CN115384226A - Self-adaptive magnetic type traveling wheel set - Google Patents

Abstract

The invention relates to an adaptive magnetic suction walking wheel set, which includes a mounting frame, a first wheel body and a second wheel body are rotatably connected to the mounting frame, and a hollow shaft passes between the first wheel body and the second wheel body The outer wall of the hollow shaft is connected with the sliding ring through a sliding bearing. The outer wall of the sliding ring is connected with a gear plate with gear teeth. The gear plate and the rack are meshed. The rack is slidably connected to the mounting frame. It is driven by a linear drive device to move linearly, and the outer wall of the sliding ring is also connected with a pressure sensor and a magnet assembly. The present invention can conveniently adjust the posture of the magnet assembly according to the wall surface conditions, and improves the adaptability of the walking wheel set to different crawling wall surfaces.

Description

A self-adaptive magnetic suction walking wheel set

technical field

The invention relates to the technical field of wall-climbing robots, in particular to an adaptive magnetic suction walking wheel set.

Background technique

The magnetic wall-climbing robot is an automated device that has the functions of movement and adsorption, and can move on the vertical crawling wall. It can replace manual work in equipment manufacturing, equipment maintenance and other environments, and is especially suitable for dangerous and extreme environments. , to replace human beings to complete high-repetition, high-risk and high-intensity labor. The wheeled wall climbing machine is a kind of magnetic adsorption wall climber, which is widely used because of its advantages of flexible movement. Wheeled wall-climbing machine robots rely on walking wheels to move, and magnet components are generally installed on the walking wheels to generate adsorption. However, the posture of the magnet components on the existing walking wheels is not easy to adjust, and the adaptability to different crawling walls is relatively poor. Weak, unable to guarantee the stability and reliability of the magnetic attraction force between the magnet assembly and the crawling wall.

Contents of the invention

For this reason, the technical problem to be solved by the present invention is to overcome the disadvantages in the prior art that the posture of the magnet assembly of the magnetic suction type walking wheel set is not easy to adjust, and the adaptability to different crawling walls is weak.

In order to solve the above-mentioned technical problems, the present invention provides an adaptive magnetic suction type walking wheel set, which includes a mounting frame, a first wheel body and a second wheel body are rotatably connected to the mounting frame, and the first wheel The body and the second wheel body are connected through a hollow shaft, and the outer wall of the hollow shaft is connected with a sliding ring through a sliding bearing, and a gear plate with gear teeth is connected to the outer wall of the sliding ring, and the gear plate and the teeth The racks are engaged with each other, the racks are slidably connected to the installation frame, and the racks are driven by a linear drive device to move linearly, and the outer wall of the sliding ring is also connected with a pressure sensor and a magnet assembly.

In one embodiment of the present invention, the linear drive device adopts an electro-hydraulic actuator.

In one embodiment of the present invention, the installation frame includes a top plate, one side of the top plate is connected with a first side plate, and the other side is connected with a second side plate, and the first wheel body and the second wheel body are located between the first side plate and the second side plate, and the rack is slidably connected to the top plate.

In one embodiment of the present invention, a slide rail is provided on the top plate, a sliding groove is provided on the slide rail, a sliding part is provided on the rack, and the sliding part is slidably connected in the chute.

In one embodiment of the present invention, the chute is T-shaped or dovetail-shaped, and the shape of the sliding part is adapted to the shape of the chute.

In one embodiment of the present invention, the first side plate is connected to a driving source through a first connecting piece, the driving source is located inside the hollow shaft, and the output shaft of the driving source is connected to the second wheel body , the second wheel body is driven to rotate by the driving source.

In one embodiment of the present invention, a first bearing seat is connected to the first wheel body, a first bearing hole is arranged on the first bearing seat, and the outer wall of the first connecting piece and the first bearing hole A first rolling bearing is arranged between them.

In one embodiment of the present invention, a second connecting piece is connected to the second side plate, a second bearing seat is connected to the second wheel body, and a second bearing hole is arranged on the second bearing seat , a second rolling bearing is arranged between the outer wall of the second connecting piece and the second bearing hole.

In one embodiment of the present invention, the magnet assembly adopts a permanent magnet chuck.

In one embodiment of the present invention, both the first wheel body and the second wheel body use rubberized wheels.

The above technical solution of the present invention has the following advantages compared with the prior art:

The self-adaptive magnetic suction walking wheel set of the present invention can conveniently adjust the posture of the magnet assembly according to the wall surface, improves the adaptability of the walking wheel set to different crawling walls, and ensures the work of the wall-climbing robot on the complex wall surface reliability.

Description of drawings

In order to make the content of the present invention more clearly understood, the present invention will be further described in detail below according to the specific embodiments of the present invention and in conjunction with the accompanying drawings.

Fig. 1 is the three-dimensional structure schematic diagram of self-adaptive magnetic suction type traveling wheel set of the present invention;

Fig. 2 is the front view of the walking wheel set shown in Fig. 1;

Fig. 3 is a left side view of the walking wheel set shown in Fig. 2;

Fig. 4 is the cross-sectional view of the walking wheel set shown in Fig. 2 at A-A place;

Fig. 5 is a top view of the walking wheel set shown in Fig. 2;

Fig. 6 is the bottom view of the walking wheel set shown in Fig. 2;

Description of reference signs in the manual: 1. Magnet assembly; 2. Mounting frame; 21. Top plate; 211. First through hole; 212. Second through hole; 22. First side plate; 23. Second side plate; 24. Slide rail; 3, first wheel body; 4, second wheel body; 5, hollow shaft; 6, sliding bearing; 7, sliding ring; 8, gear plate; 9, rack; 91, sliding part; 10, Linear drive device; 11. Pressure sensor; 12. Driving source; 13. First connector; 14. Second connector; 15. First bearing seat; 16. First rolling bearing; 17. Second bearing seat; 18. Second rolling bearing.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

Referring to Fig. 1-Fig. 6, this embodiment discloses an adaptive magnetic suction type walking wheel set, which includes a mounting frame 2, and a first wheel body 3 and a second wheel body 4 are rotatably connected to the mounting frame 2 , the first wheel body 3 and the second wheel body 4 are connected through a hollow shaft 5, the outer wall of the hollow shaft 5 is connected with a sliding ring 7 through a sliding bearing 6, and a gear plate with gear teeth is connected on the outer wall of the sliding ring 7 8. The gear plate 8 is meshed with the rack 9. The rack 9 is slidably connected to the mounting frame 2. The rack 9 is driven by the linear drive device 10 to move linearly. The outer wall of the sliding ring 7 is also passed through the pressure sensor 11 and The magnet assembly 1 is connected.

In the above structure, the first wheel body 3 and the second wheel body 4 are used to contact the crawling wall surface, the non-contact adsorption method is used between the magnet assembly 1 and the crawling wall surface, and the pressure sensor 11 is used to detect the pressure on the magnet assembly 1. When When the gap between the magnet assembly 1 and the crawling wall is large, the magnetic attraction force is small, and the reaction force of the pressure-magnetic attraction force on the magnet assembly 1 is also small. When the gap between the magnet assembly 1 and the crawling wall surface is small, the magnetic attraction force Larger, at this time the pressure on the magnet assembly 1 - the reaction force of the magnetic attraction force is also larger; according to the pressure data received by the magnet assembly 1 detected by the pressure sensor 11, the linear drive device 10 is controlled to start, and the linear drive drive device drives the rack 9 moves, and then drives the gear plate 8 and the sliding ring 7 to rotate together, and the rotation of the sliding ring 7 will drive the pressure sensor 11 and the magnet assembly 1 to rotate together, thereby changing the angle of the magnet assembly 1 and realizing the adjustment of the attitude of the magnet assembly 1, so that The uniformity and stability of the magnet air gap between the magnet assembly 1 and the crawling wall are ensured, thereby ensuring the stability and reliability of the magnetic attraction force, and improving the adaptability of the walking wheel set to different crawling walls.

In addition, the above-mentioned structure can not only improve the wall adaptability of the walking wheel set, but also realize the rapid force release of the magnet assembly 1, thereby helping the robot's transfer, obstacle surmounting, transition transfer, upper and lower walls and so on.

In addition, it can be understood that the gear plate 8 is arc-shaped to adapt to the shape of the outer wall of the hollow shaft 5 to facilitate the connection between the two.

In the above structure, the rack and pinion 9 structure is used for transmission, which not only helps to improve the control accuracy, but also facilitates the compact arrangement of the structure, and facilitates the reduction of the overall size of the traveling wheel set.

In one embodiment, the linear drive device 10 adopts an electro-hydraulic actuator (EHA, Electro-Hydraulic Actuato).

EHA is a device that integrates servo motor, oil pump, control block and hydraulic actuator (mainly refers to oil cylinder). Linear reciprocating motion has the advantages of fast response speed, large output power, high control accuracy, and high power-to-mass ratio.

It can be understood that both the electro-hydraulic actuator and the pressure sensor 11 are connected to the main controller, the pressure sensor 11 is used to transmit the detected pressure data of the magnet assembly 1 to the main controller, and the main controller controls the electric motor according to the pressure data. The liquid actuator moves, thereby driving the sliding ring 7 to rotate, and then changing the angle of the magnet assembly 1 to realize the adjustment of the air gap between the magnet assembly 1 and the crawling wall.

In one of the embodiments, as shown in FIGS. 1-3 , the installation frame 2 includes a top plate 21, a first side plate 22 is connected to one side of the top plate 21, and a second side plate 23 is connected to the other side. The first wheel Both the body 3 and the second wheel body 4 are located between the first side plate 22 and the second side plate 23, and the rack 9 is slidably connected to the top plate 21, so that the overall structure is compact and has better movement stability.

The first side plate 22 and the top plate 21 may be connected by screws, and the second side plate 23 and the top plate 21 may be connected by screws.

In one of the embodiments, as shown in FIG. 5 , a first through hole 211 and a second through hole 212 are also provided on the top plate 21 , the first through hole 211 is located above the first wheel body 3 , and the second through hole 212 is located above the first wheel body 3 . Above the second wheel body 4.

In one of the embodiments, as shown in Figures 1 and 4, a slide rail 24 is provided on the top plate 21, a slide groove is provided on the slide rail 24, a sliding part 91 is provided on the rack 9, and the sliding part 91 can slide The ground is connected in the chute to better guide the movement of the rack 9 and ensure the reliability of its movement.

In one embodiment, the chute is T-shaped or dovetail-shaped, and the shape of the sliding part 91 is adapted to the shape of the chute, and the shape of the chute has better connection reliability.

Further, both the linear drive device 10 and the rack 9 are located at the lower part of the top plate 21 .

In one of the embodiments, the first side plate 22 is connected to the casing of the driving source 12 through the first connecting piece 13, the driving source 12 is located inside the hollow shaft 5, and the output shaft of the driving source 12 is connected to the second wheel body 4 connected, the second wheel body 4 is driven to rotate by the driving source 12 .

Since the first wheel body 3 and the second wheel body 4 are connected together through the hollow shaft 5, when the driving source 12 drives the second wheel body 4 to rotate, it will drive the first wheel body 3 to rotate.

Wherein, the driving source 12 adopts a servo motor, and the above servo motor may be an integrated actuator, which is a servo all-in-one device integrating a servo motor, a harmonic reducer and a servo driver.

In one embodiment, the first side plate 22 and the first connecting member 13 are fixed together through bolt connection.

In one of the embodiments, as shown in FIG. 4 , the first wheel body 3 is connected with a first bearing seat 15 , the first bearing seat 15 is provided with a first bearing hole, the outer wall of the first connecting member 13 and the first A first rolling bearing 16 is arranged between the bearing holes.

The first bearing seat 15 rotates together with the first wheel body 3 , and through the arrangement of the first rolling bearing 16 , when the first wheel body 3 rotates, the first connecting member 13 can keep still.

The above-mentioned first rolling bearing 16 may be a deep groove ball bearing.

The first wheel body 3 and the first bearing seat 15 may be connected by screws.

In one of the embodiments, the second side plate 23 is connected with the second connecting member 14, the second wheel body 4 is connected with the second bearing seat 17, the second bearing seat 17 is provided with a second bearing hole, the second A second rolling bearing 18 is disposed between the outer wall of the connecting piece 14 and the second bearing hole.

The second bearing housing 17 rotates together with the second wheel body 4 , and through the setting of the second rolling bearing 18 , when the second wheel body 4 rotates, the second connecting member 14 can keep still.

The above-mentioned second rolling bearing 18 may adopt a deep groove ball bearing.

Wherein, the second side plate 23 and the second connecting member 14 are also fixed together through bolt connection.

The second wheel body 4 and the second bearing seat 17 can be connected by screws.

In addition, by arranging the first rolling bearing 16 and the second rolling bearing 18 on both sides respectively, the stability and reliability of the running wheel set can be well ensured.

In one embodiment, the magnet assembly 1 adopts a permanent magnetic chuck, which has the advantages of large suction force, good stability, and high reliability.

In one embodiment, both the first wheel body 3 and the second wheel body 4 are rubber-covered wheels.

In one embodiment, the first wheel body 3 and the second wheel body 4 are respectively fixed to both ends of the hollow shaft 5 by bolts.

When the self-adaptive magnetic suction type walking wheel set of the above-mentioned embodiment encounters an uneven wall surface when climbing a wall, the relative positional relationship between the magnet assembly 1 and the wall surface can be known according to the pressure data fed back by the pressure sensor 11 in real time. Only by controlling the motion of the linear drive device 10, the automatic adjustment of the position and attitude of the magnet assembly 1 can be realized conveniently and the self-adaptation to the wall surface can be realized.

The self-adaptive magnetic suction walking wheel set of the above embodiment can conveniently adjust the attitude of the magnet assembly according to the wall conditions, ensuring the stability and reliability of the magnetic attraction force between the magnet assembly and the crawling wall, and improving the stability and reliability of the walking wheel set for The adaptability of different crawling walls can be applied to climbing walls on complex walls, which ensures the working reliability of the wall-climbing robot on complex walls.

Apparently, the above-mentioned embodiments are only examples for clear description, and are not intended to limit the implementation. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in various forms can also be made. It is not necessary and impossible to exhaustively list all the implementation manners here. However, the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims (10)

1. The utility model provides a formula walking wheelset is inhaled to self-adaptation magnetism which characterized in that: including the mounting bracket, rotatable first wheel body and the second wheel body of being connected with on the mounting bracket, be connected through the hollow shaft between first wheel body and the second wheel body, the hollow shaft outer wall is connected through slide bearing and sliding ring, be connected with the toothed disc that has the teeth of a cogwheel on the outer wall of sliding ring, toothed disc and rack mesh mutually, rack slidable connects on the mounting bracket, the rack is by the linear drive device drive and do rectilinear movement, the outer wall of sliding ring still is connected through pressure sensor and magnet subassembly.

2. The adaptive magnetic-type walking wheel set of claim 1, wherein: the linear driving device adopts an electro-hydraulic actuator.

3. The adaptive magnetic-type walking wheel set of claim 1, wherein: the mounting bracket comprises a top plate, one side of the top plate is connected with a first side plate, the other side of the top plate is connected with a second side plate, the first wheel body and the second wheel body are both located between the first side plate and the second side plate, and the rack is slidably connected to the top plate.

4. The adaptive magnetically-attractable walking wheel set as claimed in claim 3, wherein: the top plate is provided with a sliding rail, the sliding rail is provided with a sliding groove, the rack is provided with a sliding part, and the sliding part can be connected in the sliding groove in a sliding manner.

5. The adaptive magnetically-attractable walking wheel set as claimed in claim 4, wherein: the sliding groove is T-shaped or dovetail-shaped, and the shape of the sliding part is matched with that of the sliding groove.

6. The adaptive magnetic-type walking wheel set of claim 3, wherein: the first side plate is connected with the driving source through the first connecting piece, the driving source is located inside the hollow shaft, an output shaft of the driving source is connected with the second wheel body, and the second wheel body is driven to rotate by the driving source.

7. The adaptive magnetic-type walking wheel set of claim 6, wherein: the first wheel body is connected with a first bearing seat, a first bearing hole is formed in the first bearing seat, and a first rolling bearing is arranged between the outer wall of the first connecting piece and the first bearing hole.

8. The adaptive magnetic-type walking wheel set of claim 3, wherein: the second side plate is connected with a second connecting piece, the second wheel body is connected with a second bearing seat, the second bearing seat is provided with a second bearing hole, and a second rolling bearing is arranged between the outer wall of the second connecting piece and the second bearing hole.

9. The adaptive magnetic-type walking wheel set of claim 1, wherein: the magnet assembly adopts a permanent magnetic chuck.

10. The adaptive magnetically-attractable walking wheel set as claimed in claim 1, wherein: the first wheel body and the second wheel body are both rubber-coated wheels.

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