CN115384226A - Self-adaptive magnetic type traveling wheel set - Google Patents
Self-adaptive magnetic type traveling wheel set Download PDFInfo
- Publication number
- CN115384226A CN115384226A CN202211200808.5A CN202211200808A CN115384226A CN 115384226 A CN115384226 A CN 115384226A CN 202211200808 A CN202211200808 A CN 202211200808A CN 115384226 A CN115384226 A CN 115384226A
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- Prior art keywords
- wheel body
- wall
- wheel set
- rack
- sliding
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- 238000005096 rolling process Methods 0.000 claims description 14
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000005389 magnetism Effects 0.000 claims 1
- 230000009193 crawling Effects 0.000 abstract description 11
- 230000009194 climbing Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/006—Magnetic 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/30—Increase in
- B60B2900/325—Reliability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/90—Providing or changing
- B60B2900/931—Magnetic effects
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a self-adaptive magnetic type walking wheel set which comprises a mounting frame, wherein a first wheel body and a second wheel body are rotatably connected to the mounting frame, the first wheel body and the second wheel body are connected through a hollow shaft, the outer wall of the hollow shaft is connected with a sliding ring through a sliding bearing, a gear plate with gear teeth is connected to the outer wall of the sliding ring, the gear plate is meshed with a rack, the rack is slidably connected to the mounting frame, the rack is driven by a linear driving device to move linearly, and the outer wall of the sliding ring is connected with a magnet assembly through a pressure sensor. The invention can conveniently adjust the posture of the magnet assembly according to the wall surface condition, and improves the adaptability of the travelling wheel assembly to different crawling wall surfaces.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a self-adaptive magnetic type walking wheel set.
Background
The magnetic wall-climbing robot has the functions of moving and adsorbing, can move on a vertical wall surface, can work in place of manpower in the environments of equipment manufacturing, equipment maintenance and the like, and is particularly suitable for dangerous and extreme environment operation to replace human beings to finish high-repeatability, high-risk and high-intensity labor. The wheel type wall climbing machine is one kind of magnetic adsorption wall climbing person, and has the advantage of flexible movement, so that the wheel type wall climbing machine is widely applied. Wheeled wall climbing machine robot relies on the walking wheelset to remove, generally can set up magnet assembly in order to produce the adsorption, but the adjustment of being not convenient for of magnet assembly's gesture on the current walking wheelset, and the wall adaptability of crawling to the difference is relatively weak, can't guarantee magnet assembly and the stability and the reliability of the magnetic attraction between the wall of crawling.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects that the posture of the magnet assembly of the magnetic type walking wheel set is inconvenient to adjust and the adaptability to different crawling wall surfaces is weak in the prior art.
In order to solve the technical problem, the invention provides a self-adaptive magnetic type walking wheel set which comprises a mounting frame, wherein a first wheel body and a second wheel body are rotatably connected to the mounting frame, the first wheel body and the second wheel body are connected through a hollow shaft, the outer wall of the hollow shaft is connected with a sliding ring through a sliding bearing, a gear plate with gear teeth is connected to the outer wall of the sliding ring, the gear plate is meshed with a rack, the rack is slidably connected to the mounting frame, the rack is driven by a linear driving device to move linearly, and the outer wall of the sliding ring is connected with a magnet assembly through a pressure sensor.
In one embodiment of the invention, the linear driving device adopts an electro-hydraulic actuator.
In one embodiment of the present invention, the mounting rack includes a top plate, a first side plate is connected to one side of the top plate, a second side plate is connected to the other side of the top plate, the first wheel and the second wheel are both located between the first side plate and the second side plate, and the rack is slidably connected to the top plate.
In an embodiment of the present invention, a sliding rail is disposed on the top plate, a sliding groove is disposed on the sliding rail, and a sliding portion is disposed on the rack and slidably connected in the sliding groove.
In one embodiment of the invention, the sliding groove is T-shaped or dovetail-shaped, and the shape of the sliding part is matched with that of the sliding groove.
In one embodiment of the present invention, the first side plate is connected to a driving source through a first connecting member, the driving source is located inside the hollow shaft, and an output shaft of the driving source is connected to the second wheel body, and the driving source drives the second wheel body to rotate.
In an embodiment of the present invention, a first bearing seat is connected to the first wheel body, a first bearing hole is formed in the first bearing seat, and a first rolling bearing is disposed between an outer wall of the first connecting member and the first bearing hole.
In an embodiment of the present invention, a second connecting member is connected to the second side plate, a second bearing seat is connected to the second wheel body, a second bearing hole is formed in the second bearing seat, and a second rolling bearing is disposed between an outer wall of the second connecting member and the second bearing hole.
In one embodiment of the invention, the magnet assembly employs a permanent magnet chuck.
In one embodiment of the present invention, the first wheel body and the second wheel body are both rubber covered wheels.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the self-adaptive magnetic attraction type walking wheel set can conveniently adjust the posture of the magnet assembly according to the wall surface condition, improves the adaptability of the walking wheel set to different crawling wall surfaces, and ensures the working reliability of the wall-climbing robot on the complex wall surface.
Drawings
In order that the present invention may be more readily and clearly understood, reference will now be made in detail to the present invention, examples of which are illustrated in the accompanying drawings.
FIG. 1 is a schematic three-dimensional structure of an adaptive magnetic-attraction type traveling wheel set according to the present invention;
FIG. 2 is a front view of the walking wheel set shown in FIG. 1;
fig. 3 is a left side view of the road wheel set shown in fig. 2;
FIG. 4 isbase:Sub>A cross-sectional view of the road wheel set shown in FIG. 2 at A-A;
fig. 5 is a top view of the road wheel set shown in fig. 2;
fig. 6 is a bottom view of the road wheel set shown in fig. 2;
description reference numbers indicate: 1. a magnet assembly; 2. a mounting frame; 21. a top plate; 211. a first through hole; 212. a second through hole; 22. a first side plate; 23. a second side plate; 24. a slide rail; 3. a first wheel body; 4. a second wheel body; 5. a hollow shaft; 6. a sliding bearing; 7. a slip ring; 8. a gear plate; 9. a rack; 91. a sliding part; 10. a linear drive device; 11. a pressure sensor; 12. a drive source; 13. a first connecting member; 14. a second connecting member; 15. a first bearing housing; 16. a first rolling bearing; 17. a second bearing housing; 18. a second rolling bearing.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1-6, the embodiment discloses a self-adaptive magnetic type walking wheel set, including mounting bracket 2, rotatable first wheel body 3 and second wheel body 4 that are connected with on mounting bracket 2, be connected through hollow shaft 5 between first wheel body 3 and the second wheel body 4, hollow shaft 5 outer wall is connected through slide bearing 6 and slip ring 7, be connected with gear plate 8 that has the teeth of a cogwheel on the outer wall of slip ring 7, gear plate 8 meshes with rack 9 mutually, rack 9 slidable connects on mounting bracket 2, rack 9 is driven by linear driving device 10 and is the rectilinear movement, the outer wall of slip ring 7 still is connected with magnet subassembly 1 through pressure sensor 11.
In the structure, the first wheel body 3 and the second wheel body 4 are used for contacting with a crawling wall surface, a non-contact adsorption mode is adopted between the magnet assembly 1 and the crawling wall surface, the pressure sensor 11 is used for detecting the pressure received by the magnet assembly 1, when the gap between the magnet assembly 1 and the crawling wall surface is large, the magnetic attraction force is small, the reaction force of the pressure received by the magnet assembly 1 and the magnetic attraction force is small, when the gap between the magnet assembly 1 and the crawling wall surface is small, the magnetic attraction force is large, and the reaction force of the pressure received by the magnet assembly 1 and the magnetic attraction force is large; according to the pressure data that magnet assembly 1 that pressure sensor 11 detected received, control linear drive device 10 starts, it removes to drive rack 9 by linear drive device, and then drive pinion rack 8 and slip ring 7 and rotate together, slip ring 7's rotation can drive pressure sensor 11 and magnet assembly 1 and rotate together, thereby change magnet assembly 1's angle, realize the adjustment of magnet assembly 1 gesture, thereby guarantee magnet assembly 1 throughout and creep the homogeneity and the stability of magnet air gap between the wall, and then guaranteed the stability and the reliability of magnetic attraction, the adaptability of walking wheel group in the different wall of crawling has been improved.
In addition, the structure can improve the wall surface adaptability of the walking wheel set, and can realize quick force leakage of the magnet assembly 1, thereby being beneficial to the transfer, obstacle crossing, transitional transfer, upper and lower wall surfaces and the like of the robot.
In addition, it will be appreciated that the gear plate 8 is arcuate to conform to the shape of the outer wall of the hollow shaft 5 to facilitate connection of the two.
In the structure, the gear rack 9 structure is adopted for transmission, so that the lifting control accuracy is favorably realized, the compact arrangement of the structure is also favorably realized, and the whole size of the traveling wheel set is conveniently reduced.
In one embodiment, the linear drive device 10 employs an Electro-Hydraulic actuator (EHA).
The EHA is a device integrating a servo motor, an oil pump, a control block and a hydraulic actuator (mainly an oil cylinder), under a rated power supply, the EHA only needs to give a control electric signal, and the hydraulic actuator (the oil cylinder) can carry out linear reciprocating motion as required, and has the advantages of high response speed, large output power, high control accuracy, high power-to-mass ratio and the like.
It can understand, electric liquid executor and pressure sensor 11 all are connected with main control unit, and pressure sensor 11 is used for transmitting the pressure data that magnet assembly 1 that detects received to main control unit, and main control unit is according to the motion of pressure data control electric liquid executor to drive slip ring 7 rotates, and then change magnet assembly 1's angle, realize magnet assembly 1 and the adjustment of crawling air gap between the wall.
In one embodiment, as shown in fig. 1 to 3, the mounting frame 2 includes a top plate 21, a first side plate 22 is connected to one side of the top plate 21, a second side plate 23 is connected to the other side of the top plate, the first wheel 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 good motion 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 embodiment, as shown in fig. 5, the top plate 21 is further provided with a first through hole 211 and a second through hole 212, the first through hole 211 is located above the first wheel body 3, and the second through hole 212 is located above the second wheel body 4.
In one embodiment, as shown in fig. 1 and 4, the top plate 21 is provided with a slide rail 24, the slide rail 24 is provided with a slide groove, the rack 9 is provided with a sliding portion 91, and the sliding portion 91 is slidably connected in the slide groove to better guide the movement of the rack 9 and ensure the reliability of the movement.
In one embodiment, the sliding groove is T-shaped or dovetail-shaped, and the shape of the sliding portion 91 is adapted to the shape of the sliding groove, which provides good connection reliability.
Further, the linear driving device 10 and the rack 9 are both located at a lower portion of the top plate 21.
In one embodiment, the first side plate 22 is connected to a housing of the driving source 12 through the first connecting member 13, the driving source 12 is located inside the hollow shaft 5, an output shaft of the driving source 12 is connected to the second wheel 4, and the driving source 12 drives the second wheel 4 to rotate.
Because the first wheel body 3 and the second wheel body 4 are connected together through the hollow shaft 5, the driving source 12 drives the first wheel body 3 to rotate when driving the second wheel body 4 to rotate.
The driving source 12 is a servo motor, which may be an integrated actuator, and the integrated actuator is a servo integrated device integrating the 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 by bolting.
In one embodiment, as shown in fig. 4, a first bearing seat 15 is connected to the first wheel body 3, a first bearing hole is formed in the first bearing seat 15, and a first rolling bearing 16 is arranged between the outer wall of the first connecting member 13 and the first bearing hole.
The first bearing seat 15 rotates with the first wheel body 3, and the first connecting element 13 can be kept stationary when the first wheel body 3 rotates due to the arrangement of the first rolling bearing 16.
The first rolling bearing 16 may be a deep groove ball bearing.
The first wheel body 3 and the first bearing seat 15 can be connected by screws.
In one embodiment, the second side plate 23 is connected to the second connecting member 14, the second wheel body 4 is connected to the second bearing seat 17, the second bearing seat 17 is provided with a second bearing hole, and a second rolling bearing 18 is arranged between the outer wall of the second connecting member 14 and the second bearing hole.
The second bearing seat 17 rotates with the second wheel 4, and the second connecting element 14 can be kept stationary when the second wheel 4 rotates due to the arrangement of the second rolling bearing 18.
The second rolling bearing 18 may be a deep groove ball bearing.
Wherein the second side plate 23 and the second connecting member 14 are also fixed together by bolting.
The second wheel 4 and the second bearing seat 17 may be connected by screws.
In addition, the motion stability reliability of the running wheel set can be well ensured by arranging the first rolling bearing 16 and the second rolling bearing 18 on the two sides respectively.
In one embodiment, the magnet assembly 1 is a permanent magnetic chuck, which has the advantages of large attraction force, good stability, high reliability, and the like.
In one embodiment, the first wheel body 3 and the second wheel body 4 are both rubber covered wheels.
In one embodiment, the first wheel body 3 and the second wheel body 4 are fixed to both ends of the hollow shaft 5 by bolts, respectively.
When the self-adaptive magnetic type walking wheel set provided by the embodiment climbs a wall, if an uneven wall surface is encountered, the relative position relation 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, and at the moment, the automatic adjustment of the position posture of the magnet assembly 1 can be conveniently realized by only controlling the linear driving device 10 to move, so that the wall surface is self-adaptive.
The self-adaptive magnetic attraction type walking wheel set can conveniently adjust the posture of the magnet assembly according to the wall surface condition, ensures the stability and reliability of magnetic attraction between the magnet assembly and a creeping wall, improves the adaptability of the walking wheel set to different creeping wall surfaces, can be applied to climbing wall walking of complex wall surfaces and ensures the walking; the working reliability of the wall-climbing robot on the complex wall surface is improved.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Various other modifications and alterations will occur to those skilled in the art upon reading the foregoing description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the 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.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211200808.5A CN115384226A (en) | 2022-09-29 | 2022-09-29 | Self-adaptive magnetic type traveling wheel set |
| PCT/CN2022/129764 WO2024065946A1 (en) | 2022-09-29 | 2022-11-04 | Adaptive magnetic-attraction-type traveling wheel set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211200808.5A CN115384226A (en) | 2022-09-29 | 2022-09-29 | Self-adaptive magnetic type traveling wheel set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115384226A true CN115384226A (en) | 2022-11-25 |
Family
ID=84128463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211200808.5A Pending CN115384226A (en) | 2022-09-29 | 2022-09-29 | Self-adaptive magnetic type traveling wheel set |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115384226A (en) |
| WO (1) | WO2024065946A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116279881A (en) * | 2023-02-15 | 2023-06-23 | 江苏镌极特种设备有限公司 | Actively-adaptive double-drive magnetic wall climbing robot wheel set and transition method |
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- 2022-11-04 WO PCT/CN2022/129764 patent/WO2024065946A1/en unknown
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| CN116279881A (en) * | 2023-02-15 | 2023-06-23 | 江苏镌极特种设备有限公司 | Actively-adaptive double-drive magnetic wall climbing robot wheel set and transition method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024065946A1 (en) | 2024-04-04 |
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