CN209833966U - Magnetic adsorption robot chassis structure - Google Patents
Magnetic adsorption robot chassis structure Download PDFInfo
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- CN209833966U CN209833966U CN201920493856.5U CN201920493856U CN209833966U CN 209833966 U CN209833966 U CN 209833966U CN 201920493856 U CN201920493856 U CN 201920493856U CN 209833966 U CN209833966 U CN 209833966U
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 31
- 239000000463 material Substances 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 10
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 5
- 230000005389 magnetism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000028327 secretion Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The utility model discloses a chassis structure of a magnetic adsorption robot, which comprises a left front driving wheel, a right front driving wheel, a left rear follow-up wheel, a right rear follow-up wheel, a front shaft, a main beam, a rear shaft, an oil charging interface and a roll angle shaft; the two ends of the front shaft are respectively connected with a left front driving wheel and a right front driving wheel, the two ends of the rear shaft are respectively connected with a left rear follow-up wheel and a right rear follow-up wheel, the front shaft is connected with one end of a main beam through a roll angle shaft, and the other end of the main beam is connected with the rear shaft; the driving wheel provides driving force required by movement, and the follow-up wheel moves along with the movement; the oil filling interface is used for filling oil into the cavity, so that the chassis keeps the internal and external pressure balance. The utility model discloses can let the robot be the nimble motion of arbitrary direction on outer pipe curved surface, ensure that the reliable absorption of robot is on pipe or various curved surfaces, can work in the depth of water about 300 meters under water, also can carry on all kinds of operation tools according to the task requirement, realize the module configuration.
Description
Technical Field
The utility model belongs to the technical field of underwater robot, concretely relates to magnetism adsorbs robot chassis structure.
Background
With the continuous improvement of the ocean development level and the continuous development of the utilization technology, more and more offshore underwater facilities, particularly oil platform jacket which is applied more and more frequently, are built at the sea. The water facilities are located below the sea level all the year round, so a large amount of marine organisms are easily attached, and the secretions of the marine organisms corrode the steel structure of the underwater facilities, so that the stress of the structure is increased, and the load capacity of the underwater facility structure is weakened. Meanwhile, according to the safety guarantee requirement of offshore facility operation and the mandatory requirement of classification society, some underwater facility structures need to be regularly detected, wherein the detection comprises appearance, cracks, thickness measurement, potential detection and the like. Therefore, it is increasingly important to clean and inspect the structure of the marine facility, and the maintenance cost is also increased.
At present, the cleaning and inspection work of the structure of the offshore facility with the depth of less than 50 meters is mostly performed by divers, and the cleaning and inspection work of the structure of the offshore facility with the depth of more than 50 meters is generally performed by an operation-level underwater remote control Robot (ROV).
The diver operation is a high-risk operation, the characteristics of ocean currents, vortexes, poor underwater visibility and the like in an underwater facility structure bring great potential safety hazards to the underwater operation, and the high-pressure water gun operation is superposed to further increase the personnel danger of the underwater operation; in addition, the diver has limited working time due to physical reasons and low working efficiency; but divers are essentially inoperable under water over 50 meters deep.
A traditional operation-level underwater remote control Robot (ROV) needs a large mother ship with power positioning capability for support, the equipment and operation cost is high, the hovering operation of the ROV is easily affected by the external environment, the control difficulty is high, and the operation efficiency is low.
SUMMERY OF THE UTILITY MODEL
Among the prior art, people begin to adopt magnetism to adsorb robot and carry out the underwater cleaning operation, and current magnetism adsorbs robot mainly has following problem: (1) the device is only used for absorbing planes or small curved surfaces; (2) the outer circular tube can not freely move in any direction on the curved surface of the outer circular tube; (3) cannot be used in deep water depth; (4) the working efficiency is low.
To the above-mentioned problem that exists among the prior art, the utility model provides a magnetism adsorbs robot chassis structure, this chassis structure can let the robot do the nimble motion of arbitrary direction on outer pipe curved surface, ensures that the reliable absorption in pipe or various curved surfaces of four wheels on robot chassis can work in the depth of water about 300 meters under water, also can carry on all kinds of operation tools according to the task requirement on the operation chassis, realizes the module configuration.
Therefore, the utility model adopts the following technical scheme:
a chassis structure of a magnetic adsorption robot comprises a left front driving wheel, a right front driving wheel, a left rear follow-up wheel, a right rear follow-up wheel, a front shaft, a main beam, a rear shaft, an oil filling interface and a roll angle shaft; the two ends of the front shaft are respectively connected with a left front driving wheel and a right front driving wheel, the two ends of the rear shaft are respectively connected with a left rear follow-up wheel and a right rear follow-up wheel, the front shaft is connected with one end of a main beam through a roll angle shaft, and the other end of the main beam is connected with a rear shaft; permanent magnet wheels with taper angles are embedded in the left front driving wheel, the right front driving wheel, the left rear follow-up wheel and the right rear follow-up wheel and are used for adsorbing a walking curved surface; the left front driving wheel and the right front driving wheel provide driving force required by the movement of the whole chassis, and the left rear follow-up wheel and the right rear follow-up wheel move along with the movement of the whole chassis; the oil charging interface is communicated with inner cavities of the left front driving wheel, the right front driving wheel, the left rear follow-up wheel and the right rear follow-up wheel and is used for charging oil into the cavities of the left front driving wheel, the right front driving wheel, the left rear follow-up wheel and the right rear follow-up wheel so as to keep the internal and external pressure balance of the chassis.
Preferably, the left front driving wheel and the right front driving wheel are nested with a wear-resistant material with a taper angle alpha and a permanent magnet wheel with a taper angle alpha from the outer layer inwards; the left front driving wheel and the right front driving wheel form an included angle beta along the outer edge of the section of the wheel shaft, and the included angle beta is designed according to the curved surface of the chassis during walking.
Preferably, the driving wheel hub, the direct current brushless motor and the speed reducer that drive the permanent magnet wheel are installed respectively to left front drive wheel and right front drive wheel from outside to inside, the one end of speed reducer is fastened with the driving wheel hub of permanent magnet wheel, and another terminal surface input shaft of speed reducer passes through the key-type connection with the output shaft of direct current brushless motor.
Preferably, the front shaft is a cylindrical structure with flange end faces at two sides, and is respectively and fixedly connected with the flange end faces of the motors of the left front driving wheel and the right front driving wheel; a round hole is formed in the middle of the front shaft in the cylindrical shape and in the direction perpendicular to the axis of the flange, and a second sliding bearing with a brim is mounted on the upper end face and the lower end face of the round hole; a V-shaped through groove is arranged in the middle of the shaft hole.
Preferably, the roll angle shaft is rod-shaped, one side of the roll angle shaft is an earring hole, the other side end of the roll angle shaft is an axial cylindrical surface, and the axis of the cylindrical surface is perpendicular to the axis of the earring hole; one side of the main beam is axially provided with a shaft hole, two ends of the shaft hole are provided with first sliding bearings with hat edges, the end part of the other side of the shaft hole is of a fork-shaped structure, and two through holes for fixing the main beam are processed on the end part of the other side of the shaft hole; the ear ring holes of the roll angle shaft are parallelly installed in the V-shaped through grooves of the front shaft, the second sectional mandrel and the third sectional mandrel penetrate through the ear ring holes of the roll angle shaft and the round holes of the front shaft to form a yaw angle psi coordinate axis, and the roll angle shaft can swing along the yaw angle psi coordinate axis in the V-shaped through grooves of the front shaft.
Preferably, the shaft end of the cylindrical surface of the roll angle shaft is matched with the shaft hole of the end surface of the main beam, the first sectional mandrel penetrates through the bearing on the main beam, the first sectional mandrel and the roll angle shaft are locked by the first fastening bolt, a roll angle phi coordinate axis is formed at the same time, and the roll angle shaft can rotate relative to the main beam along the roll angle phi coordinate axis.
Preferably, the left rear follow-up wheel and the right rear follow-up wheel are nested with a wear-resistant material with a taper angle alpha and a permanent magnet wheel with a taper angle alpha from the outer layer inwards; the outer edges of the axial sections of the left rear follow-up wheel and the right rear follow-up wheel form an included angle beta, and the included angle beta is designed according to a curved surface of chassis walking; the left rear follow-up wheel and the right rear follow-up wheel are respectively provided with a driving wheel hub and a bearing assembly of the permanent magnet wheel from outside to inside in the alpha permanent magnet wheel with the taper angle; a bearing box is arranged outside the bearing assembly, and a flange threaded hole is processed at one side of the bearing box; tapered roller bearings are axially mounted at two ends of the bearing box; and a follow-up wheel driving wheel shaft is arranged on the tapered roller bearing and is fastened with a driving wheel hub of the permanent magnet wheel.
Preferably, the rear shaft is of a cylindrical structure with flange end faces at two sides, and is respectively and fixedly connected with the flange end faces of the bearing boxes of the left rear follow-up wheel and the right rear follow-up wheel; two parallel end faces are processed in the middle of the rear shaft cylinder, and two through holes are processed on the rear shaft cylinder for connecting a main beam; the fork-shaped structure of the main beam is matched with the two parallel end faces in the middle of the rear shaft, and the through holes of the main beam and the rear shaft are connected by a second fastening bolt.
Preferably, the chassis structure is provided with an attitude angle coordinate axis system, and the attitude angle coordinate axis system comprises a yaw angle psi coordinate axis, a roll angle phi coordinate axis and a pitch angle theta coordinate axis; the yaw angle psi coordinate axis is a rotation axis which is perpendicular to a plane formed by the left front driving wheel, the right front driving wheel, the left rear follow-up wheel and the right rear follow-up wheel shaft and passes through the central points of the axes of the left front driving wheel and the right front driving wheel; the pitch angle theta coordinate axis is a rotation axis passing through the rotation shafts of the left front driving wheel and the right front driving wheel; the roll angle phi coordinate axis is a plane perpendicular to the yaw angle psi coordinate axis and the pitch angle theta coordinate axis and penetrates through a rotation axis perpendicular to the intersection point of the yaw angle psi coordinate axis and the pitch angle theta coordinate axis.
The magnetic adsorption robot with the chassis structure can flexibly move on the curved surface of the outer circular pipe in any direction, and meanwhile, the reliable adsorption of four wheels on the curved surface of the circular pipe is ensured.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) a chassis structure for a magnetic adsorption robot specially used for underwater facilities, particularly circular pipe building structures, is designed to have a special wheel capable of adapting to various diameters of outer circular pipes so as to minimize variation of magnetic adsorption force of the wheel on various diameters of the outer circular pipes.
(2) The chassis is provided with a rotary joint with two degrees of freedom, the rotary shaft of the rotary joint is vertically orthogonal with the rotary shaft of the front driving wheel two by two, and a yaw angle psi, a roll angle phi and a pitch angle theta attitude angle coordinate axis system which are mutually perpendicular are formed in space.
(3) The driving wheel and the driven wheel are provided with oil filling ports, and after the wheels are filled with compensation oil through the external compensator, the chassis can be used in the water depth of about 300 meters underwater and is suitable for the occasions of deep water operation.
(4) Various working tools such as high-pressure cleaning tools, cavitation cleaning tools, structure and crack detectors can be carried on the working chassis according to task requirements, and module configuration is achieved.
(5) The magnetic adsorption robot with the chassis structure is high in working efficiency.
Drawings
Fig. 1 is the utility model provides a magnetic adsorption robot chassis structure's overall structure schematic diagram.
Fig. 2 is the cone angle schematic diagram of the permanent magnet wheel in the chassis structure of the magnetic adsorption robot provided by the utility model.
Fig. 3 is a cross-sectional view of the front left driving wheel and the front right driving wheel in the chassis structure of the magnetic adsorption robot provided by the present invention.
Fig. 4 is the utility model provides a three-dimensional structure schematic diagram of front axle in magnetic adsorption robot chassis structure.
Fig. 5 is a schematic view of a three-dimensional structure of a roll angle shaft in a chassis structure of a magnetic adsorption robot.
Fig. 6 is a top view and a partial sectional view of a chassis structure of a magnetic adsorption robot provided by the present invention.
Fig. 7 is a top sectional view of the left rear follower wheel and the right rear follower wheel in the chassis structure of the magnetic adsorption robot provided by the utility model.
Description of reference numerals: i, a front shaft; II, an oil filling interface; III, right front driving wheel; IV, rolling angle shaft; v, a main beam; VI, a right rear follow-up wheel; VII, a rear shaft; VIII, a left rear follower wheel; IX, a left front driving wheel; 1. a first sliding bearing; 2. a first segmented mandrel; 3. a first fastening bolt; 4. a second fastening bolt; 5. an O-shaped sealing ring; 6. a third fastening bolt; 7. a speed reducer; 8. a DC brushless motor; 9. a drive hub clamp ring; 10. a fourth fastening bolt; 11. a drive hub; 12. a first magnetically conductive ring; 13. a wear resistant material; 14. a permanent magnet wheel; 15. a second magnetically conductive ring; 16. the end face of a motor flange; 17. locking the nut; 18. a second sliding bearing; 19. a fifth fastening bolt; 20. a second segmented mandrel; 21. a third segmented mandrel; 22. the follow-up wheel drives the wheel shaft; 23. a tapered roller bearing; 24. a bearing housing.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are only used for explaining the present invention, but not for limiting the present invention.
As shown in fig. 1, the utility model discloses a chassis structure of a magnetic adsorption robot, which comprises a left front driving wheel IX, a right front driving wheel III, a left rear follow-up wheel VIII, a right rear follow-up wheel VI, a front shaft I, a main beam V, a rear shaft VII, an oil-filled interface II and a roll angle shaft IV; the two ends of the front shaft I are respectively connected with a left front driving wheel IX and a right front driving wheel III, the two ends of the rear shaft VII are respectively connected with a left rear follow-up wheel VIII and a right rear follow-up wheel VI, the front shaft I is connected with one end of a main beam V through a roll angle shaft IV, and the other end of the main beam V is connected with the rear shaft VII; permanent magnet wheels with taper angles are embedded in the left front driving wheel IX, the right front driving wheel III, the left rear follow-up wheel VIII and the right rear follow-up wheel VI and are used for adsorbing a walking curved surface; the left front driving wheel IX and the right front driving wheel III provide driving force required by the movement of the whole chassis, and the left rear follow-up wheel VIII and the right rear follow-up wheel VI move along with the left front driving wheel IX and the right front driving wheel III; the oil filling interface II is communicated with internal cavities of the left front driving wheel IX, the right front driving wheel III, the left rear follow-up wheel VIII and the right rear follow-up wheel VI and is used for filling oil into the cavities of the left front driving wheel IX, the right front driving wheel III, the left rear follow-up wheel VIII and the right rear follow-up wheel VI so as to keep the internal and external pressure balance of the chassis.
As shown in fig. 2, the left front driving wheel ix and the right front driving wheel iii are nested with a wear-resistant material with a taper angle α and a permanent magnet wheel with a taper angle α from the outer layer inwards; an included angle beta is formed by the left front driving wheel IX and the right front driving wheel III along the outer edge of the section of the wheel shaft, and the beta is designed according to a curved surface of the chassis, so that magnetic gaps between the permanent magnet wheels on the left front driving wheel and the right front driving wheel and an adsorption surface are smaller, and larger adsorption force can be provided on circular pipes with various diameters.
As shown in fig. 3, a driving hub 11 for driving the permanent magnet wheel 14, the dc brushless motor 8 and the speed reducer 7 are respectively installed on the left front driving wheel ix and the right front driving wheel iii from outside to inside, one end of the speed reducer 7 is fastened to the driving hub 11 of the permanent magnet wheel 14, and the other end face input shaft of the speed reducer 7 is in key connection with the output shaft of the dc brushless motor 8. The driving hub 11 is pressed on the permanent magnet wheel through the driving hub compression ring 9, a first magnetic conduction ring 12 is arranged on the outer side of the permanent magnet wheel 14, and the first magnetic conduction ring 12 is fixed through a fourth fastening bolt 10; the outer side of the speed reducer 7 is fixed through a third fastening bolt 6, and the first magnetic conductive ring 12 and the driving hub 11 are sealed through an O-shaped sealing ring 5.
As shown in fig. 4, the front axle i is a cylindrical structure with flange end faces at two sides, and is respectively fastened and connected with the motor flange end faces 16 of the left front driving wheel and the right front driving wheel; a round hole is formed in the cylindrical middle position of the front shaft I and in the direction perpendicular to the axis of the flange, and second sliding bearings 18 with cap edges are mounted on the upper end face and the lower end face of the round hole; a V-shaped through groove is arranged in the middle of the shaft hole.
As shown in fig. 5, the roll angle shaft iv is rod-shaped, one side of the roll angle shaft iv is an earring hole, the other side end of the roll angle shaft iv is an axial cylindrical surface, and the axis of the cylindrical surface is perpendicular to the axis of the earring hole; as shown in fig. 6, one side of the main beam v is provided with an axial hole along the axial direction, two ends of the axial hole are provided with first sliding bearings 1 with hat rims, the end part of the other side is of a fork-shaped structure, and two through holes for fixing the main beam are processed on the fork-shaped structure; the ear ring holes of the roll angle shaft IV are parallelly installed in the V-shaped through grooves of the front shaft I and are locked through locking nuts 17 and fifth fastening bolts 19, the second sectional mandrel 20 and the third sectional mandrel 21 penetrate through the ear ring holes of the roll angle shaft IV and the round holes of the front shaft I to form a yaw angle psi coordinate axis, and the roll angle shaft IV can swing along the yaw angle psi coordinate axis in the V-shaped through grooves of the front shaft I.
The shaft end of the cylindrical surface of the roll angle shaft IV is matched with a shaft hole in the end surface of the main beam V, the first sectional mandrel 2 penetrates through a bearing on the main beam V, the first sectional mandrel 2 and the roll angle shaft IV are locked by a first fastening bolt 3, a roll angle phi coordinate axis is formed at the same time, and the roll angle shaft IV can rotate relative to the main beam V along the roll angle phi coordinate axis.
As shown in fig. 7, the left rear follow-up wheel viii and the right rear follow-up wheel vi are nested with a wear-resistant material with a taper angle α and a permanent magnet wheel with a taper angle α from the outer layer to the inside; the outer edges of the axial sections of the left rear follow-up wheel VIII and the right rear follow-up wheel VI form an included angle beta, and the beta is designed according to a curved surface of chassis walking, so that magnetic gaps between permanent magnet wheels on the left rear follow-up wheel and the right rear follow-up wheel and an adsorption surface are smaller, and larger adsorption force can be provided on circular pipes with various diameters; the left rear follow-up wheel VIII and the right rear follow-up wheel VI are respectively provided with a driving wheel hub and a bearing assembly of the permanent magnet wheel from outside to inside in the alpha permanent magnet wheel with the taper angle; a bearing box 24 is arranged outside the bearing assembly, and a flange threaded hole is processed at one side of the bearing box 24; tapered roller bearings 23 are axially mounted at both ends of the bearing box 24; a follow-up wheel driving wheel shaft 22 is installed on the tapered roller bearing 23, and the follow-up wheel driving wheel shaft 22 is fastened with a driving wheel hub of the permanent magnet wheel.
The rear shaft VII is of a cylindrical structure with flange end faces at two sides and is respectively and fixedly connected with the flange end faces of the bearing boxes 24 of the left rear follow-up wheel VIII and the right rear follow-up wheel VI; two parallel end faces are machined in the cylindrical middle position of the rear shaft VII, and two through holes are machined in the middle position of the rear shaft VII and used for connecting a main beam V; the fork-shaped structure of the main beam V is matched with two parallel end faces in the middle of the rear shaft VII, and the through holes of the main beam V and the rear shaft VII are connected by a second fastening bolt 4.
The chassis structure is provided with an attitude angle coordinate axis system, and the attitude angle coordinate axis system comprises a yaw angle psi coordinate axis, a rolling angle phi coordinate axis and a pitch angle theta coordinate axis; the yaw angle psi coordinate axis is a rotation axis which is perpendicular to a plane formed by the left front driving wheel, the right front driving wheel, the left rear follow-up wheel and the right rear follow-up wheel shaft and passes through the central points of the axes of the left front driving wheel and the right front driving wheel; the pitch angle theta coordinate axis is a rotation axis passing through the rotation shafts of the left front driving wheel and the right front driving wheel; the roll angle phi coordinate axis is a plane perpendicular to the yaw angle psi coordinate axis and the pitch angle theta coordinate axis and penetrates through a rotation axis perpendicular to the intersection point of the yaw angle psi coordinate axis and the pitch angle theta coordinate axis.
The magnetic adsorption robot with the chassis structure can flexibly move on the curved surface of the outer circular tube in any direction, and meanwhile, the four wheels are reliably adsorbed on the curved surface of the circular tube.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be included therein.
Claims (9)
1. The utility model provides a magnetic adsorption robot chassis structure, includes left front drive wheel, right front drive wheel, left back follower wheel, right back follower wheel, front axle, girder, rear axle, oil charge interface, its characterized in that: also includes a roll angle axis; the two ends of the front shaft are respectively connected with a left front driving wheel and a right front driving wheel, the two ends of the rear shaft are respectively connected with a left rear follow-up wheel and a right rear follow-up wheel, the front shaft is connected with one end of a main beam through a roll angle shaft, and the other end of the main beam is connected with a rear shaft; permanent magnet wheels with taper angles are embedded in the left front driving wheel, the right front driving wheel, the left rear follow-up wheel and the right rear follow-up wheel and are used for adsorbing a walking curved surface; the left front driving wheel and the right front driving wheel provide driving force required by the movement for the whole chassis; the oil charging interface is communicated with inner cavities of the left front driving wheel, the right front driving wheel, the left rear follow-up wheel and the right rear follow-up wheel and is used for charging oil into the cavities of the left front driving wheel, the right front driving wheel, the left rear follow-up wheel and the right rear follow-up wheel so as to keep the internal and external pressure balance of the chassis.
2. The chassis structure of a magnetic adsorption robot of claim 1, wherein: the left front driving wheel and the right front driving wheel are internally nested with a wear-resistant material with a taper angle alpha and a permanent magnet wheel with a taper angle alpha from the outer layer; the left front driving wheel and the right front driving wheel form an included angle beta along the outer edge of the section of the wheel shaft, and the included angle beta is designed according to the curved surface of the chassis during walking.
3. The chassis structure of a magnetic adsorption robot of claim 2, wherein: the driving wheel hub, the direct current brushless motor and the reduction gear of driving the permanent magnet wheel are installed respectively to left front drive wheel and right front drive wheel outside-in, the one end of reduction gear and the driving wheel hub fastening of permanent magnet wheel, another terminal surface input shaft of reduction gear passes through the key-type connection with direct current brushless motor's output shaft.
4. The chassis structure of a magnetic adsorption robot as claimed in claim 3, wherein: the front shaft is of a cylindrical structure with flange end faces at two sides and is respectively and fixedly connected with the flange end faces of the motors of the left front driving wheel and the right front driving wheel; a round hole is formed in the middle of the front shaft in the cylindrical shape and in the direction perpendicular to the axis of the flange, and a second sliding bearing with a brim is mounted on the upper end face and the lower end face of the round hole; a V-shaped through groove is arranged in the middle of the shaft hole.
5. The chassis structure of a magnetic adsorption robot as claimed in claim 4, wherein: the roll angle shaft is rod-shaped, one side of the roll angle shaft is provided with an earring hole, the other side end of the roll angle shaft is an axial cylindrical surface, and the axis of the cylindrical surface is mutually vertical to the axis of the earring hole; one side of the main beam is axially provided with a shaft hole, two ends of the shaft hole are provided with first sliding bearings with hat edges, the end part of the other side of the shaft hole is of a fork-shaped structure, and two through holes for fixing the main beam are processed on the end part of the other side of the shaft hole; the ear ring holes of the roll angle shaft are parallelly installed in the V-shaped through grooves of the front shaft, the second sectional mandrel and the third sectional mandrel penetrate through the ear ring holes of the roll angle shaft and the round holes of the front shaft to form a yaw angle psi coordinate axis, and the roll angle shaft can swing along the yaw angle psi coordinate axis in the V-shaped through grooves of the front shaft.
6. The chassis structure of a magnetic adsorption robot of claim 5, wherein: the shaft end of the cylindrical surface of the roll angle shaft is matched with the shaft hole of the end surface of the main beam, the first sectional mandrel penetrates through the bearing on the main beam, the first sectional mandrel and the roll angle shaft are locked by a first fastening bolt, a roll angle phi coordinate axis is formed at the same time, and the roll angle shaft can rotate relative to the main beam along the roll angle phi coordinate axis.
7. The chassis structure of a magnetic adsorption robot of claim 1, wherein: the left rear follow-up wheel and the right rear follow-up wheel are internally nested with a wear-resistant material with a taper angle alpha and a permanent magnet wheel with a taper angle alpha from the outer layer; the outer edges of the axial sections of the left rear follow-up wheel and the right rear follow-up wheel form an included angle beta, and the included angle beta is designed according to a curved surface of chassis walking; the left rear follow-up wheel and the right rear follow-up wheel are respectively provided with a driving wheel hub and a bearing assembly of the permanent magnet wheel from outside to inside in the alpha permanent magnet wheel with the taper angle; a bearing box is arranged outside the bearing assembly, and a flange threaded hole is processed at one side of the bearing box; tapered roller bearings are axially mounted at two ends of the bearing box; and a follow-up wheel driving wheel shaft is arranged on the tapered roller bearing and is fastened with a driving wheel hub of the permanent magnet wheel.
8. The chassis structure of a magnetic adsorption robot of claim 7, wherein: the rear shaft is of a cylindrical structure with flange end faces at two sides and is respectively and fixedly connected with the flange end faces of the bearing boxes of the left rear follow-up wheel and the right rear follow-up wheel; two parallel end faces are processed in the middle of the rear shaft cylinder, and two through holes are processed on the rear shaft cylinder for connecting a main beam; the fork-shaped structure of the main beam is matched with the two parallel end faces in the middle of the rear shaft, and the through holes of the main beam and the rear shaft are connected by a second fastening bolt.
9. The magnetic adsorption robot chassis structure according to any one of claims 1 to 8, wherein: the chassis structure is provided with an attitude angle coordinate axis system, and the attitude angle coordinate axis system comprises a yaw angle psi coordinate axis, a rolling angle phi coordinate axis and a pitch angle theta coordinate axis; the yaw angle psi coordinate axis is a rotation axis which is perpendicular to a plane formed by the left front driving wheel, the right front driving wheel, the left rear follow-up wheel and the right rear follow-up wheel shaft and passes through the central points of the axes of the left front driving wheel and the right front driving wheel; the pitch angle theta coordinate axis is a rotation axis passing through the rotation shafts of the left front driving wheel and the right front driving wheel; the roll angle phi coordinate axis is a plane perpendicular to the yaw angle psi coordinate axis and the pitch angle theta coordinate axis and penetrates through a rotation axis perpendicular to the intersection point of the yaw angle psi coordinate axis and the pitch angle theta coordinate axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920493856.5U CN209833966U (en) | 2019-04-12 | 2019-04-12 | Magnetic adsorption robot chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920493856.5U CN209833966U (en) | 2019-04-12 | 2019-04-12 | Magnetic adsorption robot chassis structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209833966U true CN209833966U (en) | 2019-12-24 |
Family
ID=68911285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920493856.5U Active CN209833966U (en) | 2019-04-12 | 2019-04-12 | Magnetic adsorption robot chassis structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209833966U (en) |
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2019
- 2019-04-12 CN CN201920493856.5U patent/CN209833966U/en active Active
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Effective date of registration: 20231106 Address after: Room A302-H50, Feiyu Building, Software Park, No. 111-2 Linghu Avenue, Xin'an Street, Xinwu District, Wuxi City, Jiangsu Province, 214028 Patentee after: Wuxi Lanqi Intelligent Technology Co.,Ltd. Address before: Room 202, No. 30, Lane 930, Bohua Road, Pudong New Area, Shanghai, 200120 Patentee before: Luo Gaosheng |