CN104875807A - Running device for wall-climbing robot - Google Patents
Running device for wall-climbing robot Download PDFInfo
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- CN104875807A CN104875807A CN201510173037.9A CN201510173037A CN104875807A CN 104875807 A CN104875807 A CN 104875807A CN 201510173037 A CN201510173037 A CN 201510173037A CN 104875807 A CN104875807 A CN 104875807A
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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
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
A running device for a wall-climbing robot comprises a frame. Two groups of magnetic attracting wheels are mounted on the frame, each group of magnetic attracting wheels includes a driving wheel and a driven wheel which are connected through a synchronous belt, and each driving wheel is connected with a driving motor. A rotating shaft of each magnetic attracting wheel is mounted on a embracing hub, spring shafts are fixed on each embracing hub and pass through vertical through holes of the frame, a stop piece is arranged at the top of each spring shaft, and springs are mounted on the outer sides of the spring shafts and on two sides of the frame. The wall-climbing robot is attracted on the wall surface through the four magnetic wheels and is closely attached to the wall surface by the aid of elastic adaptive damping-beam structures of the magnetic attracting wheels. Each driving wheel is driven by the individual motor and drives the back wheel to rotate by the aid of the corresponding synchronous belt, so that turning can be achieved by means of differential speed of the wheels on two sides.
Description
Technical field
What the present invention relates to is a kind of running gear for climbing robot.
Background technology
High-altitude main equipment, as pressure container, port logistics equipment etc., need the relevant operations such as the spraying detection carrying out outside face, wall-climbing device Man's Demands also arises at the historic moment, thus can carry out keeping away barrier to meet robot when adherent advancing, vehicle frame will have corresponding suspended structure, still can continue operation by clear an obstacle to adapt to climbing robot when running into the curved surface change of wall and specific projection.
At present, climbing robot mainly contains magnetic wheel type, magnetic crawler type and non-contact magnetically adsorbed wall climbing robot, and the barrier getting over mechanism that its corresponding frame module adopts depends primarily on the flexibility of vehicle frame self, and structure design is comparatively complicated.
And the magnetic suck structure of prior art to climbing robot is not also optimized, publication number is CN102673673A, denomination of invention is the Chinese patent of " a kind of novel universal rolling magnet-wheel device for magnetic adsorption wall climbing robot ", and publication number is CN102897242A, denomination of invention is the Chinese patent of " floated magnetic absorbing wheel ", also use the wheel of magnetic suck mode as climbing robot, but above patent all adopts the annular magnetic patch of monoblock, single axis or radial magnetizing are just carried out, the absorbing unit of magnet-wheel inside is not optimized, to reach the object increasing magnetic adsorbability.
Summary of the invention
For solving the problem that in prior art, climbing robot movement apparatus structure is complicated, cost is high, magnetic adsorbability is weak, there is provided a kind of running gear for climbing robot, this apparatus structure is simple, reasonable in design, magnetic adsorbability is strong, easily manufactured, cost is low.
For achieving the above object, the present invention is by the following technical solutions:
For a running gear for climbing robot, comprise frame, frame is provided with two groups of magnetic absorbing wheels, often organize magnetic absorbing wheel and be divided into driving wheel and flower wheel, driving wheel is connected by Timing Belt with flower wheel, and driving wheel is connected with drive motor; The rotating shaft of magnetic absorbing wheel is arranged on embraces on hub, and embrace on hub and be fixed with band cap spring shaft, band cap spring shaft is through the vertical through holes of frame, and band cap spring shaft top is provided with gear cap, and outside band cap spring shaft, the both sides of frame are provided with spring.
Above-mentioned a kind of running gear for climbing robot, spring shaft is through the vertical through holes of damping beam slab, and damping beam slab is threaded with frame.
Above-mentioned a kind of running gear for climbing robot, damping beam slab offers two vertical through holes, is two with embracing a hub hard-wired band cap spring shaft, and two band cap spring shafts are each passed through two vertical through holes on damping beam slab.
Above-mentioned a kind of running gear for climbing robot, the external splint of magnetic absorbing wheel is connected with shaft thread, rotating shaft is hollow key axle, synchronous pulley is connected with keyway arrangements by key with rotating shaft, inner splint is connected with external splint by bolt, array magnet ring inner peripheral surface is provided with annular magnetic conduction heel piece, and the outer peripheral face of array magnet ring is provided with rubber cradle, and ring-shaped yoke ferropexy is in the groove of external splint and inner splint; Array magnet ring is had at rotating shaft extenal fixation, array magnet ring comprises some groups of magnetic array elements, often organize magnetic array element and comprise the extremely centripetal radial magnetic patch to S pole of N, N pole successively to cw hoop magnetic patch, the extremely outer centripetal radial magnetic patch arriving S pole of N of S pole, N plate is to the conter clockwise hoop magnetic patch of S pole.
Above-mentioned a kind of running gear for climbing robot, array magnet ring comprises four groups of magnetic array elements.
Above-mentioned a kind of running gear for climbing robot, adjacent radial magnetic patch and hoop magnetic patch, hoop angle is than being 0.4-0.8.
Climbing robot is adsorbed on wall by four magnet-wheels, and the buffer beam elasticity adaptive structure of inhaling wheel makes robot and wall fit tightly.Each driving wheel is driven separately by motor, relies on Timing Belt to drive rear wheel, and the differential of both sides wheel can be relied on to realize turning.Synchronous pulley is connected with the rotating shaft of front and back wheel respectively, makes driving wheel identical with the drive manner of flower wheel by Timing Belt, ensure that climbing robot has when advancing rational friction force to distribute, substantially increasing the reliability and security of absorption.
When running into ENVIRONMENTS WITH CURVED SURFACES or local protuberance, because vehicle frame hitch has allowed certain damping adaptive act scope, thus ensure wheel four point cantact, safely travel simultaneously.
On same band cap spring shaft, in the both sides mounting spring of frame through hole, make climbing robot can adapt to magnetic conduction face below robot, with magnetic conduction face above robot two kinds just climbing and hanging the mode of climbing, extend the service life of spring, make climbing robot adapt to the wall climbing condition of more multi-state.
The arrangement mode change of annular Halbach is various, people often the magnetic pole that the S pole permanent magnet unit of a radial N pole permanent magnet unit and a hoop is formed call one extremely right.The Halbach annular array number of pole-pairs of multipole has even number and odd number two class, and odd number number of pole-pairs Halbach circular array is internal heavier-duty, and even number number of pole-pairs Halbach array is to external reinforced.Need to use external reinforced according to climbing robot and climbing robot is adsorbed on magnetizer, be usually adsorbed on iron flask body and use for the performance detecting iron flask body, therefore with 4,6,8,12,16 even number numbers of pole-pairs, carry out simulation analysis.
In accompanying drawing 7, X is the magnet-wheel anglec of rotation, and unit is °; Y is adsorption affinity, and unit is N.Can show that from the analogue computing of finite element number of pole-pairs is more by accompanying drawing 7 is known, adsorption affinity more tends to be steady, number of pole-pairs less magnet-wheel adsorption affinity large small leak fluctuation larger.Adopt 8 number of pole-pairs magnet-wheel adsorption affinity undulated control within 5%, and magnetic adsorbability is also higher.
For the magnet ring of 8 number of pole-pairs compositions, the volume proportion of adjacent longitudinal permanent magnet unit and horizontal permanent magnet unit also has different impacts to adsorption affinity.For the size inlet coefficient hoop angle of both reactions is intuitively than k,
k=n/(n+m)
In above formula:
nfor radial permanent magnet unit angle;
mfor hoop permanent magnet unit angle.
In accompanying drawing 8, X1 is k value; Y is adsorption affinity, and unit is N.Known in the emulation of finite element by accompanying drawing 8, visible adsorption affinity is at about k=0.6, and magnet-wheel adsorption affinity will reach peak value.And k is in the interval of 0.4-0.8, adsorption affinity is also gratifying.
Present invention optimizes permanent magnetic suck block construction in permanent magnetic suck wheel, to magnetize angle by optimizing the arrangement of permanent magnetic suck unit, the outer ring adsorption affinity of magnet ring is strengthened, and inner ring adsorption affinity is almost nil.Improve the unit magnetic usefulness of permanent magnet unit, reach the adsorption affinity of when same volume is not optimized nearly 2 times.
Accompanying drawing explanation
Fig. 1 is vehicle frame integral structure schematic diagram of the present invention.
Fig. 2 is damping suspension structure schematic diagram of the present invention.
Fig. 3 is climbing robot magnetic absorbing wheel integral structure schematic diagram.
Fig. 4 is the axial cutaway view of climbing robot magnetic absorbing wheel.
Fig. 5 is climbing robot magnetic absorbing wheel radial cross-section.
Fig. 6 is the direction of magnetization of permanent magnet unit in Habalch array.
Fig. 7 is the finite element analogy figure of magnetic adsorbability and number of poles.
Fig. 8 is that different rings compares the finite element analogy figure with magnetic adsorbability to angle.
Be labeled as in figure: 1 inner splint, 2 rubber cradles, the screw of 3 connection external splints and rotating shaft, 4 annular yokes, 5 rotating shafts, 51 spindle keywaies, the screw of 6 connection inner splints and external splint, 7 external splints, 8 annular array magnet rings, 81 is the extremely centripetal radial magnetic patch to S pole of N, 82 for N pole is to the cw hoop magnetic patch of S pole, 83 is the extremely outer centripetal radial magnetic patch to S pole of N, 84 for N plate is to the conter clockwise hoop magnetic patch of S pole, 9 frames, 91 stepping motors, 92 armfuls of hubs, 93 active magnetic sorption wheel, 94 Timing Belts, 95 driven magnetic absorbing wheels, 96 synchronous pulleys, 97 band cap spring shafts, 98 springs, the gear cap at 99 band cap spring shaft tops, 100 damping beam slabs.
Detailed description of the invention
Embodiment one
With reference to accompanying drawing, a kind of running gear for climbing robot, comprises frame 9, frame is provided with two groups of magnetic absorbing wheels, often organize magnetic absorbing wheel and be divided into driving wheel 93 and flower wheel 95, driving wheel is connected by Timing Belt 94 with flower wheel, and driving wheel is connected with drive motor 91; The rotating shaft of magnetic absorbing wheel is arranged on embraces on hub 92, embrace on hub and be fixed with two band cap spring shafts 97, with two vertical through holes of cap spring shaft through damping beam slab 100, damping beam slab is threaded with frame, band cap spring shaft top is provided with gear cap 99, outside band cap spring shaft, the both sides of frame are provided with spring, and gear cap external diameter is greater than band cap spring shaft for stopping spring.
Magnetic absorbing wheel rotating shaft is hollow key axle, synchronous pulley is connected with keyway arrangements by key with rotating shaft, external splint 7 is connected by screw 3 with rotating shaft 5, inner splint 1 is connected with external splint by screw 6, array magnet ring 8 inner peripheral surface is provided with annular magnetic conduction heel piece 4, the outer peripheral face of array magnet ring is provided with rubber cradle 2, and ring-shaped yoke ferropexy is in the groove of external splint and inner splint.
Array magnet ring comprises four groups of magnetic array elements, often organizes magnetic array element and comprises the extremely centripetal radial magnetic patch 81 to S pole of N, N pole successively to cw hoop magnetic patch 82, the extremely outer centripetal conter clockwise hoop magnetic patch 84 of radial magnetic patch 83, N plate to S pole arriving S pole of N of S pole; Wherein adjacent radial magnetic patch and hoop magnetic patch, hoop angle ratio is 0.6.
Climbing robot is placed on the magnetic conduction iron wall of needs detection, usual tank body is that iron permeability magnetic material makes, climbing robot is adsorbed on tank body by the magnetic absorbing wheel of climbing robot, by the driving of stepping motor, initiatively magnet-wheel makes driven magnet-wheel also start to rotate by Timing Belt, order about climbing robot creep forward or turn, and the curvature of encountering work wall changes, and during specific projection, owing to have employed suspension shock-damping structure, the frame relative motion of the relative climbing robot of magnet-wheel energy, make climbing robot still can continue operation by clear an obstacle.
The running gear of this climbing robot, makes robot can creep under big-and-middle-sized tank body complex working conditions, fundamentally eliminates the danger of manual detection.
Claims (6)
1. for a running gear for climbing robot, comprise frame, it is characterized in that in frame, be provided with two groups of magnetic absorbing wheels, often organize magnetic absorbing wheel and be divided into driving wheel and flower wheel, driving wheel is connected by Timing Belt with flower wheel, and driving wheel is connected with drive motor; The rotating shaft of magnetic absorbing wheel is arranged on embraces on hub, and embrace on hub and be fixed with spring shaft, spring shaft is through the vertical through holes of frame, and spring shaft top is provided with catch, and outside spring shaft, the both sides of frame are provided with spring.
2. a kind of running gear for climbing robot as claimed in claim 1, it is characterized in that spring shaft passes the vertical through holes of damping beam slab, damping beam slab is threaded with frame.
3. a kind of running gear for climbing robot as claimed in claim 2, it is characterized in that on damping beam slab, offer two vertical through holes, be two with embracing the hard-wired spring shaft of hub, two spring shafts are each passed through two vertical through holes on damping beam slab.
4. a kind of running gear for climbing robot as claimed in claim 1, it is characterized in that the external splint of magnetic absorbing wheel is connected with shaft thread, rotating shaft is hollow key axle, synchronous pulley is connected with keyway arrangements by key with rotating shaft, inner splint is connected with external splint by bolt, array magnet ring inner peripheral surface is provided with annular magnetic conduction heel piece, and the outer peripheral face of array magnet ring is provided with rubber cradle, and ring-shaped yoke ferropexy is in the groove of external splint and inner splint; Array magnet ring is had at rotating shaft extenal fixation, array magnet ring comprises some groups of magnetic array elements, often organize magnetic array element and comprise the extremely centripetal radial magnetic patch to S pole of N, N pole successively to cw hoop magnetic patch, the extremely outer centripetal radial magnetic patch arriving S pole of N of S pole, N plate is to the conter clockwise hoop magnetic patch of S pole.
5. a kind of running gear for climbing robot as claimed in claim 4, is characterized in that array magnet ring comprises four groups of magnetic array elements.
6. a kind of running gear for climbing robot as claimed in claim 4, is characterized in that adjacent radial magnetic patch and hoop magnetic patch, and hoop angle is than being 0.4-0.8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510173037.9A CN104875807B (en) | 2015-04-14 | 2015-04-14 | A kind of running gear for climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510173037.9A CN104875807B (en) | 2015-04-14 | 2015-04-14 | A kind of running gear for climbing robot |
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| CN104875807A true CN104875807A (en) | 2015-09-02 |
| CN104875807B CN104875807B (en) | 2017-06-20 |
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| CN201510173037.9A Expired - Fee Related CN104875807B (en) | 2015-04-14 | 2015-04-14 | A kind of running gear for climbing robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105167706A (en) * | 2015-09-23 | 2015-12-23 | 河北工业大学 | Magnet moving mechanism and window-cleaning robot |
| CN105922818A (en) * | 2016-05-17 | 2016-09-07 | 国网天津市电力公司 | Adsorptive rolling wheel suitable for climbing on metal wall surface |
| CN106378782A (en) * | 2016-11-16 | 2017-02-08 | 浙江工业大学 | Structural system of robot for cleaning inner walls of converter valve hall |
| CN106915389A (en) * | 2017-04-13 | 2017-07-04 | 西南石油大学 | A kind of magnetic adsorbability self-adaptive regulating and method based on spring deformation |
| CN107838566A (en) * | 2017-12-01 | 2018-03-27 | 浙江工业大学 | It is a kind of provide steady magnetic field auxiliary climb wall type laser manufacturing platform |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN109250007A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of wheeled pole-climbing and detection robot |
| CN109572837A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN110215164A (en) * | 2018-03-02 | 2019-09-10 | 科沃斯机器人股份有限公司 | The rotating direction control method and progress control method of clean robot, clean robot |
| CN111301546A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Control system and control method of wall-climbing robot |
| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Power transformer internal fault detection system based on wall-climbing robot |
| CN114212161A (en) * | 2021-12-31 | 2022-03-22 | 上海智楹机器人科技有限公司 | Permanent magnetic adsorption wheel for wall surface mobile robot |
| CN117053066A (en) * | 2023-10-13 | 2023-11-14 | 歌尔股份有限公司 | Vehicle for product testing and product testing system |
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| CN104097707A (en) * | 2014-07-31 | 2014-10-15 | 四川阿泰因机器人智能装备有限公司 | Ground self-adaption type omnidirectional wheel device |
| CN204701686U (en) * | 2015-04-14 | 2015-10-14 | 浙江工业大学 | A kind of running gear for climbing robot |
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| CN101516580A (en) * | 2006-09-29 | 2009-08-26 | 三星重工业株式会社 | Multi-function robot for moving on wall using indoor global positioning system |
| US20080308324A1 (en) * | 2007-06-14 | 2008-12-18 | Roland Moser | Drive unit for an inspection vehicle and also inspection vehicle with such a drive unit |
| CN201176192Y (en) * | 2008-02-22 | 2009-01-07 | 北京航空航天大学 | Articular-jointed small-sized two-body negative-pressure wall climbing robot |
| CN101317744A (en) * | 2008-07-18 | 2008-12-10 | 哈尔滨工业大学 | Wall surface cleaning robot based on positive-negative pressure adsorption principle |
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| CN102897242A (en) * | 2012-11-09 | 2013-01-30 | 哈尔滨工业大学 | Suspended magnetic adsorption wheel |
| CN203158112U (en) * | 2013-01-28 | 2013-08-28 | 中国科学院合肥物质科学研究院 | Bionic crawler type conglutination traveling mechanism |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105167706A (en) * | 2015-09-23 | 2015-12-23 | 河北工业大学 | Magnet moving mechanism and window-cleaning robot |
| CN105922818A (en) * | 2016-05-17 | 2016-09-07 | 国网天津市电力公司 | Adsorptive rolling wheel suitable for climbing on metal wall surface |
| CN106378782B (en) * | 2016-11-16 | 2018-11-13 | 浙江工业大学 | The structural system of converter valve hall inner wall clean robot |
| CN106378782A (en) * | 2016-11-16 | 2017-02-08 | 浙江工业大学 | Structural system of robot for cleaning inner walls of converter valve hall |
| CN106915389A (en) * | 2017-04-13 | 2017-07-04 | 西南石油大学 | A kind of magnetic adsorbability self-adaptive regulating and method based on spring deformation |
| CN106915389B (en) * | 2017-04-13 | 2019-03-19 | 西南石油大学 | A kind of magnetic adsorbability self-adaptive regulating and method based on spring deformation |
| CN107838566A (en) * | 2017-12-01 | 2018-03-27 | 浙江工业大学 | It is a kind of provide steady magnetic field auxiliary climb wall type laser manufacturing platform |
| CN107838566B (en) * | 2017-12-01 | 2023-10-20 | 浙江工业大学 | Wall climbing type laser manufacturing platform capable of providing steady-state magnetic field assistance |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108086151B (en) * | 2017-12-21 | 2023-09-08 | 香港中文大学（深圳） | Reducing clamping device |
| CN110215164A (en) * | 2018-03-02 | 2019-09-10 | 科沃斯机器人股份有限公司 | The rotating direction control method and progress control method of clean robot, clean robot |
| CN109250007A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of wheeled pole-climbing and detection robot |
| CN109572837A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN111301546A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Control system and control method of wall-climbing robot |
| CN111301546B (en) * | 2019-11-22 | 2023-11-21 | 广东省智能制造研究所 | Control system and control method of wall climbing robot |
| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Power transformer internal fault detection system based on wall-climbing robot |
| CN114212161A (en) * | 2021-12-31 | 2022-03-22 | 上海智楹机器人科技有限公司 | Permanent magnetic adsorption wheel for wall surface mobile robot |
| CN117053066A (en) * | 2023-10-13 | 2023-11-14 | 歌尔股份有限公司 | Vehicle for product testing and product testing system |
| CN117053066B (en) * | 2023-10-13 | 2023-12-29 | 歌尔股份有限公司 | Vehicle for product testing and product testing system |
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