WO2024065946A1

WO2024065946A1 - Adaptive magnetic-attraction-type traveling wheel set

Info

Publication number: WO2024065946A1
Application number: PCT/CN2022/129764
Authority: WO
Inventors: 王宝玉; 李建伟
Original assignee: 江苏镌极特种设备有限公司
Priority date: 2022-09-29
Filing date: 2022-11-04
Publication date: 2024-04-04
Also published as: CN115384226A

Abstract

An adaptive magnetic-attraction-type traveling wheel set, comprising a mounting frame (2), wherein a first wheel body (3) and a second wheel body (4) are rotatably connected to the mounting frame (2), the first wheel body (3) is connected to the second wheel body (4) by means of a hollow shaft (5), an outer wall of the hollow shaft (5) is connected to a sliding ring (7) by means of a sliding bearing (6), a gear plate (8) having gear teeth is connected to an outer wall of the sliding ring (7), the gear plate (8) meshes with a rack (9), the rack (9) is slidably connected to the mounting frame (2), the rack (9) is driven by means of a linear driving device (10) to linearly move, and the outer wall of the sliding ring (7) is also connected to a magnet assembly (1) by means of a pressure sensor (11). The adaptive magnetic-attraction-type traveling wheel set can easily adjust the posture of the magnet assembly according to wall surface conditions, thereby improving the adaptability of the traveling wheel set to different crawling wall surfaces.

Description

A self-adaptive magnetic walking wheel set

Technical Field

The present invention relates to the technical field of wall-climbing robots, and in particular to an adaptive magnetically attracted walking wheel set.

Background technique

A magnetic wall-climbing robot is an automated device that has the functions of movement and adsorption, and can move on vertical climbing walls. It can replace manual work in environments such as equipment manufacturing and equipment maintenance. It is especially suitable for operations in dangerous and extreme environments to replace humans to complete highly repetitive, highly dangerous and high-intensity labor. A wheeled wall-climbing machine is a type of magnetic wall-climbing robot, which is widely used because of its advantages of mobility and flexibility. The wheeled wall-climbing robot relies on a walking wheel group to move. A magnet assembly is generally provided on the walking wheel group to produce an adsorption effect. However, the posture of the magnet assembly on the existing walking wheel group is not easy to adjust, and the adaptability to different climbing walls is weak, and the stability and reliability of the magnetic attraction between the magnet assembly and the climbing wall cannot be guaranteed.

Summary of the invention

Therefore, the technical problem to be solved by the present invention is to overcome the defects in the prior art that the posture of the magnet assembly of the magnetic attraction type walking wheel assembly is not easy to adjust and the adaptability to different crawling walls is weak.

In order to solve the above technical problems, the present invention provides an adaptive magnetic walking wheel group, including a mounting frame, on which a first wheel body and a second wheel body are rotatably connected, the first wheel body and the second wheel body are connected by a hollow shaft, the outer wall of the hollow shaft is connected by a sliding bearing and a sliding ring, the outer wall of the sliding ring is connected to a gear plate with gear teeth, the gear plate and the rack are meshed, the rack is slidably connected to the mounting frame, the rack is driven by a linear drive device to move linearly, and the outer wall of the sliding ring is also connected to a pressure sensor and a magnet assembly.

In one embodiment of the present invention, the linear drive device adopts an electro-hydraulic actuator.

In one embodiment of the present invention, the mounting frame includes a top plate, one side of the top plate is connected to a first side plate, and the other side is connected to a second side plate, the first wheel body and the second wheel body are both located between the first side plate and the second side plate, and the rack is slidably connected to the top plate.

In one embodiment of the present invention, a slide rail is provided on the top plate, a slide groove is provided on the slide rail, a sliding portion is provided on the rack, and the sliding portion is slidably connected in the slide groove.

In one embodiment of the present invention, the slide groove is T-shaped or dovetail-shaped, and the shape of the sliding portion is adapted to the shape of the slide groove.

In one embodiment of the present invention, the first side plate is connected to a driving source via a first connecting member, the driving source is located inside the hollow shaft, an output shaft of the driving source is connected to the second wheel body, and the second wheel body is driven to rotate by the driving source.

In one embodiment of the present invention, a first bearing seat is connected to the first wheel body, a first bearing hole is provided on the first bearing seat, and a first rolling bearing is provided between the outer wall of the first connecting member and the first bearing hole.

In one embodiment of the present invention, a second connecting member is connected to the second side plate, a second bearing seat is connected to the second wheel body, a second bearing seat is provided with a second bearing hole, and a second rolling bearing is provided between the outer wall of the second connecting member and the second bearing hole.

In one embodiment of the present invention, the magnet assembly adopts a permanent magnetic chuck.

In one embodiment of the present invention, both the first wheel body and the second wheel body are rubber-covered wheels.

The above technical solution of the present invention has the following advantages compared with the prior art:

The adaptive magnetic walking wheel group described in the present invention can conveniently adjust the posture of the magnet assembly according to the wall conditions, thereby improving the adaptability of the walking wheel group to different climbing walls and ensuring the working reliability of the wall-climbing robot on complex walls.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

FIG1 is a schematic diagram of the three-dimensional structure of the adaptive magnetic walking wheel set of the present invention;

FIG2 is a front view of the traveling wheel assembly shown in FIG1 ;

FIG3 is a left side view of the traveling wheel assembly shown in FIG2 ;

Fig. 4 is a cross-sectional view of the traveling wheel set shown in Fig. 2 at A-A;

FIG5 is a top view of the traveling wheel set shown in FIG2 ;

FIG6 is a bottom view of the traveling wheel assembly shown in FIG2 ;

Explanation of the reference numerals in the specification: 1. magnet assembly; 2. mounting frame; 21. top plate; 211. first through hole; 212. second through hole; 22. first side plate; 23. second side plate; 24. slide rail; 3. first wheel body; 4. second wheel body; 5. hollow shaft; 6. sliding bearing; 7. sliding ring; 8. gear plate; 9. rack; 91. sliding part; 10. linear drive device; 11. pressure sensor; 12. drive source; 13. first connecting member; 14. second connecting member; 15. first bearing seat; 16. first rolling bearing; 17. second bearing seat; 18. second rolling bearing.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

Referring to Figures 1 to 6, this embodiment discloses an adaptive magnetic walking wheel group, including a mounting frame 2, on which a first wheel body 3 and a second wheel body 4 are rotatably connected, the first wheel body 3 and the second wheel body 4 are connected via a hollow shaft 5, the outer wall of the hollow shaft 5 is connected to a sliding ring 7 via a sliding bearing 6, a gear plate 8 with gear teeth is connected to the outer wall of the sliding ring 7, the gear plate 8 and the rack 9 are meshed, the rack 9 is slidably connected to the mounting frame 2, the rack 9 is driven by a linear drive device 10 to make a linear movement, and the outer wall of the sliding ring 7 is also connected to the magnet assembly 1 via a pressure sensor 11.

In the above structure, the first wheel body 3 and the second wheel body 4 are used to contact the crawling wall, and the magnet assembly 1 and the crawling wall are in a non-contact adsorption mode. The pressure sensor 11 is used to detect the pressure on the magnet assembly 1. When the gap between the magnet assembly 1 and the crawling wall is large, the magnetic attraction is small. At this time, the pressure-magnetic attraction reaction force on the magnet assembly 1 is also small. When the gap between the magnet assembly 1 and the crawling wall is small, the magnetic attraction is large. At this time, the pressure-magnetic attraction reaction force on the magnet assembly 1 is also large; according to the pressure data on the magnet assembly 1 detected by the pressure sensor 11, the linear drive device 10 is controlled to start, and the linear drive device drives the rack 9 to move, thereby driving the gear plate 8 and the sliding ring 7 to rotate together. The rotation of the sliding ring 7 will drive the pressure sensor 11 and the magnet assembly 1 to rotate together, thereby changing the angle of the magnet assembly 1 and adjusting the posture of the magnet assembly 1, so as to always ensure the uniformity and stability of the magnet air gap between the magnet assembly 1 and the crawling wall, thereby ensuring the stability and reliability of the magnetic attraction, and improving the adaptability of the walking wheel group to different crawling walls.

In addition, in addition to improving the wall adaptability of the walking wheel group, the above structure can also achieve rapid force release of the magnet assembly 1, thereby facilitating the robot's transportation, obstacle crossing, transitional transportation, upper and lower walls, etc.

In addition, it can be understood that the gear plate 8 is arc-shaped to adapt to the shape of the outer wall of the hollow shaft 5 to facilitate the connection between the two.

In the above structure, the gear rack 9 structure is used for transmission, which is not only conducive to improving the control accuracy, but also conducive to the compact arrangement of the structure, and is convenient for reducing the overall size of the walking wheel set.

In one embodiment, the linear drive device 10 uses an electro-hydraulic actuator (EHA, Electro-Hydraulic Actuato).

EHA is a device that integrates a servo motor, oil pump, control block and hydraulic actuator (mainly cylinder). Under rated power supply, EHA only needs to be given a control electrical signal, and the hydraulic actuator (cylinder) can perform linear reciprocating motion as required. It has the advantages of fast response speed, large output power, high control accuracy and high power-to-weight ratio.

It can be understood that the electro-hydraulic actuator and the pressure sensor 11 are both connected to the main controller. The pressure sensor 11 is used to transmit the detected pressure data of the magnet assembly 1 to the main controller. The main controller controls the movement of the electro-hydraulic actuator according to the pressure data, thereby driving the slip ring 7 to rotate, and then changing the angle of the magnet assembly 1, thereby adjusting the air gap between the magnet assembly 1 and the crawling wall.

In one embodiment, as shown in Figures 1 to 3, the mounting frame 2 includes a top plate 21, one side of the top plate 21 is connected to a first side plate 22, and the other side is connected to a second side plate 23, the first wheel body 3 and the second wheel body 4 are both located between the first side plate 22 and the second side plate 23, and the rack 9 is slidably connected to the top plate 21, so that the overall structure is compact and has good movement stability.

The first side plate 22 and the top plate 21 may be connected by screws, and the second side plate 23 and the top plate 21 may be connected by screws.

In one embodiment, as shown in FIG. 5 , a first through hole 211 and a second through hole 212 are further provided on the top plate 21 . The first through hole 211 is located above the first wheel body 3 , and the second through hole 212 is located above the second wheel body 4 .

In one embodiment, as shown in Figures 1 and 4, a slide rail 24 is provided on the top plate 21, a slide groove is provided on the slide rail 24, and a sliding portion 91 is provided on the rack 9. The sliding portion 91 can be slidably connected in the slide groove to better guide the movement of the rack 9 and ensure the reliability of its movement.

In one embodiment, the slide groove is T-shaped or dovetail-shaped, and the shape of the sliding portion 91 is adapted to the shape of the slide groove. The shape of the slide groove has better connection reliability.

Furthermore, the linear drive device 10 and the rack 9 are both located at the lower part of the top plate 21 .

In one embodiment, the first side plate 22 is connected to the shell of the driving source 12 through the first connecting member 13. The driving source 12 is located inside the hollow shaft 5. The output shaft of the driving source 12 is connected to the second wheel body 4, and the driving source 12 drives the second wheel body 4 to rotate.

Since the first wheel body 3 and the second wheel body 4 are connected together via the hollow shaft 5 , when the driving source 12 drives the second wheel body 4 to rotate, the first wheel body 3 is also driven to rotate.

The driving source 12 is a servo motor, which may be an integrated actuator. The integrated actuator is a servo all-in-one device that integrates a servo motor, a harmonic reducer and a servo driver.

In one embodiment, the first side plate 22 and the first connecting member 13 are fixed together by bolt connection.

In one embodiment, as shown in FIG. 4 , a first bearing seat 15 is connected to the first wheel body 3 , a first bearing hole is provided on the first bearing seat 15 , and a first rolling bearing 16 is provided between the outer wall of the first connecting member 13 and the first bearing hole.

The first bearing seat 15 rotates together with the first wheel body 3. Through the arrangement of the first rolling bearing 16, the first connecting member 13 can remain stationary when the first wheel body 3 rotates.

The first rolling bearing 16 may be a deep groove ball bearing.

The first wheel body 3 and the first bearing seat 15 can be connected by screws.

In one embodiment, the second connecting member 14 is connected to the second side plate 23, the second wheel body 4 is connected to the second bearing seat 17, the second bearing seat 17 is provided with a second bearing hole, and a second rolling bearing 18 is provided between the outer wall of the second connecting member 14 and the second bearing hole.

The second bearing seat 17 rotates together with the second wheel body 4. Through the arrangement of the second rolling bearing 18, the second connecting member 14 can remain stationary when the second wheel body 4 rotates.

The second rolling bearing 18 may be a deep groove ball bearing.

The second side plate 23 and the second connecting member 14 are also fixed together by bolt connection.

The second wheel body 4 and the second bearing seat 17 can be connected by screws.

In addition, by arranging the first rolling bearing 16 and the second rolling bearing 18 on both sides respectively, the movement stability and reliability of the running wheel set can also be well ensured.

In one embodiment, the magnet assembly 1 adopts a permanent magnetic chuck, which has the advantages of strong suction force, good stability, and high reliability.

In one embodiment, the first wheel body 3 and the second wheel body 4 are both rubber-covered wheels.

In one embodiment, the first wheel body 3 and the second wheel body 4 are fixed to the two ends of the hollow shaft 5 by bolts respectively.

When the adaptive magnetic walking wheel group of the above embodiment encounters an uneven wall surface when climbing a wall, the relative position relationship between the magnet assembly 1 and the wall surface can be known based on the pressure data fed back in real time by the pressure sensor 11. At this time, it is only necessary to control the movement of the linear drive device 10 to conveniently realize the automatic adjustment of the position and posture of the magnet assembly 1 and adapt to the wall surface.

The adaptive magnetic walking wheel group of the above-mentioned embodiment can conveniently adjust the posture of the magnet assembly according to the wall conditions, thereby ensuring the stability and reliability of the magnetic attraction force between the magnet assembly and the climbing wall, improving the adaptability of the walking wheel group to different climbing walls, and can be used for wall climbing on complex walls, thereby ensuring the working reliability of the wall-climbing robot on complex walls.

Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

An adaptive magnetic walking wheel group, characterized in that it includes a mounting frame, a first wheel body and a second wheel body are rotatably connected to the mounting frame, the first wheel body and the second wheel body are connected by a hollow shaft, the outer wall of the hollow shaft is connected by a sliding bearing and a sliding ring, a gear plate with gear teeth is connected to the outer wall of the sliding ring, the gear plate and the rack are meshed, the rack is slidably connected to the mounting frame, the rack is driven by a linear drive device to move linearly, and the outer wall of the sliding ring is also connected to a pressure sensor and a magnet assembly.
The adaptive magnetic walking wheel assembly according to claim 1 is characterized in that the linear drive device adopts an electro-hydraulic actuator.
The adaptive magnetic walking wheel group according to claim 1 is characterized in that: the mounting frame includes a top plate, one side of the top plate is connected to the first side plate, and the other side is connected to the second side plate, the first wheel body and the second wheel body are both located between the first side plate and the second side plate, and the rack is slidably connected to the top plate.
The adaptive magnetic walking wheel group according to claim 3 is characterized in that: a slide rail is arranged on the top plate, a slide groove is arranged on the slide rail, a sliding part is arranged on the rack, and the sliding part is slidably connected in the slide groove.
The adaptive magnetic walking wheel set according to claim 4 is characterized in that the slide groove is T-shaped or dovetail-shaped, and the shape of the sliding part is adapted to the shape of the slide groove.
The adaptive magnetic walking wheel set according to claim 3 is characterized in that: the first side plate is connected to the driving source through a first connecting member, the driving source is located inside the hollow shaft, the output shaft of the driving source is connected to the second wheel body, and the second wheel body is driven to rotate by the driving source.
The adaptive magnetic walking wheel group according to claim 6 is characterized in that a first bearing seat is connected to the first wheel body, a first bearing hole is provided on the first bearing seat, and a first rolling bearing is provided between the outer wall of the first connecting member and the first bearing hole.
The adaptive magnetic walking wheel group according to claim 3 is characterized in that: a second connecting member is connected to the second side plate, a second bearing seat is connected to the second wheel body, a second bearing seat is provided with a second bearing hole, and a second rolling bearing is provided between the outer wall of the second connecting member and the second bearing hole.
The adaptive magnetic walking wheel assembly according to claim 1 is characterized in that the magnet assembly adopts a permanent magnetic suction cup.
The adaptive magnetic walking wheel set according to claim 1 is characterized in that both the first wheel body and the second wheel body are rubber-coated wheels.