CN207389348U - A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot - Google Patents
A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot Download PDFInfo
- Publication number
- CN207389348U CN207389348U CN201720782910.9U CN201720782910U CN207389348U CN 207389348 U CN207389348 U CN 207389348U CN 201720782910 U CN201720782910 U CN 201720782910U CN 207389348 U CN207389348 U CN 207389348U
- Authority
- CN
- China
- Prior art keywords
- athey wheel
- car body
- module
- connecting plate
- guide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The utility model is related to a kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robots, it is characterised in that the robot includes identical permanent magnetic adsorption-type Athey wheel module, the car body module based on parallelogram mechanism and the rectangular coordinate system formula paint spraying mechanical arm module of four structures；The identical permanent magnetic adsorption-type Athey wheel module symmetry of four structures is arranged in the both sides of car body module, and rectangular coordinate system formula paint spraying mechanical arm module is installed on the top of car body module；Each Athey wheel module includes magnetic conductive board, magnetic isolation plate, Nd-Fe-B permanent magnet, Athey wheel driving motor, two driving wheels, synchronous belt, two synchronous pulleys, two driven wheels, Athey wheel bearing outer end cap, Athey wheel bearing, Athey wheel bearing inner end cap, crawler belt, drive sprocket axle, sleeve and follower shaft；The magnetic conductive board is centered around the outer surface of crawler belt, and rigid connection is evenly arranged a number of magnetic isolation plate along magnetic conductive board length direction at the middle part of magnetic conductive board.
Description
Technical field
The utility model belongs to Industrial Robot Technology field more particularly to a kind of spray painting of curved surface adaptive magnetic adsorption wall climbing
Robot.
Background technology
All kinds of large scale equipment (such as argosies built by magnetic conductive materials such as steels are seen everywhere in industrial production life
Oceangoing ship, petrochemical industry storage tank etc.), to ensure the safe handling of equipment, it need to periodically carry out spray painting corrosion prevention operation.At present, it is wide in world wide
General to carry out spray painting operation using traditional manual type, spray painting operation need to build scaffold in advance, and not only labor intensity is big, operation
Efficiency is low, economic input is big, and in view of environment is poisoned in spray painting is often accompanied by security incident.It is quick with robot technology
Robot application has been become the hot spot and development trend of modernization spray painting corrosion prevention operation research by development in spray painting operation.Patent
Document " a kind of curved surface adaptive magnetic adsorption wall climbing robot (CN103303387A) " is related to a kind of magnetic adsorption wall climbing robot, should
Robot uses crawler-type mobile mechanism, adsorbs on wall surface, uses by the absorbing unit being mounted in crawler-type mobile mechanism
The form of setting guide post and spring under car body and crawler belt link, the ability for making robot that there is curved surface adaptive, but its
Mechanism is complicated, kinematic dexterity is not good enough, especially in steering procedure, since contact area is big between crawler belt and magnetic conduction wall surface, turns
It is larger to resistance and turning radius, so that steering flexibility is poor.A kind of patent document " climbing robot
(CN104925158A) " it is related to a kind of climbing robot, which uses four crawler belt wheel drives, thus with movement spirit
The advantages that work, load capacity is strong, but connection is rigidly fixed between the robot Athey wheel and car body, it is soft that relative motion is lacked between the two
Property, curved surface adaptive ability is limited to a certain extent, and therefore, it is difficult to the operations on circular arc camber, substantially reduce its application
Scope.
In conclusion though existing wall paint-spray robot of climbing can be tentatively realized in the job task of magnetic conductivity wall surface, deposit
Complicated, kinematic dexterity is poor, it is impossible to realize curved surface operation, grade not easy to assemble lacks when working in discontinuous operating area
Point.Therefore, a simple in structure there is an urgent need for researching and developing, movement is flexible, has curved surface adaptive ability, and in discontinuous operating area
The modularized wall-climbing paint-spray robot of fast assembling-disassembling can be realized during interior work.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model intends to solve is to provide a kind of curved surface adaptive magnetic
Adsorption wall climbing paint-spray robot.The robot architecture is simple, and movement is flexible, has curved surface adaptive ability, and using module
Change design, it is convenient for disassembly and assembly.
The utility model solve the technical problem the technical solution adopted is that：A kind of curved surface adaptive magnetic suck is provided to climb
Wall paint-spray robot, it is characterised in that the robot includes the identical permanent magnetic adsorption-type Athey wheel module of four structures, based on flat
The car body module of row quadrangular mechanism and rectangular coordinate system formula paint spraying mechanical arm module；The identical permanent magnetic suck of four structures
Formula Athey wheel module symmetry is arranged in the both sides of car body module, and rectangular coordinate system formula paint spraying mechanical is installed on the top of car body module
Arm module；
Each Athey wheel module includes magnetic conductive board, magnetic isolation plate, Nd-Fe-B permanent magnet, Athey wheel driving motor, two masters
Driving wheel, synchronous belt, two synchronous pulleys, two driven wheels, Athey wheel bearing outer end cap, Athey wheel bearing, in Athey wheel bearing
End cap, crawler belt, drive sprocket axle, sleeve and follower shaft；
The magnetic conductive board is centered around the outer surface of crawler belt, rigid connection, at the middle part of magnetic conductive board along magnetic conductive board length direction
A number of magnetic isolation plate is evenly arranged, the opposite neodymium iron of symmetrical embedded two pieces of magnetizing directions in the left and right sides of each magnetic isolation plate
Boron permanent magnet, and the polarity of adjacent two pieces of Nd-Fe-B permanent magnets along magnetic conductive board length direction is opposite；The interior table of the crawler belt
Face is connected by the form of tooth engagement with driving wheel and driven wheel；
The driving wheel and driven wheel are arranged according to front and back position inside crawler belt, and two driving wheels are fixed on drive sprocket axle
Both ends, be fixedly connected with a synchronous pulley in the middle part of drive sprocket axle, drive sprocket axle inner side end through a driving wheel with
The Athey wheel bearing fit of Athey wheel bearing outer end cap is fixed on, realizes support of the Athey wheel bearing outer end cap to drive sprocket axle,
And the end is rigidly connected by key connection and Athey wheel driving motor output shaft；The Athey wheel driving motor is fixedly mounted on
In car body module；The inner ring of the Athey wheel bearing is fixedly connected by Athey wheel bearing inner end cap with drive sprocket axle；Athey wheel
The outer ring of bearing is connected with Athey wheel bearing outer end cap one end, realizes the cooperation of Athey wheel bearing outer end cap and driving wheel, crawler belt
The other end of wheel bearing outer end cap is connected through a screw thread mutually to be fixed with car body module；
Two driven wheels are fixedly mounted on the both ends of follower shaft, another synchronous pulley is fixed in the middle part of follower shaft,
Synchronous belt is installed, the both ends of each synchronous pulley by the shaft shoulder of corresponding axis and are sleeved on axis between two synchronous pulleys
Sleeve is positioned；And follower shaft is connected close to one end of car body module with car body module；
Monopod video camera is fixedly mounted in the upper surface of the car body module；It respectively symmetrically installs the left and right side of car body module
There are two the first connecting plate and two the second connecting plates；Two the second connecting plates are located between two the first connecting plates, Mei Ge
The distance between two connecting plates and the first adjacent connecting plate are equal, and with the centre-to-centre spacing phase of drive sprocket axle and follower shaft
Match somebody with somebody；One end of first connecting plate and the second connecting plate is connected by corresponding axis pin with the left and right side of car body module,
First connecting plate and the second connecting plate and the left and right side of car body module form revolute pair；The other end of first connecting plate is disposed with
The matched flange of mounting flange on Athey wheel bearing outer end cap, is connected through a screw thread and the Athey wheel in Athey wheel module
Bearing outer end cap is fixed；The other end of second connecting plate is equipped with bearing hole, installs connecting plate bearing by the bearing hole, even
The inside of fishplate bar bearing is positioned by connecting plate bearing (ball) cover；The pin shaft hole axle center of first connecting plate and flange center's distance
It is equal with bearing hole centre distance with the pin shaft hole axle center of the second connecting plate；With coaxially pacifying on the fixed axis pin of the first connecting plate
Torsional spring is filled, the one end is fixed on the left and right side of car body module, and the other end is fixed on the inside of the first connecting plate.
Compared with prior art, the innovation of the utility model is：
1st, the utility model uses modularized design：The Athey wheel module being arranged symmetrically including 4, based on parallelogram
The car body module of mechanism and rectangular coordinate system formula paint spraying mechanical arm module.Modularized design causes this to climb wall paint-spray robot
Fast assembling-disassembling can be realized when working in discontinuous operating area, improves machine task efficiency.
2nd, the utility model Athey wheel module is using the form for adding toothed belt transmission in crawler belt：When paint-spray robot is in circular arc
When wall surface works, since crawler belt rotation needs to overcome powerful adsorption capacity and the influence of circular arc wall face curvature that crawler belt is caused to exist
Small-scale sliding is generated in rotation process, the utility model is using the form for adding toothed belt transmission in crawler belt, the driving of motor
Power passes to follower shaft by drive sprocket axle by synchronous belt, and then through driving wheel driving caterpillar drive synchronous with driven wheel, subtracts
Some resistance square in small crawler belt rotation process produces so as to prevent to some extent sliding phenomenon in crawler belt rotary course
It is raw, improve the stationarity and reliability of caterpillar drive.
3rd, the utility model car body module is based on parallelogram mechanism, has curved surface adaptive ability：First connecting plate
Pin shaft hole axle center and flange center's distance and the second connecting plate pin shaft hole axle center are equal with bearing hole centre distance, Athey wheel module
Upper drive sprocket axle is equal with the pin shaft hole centre-to-centre spacing of the first connecting plate and the second connecting plate with the centre-to-centre spacing of follower shaft, therefore,
First connecting plate, the second connecting plate, Athey wheel module, the left and right side of car body module form a flat quadrangular mechanism, can make the
One connecting plate and the second connecting plate are rotated synchronously around the left and right side of car body module, and then drive the holding of Athey wheel module and vehicle
Module main body frame parallel orientation fluctuates, and realizes curved surface adaptive function, while torsional spring and axis pin coaxial cooperation, torsional spring
One end is fixed on the left and right side of car body module, and the other end is fixed on the first connecting plate so that the first connecting plate compared with
The rotation of the left and right side of car body module need to overcome larger external force, the rigidity of parallelogram mechanism greatly improved, and then
Ensure the stationarity of paint-spray robot movement.
Description of the drawings
Fig. 1 is a kind of structure diagram of curved surface adaptive magnetic adsorption wall climbing paint-spray robot of the utility model；
Fig. 2 is a kind of top view of curved surface adaptive magnetic adsorption wall climbing paint-spray robot Athey wheel module 1 of the utility model；
Fig. 3 is a kind of internal junction of curved surface adaptive magnetic adsorption wall climbing paint-spray robot Athey wheel module 1 of the utility model
Structure schematic diagram；
Fig. 4 is a kind of driving wheel of curved surface adaptive magnetic adsorption wall climbing paint-spray robot Athey wheel module 1 of the utility model
Partial cross-sectional view；
Fig. 5 is a kind of driven wheel portion of curved surface adaptive magnetic adsorption wall climbing paint-spray robot Athey wheel module of the utility model
The cross-sectional view divided；
Fig. 6 is a kind of front view structure of curved surface adaptive magnetic adsorption wall climbing paint-spray robot car body module 2 of the utility model
Schematic diagram；
Fig. 7 is a kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot rectangular coordinate system formula paint spraying mechanical of the utility model
The dimensional structure diagram of arm module 3；
In figure, 1- Athey wheel modules, 101- magnetic conductive boards, 102- magnetic isolation plates, 103- Nd-Fe-B permanent magnets, the drive of 104- Athey wheels
Dynamic motor, 105- driving wheels, 106- synchronous belts, 107- synchronous pulleys, 108- driven wheels, 109- Athey wheel bearing outer end caps,
110- Athey wheel bearings, 111- Athey wheel bearing inner end caps, 112- crawler belts, 113- drive sprocket axles, 114- sleeves, 115- driven wheels
Axis；2- car body modules, the first connecting plates of 201-, 202- torsional springs, 203- connecting plate bearings, 204- draw money on credit fagging, and 205- second connects
Fishplate bar, 206- connecting plate bearing (ball) covers, 207- axis pins, 208- monopod video cameras, 209- upper cover plates, the short support plates of 210-；3- is straight
Angular coordinate system formula paint spraying mechanical arm module, 301- spray guns, 302 gun stands, the elastic guide rails of 303-, 304- fix guide rail,
The vertical telescopic rails of 305-, 306- horizontally slip guide rail, 307- rail bracketses.
Specific embodiment
The utility model is described further with reference to embodiment and its attached drawing.Embodiment is with the utility model institute
The specific implementation carried out premised on technical solution is stated, gives detailed embodiment and process, but not in this, as to this
Apply for the restriction of claims.
A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot (referring to Fig. 1-7) of the utility model includes four structure phases
Same permanent magnetic adsorption-type Athey wheel module 1, the car body module 2 based on parallelogram mechanism and rectangular coordinate system formula paint spraying mechanical
Arm module 3；The identical permanent magnetic adsorption-type Athey wheel module 1 of four structures is symmetrically arranged in the both sides of car body module 2, in vehicle
The top installation rectangular coordinate system formula paint spraying mechanical arm module 3 of module 2；
Each Athey wheel module 1 (referring to Fig. 2, Fig. 3, Fig. 4, Fig. 5) includes magnetic conductive board 101, magnetic isolation plate 102, neodymium iron boron
Permanent magnet 103,104, two driving wheels 105 of Athey wheel driving motor, the synchronous pulley 107, two of synchronous belt 106, two are driven
Wheel 108, Athey wheel bearing outer end cap 109, Athey wheel bearing 110, Athey wheel bearing inner end cap 111, crawler belt 112, drive sprocket axle
113rd, sleeve 114 and follower shaft 115；
The magnetic conductive board 101 is centered around the outer surface of crawler belt 112, rigid connection, at the middle part of magnetic conductive board 101 along magnetic conductive board
Length direction is evenly arranged a number of magnetic isolation plate 102, symmetrically magnetizes for embedded two pieces in the left and right sides of each magnetic isolation plate 102
The opposite Nd-Fe-B permanent magnet 103 in direction, and the polarity phase of adjacent two pieces of Nd-Fe-B permanent magnets along magnetic conductive board length direction
Instead；The inner surface of the crawler belt is connected by the form of tooth engagement with driving wheel 105 and driven wheel 108；Above-mentioned special designing
Permanent magnetic adsorption-type crawler belt can greatly improve magnetic suck efficiency, increase adsorption capacity, be particularly suitable for large-scale magnetic conductivity wall surface, can
Greatly improve the load capacity and reliability for climbing wall paint-spray robot；
The driving wheel 105 and driven wheel 108 are arranged according to front and back position inside crawler belt, and two driving wheels are fixed on master
The both ends of driving wheel axis 113 are fixedly connected with a synchronous pulley 107,113 inner end of drive sprocket axle at the middle part of drive sprocket axle 113
Face coordinates through a driving wheel with being fixed on the Athey wheel bearing 110 of Athey wheel bearing outer end cap 109, realizes Athey wheel bearing
Support of the outer end cap 109 to drive sprocket axle 113, and the end passes through key connection and 104 output shaft of Athey wheel driving motor rigidity
Connection；The Athey wheel driving motor 104 is fixedly mounted in car body module 2；The inner ring of the Athey wheel bearing 110 passes through shoe
Bearing with wheel inner end cap 111 is fixedly connected with drive sprocket axle 113, realizes the positioning of Athey wheel bearing 110；Athey wheel bearing 110
Outer ring be connected with 109 one end of Athey wheel bearing outer end cap, realize the cooperation of Athey wheel bearing outer end cap 109 and driving wheel 105,
The other end of Athey wheel bearing outer end cap 109 is connected through a screw thread to be fixed with 2 phase of car body module, so as to fulfill Athey wheel module 1
With the connection of car body module 2；
Two driven wheels 108 are fixedly mounted on the both ends of follower shaft 115, another is fixed at 115 middle part of follower shaft
Synchronous pulley 107 installs synchronous belt 106 between two synchronous pulleys 107, and the both ends of each synchronous pulley pass through corresponding axis
The shaft shoulder and the sleeve 114 being sleeved on axis are positioned；And follower shaft 115 is close to one end of car body module and car body module 2
Connection；
The output shaft of Athey wheel driving motor 104 is rigidly connected with drive sprocket axle 113, for driving force to be transferred to actively
On wheel shaft 113, through with the 107 matched synchronous belt 106 of synchronous pulley on drive sprocket axle 113 and follower shaft 115, it is synchronous to drive
Dynamic follower shaft 115 rotates, and then driving is wrapped in 105 He of driving wheel under the driving synchronous with driven wheel 108 of driving wheel 105
The crawler belt 112 of 108 outer surface of driven wheel moves, and realizes the movement of Athey wheel module 1；
Monopod video camera 208, the monopod video camera 208 is fixedly mounted in the upper surface of the car body module 2 (referring to Fig. 6)
Manually make environment and spray painting operation effect for observing machine；There are two the left and right side of car body module 2 is respectively symmetrically installed
First connecting plate 201 and two the second connecting plates 205；Two the second connecting plates 205 are located between two the first connecting plates 201,
The distance between each second connecting plate 205 and the first adjacent connecting plate 201 are equal, and with drive sprocket axle 114 and driven wheel
The centre-to-centre spacing of axis 116 matches；One end of first connecting plate, 201 and second connecting plate 205 passes through corresponding axis pin 207
It is connected with the left and right side of car body module, the first connecting plate 201 and the second connecting plate 205 and the left and right side of car body module are formed
Revolute pair；The other end of first connecting plate be disposed with the matched flange of mounting flange on Athey wheel bearing outer end cap 109,
It is connected through a screw thread and is fixed with the Athey wheel bearing outer end cap 109 in Athey wheel module 1；Second connecting plate 205 it is another
End is equipped with bearing hole, installs connecting plate bearing 203 by the bearing hole, the inside of connecting plate bearing 203 passes through connecting plate bearing
End cap 206 is positioned；The pin shaft hole axle center of first connecting plate 201 and flange center's distance and the axis pin of the second connecting plate 205
The hole axle heart is equal with bearing hole centre distance；Torsional spring 202 is co-axially mounted on axis pin 207 fixed with the first connecting plate, it is described
202 one end of torsional spring is fixed on the left and right side of car body module, and the other end is fixed on the inside of the first connecting plate 201 so that
First connecting plate 201 need to overcome larger external force compared with the rotation of the left and right side of car body module, and parallel four side greatly improved
Shape mechanism rigidity, and then ensure the stationarity of robot motion；
Left (right side) side of first connecting plate 201, the second connecting plate 205, Athey wheel module 1, car body module forms flat four sides
Shape mechanism can be such that the first connecting plate 201 and the second connecting plate 205 is rotated synchronously around left (right side) side of car body module, and then band
Dynamic Athey wheel module 1 keeps fluctuating with 2 body parallel posture of car body module, realizes curved surface adaptive function.
The rectangular coordinate system formula paint spraying mechanical arm module 3 (referring to Fig. 7) includes spray gun 301, gun stand 302, front and rear
Telescopic rail 303, fixed guide rail 304, vertical telescopic rail 305, horizontally slip guide rail 306 and rail brackets 307；
The fixed guide rail 304 is fixed on the upper surface of car body module 2 by rail brackets 307, and described horizontally slip is led
The bottom of rail 306 is fixedly connected with the sliding block on fixed guide rail 304；Before the top for horizontally slipping guide rail 306 is fixedly connected
Sliding block on telescopic rail 303 afterwards, the forepart of elastic guide rail 303 are fixedly connected with the sliding block on vertical telescopic rail 305；
The spray gun 301 is fixed on the bottom of vertical telescopic rail 305 by gun stand 302；The elastic guide rail 303 is consolidated
The one end for determining guide rail 304 and vertical telescopic rail 305 is fixed with guide rail motor by motor mounting plate, fixes on guide rail 304
Sliding block moved left and right under the driving of guide rail motor on fixed guide rail, elastic guide rail 303 and vertical telescopic rail 305
Itself moves back and forth and moves up and down respectively under the driving of corresponding guide rail motor, and the guide rail 306 that horizontally slips elastic is led
Rail 303,305 three of vertical telescopic rail cooperate, and complete entire spray painting operation.
Under the driving of corresponding guide rail motor, through belt transmission, either gear drive or turbine and worm are driven, fixed
Sliding block on guide rail moves left and right on fixed guide rail, so as to which the guide rail 306 that horizontally slips be driven to move left and right.
The elastic guide rail 303 occurs elastic guide rail 303 front and rear under the driving of corresponding guide rail motor
Mobile, with elastic guide rail front and rear relative movement occurs for the guide rail 306 that horizontally slips.
Vertical telescopic rail 305 makes to move down in the vertical generation of telescopic rail 305 under the driving of corresponding guide rail motor
Dynamic, vertical telescopic rail 305 occurs to relatively move up and down with elastic guide rail 303, so drive spray gun 301 realize it is upper and lower,
The variation of position around, the guide rail 306 that horizontally slips, elastic guide rail 303,305 three's phase interworking of vertical telescopic rail
It closes, completes entire spray painting operation.
The utility model is further characterized by the car body module 2 as cuboid structure, including two long supports
204, two short support plates 210 of plate and upper cover plate 209, two are drawn money on credit fagging 204 and two short support plate 210 surrounds cuboid vehicle
Body frame, upper cover plate 209, which is connected through a screw thread, to be fixed on the vehicle body frame, for installing fixed rectangular coordinate system formula paint spraying machine
Tool arm module 3 and monopod video camera 208；Two faggings 204 of drawing money on credit form the left and right side of car body module, two short support plate structure
Into the front and back sides of car body module, the second connecting plate 205 and the first connecting plate 201 are fixed on two faggings of drawing money on credit.
The operation principle of the utility model curved surface adaptive magnetic adsorption wall climbing paint-spray robot：Athey wheel driving motor 104
Driving drive sprocket axle 113 rotate, through with the 107 matched synchronous belt of synchronous pulley on drive sprocket axle 113 and follower shaft 115
106, it is synchronous that follower shaft 115 is driven to rotate, make to be wrapped in driving wheel under the driving synchronous with driven wheel 108 of driving wheel 105
105 and driven wheel 108 on crawler belt 113 move, realize the movement of Athey wheel module 1, and then drive entire robot movement.It should
Paint-spray robot crosses weld seam and when arc-shaped wall surface works, and the first connecting plate 201 and the second connecting plate 205 are around car body
The left and right side of module rotates synchronously, and then Athey wheel module 1 is driven to keep on the main body frame parallel orientation with car body module 2
Curved surface adaptive function is realized in lower floating.The rigidity of torsional spring 202 causes left and right of first connecting plate 201 compared with car body module
The rotation of side need to overcome larger external force, and parallelogram mechanism rigidity greatly improved, and then ensure that robot motion's is flat
Stability.When the paint-spray robot carries out spray painting operation, robot reaches the work specified under the guide of monopod video camera 208 first
Make region, according to spray painting operation required distance and the observed result of monopod video camera 208, adjust vertical telescopic rail 305,
Spray gun 301 is adjusted to proper height by elastic guide rail 303, and big face is completed by moving left and right for the guide rail 306 that horizontally slips
Long-pending spray painting operation；When paint-spray robot runs into obstacle, observed by monopod video camera 208, according to the shape of barrier and
Size adjusts the position of vertical telescopic rail 305 and elastic guide rail 303 in real time, so as to complete the spray painting of barrier region
Operation.During entire spray painting operation, 208 real-time monitored robot working environment of monopod video camera and spraying operation effect
Fruit prevents drain spray and repeats to spray, improves the reliability of spray painting operation.
The orientation such as front, rear, left and right being previously mentioned in the utility model word is a relative concept, with spray gun institute in Fig. 1
Before being in direction.
Part is not suitable for the prior art to the utility model to the greatest extent.
Claims (3)
1. a kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot, it is characterised in that it is identical that the robot includes four structures
Permanent magnetic adsorption-type Athey wheel module, the car body module based on parallelogram mechanism and rectangular coordinate system formula paint spraying mechanical arm mould
Block；The identical permanent magnetic adsorption-type Athey wheel module symmetry of four structures is arranged in the both sides of car body module, in car body module
Top installation rectangular coordinate system formula paint spraying mechanical arm module；
Each Athey wheel module include magnetic conductive board, magnetic isolation plate, Nd-Fe-B permanent magnet, Athey wheel driving motor, two driving wheels,
Synchronous belt, two synchronous pulleys, two driven wheels, Athey wheel bearing outer end cap, Athey wheel bearing, Athey wheel bearing inner end cap,
Crawler belt, drive sprocket axle, sleeve and follower shaft；
The magnetic conductive board is centered around the outer surface of crawler belt, rigid connection, uniform along magnetic conductive board length direction at the middle part of magnetic conductive board
It arranges a number of magnetic isolation plate, the opposite neodymium iron boron of two pieces of magnetizing directions is symmetrically embedded in forever in the left and right sides of each magnetic isolation plate
Magnet, and the polarity of adjacent two pieces of Nd-Fe-B permanent magnets along magnetic conductive board length direction is opposite；The inner surface of the crawler belt leads to
The form for crossing tooth engagement is connected with driving wheel and driven wheel；
The driving wheel and driven wheel are arranged according to front and back position inside crawler belt, and two driving wheels are fixed on the two of drive sprocket axle
End, is fixedly connected with a synchronous pulley in the middle part of drive sprocket axle, and drive sprocket axle inner side end passes through a driving wheel and fixation
In the Athey wheel bearing fit of Athey wheel bearing outer end cap, and the end is firm by key connection and Athey wheel driving motor output shaft
Property connection；The Athey wheel driving motor is fixedly mounted in car body module；The inner ring of the Athey wheel bearing passes through Athey wheel
Bearing inner end cap is fixedly connected with drive sprocket axle；The outer ring of Athey wheel bearing is connected with Athey wheel bearing outer end cap one end, crawler belt
The other end of wheel bearing outer end cap is connected through a screw thread mutually to be fixed with car body module；
Two driven wheels are fixedly mounted on the both ends of follower shaft, fix another synchronous pulley in the middle part of follower shaft, two
Synchronous belt is installed, the both ends of each synchronous pulley pass through the shaft shoulder of corresponding axis and the sleeve being sleeved on axis between synchronous pulley
It is positioned；And follower shaft is connected close to one end of car body module with car body module；
Monopod video camera is fixedly mounted in the upper surface of the car body module；The left and right side of car body module is respectively symmetrically equipped with two
A first connecting plate and two the second connecting plates；Two the second connecting plates are located between two the first connecting plates, and each second connects
The distance between fishplate bar and the first adjacent connecting plate are equal, and match with the centre-to-centre spacing of drive sprocket axle and follower shaft；Institute
The one end for stating the first connecting plate and the second connecting plate is connected by corresponding axis pin with the left and right side of car body module, and first connects
Fishplate bar and the second connecting plate and the left and right side of car body module form revolute pair；The other end of first connecting plate is disposed with and crawler belt
The matched flange of mounting flange on wheel bearing outer end cap, be connected through a screw thread with outside the Athey wheel bearing in Athey wheel module
End cap is fixed；The other end of second connecting plate is equipped with bearing hole, installs connecting plate bearing by the bearing hole, connects board shaft
The inside held is positioned by connecting plate bearing (ball) cover；The pin shaft hole axle center of first connecting plate and flange center's distance and second
The pin shaft hole axle center of connecting plate is equal with bearing hole centre distance；With being co-axially mounted torsion on the fixed axis pin of the first connecting plate
Spring, the one end are fixed on the left and right side of car body module, and the other end is fixed on the inside of the first connecting plate.
2. curved surface adaptive magnetic adsorption wall climbing paint-spray robot according to claim 1, it is characterised in that the right angle is sat
Mark system formula paint spraying mechanical arm module includes spray gun, gun stand, elastic guide rail, fixed guide rail, vertical telescopic rail, left and right
Rail plate and rail brackets；
The fixed guide rail is fixed on the upper surface of car body module by rail brackets, and the bottom of the guide rail that horizontally slips is with consolidating
The sliding block determined on guide rail is fixedly connected；The sliding block being fixedly connected at the top of the guide rail that horizontally slips on elastic guide rail, it is preceding
The forepart of telescopic rail is fixedly connected with the sliding block on vertical telescopic rail afterwards；The spray gun is fixed on vertically by gun stand
The bottom of telescopic rail；One end of the elastic guide rail, fixed guide rail and vertical telescopic rail passes through motor mounting plate
Guide rail motor is fixed with, the sliding block fixed on guide rail moves left and right under the driving of guide rail motor on fixed guide rail, front and rear to stretch
Contracting guide rail and vertical telescopic rail itself are moved back and forth and moved up and down respectively under the driving of corresponding guide rail motor.
3. curved surface adaptive magnetic adsorption wall climbing paint-spray robot according to claim 1, it is characterised in that the car body mould
Block is cuboid structure, including two faggings of drawing money on credit, two short support plates and upper cover plate, two draw money on credit fagging and two short branch
Fagging surrounds cuboid vehicle body frame, and upper cover plate, which is connected through a screw thread, to be fixed on the vehicle body frame；Two fagging compositions of drawing money on credit
The left and right side of car body module, two short support plate form the front and back sides of car body module, second are fixed on two faggings of drawing money on credit
Connecting plate and the first connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720782910.9U CN207389348U (en) | 2017-06-30 | 2017-06-30 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720782910.9U CN207389348U (en) | 2017-06-30 | 2017-06-30 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207389348U true CN207389348U (en) | 2018-05-22 |
Family
ID=62402522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720782910.9U Withdrawn - After Issue CN207389348U (en) | 2017-06-30 | 2017-06-30 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207389348U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128389A (en) * | 2017-06-30 | 2017-09-05 | 河北工业大学 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
| CN109436117A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Crawler attachment and climbing robot |
| CN109436116A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Crawler attachment and climbing robot |
| CN111515053A (en) * | 2020-04-21 | 2020-08-11 | 江苏中矿大正表面工程技术有限公司 | A automation equipment that is used for anticorrosive application of bridge tunnel large surface |
| CN111774204A (en) * | 2019-04-03 | 2020-10-16 | 常熟银田智能科技有限公司 | Industrial spraying robot capable of performing non-planar spraying |
| WO2021027800A1 (en) * | 2019-08-13 | 2021-02-18 | 舟山市质量技术监督检测研究院 | Wall-climbing robot for capacity verification of vertical metal tank |
| CN112429106A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Magnetic-assisted pole-climbing robot |
| CN113044126A (en) * | 2021-05-10 | 2021-06-29 | 彼合彼方机器人(天津)有限公司 | Wall-climbing robot with variable curvature self-adaptive capacity |
| CN114644096A (en) * | 2022-03-21 | 2022-06-21 | 南通理工学院 | Underwater detection device for offshore wind turbine tower |
-
2017
- 2017-06-30 CN CN201720782910.9U patent/CN207389348U/en not_active Withdrawn - After Issue
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128389A (en) * | 2017-06-30 | 2017-09-05 | 河北工业大学 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
| CN107128389B (en) * | 2017-06-30 | 2022-12-30 | 河北工业大学 | Curved surface self-adaptive magnetic adsorption wall-climbing paint spraying robot |
| CN109436117A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Crawler attachment and climbing robot |
| CN109436116A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Crawler attachment and climbing robot |
| CN109436116B (en) * | 2018-12-21 | 2024-09-17 | 北京史河科技有限公司 | Crawler device and wall climbing robot |
| CN111774204A (en) * | 2019-04-03 | 2020-10-16 | 常熟银田智能科技有限公司 | Industrial spraying robot capable of performing non-planar spraying |
| WO2021027800A1 (en) * | 2019-08-13 | 2021-02-18 | 舟山市质量技术监督检测研究院 | Wall-climbing robot for capacity verification of vertical metal tank |
| CN112429106A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Magnetic-assisted pole-climbing robot |
| CN111515053A (en) * | 2020-04-21 | 2020-08-11 | 江苏中矿大正表面工程技术有限公司 | A automation equipment that is used for anticorrosive application of bridge tunnel large surface |
| CN113044126A (en) * | 2021-05-10 | 2021-06-29 | 彼合彼方机器人(天津)有限公司 | Wall-climbing robot with variable curvature self-adaptive capacity |
| CN114644096A (en) * | 2022-03-21 | 2022-06-21 | 南通理工学院 | Underwater detection device for offshore wind turbine tower |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207389348U (en) | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot | |
| CN107128389A (en) | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot | |
| CN102672704B (en) | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms | |
| CN202624434U (en) | Full driving magnetic attraction type multifunctional wall climbing robot with small-folding-size mechanical arm | |
| CN102689295B (en) | Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm | |
| CN102310403B (en) | Wheel-track composite deformation mobile robot with adaptive capability | |
| CN203726481U (en) | Robot head | |
| CN102672311B (en) | Electro-gas vertical welding automatic moving type robot system | |
| CN106143667B (en) | A kind of hinge-type metal wall work climbing robot | |
| CN102700646B (en) | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm | |
| CN102673671A (en) | Composite magnetic adsorption visual detection climbing robot | |
| CN107600214A (en) | It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall | |
| CN102689296A (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN203620850U (en) | Spraying equipment for empennage | |
| CN104260076A (en) | Omni-directional intelligent furniture paint spraying robot | |
| CN202752728U (en) | Autonomous mobile robot system for electro-gas welding | |
| CN202752729U (en) | Autonomous moving type two-sided two-arc welding robot system | |
| CN202608930U (en) | Composite magnetic adsorption type video detection wall climbing robot | |
| CN206029097U (en) | Shot -blasting machine casing welding robot assembly | |
| CN111196309A (en) | Wheel track adjustable carrying platform | |
| CN104942814B (en) | A kind of multi-purpose robot | |
| CN202805181U (en) | Full-driving magnetic adsorption type multifunctional wall-climbing robot with MDOF (multi-degree of freedom) mechanical arm | |
| CN202753150U (en) | Differential driving magnetic adsorption type multifunctional wall-climbing robot with multi-freedom-degree mechanical arm | |
| CN204700890U (en) | A kind of multi-purpose robot | |
| CN207274809U (en) | It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180522 Effective date of abandoning: 20221230 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180522 Effective date of abandoning: 20221230 |