WO2018214217A1 - 一种基于磁轮驱动的提升机罐道蛇形巡检机器人机构 - Google Patents

一种基于磁轮驱动的提升机罐道蛇形巡检机器人机构 Download PDF

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WO2018214217A1
WO2018214217A1 PCT/CN2017/089815 CN2017089815W WO2018214217A1 WO 2018214217 A1 WO2018214217 A1 WO 2018214217A1 CN 2017089815 W CN2017089815 W CN 2017089815W WO 2018214217 A1 WO2018214217 A1 WO 2018214217A1
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Prior art keywords
gear
magnetic wheel
wheel drive
magnetic
worm
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English (en)
French (fr)
Inventor
唐超权
周公博
胡而已
朱华
马璧
舒鑫
赵建
陈鑫
刘初升
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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Priority to JP2019510820A priority Critical patent/JP2019526462A/ja
Priority to AU2017415414A priority patent/AU2017415414B2/en
Priority to US16/095,717 priority patent/US11312007B2/en
Publication of WO2018214217A1 publication Critical patent/WO2018214217A1/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears

Definitions

  • the invention relates to a robot mechanism, in particular to a magnetic wheel drive-based hoisting serpentine patrol inspection robot mechanism suitable for detection and maintenance of a mine hoist tank channel, belonging to a coal mine hoist detection device.
  • the mine hoist is mainly used for dispatching mine cars and other auxiliary traction in mines. It can also be used for cooperative haulage, lifting work or other auxiliary handling work in coal mines, metallurgical mines, construction sites, etc., but it should not be used by manned persons.
  • the object of the present invention is to provide a magnetic wheel drive-based hoist serpentine patrol robot mechanism suitable for the detection and maintenance of mine hoist tanks in order to overcome the defects of the above existing test models.
  • a magnetic wheel drive-based hoist pipe serpent inspection robot mechanism comprising a magnetic wheel drive portion and a pitch yaw portion, the magnetic wheel drive portion comprising a worm gear drive mechanism and a magnetic wheel drive mechanism, the pitch yaw
  • the department includes a pitch yaw mechanism
  • the worm gear transmission mechanism comprises a worm gear 1 , a worm gear, a timing belt wheel 1 , a timing belt wheel 2 , a plum coupling, a steering gear 1 and a timing belt.
  • the worm has a plurality of turbines distributed around the worm gear. The coupling, the worm, the worm wheel, the timing belt wheel, the timing belt wheel 2, the timing belt are connected in sequence, and the bearing is inserted into the worm;
  • the magnetic wheel drive mechanism comprises a spur gear, a spur gear and a magnetic wheel.
  • the spur gear is connected with a combination of five or two magnetic wheels of a spur gear, and the bearing four is connected with a spur gear and a magnetic wheel.
  • a magnetic wheel is arranged on both sides of the spur gear;
  • the pitch yaw mechanism comprises a steering gear 2, a spur gear 4, a spur gear 3, a spur gear 3, a bevel gear 2, a bevel gear 1 and a joint, the steering gear 2, a spur gear 4, a spur gear 3, a spur gear 3
  • the bevel gear 2, the bevel gear one and the joint are connected in sequence.
  • the worm, the worm wheel, the synchronous pulley 1, the synchronous pulley 2, and the magnetic wheel are all fixed on two bottom plates disposed between the worm gear transmission mechanism and the magnetic wheel drive mechanism, the magnetic wheel drive mechanism and the pitch yaw mechanism
  • the steering gear is fixed to the magnetic wheel drive mechanism, and the steering gear 2 is fixed to the pitch yaw mechanism.
  • the spur gears four are arranged in two rows.
  • the invention has the beneficial effects that the magnetic wheel-driven snake-shaped robot uses the magnetic wheel to suck the hoist can, improving the efficiency of the ordinary snake-shaped robot and the difficulty of crossing the large gap and reaching some hidden corners by the simple wheeled robot.
  • the worm gear mechanism is adopted, and three or more worm gears and the same number of magnetic wheels are arranged on the circumference, so that the magnetic adsorption area is larger, the work is more stable, and the action is more sensitive.
  • Figure 1 is a schematic view of a partial structure of the present invention
  • Figure 2 is a partial schematic view 2 of the present invention
  • Figure 3 is a schematic view of the overall structure of the present invention.
  • a magnetic tank drive-based lifting tank serpent inspection robot mechanism includes a magnetic wheel drive portion and a pitch yaw portion, wherein the magnetic wheel drive portion includes a worm gear transmission mechanism I and a magnetic wheel drive mechanism II, the pitch yaw portion includes a pitch yaw mechanism III; the worm gear transmission mechanism includes a worm gear 2, a worm wheel 3, a timing pulley 4, a timing pulley 2, and a plum coupling 6 a rudder machine 9 and a timing belt 23, a plurality of turbines 3 are distributed around the worm shaft 2, the rudder machine 9 , a plum blossom coupling 6 , a worm shaft 2 , a worm wheel 3 , a timing belt wheel 4 , a timing belt
  • the wheel 2 and the timing belt 23 are sequentially connected, and the bearing 1 is inserted into the worm 1; the magnetic wheel drive mechanism includes a spur gear 7, a spur gear 21, a magnetic wheel 22, and the spur gear 7 and the spur gear
  • the torque generated by the steering gear 9 is transmitted to the worm 2 through the Phillips coupling 6, the worm 2 is transmitted to the worm wheel 3, the worm wheel 3 drives the timing pulley 4, and the synchronous pulley 4 and the synchronous pulley 2 8 and the timing belt 23 transmit the torque to the magnetic wheel drive mechanism II, and then to the magnetic wheel 22 through the spur gear 7 and the spur gear 521.
  • the pitch yaw mechanism includes a steering gear two 10, a spur gear four 18, a spur gear three 17, a spur gear three 16, a bevel gear two 15. Bevel gear 13 and joint 12, said steering gear two 10, spur gear four 18, spur gear three 17, spur gear three 16, bevel gear two 15, bevel gear one 13 and joint 12 are connected in sequence.
  • the torque output by the steering gear 2 10 is transmitted to the upper and lower bevel gears 2 through the upper and lower two rows of spur gears 40, spur gears three 17, and spur gears two 16, when the rudder is 9 and the steering gear is 20
  • the force is transmitted to the next section through the bevel gear 13 and the joint 12, as shown in Fig. 3, to realize the pitching motion of the serpentine robot; when the steering gear 9 and the steering gear 2 have different rotational speeds, the force passes through the cone
  • the gear 13 and the joint 12 are passed to the next section to achieve the yaw motion of the snake robot.
  • the magnetic wheel 22 is adsorbed on the hoist can, and the torque outputted by the steering gear overcomes various resistances between the parts to drive the magnetic wheel to cause the snake-shaped robot to crawl.
  • the pitch yaw mechanism III of the robot controls the direction of the robot to realize the crawling of various postures of the snake-shaped robot.
  • the robot mechanism of the invention is composed of a plurality of patrol inspection mechanisms, the worm gear transmission mechanism I and the magnetic wheel drive mechanism II are responsible for driving the magnetic wheel, and the pitch yaw mechanism III portion is responsible for realizing the pitch yaw of the robot, and therefore, the magnetic wheel suction force is utilized.
  • the snake-shaped robot is adsorbed on the wall of the hoisting tank, and the magnetic wheel is driven by the steering gear to overcome various resistances to move forward.
  • the pitching yaw mechanism III is responsible for realizing the swing of the robot and controlling the moving direction of the snake-shaped robot. 9 and steering gear 10 achieve the desired pitch and yaw motion.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
  • Gear Transmission (AREA)

Abstract

一种基于磁轮驱动的提升机罐道蛇形巡检机器人机构，具有磁轮驱动部及俯仰偏航部，磁轮驱动部包括蜗轮蜗杆传动机构（Ⅰ）及磁轮驱动机构（Ⅱ），俯仰偏航部包括俯仰偏航机构（Ⅲ）。蜗轮蜗杆传动机构(Ⅰ)及磁轮驱动机构（Ⅱ）负责驱动磁轮，俯仰偏航机构（Ⅲ）负责实现机器人的俯仰偏航，磁轮（22）驱动蛇形机器人，磁轮（22）吸住提升机罐道，改善普通蛇形机器人效率较低与单纯轮式机器人难以跨越较大缝隙、到达一些隐蔽角落等问题，同时采用蜗轮蜗杆机构，周布3个甚至多个蜗轮（3）及等数量的磁轮（22），可以使磁吸附的面积更大，工作更稳定、行动更灵敏。

Description

一种基于磁轮驱动的提升机罐道蛇形巡检机器人机构 技术领域
本发明涉及一种机器人机构，尤其是一种适用于煤矿提升机罐道检测和维修的基于磁轮驱动的提升机罐道蛇形巡检机器人机构，属于煤矿提升机检测装置。
背景技术
矿用提升机主要用于矿井下调度矿车及其它辅助牵引用，亦可用于煤矿、冶金矿山、建筑工地等场合作拖运、提升工作或其他辅助搬运工作，但不得作载人使用。
但是目前矿用提升机的检测和维护方式比较落后，一般采用卷扬机或其他升降设备安装载人平台人为检查，因此会增加人工危险。目前通过人工方式检测和维护煤矿提升机罐道健康状况效率较低、工作环境恶劣并存在一定的危险性，因此需要设计一款巡检机器人辅助工作人员进行巡检。针对罐道环境中轨道间隙较大、普通轮式机器人难以跨越、巡检中需要从多角度进行观察等需求，设计了一种用于提升机罐道多方位检测的磁轮驱动蛇形巡检机器人机构。
发明内容
本发明的目的就是为了克服上述现有试验模型存在的缺陷而提供的一种适用于煤矿提升机罐道检测和维修的基于磁轮驱动的提升机罐道蛇形巡检机器人机构
本发明的目的可以通过以下技术方案来实现：
一种基于磁轮驱动的提升机管道蛇形巡检机器人机构，包括磁轮驱动部及俯仰偏航部，所述磁轮驱动部包括蜗轮蜗杆传动机构及磁轮驱动机构，所述俯仰偏航部包括俯仰偏航机构；
所述蜗轮蜗杆传动机构包括蜗杆一、蜗轮、同步带轮一、同步带轮二、梅花联轴器、舵机一及同步带，所述蜗杆一周围分布若干涡轮，所述舵机一、梅花式联轴器、蜗杆一、蜗轮、同步带轮一、同步带轮二、同步带依次相连，所述轴承一与蜗杆一插接；
所述磁轮驱动机构包括直齿轮、直齿轮、磁轮，所述直齿轮与直齿轮五及两个磁轮构成的组合体相连，所述轴承四与直齿轮五、磁轮插接，所述直齿轮五两侧设有磁轮；
所述俯仰偏航机构包括舵机二、直齿轮四、直齿轮三、直齿轮三、锥齿轮二、锥齿轮一及接头，所述舵机二、直齿轮四、直齿轮三、直齿轮三、锥齿轮二、锥齿轮一及接头依次相连。
进一步，所述蜗杆一、蜗轮、同步带轮一、同步带轮二、磁轮均固定在设于蜗轮蜗杆传动机构与磁轮驱动机构、磁轮驱动机构与俯仰偏航机构中间的两个底板上，所述舵机一固定于磁轮驱动机构上，所述舵机二固定于俯仰偏航机构上。
进一步，所述直齿轮四为上下两排设置。
本发明的有益效果：使用磁轮驱动的蛇形机器人，磁轮吸住提升机罐道，改善普通蛇形机器人效率较低与单纯轮式机器人难以跨越较大缝隙、到达一些隐蔽角落等问题，同时采用蜗轮蜗杆机构，周布3个甚至多个蜗轮及等数量的磁轮，可以使磁吸附的面积更大，工作更稳定、行动更灵敏。
附图说明
图1为本发明的局部结构示意图一；
图2为本发明的局部结构示意图二；
图3是本发明的整体结构示意图。
其中：1、轴承一；2、蜗杆一；3、涡轮；4、同步带轮一；5、轴承二；6、梅花联轴器；7、直齿轮一；8、同步带轮二；9、舵机一；10、舵机二；11、侧板；12、接头；13、锥齿轮一；14、十字轴；15、锥齿轮二；16、直齿轮二；17、直齿轮三；18、直齿轮四；19、轴承三；20、轴承四；21、直齿轮五；22、磁轮；23同步带；Ⅰ、蜗轮蜗杆传动机构；Ⅱ、磁轮驱动机构；Ⅲ、俯仰偏航机构。
具体实施方式
下面结合附图对本发明进行详细说明。
以下说明本发明的具体实施方式，本领域科研人员可由本说明书所揭露的内容了解本发明的优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可立足于不同研究与应用，在没有背离本发明的精神下进行适当修饰或改变。
一种基于磁轮驱动的提升罐道蛇形巡检机器人机构，如图1及图2所示，包括磁轮驱动部及俯仰偏航部，所述磁轮驱动部包括蜗轮蜗杆传动机构Ⅰ及磁轮驱动机构Ⅱ，所述俯仰偏航部包括俯仰偏航机构Ⅲ；所述蜗轮蜗杆传动机构包括蜗杆一2、蜗轮3、同步带轮一4、同步带轮二8、梅花联轴器6、舵机一9及同步带23，所述蜗杆一2周围分布若干涡轮3，所述舵机一9、梅花式联轴器6、蜗杆一2、蜗轮3、同步带轮一4、同步带轮二8、同步带23依次相连，所述轴承一1与蜗杆一1插接；所述磁轮驱动机构包括直齿轮7、直齿轮21、磁轮22，所述直齿轮7与直齿轮五21及两个磁轮22构成的组合体相连，所述轴承四20与直齿轮五21、磁轮22插接，所述直齿轮五21两侧设有磁轮22；
舵机一9产生的转矩经梅花式联轴器6传递给蜗杆一2，蜗杆一2再传递给蜗轮3，蜗轮3带动同步带轮一4，通过同步带轮一4、同步带轮二8及同步带23将力矩传递到了磁轮驱动机构Ⅱ，再通过直齿轮一7、直齿轮五21传递给磁轮22。
所述俯仰偏航机构包括舵机二10、直齿轮四18、直齿轮三17、直齿轮三16、锥齿轮二 15、锥齿轮一13及接头12，所述舵机二10、直齿轮四18、直齿轮三17、直齿轮三16、锥齿轮二15、锥齿轮一13及接头12依次相连。
由舵机二10输出的转矩通过上下两排直齿轮四18、直齿轮三17、直齿轮二16将力传递给了上下两个锥齿轮二15，当舵一9、舵机二10机转速相同时，力通过锥齿轮一13和接头12传递给下一节，如图3所示，实现蛇形机器人的俯仰运动；当舵机一9、舵机二10转速不同时，力通过锥齿轮13和接头12传递给下一节，实现蛇形机器人的偏航运动。磁轮22吸附在提升机罐道上，舵机输出的转矩克服零件间各种阻力驱动磁轮使蛇形机器人爬行。同时机器人的俯仰偏航机构Ⅲ控制机器人的方向，实现蛇形机器人的各种姿态的爬行。
本发明的机器人机构由若干节巡检机构组成，蜗轮蜗杆传动机构Ⅰ及磁轮驱动机构Ⅱ负责驱动磁轮，俯仰偏航机构Ⅲ部分负责实现机器人的俯仰偏航，因此，利用磁轮吸力将蛇形机器人吸附在提升机罐道壁上，通过舵机驱动磁轮克服各种阻力向前运动，而俯仰偏航机构Ⅲ负责实现机器人的摆动，控制蛇形机器人的运动方向，通过舵机一9及舵机10实现所需的俯仰以及偏航运动。
上述内容可说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对本发明具体细节进行修饰或改变。因此，凡所属技术领域中在没有脱离本发明所揭示的思想下的一切等效改变或修饰，仍应由本发明的权利要求所涵盖。

Claims (3)

  1. 一种基于磁轮驱动的提升罐道蛇形巡检机器人机构，其特征在于，包括磁轮驱动部及俯仰偏航部，所述磁轮驱动部包括蜗轮蜗杆传动机构(Ⅰ)及磁轮驱动机构(Ⅱ)，所述俯仰偏航部包括俯仰偏航机构(Ⅲ)；
    所述蜗轮蜗杆传动机构包括蜗杆一(2)、涡轮(3)、同步带轮一(4)、同步带轮二(8)、梅花联轴器(6)、舵机一(9)及同步带(23)，所述蜗杆一(2)周围分布若干涡轮(3)，所述舵机一(9)、梅花式联轴器(6)、蜗杆一(2)、蜗轮(3)、同步带轮一(4)、同步带轮二(8)、同步带(23)依次相连，所述轴承一(1)与蜗杆一(1)插接；
    所述磁轮驱动机构包括直齿轮(7)、直齿轮(21)、磁轮(22)，所述直齿轮(7)与直齿轮五(21)及两个磁轮(22)构成的组合体相连，所述轴承四(20)与直齿轮五(21)、磁轮(22)插接，所述直齿轮五(21)两侧设有磁轮(22)；
    所述俯仰偏航机构包括舵机二(10)、直齿轮四(18)、直齿轮三(17)、直齿轮三(16)、锥齿轮二(15)、锥齿轮一(13)及接头(12)，所述舵机二(10)、直齿轮四(18)、直齿轮三(17)、直齿轮三(16)、锥齿轮二(15)、锥齿轮一(13)及接头(12)依次相连。
  2. 根据权利要求1所述的一种基于磁轮驱动的提升罐道蛇形巡检机器人机构，其特征在于，所述蜗杆一(2)、涡轮(3)、同步带轮一(4)、同步带轮二(8)、磁轮(22)均固定在设于蜗轮蜗杆传动机构(Ⅰ)与磁轮驱动机构(Ⅱ)、磁轮驱动机构(Ⅱ)与俯仰偏航机构(Ⅲ)中间的两个底板上，所述舵机一(9)固定于磁轮驱动机构(Ⅱ)上，所述舵机二(10)固定于俯仰偏航机构(Ⅲ)上。
  3. 根据权利要求1所述的一种基于磁轮驱动的提升罐道蛇形巡检机器人机构，其特征在于，所述直齿轮四(18)为上下两排设置。
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