CN110386198A - Permanent magnetic suck wheel-pedrail climbing for welding robot is mechanical - Google Patents
Permanent magnetic suck wheel-pedrail climbing for welding robot is mechanical Download PDFInfo
- Publication number
- CN110386198A CN110386198A CN201810349285.8A CN201810349285A CN110386198A CN 110386198 A CN110386198 A CN 110386198A CN 201810349285 A CN201810349285 A CN 201810349285A CN 110386198 A CN110386198 A CN 110386198A
- Authority
- CN
- China
- Prior art keywords
- magnetic
- magnetic patch
- permanent
- wheel
- pedrail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 15
- 238000003466 welding Methods 0.000 title claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 16
- 238000010521 absorption reaction Methods 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 230000009193 crawling Effects 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
Abstract
The present invention provides a kind of permanent magnetic suck wheel-pedrail climbing for welding robot is mechanical, comprising: car body；Shoe formula drive system is taken turns, wheel shoe formula drive system is mounted on car body two sides with being centrosymmetric；And auxiliary permanent absorbing unit, auxiliary permanent absorbing unit are mounted on lower car body two sides；Wherein, wheel shoe formula drive system includes DC servo motor, planet-gear speed reducer, worm-gear speed reducer, drive sprocket, driven sprocket, chain stretching device, permanent magnetic suck unit and the chain with accessory-type.Permanent magnetic suck wheel-pedrail climbing mechanical structure of the invention is simple, it is easy to accomplish.And chain stretching device is increased, be conducive to small-scale adjustment wheelbase as needed；Auxiliary permanent absorbing unit is increased, the load-bearing capacity of car body is improved, and reduces car body slipping phenomenon.
Description
Technical field
The present invention relates to automation field, in particular to a kind of permanent magnetic suck wheel-pedrail climbing for welding robot
It is mechanical.
Background technique
With the development of modern industry and manufacturing technology so that important large-sized structural parts using more and more, to this
The necessary field operation of the work such as the welding of class large-sized structural parts, and to realize automatic welding, the crawling structure of robot is to close
Key technology.Permanent magnetic suck crawling machinery structure is divided into wheeled and crawler type at present, and wheeled construction is more flexible, track structure
It is relatively reliable.The generally existing following defect of the crawling machinery structure of the prior art: complicated in mechanical structure, manufacturing cost is high, maintenance
It is difficult.It is difficult to adjust wheelbase, causes robot cannot be by certain narrow locations；Permanent magnetic suck unit magnetic circuit is simple, adsorption capacity
Not big enough by a little positions, and adsorption capacity seems excessive in some cases.
The information disclosed in the background technology section is intended only to increase the understanding to general background of the invention, without answering
When being considered as recognizing or imply that the information constitutes the prior art already known to those of ordinary skill in the art in any form.
Summary of the invention
The purpose of the present invention is to provide a kind of permanent magnetic suck wheel-pedrail climbing machinery for welding robot, thus gram
The shortcomings that taking the prior art.
The present invention provides a kind of permanent magnetic suck wheel-pedrail climbing for welding robot is mechanical, comprising: car body；Wheel is carried out
Formula drive system, wheel shoe formula drive system are mounted on car body two sides with being centrosymmetric；And auxiliary permanent absorbing unit, auxiliary
Permanent magnetic suck unit is mounted on lower car body two sides；Wherein, wheel shoe formula drive system includes DC servo motor, planetary gear reduction
Fast machine, worm-gear speed reducer, drive sprocket, driven sprocket, chain stretching device, permanent magnetic suck unit and with accessory-type
Chain.
Preferably, in above-mentioned technical proposal, the output shaft of DC servo motor is via planet-gear speed reducer and worm gear snail
Bar speed reducer is connected with the shaft of drive sprocket, and DC servo motor drives drive sprocket rotation；Chain stretching device installation
With on the driven sprocket of drive sprocket same level height；Drive sprocket, driven sprocket and the chain composition with attachment are climbed
Row system, permanent magnetic suck unit are equally spacedly mounted on chain.
Preferably, in above-mentioned technical proposal, chain stretching device includes: pedestal；The two sides of sliding block, sliding block are symmetrically provided with cunning
Slot, driven sprocket are vertically mounted on sliding block；And tensioning screw, tensioning screw are arranged on the chute, pass through tensioning screw
Rotary motion drives sliding block, so that sliding block drives driven sprocket translation.
Preferably, in above-mentioned technical proposal, permanent magnetic suck unit includes every magnetic shell, yoke and being arranged below yoke
First absorption magnetic patch, second absorption magnetic patch, the first magnetic conductive steel plate, the second magnetic conductive steel plate and under every magnetic patch.
Preferably, in above-mentioned technical proposal, the first absorption magnetic patch and the second absorption magnetic patch are separately positioned on the first magnetic conduction steel
The upper surface of plate and the second magnetic conductive steel plate, and the first absorption magnetic patch and the second absorption magnetic patch separate by under every magnetic patch；Permanent magnetic suck
Unit further includes that first be arranged in above yoke adjusts magnetic patch, second adjusts magnetic patch and upper every magnetic patch, the first adjusting magnetic patch
It is separated by every magnetic patch with the second adjusting magnetic patch.
Preferably, in above-mentioned technical proposal, yoke, the first absorption magnetic patch, the second absorption magnetic patch, the first magnetic conductive steel plate, the
Two magnetic conductive steel plates, the first adjusting magnetic patch and the second adjusting magnetic patch are arranged at every in magnetic shell.
Preferably, in above-mentioned technical proposal, auxiliary permanent absorbing unit is the absorption magnetic patch of rectangular shape, auxiliary permanent
Absorbing unit is arranged in car body lower end two sides, and auxiliary permanent absorbing unit is apart from workpiece 2mm.
Compared with prior art, the invention has the following beneficial effects: mechanical structure of the invention is simple, it is easy to accomplish.
And chain stretching device is increased, be conducive to small-scale adjustment wheelbase as needed；Permanent magnetic suck unit increases a tune
Magnetic circuit is saved, when magnetic absorbing unit pulls up and corresponding fixed magnetic absorbing unit is arranged above position, is mutually inhaled with magnetic circuit is adjusted
It can reduce when drawing, thus pulling up in the position and pull up power；Auxiliary permanent absorbing unit is increased, the weight bearing of car body is improved
Can, and reduce car body slipping phenomenon.
Detailed description of the invention
Fig. 1 is the top view of the embodiment of the present invention.
Fig. 2 is the main view of the embodiment of the present invention.
Fig. 3 is the chain stretching device schematic diagram of the embodiment of the present invention.
Fig. 4 is the permanent magnetic suck cell schematics of the embodiment of the present invention.
Specific embodiment
Unless otherwise explicitly stated, otherwise in entire disclosure and claims, term " includes " or its change
Changing such as "comprising" or " including " etc. will be understood to comprise stated element or component, and not exclude other members
Part or other component parts.
Fig. 1 is the top view of the embodiment of the present invention, and Fig. 2 is the main view of the embodiment of the present invention；Permanent magnetism of the invention
Absorbing wheel-pedrail climbing machinery includes: car body 5, left side auxiliary permanent absorbing unit 18, right side auxiliary permanent absorbing unit 17, a left side
Side DC servo motor 11, right side direct current generator 8, left side planet-gear speed reducer 10, right side planet-gear speed reducer 7, left side
Worm-gear speed reducer 9, right side worm-gear speed reducer 6, left side drive sprocket 15, right side drive sprocket 2, left side driven sprocket
17, right side driven sprocket 4, left side chain stretching device 13, right side chain stretching device 12, permanent magnetic suck unit 3, left side are with attached
The main components such as the chain 1 of chain 14, right side with accessory-type of part type.It is illustrated by taking left drive system as an example, left side is straight
Flow servo motor 11 and left side planet-gear speed reducer 10 are installed on the rear portion of car body, the driving of left side Planetary wheel speed reducer 10
Axis is connected with worm-gear speed reducer 9, and the drive sprocket 15 in left side connect driving torque with transmission shaft keyway；In left side drive chain
Under the collective effect of wheel 15 and left side driven sprocket 16, chain 14 is driven to move, wherein driven sprocket 16 can pass through left side chain
Tensioning apparatus 13 adjusts its lengthwise position to adjust the tensioning degree of chain 14；Chain 14 is band accessory-type chain, permanent magnetic suck
Unit 3 is installed on chain 14 by rivet；Left side auxiliary permanent absorbing unit 18 is bolted on car body 5.
As shown in figure 3, left side driven sprocket 16 is installed on sliding block 20, and sliding block is fixed with left side chain stretching device example
It is driven so as to adjust left side by tightening or unclamping the position of the left side adjustable sliding block 20 of tensioning screw 13 in pedestal 21
The position of sprocket wheel 16 achievees the purpose that adjust chain tension degree.
As shown in figure 4, the permanent magnetic suck unit includes and being arranged below yoke every magnetic shell 22, yoke 28
First absorption magnetic patch 23, second adsorb magnetic patch 24, the first magnetic conductive steel plate 26, the second magnetic conductive steel plate 27 and under every magnetic patch 25.Institute
The the first absorption magnetic patch 23 and the second absorption magnetic patch 24 stated are separately positioned on the first magnetic conductive steel plate 26 and the second magnetic conductive steel plate 27
Above, and by under separate every magnetic patch 25, form absorption magnetic circuit；It additionally include that first be arranged in above yoke adjusts magnetic patch 30
Magnetic patch 31 is adjusted and upper every magnetic patch 29 with second, and described first adjusts magnetic patch 30 and the second adjusting magnetic patch 31 by every magnetic patch
29 separate, and form adjusting magnetic circuit.Permanent magnetic suck unit is 2mm lower than drive sprocket and driven sprocket, is convenient for magnetic patch when creeping
It is detached from workpiece, reduces the load of motor.
The aforementioned description to specific exemplary embodiment of the invention is in order to illustrate and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to the above instruction, can much be changed
And variation.The purpose of selecting and describing the exemplary embodiment is that explaining specific principle of the invention and its actually answering
With so that those skilled in the art can be realized and utilize a variety of different exemplary implementation schemes of the invention and
Various chooses and changes.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (7)
1. a kind of permanent magnetic suck wheel-pedrail climbing for welding robot is mechanical, which is characterized in that the permanent magnetic suck wheel is carried out
Formula crawling machinery includes:
Car body；
Shoe formula drive system is taken turns, the wheel shoe formula drive system is mounted on the car body two sides with being centrosymmetric；And
Auxiliary permanent absorbing unit, the auxiliary permanent absorbing unit are mounted on lower car body two sides；
Wherein, the wheel shoe formula drive system includes DC servo motor, planet-gear speed reducer, worm-gear speed reducer, master
Movable sprocket, driven sprocket, chain stretching device, permanent magnetic suck unit and the chain with accessory-type.
2. permanent magnetic suck wheel-pedrail climbing according to claim 1 is mechanical, which is characterized in that the DC servo motor
Output shaft is connected via the planet-gear speed reducer and the worm-gear speed reducer with the shaft of the drive sprocket, institute
It states DC servo motor and drives the drive sprocket rotation；The chain stretching device is mounted on and the same water of the drive sprocket
On the driven sprocket of flat height；The drive sprocket, driven sprocket and the chain with attachment constitute system of creeping,
Permanent magnetic suck unit is equally spacedly mounted on chain.
3. permanent magnetic suck wheel-pedrail climbing according to claim 1 is mechanical, which is characterized in that the chain stretching device packet
It includes:
Pedestal；
Sliding block, the two sides of the sliding block are symmetrically provided with sliding slot, and the driven sprocket right angle setting is on the slide block；And
Tensioning screw, the tensioning screw is arranged on the sliding slot, by the rotary motion of the tensioning screw to drive
Sliding block is stated, so that the sliding block drives the driven sprocket translation.
4. permanent magnetic suck wheel-pedrail climbing according to claim 1 is mechanical, which is characterized in that the permanent magnetic suck unit packet
It includes every magnetic shell, yoke and the first absorption magnetic patch being arranged in below the yoke, the second absorption magnetic patch, the first magnetic conduction steel
Plate, the second magnetic conductive steel plate and under every magnetic patch.
5. permanent magnetic suck wheel-pedrail climbing according to claim 4 is mechanical, which is characterized in that the first absorption magnetic patch and
Second absorption magnetic patch is separately positioned on the upper surface of first magnetic conductive steel plate and second magnetic conductive steel plate, and described first inhales
Attached magnetic patch and the second absorption magnetic patch are separated every magnetic patch under described；The permanent magnetic suck unit further includes being arranged on the yoke
The first of face adjusts magnetic patch, second adjusts magnetic patch and upper every magnetic patch, and described first adjusts magnetic patch and the second adjusting magnetic patch by institute
It states and is separated every magnetic patch.
6. permanent magnetic suck wheel-pedrail climbing according to claim 5 is mechanical, which is characterized in that the yoke, the first absorption
Magnetic patch, the second absorption magnetic patch, the first magnetic conductive steel plate, the second magnetic conductive steel plate, the first adjusting magnetic patch and the second adjusting magnetic patch are all provided with
It sets described every in magnetic shell.
7. permanent magnetic suck wheel-pedrail climbing as described in claim 1 is mechanical, which is characterized in that the auxiliary permanent absorbing unit
For the absorption magnetic patch of rectangular shape, in car body lower end two sides, the auxiliary permanent is inhaled for the auxiliary permanent absorbing unit setting
Coupon member is 2mm lower than chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810349285.8A CN110386198A (en) | 2018-04-18 | 2018-04-18 | Permanent magnetic suck wheel-pedrail climbing for welding robot is mechanical |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810349285.8A CN110386198A (en) | 2018-04-18 | 2018-04-18 | Permanent magnetic suck wheel-pedrail climbing for welding robot is mechanical |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110386198A true CN110386198A (en) | 2019-10-29 |
Family
ID=68283216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810349285.8A Pending CN110386198A (en) | 2018-04-18 | 2018-04-18 | Permanent magnetic suck wheel-pedrail climbing for welding robot is mechanical |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110386198A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022262055A1 (en) * | 2021-06-18 | 2022-12-22 | 南京昱晟机器人科技有限公司 | Industrial robot of laser welding mechanism moving on surface of steel plate part |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2552648Y (en) * | 2002-07-12 | 2003-05-28 | 阎炳义 | Crawler-type permanent magnet creeping mechanism |
| CN101638114A (en) * | 2009-08-26 | 2010-02-03 | 清华大学 | Magnetic absorbing unit for underwater magnetic absorbing wheel-pedrail climbing robot |
| CN101863292A (en) * | 2010-05-20 | 2010-10-20 | 常州华通焊丝有限公司 | Crawler-type permanent magnet crawling vehicle |
| CN102745278A (en) * | 2012-08-01 | 2012-10-24 | 浙江大学 | Permanent magnetic adsorption wall-climbing robot with self-locking device |
| CN208085841U (en) * | 2018-04-18 | 2018-11-13 | 北京博清科技有限公司 | Permanent magnetic suck wheel-pedrail climbing machinery for welding robot |
-
2018
- 2018-04-18 CN CN201810349285.8A patent/CN110386198A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2552648Y (en) * | 2002-07-12 | 2003-05-28 | 阎炳义 | Crawler-type permanent magnet creeping mechanism |
| CN101638114A (en) * | 2009-08-26 | 2010-02-03 | 清华大学 | Magnetic absorbing unit for underwater magnetic absorbing wheel-pedrail climbing robot |
| CN101863292A (en) * | 2010-05-20 | 2010-10-20 | 常州华通焊丝有限公司 | Crawler-type permanent magnet crawling vehicle |
| CN102745278A (en) * | 2012-08-01 | 2012-10-24 | 浙江大学 | Permanent magnetic adsorption wall-climbing robot with self-locking device |
| CN208085841U (en) * | 2018-04-18 | 2018-11-13 | 北京博清科技有限公司 | Permanent magnetic suck wheel-pedrail climbing machinery for welding robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022262055A1 (en) * | 2021-06-18 | 2022-12-22 | 南京昱晟机器人科技有限公司 | Industrial robot of laser welding mechanism moving on surface of steel plate part |
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