CN102673670B - Full driving composite adsorption climbing robot - Google Patents
Full driving composite adsorption climbing robot Download PDFInfo
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- CN102673670B CN102673670B CN 201210185202 CN201210185202A CN102673670B CN 102673670 B CN102673670 B CN 102673670B CN 201210185202 CN201210185202 CN 201210185202 CN 201210185202 A CN201210185202 A CN 201210185202A CN 102673670 B CN102673670 B CN 102673670B
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 53
- 230000009194 climbing Effects 0.000 title claims abstract description 51
- 239000002131 composite material Substances 0.000 title claims abstract description 15
- 230000005291 magnetic effect Effects 0.000 claims abstract description 56
- 230000001360 synchronised effect Effects 0.000 claims description 30
- 230000005389 magnetism Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 11
- 239000000758 substrate Substances 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000035699 permeability Effects 0.000 abstract 2
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of specialized robots, and particularly relates to a novel full driving composite adsorption climbing robot which comprises a crawl mechanism. The crawl mechanism comprises a front wheel module adopting a driving and swerving integrated magnet wheel, a back wheel module adopting a permanent magnet interval adsorption device, a frame for connecting a front wheel and back wheels and a motor driven controller installed on the frame. The crawl mechanism is of a three-wheel structure, three wheels are all driving wheels, the front wheel is controlled to swerve, and swerve on a magnetic permeability wall face is achieved depending on differential of the two back wheels and controlled swerve of the front wheel. The novel full driving composite adsorption climbing robot has the advantages that the crawl mechanism adopts a composite mode of contact-type magnet-wheel adsorption and non-contact-type gap adsorption, the three-wheel structure is used, three wheels are all driving wheels, a redundancy control swerve mode is adopted, the swerve on the magnetic permeability wall face is achieved depending on the differential of the two back wheels and the controlled swerve of the front wheel, and swerve accuracy of the climbing robot is improved through accurate control of swerve angles of the front wheel.
Description
Technical field
The invention belongs to the specialized robot technical field, is a kind of novel full driving composite adsorption climbing robot specifically.
Background technology
Magnetic adsorption wall climbing robot is a kind of of specialized robot, be that design is used under severe, danger, limiting case, carries out a kind of automated machine device of operations specific as welding, polishing, inspection, detection etc. on the magnetic conduction wall, and more and more be subject to people's attention.Magnetic adsorption wall climbing robot is widely used in the production and construction of the ferromagnetic structures such as nuke industry, petrochemical industry, building industry, fire department, ship building industry at present.
Climbing robot must have two basic function: wall adsorption function and locomotive function.But, the two is again contradiction: the load-carrying capacity of robot is stronger, require the adsorption affinity between climbing robot and magnetic conduction wall larger, but this has also caused the resistance of climbing robot when motion larger, the adsorption power of climbing robot and travelling performance are contradiction.
Existing magnetic adsorption wall climbing robot mainly contains magnetic foot formula climbing robot, magnetic wheel type climbing robot, crawler type magnetic adsorption wall climbing robot, gap adsorbed wall-climbing robot.
Magnetic foot formula climbing robot is that the adsorption affinity provided by the magnetic foot is adsorbed on wall, because its walking characteristics have determined that its adsorption affinity is necessary adjustable, adopts electromagnet that adsorption affinity is provided, as eight sufficient magnetic adsorption wall climbing robots of HIT's development more.But magnetic foot formula climbing robot footwork is controlled more complicated, kinematic dexterity is bad; In addition, adopt electromagnet that adsorption affinity is provided, not only need to consume electric energy, the potential safety hazard that also exists accident power-off to cause.
The magnetic wheel type climbing robot is to lean on the adsorption affinity of magnet-wheel to be adsorbed on the magnetic conduction wall.The applying date is on January 5th, 2004, " magnetic roller adsorption type wall climbing robot " that the patent documentation that application number is 200410016429.6 relates to, its technical scheme is: comprise the revolver structure, bearing support, detection architecture, roller, code-disc, the location correction structure, right wheel construction, the revolver structure is identical with right wheel construction, symmetry is fixed on the both sides of bearing support, detection architecture is fixed on the front of bearing support, roller and code-disc are fixed on the centre of bearing support, the location correction structure is connected to the bearing support rightmost side, it can adapt to the curvature of wall, do the rotation of certain angle around bearing support, proofread and correct the pose of robot in robot motion's process.The present invention can complete the weld seam detection in the hazardous environments such as oil barrel.The characteristics of foregoing invention are that kinematic dexterity is better, but, because effective adsorption area of magnet-wheel is little, the magnetic energy utilization rate is not high, and load-carrying capacity is poor.
The crawler type magnetic adsorption wall climbing robot is that the suction block by being arranged in crawler-type mobile mechanism is adsorbed on the magnetic conduction wall.The applying date is " the crawler-type permanent magnet wall climbing mechanism " that patent documentation that January 26, application number in 2000 are 00200795.9 relates to, its main technical schemes is: this climbing mechanism is by car body, power pack section and traveling gear three parts form, car body is a box-shaped flexible structure, power pack section is installed in inside, power pack section is two electrical motors and speed reduction gearing thereof, and its output shaft is respectively with the drive sprocket of motor vehicles bodies both sides.Traveling gear is placed in the car body both sides, by drive sprocket, and guide wheel, permanent magnet and chain tensioning mechanism form, and each drive sprocket drives three closed chains, and two gap locations between three chains look to bear a heavy burden being evenly arranged permanent magnet along the chain total length.Be characterized in that load-carrying capacity is strong, but its kinematic dexterity is poor, particularly, when carrying out divertical motion, because area of contact between crawler belt and magnetic conduction wall is large, cornering resistance is large, and Turning radius is large, and steering flexibility is poor.
The gap adsorbed wall-climbing robot be by be arranged on chassis and the magnetic conduction wall between there is certain interval permanent magnet be adsorbed on the magnetic conduction wall.The applying date is " the wheeled non-contact magnetically adsorption wall climbing robot " that patent documentation that October 8, application number in 2005 are 200510086383.X relates to, its technical scheme is: comprise wheel type mobile mechanism and permanent magnetic adhesion device, wheel type mobile mechanism comprises chassis, is arranged on the driver train on chassis, the drive wheel driven by driver train.Described drive wheel is arranged symmetrically with, and adopts differential type of drive, relies on the differential of drive wheel to realize turning on the magnetic conduction wall; Permanent magnetic adhesion device is arranged on described chassis, between described permanent magnetic adhesion device and magnetic conduction wall, is non-contacting, and the magnetic energy utilization rate is high, high adsorption capacity.Above-mentioned patent characteristics are that adsorption affinity is large, but, because all drive wheels are all the cylinder wheels that car body turns to relatively, cornering resistance is large, and steering flexibility is poor.
In sum, better and load-carrying capacity is poor, or load-carrying capacity is strong and kinematic dexterity is poor, fails to solve preferably the contradiction that climbing robot moves and adsorbs for existing climbing robot or kinematic dexterity, and Combination property is bad.
Summary of the invention
The objective of the invention is for overcoming the deficiency of prior art in Combination property aspect kinematic dexterity and load-carrying capacity two, solve climbing robot absorption and mobile contradiction, design a kind of full driving composite adsorption climbing robot, make its can be on wall when thering is strong load-carrying capacity flexible motion, Combination property is better, thereby solves problems of the prior art.
For achieving the above object, technical scheme of the present invention is as follows:
A kind of novel full driving composite adsorption climbing robot, comprise climbing mechanism, it is characterized in that: described climbing mechanism comprises the vehicle frame that adopts the front-wheel module that drives steering integrated magnet-wheel, the trailing wheel module that adopts permanent magnetism gap adsorption plant, connection front and back wheel and is arranged on the motor drive controller on vehicle frame; Climbing mechanism is tricycle structure, and three-wheel is drive wheel, and the employing front-wheel is controlled turns to, relies on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on the magnetic conduction wall.
The trailing wheel module comprise chassis, around wheel be arranged on permanent magnet on the trailing wheel chassis, through two trailing wheels on chassis, with the retarder of motor car wheel, drive the DC machine of retarder, two trailing wheels of trailing wheel module are arranged symmetrically with.
The front-wheel module, for driving steering integrated magnet-wheel, comprises permanent magnet and wheel, and the permanent magnet of front-wheel adopts the magnetized annular permanent magnet of through-thickness.
Further, drive steering integrated magnet-wheel device specifically to comprise car body fixed frame, turntable framework, steering driving mechanism, drive mechanism for wheel and roller, be provided with a passive inclination rotational structure between described car body fixed frame and turntable framework, between turntable framework and magnet-wheel, be provided with independent steering structure, described inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame, described turntable framework comprises successively connected turntable lower supporting plate, turret supports column, turntable cover plate and turntable upper backup pad, described steering driving mechanism comprises steer motor adapter plate and the mounted thereto drive motor that turns to, turn to drive motor to adopt Disc brushless DC motor, motor output shaft connects epicyclic reduction gear, then drives steering shaft by one-level bevel drive and primary cylinder gear transmission, described drive mechanism for wheel comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, drives magnet-wheel by toothed belt transmission and rolls, described roller is magnet-wheel, and described drive motor and the wheel rolling of turning to drives reducing motor drive configuration independently each other, rolling rotating shaft one end is arranged on the car body fixed frame, other end turntable lower supporting plate connects, the turntable upper backup pad, the turret supports column is connected with the turntable lower supporting plate, the turntable cover plate is connected with the turntable upper backup pad, tapered roller bearing is arranged on two stay bearing plates, steering shaft is bearing on tapered roller bearing, steering shaft is connected with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft are affixed, the angular transducer strut bar is connected with the turntable upper backup pad, angular transducer is connected with the angular transducer strut bar, the steer motor adapter plate is connected with the turntable upper backup pad, turn to reducing motor to be connected with the steer motor adapter plate, 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft, the 40 tooth spur bevel gear wheels that are meshed with it are mounted on bevel gear shaft, bevel gear shaft is by the first deep groove ball bearing supporting that is arranged on the turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft is connected with turning to substrate, wheel left side adapter plate, wheel right side adapter plate, the drive motor adapter plate is connected with turning to substrate, drive reducing motor to be connected with the drive motor adapter plate, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, small synchronous pulley connects and is arranged on the small synchronous pulley axle by flat key, front-wheel module permanent magnet and wheel yoke connect and are arranged on axletree by flat key, axletree is bearing between wheel left side adapter plate and wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is arranged on axletree by flat key, between large synchronous pulley and small synchronous pulley, by Timing Belt, connected, between tensioning running roller and tensioning running roller strut bar, be connected by screw, tensioning running roller strut bar is arranged on the adapter plate of wheel left side by screw, drive between reducing motor and axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering shaft, and the steering shaft bottom is equipped with drive mechanism for wheel and roller, described steer axis and wheel axis perpendicular quadrature, described driving reducing motor is brush direct current motor.
Further, described permanent magnetism gap adsorption plant is arranged on chassis around trailing wheel, be contactless between described permanent magnetism gap adsorption plant and magnetic conduction wall, by the distance of regulating between chassis and magnetic conduction wall, set the air gap between described permanent magnetic adhesion device and magnetic conduction wall.
Further, described chassis is dead-soft steel, as yoke be arranged on the permanent magnet on the trailing wheel chassis around wheel together with form magnetic circuit.
Further, retarder comprises first order epicyclic reduction gear and second stage turbine and worm retarder, connects two-stage reduction gear band motor car wheel after DC machine, and second stage turbine and worm retarder is connected by screw and is arranged on the trailing wheel chassis.
The steering integrated magnet-wheel concrete structure of described driving is: roll rotating shaft one end and be arranged on the car body fixed frame, other end turntable lower supporting plate connects, the turntable upper backup pad, the turret supports column is connected with the turntable lower supporting plate, the turntable cover plate is connected with the turntable upper backup pad, tapered roller bearing is arranged on two stay bearing plates, steering shaft is bearing on tapered roller bearing, steering shaft is connected with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft are affixed, the angular transducer strut bar is connected with the turntable upper backup pad, angular transducer is connected with the angular transducer strut bar, the steer motor adapter plate is connected with the turntable upper backup pad, turn to reducing motor to be connected with the steer motor adapter plate, 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft, the 40 tooth spur bevel gear wheels that are meshed with it are mounted on bevel gear shaft, bevel gear shaft is by the first deep groove ball bearing supporting that is arranged on the turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft is connected with turning to substrate, wheel left side adapter plate, wheel right side adapter plate, the drive motor adapter plate is connected with turning to substrate, drive reducing motor to be connected with the drive motor adapter plate, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, small synchronous pulley connects and is arranged on the small synchronous pulley axle by flat key, front-wheel module permanent magnet and wheel yoke connect and are arranged on axletree by flat key, axletree is bearing between wheel left side adapter plate and wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is arranged on axletree by flat key, between large synchronous pulley and small synchronous pulley, by Timing Belt, connected, between tensioning running roller and tensioning running roller strut bar, be connected by screw, tensioning running roller strut bar is arranged on the adapter plate of wheel left side by screw, drive between reducing motor and axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering shaft, the steering shaft bottom is equipped with drive mechanism for wheel and roller, described steer axis and wheel axis perpendicular quadrature.
The invention has the advantages that:
1, crawling device of the present invention adopts the complex method of contact magnet-wheel absorption (driving steering integrated magnet-wheel) and non-contact gap absorption (comprising permanent magnetism gap adsorption plant), tricycle structure, all wheels are drive wheel, adopt the Redundant Control steering mode, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on the magnetic conduction wall, accurate control by the front-wheel steering angle has improved climbing robot and has turned to precision, kinematic dexterity is good, can be around the car body zero turn radius, minimum turning radius is 0, robot can reliably adsorb and realize that independent and flexible moves at the magnetic conduction wall.
2, steering hardware is introduced the Redundant Control mode, relies on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on the magnetic conduction wall, and the accurate control by the front-wheel steering angle has improved climbing robot and turned to precision.
3, the present invention has adopted magnet-wheel and permanent magnetism gap adsorption plant simultaneously, front-wheel adopts magnet-wheel, improved the compactedness of structure when guaranteeing adsorption affinity, permanent magnetism gap adsorption plant has been installed on chassis around trailing wheel, guaranteed that climbing robot has strong load-carrying capacity simultaneously.
4, drive steering integrated magnet-wheel to be provided with and independently turn to degree of freedom and make steer axis and the wheel axis perpendicular quadrature, can realize the independent steering of wheel, improve the climbing robot kinematic dexterity.
5, drive steering integrated magnet-wheel to be provided with passive banking degree of freedom and, by rolling confinement block constrained side tilt angle in positive and negative 10 degree, make climbing robot there is curved surface adaptive capacity preferably.
6, drive the inclination confinement block of steering integrated magnet-wheel to realize the function of constrained side degree of tilt by mechanical position limitation.
7, drive the steering structure of steering integrated magnet-wheel and wheel rolling all to be provided with independently driver train.
The accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention.
Fig. 2 is the structural representation of trailing wheel of the present invention.
Fig. 3 is permanent magnetism gap adsorption plant structural representation.
Fig. 4 is for driving steering integrated magnet-wheel structural representation.
Fig. 5 is the cutaway view that front-wheel is crossed steering shaft and bevel gear shaft.
Fig. 6 was front-wheel axletree cutaway view.
In accompanying drawing: front-wheel module 1, vehicle frame 2, driving governor 3, trailing wheel module 4, permanent magnet 5, chassis 6, wheel 7, turbine and worm retarder 8, epicyclic reduction gear 9, DC machine 10, Timing Belt 11, retarder 12, turn to sole plate 13,20 tooth spur bevel gear wheels 14, motor 16, steering shaft 17,60 tooth cylindrical wheel 18,19 tooth cylindrical wheels 19, bevel gear shaft 20,40 tooth spur bevel gear wheels 21, front-wheel module permanent magnet 22, and wheel yoke 23.
The specific embodiment
A kind of novel full driving composite adsorption climbing robot comprises climbing mechanism, and described climbing mechanism comprises the vehicle frame that adopts the front-wheel module that drives steering integrated magnet-wheel, the trailing wheel module that adopts permanent magnetism gap adsorption plant, connection front and back wheel and is arranged on the motor drive controller on vehicle frame; Climbing mechanism is tricycle structure, and three-wheel is drive wheel, and the employing front-wheel is controlled turns to, relies on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on the magnetic conduction wall.The trailing wheel module comprise chassis, around wheel be arranged on permanent magnet on the trailing wheel chassis, through two trailing wheels on chassis, with the retarder of motor car wheel, drive the DC machine of retarder, two trailing wheels of trailing wheel module are arranged symmetrically with.The front-wheel module, for driving steering integrated magnet-wheel, comprises permanent magnet and wheel, and the permanent magnet of front-wheel adopts the magnetized annular permanent magnet of through-thickness.
Drive steering integrated magnet-wheel device specifically to comprise car body fixed frame, turntable framework, steering driving mechanism, drive mechanism for wheel and roller, be provided with a passive inclination rotational structure between described car body fixed frame and turntable framework, between turntable framework and magnet-wheel, be provided with independent steering structure, described inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame, described turntable framework comprises successively connected turntable lower supporting plate, turret supports column, turntable cover plate and turntable upper backup pad, described steering driving mechanism comprises steer motor adapter plate and the mounted thereto drive motor that turns to, turn to drive motor to adopt Disc brushless DC motor, motor output shaft connects epicyclic reduction gear, then drives steering shaft by one-level bevel drive and primary cylinder gear transmission, described drive mechanism for wheel comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, drives magnet-wheel by toothed belt transmission and rolls, described roller is magnet-wheel, and described drive motor and the wheel rolling of turning to drives reducing motor drive configuration independently each other, rolling rotating shaft one end is arranged on the car body fixed frame, other end turntable lower supporting plate connects, the turntable upper backup pad, the turret supports column is connected with the turntable lower supporting plate, the turntable cover plate is connected with the turntable upper backup pad, tapered roller bearing is arranged on two stay bearing plates, steering shaft is bearing on tapered roller bearing, steering shaft is connected with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft are affixed, the angular transducer strut bar is connected with the turntable upper backup pad, angular transducer is connected with the angular transducer strut bar, the steer motor adapter plate is connected with the turntable upper backup pad, turn to reducing motor to be connected with the steer motor adapter plate, 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft, the 40 tooth spur bevel gear wheels that are meshed with it are mounted on bevel gear shaft, bevel gear shaft is by the first deep groove ball bearing supporting that is arranged on the turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft is connected with turning to substrate, wheel left side adapter plate, wheel right side adapter plate, the drive motor adapter plate is connected with turning to substrate, drive reducing motor to be connected with the drive motor adapter plate, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, small synchronous pulley connects and is arranged on the small synchronous pulley axle by flat key, front-wheel module permanent magnet and wheel yoke connect and are arranged on axletree by flat key, axletree is bearing between wheel left side adapter plate and wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is arranged on axletree by flat key, between large synchronous pulley and small synchronous pulley, by Timing Belt, connected, between tensioning running roller and tensioning running roller strut bar, be connected by screw, tensioning running roller strut bar is arranged on the adapter plate of wheel left side by screw, drive between reducing motor and axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering shaft, and the steering shaft bottom is equipped with drive mechanism for wheel and roller, described steer axis and wheel axis perpendicular quadrature, described driving reducing motor is brush direct current motor.
Permanent magnetism gap adsorption plant is arranged on chassis around trailing wheel, between described permanent magnetism gap adsorption plant and magnetic conduction wall, is contactless, by the distance of regulating between chassis and magnetic conduction wall, sets the air gap between described permanent magnetic adhesion device and magnetic conduction wall.Chassis is dead-soft steel, as yoke be arranged on the permanent magnet on the trailing wheel chassis around wheel together with form magnetic circuit.Retarder comprises first order epicyclic reduction gear and second stage turbine and worm retarder, connects two-stage reduction gear band motor car wheel after DC machine, and second stage turbine and worm retarder is connected by screw and is arranged on the trailing wheel chassis.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Fig. 1 is the whole three-dimensional model diagram that entirely drives the composite adsorption climbing robot.Shown in Fig. 1, entirely drive the composite adsorption climbing robot to be formed by four parts, comprise the vehicle frame 2 that adopts the front-wheel module 1 that drives steering integrated magnet-wheel, the trailing wheel module 4 that adopts permanent magnetism gap adsorption plant, connection front and back wheel and be arranged on the motor drive controller 3 on vehicle frame.
Fig. 2 is the three-dimensional model diagram of trailing wheel.Wherein, trailing wheel chassis 6 adopts dead-soft steel (as Q235) manufacture, except the function as supporting rear-wheel structure, forms the part of magnetic circuit as yoke together with the permanent magnet 5 be arranged on around wheel on trailing wheel chassis 6.Connect two-stage reduction gear band motor car wheel 7 after DC machine 10, the first order is epicyclic reduction gear 9, and the second stage is turbine and worm retarder 8, and the turbine and worm retarder is connected by screw and is arranged on trailing wheel chassis 6.
Permanent magnetism gap adsorption plant as shown in Figure 3, the Nd-Fe-B permanent magnet magnetized by 12 thickness directions forms, each trailing wheel is respectively arranged 6 permanent magnets, the N utmost point and the S utmost point formation magnetic circuit that is staggered, around trailing wheel, be arranged on chassis, be non-contacting between described permanent magnetism gap adsorption plant and magnetic conduction wall, by the distance of regulating between chassis and magnetic conduction wall, set the air gap between described permanent magnetic adhesion device and magnetic conduction wall.
Fig. 4 is the three-dimensional model diagram of front-wheel, and Fig. 5 is the cutaway view that front-wheel is crossed steering shaft and bevel gear shaft, and Fig. 6 was the cutaway view of front-wheel axletree.Wherein, DC brushless motor and epicyclic reduction gear 9 are through 20 tooth spur bevel gear wheels 14 and 40 tooth spur bevel gear wheel 21 driving band dynamic bevel gear axle 20 rotations, bevel gear shaft 20 drives steering shafts 17 rotations by 19 tooth cylindrical wheels 19 and 60 tooth cylindrical wheel 18 transmissions again, steering shaft 17 with turn to sole plate 13 to fix by screw attachment.F-w-d motor and retarder 12 adopt brush direct current motor and epicyclic reduction gear, by Timing Belt 11 transmissions, drive front-wheel.Front-wheel is magnet-wheel, and structure is shown in Fig. 6.Magnet-wheel consists of 1 permanent magnet and 2 yokes.Described permanent magnet adopts the magnetized annular permanent magnet of through-thickness, and permanent magnet can adopt high performance permanent magnetic materials as manufactures such as NdFeB, and yoke adopts dead-soft steel (as Q235 etc.) to manufacture.
Drive a kind of embodiment of steering integrated magnet-wheel to be, roll rotating shaft one end by the sliding supported condition be arranged on the car body fixed frame, the other end and turntable lower supporting plate are affixed by thread connection, the turntable upper backup pad, turret supports column and turntable lower supporting plate are connected by screw, turntable cover plate and turntable upper backup pad are connected by screw, two tapered roller bearings are arranged on two stay bearing plates face-to-face, steering shaft is bearing on these two tapered roller bearings, steering shaft is connected by flat key with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft are affixed, angular transducer strut bar and turntable upper backup pad are connected by screw, angular transducer and angular transducer strut bar are connected by screw, steer motor adapter plate and turntable upper backup pad are connected by screw, turn to reducing motor and steer motor adapter plate to be connected by screw, 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft, the 40 tooth spur bevel gear wheels that are meshed with it connect and are arranged on bevel gear shaft by flat key, bevel gear shaft is by the first deep groove ball bearing supporting that is arranged on the turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft with turn to substrate to be connected by screw, wheel left side adapter plate, wheel right side adapter plate, the drive motor adapter plate with turn to substrate to be connected by screw, drive reducing motor and drive motor adapter plate to be connected by screw, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, small synchronous pulley connects and is arranged on the small synchronous pulley axle by flat key, front-wheel module permanent magnet and wheel yoke connect and are arranged on axletree by flat key, axletree is bearing between wheel left side adapter plate and wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is arranged on axletree by flat key, between large synchronous pulley and small synchronous pulley, by Timing Belt, connected, between tensioning running roller and tensioning running roller strut bar, be connected by screw, tensioning running roller strut bar is arranged on the adapter plate of wheel left side by screw.Magnet-wheel comprises front-wheel module permanent magnet and wheel yoke.
Claims (4)
1. a novel full driving composite adsorption climbing robot, comprise climbing mechanism, it is characterized in that: described climbing mechanism comprises the vehicle frame (2) that adopts the front-wheel module (1) that drives steering integrated magnet-wheel, the trailing wheel module (4) that adopts permanent magnetism gap adsorption plant, connection front and back wheel and is arranged on motor (16) driving governor (3) on vehicle frame (2); Climbing mechanism is tricycle structure, and three-wheel is drive wheel, and the employing front-wheel is controlled turns to, relies on the differential of two trailing wheels and controlled the turning to of front-wheel to realize turning on the magnetic conduction wall;
Trailing wheel module (4) comprises chassis (6), around wheel (7), is arranged on the permanent magnet (5) on trailing wheel chassis (6), two trailing wheels through chassis (6), the retarder (12) of band motor car wheel (7), the DC machine (10) of driving retarder (12), and two trailing wheels of trailing wheel module (4) are arranged symmetrically with;
Front-wheel module (1) comprises permanent magnet (5) and wheel (7), and the permanent magnet of front-wheel (5) adopts the magnetized annular permanent magnet of through-thickness (5);
Drive steering integrated magnet-wheel specifically to comprise car body fixed frame, turntable framework, steering driving mechanism, drive mechanism for wheel and roller, be provided with a passive inclination rotational structure between described car body fixed frame and turntable framework, between turntable framework and magnet-wheel, be provided with independent steering structure, described inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame, described turntable framework comprises successively connected turntable lower supporting plate, turret supports column, turntable cover plate and turntable upper backup pad, described steering driving mechanism comprises steer motor adapter plate and the mounted thereto drive motor that turns to, turn to drive motor to adopt Disc brushless DC motor, motor output shaft connects epicyclic reduction gear (9), then drives steering shaft (17) by one-level bevel drive and primary cylinder gear transmission, described drive mechanism for wheel comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear (9), drives magnet-wheel by Timing Belt (11) transmission and rolls, described roller is magnet-wheel, and described drive motor and the wheel rolling of turning to drives reducing motor drive configuration independently each other, rolling rotating shaft one end is arranged on the car body fixed frame, other end turntable lower supporting plate connects, the turntable upper backup pad, the turret supports column is connected with the turntable lower supporting plate, the turntable cover plate is connected with the turntable upper backup pad, tapered roller bearing is arranged on two stay bearing plates, steering shaft (17) is bearing on tapered roller bearing, steering shaft (17) is connected with 60 tooth straight-tooth gears, angular transducer input shaft and steering shaft (17) are affixed, the angular transducer strut bar is connected with the turntable upper backup pad, angular transducer is connected with the angular transducer strut bar, the steer motor adapter plate is connected with the turntable upper backup pad, turn to reducing motor to be connected with the steer motor adapter plate, 20 tooth spur bevel gear wheels (14) are fixed in and turn on the reducing motor output shaft, the 40 tooth spur bevel gear wheels (21) that are meshed with it are mounted on bevel gear shaft (20), bevel gear shaft (20) is by the first deep groove ball bearing supporting that is arranged on the turntable upper backup pad, the opposite side of bevel gear shaft (20) connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft (17) is connected with turning to substrate, wheel left side adapter plate, wheel right side adapter plate, the drive motor adapter plate is connected with turning to substrate, drive reducing motor to be connected with the drive motor adapter plate, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, small synchronous pulley connects and is arranged on the small synchronous pulley axle by flat key, front-wheel module permanent magnet (22) and wheel yoke (23) connect and are arranged on axletree by flat key, axletree is bearing between wheel left side adapter plate and wheel right side adapter plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is arranged on axletree by flat key, between large synchronous pulley and small synchronous pulley, by Timing Belt, connected, between tensioning running roller and tensioning running roller strut bar, be connected by screw, tensioning running roller strut bar is arranged on the adapter plate of wheel left side by screw, drive between reducing motor and axletree by Timing Belt (11) transmission, steering driving mechanism also comprises steering shaft (17), and steering shaft (17) bottom is equipped with drive mechanism for wheel and roller, described steering shaft (17) line and wheel axis perpendicular quadrature, described driving reducing motor is brush direct current motor.
2. a kind of novel full driving composite adsorption climbing robot according to claim 1, it is characterized in that: described permanent magnetism gap adsorption plant is arranged on chassis (6) around trailing wheel, be contactless between described permanent magnetism gap adsorption plant and magnetic conduction wall, by the distance of regulating between chassis (6) and magnetic conduction wall, set the air gap between described permanent magnetic adhesion device and magnetic conduction wall.
3. a kind of novel full driving composite adsorption climbing robot according to claim 2 is characterized in that: described chassis (6) are dead-soft steel, as yoke, with together with permanent magnet (5) be arranged on trailing wheel chassis (6) around wheel on, form magnetic circuit.
4. a kind of novel full driving composite adsorption climbing robot according to claim 3, it is characterized in that: retarder comprises first order epicyclic reduction gear (9) and second stage turbine and worm retarder (8), connect two-stage reduction gear band motor car wheel after DC machine (10), second stage turbine and worm retarder (8) is connected by screw and is arranged on trailing wheel chassis (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201210185202 CN102673670B (en) | 2012-06-07 | 2012-06-07 | Full driving composite adsorption climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201210185202 CN102673670B (en) | 2012-06-07 | 2012-06-07 | Full driving composite adsorption climbing robot |
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| CN102673670A CN102673670A (en) | 2012-09-19 |
| CN102673670B true CN102673670B (en) | 2013-12-25 |
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Cited By (1)
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| CN104874951A (en) * | 2015-05-08 | 2015-09-02 | 浙江海洋学院 | Wall-climbing welding machine for shell plate of large-scale ship |
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| CN102897241B (en) * | 2012-11-09 | 2015-05-20 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
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| CN102673670A (en) | 2012-09-19 |
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