CN209870591U - Intelligent mobile robot of complicated 3D metal curved surface of self-adaptation - Google Patents
Intelligent mobile robot of complicated 3D metal curved surface of self-adaptation Download PDFInfo
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- CN209870591U CN209870591U CN201920569953.8U CN201920569953U CN209870591U CN 209870591 U CN209870591 U CN 209870591U CN 201920569953 U CN201920569953 U CN 201920569953U CN 209870591 U CN209870591 U CN 209870591U
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Abstract
The utility model discloses an intelligent movement robot of complicated 3D metal curved surface of self-adaptation, including main part, traveling system and adsorption affinity automatically regulated mechanism, the main part includes preceding main part and back main part, through activity hinged joint between preceding main part and the back main part, traveling system includes two triangle-shaped trains and two rectangle trains, two triangle-shaped trains set up main part both sides in the front, two rectangle trains set up in back main part both sides, adsorption affinity automatically regulated mechanism sets up the main part below. The robot can automatically adjust the adsorption capacity, is suitable for walking on curved surfaces with different curvatures, has low gravity center and strong flexibility, has better bearing capacity, is convenient to assemble and disassemble, is easy to carry, and has strong universality.
Description
Technical Field
The utility model relates to a special robot technical field, concretely relates to intelligent Mobile robot of complicated 3D metal curved surface of self-adaptation.
Background
A robot is a machine device that automatically executes work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
The detection and repair of complex 3D metal curved surfaces of large-scale oil storage tanks, water turbine runner blades, ship industry working surfaces and the like are basically completed by manpower at present. The working environment of these works is abominable, and work can cause huge injury and have great safety risk to operating personnel for a long time under this environment, and work efficiency is also very low. With the development of science and technology, industrial automation is more and more favored by people. In the face of work in harsh environments and labor intensive situations, it is highly desirable to be able to use robots to perform these dangerous tasks instead of human beings, thereby freeing them from harsh environments and heavy labor. The wall climbing robot is an important branch in the field of mobile robots, detection equipment and repair tools are carried by the wall climbing robot to replace manual operation, so that the labor cost of dangerous industries is greatly reduced, the labor environment of workers is improved, and the labor productivity is improved.
At present, although many researches are made on wall-climbing robots at home and abroad, the wall-climbing robots researched by the robots have various characteristics, most of the magnetic adsorption type wall-climbing robots cannot adapt to curved surfaces in a bending mode, mainly the chassis of the magnetic adsorption type wall-climbing robots has a single adsorption structure, cannot be effectively attached to the curved surfaces in the bending mode, and simultaneously has low adsorption efficiency, cannot obtain good load capacity and has poor application effect in engineering practice. The 3D curved surface similar to the surface of the runner blade of the water turbine is more complex, the requirement on the adsorption reliability is higher, the adsorption force needs to be adjusted in a self-adaptive mode according to the shape of the curved surface, and the like. If complex 3D metal surface defect detection and on-site repair remanufacturing under extreme conditions are to be finished, the robot body is required to have multi-degree-of-freedom flexible motion capability relative to the curved surface of a workpiece, high-precision motion capability relative to cladding, restoration and polishing of a defect area of the curved surface, large working space, large-load operation capability and high enough rigidity. Obviously, the current wall-climbing robot does not fully possess these functions.
SUMMERY OF THE UTILITY MODEL
To the not enough of above-mentioned prior art, the utility model aims to solve the technical problem that: how to provide one kind can realize at the stable walking of various complicated big curvature metal surfaces, load capacity is strong, and loading and unloading are convenient, easily carry, the intelligent Mobile robot of the complicated 3D metal curved surface of self-adaptation that the commonality is strong.
In order to solve the technical problem, the utility model discloses a following technical scheme:
the utility model provides an intelligent movement robot of complicated 3D metal curved surface of self-adaptation, includes main part, traveling system and adsorption affinity automatically regulated mechanism, the main part includes preceding main part and back main part, through activity hinged joint between preceding main part and the back main part, traveling system includes two triangle-shaped trains and two rectangle trains, two triangle-shaped trains set up main part both sides in the front, two rectangle trains set up in back main part both sides, adsorption affinity automatically regulated mechanism sets up the main part below.
In this technical scheme, the combination of two triangle-shaped trains and two rectangle trains, the climbing performance and the flexibility of increase robot that can be better have reduced holistic focus simultaneously, have increaseed the bearing capacity of robot, and adsorption affinity automatically regulated mechanism can adjust the adsorption affinity size according to the camber of curved surface. The robot can stably walk on various complex large-curvature metal surfaces, and can carry a detection device or a repair tool to detect or repair a working surface. The detection or repair tool is placed on the main body and is convenient to carry. The robot body structure adopts modularization and lightweight design, is convenient to assemble and disassemble, is easy to carry, is convenient to use, and has low requirements on operators. The front main body and the rear main body are connected through the movable hinge, so that the obstacle crossing capability and flexibility of the robot can be better improved.
Furthermore, preceding main part includes the front end aluminum plate of level setting, front end aluminum plate both sides respectively with triangle-shaped train is connected the setting.
Therefore, the front-end aluminum plate is made of aluminum, and can better isolate magnetism.
Further, the back main part includes the downside aluminum plate that the level set up, downside aluminum plate top has upside aluminum plate through negative and positive bolt fixed mounting, downside aluminum plate and upside aluminum plate interval set up, upside aluminum plate upper end fixed mounting has power module, downside aluminum plate both sides respectively with the setting is connected to the rectangle train.
Thus, the lower aluminum plate and the upper aluminum plate are made of aluminum materials, and magnetic isolation can be better achieved. The back main part is provided with upside aluminum plate and downside aluminum plate two-layerly, through negative and positive bolted connection between two-layerly, utilization space that can be better. The power module is installed on the upper aluminum plate and can supply power to the robot.
The wire grooves are formed in the upper aluminum plate and the lower aluminum plate, so that the connection of the circuit is facilitated, the orderliness of the circuit is guaranteed, and the phenomenon that the robot works due to disorder of the circuit is avoided.
Further, the triangle-shaped train includes front chain formula track, A-frame and is used for driving the front drive mechanism that front chain formula track moved, install the chain permanent magnet on the front chain formula track, A-frame is provided with two and sets up respectively in the relative both sides of front chain formula track, two A-frame's three tip is all rotated and is installed the preceding sprocket with front chain formula track meshing, front end aluminum plate both ends are located inboard A-frame fixed connection with the triangle-shaped train respectively.
Therefore, the obstacle crossing capability of the triangular wheel train is higher than that of the common wheel train, and the triangular wheel train can adapt to the change of the curvature of the metal surface. The front driving mechanism is used for driving the front chain type crawler belt to move. The front chain type crawler belt is provided with the chain permanent magnet, so that the front chain type crawler belt can be better adsorbed on the surface of a workpiece and can walk. Be provided with the A-frame, can be better make triangle-shaped train and front end aluminum plate be connected, improve and connect and motion reliability.
Further, preceding actuating mechanism includes preceding driving motor, preceding driving motor fixed mounting is in the front on the motor mounting panel, preceding motor mounting panel with A-frame fixed connection, preceding driving motor's output shaft has the reduction gear, the output shaft of reduction gear passes through shaft coupling fixedly connected with driving pulley, driving pulley has driven pulley through the hold-in range meshing transmission, driven pulley and the coaxial fixed connection of one of them preceding sprocket.
Like this, preceding driving motor action drives driving pulley through the reduction gear and rotates, and drive through the hold-in range drives driven pulley action, and driven pulley drives one of them front sprocket and rotates, and then drives front sprocket and the action of front chain formula track, realizes the action of triangle-shaped train. The triangular wheel train is driven by an independent front driving motor, and is simple in structure and convenient to use.
Further, the rectangle train includes back chain formula track, rectangular support and is used for driving the back actuating mechanism that back chain formula track moved, install the chain permanent magnet on the back chain formula track, rectangular support is provided with two and sets up respectively the both sides that back chain formula track is relative, two rectangular support's both ends are all rotated and are installed the back sprocket with back chain formula track meshing, downside aluminum plate both ends are located inboard rectangular support fixed connection with the rectangle train respectively.
Compared with a triangular wheel train, the rectangular wheel train has the advantages that the gravity center is lower, occupied space is less, and therefore the rear end is arranged in the rectangular wheel train. The rear driving mechanism is used for driving the rear chain type crawler belt to act. The rear chain type crawler belt is provided with the chain permanent magnet, so that the rear chain type crawler belt can be better adsorbed on the surface of a workpiece and can walk. Be provided with the rectangle support, can be better make rectangle train be connected with rear end aluminum plate, improve and connect and motion reliability.
Furthermore, the rear driving mechanism comprises a rear driving motor which is fixedly installed on the lower side aluminum plate, an output shaft of the rear driving motor is connected with a speed reducer, an output shaft of the speed reducer is fixedly connected with a gear shaft through a coupler, a driving bevel gear is fixedly installed on the gear shaft, the driving bevel gear is meshed with and drives a driven bevel gear, and the driven bevel gear is coaxially and fixedly connected with one of the rear chain wheels.
Therefore, the rear driving motor acts, the gear shaft is driven to rotate through the speed reducer, the gear shaft drives the driving bevel gear to rotate, the driving bevel gear drives the driven bevel gear to rotate, the driven bevel gear drives one of the rear chain wheels to rotate, and then the action of the rear chain type crawler belt is realized, and the action of the rectangular wheel system is realized. The rectangular wheel train is driven by an independent rear driving motor, and is simple in structure and convenient to use. By adopting the bevel gear transmission system, better arrangement can be realized.
Further, front sprocket and rear sprocket are double sprocket, front chain formula track and rear chain formula track all include double two side diplopore bent plate industrial drive chain, chain permanent magnet and mounting panel, double sprocket with double two side diplopore bent plate industrial drive chain transmission is connected, the mounting panel passes through bolt fixed mounting and is in on the link joint of double two side diplopore bent plate industrial drive chain, the mounting panel is aluminum plate, the chain permanent magnet pass through the screw with mounting panel fixed connection.
Therefore, the double-row chain wheel is matched with the double-row double-side double-hole bent plate industrial transmission chain, the transmission stability and the bearing capacity are improved, the area of the chain plate of the double-row double-side double-hole bent plate industrial transmission chain is enlarged, the contact area of the permanent magnet and a workpiece can be further improved, and the adsorption capacity is improved. The mounting plate material is an aluminum material without magnetism, and aims to isolate magnetism and avoid the influence on the work of a gear train caused by the adsorption of the chain permanent magnet on the double-row double-side double-hole bent plate industrial transmission chain.
The walking system comprises two triangular wheel trains and two rectangular wheel trains, wherein the two triangular wheel trains are respectively and independently driven by a front driving motor and a rear driving motor, so that the walking system can walk on the surface of a large-curvature workpiece better, and is strong in reliability, high in flexibility, strong in adaptability, stable and reliable.
Further, the automatic adsorption force adjusting mechanism comprises an adjusting motor, an adjusting motor mounting plate, a lead screw nut fixing plate, a lead screw, a guide rod, a permanent magnet mounting plate and a permanent magnet, the adjusting motor mounting plate is fixedly connected with the lower side aluminum plate, the adjusting motor is fixedly mounted on the adjusting motor mounting plate, the adjusting motor drives the lead screw to rotate through the adjusting mechanism, a nut matched with the lead screw in a screwing way is fixedly mounted on the lead screw nut fixing plate, the lead screw is matched in the nut in a screwing way, the upper end of the lead screw penetrates through the lead screw nut fixing plate to extend upwards, a perforation is arranged on the front end aluminum plate just opposite to the lead screw, the guide rod is fixedly mounted on the lead screw nut fixing plate downwards, a guide hole used for guiding the guide rod is formed in the adjusting motor mounting plate, and the guide, the lower end of the guide rod is fixedly connected with a permanent magnet mounting plate, and the permanent magnet is fixedly mounted at the lower end of the permanent magnet mounting plate.
Thus, although the triangular wheel train and the rectangular wheel train are both provided with the chain permanent magnets, the contact area is limited, and when the rated load borne by the robot is large, the adsorption force of the triangular wheel train and the rectangular wheel train is difficult to meet the requirement of stable adsorption of the robot. Therefore, the automatic adsorption force adjusting mechanism is arranged and is an independent module, and the automatic adsorption force adjusting mechanism is convenient to mount and dismount. Because the 3D metal surface is not a regular plane, the distance between the permanent magnet and the working surface is not fixed, the relationship between the magnetic adsorption force and the distance between the permanent magnet and the working surface is tight, the magnetic adsorption force generated by the robot and the working surface is not determined in different working environments, and the magnetic adsorption force of the robot is difficult to determine due to the uncertainty of the distance between the permanent magnet and the working surface, so that the universality of the robot is influenced; simultaneously obstacle-crossing in-process at the robot, the robot can reduce with wall area of contact, and the magnetic attraction power size can reduce, consequently is provided with adsorption power automatically regulated mechanism, can automatically regulated magnetic attraction power size for the robot has better commonality, removes at the working surface with the most suitable magnetic attraction power size. When the adsorption force automatic adjusting mechanism is used, the adjusting motor acts to drive the screw rod to rotate through the adjusting mechanism, the screw rod drives the screw rod nut fixing plate to move upwards or downwards, the permanent magnet mounting plate is driven to move upwards or downwards through the guide rod, the permanent magnet is driven to move towards the direction close to the surface of a workpiece or move towards the direction far away from the surface of the workpiece, and then the adsorption force between the permanent magnet and the surface of the workpiece is adjusted. The distance between the permanent magnet and the surface of the workpiece can be adjusted only by adjusting the forward rotation or the reverse rotation of the motor. It is known that the magnetic attraction force decreases as the distance between the permanent magnet and the surface of the workpiece increases when the distance between the permanent magnet and the surface of the workpiece is small, and approximately satisfies a linear relationship, and rapidly decreases when the distance exceeds a certain range. By means of the linear relation, the size of the magnetic adsorption force can be automatically adjusted by the adjusting motor.
Further, adjustment mechanism includes initiative adjusting pulley, driven adjusting pulley and adjusts the hold-in range, the output shaft of adjusting motor passes through the shaft coupling and is connected with the pivot, initiative adjusting pulley fixed mounting be in the pivot, initiative adjusting pulley is connected with driven adjusting pulley transmission through adjusting the hold-in range, driven adjusting pulley fixed mounting be in the lead screw lower extreme.
Like this, the adjustment motor drives the pivot and rotates, and the pivot drives the initiative adjusting pulley and rotates, drives driven adjusting pulley through adjusting the hold-in range and rotates, and driven adjusting pulley fixed mounting is at the lead screw lower extreme, and then drives the lead screw and rotate. Simple structure, convenient to use, the regulation distance is reliable and stable, can be better adjust the magnetism adsorption affinity size.
To sum up, the intelligent movement robot of complicated 3D metal curved surface of self-adaptation can effectual solution prior art's wall climbing robot climbing ability not enough, curved surface adaptive capacity is poor, the load capacity work problem such as weak. The utility model discloses a robot has high trafficability characteristic, and load capacity is strong, and each structure divides the module design, and loading and unloading are convenient, easily carry, have quick manufacturability, and are lower to the manual operation requirement. On the other hand, a large amount of space is reserved on the main body of the robot, and a detection device and a repair tool for the robot to work can be installed in the space. The adsorption force self-adjusting mechanism can design the size of the magnetic adsorption force according to the working load, so that the robot has strong universality.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent mobile robot with a self-adaptive complex 3D metal curved surface according to an embodiment of the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a schematic diagram of the triangular wheel train of FIG. 1;
FIG. 5 is a schematic view of the internal structure of the triangular gear train of FIG. 4 with the outer triangular bracket removed;
FIG. 6 is an enlarged view of a portion of FIG. 4A;
FIG. 7 is a schematic view of the rectangular gear train of FIG. 1 with the outer rectangular bracket removed;
FIG. 8 is a rear view of FIG. 7;
FIG. 9 is a front view of the automatic suction force adjusting mechanism of FIG. 1;
fig. 10 is a schematic perspective view of fig. 9, in which the adjustment motor mounting plate is not shown.
Detailed Description
The present invention will be described in further detail with reference to the accompanying fig. 1-10.
The utility model provides an intelligent movement robot of complicated 3D metal curved surface of self-adaptation, includes main part, traveling system and adsorption affinity automatically regulated mechanism, the main part includes preceding main part and back main part, connect through activity hinge 1 between preceding main part and the back main part, traveling system includes two triangle-shaped wheel trains 2 and two rectangle wheel trains 3, two triangle-shaped wheel trains 2 set up main part both sides in the front, two rectangle wheel trains 3 set up in back main part both sides, adsorption affinity automatically regulated mechanism sets up the main part below.
In this technical scheme, the combination of two triangle-shaped trains and two rectangle trains, the climbing performance and the flexibility of increase robot that can be better have reduced holistic focus simultaneously, have increaseed the bearing capacity of robot, and adsorption affinity automatically regulated mechanism can adjust the adsorption affinity size according to the camber of curved surface. The robot can stably walk on various complex large-curvature metal surfaces, and can carry a detection device or a repair tool to detect or repair a working surface. The detection or repair tool is placed on the main body and is convenient to carry. The robot body structure adopts modularization and lightweight design, is convenient to assemble and disassemble, is easy to carry, is convenient to use, and has low requirements on operators. The front main body and the rear main body are connected through the movable hinge, so that the obstacle crossing capability and flexibility of the robot can be better improved.
Further, preceding main part includes the front end aluminum plate 11 of level setting, front end aluminum plate 11 both sides respectively with triangle-shaped train 2 is connected the setting.
Therefore, the front-end aluminum plate is made of aluminum, and can better isolate magnetism.
Specifically, the front-end aluminum plate 11 is fixedly provided with a visual detection system 12.
Therefore, the visual detection system is fixedly arranged on the front-end aluminum plate, and the visual detection system can be used for better visually detecting the working surface needing to be detected or repaired.
Further, the back main part includes the downside aluminum plate 13 that the level set up, downside aluminum plate 13 top has upside aluminum plate 14 through negative and positive bolt fixed mounting, downside aluminum plate 13 and upside aluminum plate 14 interval set up, upside aluminum plate 14 upper end fixed mounting has power module 15, downside aluminum plate 13 both sides respectively with rectangle train 3 is connected and is set up.
Thus, the lower aluminum plate and the upper aluminum plate are made of aluminum materials, and magnetic isolation can be better achieved. The back main part is provided with upside aluminum plate and downside aluminum plate two-layerly, through negative and positive bolted connection between two-layerly, utilization space that can be better. The power module is installed on the upper aluminum plate and can supply power to the robot.
Specifically, the upper aluminum plate 14 is fixedly provided with a motor driver 16 and a control module 17.
Like this, install motor drive module and control module on the aluminum plate of upside, rational in infrastructure, improvement robot's that can be better wholeness.
Specifically, all be provided with the wire casing on upside aluminum plate 14 and the downside aluminum plate 13, made things convenient for the connection of circuit promptly, guaranteed the orderliness of circuit again, avoided the mixed and disorderly work that influences the robot of circuit.
Further, the triangle-shaped train includes preceding chain formula track 21, A-frame 22 and is used for driving the front drive mechanism that preceding chain formula track moved, chain permanent magnet 4 is installed to 21 on the preceding chain formula track, A-frame 22 is provided with two and sets up respectively in the relative both sides of preceding chain formula track 21, two the three tip of A-frame 22 all rotates the front sprocket 23 of installing with preceding chain formula track 21 meshing, 11 both ends of front end aluminum plate are located inboard A-frame 22 fixed connection with triangle-shaped train 2 respectively.
Therefore, the obstacle crossing capability of the triangular wheel train is higher than that of the common wheel train, and the triangular wheel train can adapt to the change of the curvature of the metal surface. The front driving mechanism is used for driving the front chain type crawler belt to move. The front chain type crawler belt is provided with the chain permanent magnet, so that the front chain type crawler belt can be better adsorbed on the surface of a workpiece and can walk. Be provided with the A-frame, can be better make triangle-shaped train and front end aluminum plate be connected, improve and connect and motion reliability.
Further, the front driving mechanism comprises a front driving motor 24, the front driving motor 24 is fixedly mounted on a front motor mounting plate 25, the front motor mounting plate 25 is fixedly connected with the triangular support 22, an output shaft of the front driving motor 24 is connected with a speed reducer, an output shaft of the speed reducer is fixedly connected with a driving pulley 26 through a shaft coupling, the driving pulley 26 is engaged and driven by a synchronous belt 27 to form a driven pulley 28, and the driven pulley 28 is coaxially and fixedly connected with one of the front chain wheels 23.
Like this, preceding driving motor action drives driving pulley through the reduction gear and rotates, and drive through the hold-in range drives driven pulley action, and driven pulley drives one of them front sprocket and rotates, and then drives front sprocket and the action of front chain formula track, realizes the action of triangle-shaped train. The triangular wheel train is driven by an independent front driving motor, and is simple in structure and convenient to use.
Specifically, the front chain wheel 23 is connected with the triangular bracket 22 through a bearing 29 with a seat.
Therefore, the front chain wheel is connected with the triangular support through the bearing with the seat, and the installation is convenient.
Further, the rectangle train includes back chain formula track 31, rectangular support 32 and is used for driving the back actuating mechanism that back chain formula track 31 moved, install chain permanent magnet 4 on the back chain formula track 31, rectangular support 32 is provided with two and sets up respectively back chain formula track 31 both sides relative, two rectangular support 32's both ends are all rotated and are installed the back sprocket 33 with back chain formula track 31 meshing, downside aluminum plate both ends are located inboard rectangular support fixed connection with the rectangle train respectively.
Compared with a triangular wheel train, the rectangular wheel train has the advantages that the gravity center is lower, occupied space is less, and therefore the rear end is arranged in the rectangular wheel train. The rear driving mechanism is used for driving the rear chain type crawler belt to act. The rear chain type crawler belt is provided with the chain permanent magnet, so that the rear chain type crawler belt can be better adsorbed on the surface of a workpiece and can walk. Be provided with the rectangle support, can be better make rectangle train be connected with rear end aluminum plate, improve and connect and motion reliability.
Further, the rear driving mechanism comprises a rear driving motor 34, the rear driving motor 34 is fixedly installed on the lower aluminum plate 13, an output shaft of the rear driving motor 34 is connected with a speed reducer, an output shaft of the speed reducer is fixedly connected with a gear shaft through a coupler, a driving bevel gear 35 is fixedly installed on the gear shaft, the driving bevel gear 35 is meshed with a driven bevel gear 36 in a transmission mode, and the driven bevel gear 36 is coaxially and fixedly connected with one rear chain wheel 33.
Therefore, the rear driving motor acts, the gear shaft is driven to rotate through the speed reducer, the gear shaft drives the driving bevel gear to rotate, the driving bevel gear drives the driven bevel gear to rotate, the driven bevel gear drives one of the rear chain wheels to rotate, and then the action of the rear chain type crawler belt is realized, and the action of the rectangular wheel system is realized. The rectangular wheel train is driven by an independent rear driving motor, and is simple in structure and convenient to use. By adopting the bevel gear transmission system, better arrangement can be realized.
Specifically, the gear ratio of the drive bevel gear 35 to the driven bevel gear 36 is 2: 1.
Therefore, by adopting the transmission mode, the efficiency is high, the transmission is stable, the direction of power transmission can be changed, the space is saved, and the robot is more compact.
Further, front sprocket 23 and rear sprocket 33 are double sprocket, front chain formula track 21 and rear chain formula track 31 all include double two side diplopore bent plate industrial drive chain 41, chain permanent magnet 4 and mounting panel 42, double sprocket with double two side diplopore bent plate industrial drive chain 41 transmission is connected, mounting panel 42 passes through bolt fixed mounting to on the link joint of double two side diplopore bent plate industrial drive chain 41, mounting panel 42 is aluminum plate, chain permanent magnet 4 pass through the screw with mounting panel 42 fixed connection.
Therefore, the double-row chain wheel is matched with the double-row double-side double-hole bent plate industrial transmission chain, the transmission stability and the bearing capacity are improved, the area of the chain plate of the double-row double-side double-hole bent plate industrial transmission chain is enlarged, the contact area of the permanent magnet and a workpiece can be further improved, and the adsorption capacity is improved. The mounting plate material is an aluminum material without magnetism, and aims to isolate magnetism and avoid the influence on the work of a gear train caused by the adsorption of the chain permanent magnet on the double-row double-side double-hole bent plate industrial transmission chain.
Specifically, the outer surface of the chain permanent magnet 4 is fixedly provided with a damping pad 43.
Like this, in the robot working process, in order to avoid chain permanent magnet and workpiece surface to take place contact and collision constantly, slow down the wearing and tearing of chain permanent magnet, avoid chain permanent magnet and workpiece surface promptly hydraulic turbine blade direct contact to cause the work piece promptly the secondary damage of blade, be provided with the shock pad outside the chain permanent magnet.
Specifically, the shock absorbing pad 43 is made of neoprene.
Therefore, the damping pad material is neoprene, has the characteristics of wear resistance, good contact with metal and the like, and can better meet the use requirement.
The walking system comprises two triangular wheel trains and two rectangular wheel trains, wherein the two triangular wheel trains are respectively and independently driven by a front driving motor and a rear driving motor, so that the walking system can walk on the surface of a large-curvature workpiece better, and is strong in reliability, high in flexibility, strong in adaptability, stable and reliable.
Further, the adsorption power automatic regulating mechanism comprises a regulating motor 5, a regulating motor mounting plate 51, a screw nut fixing plate 52, a screw 53, a guide rod 54, a permanent magnet mounting plate 55 and a permanent magnet 56, the regulating motor mounting plate 51 is fixedly connected with the lower side aluminum plate 13, the regulating motor 5 is fixedly mounted on the regulating motor mounting plate 51, the regulating motor 5 drives the screw 53 to rotate through the regulating mechanism, the screw nut fixing plate 52 is fixedly mounted with a nut which is screwed with the screw 53, the screw 53 is screwed and matched in the nut, the upper end of the screw 53 penetrates through the screw nut fixing plate 52 to extend upwards, the front end aluminum plate 11 is just provided with a through hole for the screw 53, the screw nut fixing plate 52 is fixedly mounted with the guide rod 54 downwards, the regulating motor mounting plate 51 is provided with a guide hole for guiding the guide rod 54, the guide rod 54 is vertically and slidably fitted in the guide hole, the lower end of the guide rod 54 is fixedly connected with a permanent magnet mounting plate 55, and the permanent magnet 56 is fixedly mounted at the lower end of the permanent magnet mounting plate 55.
Thus, although the triangular wheel train and the rectangular wheel train are both provided with the chain permanent magnets, the contact area is limited, and when the rated load borne by the robot is large, the adsorption force of the triangular wheel train and the rectangular wheel train is difficult to meet the requirement of stable adsorption of the robot. Therefore, the automatic adsorption force adjusting mechanism is arranged and is an independent module, and the automatic adsorption force adjusting mechanism is convenient to mount and dismount. Because the 3D metal surface is not a regular plane, the distance between the permanent magnet and the working surface is not fixed, the relationship between the magnetic adsorption force and the distance between the permanent magnet and the working surface is tight, the magnetic adsorption force generated by the robot and the working surface is not determined in different working environments, and the magnetic adsorption force of the robot is difficult to determine due to the uncertainty of the distance between the permanent magnet and the working surface, so that the universality of the robot is influenced; simultaneously obstacle-crossing in-process at the robot, the robot can reduce with wall area of contact, and the magnetic attraction power size can reduce, consequently is provided with adsorption power automatically regulated mechanism, can automatically regulated magnetic attraction power size for the robot has better commonality, removes at the working surface with the most suitable magnetic attraction power size. When the adsorption force automatic adjusting mechanism is used, the adjusting motor acts to drive the screw rod to rotate through the adjusting mechanism, the screw rod drives the screw rod nut fixing plate to move upwards or downwards, the permanent magnet mounting plate is driven to move upwards or downwards through the guide rod, the permanent magnet is driven to move towards the direction close to the surface of a workpiece or move towards the direction far away from the surface of the workpiece, and then the adsorption force between the permanent magnet and the surface of the workpiece is adjusted. The distance between the permanent magnet and the surface of the workpiece can be adjusted only by adjusting the forward rotation or the reverse rotation of the motor. It is known that the magnetic attraction force decreases as the distance between the permanent magnet and the surface of the workpiece increases when the distance between the permanent magnet and the surface of the workpiece is small, and approximately satisfies a linear relationship, and rapidly decreases when the distance exceeds a certain range. By means of the linear relation, the size of the magnetic adsorption force can be automatically adjusted by the adjusting motor.
Further, adjustment mechanism includes initiative adjusting pulley 6, driven adjusting pulley 61 and regulation hold-in range 62, the output shaft of accommodate motor 5 passes through the shaft coupling and is connected with the pivot, initiative adjusting pulley 6 fixed mounting be in the pivot, initiative adjusting pulley 6 is connected with driven adjusting pulley 61 transmission through adjusting hold-in range 62, driven adjusting pulley 61 fixed mounting be in the lead screw 53 lower extreme.
Like this, the adjustment motor drives the pivot and rotates, and the pivot drives the initiative adjusting pulley and rotates, drives driven adjusting pulley through adjusting the hold-in range and rotates, and driven adjusting pulley fixed mounting is at the lead screw lower extreme, and then drives the lead screw and rotate. Simple structure, convenient to use, the regulation distance is reliable and stable, can be better adjust the magnetism adsorption affinity size.
Specifically, the robot is further provided with a control system, and the control system comprises a walking system, an automatic adsorption force adjusting mechanism and a working system. The control system is divided into four modules: the remote control module, the drive module, the wireless communication module and the main controller module. The remote control module is used for remotely controlling the action of the robot, the wireless communication module is used for receiving and transmitting various signals, the main controller is used for receiving data of the remote controller and analyzing the data, corresponding control signals are transmitted to the driving module, and the driving module drives electrical elements to perform corresponding actions.
The working principle and the process are as follows:
when the intelligent mobile robot with the self-adaptive complex 3D metal curved surface is used, the detection device and the repair tool are placed on the main body, then the front driving motor and the rear driving motor act to drive the triangular wheel train and the rectangular wheel train to move for walking. Preceding main part is articulated through the activity hinge between the main part for triangle-shaped train and the complicated 3D metal curved surface of adaptation that rectangle train can be better, have better flexibility. Utilize the accommodate motor to adjust the distance between permanent magnet and the work piece surface, and then adjust the magnetic attraction power size, improve the commonality of robot to the most suitable magnetic attraction power size removes at the working surface.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.
Claims (10)
1. The utility model provides an intelligent movement robot of complicated 3D metal curved surface of self-adaptation, a serial communication port, including main part, traveling system and adsorption affinity automatically regulated mechanism, the main part includes preceding main part and back main part, through activity hinged joint between preceding main part and the back main part, traveling system includes two triangle-shaped trains and two rectangle trains, two triangle-shaped trains set up main part both sides in the front, two rectangle trains set up in back main part both sides, adsorption affinity automatically regulated mechanism sets up the main part below.
2. The intelligent mobile robot of claim 1, wherein the robot is adapted to a complex 3D metal curved surface and comprises: the front main body comprises a front-end aluminum plate which is horizontally arranged, and two sides of the front-end aluminum plate are respectively connected with the triangular wheel train.
3. The intelligent mobile robot for the self-adaptive complex 3D metal curved surface according to claim 2, wherein: the rear main body comprises a lower aluminum plate arranged horizontally, an upper aluminum plate is arranged above the lower aluminum plate through a male-female bolt fixed mounting, the lower aluminum plate and the upper aluminum plate are arranged at intervals, a power module is fixedly arranged at the upper end of the upper aluminum plate, and the two sides of the lower aluminum plate are respectively connected with a rectangular gear train.
4. The intelligent mobile robot of claim 3, wherein the robot is adapted to a complex 3D metal curved surface and comprises: triangle-shaped train includes preceding chain formula track, A-frame and is used for driving the front drive mechanism that preceding chain formula track moved, install the chain permanent magnet on the preceding chain formula track, A-frame is provided with two and sets up respectively in the relative both sides of preceding chain formula track, two A-frame's three tip all rotates and installs the front sprocket with preceding chain formula track meshing, front end aluminum plate both ends are located inboard A-frame fixed connection with triangle-shaped train respectively.
5. The intelligent mobile robot of claim 4, wherein the robot is capable of adapting to complex 3D metal curved surfaces, and comprises: the front driving mechanism comprises a front driving motor, the front driving motor is fixedly mounted on a front motor mounting plate, the front motor mounting plate is fixedly connected with a triangular support, an output shaft of the front driving motor is connected with a speed reducer, an output shaft of the speed reducer is fixedly connected with a driving belt wheel through a shaft coupler, the driving belt wheel is meshed with a driven belt wheel through a synchronous belt, and the driven belt wheel is coaxially and fixedly connected with one of front chain wheels.
6. The intelligent mobile robot of claim 5, wherein the robot is adapted to a complex 3D metal curved surface and comprises: rectangle train includes back chain formula track, rectangular support and is used for driving the back actuating mechanism that back chain formula track moved, install the chain permanent magnet on the back chain formula track, rectangular support is provided with two and sets up respectively the both sides that back chain formula track is relative, two rectangular support's both ends are all rotated and are installed the rear sprocket with back chain formula track meshing, downside aluminum plate both ends are located inboard rectangular support fixed connection with the rectangle train respectively.
7. The intelligent mobile robot of claim 6, wherein the robot is adapted to a complex 3D metal curved surface and comprises: the rear driving mechanism comprises a rear driving motor which is fixedly installed on the lower side aluminum plate, an output shaft of the rear driving motor is connected with a speed reducer, an output shaft of the speed reducer is fixedly connected with a gear shaft through a coupler, a driving bevel gear is fixedly installed on the gear shaft, the driving bevel gear is meshed with a driven bevel gear in a transmission mode, and the driven bevel gear is coaxially and fixedly connected with one of the rear chain wheels.
8. The intelligent mobile robot of claim 7, wherein the robot is adapted to a complex 3D metal curved surface and comprises: the chain type crawler belt comprises a front chain wheel, a rear chain wheel, a front chain type crawler belt, a rear chain type crawler belt, a chain permanent magnet and a mounting plate, wherein the front chain wheel and the rear chain type crawler belt are double-row double-side double-hole bent plate industrial transmission chain, the chain permanent magnet and the mounting plate are all arranged in a transmission mode, the double-row chain wheel is in transmission connection with the double-row double-side double-hole bent plate industrial transmission chain, the mounting plate is fixedly mounted on a chain plate of the double-row double-side double-hole bent plate industrial transmission chain through bolts, the mounting.
9. The intelligent mobile robot for the self-adaptive complex 3D metal curved surface according to claim 8, wherein: the automatic adsorption force adjusting mechanism comprises an adjusting motor, an adjusting motor mounting plate, a screw nut fixing plate, a screw rod, a guide rod, a permanent magnet mounting plate and a permanent magnet, the adjusting motor mounting plate is fixedly connected with the lower side aluminum plate, the adjusting motor is fixedly mounted on the adjusting motor mounting plate, the adjusting motor drives the screw rod to rotate through an adjusting mechanism, a nut matched with the screw rod in a screwing mode is fixedly mounted on the screw nut fixing plate, the screw rod is matched in the nut in a screwing mode, the upper end of the screw rod penetrates through the screw nut fixing plate to extend upwards, a through hole is formed in the front end aluminum plate just opposite to the screw rod, the guide rod is fixedly mounted on the screw nut fixing plate downwards, a guide hole used for guiding the guide rod is formed in the adjusting motor mounting plate, the guide rod is in the guide hole in a vertical sliding, the permanent magnet is fixedly installed at the lower end of the permanent magnet installation plate.
10. The intelligent mobile robot capable of adapting to the complex 3D metal curved surface according to claim 9, wherein: the adjusting mechanism comprises a driving adjusting belt wheel, a driven adjusting belt wheel and an adjusting synchronous belt, an output shaft of the adjusting motor is connected with a rotating shaft through a coupler, the driving adjusting belt wheel is fixedly installed on the rotating shaft, the driving adjusting belt wheel is in transmission connection with the driven adjusting belt wheel through the adjusting synchronous belt, and the driven adjusting belt wheel is fixedly installed at the lower end of the screw rod.
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| CN109927807A (en) * | 2019-04-24 | 2019-06-25 | 重庆科技学院 | A kind of intelligent mobile robot of adaptive complexity 3D metal curved surface |
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