CN113002646A - Crawler-type vertical facade obstacle crossing travelling mechanism - Google Patents
Crawler-type vertical facade obstacle crossing travelling mechanism Download PDFInfo
- Publication number
- CN113002646A CN113002646A CN202110354518.5A CN202110354518A CN113002646A CN 113002646 A CN113002646 A CN 113002646A CN 202110354518 A CN202110354518 A CN 202110354518A CN 113002646 A CN113002646 A CN 113002646A
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- crawler
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- type vertical
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- 230000007246 mechanism Effects 0.000 title claims abstract description 36
- 239000000725 suspension Substances 0.000 claims abstract description 19
- 238000001179 sorption measurement Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 30
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 239000000956 alloy Substances 0.000 claims description 5
- 238000010073 coating (rubber) Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims 5
- 238000007906 compression Methods 0.000 claims 5
- 238000004140 cleaning Methods 0.000 abstract description 6
- 239000003973 paint Substances 0.000 abstract description 4
- 238000005507 spraying Methods 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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Classifications
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- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
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- 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
- B62D55/30—Track-tensioning means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses a crawler-type vertical face obstacle crossing travelling mechanism which comprises a travelling module and a suspension module, wherein the suspension module is installed at one end of the travelling module, and the suspension module can provide adsorption force all the time in the obstacle crossing process, so that the travelling module cannot overturn. The invention adopts the motor drive, the motor drive has small volume, light weight, fast reaction, convenient power supply and good control performance, and can realize the forward and reverse rotation rapidly; the crawler-type traveling mechanism is adopted, the contact area between the traveling mechanism and the wall surface is large, the gravity center is low, the stability is good, the moving speed is high, and the control is relatively simple; it can be combined with a variety of robots and applied in various fields such as: the method has the advantages of cleaning and derusting of ships, spraying paint and detecting flaws of storage tanks, cleaning of large buildings, detecting flaws of bridge pipelines and the like, and has wide application.
Description
Technical Field
The invention relates to the field of obstacle crossing mechanisms, in particular to a crawler type vertical face obstacle crossing travelling mechanism.
Background
With the development of economic globalization, the requirements of engineering construction are higher and higher, and the difficulty is higher. Considering the material of the wall surface, the inspection work of the large steel structure can be completed by adopting a magnetic adsorption walking robot. Moreover, the robot has huge development prospects in the aspects of storage tank paint spraying and flaw detection, bridge pipeline flaw detection, ship decontamination and the like. At present, similar robots or mechanisms mostly adopt a permanent magnet adsorption crawler type, a permanent magnet adsorption mode has a simple structure and high reliability, even if the traveling mechanism has power supply interruption and other faults, the adsorption force of the traveling mechanism can not be changed, and the phenomenon that the traveling mechanism peels off from the wall surface can not occur. The crawler-type moving mode has large contact area, small rolling resistance and good traction adhesion performance, and can better exert larger traction force.
However, the disadvantages of such robots are also apparent. Most walking robots do not perform the relevant tasks well, because of the drawbacks imposed by the walking mechanism: the obstacle crossing ability is insufficient. When the vertical elevation obstacle is crossed, the walking mechanism can be tilted, the crawler belt is straight, and the permanent magnet cannot provide enough adsorption force along with the fact that the walking mechanism is tilted to a certain height, so that moment imbalance is caused, and related tasks cannot be completed in an overturning event.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a crawler-type vertical elevation obstacle crossing travelling mechanism, which solves the problem that the existing magnetic adsorption travelling mechanism cannot cross obstacles, particularly vertical elevation obstacles.
The technical scheme is as follows: the invention relates to a crawler-type vertical facade obstacle crossing travelling mechanism which comprises a travelling module and a suspension module, wherein the suspension module is installed at one end of the travelling module, and the suspension module can provide adsorption force all the time in the obstacle crossing process, so that the travelling module cannot overturn;
the walking module comprises a body frame consisting of two groups of long racks and two groups of short racks, driving motors are fixedly mounted on the outer sides of the two groups of short racks in the body frame, an output shaft of each driving motor penetrates through the long racks, a first bevel gear is fixedly sleeved at the end part of the output shaft, the first bevel gear is meshed with a second bevel gear, the second bevel gear is fixedly sleeved on a driving shaft, and driving chain wheels are coaxially arranged at the two ends of the driving shaft through flat keys; two ends of a group of long frames far away from the driving chain wheel in the body frame are fixedly connected with the supporting plate, a transmission shaft is rotatably mounted on the supporting plate through a bearing, the two ends of the transmission shaft are coaxially provided with the driving chain wheel through a flat key, and the driving chain wheel is connected with the corresponding driving chain wheel through a transmission chain;
the suspension module comprises a support plate fixedly connected with the long frame, a pressure spring barrel is fixedly arranged at the end of the support plate, a pressure spring is installed in the pressure spring barrel, a support column is slidably installed inside the pressure spring barrel and fixedly connected with one end of the support column and the pressure spring, one end of the support column, far away from the pressure spring, is fixedly connected with a roller, a rotating shaft is installed inside the roller in a rotating mode, rollers are coaxially arranged at the two ends of the rotating shaft through flat keys, and the roller is fixedly connected with a first permanent magnet through a support.
Furthermore, the four groups of inner corners of the body frame are fixedly connected with corner connecting pieces. The corner pieces can enhance the rigidity of the body frame.
Further, a second permanent magnet is mounted on the surface of the transmission chain.
Further, the equal fixed mounting in the outside of two sets of short frames has chain elasticity device in the body frame, chain elasticity device include with short frame fixed connection's connecting plate, fixedly connected with sleeve on the connecting plate, the sleeve endotheca is equipped with the carriage release lever, the one end fixedly connected with of carriage release lever removes the cover, it installs the axis of rotation to rotate in the removal cover, the both ends of axis of rotation are through the coaxial drive gear that is provided with of parallel key, it is equipped with the spring to cover on the carriage release lever between removal cover and the sleeve. The chain tightening device realizes self-adaptation of the tightness of the crawler belt through a tightening spring.
Further, the connecting plate is of an L-shaped structure.
Furthermore, the surface of the roller is covered with a rubber coating, and the first permanent magnet is of an arc-shaped structure.
Further, the distance between the roller and the transmission chain wheel is not less than the radius of the transmission chain wheel. Ensuring better obstacle crossing.
Further, the body frame is made of aluminum alloy materials. The aluminum alloy material can meet the requirements of structural strength, weight, corrosion resistance and the like.
Further, the surfaces of the first permanent magnet and the second permanent magnet are wrapped with rubber layers. The rubber layer can prevent the permanent magnet from being corroded, can play a role in relieving impact load, and protects the fragile material permanent magnet from being damaged when the fragile material permanent magnet travels on the surface of the steel structure.
Has the advantages that: compared with the prior art, the invention has the advantages that:
(1) the invention contains the suspension module, which can ensure that the front end of the walking mechanism is always contacted with the wall surface when the obstacle is crossed, thereby preventing the walking mechanism from overturning because the front end loses the adsorption force;
(2) the crawler belt self-adaption device comprises a chain tightening device, and self-adaption of tightness of the crawler belt can be realized through a tightening spring;
(3) the invention can be combined with a plurality of robots and applied to various fields such as: the cleaning and rust removal of ships, the paint spraying and flaw detection of storage tanks, the cleaning of large buildings, the flaw detection of bridge pipelines and the like, and the application is wide;
(4) the invention adopts the motor drive, the motor drive has small volume, light weight, fast reaction, convenient power supply and good control performance, and can realize the forward and reverse rotation rapidly; by adopting the crawler-type travelling mechanism, the contact area between the travelling mechanism and the wall surface is large, the gravity center is low, the stability is good, the moving speed is high, and the control is relatively simple.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a drive sprocket installation;
FIG. 3 is a schematic view of a drive sprocket installation;
FIG. 4 is a schematic view of a chain tensioner;
FIG. 5 is a schematic view of a frame structure of the body;
FIG. 6 is a schematic view of a suspension module configuration;
FIG. 7 is a cross-sectional view of a suspension module;
fig. 8 is a schematic diagram of the obstacle crossing process of the present invention.
Detailed Description
The invention is further described below with reference to the following figures and examples:
as shown in fig. 1 to 8, the crawler-type vertical elevation obstacle crossing travelling mechanism comprises a travelling module 1 and a suspension module 2, wherein the suspension module 2 is installed at one end of the travelling module 1 and is independently suspended, and the suspension module 2 can always provide adsorption force in the obstacle crossing process, so that the travelling module 1 cannot overturn; the invention can ensure that the front end of the walking mechanism is always contacted with the wall surface when the obstacle is crossed, thereby preventing the walking mechanism from overturning because the front end of the walking mechanism loses the adsorption force; the invention can be combined with a plurality of robots and applied to various fields such as: the cleaning and rust removal of ships, the paint spraying and flaw detection of storage tanks, the cleaning of large buildings, the flaw detection of bridge pipelines and the like, and the application is wide;
the walking module 1 comprises a rectangular body frame 11 consisting of two groups of long racks 101 and two groups of short racks 102, the body frame 11 is made of aluminum alloy materials, and the aluminum alloy materials can meet the requirements of structural strength, weight, corrosion resistance and the like, so the body frame 11 takes light weight measures; the four groups of inner corners of the body frame 11 are fixedly connected with corner connectors 103, and the corner connectors 103 can enhance the rigidity of the body frame 11;
the outer sides of two groups of short racks 102 in the body frame 11 are fixedly provided with driving motors 104, the output shafts of the driving motors 104 penetrate through the long racks 101, the end parts of the output shafts are fixedly sleeved with first bevel gears 105, the first bevel gears 105 are meshed with second bevel gears 106, the second bevel gears 106 are fixedly sleeved on driving shafts 107, and two ends of the driving shafts 107 are coaxially provided with driving chain wheels 108 through flat keys; two ends of a group of long frames 101 in the body frame 11, which are far away from the driving chain wheels 108, are fixedly connected with a supporting plate 109, a transmission shaft 110 is rotatably mounted on the supporting plate 109 through a bearing, two ends of the transmission shaft 110 are coaxially provided with driving chain wheels 111 through flat keys, and the driving chain wheels 111 are connected with the corresponding driving chain wheels 108 through driving chains 112; the transmission chain 112 is adopted for transmission, torque and power are transmitted by means of meshing of the gear teeth of the chain wheel and the chain links, accurate transmission ratio can be guaranteed, transmission efficiency is high, high precision is not needed in the aspects of processing and assembling, transmission is stable in the transmission process, and the phenomenon of slipping is avoided;
it can be seen that each drive sprocket 111 is driven by a separate drive sprocket 108; the driving motors 104 are arranged in a double-motor mode, and the operation of the two driving motors 104 can be used for controlling the forward movement, the backward movement and the steering of the walking module 1: the whole walking module 1 adopts a structure which is symmetrical left and right and asymmetrical front and back, and adopts a transmission mode that the driving chain wheel 108 drives and the driving chain wheel 111 drives, so that the gravity center of the walking module 1 is favorably moved downwards structurally, and the adsorption stability of the walking module 1 is favorably improved;
the surface of the transmission chain 112 is provided with a second permanent magnet 113, the second permanent magnet 113 adopts a double-row chain design to prevent rolling, the surface of the second permanent magnet 113 is wrapped with a rubber layer, the rubber layer can prevent the permanent magnet from being corroded and can play a role in relieving impact load, and the brittle material permanent magnet is protected from being damaged when walking on the surface of a steel structure; the walking module 1 is adsorbed on the wall surface by using the permanent magnet, and the walking module is adsorbed on the wall surface by depending on magnetic force, so that the structure is simple, the adsorption force is strong, the adaptability to the concave-convex of the wall surface is strong, and the reliability is higher;
moreover, the outer sides of two groups of short racks 102 in the body frame 11 are fixedly provided with chain tightening devices 3, each chain tightening device 3 comprises a connecting plate 301 fixedly connected with the short rack 102, each connecting plate 301 is of an L-shaped structure, a sleeve 302 is fixedly connected to each connecting plate 301, a moving rod 303 is sleeved in each sleeve 302, one end of each moving rod 303 is fixedly connected with a moving sleeve 304, a rotating shaft 305 is rotatably installed in each moving sleeve 304, two ends of each rotating shaft 305 are coaxially provided with a transmission gear 306 through a flat key, each transmission gear 306 is meshed with the corresponding transmission chain 112, and a spring 307 is sleeved on each moving rod 303 between each moving sleeve 304 and each sleeve 302; the chain tightening device 3 can realize self-adaptation of the tightness of the crawler belt through a tightening spring 307;
the suspension module 2 comprises a support plate 201 fixedly connected with the long frame 101, a pressure spring cylinder 202 is fixedly arranged at the end part of the support plate 201, a pressure spring 203 is installed in the pressure spring cylinder 202, a support column 204 is installed in the pressure spring cylinder 202 in a sliding mode, the support column 204 is fixedly connected with one end of the pressure spring 203, and the pressure spring 203 can stretch up and down in the pressure spring cylinder 202 so as to drive the support column 204 to move; one end, far away from the pressure spring 203, of the supporting column 204 is fixedly connected with a roller 205, a rotating shaft 206 is rotatably mounted in the roller 205, two ends of the rotating shaft 206 are coaxially provided with rollers 207 through flat keys, the surface of each roller 207 is covered with a rubber coating, the roller 205 is also fixedly connected with a first permanent magnet 208 through a support, the first permanent magnet 208 does not rotate along with the rollers 207, the first permanent magnet 208 is of an arc-shaped structure, the surface of the first permanent magnet 208 is wrapped with the rubber layer, and the first permanent magnet 208 is located between the two rollers 207 and keeps a proper distance from a wheel rim; meanwhile, the distance between the roller 207 and the transmission chain wheel 111 is not smaller than the radius of the transmission chain wheel 111, so that the obstacle can be better overcome. The pressure spring 203 of the suspension module 2 can apply pressure to the roller 207 when the front end of the traveling mechanism tilts, so that the roller 207 is always in contact with the metal surface in the obstacle crossing process, the first permanent magnet 208 can always provide enough adsorption force, and the traveling mechanism cannot overturn.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110354518.5A CN113002646B (en) | 2021-04-01 | 2021-04-01 | Crawler-type vertical facade obstacle crossing travelling mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110354518.5A CN113002646B (en) | 2021-04-01 | 2021-04-01 | Crawler-type vertical facade obstacle crossing travelling mechanism |
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| CN113002646A true CN113002646A (en) | 2021-06-22 |
| CN113002646B CN113002646B (en) | 2022-05-24 |
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| CN202110354518.5A Active CN113002646B (en) | 2021-04-01 | 2021-04-01 | Crawler-type vertical facade obstacle crossing travelling mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371088A (en) * | 2021-07-02 | 2021-09-10 | 中国科学院合肥物质科学研究院 | Magnetic adsorption crawler-type wall-climbing robot |
Citations (6)
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| JP2010149860A (en) * | 2010-03-26 | 2010-07-08 | Kubota Corp | Crawler traveling device |
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| CN110696988A (en) * | 2019-10-14 | 2020-01-17 | 江苏科技大学 | A crawler-type wall-climbing underwater cleaning robot |
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2021
- 2021-04-01 CN CN202110354518.5A patent/CN113002646B/en active Active
Patent Citations (6)
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| JP2010149860A (en) * | 2010-03-26 | 2010-07-08 | Kubota Corp | Crawler traveling device |
| CN105381902A (en) * | 2015-12-23 | 2016-03-09 | 烟台大学 | Wall-climbing rust removal paint spraying robot and control method thereof |
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Non-Patent Citations (1)
| Title |
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| 于庚 等: "深海作业型机器人总体设计及性能分析", 《舰船科学技术》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371088A (en) * | 2021-07-02 | 2021-09-10 | 中国科学院合肥物质科学研究院 | Magnetic adsorption crawler-type wall-climbing robot |
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