CN201006606Y - Multifunctional barrier-crossing universal magnet wheel robot type working vehicle - Google Patents
Multifunctional barrier-crossing universal magnet wheel robot type working vehicle Download PDFInfo
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- CN201006606Y CN201006606Y CNU2006200209376U CN200620020937U CN201006606Y CN 201006606 Y CN201006606 Y CN 201006606Y CN U2006200209376 U CNU2006200209376 U CN U2006200209376U CN 200620020937 U CN200620020937 U CN 200620020937U CN 201006606 Y CN201006606 Y CN 201006606Y
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Abstract
The utility model provides a multifunctional obstacle-crossing universal magnetic iron wheel robot type working vehicle, characterized in that the working vehicle is composed of a leading detection drive vehicle, a front working loop wheel machine, a main working loop wheel machine, and a back drive guiding vehicle. The leading detection drive vehicle is composed of a detection track sensor, a steering device, a frequency-variable motor drive element, and a horizontal universal magnetic iron wheel. The front working loop wheel machine is composed of a front working table, a plurality of horizontal universal magnetic iron wheels, and a leading detection drive vehicle obstacle-crossing lifting motor. The main working loop wheel machine is composed of a main working table and a plurality of horizontal universal magnetic iron wheels. The back drive guiding vehicle is composed of two back drive frequency-variable control motors, a speed reducer, a back drive magnetic iron wheel, and a horizontal universal magnetic iron wheel. When the working vehicle works on curvature, the universal magnetic iron wheels can be fixed on a bulb base, the front and back drive guiding magnetic iron wheels are fixed on a bottom board with a central shaft, the shafts of the front and back drive frequency-variable control motor are connected with the main shaft of the guiding drive magnetic iron wheels. The control system of the working vehicle has control parameters controlled by a computer and relative devices.
Description
Technical field:
The utility model relates to a kind ofly can carry that automatic welding, cutting, metal are sprayed paint, metal defect detection equipment, and the two universal magnet wheel robot type working vehicles that drive that crossing obstacle automatically arranged, can carry out the operation walking on the arbitrarily angled scope of operation and curved surface steel part.
Background technology:
Current, in fields such as heavy industry, tun manufacturing and shipbuilding, many operations such as all relate to a large amount of welding, nondestructive inspection and spray paint, its workload is not only big, and also very big to the harm of operator's health.So equipment such as multiple automatic welding, cutting occur in this field, but the problem that all exists some technical patterns own to overcome, can only be used for the fixed point weld job of certain limit as guide tracked welding equipment, be difficult to flexible; Also there is problem on some technical patterns as creep welding robot or trackless climbing mechanism of some tracklesses, there is the gap as wheeled permanent magnet of driving entirely and welded piece, magnet loop has been destroyed in this gap, reduced the absorption affinity of magnet widely, because the permanent magnet fixed position is very low, so this car can not clear the jumps; The existence of crawler type magnet climbing mechanism turns to frictional force big, cause the chain fracture easily, adjust the complicated difficulty of the mode that crawler belt is installed, this crawler type radius of turn is excessive, mobility is undesirable, also be not suitable for the operation on obstacle detouring and the labyrinth pahtfinder hard, the crawler type sucked type only is adapted at extremely smooth work general work.So some technical scheme products be difficult to be fit to real real work now, especially can not satisfy the specification requirement in welding, operation path complexity and the operating environment bad working environments of large-scale curved workpiece.
The utility model content:
The purpose of this utility model is to be fundamentally to solve in the present similar technical scheme product to have defective, and a kind of new technical scheme is proposed, the utility model scheme drives car, front console car, main boom truck, rear drive Guide vehicle and computer control system by leading detection and is formed.Concrete technical scheme is: detecting and tracking sensor (5) is fixed on the front portion of leading vehicle seat plate (16), leading drive magnet rolls (22) and rolls fixed mount (23) by magnet and leadingly be fixed on the leading vehicle seat plate (16) to bearing (24), leading before main shaft (21) is fixing positioning disk (7), and leading to trace (11) and leadingly connect together to driving-disc (15) to controlling leading on the variable-frequency motor (12) by two; By front wheel driving driving-chain (63) front wheel driving active gear wheel (64) and the driven gear wheel of front wheel driving (65) are connected together, front wheel driving initiatively gear wheel (64) is fixed on worm speed reducer (9) output shaft, and the driven gear wheel of front wheel driving (65) is fixed on leading magnet and rolls on the main shaft (53); Two front wheel driving VFC motors (10) are fixed on the guiding platform of principal (8); Leadingly be fixed on the leading vehicle seat plate (16) to electric machine support (13) by leading to control variable-frequency motor (12), the horizontal universal magnet of forerunner wheel (19) is organized and is fixed on below the leading vehicle seat plate (16); VFC promotes motor (28) and is fixed on the front console vehicle seat plate (32) by promoting electric machine support (33), the guide-car promoted on the orifice plate (20) before preceding guide-car's boom hoist cable (26) one ends on wheel (27) were fixed on, and the horizontal universal magnet wheel of preceding work car (31) group is fixed on below the front console vehicle seat plate (32); Main boom truck is made up of main workbench (37) and many group horizontal universal magnet wheels of main boom truck (39); The rear drive Guide vehicle is that rear drive VFC motor (41) is fixed on the rear drive vehicle seat plate (60), two groups of rear drive magnet wheels (44) are fixed on below the rear drive vehicle seat plate (60) by rear drive magnet-wheel outer bearing carrier (43) and inner pedestal (59), rear drive driven back gear wheel (58) is fixed on two rear drive main shafts (56) in the middle of the rear drive magnet wheel, by rear drive driving-chain (55) rear drive cardinal teeth wheel (54) and the driven gear wheel of rear drive (58) is associated in together; Leading magnet rolls main shaft (53) also can adopt schemes such as universal joint (67), (68), (70), and magnet rolls fixed mount (23) and also can adopt with the oblique crank Z scheme, as (66), (69), (71); Two front wheel driving VFC motors (10) can directly roll main shaft (53) with leading magnet and be associated in.
Wherein leading detection drives car and is rolled, front wheel driving VFC motor, leadingly formed to control variable-frequency motor, preceding positioning disk seat board, trace, detecting and tracking sensor, the horizontal universal magnet wheel of a plurality of forerunner, connecting plate and connecting axle by two leading drive magnets.
The front console car by seat board, promote motor, electric machine support, formed around wheel, steel wire rope, front console, horizontal universal magnet wheel institute.Front console is for automatic welding executing agency, cutting are carried in installation, equipment design such as detect a flaw, spray paint, and the front console car is made up of seat board, horizontal universal magnet wheels and front console.
Main workbench mainly is made up of main workbench, horizontal universal magnet wheels, main workbench is at heavier welding, defect-detecting equipment and design, it and front console can be formed working methods such as double-workbench and two welding equipments, increase work efficiency widely.
The rear drive Guide vehicle is made up of two rear drive VFC motors, two groups of rear drive magnet wheel and seat board.
The structure of the work car that this utility model is related:
1 at first is that implement is installed on front console or the main workbench, and these implements can be automatic welding, flaw detection, cut, spray paint and equipment such as shooting.
2 drive car, front console car, main boom truck, rear drive Guide vehicle with leading detection fuses, and forms to have multi-functional Operation Vans such as guiding, obstacle detouring, tracking, driving.
3 computer control units provide the operation pace of work car, the operating path programme-control, receive the detecting and tracking sensor signal, judge that back control promotes motor and makes leading detection drive the best angle that car forms obstacle detouring, work car start and stop instruction also is provided, and the parameter that analysis-by-synthesis All Jobs equipment provides can make the work car carry out the synthetic job task.
The 4 leading turn around parameters that provide according to computer control unit to control variable-frequency motor and rear drive VFC motor are controlled the angle that the work car is turned, thereby reach the specification requirement of following the tracks of operation track.
When 5 current guiding control variable-frequency motors and rear drive VFC motor steering, the all horizontal universal magnet wheels of work car begin to turn to, so turning radius is little, turn to frictional force minimum, each magnet wheel can both contact and form strong magnet loop with work package, and magnetic adsorbability is extremely strong.
6 as boom truck on curved surface during operation, the technical scheme that just adopts Figure 13, Figure 14, Figure 15 etc. to propose.
The technical scheme that the utility model proposes has solved the insurmountable problem of current other scheme veritably: work car obstacle detouring, angle of turn be little, turn to frictional force little and be fit to operation on the various curved surfaces, horizontal universal magnet wheel and ball cup universal magnet wheel have solved the work car does not fully have the problem that the gap contacts at various working faces and workpiece, thereby satisfies the application requirements of magnet loop closure.So the described technical scheme novel structure of the utility model uniqueness, flexible operation, intelligent degree height, man-machine communication close friend will be widely used in fields such as heavy industry, bridge, the open-air various operations of large-scale workpiece, shipbuilding, chemical industry, welding under water.
Description of drawings:
Fig. 1. multifunctional barrier-crossing universal magnet wheel robot type work car schematic diagram
Fig. 2. leading detection drives the car schematic diagram
Fig. 3. front console car schematic diagram
Fig. 4. main boom truck schematic diagram
Fig. 5. rear drive Guide vehicle schematic diagram
Fig. 6. leading detection drives car A-A to schematic diagram
Fig. 7. front console car B-B is to schematic diagram
Fig. 8. rear drive Guide vehicle C-C is to schematic diagram
Fig. 9. leading to the D-D of mechanism to schematic diagram
Figure 10. leading detection drives car E-E to schematic diagram
Figure 11. front console car F-F is to schematic diagram
Figure 12. main boom truck G-G is to schematic diagram
Figure 13. the leading detection of the car of working on curved surface drives the bassinet structure schematic diagram
Figure 14. the rear drive Guide vehicle structural representation of the car of on curved surface, working
Figure 15. the universal magnet wheel of the car of working on curved surface is bulb type structural representation fixedly
Figure 16. the rear drive Guide vehicle structural representation of the car of on curved surface, working
Figure 17. horizontal universal magnet wheel construction schematic diagram
Figure 18. work car computer control schematic diagram
Wherein:
1, leading detection drives car 2, front console car 3, main boom truck
4, rear drive Guide vehicle 5, detecting and tracking sensor 6, guide bearing lock nut
7, preceding positioning disk 8, guiding platform of principal 9, worm speed reducer
10, front wheel driving VFC motor 11, leading to trace 12, leading to the control variable-frequency motor
13, leading to electric machine support 14, leading to motor shaft 15, leading to driving-disc
16, leading vehicle seat plate 17, preceding connecting axle 18, connecting plate
19, the horizontal universal magnet wheel 20 of forerunner, preceding guide-car promote orifice plate 21, leading to main shaft
22, leading drive magnet rolls 23, magnet rolls fixed mount 24, leading to bearing
25, leading to bearing pressure ring 26, preceding guide-car's boom hoist cable 27, around wheel
28, VFC promotes motor 29, front console 30, middle connecting axle
31, the horizontal universal magnet wheel 32 of preceding work car, front console vehicle seat plate 33, lifting electric machine support
34, middle connecting hole 35, main car connecting hole 36, main work vehicle seat plate
37, main workbench 38, main work car connecting axle 39, the horizontal universal magnet wheel of main boom truck
40, rear-guard motor-car connecting hole 41, rear drive VFC motor 42, rear drive reductor
43, rear drive magnet-wheel outer bearing carrier 44, rear drive magnet wheel 45, the horizontal universal magnet wheel of rear-guard motor-car
46, leading driving cardinal teeth wheel 47, front wheel driving driving-chain 48, preceding chain via hole
49, preceding secondary magnet guide wheel 50, leading driven gear wheel 51, preceding magnet roll sawtooth
52, magnet rolls fixedly end cap 53, leading magnet and rolls main shaft 54, rear drive cardinal teeth wheel
55, rear drive driving-chain 56, rear drive main shaft 57, rear drive magnet wheel fixed cap
58, the driven gear wheel 59 of rear drive, rear drive magnet-wheel inner pedestal 60, rear drive vehicle seat plate
61, preceding positioning disk retainingf key 62, leading to driving-disc retainingf key 63, front wheel driving driving-chain
64, front wheel driving active gear wheel 65, the driven gear wheel 66 of front wheel driving, right with oblique crank Z
67, right universal joint 68, main universal joint 69, main with oblique crank Z
70, left universal joint 71, a left side are with oblique crank Z 72, rear drive conformal plate
73, rear drive is with oblique crank Z 74, universal ball end loam cake 75, three-dimensional universal ball end
76, bracket 77, magnet wheel support 78, magnet wheel under the universal ball end
79, horizontal universal magnet wheel lock nut 80, horizontal universal wheel bearing pressure 81, horizontal universal magnet wheel bearing
The specific embodiment:
The universal many group magnet wheels of forerunner's level (19) are fixed on the leading vehicle seat plate (16), as shown in figure 17 by horizontal universal magnet wheel bearing (81), horizontal universal magnet wheel lock nut (79).According to Fig. 6, Figure 10 scheme secondary magnet guide wheel (49), two leading driven gear wheels (50) and two leading drive magnets before two are rolled (22) and roll fixedly end cap (52) by magnet, being fixed to leading magnet rolls on the main shaft (53), again it is fixed to magnet and rolls on the fixed mount (23), magnet is rolled fixed mount (23) be fixed to leading to main shaft (21) lower end.Be put into leading vehicle seat plate (16) front end leading to bearing (24) according to Fig. 2, and be fixed on the leading vehicle seat plate (16) to bearing pressure ring (25) with leading.Pass leadingly behind bearing (24) to main shaft (21) with leading again, tighten guide bearing lock nut (6), preceding positioning disk (7) is fixed to leading on main shaft (21), two front wheel driving VFC motors (10) are fixed on the guiding platform of principal (8).Be fixed on the leading vehicle seat plate (16) to electric machine support (13) leading, be fixed on leading on electric machine support (13) leading to control variable-frequency motor (12).Press Fig. 9 mode, with two leading to trace (11) with preceding positioning disk (7) with leadingly be associated in together to driving-disc (15).Before positioning disk (7) and leading before driving-disc (15) is used respectively positioning disk retainingf key (61) and leading to driving-disc retainingf key (62) leading to main shaft (21) with leadingly on motor shaft (14), position.Detecting and tracking sensor (5) is fixed on the front end of leading vehicle seat plate (16).The horizontal universal magnet wheel of forerunner (19) is pressed Figure 17 scheme, be fixed on below the leading vehicle seat plate (16), be associated in the middle connecting hole (34) of preceding connecting axle (17) with front console car (2).With two front wheel driving driving-chains (47) leading driving cardinal teeth being taken turns (64) links with leading driven gear wheel (65).
Press Fig. 3 mode, front console (29) is fixed on the front console vehicle seat plate (32), be fixed on the front console vehicle seat plate (32), again VFC is promoted motor (28) and be fixed on the lifting electric machine support (33) promoting electric machine support (33).Promote on motor (28) axle being fixed on VFC again, promote orifice plate (20) with preceding guide-car's boom hoist cable (26) by preceding guide-car and be associated in together around wheel (27).How the group preceding work horizontal universal magnet wheel of car (31) is pressed Figure 17 scheme, be fixed on the front console vehicle seat plate (32), connecting axle (30) is associated in its main car connecting hole (35) with main boom truck (3) in using.
Press Fig. 4 mode, main workbench (37) is fixed on the main work vehicle seat plate (36), many group horizontal universal magnet wheels of main boom truck (39) are pressed Figure 17 scheme, be fixed on the main work vehicle seat plate (36).By main work car connecting axle (38) and rear-guard motor-car connecting hole (40), it is associated in rear drive Guide vehicle (4).
Press Fig. 5 and Fig. 8 scheme, two rear drive VFC motors (41) and rear drive reductor (42) are fixed on the rear drive vehicle seat plate (60), fixing rear drive cardinal teeth wheel on rear drive reductor (42) output shaft, earlier the driven gear wheel of rear drive (58) is fixed on rear drive main shaft (56) middle part, with rear drive magnet wheel fixed cap (57) two rear drive magnet being taken turns (44) then is fixed on the rear drive main shaft (56) of the driven gear wheel of rear drive (58) both sides, again this assembly is fixed on the rear drive vehicle seat plate (60) by rear drive magnet-wheel outer bearing carrier (43) and rear drive magnet-wheel inner pedestal (59), rear drive cardinal teeth wheel (54) and the driven gear wheel of rear drive (58) is associated in together with rear drive driving-chain (55); Another group is pressed Figure 17 scheme to the horizontal universal magnet wheel of rear-guard motor-car (45) equally, is fixed on the rear drive vehicle seat plate (60).
When on curved surface, carrying out operation as this work car, the scheme implementation that the work car will provide by Figure 13, Figure 14, Figure 15.
Claims (2)
1. the multifunctional barrier-crossing universal magnet wheel robot type work car that relates to of the utility model is characterized in that:
Detecting and tracking sensor (5) is fixed on the front portion of leading vehicle seat plate (16), leading drive magnet rolls (22) and rolls fixed mount (23) by magnet and leadingly be fixed on the leading vehicle seat plate (16) to bearing (24), leading before main shaft (21) is fixing positioning disk (7), and leading to trace (11) and leadingly connect together to driving-disc (15) to controlling leading on the variable-frequency motor (12) by two; By front wheel driving driving-chain (63) front wheel driving active gear wheel (64) and the driven gear wheel of front wheel driving (65) are connected together, front wheel driving initiatively gear wheel (64) is fixed on worm speed reducer (9) output shaft, and the driven gear wheel of front wheel driving (65) is fixed on leading magnet and rolls on the main shaft (53); Two front wheel driving VFC motors (10) are fixed on the guiding platform of principal (8); Leadingly be fixed on the leading vehicle seat plate (16) to electric machine support (13) by leading to control variable-frequency motor (12), the horizontal universal magnet of forerunner wheel (19) is organized and is fixed on below the leading vehicle seat plate (16); VFC promotes motor (28) and is fixed on the front console vehicle seat plate (32) by promoting electric machine support (33), the guide-car promoted on the orifice plate (20) before preceding guide-car's boom hoist cable (26) one ends on wheel (27) were fixed on, and the horizontal universal magnet wheel of preceding work car (31) group is fixed on below the front console vehicle seat plate (32); Main boom truck is made up of main workbench (37) and many group horizontal universal magnet wheels of main boom truck (39); The rear drive Guide vehicle is that rear drive VFC motor (41) is fixed on the rear drive vehicle seat plate (60), two groups of rear drive magnet wheels (44) are fixed on below the rear drive vehicle seat plate (60) by rear drive magnet-wheel outer bearing carrier (43) and inner pedestal (59), rear drive driven back gear wheel (58) is fixed on two rear drive main shafts (56) in the middle of the rear drive magnet wheel, by rear drive driving-chain (55) rear drive cardinal teeth wheel (54) and the driven gear wheel of rear drive (58) is associated in together; Leading magnet rolls main shaft (53) also can adopt schemes such as universal joint (67), (68), (70), and magnet rolls fixed mount (23) and also can adopt with the oblique crank Z scheme, as (66), (69), (71); Two front wheel driving VFC motors (10) can directly roll main shaft (53) with leading magnet and be associated in.
2. according to the multifunctional barrier-crossing universal magnet wheel robot type work car described in the claim 1, it is characterized in that, outer bearing carrier (43), (59) can be fixed on the rear drive conformal plate (72) in described every group of rear drive magnet wheel, two rear drive conformal plates (72) are fixed on the rear drive vehicle seat plate (60) with oblique crank Z (73) by rear drive, two rear drive VFC motors (41) can be fixed on the outer bearing carrier (43), and direct-connected with rear drive main shaft (56).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006200209376U CN201006606Y (en) | 2006-05-29 | 2006-05-29 | Multifunctional barrier-crossing universal magnet wheel robot type working vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006200209376U CN201006606Y (en) | 2006-05-29 | 2006-05-29 | Multifunctional barrier-crossing universal magnet wheel robot type working vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201006606Y true CN201006606Y (en) | 2008-01-16 |
Family
ID=39002551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2006200209376U Expired - Lifetime CN201006606Y (en) | 2006-05-29 | 2006-05-29 | Multifunctional barrier-crossing universal magnet wheel robot type working vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201006606Y (en) |
-
2006
- 2006-05-29 CN CNU2006200209376U patent/CN201006606Y/en not_active Expired - Lifetime
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Han Hongbo Document name: Notification to Pay the Fees |
|
| CX01 | Expiry of patent term |
Granted publication date: 20080116 |
|
| EXPY | Termination of patent right or utility model | ||
| DD01 | Delivery of document by public notice |
Addressee: Han Hongbo Document name: Notification of Expiration of Patent Right Duration |