CN109080726B - Magnetic suck and driving integrated module - Google Patents

Magnetic suck and driving integrated module Download PDF

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Publication number
CN109080726B
CN109080726B CN201810977628.5A CN201810977628A CN109080726B CN 109080726 B CN109080726 B CN 109080726B CN 201810977628 A CN201810977628 A CN 201810977628A CN 109080726 B CN109080726 B CN 109080726B
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China
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magnetic
belt
wheel
belts
rack
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CN109080726A (en
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孙双福
虞宪富
梁鲁鲁
余旦琼
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Zhejiang Jia Lan Marine Electronics Co Ltd
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Zhejiang Jia Lan Marine Electronics Co Ltd
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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

Abstract

The invention discloses a kind of magnetic sucks of magnetic adsorption wall climbing robot and driving integrated module, for improving the flexibility of magnetic adsorption wall climbing robot, it is suitable for various work requirements, including rack, driving wheel and magnetic absorbing unit are set in the rack, the driving wheel is furnished with motor, and the rack is equipped with installation axle, and the outer end of the installation axle is equipped with outer connector.The present invention is a composite module of magnetic adsorption wall climbing robot, two or more modules is carried out free assembling using installation axle, and be equipped with specific workpiece, is just able to satisfy the multi-functional demand of multi-state, has the advantages that easy to assembly, flexibility ratio is high.

Description

Magnetic suck and driving integrated module
The application be application number " CN201611051629.4 ", denomination of invention " magnetic suck of magnetic adsorption wall climbing robot with The divisional application of driving integrated module ", the patent of invention of the applying date " 2016/11/25 ".
Technical field
The present invention relates to robotic technology fields, and in particular to magnetic suck and driving to a kind of magnetic adsorption wall climbing robot Integrated module.
Background technique
Magnetic adsorption wall climbing robot belongs to specialized robot, is chiefly used under severe, dangerous, limiting condition, in magnetic conduction wall surface Upper progress is such as detected, overhauled, welding or polishing operations specific.Magnetic adsorption wall climbing robot is in nuclear industry, petrochemical industry work at present Industry, building industry, fire department, shipbuilding industry etc. are widely used in the production and construction based on steel construction.
Existing climbing robot is mostly complete machine, load or even function be all it is determining, flexibility is insufficient, works as wall-climbing device Workpiece on people changes or operating condition variation, existing when climbing robot being needed to provide bigger adsorption capacity or driving force Robot cannot meet the requirements.
Summary of the invention
In order to improve the flexibility of magnetic adsorption wall climbing robot, it is suitable for various work requirements, the present invention provides one kind Can flexible assembling magnetic adsorption wall climbing robot magnetic suck and driving integrated module.
The technical solution adopted by the invention is as follows:
A kind of magnetic suck of magnetic adsorption wall climbing robot and driving integrated module, including rack set drive in the rack Driving wheel and magnetic absorbing unit, the driving wheel are furnished with motor, and the rack is equipped with installation axle, and the outer end of the installation axle is equipped with outer Connector.
The rack both ends are respectively equipped with No.1 shaft, No. two shafts, and the motor is mounted on central rack, the driving Wheel is mounted in No.1 shaft, and No.1 belt wheel, No. two belt wheels, the output shaft of the motor and one are fixed in No. two shafts No.1 belt is set between number belt wheel, described No. two set No. two belts between belt wheel and driving wheel.
The driving wheel is mounted on the both ends of No.1 shaft, and No. two belt wheels are mounted on the both ends of No. two shafts, described No. two belts are wide belt, and the rack, motor are arranged in the inside of No. two belts.
The driving wheel, No.1 belt wheel, No. two belt wheels are gear, and the No.1 belt corresponds to synchronous with No. two belts Band.
The magnetic absorbing unit is mounted in No.1 shaft, and gap is equipped between magnetic absorbing unit and No. two belts, described Magnetic absorbing unit includes intermediate permanent magnet, and two end faces of the permanent magnet are magnetic pole, two magnetic pole end faces of the permanent magnet It is close to that the yoke of annular is installed, the outer diameter of the yoke is greater than the outer diameter of permanent magnet.
No. two belts include the synchronous band part that two sides are engaged with driving wheel, and intermediate corresponding magnetic absorbing unit Flat belt part.
The No.1 belt and No. two belts are respectively provided with adjustable No.1 tensioning wheel and No. two tensioning wheels.
The motor is stepper motor or servo motor, and is furnished with harmonic speed reducer.
The installation axle is arranged through rack, and the both ends of the installation axle are equipped with outer connector.
The outside of the driving wheel, which is equipped with, supports wheel, and the support wheel is fixed in No.1 shaft, described to support the outer of wheel Diameter is greater than driving wheel and wraps up the outer diameter after No. two belts.
The beneficial effects of the present invention are:
The present invention be magnetic adsorption wall climbing robot a composite module, using installation axle by two or more modules into Row freely assembles, and is equipped with specific workpiece, is just able to satisfy the multi-functional demand of multi-state, has easy to assembly, flexible Spend high advantage.
Detailed description of the invention
Fig. 1 is the cross-sectional view of the embodiment of the present invention.
Fig. 2 is the semi-cutaway of the embodiment of the present invention.
Fig. 3 is the top view of the embodiment of the present invention.
Fig. 4 is the front view of the embodiment of the present invention.
Fig. 5 is the enlarged drawing in the embodiment of the present invention at A.
Fig. 6 is group of embodiment of the present invention unification schematic diagram.
Fig. 7 is that the embodiment of the present invention combines two schematic diagrames.
Fig. 8 is that the embodiment of the present invention combines three schematic diagrames.
Rack 1, driving wheel 2, magnetic absorbing unit 3, motor 4, installation axle 5, No.1 shaft 6, No. two shafts 7, No.1 belt wheels 8, No. two belt wheels 9,10, No. two belts 11 of No.1 belt, permanent magnet 12, yoke 13, synchronous band part 14, flat belt part 15, 16, No. two tensioning wheels 17 of No.1 tensioning wheel support wheel 18.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of magnetic suck of magnetic adsorption wall climbing robot and driving one Change module, including rack 1, driving wheel 2 and magnetic absorbing unit 3 is set in the rack 1, the driving wheel 2 is furnished with motor 4, described Rack 1 is equipped with installation axle 5, and the outer end of the installation axle 5 is equipped with outer connector.The present invention is one of magnetic adsorption wall climbing robot Two or more modules are carried out free assembling using installation axle 5, and are equipped with specific workpiece, energy by composite module Meet the multi-functional demand of multi-state, has the advantages that easy to assembly, flexibility ratio is high.The present embodiment is magnetic adsorption wall climbing robot A composite module, two or more modules are subjected to free assembling using installation axle, and be equipped with specific workpiece, It is just able to satisfy the multi-functional demand of multi-state, has the advantages that easy to assembly, flexibility ratio is high.As shown in Fig. 6, Fig. 7, Fig. 8, for this The different combinations of embodiment can form complete magnetic adsorption wall climbing machine by the fixed relationship that rack 1 is mutual People, user can also select other combinations according to self-demand.Flange, spiral shell can be used in outer connector in the present embodiment Line, clip or other forms connection.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4,1 both ends of rack are respectively equipped with No.1 shaft 6, two and turn Axis 7, the motor 4 are mounted on 1 middle part of rack, and the driving wheel 2 is mounted in No.1 shaft 6, fixed in No. two shafts 7 There are 8, No. two belt wheels 9 of No.1 belt wheel, No.1 belt 10, No. two bands are set between the output shaft and No.1 belt wheel 8 of the motor 4 No. two belts 11 are set between wheel 9 and driving wheel 2.The inside of rack 1 is arranged in the present embodiment structure, motor 4, makes entire module More compact structure, performance are more stable.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the driving wheel 2 is mounted on the both ends of No.1 shaft 6, described No. two belt wheels 9 are mounted on the both ends of No. two shafts 7, and No. two belts 11 are wide belt, and the rack 1, motor 4 are arranged in The inside of No. two belts 11.No. two belts 11 of the present embodiment can not only play the role of transmission, driving, moreover it is possible to play in protection Portion mechanism, dust-proof effect.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4,8, No. two driving wheel 2, No.1 belt wheel belt wheels 9 are gear, The No.1 belt 10 and No. two belts 11 correspond to synchronous belt.The present embodiment due to no special steering mechanism, machine The steering of people has the revolving speed of motor to control, so must assure that accurate transmission ratio, so toothed belt transmission is preferably to select It selects.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the magnetic absorbing unit 3 is mounted in No.1 shaft 6, magnetic Gap is equipped between coupon member 3 and No. two belts 11, the magnetic absorbing unit 3 includes intermediate permanent magnet 12, the permanent magnet 12 two end faces are magnetic pole, and 12 two magnetic pole end faces of the permanent magnet are close to be equipped with the yoke 13 of annular, the yoke 13 Outer diameter be greater than permanent magnet 12 outer diameter.The magnetic absorbing unit 3 of the present embodiment is by the permanent magnet 12 of centre and the yoke 13 of two sides It is composed, since the outer diameter of yoke 13 is greater than the outer diameter of permanent magnet 12, closer, the permanent magnetism at a distance from work adsorption plane of yoke 13 The magnetic line of force of body 12 can enter work adsorption plane by the yoke 13 of side, then return to permanent magnet 12 and shape by other side yoke 13 At circuit, the adsorption capacity of permanent magnet 12 and the adsorption plane that works is significantly increased.
In embodiment, as shown in figure 1, figure 2, figure 3, figure 4 and figure 5, No. two belts 11 include that two sides are nibbled with driving wheel 2 The synchronization band part 14 of conjunction, and the flat belt part 15 of intermediate corresponding magnetic absorbing unit 3.No. two belts 11 in the present embodiment For special Composite Skin band, it is made of the synchronization band part 14 and intermediate flat belt part 15 of two sides, this structure makes magnetic Gap between coupon member 3 and No. two belts 11 is smaller, as far as possible raising magnetic adsorbability.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the No.1 belt 10 is respectively provided with adjustable with No. two belts 11 No.1 tensioning wheel 16 and No. two tensioning wheels 17.The No.1 tensioning wheel 16 of the present embodiment and No. two tensioning wheels 17 are for adjusting No.1 Belt 10 is elastic with No. two belts 11, to guarantee good transmission effect
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the installation axle 5 is arranged through rack 1, the installation axle 5 Both ends are equipped with outer connector.The structure of the present embodiment guarantees that the two sides of rack may serve to splicing and change integrated module, increases Flexibility and versatility are added.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the outside of the driving wheel 2, which is equipped with, supports wheel 18, the support Wheel 18 is fixed in No.1 shaft 6, and the outer diameter for supporting wheel 18 is greater than driving wheel 2 and wraps up the outer diameter after No. two belts 11.It is real The support wheel 18 for applying example makes No. two belts 11 not have to contact work adsorption plane, reduces abrasion, reduces cost depletions.
The motor 4 in embodiment is stepper motor or servo motor, and is furnished with harmonic speed reducer, in the present embodiment, 8, No. two belt wheels 9 of the output shaft of motor 4 and No.1 belt wheel and driving wheel 2 constitute second level V belt translation deceleration device together, but its Reduction ratio, slewing range are all limited, and harmonic speed reducer has the characteristics that reduction ratio is big, precision is high, small in size, with second level V belt translation Deceleration device combines, and constitutes complete deceleration mechanism；Furthermore stepper motor or servo motor are also convenient for reality convenient for accurate speed regulation The steering of existing robot.
Obviously, the above embodiment of the present invention is intended to be merely illustrative of the present example, and not to the present invention Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description Other various forms of variations or variation.There is no need and unable to give poor example to all embodiments.And these belong to this The connotation changes and variations that derived from of invention still fall within protection scope of the present invention.

Claims (8)

1. a kind of magnetic suck and driving integrated module, it is characterised in that: including rack (1), set driving wheel on the rack (1) (2) with magnetic absorbing unit (3), the driving wheel (2) is equipped with motor (4), and the rack (1) is equipped with installation axle (5), the installation The outer end of axis (5) is equipped with outer connector；
Rack (1) both ends are respectively equipped with No.1 shaft (6), No. two shafts (7), and the motor (4) is mounted in rack (1) Portion, the driving wheel (2) are mounted on No.1 shaft (6), and No.1 belt wheel (8), No. two bands are fixed on No. two shafts (7) It takes turns (9), is set No.1 belt (10) between the output shaft and No.1 belt wheel (8) of the motor (4), No. two belt wheels (9) and drive No. two belts (11) are set between driving wheel (2)；
No. two belts (11) include the synchronous band part (14) that two sides are engaged with driving wheel (2), and intermediate corresponding magnetic The flat belt part (15) of coupon member (3), the thickness of the synchronous band part (14) are higher than the thickness of flat belt part (15).
2. magnetic suck according to claim 1 and driving integrated module, it is characterised in that: driving wheel (2) installation At the both ends of No.1 shaft (6), No. two belt wheels (9) are mounted on the both ends of No. two shafts (7), and No. two belts (11) are Wide belt, the rack (1), motor (4) are arranged in the inside of No. two belts (11).
3. magnetic suck according to claim 2 and driving integrated module, it is characterised in that: the driving wheel (2), No.1 Belt wheel (8), No. two belt wheels (9) are gear, and the No.1 belt (10) and No. two belts (11) correspond to synchronous belt.
4. magnetic suck according to claim 3 and driving integrated module, it is characterised in that: the magnetic absorbing unit (3) It is mounted on No.1 shaft (6), gap, the magnetic absorbing unit (3) is equipped between magnetic absorbing unit (3) and No. two belts (11) Including intermediate permanent magnet (12), two end faces of the permanent magnet (12) are magnetic pole, (12) two magnetic poles of the permanent magnet Face is close to be equipped with the yoke (13) of annular, and the outer diameter of the yoke (13) is greater than the outer diameter of permanent magnet (12).
5. magnetic suck described according to claim 1 ~ any one of 4 and driving integrated module, it is characterised in that: the No.1 Belt (10) and No. two belts (11) are respectively provided with adjustable No.1 tensioning wheel (16) and No. two tensioning wheels (17).
6. magnetic suck described according to claim 1 ~ any one of 4 and driving integrated module, it is characterised in that: the motor (4) it is stepper motor or servo motor, and is furnished with harmonic speed reducer.
7. magnetic suck according to claim 1 and driving integrated module, it is characterised in that: the installation axle (5) is run through Rack (1) setting, the both ends of the installation axle (5) are equipped with outer connector.
8. magnetic suck according to claim 1 and driving integrated module, it is characterised in that: outside the driving wheel (2) Side, which is equipped with, supports wheel (18), and the support wheel (18) is fixed on No.1 shaft (6), and the outer diameter for supporting wheel (18), which is greater than, to be driven Driving wheel (2) wraps up the outer diameter after No. two belts (11).
CN201810977628.5A 2016-11-25 2016-11-25 Magnetic suck and driving integrated module Active CN109080726B (en)

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CN201611051629.4A CN106364583B (en) 2016-11-25 2016-11-25 The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module

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CN107031748A (en) * 2017-04-25 2017-08-11 中科新松有限公司 The universal drive module and its general driving unit of a kind of climbing robot
CN107200104B (en) * 2017-05-31 2019-09-17 中科新松有限公司 A kind of hull surface cleaning climbing robot
CN107127770A (en) * 2017-06-18 2017-09-05 中国船舶重工集团公司第七六研究所 A kind of ferromagnetism climbs wall working robot
CN109648232A (en) * 2019-02-20 2019-04-19 广东省智能制造研究所 A kind of magnetic adsorption wall climbing robot system

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CN100391778C (en) * 2005-04-05 2008-06-04 北京航空航天大学 Portable reconfigurable crawler robot
KR101595250B1 (en) * 2009-12-07 2016-02-18 대우조선해양 주식회사 Wall adhesive moving apparatus using the permanent magnetic
KR20120041922A (en) * 2010-10-22 2012-05-03 대우조선해양 주식회사 Autonomous mobile platform using timing pulley type magnet wheel
CN202541667U (en) * 2012-02-21 2012-11-21 舟山市质量技术监督检测研究院 Wall-climbing vehicle
CN202805181U (en) * 2012-06-07 2013-03-20 中国东方电气集团有限公司 Full-driving magnetic adsorption type multifunctional wall-climbing robot with MDOF (multi-degree of freedom) mechanical arm
CN205632715U (en) * 2016-05-30 2016-10-12 哈工大机器人集团有限公司 Crawler -type magnetism adsorbs wall climbing robot
CN206358243U (en) * 2016-11-25 2017-07-28 浙江嘉蓝海洋电子有限公司 The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module

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