CN202686557U - Integrated driving-steering magnet-wheel device used for magnetic-adsorbing wall-climbing robot - Google Patents
Integrated driving-steering magnet-wheel device used for magnetic-adsorbing wall-climbing robot Download PDFInfo
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- CN202686557U CN202686557U CN 201220266195 CN201220266195U CN202686557U CN 202686557 U CN202686557 U CN 202686557U CN 201220266195 CN201220266195 CN 201220266195 CN 201220266195 U CN201220266195 U CN 201220266195U CN 202686557 U CN202686557 U CN 202686557U
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Abstract
The utility model belongs to the technical field of robot welding and particularly relates to an integrated driving-steering magnet-wheel device used for a magnetic-adsorbing wall-climbing robot. The device comprises a vehicle body fixing frame, a turning table frame, a steering driving mechanism, a wheel driving mechanism and rolling wheels, wherein a driven heeling rotating structure is arranged between the vehicle body fixing frame and the turning table frame, an independent steering structure is arranged between the turning table frame and a magnetic wheel, the heeling rotating structure comprises heeling rotating shafts and a self-lubricating sliding bearing, heeling rotating shafts are installed before and behind the turning table frame, and the self-lubricating sliding bearing is installed on the vehicle body fixing frame. Compared with the prior art, the integrated driving-steering magnet-wheel device has the advantages that transmission between a driving reducing motor and a wheel shaft is achieved through a synchronous belt, the transmission central distance can be adjusted to obtain a large installation space, and the driving reducing motor with the high power is installed to improve the driving moment. The independent steering freedom degree is arranged, and the steering axis is perpendicular to and intersects with a wheel axis, so that the independent steering of wheels can be achieved, and the motion flexibility of the wall-climbing robot is improved.
Description
Technical field
The utility model belongs to the robotic welding technology field, is for the steering integrated magnet-wheel device of the driving of magnetic adsorption wall climbing robot specifically.
Background technology
Magnetic adsorption wall climbing robot is a kind of of specialized robot, be a kind of design be used under abominable, dangerous, limiting case, at a kind of automated machine device that the magnetic conduction wall carries out operations specific such as inspection, detection, welding, polishing etc., more and more be subject to people's attention.Magnetic adsorption wall climbing robot is widely used in the production and construction of the ferromagnetic structures such as nuke industry, petrochemical industry, building industry, fire department, ship building industry at present.
Find by literature search, China Patent Publication No. is CN101612731A, the applying date is on July 23rd, 2009, denomination of invention is: the patent of invention of compact-type active driving wheel device for wall-climbing robots, this technology discloses a kind of climbing robot active drive wheel apparatus, concrete scheme is: rack tube is sleeved on the drive motor, the driving wheel support is packed on the end face of opening end of rack tube, driving wheel is sleeved on the rack tube, be provided with two bearings between the inwall of driving wheel and the outer wall of rack tube, axis is packed on the output shaft of drive motor, and cutting ferrule is sleeved on the axis and is affixed with driving wheel, and driving pulley is fixedly mounted on the cutting ferrule.This apparatus structure is compact, does not turn to and the attached function of magnetic but do not possess.
Existing magnetic adsorption wall climbing robot also has the application of Patents, the applying date is that October 8, application number in 2005 are that 200510086383.X, name are called the patent of invention of " wheeled non-contact magnetically adsorption wall climbing robot ", its technical scheme is: comprise wheel type mobile mechanism and permanent magnetic adhesion device, the drive wheel that wheel type mobile mechanism comprises the chassis, be installed in driver train on the chassis, driven by driver train.Described drive wheel is arranged symmetrically with, and adopts differential type of drive, relies on the differential of drive wheel to be implemented in turning on the magnetic conduction wall; Permanent magnetic adhesion device is installed on the described chassis, is non-contacting between described permanent magnetic adhesion device and magnetic conduction wall, and the magnetic energy utilization rate is high, high adsorption capacity.Above-mentioned patent characteristics are that adsorption affinity is large, but because all drive wheels all are that the cylinder that turns to of car body is taken turns relatively, and cornering resistance is large, steering flexibility is poor.
In sum, mainly contain in the deficiency of the drive wheel of existing magnetic adsorption wall climbing robot: 1, drive motor, retarder and wheel coaxial arrangement, because the restriction of installing space causes drive torque less; 2, the relative car body of drive wheel is in stays, causes the climbing robot kinematic dexterity poor; 3, drive wheel does not possess the curved surface adaptive capacity.
The utility model content
The purpose of this utility model be for overcome prior art drive torque, kinematic dexterity and curve surface adaptive this several aspect the weak point of performance, design the steering integrated magnet-wheel device of a kind of driving for magnetic adsorption wall climbing robot.
The technical solution of the utility model is:
The steering integrated magnet-wheel device of a kind of driving for magnetic adsorption wall climbing robot comprises car body fixed frame, turntable framework, steering driving mechanism, drive mechanism for wheel and roller;
Be provided with a passive inclination rotational structure between described car body fixed frame and the turntable framework, be provided with independent steering structure between turntable framework and the magnet-wheel;
Described inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame;
Described turntable framework comprises turntable lower supporting plate, turret supports column, turntable cover plate and the turntable upper backup pad that links to each other successively;
Described steering driving mechanism comprises steer motor adapter plate and the drive motor that turns to mounted thereto, turn to drive motor to adopt and turn to reducing motor, motor output shaft connects epicyclic reduction gear, drives steering shaft by one-level bevel drive and primary cylinder gear transmission again;
Described drive mechanism for wheel comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, drives roller by toothed belt transmission and rolls;
Described roller is magnet-wheel, and described reducing motor and the wheel rolling of turning to drives each other drive configuration independently of reducing motor;
Rolling rotating shaft one end is installed on the car body fixed frame, other end turntable lower supporting plate connects, the turntable upper backup pad, the turret supports column is connected with the turntable lower supporting plate, the turntable cover plate is connected with the turntable upper backup pad, tapered roller bearing is installed on two stay bearing plates, steering shaft is bearing on the tapered roller bearing, steering shaft is connected with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft are affixed, the angular transducer strut bar is connected with the turntable upper backup pad, angular transducer is connected with the angular transducer strut bar, the steer motor adapter plate is connected with the turntable upper backup pad, turn to reducing motor to be connected with the steer motor adapter plate, 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft, the 40 tooth spur bevel gear wheels that are meshed with it are mounted on the bevel gear shaft, bevel gear shaft is by the first deep groove ball bearing supporting that is installed in the turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft is connected with turning to substrate, wheel left side adapter plate, wheel right side adapter plate, the drive motor adapter plate is connected with turning to substrate, driving reducing motor is connected with the drive motor adapter plate, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, small synchronous pulley is installed on the small synchronous pulley axle by the flat key connection, front-wheel module permanent magnet and wheel yoke are installed on the axletree by the flat key connection, axletree is bearing between wheel left side adapter plate and the wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is installed in axletree by flat key, connected by Timing Belt between large synchronous pulley and the small synchronous pulley, be connected by screw between tensioning running roller and the tensioning running roller strut bar, tensioning running roller strut bar is installed on the adapter plate of wheel left side by screw.
Drive between reducing motor and the axletree and pass through toothed belt transmission.
Steering driving mechanism also comprises steering shaft, and the steering shaft bottom is equipped with drive mechanism for wheel and roller.
Described steer axis and wheel axis perpendicular quadrature.
Described driving reducing motor is brush direct current motor.
The utility model compared with prior art has the following advantages:
1, passes through toothed belt transmission between driving reducing motor and the axletree, can obtain larger installing space by regulating the transmission width between centers, thereby the driving reducing motor that relatively high power is installed improves drive torque.
2, be provided with and independently turn to degree of freedom and make steer axis and the wheel axis perpendicular quadrature, can realize the independent steering of wheel, improve the climbing robot kinematic dexterity.
3, be provided with passive banking degree of freedom and by rolling confinement block constrained side tilt angle in positive and negative 10 degree, make climbing robot have preferably curved surface adaptive capacity.
4, roll confinement block is realized the constrained side degree of tilt by mechanical position limitation function.
5, described steering structure and wheel rolling all are provided with independently driver train.
Description of drawings
Fig. 1 is the utility model constructional drawing.
Fig. 2 was the part sectional view of steering shaft and bevel gear shaft.
Fig. 3 was the part sectional view of axletree.
Plain bearing 1, roll rotating shaft 2, inclination angle confinement block 3, car body fixed frame 4, turntable lower supporting plate 5, turret supports column 6, turntable cover plate 7, turntable upper backup pad 8, steer motor adapter plate 9, turn to reducing motor 10,20 tooth spur bevel gear wheels 11, angular transducer input shaft 12, angular transducer 13, angular transducer strut bar 14, drive motor adapter plate 15, drive reducing motor 16, small synchronous pulley axle 17, small synchronous pulley 18, tensioning running roller strut bar 19, tensioning running roller 20, Timing Belt 21, large synchronous pulley 22,60 tooth straight-tooth gears 23, two tapered roller bearings 24, steering shaft end cap 25, steering shaft 26,40 tooth spur bevel gear wheels 27, bevel gear shaft 28, the first deep groove ball bearing 29,19 tooth straight-tooth gears 30, wheel left side adapter plate 31, turn to substrate 32, wheel right side adapter plate 33, the second deep groove ball bearing 34, axletree 35, front-wheel module permanent magnet 36, wheel yoke 37.
The specific embodiment
The steering integrated magnet-wheel device of a kind of driving for magnetic adsorption wall climbing robot comprises car body fixed frame, turntable framework, steering driving mechanism, drive mechanism for wheel and roller; Be provided with a passive inclination rotational structure between described car body fixed frame and the turntable framework, be provided with independent steering structure between turntable framework and the magnet-wheel; Described inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame; Described turntable framework comprises turntable lower supporting plate, turret supports column and the turntable cover plate 7 that links to each other successively; Described steering driving mechanism comprises steer motor adapter plate and the drive motor that turns to mounted thereto, turn to drive motor to adopt and turn to reducing motor, motor output shaft connects epicyclic reduction gear, drives steering shaft by one-level bevel drive and primary cylinder gear transmission again; Described drive mechanism for wheel comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, drives roller by toothed belt transmission and rolls; Described roller is magnet-wheel, and described reducing motor and the wheel rolling of turning to drives each other drive configuration independently of reducing motor.
Rolling rotating shaft 2 one ends is installed on the car body fixed frame, other end turntable lower supporting plate connects, turntable upper backup pad 8, turret supports column 6 is connected connection with the turntable lower supporting plate, turntable cover plate 7 is connected with turntable upper backup pad 8, tapered roller bearing 24 is installed on two stay bearing plates, steering shaft 26 is bearing on the tapered roller bearing, steering shaft 26 is connected with 60 tooth straight-tooth gears 23, angular transducer input shaft 12 is affixed with steering shaft 26, angular transducer strut bar 14 is connected with turntable upper backup pad 8, angular transducer 13 is connected with angular transducer strut bar 14, steer motor adapter plate 9 is connected with turntable upper backup pad 8, turn to reducing motor 10 to be connected with steer motor adapter plate 9,20 tooth spur bevel gear wheels 11 are fixed in and turn on the reducing motor output shaft, the 40 tooth spur bevel gear wheels 27 that are meshed with it are mounted on the bevel gear shaft 28, bevel gear shaft 28 is by the first deep groove ball bearing 29 supportings that are installed in turntable upper backup pad 8, the opposite side of bevel gear shaft 28 connects by flat key with 19 tooth straight-tooth gears 30,19 tooth straight-tooth gears 30 and 23 engagements of 60 tooth straight-tooth gears, the lower end of steering shaft 26 is connected with turning to substrate 32, wheel left side adapter plate 31, wheel right side adapter plate 33, drive motor adapter plate 15 is connected with turning to substrate 32, driving reducing motor 16 is connected with drive motor adapter plate 15, small synchronous pulley axle 17 is affixed with the output shaft that drives reducing motor 16, small synchronous pulley 18 is installed on the small synchronous pulley axle 17 by the flat key connection, front-wheel module permanent magnet 36 and wheel yoke 37 are installed on the axletree 35 by the flat key connection, axletree 35 is bearing between wheel left side adapter plate 31 and the wheel right side adapter plate 33 by the first deep groove ball bearing 29 and the second deep groove ball bearing 34, large synchronous pulley 22 connects the opposite side that is installed in axletree 35 by flat key, connected by Timing Belt 21 between large synchronous pulley 22 and the small synchronous pulley 18, be connected by screw between tensioning running roller 20 and the tensioning running roller strut bar 19, tensioning running roller strut bar 19 is installed on the adapter plate 31 of wheel left side by screw.Drive between reducing motor and the axletree and pass through toothed belt transmission.Steering driving mechanism also comprises steering shaft, and the steering shaft bottom is equipped with drive mechanism for wheel and roller.Described steer axis and wheel axis perpendicular quadrature.Described driving reducing motor is brush direct current motor.
Such as Fig. 1, Fig. 2, shown in Figure 3, a kind of embodiment of the present utility model, roll rotating shaft 2 one ends by plain bearing 1 supporting that is installed on the car body fixed frame, the other end and turntable lower supporting plate 5 are affixed by thread connection, turntable upper backup pad 8, turret supports column 6 and turntable lower supporting plate 5 are connected by screw, turntable cover plate 7 is connected by screw with turntable upper backup pad 8, two tapered roller bearings 24 are installed on two stay bearing plates face-to-face, steering shaft 26 is bearing on these two tapered roller bearings, steering shaft 26 is connected by flat key with 60 tooth straight-tooth gears 23, angular transducer input shaft 12 is affixed with steering shaft 26, angular transducer strut bar 14 is connected by screw with turntable upper backup pad 8, angular transducer 13 is connected by screw with angular transducer strut bar 14, steer motor adapter plate 9 is connected by screw with turntable upper backup pad 8, turn to reducing motor 10 and steer motor adapter plate 9 to be connected by screw, 20 tooth spur bevel gear wheels 11 are fixed in and turn on the reducing motor output shaft, the 40 tooth spur bevel gear wheels 27 that are meshed with it are installed on the bevel gear shaft 28 by the flat key connection, bevel gear shaft 28 is by the first deep groove ball bearing 29 supportings that are installed in turntable upper backup pad 8, the opposite side of bevel gear shaft 28 connects by flat key with 19 tooth straight-tooth gears 30,19 tooth straight-tooth gears 30 and 23 engagements of 60 tooth straight-tooth gears, the lower end of steering shaft 26 with turn to substrate 32 to be connected by screw, wheel left side adapter plate 31, wheel right side adapter plate 33, drive motor adapter plate 15 with turn to substrate 32 to be connected by screw, driving reducing motor 16 is connected by screw with drive motor adapter plate 15, small synchronous pulley axle 17 is affixed with the output shaft that drives reducing motor 16, small synchronous pulley 18 is installed on the small synchronous pulley axle 17 by the flat key connection, front-wheel module permanent magnet 36 and wheel yoke 37 are installed on the axletree 35 by the flat key connection, axletree 35 is bearing between wheel left side adapter plate 31 and the wheel right side adapter plate 33 by the first deep groove ball bearing 29 and the second deep groove ball bearing 34, large synchronous pulley 22 connects the opposite side that is installed in axletree 35 by flat key, connected by Timing Belt 21 between large synchronous pulley 22 and the small synchronous pulley 18, be connected by screw between tensioning running roller 20 and the tensioning running roller strut bar 19, tensioning running roller strut bar 19 is installed on the adapter plate 31 of wheel left side by screw.Magnet-wheel comprises front-wheel module permanent magnet 36 and wheel yoke 37.
Claims (5)
1. the steering integrated magnet-wheel device of driving that is used for magnetic adsorption wall climbing robot is characterized in that: comprise car body fixed frame (4), turntable framework, steering driving mechanism, drive mechanism for wheel and roller;
Be provided with a passive inclination rotational structure between described car body fixed frame (4) and the turntable framework; Described inclination rotational structure is included in the inclination rotating shaft (2) of the forward and backward installation of turntable framework, and the self-lubricating plain bearing (1) of installing at the car body fixed frame;
Described turntable framework comprises turntable lower supporting plate (5), turret supports column (6), turntable cover plate (7) and the turntable upper backup pad (8) that links to each other successively;
Described steering driving mechanism comprises steer motor adapter plate (9) and the drive motor that turns to mounted thereto, turn to drive motor to adopt and turn to reducing motor (10), motor output shaft connects epicyclic reduction gear, drives steering shaft (26) by one-level bevel drive and primary cylinder gear transmission;
Described drive mechanism for wheel comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, drives roller by Timing Belt (21) transmission and rolls;
Described roller is magnet-wheel, and described reducing motor (10) and the wheel rolling of turning to drives each other drive configuration independently of reducing motor (16);
Rolling rotating shaft (2) one ends is installed on the car body fixed frame, other end turntable lower supporting plate connects, turntable upper backup pad (8), turret supports column (6) is connected 5 with the turntable lower supporting plate) connect, turntable cover plate (7) is connected with turntable upper backup pad (8), tapered roller bearing (24) is installed on two stay bearing plates, steering shaft (26) is bearing on the tapered roller bearing, steering shaft (26) is connected with 60 tooth straight-tooth gears (23), angular transducer input shaft (12) is affixed with steering shaft (26), angular transducer strut bar (14) is connected with turntable upper backup pad (8), angular transducer (13) is connected with angular transducer strut bar (14), steer motor adapter plate (9) is connected with turntable upper backup pad (8), turn to reducing motor (10) to be connected with steer motor adapter plate (9), 20 tooth spur bevel gear wheels (11) are fixed in and turn on the reducing motor output shaft, the 40 tooth spur bevel gear wheels (27) that are meshed with it are mounted on the bevel gear shaft (28), bevel gear shaft (28) is by the first deep groove ball bearing (29) supporting that is installed in turntable upper backup pad (8), the opposite side of bevel gear shaft (28) connects by flat key with 19 tooth straight-tooth gears (30), 19 tooth straight-tooth gears (30) and the engagement of 60 tooth straight-tooth gears (23), the lower end of steering shaft (26) is connected with turning to substrate (32), wheel left side adapter plate (31), wheel right side adapter plate (33), drive motor adapter plate (15) is connected with turning to substrate (32), driving reducing motor (16) is connected with drive motor adapter plate (15), small synchronous pulley axle (17) is affixed with the output shaft that drives reducing motor (16), small synchronous pulley (18) is installed on the small synchronous pulley axle (17) by the flat key connection, front-wheel module permanent magnet (36) and wheel yoke (37) are installed on the axletree (35) by the flat key connection, axletree (35) is bearing between wheel left side adapter plate (31) and the wheel right side adapter plate (33) by the first deep groove ball bearing (29) and the second deep groove ball bearing (34), large synchronous pulley (22) connects the opposite side that is installed in axletree (35) by flat key, connected by Timing Belt (21) between large synchronous pulley (22) and the small synchronous pulley (18), be connected by screw between tensioning running roller (20) and the tensioning running roller strut bar (19), tensioning running roller strut bar (19) is installed on the wheel left side adapter plate (31) by screw.
2. the steering integrated magnet-wheel device of a kind of driving for magnetic adsorption wall climbing robot according to claim 1 is characterized in that: drive between reducing motor (16) and the axletree (35) by Timing Belt (21) transmission.
3. the steering integrated magnet-wheel device of a kind of driving for magnetic adsorption wall climbing robot according to claim 2, it is characterized in that: steering driving mechanism also comprises steering shaft (26), steering shaft (26) bottom is equipped with drive mechanism for wheel and roller.
4. the steering integrated magnet-wheel device of a kind of driving for magnetic adsorption wall climbing robot according to claim 3 is characterized in that: described steering shaft (26) line and axletree (35) line perpendicular quadrature.
5. the steering integrated magnet-wheel device of a kind of driving for magnetic adsorption wall climbing robot according to claim 4, it is characterized in that: described driving reducing motor (16) is brush direct current motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220266195 CN202686557U (en) | 2012-06-07 | 2012-06-07 | Integrated driving-steering magnet-wheel device used for magnetic-adsorbing wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220266195 CN202686557U (en) | 2012-06-07 | 2012-06-07 | Integrated driving-steering magnet-wheel device used for magnetic-adsorbing wall-climbing robot |
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| CN202686557U true CN202686557U (en) | 2013-01-23 |
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| CN 201220266195 Expired - Lifetime CN202686557U (en) | 2012-06-07 | 2012-06-07 | Integrated driving-steering magnet-wheel device used for magnetic-adsorbing wall-climbing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673672A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot |
| CN104828170A (en) * | 2015-05-08 | 2015-08-12 | 浙江省特种设备检验研究院 | Wall-climbing robot with wall surface polishing function |
| CN106185567A (en) * | 2016-08-31 | 2016-12-07 | 孟新 | Magnet-wheel adsorption-type emergency staircase |
| CN107719466A (en) * | 2017-11-01 | 2018-02-23 | 山东大学 | One kind drives steering integrated steering wheel module and its application |
| CN111661188A (en) * | 2020-06-04 | 2020-09-15 | 大连理工大学 | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method |
-
2012
- 2012-06-07 CN CN 201220266195 patent/CN202686557U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673672A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot |
| CN104828170A (en) * | 2015-05-08 | 2015-08-12 | 浙江省特种设备检验研究院 | Wall-climbing robot with wall surface polishing function |
| CN104828170B (en) * | 2015-05-08 | 2017-05-10 | 浙江省特种设备检验研究院 | Wall-climbing robot with wall surface polishing function |
| CN106185567A (en) * | 2016-08-31 | 2016-12-07 | 孟新 | Magnet-wheel adsorption-type emergency staircase |
| CN106185567B (en) * | 2016-08-31 | 2018-06-26 | 徐州科思特表面工程技术有限公司 | Magnet-wheel absorption type emergency staircase |
| CN107719466A (en) * | 2017-11-01 | 2018-02-23 | 山东大学 | One kind drives steering integrated steering wheel module and its application |
| CN111661188A (en) * | 2020-06-04 | 2020-09-15 | 大连理工大学 | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method |
| CN111661188B (en) * | 2020-06-04 | 2022-09-06 | 大连理工大学 | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130123 Effective date of abandoning: 20131225 |
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| RGAV | Abandon patent right to avoid regrant |