CN207274809U - It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall - Google Patents

Abstract

The utility model is related to it is a kind of suitable for variable curvature wall movement climb wall Work robot, it is characterized in that the robot includes two mutually independent mobile modules and a car body halfpace, described two mutually independent mobile module structures are identical, it is arranged symmetrically centered on car body halfpace, and it is connected respectively by the spacing connecting joint with two-freedom with car body halfpace, two mutually independent mobile modules include moving right module and move left module, each mobile module includes the driving structure being fixed on vehicle frame, drive mechanism, walking structure, tension structure and clearance-type permanent magnetic suck structure；There are two rotary freedoms relative to car body halfpace by two mobile module of connection of spacing connecting joint, to meet adaptation of the robot to magnetic conduction construction body surface curvature change.

Description

It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall

Technical field

It the utility model is related to Industrial Robot Technology field, and in particular to it is a kind of climbing robot, more particularly to It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall.

Background technology

The field such as domestic economy and national defense construction be seen everywhere be built into by magnetic conductive materials such as steels it is all kinds of large-scale multiple Miscellaneous equipment (petroleum pipeline, chemical storage tank, ship, wind power equipment etc.), in order to ensure the safe handling of equipment, it is necessary to put into a large amount of Manpower and materials carry out regularly cleaning detection etc. upkeep operation.At present, widely used in world wide is traditional artificial Operating type, does not only exist the problems such as labor intensity is big, the work period is long, maintenance cost is high, and operating environment is mostly the limit High-risk environment, easily occurs security incident.Therefore, research and development one kind can be taken in all kinds of magnetic conduction faces flexible motion according to job requirements Carry different work module climbs wall checking job robot system, becomes trend.

Climbing robot wall operating system needs that emphasis solves adsorption form and walking mechanism and how to adapt to curvature more The work surface environment of change, becomes the new problem for designing such climbing robot.Similar to petroleum pipeline, chemical storage tank, ship, wind The magnetic conduction constructions such as electric equipment, work surface (are analogous to this kind of cylindrical wall of petrochemical industry storage tank for single curvature or variable curvature wall Face is single curvature work surface, and the curvature of whole curved surface is fixed value；It is bent for change similar to this kind of conical wall of wind tower bucket Rate work surface, from bottom to top curvature of curved surface is changing value；This kind of similar to ship outer surface, irregular wall, has plane to have Curved surface, curved surface or variable curvature), robot allows for adapting to the change of curvature during the motion, could be safe and efficient Ground fulfils assignment task.And existing climbing robot is mostly plane operation, in practical application in industry, such as petrochemical industry, Shipbuilding industry, wind-powered electricity generation industry, without variable curvature adaptability.

Current wall-climbing device lacks certain flexibility per capita, and body construction position is relatively fixed, can not flexible adaptation The change of curved surface, such as the Chinese patent of Patent No. ZL201620506528.0, disclose a kind of crawler type magnetic adsorption wall climbing Robot, employs crawler belt movement, and the mode of permanent magnetic suck, the Chinese patent of Application No. 201610364096.9 discloses one The wheeled magnetic adsorption wall climbing robot of kind, employs wheel type mobile, the mode of permanent magnetic suck.Although the two employs different movements Mode, but be all that driving transmission system is placed in vehicle body, it is connected by transmission shaft with the moving structure of car body both sides Connect, this allows for moving structure and is relatively fixed with car body position, when such as running into variable curvature wall, since wall out-of-flatness has height Low fluctuating, easily occurs robot car body backing or both sides moving structure can not effectively be contacted with wall, so as to produce machine The situation of people's motion failures.

Utility model content

Wall Work robot is climbed suitable for the movement of variable curvature wall the utility model proposes a kind of, the utility model bases oneself upon Different type operation module can be carried according to different mission requirements in climbing robot, in the changeable magnetic conduction construction of all kinds of curvature Carry out the corresponding limit operations such as derusting, detection, spray painting on surface.The climbing robot using clearance-type permanent magnetic suck form with Crawler belt move mode, using modularization connection mode, mainly by two structures are identical, completely self-contained mobile module is arranged symmetrically Formed a car body halfpace both sides.Mobile module is with car body halfpace by the pass with two-freedom position limiting structure Section connection, has two rotations freely by two mobile module of connection of spacing connecting joint relative to car body halfpace Degree, to meet adaptation of the robot architecture to curved surface and variable curvature；The utility model robot can be according to job requirements at the same time Rapid disassembling, transport and the installation of robot are realized, easy to pass through discontinuous operating area or narrow transport space.

To realize above purpose of utility model, the utility model adopts the following technical solution：

It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall, it is characterised in that the robot includes two phases Mutually independent mobile module and a car body halfpace, described two mutually independent mobile module structures are identical, with It is arranged symmetrically centered on car body halfpace, and respectively by flat among the spacing connecting joint with two-freedom and car body Platform is connected, and two mutually independent mobile modules include moving right module and move left module, and each mobile module includes Driving structure, drive mechanism, walking structure, tension structure and the clearance-type permanent magnetic suck structure being fixed on vehicle frame；

The car body halfpace includes platform main box, platform upper cover plate and multi-directional ball, the platform main box peace Platform upper cover plate forms closed case, and platform main box inner space is used to load the electric elements used in robot；Platform main tank Body lower part is provided with multi-directional ball；Platform main box both sides are equipped with the installation and joint rotation angle for being used for spacing connecting joint The protrusion structure of limitation；The prominent structure includes positive stop lug boss and the bearing block being sequentially arranged；

The spacing connecting joint with two-freedom includes the first rotation axis, the second rotation axis, the second rotation shaft angle Spend limited location snap ring, the second rotation axis sleeve and the second rotation axis shaft end and fix end cap；Wherein the first rotation axis and the second rotation axis Vertical connection in T shape, is equipped with the centered on the first rotation axis and the second rotation axis perpendicular joints in the first rotation axis One rotation axis shaft shoulder positioning convex platform, the both ends of the first rotation axis are arranged with the first rotation shaft angle limit hole, the first rotation axis Fixed through the bearing block for protruding structure and by bearing, the first rotation shaft angle limit hole and the positive stop lug boss in prominent structure It is engaged；The second rotation axis shaft shoulder positioning convex platform is equipped with the middle part of the second rotation axis, threaded hole is equipped with the second rotation axis front end； The second rotation shaft angle limited location snap ring is fixed on the position of the second rotation axis shaft shoulder positioning convex platform, by the second rotation axis shaft shoulder Positioning convex platform positions, while affixed by key and the second rotation axis；The second rotation in front of the second rotation shaft angle limited location snap ring The second rotation axis sleeve is cased with shaft, end cap and the threaded hole phase of the second rotation axis front end are fixed in the second rotation axis shaft end Coordinate, fixing end cap by the second rotation axis shaft end, the second rotation axis sleeve is fixed；First rotation axis, the second rotation Axis, the first rotation axis shaft shoulder positioning convex platform, the second rotation axis shaft shoulder positioning convex platform, the first rotation shaft angle being integrated of limit hole Design；

The vehicle frame includes vehicle frame upper cover plate, frame inside siding, frame outside siding, three pieces of vehicle frame lower plates, actives Synchronous belt wheel shaft, driven synchronous belt wheel shaft；The vehicle frame upper cover plate, frame inside siding, frame outside siding, vehicle frame lower plate It is affixed by screw, surround one；Three pieces of vehicle frame lower plates are centrosymmetric distribution；Active synchronization pulley shaft and driven synchronous belt Wheel shaft is symmetrically distributed in the both ends of frame inside siding, and is in frame inside siding centre-height position, walks for connecting Structure；Two groups of tensioning shaft mounting holes and tensioning shaft sliding slot have been arranged symmetrically on the top of frame inside siding, has been tensioned for connecting Structure；Spacing connecting joint connecting hole is set in frame inside siding centre position, and is in centre-height position, for connecting Spacing connecting joint, it is spacing to be provided with the second rotation shaft angle limited location snap ring in spacing connecting joint connecting hole both sides symmetric position Groove, the second rotation shaft angle limited location snap ring can rotate in the second rotation shaft angle limited location snap ring limiting slot；Frame inside siding Centre-height position is provided with the threaded hole for affixed driving structure；The left and right sides of every piece of vehicle frame lower plate is useful for affixed The threaded hole of permanent magnetic suck structure；It is affixed on one piece of vehicle frame lower plate of one end to connect drive mechanism.

Compared with prior art, the beneficial effects of the utility model are：

1. the utility model is based on modular design method, climbing robot is by two completely self-contained mobile modules, limits Position connecting joint and car body halfpace are formed so that climbing robot, can be conveniently fast when entering operation in narrow space Dismounting, transport and installation are realized fastly.

2. new-type modularization connection mode, connects independent mobile module and car body halfpace so that mobile module In the case where not influencing robot normal operation, there are two rotary freedoms relative to car body halfpace, this is just protected Climbing robot is demonstrate,proved in variable curvature non-plane motion, mobile module can be well adapted for the fluctuating of curved surface, avoid machine People's backing or the possibility of mobile failure.

3. novel limiting connecting joint not only realizes the connection between adjacent block, while it is certain free to have link block Degree.Using by the thought of the first rotation axis and the second rotation axis integrated design, installation space is not only saved, while can protect Bonding strength is demonstrate,proved, is conducive to climbing robot miniaturization.Meanwhile the position limiting structure between spacing connecting joint and adjacent block, Mobile module can effectively be limited relative to the rotating angle of car body halfpace, this is also beneficial to climbing robot entirety Stability.

4. driving structure, drive mechanism are arranged on crawler belt axis line position, such longitudinal direction layout designs, Neng Gouyou Effect ground utilizes the inner space of mobile module, overall structure simple and compact.

5. novel tensioning structure on the premise of the confined space is made full use of, can balancedly apply to crawler belt front and back end and open Clamp force, ensures crawler belt stress balance in motion process, stable movement.

The utility model is using permanent magnetic suck by the way of track structure is combined, and compared with vacuum suction, permanent magnetism is inhaled Attached simple in structure, adsorption capacity is big, it is unaffected by removing electrical power the advantages that；It is big using track structure, contact area, using the teaching of the invention it is possible to provide Enough frictional force, can ensure the stability of movement and the security of wall limit operation, more during robot wall movement The industrial environment of some limit is suitably applied in, wheeled construction frictional force can be overcome insufficient, avoided in the non-company such as some variable curvatures The problem of easily departing from wall during continuous property wall operation, producing falling risk.

The utility model can carry out decontamination cleaning in the outer surface with Irregular Boundary Surface magnetic conduction construction body, derust, inspection Survey, the corresponding limit operation such as spray painting, can rapid disassembling, transport and installation, it is moved, and manipulation of turning is easy, and mobility is high, fits In popularization and application.

Brief description of the drawings

Fig. 1 the utility model be suitable for the movement of variable curvature wall to climb a kind of complete machine of embodiment of wall Work robot isometric Measure and be intended to；

Fig. 2 the utility model is suitable for the complete machine main view for climbing a kind of embodiment of wall Work robot of variable curvature wall movement Structure diagram；

Fig. 3 the utility model is climbed among a kind of car body of embodiment of wall Work robot suitable for the movement of variable curvature wall The isometric view of platform 1；

Fig. 4 the utility model is suitable for the spacing connection for climbing a kind of embodiment of wall Work robot of variable curvature wall movement The isometric view in joint 2；

Fig. 5 the utility model is suitable for the spacing connection for climbing a kind of embodiment of wall Work robot of variable curvature wall movement The cross-sectional view in joint 2；

Fig. 6 the utility model be suitable for the movement of variable curvature wall climb a kind of embodiment of wall Work robot move to right dynamic model The isometric view of block 3；

Fig. 7 the utility model be suitable for the movement of variable curvature wall climb a kind of embodiment of wall Work robot move to right dynamic model Block interior details isometric view；

Fig. 8 the utility model be suitable for the movement of variable curvature wall climb a kind of embodiment of wall Work robot move to right dynamic model Block interior details main structure diagram；

Fig. 9 the utility model be suitable for the movement of variable curvature wall climb a kind of embodiment of wall Work robot move to right dynamic model Block interior details overlooking the structure diagram；

Figure 10 the utility model robot curved surface adapts to schematic diagram；

Figure 11 the utility model robot curved surface turning schematic diagram.

In figure：1 car body halfpace, 2 spacing connecting joints, 3 move right module, and 4 move left module, 101 platform main tanks Body, 102 platform upper cover plates, 103 multi-directional balls, 104 protrude structure, 105 positive stop lug boss, 201 first rotation axis, 202 second rotations Axis, 203 first rotation axis shaft shoulder positioning convex platforms, 204 second rotation axis shaft shoulder positioning convex platforms, 205 first rotation shaft angles are spacing Hole, 206 second rotation shaft angle limited location snap rings, 207 second rotation axis sleeves, 208 second rotation axis shaft ends fixation end cap, 301 Vehicle frame upper cover plate, 302 frame inside sidings, 303 frame outside sidings, 304 vehicle frame lower plates, 305 active synchronization pulley shafts, 306 driven synchronous belt wheel shafts, 307 tensioning shaft mounting holes, 308 tensioning shaft sliding slots, 309 spacing connecting joint connecting holes, 310 direct currents Brush motor, 311 encoders, 312 contracting brakes, 313 second rotation shaft angle limited location snap ring limiting slots, 320 primary speed-downs Device, 321 retarder fixing brackets, 322 moment of torsion commutators, 323 moment of torsion commutator stents, 324 two stage reducers, 330 actives are same Belt wheel is walked, 331 synchronous belts, 332 rubber, 333 driven synchronous pulleys, 334 pinch rollers, 340 fix tensioning shaft, 341 movement tensionings Axis, 342 distance between axles adjustable bolts, 350 permanent magnets.

Embodiment

The utility model is explained further with reference to embodiment and attached drawing, but is not wanted in this, as to the application right Ask the restriction of protection domain.

The utility model climbs wall Work robot (abbreviation robot, referring to Fig. 1-10) suitable for the movement of variable curvature wall Including two mutually independent mobile modules and a car body halfpace 1, described two mutually independent mobile module structures It is identical, it is arranged symmetrically centered on car body halfpace 1, and pass through the spacing connecting joint with two-freedom respectively 2 are connected with car body halfpace 1, and two mutually independent mobile modules include moving right module 3 and move left module 4, often A mobile module includes the driving structure, drive mechanism, walking structure, tension structure and the clearance-type that are fixed on vehicle frame forever Magnetic suck structure；

The car body halfpace 1 (referring to Fig. 3) includes platform main box 101, platform upper cover plate 102 and multi-directional ball 103, The platform main box 101 and platform upper cover plate 102 form closed case, and 101 inner space of platform main box is used for loading machine Major electrical equipment element used in device people；101 lower part of platform main box is provided with multi-directional ball 103, for being provided to platform main box Support and be moved easily；Platform main box both sides are equipped with the installation for spacing connecting joint 2 and the limit of joint rotation angle The protrusion structure 104 of system；The prominent structure includes positive stop lug boss 105 and the bearing block being sequentially arranged；

The spacing connecting joint 2 (referring to Fig. 4 and Fig. 5) with two-freedom is revolved including the first rotation axis 201, second End cap is fixed in shaft 202, the second rotation shaft angle limited location snap ring 206, the second rotation axis sleeve 207 and the second rotation axis shaft end 208；202 vertical connection in T shape of wherein the first rotation axis 201 and the second rotation axis, with the first rotation axis 201 and the second rotation The first rotation axis shaft shoulder positioning convex platform 203, the first rotation axis are equipped with centered on 202 perpendicular joints of axis in the first rotation axis 201 both ends are arranged with the first rotation shaft angle limit hole 205, and the first rotation axis passes through the bearing block of prominent structure 104 simultaneously Fixed by bearing, the first rotation shaft angle limit hole 205 is engaged with the positive stop lug boss 105 in prominent structure 104；Second The middle part of rotation axis 202 is equipped with the second rotation axis shaft shoulder positioning convex platform 204, and threaded hole is equipped with 202 front end of the second rotation axis；It is described Second rotation shaft angle limited location snap ring 206 is fixed on the position of the second rotation axis shaft shoulder positioning convex platform, by the second rotation axis shaft shoulder Positioning convex platform 204 positions, while affixed by key and the second rotation axis 202；In the front of the second rotation shaft angle limited location snap ring 206 The second rotation axis on be cased with the second rotation axis sleeve 207,208 and second rotation axis of end cap is fixed in the second rotation axis shaft end The corresponding threaded holes of front end close, and fixing end cap 208 by the second rotation axis shaft end, the second rotation axis sleeve 207 is fixed；Institute State the first rotation axis 201, the second rotation axis 202, the first rotation axis shaft shoulder positioning convex platform 203, the second rotation axis shaft shoulder convex Platform 204, the first rotation shaft angle limit hole 205 are the integrated design；

The spacing connecting joint 2 with two-freedom is platform main box both sides with the cooperation of car body halfpace 1 Protrusion structure 104 be connected with the first rotation axis shaft shoulder positioning convex platform 203 by bearing matched, bearing outer ring withstands on platform In the protrusion structure 104 of 101 both sides of main box, bearing inner race is then fixed by the first rotation axis shaft shoulder positioning convex platform 203.So Just so that spacing connecting joint 2 with the first rotation axis 201 is axis, rotate relative to car body halfpace 1.It is meanwhile flat Positive stop lug boss 105 in the protrusion structure of platform main box both sides, just coordinates with the first rotation shaft angle limit hole 205, the two Relative position determine the rotating range in joint, so as to play spacing effect.

The vehicle frame is included under 303, three pieces of vehicle frame upper cover plate 301, frame inside siding 302, frame outside siding vehicle frames Bottom plate 304, active synchronization pulley shaft 305, driven synchronous belt wheel shaft 306；The vehicle frame upper cover plate 301, frame inside siding 302nd, frame outside siding 303, vehicle frame lower plate 304 are affixed by screw, surround one, and each plate has fixed position perforate, For affixed corresponding structure；Three pieces of vehicle frame lower plates 304 are centrosymmetric distribution；Active synchronization pulley shaft 305 and driven same Step pulley shaft 306 is symmetrically distributed in the both ends of frame inside siding 302, and is in 302 centre-height position of frame inside siding, For connecting walking structure；Two groups of tensioning shaft mounting holes 307 and tensioning shaft have been arranged symmetrically on the top of frame inside siding 302 Sliding slot 308, for connecting tension structure；In 302 centre position of frame inside siding, spacing connecting joint connecting hole 309 is set, And centre-height position is in, for connecting spacing connecting joint 2, in spacing 309 both sides symmetric position of connecting joint connecting hole The second rotation shaft angle limited location snap ring limiting slot 313 is provided with, the second rotation shaft angle limited location snap ring 206 can rotate shaft angle second Spend in limited location snap ring limiting slot 313 and rotate；302 centre-height position of frame inside siding is provided with four threaded holes, rectangular point Cloth, for affixed driving structure；There is threaded hole in the left and right sides of every piece of vehicle frame lower plate 304, for affixed permanent magnetic suck Structure；One piece of vehicle frame lower plate 304 positioned at one end is equipped with through hole, for affixed drive mechanism.

The spacing connecting joint 2 with two-freedom is spacing on frame inside siding 302 with the cooperation of vehicle frame Connecting joint connecting hole 309 is connected matched with the second rotation axis 202 of spacing connecting joint 2 by bearing.Specific implementation Mode is that bearing is placed in spacing connecting joint connecting hole 309, and bearing outer ring withstands on spacing 309 inner wall of connecting joint connecting hole, Bearing inner race withstands on the end face of the second rotation shaft angle limited location snap ring 206.End cap and the second rotation are fixed in second rotation axis, 202 shaft end The affixed of shaft fixes the second rotation axis 202 with bearing relative axial position.Thus vehicle frame is closed relative to spacing connection The free degree of section 2 is limited to a rotary freedom.Meanwhile second rotation shaft angle limited location snap ring 206 and the second rotation shaft angle Degree limited location snap ring limiting slot 313 is engaged, and the relative position of the two limits rotation model of the vehicle frame relative to spacing connecting joint Enclose.

The vehicle frame is connected with car body halfpace 1 by the spacing connecting joint 2 with two frees degree, according to above-mentioned Implementation so that vehicle frame can do the rotary motion of both direction relative to car body halfpace.This makes it possible to meet machine The adaptation that device people moves variable curvature wall.

The driving structure includes DC electromotor with brush 310, encoder 311, contracting brake 312 and motor driver (not marked in figure)；The DC electromotor with brush 310, encoder 311, contracting brake 312 is coaxially arranged, bolt successively It is connected as one, then is bolt-connected on first stage decelerator 320；Motor driver is placed on 301 rear end of vehicle frame upper cover plate Position.

The drive mechanism includes first stage decelerator 320, retarder fixing bracket 321, moment of torsion commutator 322, moment of torsion and changes To device stent 323 and two stage reducer 324；320 front end of first stage decelerator is fixed in vehicle frame by retarder fixing bracket 321 On sidewall paneling 302,320 rear end of first stage decelerator connects the output terminal (driving structure) of DC electromotor with brush 310；Primary speed-down Device output shaft delivers torque to moment of torsion commutator 322 by key connection moment of torsion commutator 322；Moment of torsion commutator 322 is transmission Than 1:1 bevel gear set, drive bevel gear by key connection on the output shaft of first stage decelerator 320, fix by driven wheel of differential On moment of torsion commutator transmission shaft, the moment of torsion commutator transmission shaft is fixed on the car positioned at one end by moment of torsion commutator stent On frame lower plate 304, the position of moment of torsion commutator transmission shaft is by being fixed on the moment of torsion commutator stent of the vehicle frame lower plate 304 323 determine；Two stage reducer 324 is made of active spur gear and driven spur gear, active spur gear and driven spur gear standard Engagement, and active spur gear is fixed on the outer end of 322 transmission shaft of moment of torsion commutator, driven spur gear is fixed on active synchronization belt wheel The outer end of axis 305, thus moment of torsion commutator 322 310 moment of torsion of DC electromotor with brush is transferred to two stage reducer 324；

The walking structure includes active synchronization belt wheel 330, synchronous belt 331, synchronous belt outer layer rubber 332, driven synchronization Belt wheel 333 and pinch roller 334；Active synchronization belt wheel 330 is affixed by key connection and active synchronization pulley shaft 305, double reduction The driven spur gear of device 324 is fixed on the outside of active synchronization pulley shaft 305, and Motor torque is passed through active synchronization pulley shaft 305 are transferred to active synchronization belt wheel 330；Active synchronization belt wheel 330, synchronous belt 331 and driven synchronous pulley 333 are with standard drive Mode is engaged, and driven synchronous pulley 333 is fixed on driven synchronous belt wheel shaft 306, active synchronization belt wheel 330 and driven synchronization Belt wheel 333 is connected by synchronous belt 331；The pinch roller 334 shares 4 groups, is fixed on frame inside siding 302, such as Fig. 8 Mode is distributed in the space between three pieces of vehicle frame lower plates 304, and positioned at the inner side of synchronous belt 331, plays compression synchronous belt 331 effect；The outside of synchronous belt 331 is wrapped with one layer thicker of synchronous belt outer layer rubber 332, and synchronous belt outer layer rubber 332 is Crawler belt, the hardness of the rubber is relatively low, and roughness is larger, can increase the contact area with wall using its plastic deformation, increase The frictional force needed is done in attached wall movement, realizes the function of crawler belt movement.

The tension structure includes fixed tensioning shaft 340, mobile tensioning shaft 341 and distance between axles adjustable bolt 342, fixed Tensioning shaft 340 is fixed on tensioning shaft mounting hole 307, and mobile tensioning shaft 341 is placed in tensioning shaft sliding slot 308, mobile tensioning Axis 341 can only be moved left and right along tensioning shaft sliding slot；Distance between axles adjustable bolt 342 is also cross fixed tensioning shaft 340 and moves Dynamic tensioning shaft 341, both ends, which are tightened, loosens nut, since bolt is fixed in one end of fixed tensioning shaft 340 by stop nut, By the nut for adjusting mobile tensioning shaft one end, you can adjust the between centers spacing of two axis.Fixed tensioning shaft 340 and mobile tensioning shaft 341 are in the same horizontal position, and can be given together with 332 upper surface of synchronous belt outer layer rubber, the change of axle base Step band applies tensile force, and spacing is bigger, and tensile force is bigger.Distance between axles adjusts also so that the installation of synchronous belt 331 is with dismantling more Add conveniently.Corresponding adjusting tensioning power meets the specific requirements of walking structure.

The clearance-type permanent magnetic suck structure is made of multigroup permanent magnetic suck unit, every group of permanent magnetic suck cellular construction phase Together, it is to be rearranged by polylith permanent magnet 350.Multigroup permanent magnetic suck unit is symmetrical to be installed on three pieces of vehicle frame lower plates On 304, and the symmetrical both sides for being distributed in synchronous belt 331, it is distributed in clearance-type, as shown in figure 8, there are four groups of permanent magnetism to inhale per side Coupon is first, has eight groups of permanent magnetic suck units to provide adsorption capacities on each mobile module.

Center of the car body halfpace as robot body, can carry the electrical modules such as power-supply controller of electric.Spacing company The core that joint is modularization connection mode is connect, its structure is innovative design, and concrete structure design is shown in technical solution and figure (figure 4th, Fig. 5).In the mobile module of both sides, driving drive mechanism is all by redesigning, in order to be arranged in same module, and not Moving structure is influenced, driving drive mechanism uses longitudinal layout designs along crawler belt direction, using the confined space inside crawler belt, The axis line position (see Fig. 8) that drive mechanism will be driven to be arranged in crawler belt, due to such design so that the output of driving motor The capstan drive axis of axis and moving structure is in 90 degree of space intervening portion, and bevel gear is then devised in drive mechanism Moment of torsion commutator (see Fig. 9), coordinates double reduction gear, power is transferred to capstan drive axis.Walking structure is exactly traditional Crawler belt is realized by synchronous pulley and synchronous belt；Tension structure is not traditional crawler tensioning it may be said that there is certain innovation Wheel, but from principle, changes main passive tensioning distance between axles, and tensile force is provided by making crawler belt deformation, and tension structure be The front and back end of crawler belt is arranged symmetrically, interior in a limited space to realize the purpose for applying tensile force to crawler belt (see Fig. 8).

The utility model is suitable for the operation principle and process of climbing wall Work robot of variable curvature wall movement：

First, attached wall principle and process：The climbing robot that the utility model refers to is realized by the way of permanent magnetic suck Absorption on vertical magnetic conduction class wall.Detailed process is as follows, the clearance-type permanent magnetism being arranged in a combination by polylith permanent magnet 350 Absorbing unit, on three pieces of vehicle frame lower plates 304 of mobile module.Produced between permanent magnet and vertical magnetic conductivity wall Attraction allow for mobile module and generate the normal pressure perpendicular to magnetic conductivity wall, then by being fixed in frame inside siding Normal pressure, is applied to the inner side of synchronous belt 331 by 4 groups of pinch rollers 334 on 302, and pressure direction is directed toward magnetic conductivity wall.So The synchronous belt outer rubber 332 for allowing for being wrapped in the outside of synchronous belt 331 is contacted with wall.Due to synchronous belt outer rubber 332 Hardness it is relatively low, roughness is larger, and vertical frictional force can be produced under the action of normal pressure, is balanced each other with gravity, so as to fulfill Absorption on vertical magnetic conduction class wall.

Second, shifting principle and process：The climbing robot that the utility model refers to uses caterpillar move mode, Realize foregoing wall adsorption and then can realize the movement on vertical magnetic conduction class wall.The movement of robot Mainly realized by the module 3 that moves right of 1 both sides of car body halfpace with moving left module 4, two mobile modules are mutually only Vertical, structure is identical.Driving structure that each mobile module includes being fixed on vehicle frame, drive mechanism, walking structure, tensioning knot Structure and clearance-type permanent magnetic suck structure.

Detailed process is as follows：First, stored by the electric elements being placed in the platform main box 101 of car body halfpace 1 Battery and electric machine controller provide mobile required energy and movable signal.It is transferred to and is fixed on vehicle frame by way of cabling Driving structure, DC electromotor with brush 310 receives signal, output speed and moment of torsion；Secondly, the one of drive mechanism is passed sequentially through Level retarder 320, speed governing and the moment of torsion of moment of torsion commutator 322 and two stage reducer 324 amplify, by turning for driving structure output Speed is transferred to the active synchronization pulley shaft 305 of walking structure with moment of torsion.Again, active synchronization pulley shaft 305 is by rotating speed and moment of torsion The active synchronization belt wheel 330 affixed with it is transferred to, so as to drive the synchronous belt 331 of walking structure to move.The outside of synchronous belt 331 One layer thicker of synchronous belt outer layer rubber 332 is wrapped with, in above-mentioned adsorption process, synchronous belt outer layer rubber 332 connects with wall Touch, there are frictional force, and the displacement relative to wall can be produced under the drive of synchronous belt 331.Finally, module 3 and a left side are moved right Mobile module 4 is receiving the different control signal of motor driver, and the different rotating speed of corresponding walking structure generation, is achieved in Straight trip of the climbing robot on vertical magnetic conduction class wall and turning etc. are mobile.

Third, the principle and process of variable curvature movement：In actual commercial Application, similar to chemical storage tank, ship, wind The magnetic conduction wall such as electric equipment, is the curved surface of curved surface, even variable curvature mostly, and there is wall height to rise and fall, the characteristic of out-of-flatness.By The climbing robot that this utility model refers to uses modular connection mode, and dynamic model will be moved to right by spacing connecting joint 2 Block 3, move left module 4 and be connected with car body halfpace 1.So that mobile module do not influence robot running in the case of, Possess two rotary freedoms relative to car body halfpace so that when robot is moved in variable curvature wall, mobile mould Block can be good at adapting to the fluctuating of curved surface.

Detailed process is as follows：The spacing connecting joint 2 refers to platform main box with the cooperation of car body halfpace 1 The protrusion structure 104 of both sides is connected by bearing with the first rotation axis shaft shoulder positioning convex platform 203 and is engaged, and bearing outer ring withstands on flat In the protrusion structure 104 of 101 both sides of platform main box, bearing inner race is then fixed by the first rotation axis shaft shoulder positioning convex platform 203.This Sample just causes spacing connecting joint 2, for axis, to rotate with the first rotation axis 201 relative to car body halfpace 1.Meanwhile Positive stop lug boss 105 in the protrusion structure of platform main box both sides just coordinates with the first rotation shaft angle limit hole 205, the two Relative position determine the rotating range in joint, so as to play spacing effect.

The spacing connecting joint 2 refers to that the spacing connection on frame inside siding 302 is closed with the cooperation of mobile module Section connecting hole 309 is connected with the second rotation axis 202 of spacing connecting joint 2 by bearing to be engaged.Bearing is placed in spacing connection In joint connecting hole 309, bearing outer ring withstands on spacing 309 inner wall of connecting joint connecting hole, and bearing inner race withstands on the second rotation axis The end face of angle limit snap ring 206.The affixed by the second rotation axis of end cap and the second rotation axis is fixed in second rotation axis, 202 shaft end 202 fix with the relative position of bearing axial direction.Vehicle frame is thus limited to one relative to the free degree of spacing connecting joint 2 Rotary freedom.Meanwhile second rotation shaft angle limited location snap ring 206 and 313 phase of the second rotation shaft angle limited location snap ring limiting slot Coordinate, the relative position of the two limits rotating range of the vehicle frame relative to spacing connecting joint.

So far, mobile module and car body halfpace 1 are linked together by spacing connecting joint 2, at the same cause it is left, Move right module and possess two rotary freedoms relative to car body halfpace 1, realize climbing robot in variable curvature To the adaptation of wall fluctuations in wall moving process.

The utility model does not address part and is suitable for the prior art.

Claims (6)

1. a kind of climb wall Work robot suitable for the movement of variable curvature wall, it is characterised in that the robot includes two mutually Independent mobile module and a car body halfpace, described two mutually independent mobile module structures are identical, with car It is arranged symmetrically centered on body halfpace, and passes through the spacing connecting joint with two-freedom and car body halfpace respectively It is connected, two mutually independent mobile modules include moving right module and move left module, and each mobile module includes solid Driving structure, drive mechanism, walking structure, tension structure and the clearance-type permanent magnetic suck structure being scheduled on vehicle frame；

The car body halfpace includes platform main box, platform upper cover plate and multi-directional ball, on the platform main box and platform Cover board forms closed case, and platform main box inner space is used to load the electric elements used in robot；Under platform main box Portion is provided with multi-directional ball；Platform main box both sides are equipped with the installation for spacing connecting joint and the limitation of joint rotation angle Protrusion structure；The prominent structure includes positive stop lug boss and the bearing block being sequentially arranged；

The spacing connecting joint with two-freedom includes the first rotation axis, the second rotation axis, the second rotation shaft angle limit End cap is fixed in position snap ring, the second rotation axis sleeve and the second rotation axis shaft end；Wherein the first rotation axis and the second rotation axis are in T words Shape vertical connection, is equipped with the first rotation centered on the first rotation axis and the second rotation axis perpendicular joints in the first rotation axis Axis shaft shoulder positioning convex platform, the both ends of the first rotation axis are arranged with the first rotation shaft angle limit hole, and the first rotation axis passes through prominent Go out the bearing block of structure and fixed by bearing, the first rotation shaft angle limit hole matches with the positive stop lug boss in prominent structure Close；The second rotation axis shaft shoulder positioning convex platform is equipped with the middle part of the second rotation axis, threaded hole is equipped with the second rotation axis front end；It is described Second rotation shaft angle limited location snap ring is fixed on the position of the second rotation axis shaft shoulder positioning convex platform, is positioned by the second rotation axis shaft shoulder Boss positions, while affixed by key and the second rotation axis；The second rotation axis in front of the second rotation shaft angle limited location snap ring On be cased with the second rotation axis sleeve, end cap and the corresponding threaded holes of the second rotation axis front end are fixed in the second rotation axis shaft end Close, fixing end cap by the second rotation axis shaft end, the second rotation axis sleeve is fixed；First rotation axis, the second rotation Axis, the first rotation axis shaft shoulder positioning convex platform, the second rotation axis shaft shoulder positioning convex platform, the first rotation shaft angle being integrated of limit hole Design；

The vehicle frame includes vehicle frame upper cover plate, frame inside siding, frame outside siding, three pieces of vehicle frame lower plates, active synchronizations Pulley shaft, driven synchronous belt wheel shaft；The vehicle frame upper cover plate, frame inside siding, frame outside siding, vehicle frame lower plate pass through Screw is affixed, surrounds one；Three pieces of vehicle frame lower plates are centrosymmetric distribution；Active synchronization pulley shaft and driven synchronous belt wheel shaft The both ends of frame inside siding are symmetrically distributed in, and are in frame inside siding centre-height position, for connecting walking structure； Two groups of tensioning shaft mounting holes and tensioning shaft sliding slot are arranged symmetrically on the top of frame inside siding, for connecting tension structure； Spacing connecting joint connecting hole is set in frame inside siding centre position, and is in centre-height position, it is spacing for connecting Connecting joint, the second rotation shaft angle limited location snap ring limiting slot is provided with spacing connecting joint connecting hole both sides symmetric position, the Two rotation shaft angle limited location snap rings can rotate in the second rotation shaft angle limited location snap ring limiting slot；Frame inside siding center is high Degree position is provided with the threaded hole for affixed driving structure；The left and right sides of every piece of vehicle frame lower plate is useful for affixed permanent magnetism and inhales The threaded hole of attached structure；It is affixed on one piece of vehicle frame lower plate of one end to connect drive mechanism.

2. according to claim 1 climb wall Work robot suitable for the movement of variable curvature wall, it is characterised in that described Driving structure includes DC electromotor with brush, encoder, contracting brake and motor driver；The DC electromotor with brush, Encoder, contracting brake are coaxially arranged, are bolted are integrated successively, then be bolt-connected on first stage decelerator； Motor driver is placed on vehicle frame upper cover plate back-end location.

3. according to claim 2 climb wall Work robot suitable for the movement of variable curvature wall, it is characterised in that described Drive mechanism includes first stage decelerator, retarder fixing bracket, moment of torsion commutator, moment of torsion commutator stent and two stage reducer； First stage decelerator front end is fixed on frame inside siding by retarder fixing bracket, and first stage decelerator rear end connection direct current has The output terminal of brush motor；First stage decelerator output shaft delivers torque to moment of torsion commutator by key connection moment of torsion commutator； Moment of torsion commutator is gearratio 1:1 bevel gear set, drive bevel gear by key connection on the output shaft of first stage decelerator, from Dynamic bevel gear is fixed on moment of torsion commutator transmission shaft, and the moment of torsion commutator transmission shaft is fixed on by moment of torsion commutator stent On one piece of vehicle frame lower plate of one end, the position of moment of torsion commutator transmission shaft is changed by the moment of torsion for being fixed on the vehicle frame lower plate Determined to device stent；Two stage reducer is made of active spur gear and driven spur gear, active spur gear and driven spur gear mark Quasi- engagement, and active spur gear is fixed on the outer end of moment of torsion commutator transmission shaft, driven spur gear is fixed on active synchronization belt wheel The outer end of axis.

4. according to claim 3 climb wall Work robot suitable for the movement of variable curvature wall, it is characterised in that described Walking structure includes active synchronization belt wheel, synchronous belt, synchronous belt outer layer rubber, driven synchronous pulley and pinch roller；Active synchronization Belt wheel is affixed by key connection and active synchronization pulley shaft, and the driven spur gear of two stage reducer is fixed on active synchronization pulley shaft Outside, Motor torque is transferred to active synchronization belt wheel by active synchronization pulley shaft；Active synchronization belt wheel, synchronous belt and from Dynamic synchronous pulley is engaged in a manner of standard drive, and driven synchronous pulley is fixed on driven synchronous belt wheel shaft, active synchronization band Wheel and driven synchronous pulley pass through synchronous band connection；The pinch roller is fixed on frame inside siding, and is distributed in three pieces of cars In space between frame lower plate, it is close to the inner side of synchronous belt；Synchronous belt outer layer rubber, synchronous belt outer layer are wrapped with the outside of synchronous belt Rubber is crawler belt.

5. according to claim 4 climb wall Work robot suitable for the movement of variable curvature wall, it is characterised in that described Tension structure includes fixed tensioning shaft, mobile tensioning shaft and distance between axles adjustable bolt, and fixed tensioning shaft is fixed on tensioning shaft and consolidates Determine on hole, mobile tensioning shaft is placed in tensioning shaft sliding slot, and mobile tensioning shaft can only be moved left and right along tensioning shaft sliding slot；Between centers Away from adjustable bolt also cross fixed tensioning shaft and mobile tensioning shaft, both ends, which are tightened, loosens nut；Fixed tensioning shaft and shifting Dynamic tensioning shaft is in the same horizontal position, and with synchronous belt outer layer rubber upper surface.

6. according to claim 4 climb wall Work robot suitable for the movement of variable curvature wall, it is characterised in that described Clearance-type permanent magnetic suck structure is made of multigroup permanent magnetic suck unit, and every group of permanent magnetic suck cellular construction is identical, is by polylith Permanent magnet rearranges；Multigroup permanent magnetic suck unit is symmetrical to be installed on three pieces of vehicle frame lower plates, and is distributed in synchronization The both sides of band.