CN110434828A - A kind of band large-scale metal facade barrier-crossing wall-climbing robot - Google Patents
A kind of band large-scale metal facade barrier-crossing wall-climbing robot Download PDFInfo
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- CN110434828A CN110434828A CN201910850150.4A CN201910850150A CN110434828A CN 110434828 A CN110434828 A CN 110434828A CN 201910850150 A CN201910850150 A CN 201910850150A CN 110434828 A CN110434828 A CN 110434828A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
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Abstract
A kind of band large-scale metal facade barrier-crossing wall-climbing robot of the present invention, the robot include multiple frame modules, the walking combined drive module of wheel, the vehicle frame link block for connecting two neighboring frame module, the combined type variable magnetic force adsorption module being mounted in each frame module that are symmetrically installed in each frame module；The vehicle frame link block includes: connection shell, upper rubber, lower rubber, half intercept form needle bearing, connector, fixed plug, the connection shell is located on the corresponding position of frame module, connect the cylindrical part after the intracorporal cavity of shell is matched with receiving connector and half intercept form roller bearing needle-holding just, be the rectangle cavity segment matched with connector beam shape in the outside of cylindrical part, connector crossbeam and connect shell rectangle cavity segment upper and lower surface between there is gap；Fixed plug is connected with corresponding frame module.The robot, which has, takes turns outstanding obstacle climbing ability, is able to satisfy the demand that robot moves simultaneously operation under complex environment.
Description
Technical field
The present invention relates to a kind of robot for metal facade, specifically a kind of band large-scale metal facade obstacle detouring climbs wall
Robot.
Background technique
The construction operation of the maintenance such as derusting, spray painting, detection of the band large-scale metals facade such as petrochemical industry storage tank and ship both at home and abroad at present
Requirement to environmental protection, personal safety and low-cost high-efficiency is increasingly stringent, therefore barrier-crossing wall-climbing robot is as a kind of energy
Enough automation equipments adsorbed and moved in metal facade, are with a wide range of applications.
Because permanent magnetic suck has the advantages that adsorption capacity is stable and larger, adopted applied to the climbing robot on metal facade more
Permanent magnet is used to be not easily adjustable magnetic force although permanent magnet can provide stable and biggish adsorption capacity as primary attachment mechanism,
It is difficult to adapt to the obstacle detouring process of robot.Magneto climbing robot is mostly wheeled on the market, crawler type, wheeled with higher
Movement speed and robust motion, crawler type have the characteristics that adsorption capacity is stronger, although all to have certain curved surface adaptive for the two
Should be able to power, but do not have excellent obstacle performance.The structure setting that most of magneto climbing robot multi-pass crosses robot is real
Existing curved rigid surfaces are adaptive, and a part of robot realizes that its flexible curved surface is adaptive by modes such as hinges, is rigidly difficult to adapt to
Complicated curved surface and obstacle, flexibility are difficult to control robot interior bending angle, are not suitable with the working environment of band large-scale metal facade.
Summary of the invention
The present invention in view of the shortcomings of the prior art place, a kind of band large-scale metal facade barrier-crossing wall-climbing robot is provided,
Existing permanent magnetism climbing robot existing a series of problems in band large-scale metal facade operation is solved, which had both had wheeled
Mobile robot movement speed is fast, stationarity is good, turns to flexible advantage, also has the good landform of sufficient formula mobile robot
Passability, i.e., outstanding obstacle climbing ability are able to satisfy the demand that robot moves simultaneously operation under complex environment.
The present invention is achieved by the following technical solutions,
A kind of band large-scale metal facade barrier-crossing wall-climbing robot, which is characterized in that the robot includes multiple frame modules, In
The walking combined drive module of wheel being symmetrically installed in each frame module, the vehicle frame connection for connecting two neighboring frame module
Module, the combined type variable magnetic force adsorption module being mounted in each frame module and carrying giant module；
The bottom end of two neighboring frame module opposite face is provided with vehicle frame lower end rubber, two neighboring frame module it
Between setting there are two the identical vehicle frame link block of structure,
The vehicle frame link block includes: connection shell, upper rubber, lower rubber, half intercept form needle bearing, connection
Part, fixed plug,
The connection shell is located on the corresponding position of frame module, and connection enclosure interior is provided with for installation connecting element
Cavity, the connector both ends are cylinder, and two cylindrical sides connect by cuboid-type crossbeam, it is cylindrical with it is rectangular
Figure crossbeam is integrally formed, and half intercept form needle bearing, connector and half are installed in one end on cylindrical side far from crossbeam
Intercept form needle bearing match be located at connection enclosure interior cavity, the outer ring of half intercept form needle bearing with connect shell tight fit,
The side that the cylinder of connector does not wrap up half intercept form needle bearing is contacted with the cavity wall of connection shell；Connect the intracorporal sky of shell
Chamber has accommodates the cylindrical part after connector and half intercept form roller bearing needle-holding are matched just, the outside of cylindrical part for
The rectangle cavity segment that connector beam shape matches is spread respectively in the upper lower inner surface that rectangle cavity segment is in contact with connector
Equipped with upper rubber and lower rubber, and connector crossbeam and connect shell rectangle cavity segment upper and lower surface between have between
Gap, the gap are denoted as H, and the depth that crossbeam protrudes into rectangle cavity segment is denoted as L；Close to rectangle cavity segment and far from vehicle frame axle center
The size of the fixed plug installation cavity of setting in the connection shell of position, fixed plug installation cavity can accommodate connector and half intercept form needle roller axis
The component after matching is installed, the outer surface of fixed plug is connected by screw with corresponding frame module.
The walking combined drive module of wheel includes lift arm assemblies, supporting arm assembly, driving arm component and traveling wheel；It mentions
The a part for rising arm component is mounted in frame module, and another part is connected with the top of driving arm component；Supporting arm assembly
A part is connected with frame module, and another part is connected with the lower part of driving arm component, and the end of arm component is driven to be equipped with row
Walk wheel；Lift arm assemblies and supporting arm assembly are provided commonly for realizing the promotion for taking turns walking combined drive module, and driving arm component is used
In driving traveling wheel walking；Lift arm assemblies are at a distance from supporting arm assembly is between two installation sites of driving arm component etc.
In lift arm assemblies at a distance from supporting arm assembly is between two installation sites in frame module；
The lift arm assemblies include lift arm driving motor, retarder and lift arm；Lift arm driving motor is mounted on
In frame module, the output shaft of lift arm driving motor is connected with the input terminal of retarder, the output end of retarder by key with
One end of lift arm is connected, and reducer output shaft position is lift arm upper joint；The other end of lift arm passes through the first connecting shaft
It is hinged on the hinged-support on driving arm component top, the hinged-support formation revolute pair on lift arm and driving arm component top, first
Connection shaft position is lift arm hypozygal；
The supporting arm assembly includes support arm, the second connecting shaft and third connecting shaft；One end of support arm passes through second
Connecting shaft is hinged on the vehicle frame of climbing robot to be installed, and support arm and frame module form revolute pair, the second connection axle position
It is set to support arm upper joint；The other end of support arm is hinged on driving arm component lower part hinged-support by third connecting shaft, branch
Brace and driving arm component lower part hinged-support form revolute pair, and it is support arm hypozygal that third, which connects shaft position,；
Aforementioned four joint is enclosed parallelogram sturcutre.
One combined type variable magnetic force adsorption module is installed in each frame module, combined type variable magnetic force adsorption module includes
Lead screw assembly and absorbent module, the absorbent module are located at the outside of frame module bottom, and when normally travel state, absorption
Component has a distance apart from bottom of frame；Lead screw assembly is located inside frame module, and lead screw assembly can drive in absorbent module
Lower movement.
The lead screw assembly includes: spindle motor, spindle motor reduction gear box, spindle motor brake, lead screw electricity
Machine ring flange, A type belt wheel, belt, Type B belt wheel, Type B belt wheel tapered roller bearing, feed screw nut, feed screw nut taper roller axis
It holds, screw, feed screw nut locating rack, lead screw；
Wherein, spindle motor brake, spindle motor, spindle motor reduction gear box are sequentially connected, and spindle motor slows down
The output end of gear-box passes through spindle motor ring flange, and spindle motor reduction gear box end and spindle motor ring flange are solid
It is fixed, and the side wall of spindle motor ring flange is fixedly connected in frame module；On the output end of spindle motor reduction gear box
A type belt wheel is installed, A type belt wheel connects transmission by belt with Type B belt wheel；The lower end of the Type B belt wheel has Type B belt wheel lower end
Boss is socketed Type B belt wheel tapered roller bearing, Type B belt wheel lower end boss and Type B belt wheel circle in Type B belt wheel lower end boss outer ring
The inner ring of taper roller bearing matches fixation；The lead screw passes through Type B belt wheel, and lower part and the absorbent module of lead screw are fixed；Type B band
The lower end and frame module bottom connection for taking turns tapered roller bearing are touched；
Feed screw nut is installed on the lead screw on Type B belt wheel top, the feed screw nut includes Upper cylindrical section under
Portion's support plate, the upper end of column part have feed screw nut upper end boss, have feed screw nut lower thread hole, B in support plate
The upper end of type belt wheel is fixed together with support plate by feed screw nut lower thread hole, screw；
In feed screw nut upper end, feed screw nut tapered roller bearing, feed screw nut upper end boss and silk are installed in the top of boss
Thick stick nut tapered roller bearing internal diameter matches；In feed screw nut, feed screw nut tapered roller bearing, Type B belt wheel taper roller
Bearing and the outer integral assembling feed screw nut locating rack of Type B belt wheel, feed screw nut can be rotated relative to feed screw nut locating rack；Lead screw spiral shell
The lower end of female locating rack is fixed with frame module bottom surface；
The absorbent module includes: yoke, even number one kind permanent magnet, a two class permanent magnets, two groups of electromagnet, leads
Rail；The yoke lower surface is provided with the groove for installing a kind of permanent magnet, two class permanent magnets and electromagnet, and yoke center is provided with
Connect the yoke upper end center threaded hole of lead screw lower thread；The two classes permanent magnet is located at the center of yoke, and two classes are forever
Magnetic blow out centre is provided with the hole for accommodating lead screw lower thread；Along the two sides of yoke length direction using two class magnet as symmetry axis,
It is arranged symmetrically a kind of permanent magnet；Along the two sides of yoke width direction using two class permanent magnets as axis, it is arranged symmetrically two groups of electromagnet；One
The lower surface of class permanent magnet, two class permanent magnets and electromagnet is contour；The guide rail lower end is fixedly mounted on yoke upper surface, guide rail
It is matched with the track base in frame module.
The carrying giant module includes: driving motor, hydraulic giant support arm, hydraulic giant seat, and driving motor is fixed on
It is located in the middle inside frame module, hydraulic giant support arm is directly inserted on the output shaft of driving motor retarder, by output shaft
Rotation drives the rotation of hydraulic giant support arm, and hydraulic giant seat is fixed on hydraulic giant support arm.
Compared with prior art, the beneficial effects of the present invention are:
1) pass through the design of vehicle frame link block, connector is matched with half intercept form needle bearing to be located in connection shell
Portion, fixed plug is located at connection enclosure interior, and is connected by screw with front truck frame module, so that connector has certain rotation
Ability, and then robot is made to have outstanding CV Surf adaptive performance.Robot body is divided into three parts (three vehicle frame moulds
Block), the intermediate flexible connecting member (vehicle frame link block) by controllable corner is connected, and robot is made to have extremely outstanding curved surface certainly
Conformability.
2) present invention takes turns sufficient formula walking manner by using, and improves the obstacle detouring mechanism of previous magneto climbing robot,
It takes turns walking combined drive module and is located at vehicle frame two sides, and vacant frame interior space, directly reduce the height of vehicle frame in this way,
Also the overall height of center of mass for just reducing complete machine can reduce the overall height of center of mass of robot, improve its anti-overturning, and increase
The obstacle clearing capability of robot, while having the advantages that wheeled mobile robot movement speed is fast, stationarity is good, it is flexible to turn to.
In addition, the obstacle detouring for taking turns walking combined drive module only does in vehicle frame periphery and rotates, height of chassis above ground is not influenced, also not elevator
Device hostage's heart.For example, the robot of this patent can obstacle clearing capability be 12cm, existing patent (201010289327.7) robot
(wheel is located at immediately below car body, and during obstacle detouring, to meet certain car body height of center of mass, Wheel lifting space is limited) can
Obstacle clearing capability is 6cm, and the two height of center of mass is close.
3) a kind of variable magnetic force, the magnetic suck module of variable magnetic field are provided, previous magneto climbing robot is improved
Permanent magnetic suck mechanism, make robot during obstacle detouring, magnet height can with wall surface obstacle shape change and change, by changing
Kind combined type variable magnetic force adsorption module magnetic induction line distribution, i.e. permanent magnet-yoke-permanent magnet-yoke-electromagnet distribution mode,
The magnetic field strength of magnet under unit volume is enhanced, stability and safety during robot operation are improved.
Detailed description of the invention
Fig. 1 is overall structure schematic three dimensional views of the invention
Fig. 2 is that frame connecting piece module of the invention is mounted on the three dimensional structure diagram in frame module
Fig. 3 is that connection shell of the invention is mounted on the schematic three dimensional views on vehicle frame
Fig. 4 is the assembling structure schematic diagram of fixed plug of the invention, half intercept form needle bearing and connector
Fig. 5 is frame connecting piece module schematic cross-sectional view of the present invention
Fig. 6 is connector partial enlargement diagram of the present invention
Fig. 7 is combined type variable magnetic force adsorption module three-dimensional figure of the present invention
Fig. 8 is combined type variable magnetic force adsorption module cross-sectional view of the present invention
Fig. 9 is combined type variable magnetic force adsorption module bottom view of the present invention
Figure 10 is that the present invention takes turns walking combined drive module three-dimensional figure
Figure 11 is carrying giant module three-dimensional figure of the invention
Figure 12 is first group of vehicle frame obstacle detouring process front view of the invention
Figure 13 is first group of vehicle frame obstacle detouring process top view of the invention
Figure 14 is first group of vehicle frame obstacle detouring process side view of the invention
Figure 15 is carrying giant module operation schematic diagram of the invention
Figure 16 is that overall structure of the invention is run in convex surface schematic diagram
Figure 17 is that overall structure of the invention is run in concave surface curved surface schematic diagram
Figure 18 is overall structure obstacle detouring process schematic of the invention；
In figure: 1- frame module, 2- take turns walking combined drive module, 3- vehicle frame link block, and 4- combined type variable magnetic force is inhaled
Attached module, 5- carry giant module；
11- vehicle frame lower end rubber；
21- lift arm assemblies；22- supporting arm assembly；23- drives arm component；24- traveling wheel；
211- lift arm driving motor；212- retarder；213- lift arm；The first connecting shaft of 214-；
221- support arm；The second connecting shaft of 222-；223- third connecting shaft；
23- drives arm component；231- actuating arm one；232- actuating arm two；233- actuating arm three；234- actuating arm
Four；235- travel driving motor；236- right-angle reduction device；
31- connection shell, 32- upper rubber, 33- lower rubber, half intercept form needle bearing of 34-, 35- connector, 36- are solid
Fixed plug；
41- lead screw assembly；4102- spindle motor, 4101- spindle motor reduction gear box, the braking of 4103- spindle motor
Device, 4104- spindle motor ring flange, 4105-A type belt wheel, 4106- belt, 4107-B type belt wheel, 4108-B type belt wheel lower end are convex
Platform, 4109-B type belt wheel tapered roller bearing, 4110-B type belt wheel tapered roller bearing lower end, 4111- feed screw nut, 4112-
Feed screw nut upper end boss, 4113- feed screw nut lower thread hole, 4114- feed screw nut tapered roller bearing, 4115- lead screw
Nut tapered roller bearing upper end, 4116- screw, 4117- feed screw nut locating rack, 4118- feed screw nut locating rack upper end,
4119- feed screw nut locating rack stabilizer blade, 4120- lead screw；
42- absorbent module；4201- lead screw lower thread, 4202- yoke upper end center threaded hole, 4203- yoke, 4204-
A kind of permanent magnet, bis- class permanent magnet of 4205-, 4206- electromagnet；
51- driving motor, 52- hydraulic giant support arm, 53- hydraulic giant seat.
Specific embodiment
The present invention is further described below in conjunction with attached drawing, but not in this, as the limit to the application protection scope
It is fixed.
As shown in Figure 1 to 11, a kind of band large-scale metal facade barrier-crossing wall-climbing robot of the present invention includes: multiple frame modules
1, what is be symmetrically installed in each frame module takes turns walking combined drive module 2, the vehicle for connecting two neighboring frame module
Frame link block 3, the combined type variable magnetic force adsorption module 4 being mounted in each frame module and carrying giant module 5；
The quantity of the frame module is three, and three frame modules are sequentially connected, before being respectively designated as from front to back
Frame module module, middle frame module module, Rear frame module, wherein front truck frame module, middle frame module, Rear frame mould
It is connected between block by vehicle frame link block, the bottom end of two neighboring frame module opposite face is provided with vehicle frame lower end rubber, preceding
Frame module lower end rubber is fixed on front truck frame module, and middle frame module lower end rubber is fixed on middle frame module.Arrange vehicle frame
Lower end rubber, when being that wall surface curvature is slightly larger in order to prevent, robot overall structure can generate bending, that is, three groups of vehicle frame moulds
Block will form a camber line at this time, and at this time the lower end of two adjacent groups frame module may contact-impact, and vehicle frame lower end rubber
The effect of glue is exactly to prevent the meeting direct collision of two adjacent groups vehicle frame, reduces the fatigue strength of material and increases service life, In
Play buffer function in centre.
There are two the identical vehicle frame link block of structure, three frame modules are total for setting between two neighboring frame module
There are four vehicle frame link blocks, are successively named as left front frame link block, right front frame link block, left back vehicle in sequence
Frame link block, right Rear frame link block, wherein before left front frame link block, right front frame link block are for connecting
Frame module and middle frame module, left back vehicle frame link block, right Rear frame link block are for frame module in connecting with after
Frame module.
The vehicle frame link block includes: connection shell 31, upper rubber 32, lower rubber 33, half intercept form needle bearing
34, connector 35, fixed plug 36,
The connection shell is located on the corresponding position of frame module, and connection enclosure interior is provided with for installation connecting element
35 cavity, 35 both ends of connector are cylinder, and two cylindrical sides connect by cuboid-type crossbeam, it is cylindrical with
Cuboid-type crossbeam is integrally formed, and half intercept form needle bearing 34, connection are installed in one end on cylindrical side far from crossbeam
Part is matched with half intercept form needle bearing is located at connection enclosure interior cavity, the outer ring of half intercept form needle bearing with to connect shell tight
Cooperation, the inner ring of half intercept form needle bearing and the cylindrical tight fit of connector, the cylinder of connector do not wrap up the rolling of half intercept form
The side of needle bearing is contacted with the cavity wall of connection shell；Connecting the intracorporal cavity of shell has receiving connector and half intercept form just
Cylindrical part after needle bearing assembly, is the rectangular cavity matched with connector beam shape in the outside of cylindrical part
Part is equipped with upper rubber 32 and lower rubber 33 in the upper lower inner surface that rectangle cavity segment is in contact with connector respectively,
And there is gap between the upper and lower surface of the rectangle cavity segment of connector crossbeam and connection shell, which is denoted as H；Close to square
The fixed plug installation cavity of setting in shape cavity segment and the connection shell of the position far from vehicle frame axle center, the size energy of fixed plug installation cavity
Accommodating the component after connector and half intercept form roller bearing needle-holding are matched, when assembly, the component that assembles is filled in installation cavity and is protruded by fixing,
Then translation is filled in the cylindrical cavity part and rectangle cavity segment of connection shell, and finally fixed plug 36 is extend into connection shell
Fixed plug installation cavity in, the outer surface of fixed plug is connected by screw with corresponding frame module, and fixed fill in primarily serving limit
Position effect installs needle bearing and connector after entering, then fixed plug is fixed on vehicle frame, limits connector right and left
To freedom degree so that connector can only be rotated relative to motionless vehicle frame；
Frame module and connection shell are integrally made of aluminum material, and connector is made of Steel material, therefore even
During fitting rotates, reaching certain angle can be in contact with the connection shell on vehicle frame, and connector is formed with shell is connect
Line contact, the upper lower inner surface for the rectangle cavity segment being connected on shell block connector, limit the rotational angle of connector,
The effect of the upper rubber 32 and lower rubber 33 of rectangle cavity segment is to be fixed on the portion being in contact on connection shell with connector
Position, does not allow two groups of rigid materials to have direct contact, as buffering.
When robot is on curved surface, due to the presence of magnetic adsorbability, make left front frame link block, right front frame
Link block, left back vehicle frame link block, right Rear frame link block interconnecting piece relative frame module can do certain rotation, with
Guarantee robot is bonded with wall surface.Two car body link blocks are arranged in every two adjacent carrier intermodule, to control its left and right
Balance, prevents vehicle frame from tilting.By control connector insertion connection casing depth L, (i.e. crossbeam protrudes into rectangle cavity segment
Depth) and connector away from connection shell above and below distance H can control connector maximum rotation angle, beEvery phase
It can produce two α corners between adjacent two frame modules, integrally can produce four corners, adapt to the biggish curved surface of curvature.
There are six the walking combined drive modules of wheel, and walking combined three groups of the drive module point of six wheels is symmetrically fixed on phase
The left and right sides for the frame module answered is respectively designated as the walking combined driving mould of the walking combined drive module of the near front wheel, off-front wheel
After taking turns the walking combined drive module of walking combined drive module, left rear wheel, the right side in the walking combined drive module of block, left center, the right side
Take turns walking combined drive module；Wherein, the walking combined drive module of the near front wheel, the walking combined drive module of off-front wheel and front frame
Module is connected, and takes turns walking combined drive module in the walking combined drive module of left center, the right side and is connected with middle frame module, left rear wheel
The walking combined drive module of walking combined drive module, off hind wheel is connected with rear car frame module.Robot in accessible wall surface just
Often when driving, each walking combined drive module of wheel is in decline pose, when robot passes through obstacle, on corresponding obstacle detouring vehicle frame
Two groups of walking combined drive modules of wheel can promote the distance of 10~12cm with by obstacle, and at this time on other two vehicle frame
Four walking combined driving moulds of wheel continue the normally travel for keeping original pose to guarantee robot.
The walking combined drive module of wheel includes lift arm assemblies 21, supporting arm assembly 22, driving arm component 23 and row
Walk wheel 24；A part of lift arm assemblies 21 is mounted in frame module 1, the top phase of another part and driving arm component 23
Even；A part of supporting arm assembly 22 is connected with frame module 1, and another part is connected with the lower part of driving arm component 23, drives
The end of arm component 23 is equipped with traveling wheel 24；Lift arm assemblies 21 and supporting arm assembly 22 are provided commonly for realizing that wheel is walking combined
The promotion of drive module, driving arm component 23 is for driving traveling wheel 24 to walk；Lift arm assemblies and supporting arm assembly are driving
The distance between two installation sites of arm component are equal to two peaces of lift arm assemblies and supporting arm assembly in frame module
The distance between holding position；
The lift arm assemblies 21 include lift arm driving motor 211, retarder 212 and lift arm 213；Lift arm driving
Motor 211 is mounted in frame module 1, and the output shaft of lift arm driving motor 211 is connected with the input terminal of retarder 212, is subtracted
The output end of fast device 212 is connected by one end of key and lift arm 213, and reducer output shaft position is 213 upper joint of lift arm；
The other end of lift arm 213 by the first connecting shaft 214 be hinged on driving arm component top hinged-support on, lift arm 213 with
The hinged-support on arm component top is driven to form revolute pair, the first connection shaft position is 213 hypozygal of lift arm；
The supporting arm assembly 22 includes support arm 221, the second connecting shaft 222 and third connecting shaft 223；Support arm 221
One end be hinged on the vehicle frame 1 of climbing robot to be installed by the second connecting shaft 222, support arm 221 and 1 shape of frame module
At revolute pair, the second connection shaft position is 221 upper joint of support arm；The other end of support arm 221 is cut with scissors by third connecting shaft 223
It connects on driving arm component lower part hinged-support 2321, support arm 221 and driving arm component lower part hinged-support form revolute pair, third
Connection shaft position is 221 hypozygal of support arm；
Aforementioned four joint is enclosed parallelogram sturcutre.
The driving arm component 23 includes actuating arm one 231, actuating arm two 232, actuating arm three 233, actuating arm
Four 234, travel driving motor 235 and right-angle reduction device 236；The travel driving motor 235 is mounted on actuating arm one 231
Interior, travel driving motor 235 is vertically-mounted, and right-angle reduction device 236 is equipped on the output shaft of travel driving motor；Right angle subtracts
Traveling wheel 24 is installed on the output end of fast device 236, is subtracted between right-angle reduction device 236 and actuating arm one by the way that right angle can be wrapped up
The mounting rack of fast device links together, and mounting rack is made of actuating arm two 232, actuating arm three 233, actuating arm four 234.
One combined type variable magnetic force adsorption module is installed in each frame module, there are three combined type variable magnetic forces to adsorb altogether
Module is successively named as preceding combined type variable magnetic force adsorption module, middle combined type variable magnetic force adsorption module, rear combined type variable magnetic force and inhales
Attached module, wherein preceding combined type variable magnetic force adsorption module is connected to front truck frame module, middle combined type variable magnetic force adsorption module connection
In middle frame module, rear combined type variable magnetic force adsorption module is connected to rear car frame module, and absorption needed for climbing wall is provided for robot
Power.When robot is when accessible wall surface normally travel, each combined type variable magnetic force adsorption module is in decline pose, with wall
Face is closer, to provide the adsorption capacity that robot is attached to wall surface, when robot passes through obstacle, on corresponding obstacle detouring vehicle frame one
Group combined type variable magnetic force adsorption module, the cooperation for the function that can reversely be magnetized by electromagnet, and the lead screw for passing through inside modules
Component drives absorbent module to promote the distance of 10~12cm so that by obstacle, two groups of combined types on remaining vehicle frame become magnetic at this time
Electromagnet forward direction in power adsorption module magnetizes, and continues to meet the adsorption capacity that robot is attached to wall surface.
Combined type variable magnetic force adsorption module includes lead screw assembly 41 and absorbent module 42, and the lead screw assembly 41 includes:
Spindle motor 4102, spindle motor reduction gear box 4101, spindle motor brake 4103, spindle motor ring flange 4104, A type
Belt wheel 4105, belt 4106, Type B belt wheel 4107, Type B belt wheel tapered roller bearing 4109, feed screw nut 4111, feed screw nut circle
Taper roller bearing 4114, screw 4116, feed screw nut locating rack 4117, lead screw 4120.
Wherein, spindle motor brake 4103, spindle motor 4102, spindle motor reduction gear box 4101 are sequentially connected,
The output end of spindle motor reduction gear box 4101 passes through spindle motor ring flange 4104, and spindle motor reduction gear box 4101
End is fixed with spindle motor ring flange, and the side wall of spindle motor ring flange is fixedly connected in frame module, and by screw
It is fixed；A type belt wheel 4105, A type belt wheel 4105 and Type B belt wheel are installed on the output end of spindle motor reduction gear box 4101
4107 pass through the connection transmission of belt 4106；A type belt wheel 4105 and 4101 output shaft of spindle motor reduction gear box are cooperated by key
Connection provides power for belt transmission, and belt one end is connected on A type belt wheel 4105, plays transmission effect.
The lower end of the Type B belt wheel 4107 has Type B belt wheel lower end boss 4108, outside Type B belt wheel lower end boss 4108
Snare connects Type B belt wheel tapered roller bearing 4109, Type B belt wheel lower end boss 4108 and Type B belt wheel tapered roller bearing 4109
Inner ring matches fixation；The lead screw 4120 passes through Type B belt wheel 4107, and the lower part of lead screw and absorbent module 42 are fixed；Type B belt wheel
The lower end of tapered roller bearing 4109 is in contact with frame module upper base surface；
Feed screw nut 4111 is installed on the lead screw on 4107 top of Type B belt wheel, the feed screw nut includes Upper cylindrical
Part and lower support plate, the upper end of column part have feed screw nut upper end boss 4112, have feed screw nut in support plate
Lower thread hole 4113, the upper end of Type B belt wheel and support plate are connected in one by feed screw nut lower thread hole 4113, screw
It rises, ensure that the consistency of Type B belt wheel Yu feed screw nut circumferential movement；
In feed screw nut upper end, feed screw nut tapered roller bearing 4114, feed screw nut upper end are installed in the top of boss 4112
Boss and feed screw nut tapered roller bearing internal diameter match；In feed screw nut, feed screw nut tapered roller bearing, Type B belt wheel
Tapered roller bearing 4109 and the outer integral assembling feed screw nut locating rack 4117 of Type B belt wheel, lead screw and feed screw nut locating rack
4117 adjacent upper and lower end parts pass through feed screw nut tapered roller bearing upper end 4115 and Type B belt wheel tapered roller bearing respectively
4109 are fixed together, and feed screw nut can be rotated relative to feed screw nut locating rack, and feed screw nut locating rack inner space is only capable of
Component after accommodating feed screw nut and Type B belt wheel, Type B belt wheel tapered roller bearing, the assembling of feed screw nut tapered roller bearing is big
It is small；The lower end of feed screw nut locating rack is fixed with frame module bottom surface；
The feed screw nut locating rack upper end 4118 of the feed screw nut locating rack 4117 is provided with the circular hole that lead screw passes through, lead screw
The lower part of nut locating rack 4117 has feed screw nut locating rack stabilizer blade 4119,4117 inner containment Type B of feed screw nut locating rack
Belt wheel, the inner wall of feed screw nut locating rack 4117 and feed screw nut tapered roller bearing major diameter fit, on feed screw nut locating rack
End is contacted with feed screw nut tapered roller bearing upper surface, i.e., feed screw nut locating rack upper end is pressed in feed screw nut taper roller axis
It holds on upper surface, lower end is in contact with vehicle frame, and is fixed by screw and vehicle frame.
The absorbent module 42 is located at the outside of frame module bottom, and when normally travel state, absorbent module distance
Bottom of frame has a distance；Absorbent module 42 includes: yoke 4203, ten a kind of permanent magnets, 4204, two class permanent magnets
4205, two groups of electromagnet 4206, guide rail 4207；The yoke lower surface is provided with for installing a kind of permanent magnet 4204, two classes forever
The groove of magnet 4205 and electromagnet, yoke center are provided with the yoke upper end center threaded hole 4202 of connection lead screw lower thread；
The two classes permanent magnet is located at the center of yoke, and two class permanent magnet centers are provided with for accommodating lead screw lower thread 4201
Hole；Along the two sides of yoke length direction using two class magnet as symmetry axis, it is arranged symmetrically ten a kind of permanent magnets；Along yoke width side
To two sides using two class permanent magnets as axis, be arranged symmetrically two groups of electromagnet, electromagnet passes through its included screwed hole of centre and yoke
Upper corresponding standing screw connection, which is realized, to be connected；A kind of permanent magnet 4204, two class permanent magnets 4205 and lower surface of electromagnet etc.
It is high；The guide rail lower end is fixedly mounted on yoke upper surface, and guide rail with the track base in frame module by matching, to ensure
The determination of the guide rail direction of motion, and then ensure the precise motion direction of absorbent module, realize moving up and down along track base.
Wherein, lead screw lower end is connect with yoke threaded upper ends, and absorbent module and lead screw assembly is made to form an entirety, and ten
A kind of permanent magnet is identical with a two class ferromagnetic material attributes, and size is different, and is attached on yoke, is robot
Primary attachment power is provided, two groups of electromagnet 4206 are matched by electromagnet screwed hole of centre with the standing screw on yoke 4203
It is formed and is connected, provide auxiliary adsorption capacity for robot.
The yoke is made of high permeability material, and a kind of, two class permanent magnets are made of NdFeB material, and the direction of magnetization is
Vertical direction.Single one kind permanent magnet is having a size of 30*25*30 (mm), and two class permanent magnets are having a size of 60*50*30 (mm), electromagnet
Radius is a height of 27mm of 25mm.The homonymous magnetic pole of two class permanent magnets is towards lower or towards upper.
The carrying giant module includes: driving motor 51, hydraulic giant support arm 52, hydraulic giant seat 53.Wherein, it drives
Motor 51 is fixed on inside middle frame module, and hydraulic giant support arm 52 is directly inserted on the output shaft of 51 retarder of driving motor, by
The rotation of output shaft drives the rotation of hydraulic giant support arm 52, and hydraulic giant seat 53 is fixed on hydraulic giant support arm, installs water on hydraulic giant seat
Rifle, hydraulic giant provide rust removing function for robot.If giant module is mounted on first group of vehicle frame too long, water that will lead to the arm of force
Pressure is easy that vehicle body is made to topple greatly when rifle works, if being mounted on third group will lead to the namely hydraulic giant arm mistake of hydraulic giant support arm 52
Long, quality becomes larger, and it is intermediate the most suitable to be mounted on.
As shown in figure 15, when carrying the operation of giant module, the driving motor 51 carried in giant module is driven
Hydraulic giant support arm 52 swings, and drives hydraulic giant seat 53 and hydraulic giant to swing, provides rust removing function.
As shown in Figure 16 and Figure 17, when robot is located at curved surface, left front frame link block, right front frame link block,
Left back vehicle frame link block, right Rear frame link block have a certain amount of rotation relative to three groups of frame modules after in preceding, with
Meet robot curved surface adaptive performance.
It as shown in figure 18, is robot obstacle detouring overall process.Barrier-crossing wall-climbing robot operation logic are as follows:
It works normally when driving, the walking combined drive module of the near front wheel, the walking combined drive module of off-front wheel, left center foot
The walking combined drive module of walking combined drive module, left rear wheel, the walking combined drive of off hind wheel are taken turns in combined type drive module, the right side
Dynamic model block is in decline pose, power needed for providing walking for robot, while combined type variable magnetic force adsorption module is in
Decline pose, to guarantee that preceding combined type variable magnetic force adsorption module, middle combined type variable magnetic force adsorption module, rear combined type variable magnetic force are inhaled
Attached module and wall surface are close contact, provide enough wall adsorption power for robot, carry in giant module
Driving motor driving hydraulic giant support arm swings, and hydraulic giant seat and hydraulic giant is driven to swing, and provides rust removing function, Ackermann steer angle,
Walking combined drive module differential motion is taken turns by left and right two column, turns to robot.
When robot encounters obstacle, the walking combined drive module of the near front wheel, the walking combined drive module of off-front wheel pass through
It promotes driving motor to be promoted, the auxiliary that preceding combined type variable magnetic force adsorption module is reversely magnetized by electromagnet in itself absorbent module
Under, inboard leadscrews component promotes adsorption module, at this time the walking combined driving mould of the walking combined drive module of the near front wheel, off-front wheel
Block, preceding combined type variable magnetic force adsorption module three and wall distance between the surface reach 10cm, keep front truck frame module and its attachable module logical
Cross obstacle, taken turns in the walking combined drive module of left center, the right side the walking combined drive module of walking combined drive module, left rear wheel,
The walking combined drive module of off hind wheel is still in decline pose, power needed for providing walking for robot, middle combined type variable magnetic force
Adsorption module, rear combined type variable magnetic force adsorption module still in decline pose, with guarantee in combined type variable magnetic force adsorption module, after
Combined type variable magnetic force adsorption module and wall surface are still close contact, provide enough wall adsorption power for robot, are carried high
The driving motor braking in hydraulic giant module is pressed, hydraulic giant arm stops swinging, and hydraulic giant stops working.Front truck frame module and its attachable module
Have height enough with by after obstacle, it is the walking combined drive module of the near front wheel, the walking combined drive module of off-front wheel, preceding compound
Formula variable magnetic force adsorption module is lowered back to appearance in situ, taken turns in the walking combined drive module of left center, the right side walking combined drive module, in
Combined type variable magnetic force adsorption module is raised up to specified altitude assignment, and middle frame module and its attachable module is made to have height enough to pass through
Obstacle, the walking combined drive module of the near front wheel, the walking combined drive module of off-front wheel, the walking combined drive module of left rear wheel, the right side
The walking combined drive module of rear-wheel is in decline pose, power needed for providing walking for robot, preceding combined type variable magnetic force absorption
Module, rear combined type variable magnetic force adsorption module are in decline pose, to guarantee preceding combined type variable magnetic force adsorption module, rear combined type
Variable magnetic force adsorption module and wall surface are still close contact, provide enough wall adsorption power for robot.Middle frame module and
Its attachable module has height enough by taking turns walking combined driving in the walking combined drive module of left center, the right side after obstacle
Module, middle combined type variable magnetic force adsorption module are lowered back to appearance in situ, and the walking combined drive module of left rear wheel, off hind wheel are walking combined
Drive module, rear combined type variable magnetic force adsorption module are raised up to specified altitude assignment, and rear car frame module and its attachable module is made to have foot
Enough height are with by obstacle, the walking combined drive module of the near front wheel, the walking combined drive module of off-front wheel, left center are walking combined
Walking combined drive module is taken turns in drive module, the right side is in decline pose, power needed for providing walking for robot, preceding combined type
Variable magnetic force adsorption module, middle combined type variable magnetic force adsorption module are in decline pose, to guarantee that preceding combined type variable magnetic force adsorbs mould
Block, middle combined type variable magnetic force adsorption module and wall surface are still close contact, provide enough wall adsorption power for robot.Afterwards
Frame module and its attachable module have height enough by the way that after obstacle, the walking combined drive module of left rear wheel, off hind wheel are sufficient
Combined type drive module, rear combined type variable magnetic force adsorption module are lowered back to appearance in situ, the walking combined drive module of the near front wheel, it is right before
Take turns the walking combined drive module of walking combined drive module, left center, to take turns walking combined drive module, left rear wheel compound enough in the right side
The walking combined drive module of formula drive module, off hind wheel is in decline pose, power needed for providing walking for robot, simultaneously
Combined type variable magnetic force adsorption module, middle combined type variable magnetic force adsorption module, rear combined type variable magnetic force adsorption module are in decline
Pose, to guarantee that preceding combined type variable magnetic force adsorption module, middle combined type variable magnetic force adsorption module, rear combined type variable magnetic force adsorb mould
Block and wall surface are close contact, provide enough wall adsorption power for robot, carry the driving in giant module
Motor continues that hydraulic giant support arm is driven to swing, and drives hydraulic giant seat and hydraulic giant to swing, provides rust removing function.
Barrier-crossing wall-climbing robot curved surface adaptive principle are as follows: when wall surface is without Curvature varying, left front frame link block, the right side
Front frame link block, left back vehicle frame link block, right Rear frame link block it is vertical with vehicle frame holding it is constant (because if
Plane wall surface, each traveling wheel is contacted with wall surface, and every group of walking combined drive module of wheel is identical pose, is all relative wall
Stand, thus result in each vehicle frame relative to the height of wall surface be it is certain, be parallel to wall surface, also just connect vehicle frame
Module is all perpendicular to vehicle frame side), when robot is on curved surface, due to the presence of magnetic adsorbability, connect left front frame
Connection module, right front frame link block, left back vehicle frame link block, right Rear frame link block interconnecting piece relative frame module
Certain rotation can be done, to guarantee being bonded for robot and wall surface.Two groups of vehicle frame link blocks are set between every two groups of frame modules, with
Its left-right balance is controlled, prevents vehicle frame from tilting.Pass through following table on control connector insertion connection casing depth L and connector
Inner surface distance H can control connector maximum rotation angle to identity distance connection shell rectangular cavity up and down, bePhase
It can produce two α corners between adjacent two groups of frame modules, integrally can produce four corners, adapt to the biggish curved surface of curvature.
The even setting of rubber above and below in shell, as the buffering between connector and connection shell, reducing it because of collision leads to fatigue
The problem of service life reduction.The setting of vehicle frame lower end rubber, as the buffering between vehicle frame and vehicle frame, when preventing curvature excessive, vehicle
Between frame direct collision friction (when being that wall surface curvature is slightly larger sometimes in order to prevent, robot can be bent, that is,
Three groups of vehicle frames will form a camber line, this when two adjacent groups vehicle frame lower end may contact-impact, and vehicle frame lower end rubber
The effect of glue is exactly to prevent the meeting direct collision of two adjacent groups vehicle frame, the fatigue strength and service life of material is reduced, in centre
Play the role of a buffering.).
The operation logic of barrier-crossing wall-climbing robot combined type variable magnetic force adsorption module are as follows: in robot normal driving process,
Lead screw assembly is in on-position, and absorbent module is in decline state, smaller with wall surface gap, provides reliable wall for robot
Face adsorption capacity.When robot encounters obstacle, the lead screw assembly on corresponding vehicle frame brings into operation, and spindle motor drives A type belt wheel
Rotation drives belt operation, and then drives the rotation of Type B belt wheel, since Type B belt wheel and feed screw nut circumferential movement are relatively fixed,
Feed screw nut carries out same rotary motion, since the movement of feed screw nut axial direction has been fixed, lead screw is driven to be promoted,
After the promotion for driving absorbent module progress certain altitude by lead screw again, spindle motor braking, the suction that lead screw is driven at the same time
Electromagnet reversely magnetizes inside the absorbent module that attached component is driven, and offsets a part one kind, two class permanent magnets relative to wall surface
Adsorption capacity, electromagnet forward direction magnetizes inside the absorbent module that is not driven, with required wall surface during ensuring robot operation
Adsorption capacity, multiple groups adsorption module are used in conjunction with each other.After the corresponding vehicle frame of one group of adsorption module passes through obstacle, spindle motor is anti-
To operation, absorbent module is driven to drop to specified altitude assignment, electromagnet is out of service, completes the obstacle detouring process of this group of vehicle frame.
The present embodiment is implemented under the premise of the technical scheme of the present invention, gives detailed embodiment and specific
Operating process, but protection scope of the present invention is not limited to the above embodiments.
Claims (6)
1. a kind of band large-scale metal facade barrier-crossing wall-climbing robot, which is characterized in that the robot includes multiple frame modules, every
The walking combined drive module of wheel being symmetrically installed in a frame module, the vehicle frame connection mould for connecting two neighboring frame module
Block, the combined type variable magnetic force adsorption module being mounted in each frame module and carrying giant module；
The bottom end of two neighboring frame module opposite face is provided with vehicle frame lower end rubber, sets between two neighboring frame module
It sets there are two the identical vehicle frame link block of structure,
The vehicle frame link block includes: connection shell, upper rubber, lower rubber, half intercept form needle bearing, connector, consolidates
Fixed plug,
The connection shell is located on the corresponding position of frame module, and connection enclosure interior is provided with the sky for installation connecting element
Chamber, the connector both ends are cylinder, and two cylindrical sides are connected by cuboid-type crossbeam, cylindrical and cuboid-type
Crossbeam is integrally formed, and half intercept form needle bearing, connector and half intercept form are installed in one end on cylindrical side far from crossbeam
Needle bearing match be located at connection enclosure interior cavity, the outer ring of half intercept form needle bearing with connect shell tight fit, connection
The side that the cylinder of part does not wrap up half intercept form needle bearing is contacted with the cavity wall of connection shell；Connect the intracorporal cavity tool of shell
Have and accommodate the cylindrical part after connector and half intercept form roller bearing needle-holding are matched just, the outside of cylindrical part for and connection
The rectangle cavity segment that part beam shape matches is equipped with respectively in the upper lower inner surface that rectangle cavity segment is in contact with connector
Upper rubber and lower rubber, and there is gap between the upper and lower surface of the rectangle cavity segment of connector crossbeam and connection shell,
The gap is denoted as H, and the depth that crossbeam protrudes into rectangle cavity segment is denoted as L；Close to rectangle cavity segment and far from the position in vehicle frame axle center
The size of the fixed plug installation cavity of setting in the connection shell set, fixed plug installation cavity can accommodate connector and half intercept form needle bearing
The outer surface of component after assembly, fixed plug is connected by screw with corresponding frame module.
2. band large-scale metal facade barrier-crossing wall-climbing robot according to claim 1, which is characterized in that the wheel is walking combined
Drive module includes lift arm assemblies, supporting arm assembly, driving arm component and traveling wheel；A part of lift arm assemblies is mounted on
In frame module, another part is connected with the top of driving arm component；A part of supporting arm assembly is connected with frame module, separately
A part is connected with the lower part of driving arm component, and the end of arm component is driven to be equipped with traveling wheel；Lift arm assemblies and support arm
Component is provided commonly for realizing the promotion for taking turns walking combined drive module, and driving arm component is used to drive the movement of the walking wheel；Lift arm
Component is equal to lift arm assemblies and support arm group at a distance from supporting arm assembly is between two installation sites of driving arm component
Distance of the part between two installation sites in frame module；
The lift arm assemblies include lift arm driving motor, retarder and lift arm；Lift arm driving motor is mounted on vehicle frame
In module, the output shaft of lift arm driving motor is connected with the input terminal of retarder, and the output end of retarder by key and is promoted
One end of arm is connected, and reducer output shaft position is lift arm upper joint；The other end of lift arm is hinged by the first connecting shaft
On the hinged-support on driving arm component top, the hinged-support on lift arm and driving arm component top forms revolute pair, the first connection
Axle position is set to lift arm hypozygal；
The supporting arm assembly includes support arm, the second connecting shaft and third connecting shaft；One end of support arm passes through the second connection
Axis is hinged on the vehicle frame of climbing robot to be installed, and support arm and frame module form revolute pair, and the second connection shaft position is
Support arm upper joint；The other end of support arm is hinged on driving arm component lower part hinged-support by third connecting shaft, support arm
Revolute pair is formed with driving arm component lower part hinged-support, it is support arm hypozygal that third, which connects shaft position,；
Aforementioned four joint is enclosed parallelogram sturcutre.
3. band large-scale metal facade barrier-crossing wall-climbing robot according to claim 1, which is characterized in that in each frame module
One combined type variable magnetic force adsorption module of upper installation, combined type variable magnetic force adsorption module includes lead screw assembly and absorbent module, institute
The absorbent module stated is located at the outside of frame module bottom, and when normally travel state, absorbent module has one apart from bottom of frame
Section distance；Lead screw assembly is located inside frame module, and lead screw assembly can drive absorbent module to move up and down.
4. band large-scale metal facade barrier-crossing wall-climbing robot according to claim 3, which is characterized in that the lead screw assembly
It include: spindle motor, spindle motor reduction gear box, spindle motor brake, spindle motor ring flange, A type belt wheel, belt, B
Type belt wheel, Type B belt wheel tapered roller bearing, feed screw nut, feed screw nut tapered roller bearing, screw, feed screw nut locating rack,
Lead screw；
Wherein, spindle motor brake, spindle motor, spindle motor reduction gear box are sequentially connected, spindle motor reduction gearing
The output end of case passes through spindle motor ring flange, and spindle motor reduction gear box end is fixed with spindle motor ring flange, and
The side wall of spindle motor ring flange is fixedly connected in frame module；A is installed on the output end of spindle motor reduction gear box
Type belt wheel, A type belt wheel and Type B belt wheel connect transmission by belt；The lower end of the Type B belt wheel has Type B belt wheel lower end boss,
Type B belt wheel tapered roller bearing, Type B belt wheel lower end boss and Type B belt wheel taper roller are socketed in Type B belt wheel lower end boss outer ring
The inner ring of bearing matches fixation；The lead screw passes through Type B belt wheel, and lower part and the absorbent module of lead screw are fixed；Type B belt wheel circular cone
The lower end of roller bearing and frame module bottom connection touch；
Feed screw nut is installed on the lead screw on Type B belt wheel top, the feed screw nut includes Upper cylindrical section and lower part branch
Fagging, the upper end of column part have feed screw nut upper end boss, have feed screw nut lower thread hole, Type B band in support plate
The upper end of wheel is fixed together with support plate by feed screw nut lower thread hole, screw；
In feed screw nut upper end, feed screw nut tapered roller bearing, feed screw nut upper end boss and lead screw spiral shell are installed in the top of boss
Generating circle taper roller bearing internal diameter matches；In feed screw nut, feed screw nut tapered roller bearing, Type B belt wheel tapered roller bearing
And the outer integral assembling feed screw nut locating rack of Type B belt wheel, feed screw nut can be rotated relative to feed screw nut locating rack；Feed screw nut is fixed
The lower end of position frame is fixed with frame module bottom surface；
The absorbent module includes: yoke, even number one kind permanent magnet, two class permanent magnets, two groups of electromagnet, guide rails；Institute
It states yoke lower surface and is provided with groove for installing a kind of permanent magnet, two class permanent magnets and electromagnet, yoke center is provided with connection
The yoke upper end center threaded hole of lead screw lower thread；The two classes permanent magnet is located at the center of yoke, two class permanent magnets
Center is provided with the hole for accommodating lead screw lower thread；Along the two sides of yoke length direction using two class magnet as symmetry axis, symmetrically
Arrange a kind of permanent magnet；Along the two sides of yoke width direction using two class permanent magnets as axis, it is arranged symmetrically two groups of electromagnet；One kind is forever
The lower surface of magnet, two class permanent magnets and electromagnet is contour；The guide rail lower end is fixedly mounted on yoke upper surface, guide rail and vehicle
Track base on frame module matches.
5. band large-scale metal facade barrier-crossing wall-climbing robot according to claim 1, which is characterized in that the carrying high pressure
Hydraulic giant module includes: driving motor, hydraulic giant support arm, hydraulic giant seat, and driving motor, which is fixed on, to be located in the middle inside frame module,
Hydraulic giant support arm is directly inserted on the output shaft of driving motor retarder, drives turning for hydraulic giant support arm by the rotation of output shaft
Dynamic, hydraulic giant seat is fixed on hydraulic giant support arm.
6. band large-scale metal facade barrier-crossing wall-climbing robot according to claim 1, which is characterized in that the frame module
Quantity is three.
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