CN109927807A - A kind of intelligent mobile robot of adaptive complexity 3D metal curved surface - Google Patents
A kind of intelligent mobile robot of adaptive complexity 3D metal curved surface Download PDFInfo
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- CN109927807A CN109927807A CN201910334570.7A CN201910334570A CN109927807A CN 109927807 A CN109927807 A CN 109927807A CN 201910334570 A CN201910334570 A CN 201910334570A CN 109927807 A CN109927807 A CN 109927807A
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 35
- 239000004411 aluminium Substances 0.000 claims description 75
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 75
- 229910052782 aluminium Inorganic materials 0.000 claims description 75
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- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
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- 208000027418 Wounds and injury Diseases 0.000 description 1
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- 238000013473 artificial intelligence Methods 0.000 description 1
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Abstract
The invention discloses a kind of intelligent mobile robots of adaptive complexity 3D metal curved surface, including main body, running gear and adsorption capacity automatic adjusting mechanism, the main body includes front body and rear main body, it is connected between the front body and rear main body by hinges, the running gear includes two triangle trains and two rectangle trains, described two triangle trains are arranged in front body two sides, in rear main body two sides, the adsorption capacity automatic adjusting mechanism is arranged below the main body for described two rectangle train settings.Robot can automatically adjust adsorption capacity, be useful in the curved surface walking of different curvature, and center of gravity is low, strong flexibility, has better bearing capacity, easy to loading and unloading, be easy to carry about with one, versatile.
Description
Technical field
The present invention relates to specialized robot technical fields, and in particular to a kind of intelligent sliding of adaptive complexity 3D metal curved surface
Mobile robot.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
For the complexity 3D metal curved surface such as large-scale petroleum storing tank, turbine runner blade, shipbuilding industry working face detection with
It repairs, basic still rely on manually goes to complete at present.The working environment of these work is severe, and work meeting in such a case for a long time
Operator's body and mind is caused huge harm and there are biggish security risk, working efficiency is also very low.With science and technology
Development, industrial automation increasingly have been favored by people.When in face of the work of bad environments, large labor intensity, people compel
It cuts and wishes to replace people to carry out these dangerous operations with robot, so that people is solved from rugged environment and onerous toil
It takes off.Climbing robot is an important branch in mobile robot field, carries detection device by climbing robot
It goes to replace manual operation with fix tool, the cost of labor of these dangerous industries will be substantially reduced, improve the work situation of worker,
It raises labour productivity.
Though currently, having done many researchs to climbing robot both at home and abroad, the climbing robot that they study is also with their own characteristics,
But most of magnetic subordinate class climbing robots all cannot adaptive prying curved surface, mainly such climbing robot chassis absorption knot
Structure is single, can not effectively be bonded prying curved surface, while it is low to will cause adsorption efficiency, can not obtain preferably load capacity,
Application effect is not good enough in engineering practice.The 3D curved surface on similar turbine runner blade surface is more complicated, absorption reliability requires more
Height must adjust adsorption capacity etc. according to curve form adaptive.It is examined to complete complexity 3D cracks of metal surface under extreme condition
Survey is remanufactured with field repair, it is desirable that robot fuselage opposite piece curved surface should have multiple degrees of freedom flexible motion ability, relatively bent
The operational capacity of the high-precision motion ability of the cladding of planar defect area, recovery, reconditioning, big working space and big load and sufficiently high
Rigidity.Obviously, current climbing robot not completely possesses these functions.
Summary of the invention
In view of the above shortcomings of the prior art, the technical problems to be solved by the present invention are: how one kind is provided can be real
The stabilized walking of the deep camber metal surface of present various complexity, load capacity are strong, easy to loading and unloading, are easy to carry about with one, versatile
Adaptive complexity 3D metal curved surface intelligent mobile robot.
In order to solve the above-mentioned technical problem, present invention employs the following technical solutions:
A kind of intelligent mobile robot of adaptive complexity 3D metal curved surface, including main body, running gear and adsorption capacity are certainly
Dynamic regulating mechanism, the main body include front body and rear main body, are connected between the front body and rear main body by hinges,
The running gear includes two triangle trains and two rectangle trains, and described two triangle trains are arranged in front body two
Side, in rear main body two sides, the adsorption capacity automatic adjusting mechanism is arranged below the main body for described two rectangle train settings.
In the technical program, the combination of two triangle trains and two rectangle trains can preferably increase robot
Climb wall performance and flexibility, while reducing whole center of gravity, increase the bearing capacity of robot, adsorption capacity automatic adjustment
Mechanism can adjust adsorption capacity size according to the curvature of curved surface.Robot can be steady in the deep camber metal surface of various complexity
Fixed walking can carry detection device or fix tool and working surface is detected or repaired.Detection or fix tool are put
It sets in main body, it is easy to carry.Robot body structure uses modularization, light-weight design, easy to loading and unloading, is easy to carry about with one, makes
With conveniently, operator is required low.It is connected between front body and rear main body by hinges, can preferably improve machine
The obstacle climbing ability and flexibility of people.
Further, the front body includes horizontally disposed front end aluminium sheet, front end aluminium sheet two sides respectively with it is described
The connection setting of triangle train.
In this way, front end aluminium sheet is made for aluminium, it can be preferably every magnetic.
Further, the rear main body includes horizontally disposed downside aluminium sheet, passes through yin-yang spiral shell above the downside aluminium sheet
Bolt is fixedly installed with upside aluminium sheet, and the downside aluminium sheet and the setting of upside aluminium sheet interval, upside aluminium sheet upper end are fixedly mounted
There is power module, downside aluminium sheet two sides connect setting with the rectangle train respectively.
In this way, downside aluminium sheet and upside aluminium sheet are made by aluminium, it can be preferably every magnetic.Main body is provided with upside aluminium sheet afterwards
With two layers, two layers of downside aluminium sheet between be bolted by yin-yang, can preferably utilize space.Electricity is installed on the aluminium sheet of upside
Source module can be powered robot.
Specifically, being provided with wire casing on upside aluminium sheet and downside aluminium sheet, that is, the connection of route is facilitated, in turn ensures line
It is disorderly and unsystematic and influence the work of robot to avoid route for the order on road.
Further, the triangle train includes preceding chain-type crawler belt, A-frame and for driving preceding chain-type
The front driving mechanism of crawler belt movement, is equipped with chain permanent magnet on the preceding chain-type crawler belt, the A-frame is provided with two
A and opposite two sides of chain-type crawler belt before being separately positioned on, three ends of two A-frames be rotatably equipped with
The preceding sprocket wheel of preceding chain-type crawler belt engagement, the A-frame that front end aluminium sheet both ends are located inside with triangle train respectively are solid
Fixed connection.
In this way, the obstacle climbing ability of triangle train is higher compared to common train, metal surface curvature more can adapt to
Variation.Front driving mechanism is for chain-type caterpillar drive before driving.Chain permanent magnet, Ke Yigeng are installed on preceding chain-type crawler belt
Good is adsorbed on workpiece surface, and walks.It is provided with A-frame, can preferably make triangle train and front end
Aluminium sheet is attached, and improves connection and motion credibility.
Further, the front driving mechanism includes preceding driving motor, and the preceding driving motor is fixedly mounted on front motor
On mounting plate, the front motor mounting plate is fixedly connected with the A-frame, and the output shaft of the preceding driving motor is connected with
The output shaft of retarder, the retarder is fixedly connected with driving pulley by shaft coupling, and the driving pulley passes through synchronous belt
Engaged transmission has driven pulley, and the driven pulley is fixedly connected with one of them preceding sprocket coaxiality.
In this way, preceding driving motor action, driving pulley rotation is driven by retarder, by the transmission of synchronous belt drive from
Movable belt pulley movement, driven pulley drives one of them preceding sprocket wheel rotation, and then drives preceding sprocket wheel and the movement of preceding chain-type crawler belt,
Realize the movement of triangle train.For triangle train using independent preceding driving motor driven, structure is simple, is easy to use.
Further, the rectangle train include rear chain formula crawler belt, rectangle support and for drive rear chain formula carry out
With the rear drive mechanism acted, chain permanent magnet is installed, there are two the rectangle support settings on the rear chain formula crawler belt
And the opposite two sides of the rear chain formula crawler belt are separately positioned on, the both ends of two rectangle supports are rotatably equipped with after
The rear sprocket wheel of chain-type crawler belt engagement, downside aluminium sheet both ends are located at the fixed company of rectangle support of inside with rectangle train respectively
It connects.
In this way, the center of gravity of rectangle train is lower compared to triangle train, occupied space is less, so rear end is adopted
It is arranged with rectangle train.Rear drive mechanism is for driving rear chain formula crawler belt to act.Chain is installed forever on rear chain formula crawler belt
Magnet can preferably be adsorbed on workpiece surface, and walk.It is provided with rectangle support, can preferably make rectangle
Train is attached with rear end aluminium sheet, improves connection and motion credibility.
Further, the rear drive mechanism includes rear driving motor, and the rear driving motor is fixedly mounted on downside aluminium
On plate, the output shaft of the rear driving motor is connected with retarder, and the output shaft of the retarder is fixedly connected by shaft coupling
Sprocket drive spindle is fixedly installed with drive bevel gear on the gear shaft, and the drive bevel gear engaged transmission has driven wheel of differential,
The driven wheel of differential is fixedly connected with one of them rear sprocket coaxiality.
Motor action is driven after in this way, is rotated by retarder band movable gear shaft, gear shaft drives active conical tooth rotation
Dynamic, drive bevel gear drives driven wheel of differential rotation, and driven wheel of differential drives one of them rear sprocket wheel rotation, and then chain after realization
The movement of formula crawler belt, realizes the movement of rectangle train.Rectangle train drives motor driven after using independence, and structure is simple, convenient
It uses.Using bevel gear tooth system, can preferably be arranged.
Further, the preceding sprocket wheel and rear sprocket wheel are duplex chain wheel, and the preceding chain-type crawler belt and rear chain formula are carried out
Band includes double bilateral diplopore bent plate industry driving chain, chain permanent magnet and mounting plate, the duplex chain wheel and described double
The transmission connection of bilateral diplopore bent plate industry driving chain is arranged, the mounting plate, which is bolted, is installed to the double bilateral pair
On the carrier bar of hole bent plate industry driving chain, the mounting plate is aluminium sheet, and the chain permanent magnet passes through screw and the installation
Plate is fixedly connected.
In this way, cooperated using duplex chain wheel and double bilateral diplopore bent plate industry driving chain, improve transmission stability with
And bearing capacity, expand the area of the carrier bar of double bilateral diplopore bent plate industry driving chain, and then can preferably improve forever
The contact area of magnet and workpiece improves adsorption capacity.Mounting plate material is without magnetic aluminium, it is therefore an objective to every magnetic, be kept away
Exempt from chain permanent magnet to the Adsorption Effect train wheel operation of double bilateral diplopore bent plate industry driving chain.
This running gear includes two triangle trains and two rectangle trains, respectively by preceding driving motor and rear driving
Motor is operated alone, and can preferably walk in deep camber workpiece surface, highly reliable, flexible high, adaptable, stablizes
Reliably.
Further, the adsorption capacity automatic adjusting mechanism is solid including adjusting motor, adjusting motor mounting plate, feed screw nut
Fixed board, lead screw, guide rod, permanent magnet mounting plate and permanent magnet, the adjusting motor mounting plate are fixedly connected with the downside aluminium sheet,
The adjusting motor is fixedly mounted on the adjusting motor mounting plate, and the adjusting motor drives lead screw to turn by regulating mechanism
It is dynamic, the nut for the cooperation that is screwed on lead screw is fixedly installed in the feed screw nut fixed plate, the lead screw is screwed on cooperation described
In nut, the lead screw upper end passes through feed screw nut fixed plate and upwardly extends, and face lead screw, which is provided with, on the front end aluminium sheet wears
Hole, the feed screw nut fixed plate are fixedly installed with downwards guide rod, are provided on the adjusting motor mounting plate for guide rod
The pilot hole being oriented to, the guide rod slide up and down cooperation in the pilot hole, and the lower end of the guide rod is fixedly connected with forever
Magnet mounting plate, the permanent magnet are fixedly mounted on permanent magnet mounting plate lower end.
In this way, although triangle train and rectangle train are provided with chain permanent magnet, the limit by contact area
System, when the volume load that robot is born is larger, the adsorption capacity of triangle train and rectangle train is difficult to meet robot stabilized
The requirement of absorption.Therefore, it is provided with adsorption capacity automatic adjusting mechanism, which is independent module, side
Just it installs and dismantles.Since the metal surface 3D is not a regular plane, permanent magnet is not solid away from working surface distance
Fixed, and magnetic adsorbability size and the distance relation of permanent magnet and working face are close, and under different working environments, robot and work
The magnetic adsorbability size for making face generation is not determination, due to the uncertainty of permanent magnet and working surface distance, leads to machine
Device people's magnetic adsorbability size determines difficulty, influences the versatility of robot；Simultaneously during robot obstacle detouring, robot and wall
Face contact area can reduce, and magnetic adsorbability size can reduce, therefore be provided with adsorption capacity automatic adjusting mechanism, can automatically adjust
Magnetic adsorbability size, so that robot has better versatility, it is mobile in working surface with most suitable magnetic adsorbability size.
The adsorption capacity automatic adjusting mechanism when in use, adjusts motor action by regulating mechanism and drives lead screw rotation, lead screw drives silk
Thick stick nut fixed plate upwardly or downwardly moves, and drives permanent magnet mounting plate upwardly or downwardly to move by guide rod, drives forever
Magnet is moved to the direction close to workpiece surface or the direction far from workpiece surface moves, and then adjusts permanent magnet and workpiece surface
Adsorption capacity.Only need to adjust motor forward or reverse, so that it may which the distance between permanent magnet and workpiece surface are adjusted.
When known magnetic adsorbability is smaller at a distance from permanent magnet is between workpiece surface, increases with distance between the two and reduce, it is approximate
Meet linear relationship, distance be more than a certain range when, rapidly reduce.Pass through this linear relationship, so that it may utilize tune
Motor is saved to automatically adjust the size of magnetic adsorbability.
Further, the regulating mechanism includes actively adjusting belt wheel, driven adjusting belt wheel and adjusting synchronous belt, the tune
The output shaft of section motor by shaft coupling and is connected with shaft, and the belt wheel that actively adjusts is fixedly mounted in the shaft, institute
State actively adjust belt wheel by adjust synchronous belt connect with driven adjusting belt wheel transmission, the driven adjusting belt wheel is fixedly mounted on
The lead screw lower end.
In this way, adjusting motor drives shaft rotation, shaft drive actively adjusts belt wheel rotation, is driven by adjusting synchronous belt
Driven adjusting belt wheel rotation, driven adjusting belt wheel are fixedly mounted on lead screw lower end, and then drive lead screw rotation.Structure is simple, makes
With conveniently, adjustable range is reliable and stable, and preferably magnetic adsorbability size can be adjusted.
In conclusion the intelligent mobile robot of adaptive complexity 3D metal curved surface of the present invention can be solved effectively
The work problems the such as certainly climbing robot of the prior art climbs scarce capacity, curved surface adaptive ability is poor, load capacity is weak.This hair
Bright robot has cross-country traveling ability, and load capacity is strong, the design of each structure sub-module, easy to loading and unloading, be easy to carry about with one, and has fast
Fast manufacturing, and manual operation is required lower.On the other hand, a large amount of space having been reserved in the main body of robot can install
The detection device and fix tool of robot work.Adsorption capacity self-regulating mechanism can design magnetic suck according to the load of work
The size of power makes robot have very strong versatility.
Detailed description of the invention
Fig. 1 is a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface described in the specific embodiment of the invention
Structural schematic diagram；
Fig. 2 is the main view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the structural schematic diagram of Fig. 1 intermediate cam shape train；
Fig. 5 is the schematic diagram of internal structure for removing lateralis bracket Vee formation train in Fig. 4；
Fig. 6 is partial enlargement diagram at A in Fig. 4；
Fig. 7 is the structural schematic diagram of rectangle train in Fig. 1, wherein removing the rectangle support in outside；
Fig. 8 is the rearview of Fig. 7；
Fig. 9 is the main view of adsorption capacity automatic adjusting mechanism in Fig. 1；
The schematic perspective view of Figure 10 bitmap 9 is not drawn into wherein adjusting motor mounting plate.
Specific embodiment
The 1-10 present invention is described in further detail with reference to the accompanying drawing.
A kind of intelligent mobile robot of adaptive complexity 3D metal curved surface, including main body, running gear and adsorption capacity are certainly
Dynamic regulating mechanism, the main body include front body and rear main body, are connected between the front body and rear main body by hinges 1
It connects, the running gear includes two triangle trains 2 and two rectangle trains 3, and described two triangle trains 2 are arranged preceding
Main body two sides, in rear main body two sides, the adsorption capacity automatic adjusting mechanism is arranged in the master for described two settings of rectangle train 3
Below body.
In the technical program, the combination of two triangle trains and two rectangle trains can preferably increase robot
Climb wall performance and flexibility, while reducing whole center of gravity, increase the bearing capacity of robot, adsorption capacity automatic adjustment
Mechanism can adjust adsorption capacity size according to the curvature of curved surface.Robot can be steady in the deep camber metal surface of various complexity
Fixed walking can carry detection device or fix tool and working surface is detected or repaired.Detection or fix tool are put
It sets in main body, it is easy to carry.Robot body structure uses modularization, light-weight design, easy to loading and unloading, is easy to carry about with one, makes
With conveniently, operator is required low.It is connected between front body and rear main body by hinges, can preferably improve machine
The obstacle climbing ability and flexibility of people.
Further, the front body includes horizontally disposed front end aluminium sheet 11,11 two sides of front end aluminium sheet respectively with
The connection of triangle train 2 setting.
In this way, front end aluminium sheet is made for aluminium, it can be preferably every magnetic.
Specifically, for being fixedly installed with vision detection system 12 on the front end aluminium sheet 11.
In this way, it is better to can use vision detection system for being fixedly installed with vision detection system on the aluminium sheet of front end
Vision-based detection is carried out to the working surface for needing to detect or repair.
Further, the rear main body includes horizontally disposed downside aluminium sheet 13, passes through yin above the downside aluminium sheet 13
Positive bolt is fixedly installed with upside aluminium sheet 14, the downside aluminium sheet 13 and the setting of the interval of upside aluminium sheet 14, the upside aluminium sheet 14
Upper end is fixedly installed with power module 15, and 13 two sides of downside aluminium sheet connect setting with the rectangle train 3 respectively.
In this way, downside aluminium sheet and upside aluminium sheet are made by aluminium, it can be preferably every magnetic.Main body is provided with upside aluminium sheet afterwards
With two layers, two layers of downside aluminium sheet between be bolted by yin-yang, can preferably utilize space.Electricity is installed on the aluminium sheet of upside
Source module can be powered robot.
Specifically, for being fixedly installed with motor driver 16 and control module 17 on upside aluminium sheet 14.
In this way, motor drive module and control module are installed on the aluminium sheet of upside, and it is structurally reasonable, it can preferably improve machine
The globality of device people.
Specifically, being provided with wire casing on upside aluminium sheet 14 and downside aluminium sheet 13, that is, the connection of route is facilitated, and guarantee
It is disorderly and unsystematic and influence the work of robot to avoid route for the order of route.
Further, the triangle train includes preceding chain-type crawler belt 21, A-frame 22 and for driving preceding chain
The front driving mechanism of formula crawler belt movement, 21 are equipped with chain permanent magnet 4, the A-frame 22 on the preceding chain-type crawler belt
The opposite two sides of chain-type crawler belt 21, three ends of two A-frames 22 are equal before being arranged there are two and being separately positioned on
Be rotatably equipped with the preceding sprocket wheel 23 engaged with preceding chain-type crawler belt 21,11 both ends of front end aluminium sheet respectively with triangle train 2
A-frame 22 positioned inside is fixedly connected.
In this way, the obstacle climbing ability of triangle train is higher compared to common train, metal surface curvature more can adapt to
Variation.Front driving mechanism is for chain-type caterpillar drive before driving.Chain permanent magnet, Ke Yigeng are installed on preceding chain-type crawler belt
Good is adsorbed on workpiece surface, and walks.It is provided with A-frame, can preferably make triangle train and front end
Aluminium sheet is attached, and improves connection and motion credibility.
Further, the front driving mechanism includes preceding driving motor 24, before the preceding driving motor 24 is fixedly mounted on
On motor mounting plate 25, the front motor mounting plate 25 is fixedly connected with the A-frame 22, the preceding driving motor 24
Output shaft is connected with retarder, and the output shaft of the retarder is fixedly connected with driving pulley 26, the active by shaft coupling
Belt wheel 26 has driven pulley 28 by 27 engaged transmission of synchronous belt, and the driven pulley 28 and one of them preceding sprocket wheel 23 are coaxial solid
Fixed connection.
In this way, preceding driving motor action, driving pulley rotation is driven by retarder, by the transmission of synchronous belt drive from
Movable belt pulley movement, driven pulley drives one of them preceding sprocket wheel rotation, and then drives preceding sprocket wheel and the movement of preceding chain-type crawler belt,
Realize the movement of triangle train.For triangle train using independent preceding driving motor driven, structure is simple, is easy to use.
Specifically, the preceding sprocket wheel 23 connect setting with A-frame 22 by rolling bearing units 29.
In this way, preceding sprocket wheel is connect by rolling bearing units with A-frame, facilitate installation.
Further, the rectangle train includes rear chain formula crawler belt 31, rectangle support 32 and for driving rear chain
The rear drive mechanism that formula crawler belt 31 acts is equipped with chain permanent magnet 4, the rectangle support 32 on the rear chain formula crawler belt 31
It is arranged there are two and is separately positioned on the opposite two sides of the rear chain formula crawler belt 31, the both ends of two rectangle supports 32 is equal
It is rotatably equipped with the rear sprocket wheel 33 engaged with rear chain formula crawler belt 31, downside aluminium sheet both ends are located at rectangle train interior respectively
The rectangle support of side is fixedly connected.
In this way, the center of gravity of rectangle train is lower compared to triangle train, occupied space is less, so rear end is adopted
It is arranged with rectangle train.Rear drive mechanism is for driving rear chain formula crawler belt to act.Chain is installed forever on rear chain formula crawler belt
Magnet can preferably be adsorbed on workpiece surface, and walk.It is provided with rectangle support, can preferably make rectangle
Train is attached with rear end aluminium sheet, improves connection and motion credibility.
Further, the rear drive mechanism includes rear driving motor 34, and the rear driving motor 34 is fixedly mounted on down
On side aluminium sheet 13, the output shaft of the rear driving motor 34 is connected with retarder, and the output shaft of the retarder passes through shaft coupling
It is fixedly connected with sprocket drive spindle, drive bevel gear 35,35 engaged transmission of drive bevel gear are fixedly installed on the gear shaft
There is driven wheel of differential 36, the driven wheel of differential 36 is fixedly and coaxially connected with one of them rear sprocket wheel 33.
Motor action is driven after in this way, is rotated by retarder band movable gear shaft, gear shaft drives active conical tooth rotation
Dynamic, drive bevel gear drives driven wheel of differential rotation, and driven wheel of differential drives one of them rear sprocket wheel rotation, and then chain after realization
The movement of formula crawler belt, realizes the movement of rectangle train.Rectangle train drives motor driven after using independence, and structure is simple, convenient
It uses.Using bevel gear tooth system, can preferably be arranged.
Specifically, the gear ratio of the drive bevel gear 35 and driven wheel of differential 36 is 2:1.
In this way, using this kind of drive, not only high-efficient, stable transmission, but also powerdriven direction can be changed,
Space has been saved, has kept robot more compact.
Further, the preceding sprocket wheel 23 and rear sprocket wheel 33 are duplex chain wheel, the preceding chain-type crawler belt 21 and rear chain
Formula crawler belt 31 includes double bilateral diplopore bent plate industry driving chain 41, chain permanent magnet 4 and mounting plate 42, described double
Sprocket wheel and the double bilateral diplopore bent plate industry driving chain 41 are sequentially connected, and the mounting plate 42 is bolted installation
Onto the carrier bar of the double bilateral diplopore bent plate industry driving chain 41, the mounting plate 42 is aluminium sheet, the chain permanent magnetism
Iron 4 is fixedly connected by screw with the mounting plate 42.
In this way, cooperated using duplex chain wheel and double bilateral diplopore bent plate industry driving chain, improve transmission stability with
And bearing capacity, expand the area of the carrier bar of double bilateral diplopore bent plate industry driving chain, and then can preferably improve forever
The contact area of magnet and workpiece improves adsorption capacity.Mounting plate material is without magnetic aluminium, it is therefore an objective to every magnetic, be kept away
Exempt from chain permanent magnet to the Adsorption Effect train wheel operation of double bilateral diplopore bent plate industry driving chain.
Specifically, 4 outer surface of chain permanent magnet is fixedly installed with resilient cushion 43.
In this way, during robot work, in order to avoid chain permanent magnet is constantly in contact and touches with workpiece surface
It hits, slows down the abrasion of chain permanent magnet, avoid chain permanent magnet from directly contacting with workpiece surface i.e. turbine blade and cause workpiece
That is the secondary injury of blade is provided with resilient cushion on the outside of chain permanent magnet.
Specifically, the resilient cushion 43 is made for neoprene glue material.
In this way, damping cushion material is neoprene, it is wear-resisting, good with metal contact to have the characteristics that, can better meet
Requirement.
This running gear includes two triangle trains and two rectangle trains, respectively by preceding driving motor and rear driving
Motor is operated alone, and can preferably walk in deep camber workpiece surface, highly reliable, flexible high, adaptable, stablizes
Reliably.
Further, the adsorption capacity automatic adjusting mechanism includes adjusting motor 5, adjusting motor mounting plate 51, lead screw spiral shell
Female fixed plate 52, lead screw 53, guide rod 54, permanent magnet mounting plate 55 and permanent magnet 56, the adjusting motor mounting plate 51 with it is described
Downside aluminium sheet 13 is fixedly connected, and the adjusting motor 5 is fixedly mounted on the adjusting motor mounting plate 51, the adjusting motor
5 drive lead screw 53 to rotate by regulating mechanism, are fixedly installed in the feed screw nut fixed plate 52 and are screwed on cooperation with lead screw 53
Nut, the lead screw 53 is screwed on cooperation in the nut, and it is upward that 53 upper end of lead screw passes through feed screw nut fixed plate 52
Extend, face lead screw 53 is provided with perforation on the front end aluminium sheet 11, and the feed screw nut fixed plate 52 is fixedly installed with downwards
Guide rod 54, described adjust is provided with pilot hole for being oriented to guide rod 54 on motor mounting plate 51, on the guide rod 54
Lower slider cooperates in the pilot hole, and 54 lower end of guide rod is fixedly connected with permanent magnet mounting plate 55, the permanent magnet 56
It is fixedly mounted on 55 lower end of permanent magnet mounting plate.
In this way, although triangle train and rectangle train are provided with chain permanent magnet, the limit by contact area
System, when the volume load that robot is born is larger, the adsorption capacity of triangle train and rectangle train is difficult to meet robot stabilized
The requirement of absorption.Therefore, it is provided with adsorption capacity automatic adjusting mechanism, which is independent module, side
Just it installs and dismantles.Since the metal surface 3D is not a regular plane, permanent magnet is not solid away from working surface distance
Fixed, and magnetic adsorbability size and the distance relation of permanent magnet and working face are close, and under different working environments, robot and work
The magnetic adsorbability size for making face generation is not determination, due to the uncertainty of permanent magnet and working surface distance, leads to machine
Device people's magnetic adsorbability size determines difficulty, influences the versatility of robot；Simultaneously during robot obstacle detouring, robot and wall
Face contact area can reduce, and magnetic adsorbability size can reduce, therefore be provided with adsorption capacity automatic adjusting mechanism, can automatically adjust
Magnetic adsorbability size, so that robot has better versatility, it is mobile in working surface with most suitable magnetic adsorbability size.
The adsorption capacity automatic adjusting mechanism when in use, adjusts motor action by regulating mechanism and drives lead screw rotation, lead screw drives silk
Thick stick nut fixed plate upwardly or downwardly moves, and drives permanent magnet mounting plate upwardly or downwardly to move by guide rod, drives forever
Magnet is moved to the direction close to workpiece surface or the direction far from workpiece surface moves, and then adjusts permanent magnet and workpiece surface
Adsorption capacity.Only need to adjust motor forward or reverse, so that it may which the distance between permanent magnet and workpiece surface are adjusted.
When known magnetic adsorbability is smaller at a distance from permanent magnet is between workpiece surface, increases with distance between the two and reduce, it is approximate
Meet linear relationship, distance be more than a certain range when, rapidly reduce.Pass through this linear relationship, so that it may utilize tune
Motor is saved to automatically adjust the size of magnetic adsorbability.
Further, the regulating mechanism includes actively adjusting belt wheel 6, driven adjusting belt wheel 61 and adjusting synchronous belt 62,
The output shaft for adjusting motor 5 is by shaft coupling and is connected with shaft, and the belt wheel 6 that actively adjusts is fixedly mounted on described turn
On axis, the belt wheel 6 that actively adjusts is by adjusting synchronous belt 62 and the transmission connection of driven adjusting belt wheel 61, the driven adjusting band
Wheel 61 is fixedly mounted on 53 lower end of lead screw.
In this way, adjusting motor drives shaft rotation, shaft drive actively adjusts belt wheel rotation, is driven by adjusting synchronous belt
Driven adjusting belt wheel rotation, driven adjusting belt wheel are fixedly mounted on lead screw lower end, and then drive lead screw rotation.Structure is simple, makes
With conveniently, adjustable range is reliable and stable, and preferably magnetic adsorbability size can be adjusted.
Specifically, robot is also designed into control system, the control system includes automatic to running gear, adsorption capacity
The control of regulating mechanism and work system.Control system is divided into four modules: remote control module, drive module, wireless telecommunications mould again
Block and main controller module.Remote control module is used for the movement of far distance control robot, and wireless communication module is for receiving and passing
Defeated various signals, main controller are used to receive the data of remote controler and parse data, and corresponding control signal is transferred to driving
Module, wherein electric elements are acted accordingly for drive module driving.
Working principle and process:
When using the intelligent mobile robot of adaptive complexity 3D metal curved surface, it will test device and fix tool placed
In main body, preceding driving motor and rear driving motor action, drive triangle train and the movement of rectangle train to walk later.
It is hinged by hinges between front body and rear main body, so that triangle train and rectangle train can preferably adapt to complicated 3D
Metal curved surface has preferably flexible.The distance between permanent magnet and workpiece surface are adjusted using motor is adjusted, and then to magnetic
Attached power size is adjusted, and improves the versatility of robot, mobile in working surface with most suitable magnetic adsorbability size.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that；It still may be used
To modify to technical solution documented by previous embodiment, or some or all of the technical features are equal
Replacement；And these are modified or replaceed, the model for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses, should all cover within the scope of the claims and the description of the invention.
Claims (10)
1. a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface, which is characterized in that including main body, running gear and
Adsorption capacity automatic adjusting mechanism, the main body include front body and rear main body, pass through activity between the front body and rear main body
Hinge connection, the running gear include two triangle trains and two rectangle trains, described two triangle train settings
In front body two sides, in rear main body two sides, the adsorption capacity automatic adjusting mechanism is arranged in institute for described two rectangle train settings
It states below main body.
2. a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface according to claim 1, it is characterised in that:
The front body includes horizontally disposed front end aluminium sheet, and front end aluminium sheet two sides connect with the triangle train set respectively
It sets.
3. a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface according to claim 2, it is characterised in that:
Main body includes horizontally disposed downside aluminium sheet after described, is fixedly installed with upside aluminium by yin-yang bolt above the downside aluminium sheet
Plate, the downside aluminium sheet and the setting of upside aluminium sheet interval, upside aluminium sheet upper end is fixedly installed with power module, the downside
Aluminium sheet two sides connect setting with the rectangle train respectively.
4. a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface according to claim 3, it is characterised in that:
The triangle train includes preceding chain-type crawler belt, A-frame and the preceding driving machine for chain-type crawler belt movement before driving
Structure, is equipped with chain permanent magnet on the preceding chain-type crawler belt, the A-frame setting there are two and be separately positioned on preceding chain
Opposite two sides of formula crawler belt, three ends of two A-frames are rotatably equipped with engages with preceding chain-type crawler belt
Preceding sprocket wheel, the A-frame that front end aluminium sheet both ends are located inside with triangle train respectively are fixedly connected.
5. a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface according to claim 4, it is characterised in that:
The front driving mechanism includes preceding driving motor, and the preceding driving motor is fixedly mounted on front motor mounting plate, electric before described
Machine mounting plate is fixedly connected with the A-frame, and the output shaft of the preceding driving motor is connected with retarder, the retarder
Output shaft driving pulley is fixedly connected with by shaft coupling, the driving pulley has driven belt by synchronous belt engaged transmission
Wheel, the driven pulley are fixedly connected with one of them preceding sprocket coaxiality.
6. a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface according to claim 5, it is characterised in that:
The rectangle train includes rear chain formula crawler belt, rectangle support and the rear driving machine for driving rear chain formula crawler belt to act
Structure, is equipped with chain permanent magnet on the rear chain formula crawler belt, the rectangle support setting there are two and be separately positioned on described
The opposite two sides of rear chain formula crawler belt, the both ends of two rectangle supports, which are rotatably equipped with, engages with rear chain formula crawler belt
Sprocket wheel afterwards, the rectangle support that downside aluminium sheet both ends are located inside with rectangle train respectively are fixedly connected.
7. a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface according to claim 6, it is characterised in that:
The rear drive mechanism includes rear driving motor, and the rear driving motor is fixedly mounted on the aluminium sheet of downside, drives electricity after described
The output shaft of machine is connected with retarder, and the output shaft of the retarder is fixedly connected with sprocket drive spindle, the gear by shaft coupling
Be fixedly installed with drive bevel gear on axis, the drive bevel gear engaged transmission has a driven wheel of differential, the driven wheel of differential with
One of them rear sprocket coaxiality is fixedly connected.
8. a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface according to claim 7, it is characterised in that:
The preceding sprocket wheel and rear sprocket wheel are duplex chain wheel, and the preceding chain-type crawler belt and rear chain formula crawler belt include that double bilateral is double
Hole bent plate industry driving chain, chain permanent magnet and mounting plate, the duplex chain wheel and the double bilateral diplopore bent plate industry
Driving chain transmission connection, the mounting plate, which is bolted, is installed to the double bilateral diplopore bent plate industry driving chain
Carrier bar on, the mounting plate is aluminium sheet, and the chain permanent magnet is fixedly connected by screw with the mounting plate.
9. a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface according to claim 8, it is characterised in that:
The adsorption capacity automatic adjusting mechanism includes adjusting motor, adjusting motor mounting plate, feed screw nut fixed plate, lead screw, guide rod, forever
Magnet mounting plate and permanent magnet, the adjusting motor mounting plate are fixedly connected with the downside aluminium sheet, and the adjusting motor is fixed
It is mounted on the adjusting motor mounting plate, the adjusting motor drives lead screw to rotate by regulating mechanism, the feed screw nut
The nut for the cooperation that is screwed on lead screw is fixedly installed in fixed plate, the lead screw is screwed on cooperation in the nut, the lead screw
Upper end passes through feed screw nut fixed plate and upwardly extends, and face lead screw is provided with perforation, the feed screw nut on the front end aluminium sheet
Fixed plate is fixedly installed with downwards guide rod, described to adjust the guiding being provided on motor mounting plate for being oriented to guide rod
Hole, the guide rod slide up and down cooperation in the pilot hole, and the lower end of the guide rod is fixedly connected with permanent magnet mounting plate, described
Permanent magnet is fixedly mounted on permanent magnet mounting plate lower end.
10. a kind of intelligent mobile robot of adaptive complexity 3D metal curved surface according to claim 9, feature exist
In: the regulating mechanism includes actively adjusting belt wheel, driven adjusting belt wheel and adjusting synchronous belt, the output shaft for adjusting motor
By shaft coupling and it is connected with shaft, the belt wheel that actively adjusts is fixedly mounted in the shaft, described actively to adjust belt wheel
It is connect by adjusting synchronous belt with driven adjusting belt wheel transmission, the driven adjusting belt wheel is fixedly mounted on the lead screw lower end.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114954720A (en) * | 2022-06-17 | 2022-08-30 | 安徽富煌钢构股份有限公司 | Intelligent robot for steel structure high-altitude detection operation |
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Application publication date: 20190625 |