two hinged seats (31), and the two hinged seats (31) are respectively hingedly connected to the vehicle body (1) and the frame (21).

On the basis of the above technical solution, preferably, the frame (21) comprises two parallel load-bearing plates (211), a fixed plate (212), a bent plate (213) and a hinged plate (214); the two driving gears (22) and the two driven gears (23) are respectively arranged on both sides of the head and tail of the two load-bearing plates (211); the fixed plate (212) and the hinged plate (214) are fixedly arranged in parallel to the load-bearing plates (211); the two ends of the bent plate (213) are respectively fixedly connected to the fixed plate (212) and the hinged plate (214); the fixed plate (212) and the load-bearing plate (211) are fixedly arranged; and the hinged plate (214) is respectively hingedly connected to the vehicle body (1) and the shock absorber (3).

Further preferably, a support column (11) is provided on the side of the vehicle body (1), and the end surface of the support column (11) and the hinge plate (214) are mutually supported.

More preferably, the invention further comprises a coupling (4), a T-type gear box (5) and a motor (6), wherein the motor (6) is fixed in parallel between the two bearing plates (211) and is connected to the coupling (4) and the T-type gear box (5) in sequence, and the T-type gear box (5) is fixed between the two bearing plates (211) and is connected to the shafts of the two driving gears (22).

Further preferably, the magnetic adsorption crawler mechanism (2) further comprises a limit block (25), a tensioning screw (26), a driven shaft (27) and an open bearing (28); a strip-shaped movable groove (215) is arranged at the tail of the load-bearing plate (211); the driven shaft (27) passes through the strip-shaped movable groove (215) and two driving gears (22) are nested and fixed at both ends; the tensioning screw (26) is arranged vertically to the driven shaft (27) and the end is fixedly connected to the open bearing (28); the open bearing (28) is nested on the driven shaft (27); the tensioning screw (26) is threadedly connected to the limit block (25); and the limit block (25) is fixedly arranged between the two load-bearing plates (211).

Further preferably, the invention further comprises a guide mechanism (29), the guide mechanism (29) comprising two tripods (291), a pivot shaft (292) and four guide wheels (293), the tripods (291) being an isosceles triangle, the two tripods (291) being arranged parallel to each other and the top angle positions being connected and fixed by the pivot shaft (292), the pivot shaft (292) being arranged between the two bearing plates (211) and being rotatably connected thereto, and the four guide wheels (293) being respectively arranged at the bottom angle positions of the tripod (41) and being rollingly connected to the chain track (24).

More preferably, four guide mechanisms (29) are provided, which are arranged between the driving gear (22) and the driven gear (23) and are symmetrically arranged in pairs up and down.

The adaptive curved magnetic adsorption crawling robot of the present invention has the following beneficial effects compared with the prior art:

(1) By hingedly connecting the magnetic adsorption crawler mechanism to the vehicle body and arranging a shock absorber, when it is necessary to crawl vertically at a large angle on the inner or outer arc of the steel pipe, the magnetic adsorption crawler mechanism adaptively rotates around the vehicle body along the arc of the ground, and the shock absorber plays a supporting and shock absorbing role, thereby adapting to steel pipes or curved surfaces with different arcs;

(2) Furthermore, by placing the motor inside the chain track, there is no need to install a complex gear transmission mechanism, and the operation is more stable;

(3) A driving gear and a driven gear are provided, and the distance between the two can be adjusted according to actual needs, so as to facilitate the adjustment of the track tension;

(4) A guiding mechanism is provided to adapt to uneven ground and reduce the impact force during walking.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a perspective view of an adaptive curved magnetic adsorption crawling robot according to the present invention;

FIG2 is an exploded view of the adaptive curved surface magnetic adsorption crawling robot of the present invention;

FIG3 is a side view of the magnetic adsorption crawler mechanism of the adaptive curved magnetic adsorption crawling robot of the present invention;

FIG4 is a perspective view of the driving part of the adaptive curved magnetic adsorption crawling robot of the present invention;

FIG5 is a perspective view of the guide mechanism of the adaptive curved surface magnetic adsorption crawling robot of the present invention;

FIG. 6 is a front view of the shock absorber of the adaptive curved magnetic adsorption crawling robot of the present invention.

Detailed ways

The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

As shown in FIG. 1 and in combination with FIG. 5 , the adaptive curved magnetic adsorption crawling robot of the present invention includes a body 1 , two magnetic adsorption crawler mechanisms 2 , at least two shock absorbers 3 , a coupling 4 , a T-type gear box 5 and a motor 6 .

The vehicle body 1 is equipped with functional operating equipment.

The shock absorber 3 limits the relative position between the frame 21 and the vehicle body 1 and plays a shock absorbing role. The two ends of the shock absorber 3 are respectively hinged to the vehicle body 1 and the frame 21. Specifically, the shock absorber 3 includes two hinge seats 31, a threaded rod 32 and a spring 33. The two ends of the threaded rod 32 are respectively threadedly connected to the two hinge seats 31. The spring 33 is nested on the threaded rod 32 and the two ends of the spring 33 respectively abut against the two hinge seats 31. The two hinge seats 31 are respectively hinged to the vehicle body 1 and the frame 21.

The magnetic adsorption crawler mechanism 2 is a walking mechanism of the vehicle body 1. As shown in FIG2 , in combination with FIG3 and FIG4 , it includes a frame 21, a driving gear 22, a driven gear 23, a chain crawler 24, a limit block 25, a tensioning screw rod 26, a driven shaft 27, an open bearing 28 and a guide mechanism 29.

The driving gear 22 and the driven gear 23 are rotatably connected to the frame 21 and meshed with the chain track 24, respectively, and the frame 21 is hinged to the vehicle body 1. Specifically, the frame 21 includes two parallel load-bearing plates 211, a fixed plate 212, a bent plate 213 and a hinged plate 214. The two driving gears 22 and the two driven gears 23 are respectively arranged on both sides of the head and tail of the two load-bearing plates 211. The fixed plate 212 and the hinged plate 214 are fixedly arranged parallel to the load-bearing plates 211. The two ends of the bent plate 213 are respectively fixedly connected to the fixed plate 212 and the hinged plate 214. The fixed plate 212 is fixedly arranged with the load-bearing plate 211, and the hinged plate 214 is respectively hinged to the vehicle body 1 and the shock absorber 3. In this way, the hinged plate 214 can rotate around the vehicle body 1 to adapt to surfaces with different arcs. The bent plate 213 ensures that there is enough space between the frame 21 and the vehicle body 1 to facilitate the rotation of the hinged plate 214. Specifically, a support column 11 is disposed on the side of the vehicle body 1, and the end surface of the support column 11 abuts against the hinge plate 214. In this way, the hinge plate 214 can be supported in a limited position.

As shown in FIG3 , in order to facilitate the adjustment of the tension of the chain track 24, a strip-shaped movable groove 215 is provided at the tail of the bearing plate 211, the driven shaft 27 passes through the strip-shaped movable groove 215 and the two driving gears 22 are nested and fixed at both ends, the tensioning screw 26 is vertically arranged with the driven shaft 27 and the end is fixedly connected to the open bearing 28, the open bearing 28 is nested on the driven shaft 27, the tensioning screw 26 is threadedly connected with the limit block 25, and the limit block 25 is fixedly arranged between the two bearing plates 211. In this way, by rotating the tensioning screw 26, the driven shaft 27 can be driven to move forward and backward in the strip-shaped movable groove 215, so as to adjust the tension of the driving gear 22, the driven gear 23 and the chain track 24.

As a driving part, the motor 6 is fixed to the frame 21 and is in driving connection with the driving gear 22. Specifically, the motor 6 is fixed in parallel between the two bearing plates 211 and is connected to the coupling 4 and the T-type gear box 5 in sequence. The T-type gear box 5 is fixed between the two bearing plates 211 and is connected to the two driving gears 22 shafts.

In order to adapt to the uneven ground, as shown in FIG5 , the guide mechanism 29 includes two tripods 291, a pivot shaft 292 and four guide wheels 293. The tripod 291 is an isosceles triangle. The two tripods 291 are arranged parallel to each other and the top angle position is connected and fixed by the pivot shaft 292. The pivot shaft 292 is arranged between the two bearing plates 211 and is rotatably connected thereto. The four guide wheels 293 are respectively arranged at the bottom angle position of the tripod 41 and are rollingly connected to the chain track 24. In this way, when encountering undulating terrain, the tripod 291 can rotate around the bearing plate 211 to reduce the impact force on the chain track 24. Specifically, the guide mechanism 29 is provided with four, which are arranged between the driving gear 22 and the driven gear 23 and are symmetrically arranged in pairs.

The motor-external pipeline crawling robot of the present invention works in the following manner:

The motor 6 drives the driving gear 22 to rotate, driving the chain track 24 to move forward in a circular motion;

When encountering undulating ground, the tripod 291 can rotate around the load-bearing plate 211 to reduce the impact force on the chain track 24. At the same time, the shock absorber 3 can play a shock-absorbing role.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims (4)

1. The utility model provides a robot is crawled in magnetic adsorption of self-adaptation cambered surface, its includes automobile body (1) and two magnetism adsorption caterpillar mechanism (2), and magnetism adsorption caterpillar mechanism (2) include frame (21), driving gear (22), driven gear (23) and chain track (24), and driving gear (22), driven gear (23) are rotatable with frame (21) be connected and with chain track (24) meshing, its characterized in that respectively: the vehicle body is characterized by further comprising at least two shock absorbers (3), wherein the two frames (21) are arranged on two sides of the vehicle body (1) and are hinged with the vehicle body, and two ends of each shock absorber (3) are respectively hinged with the vehicle body (1) and the frame (21);

The frame (21) comprises two bearing plates (211) which are arranged in parallel, a fixing plate (212), a bending plate (213) and a hinge plate (214), wherein two driving gears (22) and two driven gears (23) are respectively arranged on the two sides of the head part and the tail part of the two bearing plates (211), the fixing plate (212) and the hinge plate (214) are fixed on the bearing plates (211) in parallel, two ends of the bending plate (213) are respectively fixedly connected with the fixing plate (212) and the hinge plate (214), the fixing plate (212) is fixedly arranged with the bearing plates (211), and the hinge plate (214) is respectively hinged with the vehicle body (1) and the shock absorber (3);

The chain crawler belt conveyor device further comprises a guide mechanism (29), wherein the guide mechanism (29) comprises two triangular frames (291), a pivot shaft (292) and four guide wheels (293), the triangular frames (291) are isosceles triangles, the two triangular frames (291) are arranged in parallel and the vertex angle positions of the triangular frames are fixedly connected through the pivot shaft (292), the pivot shaft (292) is arranged between the two bearing plates (211) and is rotatably connected with the two bearing plates, and the four guide wheels (293) are respectively arranged at the bottom angle positions of the triangular frames (41) and are in rolling connection with the chain crawler belt (24);

The four guide mechanisms (29) are arranged between the driving gear (22) and the driven gear (23) and are symmetrically arranged in pairs up and down;

The shock absorber (3) comprises two hinging seats (31), a screw rod (32) and springs (33), wherein two ends of the screw rod (32) are respectively in threaded connection with the two hinging seats (31), the springs (33) are nested on the screw rod (32) and two ends of the springs are respectively propped against the two hinging seats (31), and the two hinging seats (31) are respectively hinged with the vehicle body (1) and the frame (21).

2. The adaptive cambered surface magnetic attraction crawling robot of claim 1, wherein: the side of the vehicle body (1) is provided with a support column (11), and the end surface of the support column (11) is mutually abutted with the hinge plate (214).

3. The adaptive cambered surface magnetic attraction crawling robot of claim 1, wherein: the motor (6) is fixed between the two bearing plates (211) in parallel and is sequentially connected with the coupling (4) and the T-shaped gear box (5), and the T-shaped gear box (5) is fixed between the two bearing plates (211) and is connected with the two driving gears (22) in a shaft mode.

4. The adaptive cambered surface magnetic attraction crawling robot of claim 1, wherein: the magnetic adsorption crawler mechanism (2) further comprises a limiting block (25), a tensioning screw rod (26), a driven shaft (27) and an opening bearing (28), wherein the tail of the bearing plate (211) is provided with a strip-shaped movable groove (215), the driven shaft (27) penetrates through the strip-shaped movable groove (215) and is fixedly sleeved with two driving gears (22) at two ends, the tensioning screw rod (26) is vertically arranged with the driven shaft (27) and is fixedly connected with the opening bearing (28) at the end part, the opening bearing (28) is nested on the driven shaft (27), the tensioning screw rod (26) is in threaded connection with the limiting block (25), and the limiting block (25) is fixedly arranged between the two bearing plates (211).