CN207607561U - Four crawler belt climbing robot of adaptive wall surface - Google Patents

Abstract

The utility model is related to a kind of four crawler belt climbing robot of adaptive wall surface, technical characterstic is：The mutual indepedent and identical car body module of structure including a halfpace and four, four car body module left and right centered on halfpace are in a symmetrical arrangement, and be connected with halfpace by the limit joint with two-freedom, the car body module is the car body module of crawler-type permanent magnet adsorption structure.The utility model is designed reasonably, climbing robot can be made to realize the walking function of the vertical walls of different curvature, it can ensure the stability of robot when robot flexible motion, it provides safeguard for safe and efficient operation, with stable adhesive force, obstacle climbing ability and strong load capacity, the demand of movement and operation in complex environment is met.

Description

Four crawler belt climbing robot of adaptive wall surface

Technical field

The utility model belongs to Industrial Robot Technology field, is related to a kind of climbing robot, especially a kind of adaptive Four crawler belt barrier-crossing wall-climbing robot of wall surface.

Background technology

Climbing robot can carry out operation under and extreme environment dangerous in nuclear power engineering, chemical industry and wind energy project etc., Robot industry has great significance.The large scale equipment of domestic every field uses some by the magnetic conductive material of steel substantially The Large-Scale Equipment being processed into, such as petroleum pipeline, chemical storage tank, ship, wind power equipment etc., these wall surfaces are exposed to the weather, saline and alkaline The phenomenon that erosion, gravel friction, surface will appear dirt, depainting or even corrosion.In order to ensure the safe handling of equipment, need It puts into a large amount of manpower and materials and carries out the regularly upkeep operations such as cleaning detection.Some high intensity are engaged in using robot, it is high-risk The work of danger has become a kind of inevitable trend, meanwhile, also with greater need for be that some stability are high, adhesive force is big, Ke Yishi Answer the climbing robot of the magnetic conductivity wall surface of various curvature.Therefore, research and development can flexibly stablize fortune in the magnetic conduction face of various curvature Dynamic robot, and trend is become according to the wall checking job robot system of climbing of job requirements carrying different work module.

Through to the retrieval of prior art discovery, Chinese Patent Application No. 201620481051.5 describes that " one kind can be arbitrary The crawler belt climbing robot of steering " has been related to the arbitrary steering of Athey wheel, the problem is that：Athey wheel can only be in plane Carry out operation, wherein variation bad adaptability of the climbing robot to wall surface pattern and curvature.Simultaneously as climbing robot is main It is to be adsorbed on magnetic conductivity wall surface, it should adapt to the wall surface of different curvature, the obstacle climbing ability of appropriateness and there is larger load energy Power, still, current most of climbing robots can not meet the needs of operating mode well in these areas.

Utility model content

The purpose of the utility model is to overcome the deficiencies in the prior art, proposes a kind of reasonable design, can adapt to difference The wall surface of curvature, the obstacle climbing ability of appropriateness and the four crawler belt climbing robot of adaptive wall surface with larger load capacity.

The utility model solves its technical problem and following technical scheme is taken to realize：

A kind of four crawler belt climbing robot of adaptive wall surface, including a halfpace and four mutual indepedent and structure phases Same car body module, four car body module left and right centered on halfpace are in a symmetrical arrangement, and by with two-freedom Limit joint is connected with halfpace, and the car body module is the car body module of crawler-type permanent magnet adsorption structure.

Further, the limit joint with two-freedom includes the first rotary shaft, the first rotary shaft shaft shoulder convex Platform, the limit of the first rotation shaft angle, the second rotary shaft, the second rotation shaft angle limited location snap ring, the second rotary shaft shaft shoulder convex Platform, limiting plate, limited cover and angle limit boss；First rotary shaft, the limit of the first rotation shaft angle, the first rotary shaft Shaft shoulder positioning convex platform, the second rotary shaft, the second rotary shaft shaft shoulder positioning convex platform are structure as a whole, the second rotation shaft angle limiting card Ring is positioned by the second rotary shaft shaft shoulder positioning convex platform and, second rotation shaft angle limiting card affixed by key and the second rotary shaft Ring and the limiting slot of body inner side coordinate limiting rotation angle, the second rotary shaft by car body center the second rotary shaft location hole with It is fixed on the outside of car body；The limiting plate is packed in by bolt on halfpace, and the limited cover is mounted in limiting plate And bearing is equipped in limited cover, bearing outer ring top is matched with limiting plate and limited cover, and bearing inner race is by the first rotary shaft Shaft shoulder positioning convex platform is fixed, and the limit of the first rotation shaft angle plays position-limiting action with the cooperation of angle limit boss.

Further, the car body module includes that frame inside siding, frame outside siding, synchronous belt wheel carrier, magnet are fixed Plate, tensioning synchronous belt wheel shaft, gear shaft, synchronous belt wheel shaft, compression cylinder, spring, constrictor, retarder fixing bracket, magnet piece, Clearance-type magnetic sucking mechanism, driving mechanism, transmission mechanism and walking mechanism；The magnet piece is fixed in magnet fixed plate, Magnet fixed plate both sides are solidly connected with synchronous belt wheel carrier by locking；Synchronous belt wheel carrier both ends are synchronized by synchronous pulley axis connection Belt wheel, one end and frame inside siding, frame outside siding and the synchronous pulley axis connection of synchronous belt wheel carrier, synchronous belt wheel carrier The other end is fastenedly connected constrictor, and constrictor connects compression cylinder by spring, compression cylinder again with the connect synchronous belt of car body siding Wheel shaft, synchronous pulley connection；There is tensioning sliding slot on frame inside siding and frame outside siding, tensioning synchronous belt wheel shaft is in cunning The dynamic tensioning function for realizing crawler belt of trough inner water translation；Frame inside siding has the second rotary shaft limiting slot in rotating shaft center；Institute It states clearance-type magnetic sucking mechanism to be made of the identical permanent magnetic suck unit of multigroup structure, absorbing unit is separately mounted under vehicle frame On bottom plate, it is symmetrically distributed at left and right sides of crawler belt；The driving mechanism be mounted on magnet base plate rear end and by transport mechanism with Walking mechanism is connected.

Further, the driving mechanism includes DC electromotor with brush, encoder, contracting brake, motor driver；Institute It is coaxially arranged to state DC electromotor with brush, encoder, contracting brake, is bolted is integrated successively, then connected by bolt It is connected on retarder；Motor driver is mounted on magnet base plate rear end position.

Further, the transmission mechanism includes first stage decelerator, retarder fixing bracket, torque commutator and double reduction Device；First stage decelerator front end is fixed in by retarder fixing bracket on frame inside siding, and rear end is connected with driving mechanism；Subtract Fast device exports axis connection torque commutator, and Motor torque is passed to torque commutator；Torque commutator is transmission ratio 1:1 cone Gear set, drive bevel gear connect first stage decelerator output shaft, and driven wheel of differential is fixed on gear shaft, gear shaft is fixed on On frame outside siding；Two stage reducer is made of active spur gear and passive spur gear；Active spur gear and driven spur gear Standard engages, and is fixed on the outer end of gear shaft, and thus Motor torque is transferred to two stage reducer by torque commutator.

Further, the walking mechanism includes that synchronous pulley, synchronous belt and rubber are constituted；Synchronous belt is by four synchronous pulleys It props up jointly, the synchronous pulley is connect by being tensioned synchronous belt wheel shaft, synchronous belt wheel shaft with siding, and the rubber is rolled in synchronization Band outside.

Further, the permanent magnetic suck unit is rearranged by polylith permanent magnets.

Further, the halfpace is made of platform main box and platform upper cover plate；The platform main box is one Cuboid without upper cover, inner space are used to be mounted in the electric elements used in robot, and the platform upper cover is mounted on platform master The upper surface of babinet constitutes a closed babinet.

The advantages of the utility model and good effect are：

1, the utility model uses modularized design, and it is flat to be arranged in a centre by mutually independent car body module symmetry Platform both sides and constitute；Car body is connect with halfpace by the joint with two-freedom position limiting structure, disassembles assembled easy, transport Fast, the job requirements that can adapt to narrow limited space very well are passing through the discontinuous operating area side such as various variable curvatures There is extremely strong advantage, the utility model can be applied to all kinds of magnetic conductivity wall surfaces (such as wind tower bucket, ship outer surface etc.) in face, It can realize flexibly creeping on the magnetic conduction face of Curvature varying, and different types of work can be carried according to different mission requirements Industry module carries out corresponding limit operation on all kinds of magnetic conduction wall surfaces.

2, the utility model uses clearance-type permanent magnetic suck form, with simple in structure, adsorption capacity is big, unaffected by removing electrical power The advantages that.

3, the utility model uses track structure, and the contact area of crawler belt and wall surface is enough during capable of ensureing turning Greatly, it is capable of providing frictional force enough when robot wall surface movement, is steadily walked encountering obstacle appropriate, energy The safety of the enough stability and wall surface limit operation for ensureing movement, is more suitable for applying the industrial environment in some limit.

4, the utility model is designed reasonably can make climbing robot realize the walking work(of the vertical walls of different curvature Can, it can ensure the stability of robot when robot flexible motion, provide safeguard for safe and efficient operation, there is stabilization Adhesive force, obstacle climbing ability and strong load capacity meet the demand of movement and operation in complex environment.

Description of the drawings

Fig. 1 is the general assembly ligand isometric side view of the utility model；

Fig. 2 is the general assembly ligand vertical view of the utility model；

Fig. 3 is the halfpace isometric side view of the utility model；

Fig. 4 is the limit joint assembly isometric side view of the utility model；

Fig. 5 is the limiting plate isometric side view of the utility model；

Fig. 6 is the limit joint isometric side view of the utility model；

Fig. 7 is the isometric schematic side view of right body module of the utility model；

Fig. 8 is the right body internal structure front view of the utility model；

Fig. 9 is the right body internal structure isometric side view of the utility model；

Figure 10 is that curved surface rises adaptation schematic diagram；

Figure 11 is that curved surface turning adapts to schematic diagram；

In figure：1- halfpaces, right limit joint before 2-, right body module before 3-, right body module after 4-, 5- rear rights limit Position joint, left limit joint after 6-, left body module after 7-, left body module before 8-, left limit joint before 9-, 101- platforms Main box, 102- platform upper cover plates, 201- limiting plates, 202- limited covers, 203- angle limit boss, 204- first rotate Axis angle limit, 205- the first rotary shaft shaft shoulder positioning convex platforms, the first rotary shafts of 206-, the second rotary shafts of 207-, 208- second Rotation shaft angle limited location snap ring, 209- the second rotary shaft shaft shoulder positioning convex platforms, the right frame inside sidings of 301-, outside the right vehicle frames of 302- Sidewall paneling, 303- synchronous belts, 304- rubber, 305- tensioning shaft sliding slots, 306- the second rotary shaft limiting slots, 307- compression cylinders, 308- springs, 309- constrictors, 310- magnet fixed plates, 311- synchronous belt wheel carriers, 312- two stage reducers, 313- level-ones subtract Fast device, 314- brush direct current motors, 315- contracting brakes, 316- encoders, 317- the second rotary shaft location holes, 318- are same Step belt wheel, 319- abutment sleeves, 320- tensioning synchronous belt wheel shafts, 321- gear shafts, 322- synchronous belt wheel shafts, 323- torques change To device, 324- pins, 325- retarder fixing brackets, 326- permanent magnets.

Specific implementation mode

The utility model embodiment is further described below in conjunction with attached drawing.

A kind of four crawler belt climbing robot of adaptive wall surface, as shown in Figures 1 and 2, including four mutually independent car bodies Module and a halfpace 1, four mutually independent car body modules are respectively left front car body module 8, left back car body mould Block 7, right front truck module 3, right rear car module 4, four car body modular structures it is identical and centered on halfpace 1 left and right at It is arranged symmetrically, the car body module of the left and right sides has two rotary freedoms relative to halfpace 1.Four car body modules are logical It crosses four limit joints with two-freedom with halfpace 1 to be connected, four limits joint is respectively preceding right limit Joint 2, rear right limit joint 5, rear left limit joint 6, preceding left limit joint 9.

As shown in figure 3, the halfpace 1 is made of platform main box 101 and platform upper cover plate 102.Platform main box 101 be a cuboid without upper cover, and inner space is used to be mounted in the electric elements used in robot.Platform upper cover 102 is installed In the upper surface of platform main box, a closed babinet is formed.

As shown in Fig. 4, Fig. 5 and Fig. 6, the limit joint with two-freedom includes the first rotary shaft 206, first Rotary shaft shaft shoulder positioning convex platform 205, the first rotation shaft angle limit the 204, second rotary shaft 207, the limit of the second rotation shaft angle Snap ring 208 and the second rotary shaft shaft shoulder positioning convex platform 205.Wherein the first rotary shaft 206, the first rotation shaft angle limit 204, the One rotary shaft shaft shoulder positioning convex platform 205, the second rotary shaft 207, the second rotary shaft shaft shoulder positioning convex platform 209 are made into integration.Second Rotation shaft angle limited location snap ring 208 is positioned by the second rotary shaft shaft shoulder positioning convex platform 209, passes through key and the second rotary shaft 207 It is affixed.Second rotation shaft angle limited location snap ring 208 and the limiting slot 306 of body inner side coordinate limiting rotation angle, the second rotation Axis 207 is fixed by siding 302 on the outside of car body center the second rotary shaft location hole 317 and car body.

Four car body modular structures are identical, below before illustrate car body modular structure for right body module 3.Such as Fig. 7, figure Shown in 8 and Fig. 9, the preceding right body module 3 includes right frame inside siding 301, right frame outside siding 302, synchronous pulley Frame 311, magnet fixed plate 310, tensioning synchronous belt wheel shaft 322, gear shaft 321, synchronous belt wheel shaft 322, compression cylinder 307, spring 308, constrictor 309, retarder fixing bracket 325, magnet piece 326, clearance-type magnetic sucking mechanism, driving mechanism, driver Structure and walking mechanism.Wherein magnet piece 326 is fixed in magnet fixed plate 310,310 both sides of magnet fixed plate and synchronous belt wheel carrier 311 are fastenedly connected by pin 324；311 both ends of synchronous belt wheel carrier connect synchronous pulley 318 by synchronous belt wheel shaft 322, synchronous One end with wheel carrier 311 is connect with right frame inside siding 301, right frame outside siding 302 and synchronous belt wheel shaft 322, synchronous The other end with wheel carrier 311 is fastenedly connected constrictor 309, and compression cylinder 307 by spring 308 by connecting constrictor, compression cylinder 307 synchronous belt wheel shaft 322 connect with car body siding, the connections of synchronous pulley 318 again.Right frame inside siding 301 and right vehicle frame There are tensioning sliding slot 305, tensioning synchronous belt wheel shaft 320 that can be moved horizontally in sliding slot on outside siding 302, it is appropriate to be moved to Position be fixed, may be implemented the tensioning of crawler belt 303, the variation of axle base can give synchronous belt to apply tensile force, Away from bigger, tensile force is bigger.The clearance-type magnetic sucking mechanism is made of multigroup permanent magnetic suck unit, every group of permanent magnetic suck list Meta structure is identical, is rearranged by polylith permanent magnets 326.Absorbing unit is separately mounted to right vehicle frame magnet fixed plate 310 On, it is evenly distributed at left and right sides of crawler belt.Right frame inside siding 301 has the second rotary shaft limiting slot 306 in rotating shaft center.

The driving mechanism includes DC electromotor with brush 314, encoder 316, contracting brake 315 and motor driving Device.The DC electromotor with brush 314, encoder 316, contracting brake 315 are coaxially arranged, and it is one to be bolted successively Body, then be bolt-connected on retarder 313；Motor driver is placed on right 310 back-end location of vehicle frame magnet bottom plate.

The transmission mechanism includes first stage decelerator 313, retarder fixing bracket 325, torque commutator 323 and two level Retarder 312.313 front end of first stage decelerator is fixed in by retarder fixing bracket 325 on right frame inside siding 301, after End is connected with driving mechanism.Reducer output shaft connects torque commutator 323, and Motor torque is passed to torque commutator 323. Torque commutator 323 is transmission ratio 1:1 bevel gear set, drive bevel gear connect first stage decelerator output shaft, driven wheel of differential It is fixed on gear shaft 321, gear shaft 321 is fixed on right frame outside siding 302.Two stage reducer 312 is by active straight-tooth Wheel and passive spur gear are constituted.Active spur gear is engaged with driven spur gear standard, and is fixed on the outer end of gear shaft 321, by Motor torque is transferred to two stage reducer 312 by this torque commutator 323.

The walking mechanism includes synchronous pulley 318, synchronous belt 303 and rubber 304.Synchronous belt 303 is by four synchronous belts Wheel 319 is propped up jointly, and the synchronous pulley is connect by synchronous belt wheel shaft 322 with right frame outside siding 302.Pass through in this way A series of transmission, motor can drive synchronous belt to move.Be wrapped with one layer of thin rubber on the outside of synchronous belt, the hardness of the rubber compared with It is low, it prevents crawler belt to be in direct contact with wall surface, plays the role of protecting wall surface in this way.

Limit joint and the connection relation of halfpace 1, car body module are illustrated below.

Illustrate the connection relation for limiting joint and halfpace 1 for right limit joint 2 in the past.It is described that there is two-freedom Limit joint 2 with halfpace 1 be that matched, bearing is connect by bearing by the first rotary shaft shaft shoulder positioning convex platform 205 Outer ring top is matched with limiting plate 201 and limited cover 202, and bearing inner race is then by 205 institute of the first rotary shaft shaft shoulder positioning convex platform It is fixed.In this way so that it is axis to limit joint 2 with the first rotary shaft 206, rotate relative to halfpace 1.Pass through first Rotation shaft angle limit 204 coordinates with angle limit boss 203, and the relative position of the two determines the rotating range in joint, from And position-limiting action is played, last limiting plate 201 is connected with platform main box 101 by bolt.

Right body module 3 and halfpace 1 before preceding right limit joint 2 with two-freedom is connected to so that front right vehicle Module 3 has two rotary freedoms relative to halfpace 1, and this makes it possible to meet robot to work surface variable curvature Adaptation, and ensure that the contact area of crawler belt is maximum during turning, ensure robot in operation process, the moment with The steady contact of tower bucket wall surface, enough guarantees is provided for safety work, as shown in Figures 10 and 11.

It is emphasized that embodiment described in the utility model is illustrative, without being restrictive, therefore this reality It is every according to the present utility model by those skilled in the art with the novel embodiment being not limited to described in specific implementation mode The other embodiment that technical solution obtains also belongs to the range of the utility model protection.

Claims (8)

1. a kind of four crawler belt climbing robot of adaptive wall surface, it is characterised in that：It is mutually only including a halfpace and four The vertical and identical car body module of structure, four car body module left and right centered on halfpace are in a symmetrical arrangement, and by having The limit joint of two-freedom is connected with halfpace, and the car body module is the car body mould of crawler-type permanent magnet adsorption structure Block.

2. four crawler belt climbing robot of adaptive wall surface according to claim 1, it is characterised in that：It is described that there are two freedom The limit joint of degree includes the first rotary shaft, the first rotary shaft shaft shoulder positioning convex platform, the limit of the first rotation shaft angle, the second rotation Axis, the second rotation shaft angle limited location snap ring, the second rotary shaft shaft shoulder positioning convex platform, limiting plate, limited cover and angle limit are convex Platform；First rotary shaft, the limit of the first rotation shaft angle, the first rotary shaft shaft shoulder positioning convex platform, the second rotary shaft, the second rotation Shaft shaft shoulder positioning convex platform is structure as a whole, and the second rotation shaft angle limited location snap ring is determined by the second rotary shaft shaft shoulder positioning convex platform Position is simultaneously affixed by key and the second rotary shaft, the limiting slot cooperation limitation rotation of the second rotation shaft angle limited location snap ring and body inner side Gyration, the second rotary shaft pass through fixed on the outside of car body center the second rotary shaft location hole and car body；The limiting plate passes through Bolt is packed on halfpace, and the limited cover is mounted in limiting plate and is equipped with bearing, bearing outer ring in limited cover Top is matched with limiting plate and limited cover, and bearing inner race is fixed by the first rotary shaft shaft shoulder positioning convex platform, the first rotation shaft angle Degree limit plays position-limiting action with the cooperation of angle limit boss.

3. four crawler belt climbing robot of adaptive wall surface according to claim 1, it is characterised in that：The car body module packet Include frame inside siding, frame outside siding, synchronous belt wheel carrier, magnet fixed plate, tensioning synchronous belt wheel shaft, gear shaft, synchronization Pulley shaft, compression cylinder, spring, constrictor, retarder fixing bracket, magnet piece, clearance-type magnetic sucking mechanism, driving mechanism, Transmission mechanism and walking mechanism；The magnet piece is fixed in magnet fixed plate, and magnet fixed plate both sides are logical with synchronous belt wheel carrier It crosses to lock and be solidly connected；Synchronous belt wheel carrier both ends pass through synchronous pulley axis connection synchronous pulley, one end of synchronous belt wheel carrier and vehicle frame The other end of inner side wall plate, frame outside siding and synchronous pulley axis connection, synchronous belt wheel carrier is fastenedly connected constrictor, constrictor Compression cylinder, compression cylinder synchronous belt wheel shaft connect with car body siding, synchronous pulley connection again are connected by spring；Frame inside wall There are tensioning sliding slot, tensioning synchronous belt wheel shaft to move horizontally the tensioning work(for realizing crawler belt in sliding slot on plate and frame outside siding Energy；Frame inside siding has the second rotary shaft limiting slot in rotating shaft center；The clearance-type magnetic sucking mechanism is by multigroup knot The identical permanent magnetic suck unit of structure is constituted, and absorbing unit is separately mounted on vehicle frame lower plate, is symmetrically distributed in crawler belt or so two Side；The driving mechanism is mounted on magnet base plate rear end and is connected with walking mechanism by transport mechanism.

4. four crawler belt climbing robot of adaptive wall surface according to claim 3, it is characterised in that：The driving mechanism packet Include DC electromotor with brush, encoder, contracting brake, motor driver；The DC electromotor with brush, encoder, band-type brake Brake is coaxially arranged, is bolted is integrated successively, then be bolt-connected on retarder；Motor driver is mounted on Magnet base plate rear end position.

5. four crawler belt climbing robot of adaptive wall surface according to claim 3, it is characterised in that：The transmission mechanism packet Include first stage decelerator, retarder fixing bracket, torque commutator and two stage reducer；First stage decelerator front end is solid by retarder Fixed rack is fixed on frame inside siding, and rear end is connected with driving mechanism；Reducer output shaft connects torque commutator, will be electric Machine torque passes to torque commutator；Torque commutator is transmission ratio 1:1 bevel gear set, drive bevel gear connect primary speed-down Device output shaft, driven wheel of differential are fixed on gear shaft, and gear shaft is fixed on frame outside siding；Two stage reducer is by leading Dynamic spur gear and passive spur gear are constituted；Active spur gear is engaged with driven spur gear standard, and is fixed on the outer end of gear shaft, Thus Motor torque is transferred to two stage reducer by torque commutator.

6. four crawler belt climbing robot of adaptive wall surface according to claim 3, it is characterised in that：The walking mechanism packet Synchronous pulley, synchronous belt and rubber is included to constitute；Synchronous belt is propped up jointly by four synchronous pulleys, and the synchronous pulley passes through tensioning Synchronous belt wheel shaft, synchronous belt wheel shaft are connect with siding, and the rubber is rolled on the outside of synchronous belt.

7. four crawler belt climbing robot of adaptive wall surface according to claim 3, it is characterised in that：The permanent magnetic suck list Member is rearranged by polylith permanent magnets.

8. four crawler belt climbing robot of adaptive wall surface according to claim 1, it is characterised in that：The halfpace by Platform main box and platform upper cover plate are constituted；The platform main box is a cuboid without upper cover, and inner space is for filling Electric elements used in robot, the platform upper cover are mounted on the upper surface of platform main box, constitute a closed case Body.