CN209956104U

CN209956104U - Wall-climbing crawler walking module with variable-curvature self-adaptive capacity

Info

Publication number: CN209956104U
Application number: CN201920772862.4U
Authority: CN
Inventors: 张小俊; 王洋; 张庆华; 王维鹏
Original assignee: Luoyang Shengrui Intelligent Robot Co Ltd
Current assignee: Luoyang Shengrui Intelligent Robot Co Ltd
Priority date: 2019-05-27
Filing date: 2019-05-27
Publication date: 2020-01-17
Anticipated expiration: 2029-05-27

Abstract

A wall-climbing crawler belt walking module with variable curvature self-adaptive capacity comprises a driving wheel, a driven wheel and a pair of swinging support wheel assemblies arranged between the driving wheel and the driven wheel, and is connected and driven through a crawler belt; a swing shaft parallel to the axes of the driving wheel and the driven wheel is arranged on the swing support wheel assembly, a permanent magnetic adsorption plate is connected to the swing shaft, and a pair of walking support wheels parallel to the swing shaft are arranged at two ends of the permanent magnetic adsorption plate; the permanent magnetic adsorption plate and the pair of walking supporting wheels have a rotational degree of freedom around the axis direction of the swing shaft, so that the crawler belt is tightly attached to the magnetic conduction wall surface through the permanent magnetic adsorption plate and the walking supporting wheels. The utility model discloses because there is a rotational degree of freedom at the axis direction of walking supporting wheel around rocking shaft for the magnetism adsorption affinity is invariable, guarantees to climb the wall robot and can not slide, fall because of magnetism adsorption affinity suddenly diminishes. Meanwhile, necessary friction force is provided for the walking of the wall-climbing crawler walking module, and the situations that the crawler slips and cannot walk are avoided.

Description

Wall-climbing crawler walking module with variable-curvature self-adaptive capacity

Technical Field

The utility model belongs to the technical field of the robotechnology and specifically relates to a wall climbing crawler walking module with variable camber self-adaptive ability is related to.

Background

The magnetic adsorption wall climbing robot is one kind of automatic mechanical device for conducting specific operation, such as inspection, monitoring, welding, polishing, etc. on magnetically conducting wall in harsh, dangerous and extreme conditions. At present, the magnetic adsorption wall-climbing robot is widely applied to the production and construction of ferromagnetic structures in nuclear industry, petrochemical industry, building industry, fire-fighting department, shipbuilding industry and the like.

In practical application, some magnetic conductive wall surfaces are space curved surfaces, the surface appearance of the magnetic conductive wall surfaces is uneven, the curvature radius is smaller, and the curvature variation range is larger. For the magnetic adsorption wall-climbing robot running on the surface, the air gap between the adsorption device and the magnetic conduction wall surface changes, the magnitude of the magnetic adsorption force is inversely proportional to the square of the air gap distance, and the small air gap distance change can cause larger change of the adsorption force, so that the load capacity of the wall-climbing robot is seriously influenced. In addition, due to the unevenness of the magnetic conduction wall surface, the motion performance of the wall-climbing robot is also affected, and if the unevenness of the wall surface can cause the walking supporting wheels to be suspended, the driving is disabled. Therefore, for a wall-climbing robot running on a complex variable-curvature magnetic conduction wall surface, the robot is required to have strong load capacity and good motion flexibility, and meanwhile, the robot also has good self-adaptive capacity on the variable-curvature magnetic conduction wall surface. For the wall climbing robot, the wall climbing robot can be ensured to stably adsorb and climb on the variable-curvature magnetic conduction wall surface under the working load, adsorption failures such as gliding, falling and the like can not occur, and the wall climbing robot is the primary requirement and the most basic requirement of the wall climbing robot.

For a wall-climbing robot working on a complex variable-curvature magnetic guiding wall surface, the core of the wall-climbing robot is a wall-climbing crawler traveling module. When climbing wall crawler belt walking module walks on complicated curved surface, at first will guarantee the invariant of magnetic adsorption power all the time, this is the prerequisite, and secondly will guarantee that the walking supporting wheel contacts with the magnetic conduction wall all the time. Only constant magnetic adsorption force can enable the wall climbing crawler belt walking module to be in contact with the magnetic conduction wall surface, and only the crawler belt is in contact with the magnetic conduction wall surface all the time through the walking supporting wheels and generates enough pressure, the walking of the wall climbing crawler belt walking module can be realized. Therefore, the wall-climbing crawler traveling module not only needs to provide enough magnetic adsorption force for the wall-climbing robot, but also needs to realize self-adaptive traveling on a complex variable-curvature magnetic conduction wall surface. The wall-climbing crawler walking module in the prior art cannot give consideration to both.

Disclosure of Invention

The utility model aims at overcoming prior art not enough in the aspect of magnetism adsorption affinity, curved surface adaptability, disclosing a wall climbing crawler belt walking module with variable camber adaptive capacity, making it when having strong load capacity, have better adaptive to variable camber magnetic conduction wall to solve the problem that exists among the prior art.

The utility model provides a climbing crawler belt walking module with variable curvature self-adaptive capacity, which comprises a driving wheel, a driven wheel and a pair of swinging support wheel components arranged between the driving wheel and the driven wheel, and is connected with the driving wheel through a crawler belt; a swing shaft parallel to the axes of the driving wheel and the driven wheel is arranged on the swing support wheel assembly, a permanent magnetic adsorption plate is connected to the swing shaft, and a pair of walking support wheels parallel to the swing shaft are arranged at two ends of the permanent magnetic adsorption plate; the permanent magnetic adsorption plate and the pair of walking supporting wheels have a rotational degree of freedom around the axis direction of the swing shaft, so that the crawler belt is tightly attached to the magnetic conduction wall surface through the permanent magnetic adsorption plate and the walking supporting wheels.

Preferably, the crawler traveling module comprises an inner crawler shoe and an outer crawler shoe which are arranged in parallel, and the driving wheel, the driven wheel and the pair of rocking support wheel assemblies are connected between the inner crawler shoe and the outer crawler shoe.

Preferably, the holes of the inner track shoe and the outer track shoe, which are correspondingly connected with the swing shafts on the pair of swing support wheel assemblies, are long slotted holes, and the long slotted holes are arranged along the vertical direction.

Preferably, the driving wheel is connected with a motor module, the motor module comprises a motor, a right-angle speed reducer and a speed reducer flange, the speed reducer flange is connected with the inner side track shoe, and an output shaft of the right-angle speed reducer is connected with the driving wheel.

Preferably, a belt wheel reinforcing plate and a handle are connected between the inner side track shoe and the outer side track shoe, wherein one end of the belt wheel reinforcing plate is fixedly connected to a flange of the speed reducer, and the other end of the belt wheel reinforcing plate is fixedly connected to a bearing end cover of the driving wheel.

Preferably, the permanent magnetism adsorption plate includes magnetic conduction board and permanent magnet, the material of magnetic conduction board is pure iron or low carbon steel, the permanent magnet is the cuboid permanent magnet, and magnetizes along the direction of height, and two adjacent permanent magnets are connected on the magnetic conduction board along the direction of height with the opposite coupling arrangement mode of magnetic pole.

Preferably, the action wheel, from the driving wheel and the walking supporting wheel are coaxial double round structure, and the double round is at the both ends of place axle, the double round is the synchronizing wheel, the track is the hold-in range, and the inboard middle part of track is equipped with heavy groove, heavy groove is pressed close to the permanent magnet on the permanent magnetism adsorption plate.

Preferably, the driving wheel, the driven wheel and the walking supporting wheel are respectively provided with a pinch roller inner baffle at the inner sides of the two wheels, and the pinch roller inner baffle is positioned at the groove edge part at the inner side of the crawler belt sinking groove.

Compared with the prior art, the utility model, have substantive characteristics and show the progress:

(1) the utility model has a rotational freedom degree in the axis direction of the walking supporting wheels around the swing shaft, so that the two walking supporting wheels can always contact the magnetic conductive wall surface on the complex curved surface, the distance between the permanent magnetic adsorption plate 402 and the corresponding magnetic conductive wall surface is kept constant, the magnetic adsorption force is constant, and the wall climbing robot is ensured not to slide down and fall down because the magnetic adsorption force is suddenly reduced;

(2) the constant magnetic adsorption force provides necessary friction force for the wall-climbing crawler module to walk, so that the situations of crawler slipping and incapability of walking caused by insufficient friction force of the wall-climbing crawler module can be avoided;

(3) the crawler belt walking module is independently driven by a motor, has high movement flexibility and strong adaptability to working environment, can walk on a variable-curvature magnetic conduction wall surface in a self-adaptive manner, and has good load capacity.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural diagram of a motor module;

FIG. 3 is a schematic structural view of the rocking support wheel assembly;

FIG. 4 is a schematic view of the walking structure of the present invention along a curved surface;

FIG. 5 is a schematic structural diagram of a permanent magnet module;

fig. 6 is a schematic structural view of the crawler.

In the figure: 30. a crawler belt traveling module; 302. a driving wheel; 303. a driven wheel; 40. a rocking support wheel assembly; 401. a swing shaft; 402. a permanent magnetic adsorption plate; 4021. a magnetic conductive plate; 4022. a permanent magnet; 403. a traveling support wheel; 404. an inner baffle of the pinch roller; 501. a crawler belt; 502. an inboard track shoe; 503. an outboard track shoe; 504. a handle; 60. a pulley reinforcing plate; 70. a motor module; 701. a motor; 702. a right-angle reducer; 703. speed reducer flange.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

A climbing crawler module with variable curvature self-adaptive capacity is disclosed, as shown in FIG. 1, the crawler module 30 comprises a driving wheel 302, a driven wheel 303 and a pair of swinging support wheel assemblies 40 arranged between the driving wheel 302 and the driven wheel 303, and is connected for transmission through a crawler 501; the rocking support wheel assembly 40 is provided with a rocking shaft 401 parallel to the axes of the driving wheel 302 and the driven wheel 303. The connection support of the driving wheel 302, the pair of rocking shafts 401, and the driven wheel 303 may be a crawler tractor type cantilever connection support or a double-arm connection support. In this embodiment, in order to improve the stress state of the wheel axle of the driving wheel 302, the pair of swing axles 401, and the driven wheel 303, the wheel axles are supported by two arms. Specifically, a pair of inner track shoes 502 and outer track shoes 503 arranged in parallel are connected to both ends of the wheel shaft of the driving wheel 302, the pair of swing shafts 401, and the driven wheel 303, and a connecting plate is welded between the inner track shoes 502 and the outer track shoes 503, so that the inner track shoes 502 and the outer track shoes 503 are integrated into a whole, and the driving wheel 302, the pair of swing shafts 401, and the driven wheel 303 are supported and connected.

The main function of the driving wheel 302 and the driven wheel 303 at the two ends of the track 501 is to drag the track 501 to walk. The driving wheel 302 is connected with the motor module 70, as shown in fig. 2, the motor module 70 includes a motor 701, a right-angle reducer 702 and a reducer flange 703, the motor 701 is disposed inside the frame 10, the output end of the motor 701 is connected with the right-angle reducer 702, the right-angle reducer 702 is fixed on the inner track shoe 305 through the reducer flange 703, the output shaft of the right-angle reducer 702 is connected with the driving wheel 302, and provides walking power for the crawler walking module 30.

A pulley reinforcing plate 60 is connected between the inner track shoe 502 and the outer track shoe 503, one end of the pulley reinforcing plate 60 is fixedly connected to the reducer flange 703, and the other end is fixedly connected to the bearing end cap of the driving wheel 302. The pulley reinforcing plate 60 is used to connect the inner track shoe 305 and the outer track shoe 306, and is bolted to play a clamping role, and the driving pulley reinforcing plate 60 is installed at the front end of the crawler belt module 50 at the position 2, so as to ensure the stability of the front end of the crawler belt module 30.

The pair of rocking support wheel assemblies 40 located between drive wheel 302 and driven wheel 303 serve two vital functions, as will be explained in more detail below, in addition to supporting the weight of the overall wall-climbing crawler travel module.

As shown in fig. 3, a permanent magnetic adsorption plate 402 is connected to a swing shaft 401 of the swing support wheel assembly 40, a pair of walking support wheels 403 parallel to the swing shaft (401) are mounted at both ends of the permanent magnetic adsorption plate 402, and the permanent magnetic adsorption plate 402 and the pair of walking support wheels 403 have a rotational degree of freedom around the axial direction of the swing shaft 401, so that the crawler 501 is always attached to the magnetic conductive wall surface through the permanent magnetic adsorption plate 402 and the walking support wheels 403. In this embodiment, the swing shaft 401 is provided in the middle of the permanent magnet adsorption plate 402, and the traveling support wheels 403 at both ends of the permanent magnet adsorption plate 402 swing with respect to the axis of the swing shaft 401 in an equi-armed manner. The swing shaft 401 is not necessarily disposed in the middle of the permanent magnetic adsorption plate 402, but may be disposed on one of the walking support wheels 403, or may be disposed at other positions, as long as one of the walking support wheels 403 swings with respect to the other walking support wheel 403, so that the two walking support wheels 403 can always contact with the magnetic conductive wall surface simultaneously on the complex curved surface.

As shown in fig. 4, since the two walking support wheels 403 can always contact the magnetic conductive wall surface on the complex curved surface at the same time, the distance between the permanent magnetic attraction plate 402 and the corresponding magnetic conductive wall surface can be kept substantially constant since the permanent magnetic attraction plate 402 between the two walking support wheels 403 is always equidistant from the contact points of the two walking support wheels 403 on the magnetic conductive wall surface. If there is no rotational degree of freedom, the two walking support wheels 403 are fixedly connected to the inner track shoe 305 and the outer track shoe 306, and in the illustrated arc-shaped curved surface, it cannot be guaranteed that the two walking support wheels 403 can always contact the arc-shaped curved surface at the same time. This will cause the air gap distance between the permanent magnetic attraction plate 402 and the corresponding magnetic conduction wall surface to be normal on one side, and the air gap distance on the other side is too large, so that the magnetic attraction force is reduced sharply, and the wall climbing robot will slide down and fall down.

Since the magnetic attraction force of the rocking support wheel assembly 40 can be kept substantially constant, the magnetic attraction force is also substantially constant in pressing force against the crawler 501 and the magnetically conductive wall surface by the two walking support wheels 403. The wall climbing crawler belt walking module is provided with the pair of swinging support wheel assemblies 40, the four walking support wheels 403 on the two swinging support wheel assemblies 40 are always in contact with the crawler belt 501 and the magnetic conduction wall surface and generate constant pressure to the crawler belt 501 and the magnetic conduction wall surface, and the constant pressure provides necessary friction force for the walking of the wall climbing crawler belt walking module, so that the situation that the crawler belt 501 slips and cannot walk due to insufficient friction force is avoided.

Two problems can occur when the crawler 501 is in use, namely, the crawler 501 is excessively stretched and is separated from a belt wheel, so that the belt is dropped; another problem is that the curvature of the magnetic wall curved surface is too large, the track 501 has insufficient length margin to make the permanent magnetic adsorption plate 402 on the two swing support wheel assemblies 40 cling to the magnetic wall curved surface, which causes insufficient magnetic attraction force, and the heavy person causes the wall-climbing robot to fall.

In order to solve the above problem, the connection between the swing axle 401 and the inner and

outer track shoes

502, 503 of the two swing support wheel assemblies 40 is adjustable, the holes connecting the inner and

outer track shoes

502, 503 and the swing axle 401 are vertically long slots, and the two swing support wheel assemblies 40 are vertically adjustable. When the crawler 501 is excessively elongated, the swing shafts 401 on the two swing support wheel assemblies 40 are adjusted downwards to tension the crawler 501, so that the crawler is prevented from falling off; when the curvature of the curved surface of the magnetic conductive wall is too large and the crawler belt 501 does not have enough length allowance, the swing shafts 401 on the two swing support wheel assemblies 40 are adjusted upwards, the crawler belt 501 is loosened, the permanent magnetic adsorption plate 402 is made to cling to the curved surface of the magnetic conductive wall, and the falling of the wall-climbing robot is avoided.

In order to improve the magnetic adsorption strength, as shown in fig. 5, the permanent magnetic adsorption plate 402 includes a magnetic conduction plate 4021 and a permanent magnet 4022, the magnetic conduction plate 4021 is made of pure iron or low-carbon steel, the permanent magnet 4022 is a rectangular permanent magnet and is magnetized in the height direction, and two adjacent permanent magnets 4022 are connected to the magnetic conduction plate 4021 in the height direction in a coupling arrangement manner with opposite magnetic poles. Specifically, a loop is formed by the fact that the N level of the front side magnet reaches the S level of the rear side permanent magnet through the magnetic conduction plate 4021 and then reaches the S level of the front side permanent magnet through the N level of the rear side permanent magnet through the wall surface, and therefore the mechanism is guaranteed to be attached to the magnetic conduction wall surface.

In order to prevent the crawler belt 501 from falling off, as shown in fig. 6, the driving wheel 302, the driven wheel 303 and the walking supporting wheel 403 are of a coaxial double-wheel structure, and the double wheels are arranged at two ends of the shaft. The coaxial double round is the synchronizing wheel, track 501 is the hold-in range, and track 501 is not equipped with heavy groove with the middle part of double round meshing, heavy groove is pressed close to permanent magnet 4022 on the permanent magnetism adsorption plate 402. The driving wheel 302, the driven wheel 303 and the walking supporting wheel 403 are all provided with a pinch roller inner baffle 404 on the inner sides of the two wheels, and the pinch roller inner baffle 404 is positioned on the inner side groove edge part of the sinking groove of the crawler 501. Thus, the crawler 501 can be effectively prevented from coming off the belt wheel.

The present invention has been described only with the above embodiments, and the structure, the setting position and the connection of each part can be changed, on the basis of the technical solution of the present invention, the improvement and the equivalent transformation to the individual part according to the principle of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. The utility model provides a wall crawler module of climbing with variable camber self-adaptive ability which characterized by: the device comprises a driving wheel (302), a driven wheel (303) and a pair of swinging support wheel assemblies (40) arranged between the driving wheel (302) and the driven wheel (303), and the swinging support wheel assemblies are connected and driven through a crawler belt (501); a swing shaft (401) parallel to the axes of the driving wheel (302) and the driven wheel (303) is arranged on the swing supporting wheel assembly (40), a permanent magnetic adsorption plate (402) is connected to the swing shaft (401), and a pair of walking supporting wheels (403) parallel to the swing shaft (401) are arranged at two ends of the permanent magnetic adsorption plate (402); the permanent magnet adsorption plate (402) and the pair of walking supporting wheels (403) have a rotational degree of freedom around the axis direction of the swing shaft (401), so that the crawler belt (501) is attached to the magnetic conduction wall surface through the permanent magnet adsorption plate (402) and the walking supporting wheels (403).

2. The wall-climbing crawler belt walking module with the variable curvature self-adaptive capacity as claimed in claim 1, wherein: the crawler belt walking module (30) comprises an inner crawler belt plate (502) and an outer crawler belt plate (503) which are arranged in parallel, and the driving wheel (302), the driven wheel (303) and the pair of swinging support wheel assemblies (40) are connected between the inner crawler belt plate (502) and the outer crawler belt plate (503).

3. The wall-climbing crawler belt walking module with the variable curvature self-adaptive capacity as claimed in claim 2, wherein: the holes of the inner side track shoe (502) and the outer side track shoe (503) which are correspondingly connected with the swing shafts (401) on the pair of swing supporting wheel assemblies (40) are long slotted holes which are arranged along the vertical direction.

4. A wall-climbing crawler belt walking module with variable curvature self-adapting capability as claimed in claim 2 or 3, characterized in that: the driving wheel (302) is connected with a motor module (70), the motor module (70) comprises a motor (701), a right-angle speed reducer (702) and a speed reducer flange (703), the speed reducer flange (703) is connected with the inner side track shoe (502), and an output shaft of the right-angle speed reducer (702) is connected with the driving wheel (302).

5. The wall-climbing crawler belt walking module with the variable curvature self-adaptive capacity as claimed in claim 4, wherein: a pulley reinforcing plate (60) and a handle (504) are connected between the inner side track shoe (502) and the outer side track shoe (503), wherein one end of the pulley reinforcing plate (60) is fixedly connected to a reducer flange (703) of the motor, and the other end of the pulley reinforcing plate is fixedly connected to a bearing end cover of the driving wheel (302).

6. A wall-climbing crawler module with variable curvature self-adaptive capacity as claimed in claim 1 or 2 or 3 or 5, characterized in that: the permanent magnet adsorption plate (402) comprises a magnetic conduction plate (4021) and a permanent magnet (4022), the magnetic conduction plate (4021) is made of pure iron or low-carbon steel, the permanent magnet (4022) is a cuboid permanent magnet and is magnetized in the height direction, and two adjacent permanent magnets (4022) are connected to the magnetic conduction plate (4021) in the height direction in a coupling arrangement mode with opposite magnetic poles.

7. The wall-climbing crawler module with variable curvature self-adapting capability as claimed in claim 6, wherein: the driving wheel (302), follow driving wheel (303) and walking supporting wheel (403) are coaxial double round structure, and the double round is at the both ends of place axle, the double round is the synchronizing wheel, track (501) are the hold-in range, and the inboard middle part of track (501) is equipped with heavy groove, heavy groove is pressed close to in permanent magnet (4022) on permanent magnet adsorption plate (402).

8. The wall-climbing crawler module with variable curvature self-adapting capability as claimed in claim 7, wherein: the inner sides of the two wheels of the driving wheel (302), the driven wheel (303) and the walking supporting wheel (403) are respectively provided with a pinch roller inner baffle (404), and the pinch roller inner baffle (404) is positioned at the groove edge part of the inner side of the sinking groove of the crawler belt (501).