CN105835976A - Magnetic adsorption driving wheel group device capable of achieving automatic axis included angle adjustment - Google Patents
Magnetic adsorption driving wheel group device capable of achieving automatic axis included angle adjustment Download PDFInfo
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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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Abstract
The invention relates to the technical field of specialized robots, in particular to a magnetic adsorption driving wheel group device for automatic axis included angle adjustment of a specialized mobile operation robot. The device comprises a basic installing plate, supports, a left wheel adsorption driving module, a right wheel adsorption driving module and a curved surface adapting device; the left wheel adsorption driving module and the right wheel adsorption driving module are symmetrical in structure, the basic installing plate is provided with the curved surface adapting device and the supports, the curved surface adapting device is connected with basic installing plate through the supports, and the supports are further connected with the left wheel adsorption driving module and the right wheel adsorption driving module. The device has the advantages of being capable of achieving modularization and high in integration level and integrates the functions of driving, adsorbing and curved surface adapting; when the device serves as an assembly of an electromechanical system such as an adsorption-type wall-climbing robot, the device is independent in function, is not coupled with or does not depend on other system parts and is simple in interface; when the device is used, the device only needs to be connected with a mechanical interface and a motor control interface, and therefore convenience and flexibility are achieved.
Description
Technical field
The present invention relates to specialized robot technical field, particularly relate to a kind of magnetic suck being automatically adjusted for the axis angle of extraordinary Mobile working machine people and drive wheel group device.
Background technology
Important branch as robotics, magnetically adsorbed wall-climbing robot is a class special type Mobile working machine people, it is that one is designed under danger and limiting condition, magnetic conductivity wall carries out a kind of automatization electromechanical device of operations specific, it can move in all directions in vertical wall, inclined wall even container top surface, the instrument that can carry completes specific task, such as Plate Welding, surface polishing etc..The examination application that magnetic adsorption wall climbing robot succeeds in the modern Production Activities such as power equipment manufacture, nuclear industry, petrochemical industry, shipbuilding industry at present, completes the such as work such as ferromagnetic structure part and the production and construction of container, detection.
Find through literature survey, the magnetic adsorption type climbing robot of existing report, typically realizing magnetic adsorption type in flat surface carbon steel sheet or nearly straight magnetic conductivity wall moves operation, generally there is the problem that curve surface adaptive is not enough, when robot moves on curvature wall, be susceptible to pass through, chassis of colliding with, the even overall risk toppled of absorption landing.
Such as patent documentation 201210185680.X, the adsorption-type disclosing the driving of a kind of differential moves robot, its main technical schemes is: use three-wheel topological structure, two trailing wheels are as driving wheel, front-wheel is stable and deflecting roller for auxiliary, using permanent magnetism air gap adsorbent equipment, front and back wheel is connected by rigid-frame, utilizes trailing wheel differential fashion to realize turning on magnetic conduction wall.Being characterized in that magnetic energy utilization rate is high, load capacity is relatively strong, but front and back wheel uses and is rigidly connected, permanent magnetic suck air gap is non-adjustable, it is impossible to adapt to the requirement of non-plane motion.
Comparing the wall of flat surface, curvature type wall brings two difficult problems, cylinder type wall epirelief make that robot chassis cannot pass through by sex chromosome mosaicism, another is that the absorption that the magnetic suck air gap change that curved wall causes causes is dropped problem.It is therefore desirable to have suitable electrical category device, overcome a two difficult problem, to extend job area and the environmental suitability of existing magnetic adsorption type climbing robot, enable to adapt to the job requirements of curvature type wall.
Summary of the invention
For overcoming existing magnetic adsorption wall climbing robot above shortcomings, the magnetic suck driving wheel group device that a kind of axis angle is automatically adjusted is proposed, can be integrated in modular fashion in adsorbed wall-climbing robot, curvature wall can be adapted to, held stationary adsorbs, and avoid the interference and collision on chassis and wall, it is achieved moving the most flexibly on curvature wall, thus contribute to solving problems of the prior art.
For realizing above-mentioned technique effect, the technical solution adopted in the present invention is:
The magnetic suck that a kind of axis angle is automatically adjusted drives wheel group device, it is characterized in that: include that the absorption of benchmark installing plate, bearing, left wheel drives the absorption of module, right wheel to drive module and curved surface adaptive device, the absorption of described left wheel drives module and the absorption of right wheel to drive modular structure symmetrical, forms a wheel pair；Being provided with described curved surface adaptive device and described bearing on described benchmark installing plate, described curved surface adaptive device is connected with benchmark installing plate by bearing, and described bearing also drives module and the absorption of right wheel to drive module to be connected with left wheel absorption.
Generally being integrated with the unitary module of driving, left wheel absorption drives module and the absorption of right wheel to drive module to be driven by curved surface adaptive device, and adjusted in concert axis angle, to adapt to non-plane motion requirement, keeps by property and stable absorption property.
Axis specifically refers to the angle of the wheel axis of left and right wheel, wheel straight wall up enter time, two axles are to overlap, and regulate this angle time on curved surface, thus change absorption air gap to adapt to curved surface.
Further, described benchmark installing plate is the datum plate installed, and is provided with the locating slot as positioning datum and hole, location.
Further, one end of described bearing is fixed on benchmark installing plate, and the other end of described bearing drives module and the absorption of right wheel to drive module to be connected by bearing pin with left wheel absorption.
Further, the absorption of described left wheel drives module and the absorption of right wheel to drive module all to include servomotor, right angle planetary reducer, end plate, wheel and GAP TYPE absorbent module, described servo motor output shaft is connected on the input of described right angle planetary reducer, described right angle planetary reducer is fixed on described end plate by positioning spigot and flange, the output shaft of described right angle planetary reducer passes bearing block, and described wheel is connected by the expansion sleeve of automatic centering；
Described end plate bottom is connected with GAP TYPE absorbent module, is connected on the bearing pin of described bearing to rotate around it in the middle part of end plate, and end plate top is connected to described curved surface adaptive device by bearing pin.
Further, described GAP TYPE absorbent module is magnetic suck structure, including yoke backboard and the permanent magnet of array arrangement, described permanent magnet is fixed on yoke plate, yoke plate is provided with the locating slot preventing magnet play, described permanent magnet is arranged in wheel surrounding, keeps suitable air gap distance by wheel and ferromagnetism wall.
Further, described curved surface adaptive device includes curved surface servomotor, synchronous pulley driving mechanism, symmetrical reverse leading screw and nut mechanism and two set slide block mechanisms, and one end of described slide block mechanism is connected to end plate；Described curved surface servomotor is connected with reverse leading screw and nut mechanism by synchronous pulley driving mechanism, the two ends of described direction leading screw and nut mechanism each connect a set of slide block mechanism, each slide block mechanism with respectively with an end plate connection, the end plate connection being wherein positioned at left side has left wheel absorption to drive module, and the end plate connection being positioned at right side has the absorption of right wheel to drive module.The input of curved surface servomotor is transferred to screw axis through synchronous pulley driving mechanism, two reverse axial displacements of equivalence are converted to again through described symmetrical reverse leading screw and nut mechanism, drive slide block mechanism, finally remake and use on end plate, thus drive left wheel absorption to drive module and the absorption of right wheel to drive module unitary rotation.
nullDescribed symmetrical reverse leading screw and nut mechanism includes left shaft holder、Right bearing seat、Screw axis、Left nut、Right nut、Left slider connector and right slide block connector，Described left shaft holder and right bearing seat are arranged on the two ends of described screw axis，Described screw axis is the combination screw mandrel with symmetrical reverse characteristic，Described screw axis is from left to right divided into three parts，Left、Right part is divided into symmetrical left reverse thread and right reverse thread，Described left reverse thread is furnished with left nut，Described right reverse thread slide block mechanism is furnished with and right nut，Left nut and right nut are connected respectively to a set of slide block mechanism，Slide block mechanism includes left slider connector and right slide block connector，Left slider connector and right slide block connector are leading screw and nut mechanism and the interface of slide block structure connection，The middle part of screw axis is provided with profile of tooth belt wheel，Profile of tooth belt wheel connects synchronous pulley driving mechanism.
The middle part of described screw axis is provided with toothed synchronous belt wheel, and described toothed synchronous belt wheel is connected to described synchronous pulley driving mechanism and drives it to rotate.
Further, described symmetrical reverse leading screw and nut mechanism has mechanical self-latching structure, and the lead angle of the wire rod thread in symmetrical reverse leading screw and nut mechanism is less than the angle of friction of flank.Can only be rotated by screw mandrel and drive nut motion, and then drive slide block straight reciprocating motion, and leading screw can not be driven to rotate by slide block movement.
The operation principle of the present invention is:
By the curved surface adaptive device being made up of synchronous pulley driving mechanism, symmetrical reverse leading screw and nut mechanism and slide block mechanism, the left and right wheel being automatically adjusted this device drives the axis angle of adsorption module, thus change the air gap of magnetic suck, the holding means steady absorption on ferromagnetism curvature wall, and improve the property passed through on curvature wall.
It is an advantage of the current invention that:
1, the magnetic suck that axis angle is automatically adjusted drives wheel group device, has the feature of modularity and high integration, is integrated with driving, absorption and curved surface adaptive functions.During as an assembly of Mechatronic Systems (such as adsorbed wall-climbing robot), functionally independent, couple with other system parts or relies on, interface is simply, when using this device, it is only necessary to access mechanical interface and motor control interface, convenient, flexible.The lower coupling high cohesion that the modularity of the application is mainly reflected between functional module, degree of interdepending degree is low, it is simple to the integrated and dismounting maintenance easily of higher level is carried out.
2, the magnetic suck driving wheel group device that axis angle is automatically adjusted adapts to the ferromagnetism wall of the ferromagnetism curvature wall of non-straight, such as cylindrical shape carbon steel wall, can be improved it in adsorption-type Mobile working machine people pass through property and reach reliably to adsorb, it is achieved the movement on curved surface.
3, the magnetic suck that axis angle is automatically adjusted drives the axis angle of two rear drive sprocket modules of wheel group device can carry out symmetrical regulation according to curvature of curved surface, it is achieved the good conformity to different curvature wall.
4, left wheel absorption drives module and the absorption of right wheel to drive module to be all integrated with air gap adsorbent equipment, absorption affinity is strong, certain change of air gap can be allowed, adapt to be adsorbed the situation that local is concavo-convex and surface quality is the best of steel plate of creeping, keep the steady of mobile platform.
5, left wheel adsorbs driving module and the absorption of right wheel drives module to have compact, lightweight and modular feature, has reverse symmetry and changes angle and mechanical self-latching characteristic, it is ensured that the accuracy of curved surface adaptation and reliability.
Accompanying drawing explanation
Fig. 1 is that the magnetic suck that axis angle is automatically adjusted drives wheel group device example.
Fig. 2 is that left wheel absorption drives module example.
Fig. 3 is GAP TYPE absorbent module.
Fig. 4 is the curved surface adaptive device that left wheel absorption drives module.
Fig. 5 is the combination reverse screw mandrel topology example that left wheel absorption drives module.
In figure, label implication is as follows:
null1 is benchmark installing plate、2 is that left wheel absorption drives module、3 is bearing、4 is bearing pin、5 is curved surface adaptive device、6 is that the absorption of right wheel drives module，21 is to drive servomotor、22 is right angle planetary reducer、23 is end plate、24 is wheel、25 is in the middle part of end plate、26 is GAP TYPE absorbent module、27 is end plate top、51 is servomotor、52 is motor mounting plate、53 is synchronous pulley driving mechanism、54 is symmetrical reverse leading screw and nut mechanism、55 is slide block mechanism、56 is line slideway、261 is yoke backboard、262 is the permanent magnet of array arrangement、540 is left shaft holder，548 is right bearing seat、541 is left reverse thread，545 is right reverse thread、542 is left nut，547 is right nut、543 is left slider connector，546 is right slide block connector、544 is toothed synchronous belt wheel.
Detailed description of the invention
Embodiment 1
The magnetic suck that a kind of axis angle is automatically adjusted drives wheel group device to include, and the absorption of benchmark installing plate 1, bearing 3, left wheel drives the absorption of module 2, right wheel to drive module 6 and curved surface adaptive device 5, the absorption of described left wheel drives module 2 and the absorption of right wheel to drive module 6 symmetrical configuration, forms a wheel pair；Being provided with described curved surface adaptive device 5 and described bearing 3 on described benchmark installing plate 1, described curved surface adaptive device 5 is connected with benchmark installing plate 1 by bearing 3, and described bearing 3 also drives module 2 and the absorption of right wheel to drive module 6 to be connected with left wheel absorption.
Generally being integrated with the unitary module of driving, left wheel absorption drives module 2 and the absorption of right wheel to drive module 6 by the driving of curved surface adaptive device 5, adjusted in concert axis angle, to adapt to non-plane motion requirement, keeps by property and stable absorption property.The axis that the application mentions specifically refers to refer to the angle of the wheel axis of left wheel 24 and right wheel 24, and when advancing in the plane, two axles are to overlap, and needs to regulate this angle, thus change absorption air gap to adapt to curved surface time on curved surface.
The magnetic suck that axis angle is automatically adjusted drives 24 groups of devices of wheel, has the feature of modularity and high integration, is integrated with driving, absorption and curved surface adaptive functions.During as an assembly of Mechatronic Systems such as adsorbed wall-climbing robot, functionally independent, couple with other system parts or relies on, interface is simply, when using this device, it is only necessary to access mechanical interface and motor control interface, convenient, flexible.The lower coupling high cohesion that the modularity of the application is mainly reflected between functional module, degree of interdepending degree is low, it is simple to the integrated and dismounting maintenance easily of higher level is carried out.
Embodiment 2
The magnetic suck that a kind of axis angle is automatically adjusted drives wheel group device to include, and the absorption of benchmark installing plate 1, bearing 3, left wheel drives the absorption of module 2, right wheel to drive module 6 and curved surface adaptive device 5, the absorption of described left wheel drives module 2 and the absorption of right wheel to drive module 6 symmetrical configuration, forms a wheel pair；Being provided with described curved surface adaptive device 5 and described bearing 3 on described benchmark installing plate 1, described curved surface adaptive device 5 is connected with benchmark installing plate 1 by bearing 3, and described bearing 3 also drives module 2 and the absorption of right wheel to drive module 6 to be connected with left wheel absorption.
Generally being integrated with the unitary module of driving, left wheel absorption drives module 2 and the absorption of right wheel to drive module 6 by the driving of curved surface adaptive device 5, adjusted in concert axis angle, to adapt to non-plane motion requirement, keeps by property and stable absorption property.The axis that the application mentions specifically refers to refer to the angle of the wheel axis of left wheel 24 and right wheel 24, and when advancing in the plane, two axles are to overlap, and needs to regulate this angle, thus change absorption air gap to adapt to curved surface time on curved surface.
Described benchmark installing plate 1 is the datum plate installed, and is provided with the locating slot as positioning datum and hole, location.One end of described bearing 3 is fixed on benchmark installing plate 1, and the other end of described bearing 3 drives module 2 and the absorption of right wheel to drive module 6 to be connected by bearing pin 4 with left wheel absorption.
The absorption of described left wheel drives module 2 and the absorption of right wheel to drive module 6 all to include driving servomotor 21, right angle planetary reducer 22, end plate 23, wheel 24 and GAP TYPE absorbent module 26, described driving servomotor 21 output shaft is connected on the input of described right angle planetary reducer 22, described right angle planetary reducer 22 is fixed on described end plate 23 by positioning spigot and flange, the output shaft of described right angle planetary reducer 22 passes bearing block, and described wheel 24 is connected by the expansion sleeve of automatic centering；
Described end plate 23 bottom is connected with GAP TYPE absorbent module 26, and in the middle part of end plate, 25 are connected on the bearing pin 4 of described bearing 3 to rotate around it, and end plate top 27 is connected to described curved surface adaptive device 5 by bearing pin 4.Described GAP TYPE absorbent module 26 is magnetic suck structure, and including the permanent magnet 262 of yoke backboard 261 and array arrangement, described permanent magnet is fixed on yoke plate, is provided with the locating slot preventing magnet play on yoke plate.Described permanent magnet is arranged in wheel 24 surrounding, keeps suitable air gap distance by wheel 24 and ferromagnetism wall.
Described curved surface adaptive device 5 includes curved surface servomotor 51, synchronous pulley driving mechanism 53, symmetrical reverse leading screw and nut mechanism 54, motor mounting plate 52, line slideway 56 and two set slide block mechanisms 55, and one end of described slide block mechanism 55 is connected to end plate 23；Described curved surface servomotor 51 is connected with reverse leading screw and nut mechanism by synchronous pulley driving mechanism 53, the two ends of described direction leading screw and nut mechanism each connect a set of slide block mechanism 55, each slide block mechanism 55 be connected with an end plate 23 respectively, described slide block mechanism 55 moves back and forth on line slideway 56, end plate 23 on the left of being wherein positioned at connects has left wheel absorption to drive module 2, and end plate 23 connection being positioned at right side has the absorption of right wheel to drive module 6.Curved surface servomotor 51 inputs and is transferred to screw axis through synchronous pulley driving mechanism 53, two reverse axial displacements of equivalence are converted to again through described symmetrical reverse leading screw and nut mechanism 54, drive slide block mechanism 55, finally remake and use on end plate 23, thus drive left wheel absorption to drive module 2 and the absorption of right wheel to drive module 6 unitary rotation.
nullDescribed symmetrical reverse leading screw and nut mechanism 54 includes left shaft holder 540、Right bearing seat 548、Screw axis、Left nut 542、Right nut 547、Left slider connector 543 and right slide block connector 546，Described left shaft holder 540 and right bearing seat 548 are arranged on the two ends of described screw axis，Described screw axis is the combination screw mandrel with symmetrical reverse characteristic，Described screw axis is from left to right divided into three parts，Left、Right part is divided into symmetrical left reverse thread 541 and right reverse thread 545，Described left reverse thread 541 is furnished with left nut 542，Described right reverse thread 545 slide block mechanism 55 is furnished with and right nut 547，Described travelling nut is the nut supporting to screw mandrel，Play engagement migration，The structure being well known to those skilled in the art，Left nut 542 and right nut 547 are connected respectively to described slide block mechanism 55，Slide block mechanism 55 includes left slider connector 543 and right slide block connector 546，Left slider connector 543 and right slide block connector 546 are leading screw and nut mechanism and the interface of slide block structure connection，The middle part of screw axis is provided with profile of tooth belt wheel，Profile of tooth belt wheel connects synchronous pulley driving mechanism 53.
The middle part of described screw axis is provided with toothed synchronous belt wheel 544, and described toothed synchronous belt wheel 544 is connected to described synchronous pulley driving mechanism 53 and drives it to rotate.
Described symmetrical reverse leading screw and nut mechanism 54 has mechanical self-latching structure, and the lead angle of the wire rod thread in symmetrical reverse leading screw and nut mechanism 54 is less than the angle of friction of flank.Can only be rotated by screw mandrel and drive nut motion, and then drive slide block straight reciprocating motion, and leading screw can not be driven to rotate by slide block movement.
By the curved surface adaptive device 5 being made up of synchronous pulley driving mechanism 53, symmetrical reverse leading screw and nut mechanism 54 and slide block mechanism 55, the left and right wheel 24 being automatically adjusted this device drives the axis angle of adsorption module, thus change the air gap of magnetic suck, the holding means steady absorption on ferromagnetism curvature wall, and improve the property passed through on curvature wall.
The magnetic suck that axis angle is automatically adjusted drives 24 groups of devices of wheel, has the feature of modularity and high integration, is integrated with driving, absorption and curved surface adaptive functions.During as an assembly of Mechatronic Systems such as adsorbed wall-climbing robot, functionally independent, couple with other system parts or relies on, interface is simply, when using this device, it is only necessary to access mechanical interface and motor control interface, convenient, flexible.The lower coupling high cohesion that the modularity of the application is mainly reflected between functional module, degree of interdepending degree is low, it is simple to the integrated and dismounting maintenance easily of higher level is carried out.
Magnetic suck driving 24 groups of devices of wheel that axis angle is automatically adjusted adapt to the ferromagnetism wall of the ferromagnetism curvature wall of non-straight, such as cylindrical shape carbon steel wall, can be improved it in adsorption-type Mobile working machine people pass through property and reach reliably to adsorb, it is achieved the movement on curved surface.The magnetic suck that axis angle is automatically adjusted drives the axis angle of two rear drive sprocket modules of 24 groups of devices of wheel can carry out symmetrical regulation according to curvature of curved surface, it is achieved the good conformity to different curvature wall.Left wheel absorption drives module 2 and the absorption of right wheel to drive module 6 to be all integrated with air gap adsorbent equipment, absorption affinity is strong, certain change of air gap can be allowed, adapt to be adsorbed the situation that local is concavo-convex and surface quality is the best of steel plate of creeping, keep the steady of mobile platform.Left wheel adsorbs driving module 2 and the absorption of right wheel drives module 6 to have compact, lightweight and modular feature, has reverse symmetry and changes angle and mechanical self-latching characteristic, it is ensured that the accuracy of curved surface adaptation and reliability.
Embodiment 3
The magnetic suck that a kind of axis angle is automatically adjusted drives wheel group device, for being integrated with the unitary module of driving, drives the absorption of module 2, right wheel to drive module 6 and curved surface adaptive device 5 including benchmark installing plate 1, bearing 3, left wheel absorption.
Wherein, the absorption of described left and right wheel drives modular structure symmetrical, forms a wheel pair.Module 2 is driven to describe in detail with left wheel absorption, the middle part 25 of its end plate 23 is connected on bearing 3, end plate top 27 is connected to described curved surface adaptive device 5 by bearing pin 4 again, it is driven by it and then drive left wheel absorption to drive module to rotate accordingly, to adapt to curvature wall, keep by property and stable absorption property.
Described benchmark installing plate 1, is one piece of datum plate installed, is designed with positioning datum, and including locating slot and hole, location, installed above have described curved surface adaptive device 5 and described bearing 3.
Described bearing 3, is used for connecting benchmark installing plate 1 and the absorption of described left and right wheel drives module 2 and 6, and its one end is fixed on benchmark installing plate 1, and the other end drives module to be connected by bearing pin 4 with the absorption of described left and right wheel.
The absorption of described left wheel drives module, mainly includes driving servomotor 21, right angle planetary reducer 22, end plate 23, wheel 24 and GAP TYPE absorbent module 26.Driving servomotor 21 output shaft to be connected on the input of described right angle planetary reducer 22, reductor is fixed on described end plate 23 by positioning spigot and flange, and its output shaft passes bearing block, and described wheel 24 is affixed by the expansion sleeve of automatic centering；The bottom of described end plate is connected with GAP TYPE absorbent module 26, and middle part 25 is connected on the bearing pin 4 of aforementioned bearing 3, can rotate around it, and end plate top 27 is connected to described curved surface adaptive device 5 by bearing pin.
Described GAP TYPE absorbent module 26, it is made up of the permanent magnet 262 of yoke backboard 261 and array arrangement, permanent magnet is fixed on yoke plate, in order to prevent magnet play, yoke plate is provided with locating slot, and is arranged in wheel both sides, keep suitable air gap distance by wheel and ferromagnetism wall, such as 6-10mm, it is achieved by property and the balance of stable absorption property.
Described curved surface adaptive device 5, in series by curved surface servomotor 51, motor mounting plate 52, synchronous pulley driving mechanism 53, symmetrical reverse leading screw and nut mechanism 54 and two set slide block mechanisms 55, curved surface servomotor 51 is input, and slide block mechanism is outfan.Slide block mechanism 55 is guided by line slideway 56, and its one end is connected on the nut of aforementioned nut mechanism 54, is driven by it on line slideway 56 reciprocating motion, and the other end is connected to aforementioned end plate top 27；Servomotor input is transferred to screw axis through synchronous pulley driving mechanism 53, two reverse axial displacements of equivalence are converted to again through described symmetrical reverse leading screw and nut mechanism 54, this is displaced through the slide block being connected with nut, under the guiding of line slideway 56, act on slide block mechanism 55, aforementioned end plate 23 is finally driven to rotate, and then drive the absorption of aforementioned left and right wheel to drive module to rotate, with adjust its on ferromagnetism curvature wall by property and magnetic suck air gap, it is ensured that by property and absorption stability.
Described symmetrical reverse leading screw and nut mechanism 54, it is made up of left shaft holder 540, right bearing seat 548, screw axis, left nut 542, right nut 547, left slider connector 543, right slide block connector 546 etc., screw axis is the combination screw mandrel with symmetrical reverse characteristic, and screw axis is from left to right divided into three parts.Left-right parts is symmetrical left reverse thread 541 and right reverse thread 545, respectively it be furnished with left nut 542 and right nut 547, when screw turns, left nut and right nut can with same uniform velocity closer or far from, realize the most mobile, left nut and right nut are connected respectively to slide block mechanism 55, are guided by two line slideways 56 respectively.
Further, described symmetrical reverse leading screw and nut mechanism 54, described leading screw is the combination screw mandrel with symmetrical reverse characteristic, and screw axis is from left to right divided into three parts.The middle part of screw axis is provided with toothed synchronous belt wheel 544, and profile of tooth belt wheel is connected to aforementioned synchronization belt wheel transmission mechanism 53, it be rotated.
Further, described symmetrical reverse leading screw and nut mechanism 54, is the mechanism with mechanical self-latching characteristic, i.e. lead angle is less than angle of friction, can only be rotated by screw mandrel and drive nut motion, and then drive slide block straight reciprocating motion, and leading screw can not be driven to rotate by slide block movement.
Claims (10)
1. the magnetic suck driving wheel group device that an axis angle is automatically adjusted, it is characterized in that: include that the absorption of benchmark installing plate (1), bearing (3), left wheel drives the absorption of module (2), right wheel to drive module (6) and curved surface adaptive device (5), the absorption of described left wheel drives module (2) and the absorption of right wheel to drive module (6) symmetrical configuration, forms a wheel pair；Described curved surface adaptive device (5) and described bearing (3) are installed on described benchmark installing plate (1), described curved surface adaptive device (5) is connected with benchmark installing plate (1) by bearing (3), and described bearing (3) also drives module (2) and the absorption of right wheel to drive module (6) to be connected with left wheel absorption.
The magnetic suck that a kind of axis angle the most according to claim 1 is automatically adjusted drives wheel group device, it is characterised in that: described benchmark installing plate (1) is the datum plate installed, and is provided with the locating slot as positioning datum and hole, location.
The magnetic suck that a kind of axis angle the most according to claim 2 is automatically adjusted drives wheel group device, it is characterized in that: one end of described bearing (3) is fixed on benchmark installing plate (1), the other end of described bearing (3) drives module (2) and the absorption of right wheel to drive module (6) to be connected by bearing pin (4) with left wheel absorption.
The magnetic suck that a kind of axis angle the most according to claim 3 is automatically adjusted drives wheel group device, it is characterized in that: the absorption of described left wheel drives module (2) and the absorption of right wheel to drive module (6) all to include driving servomotor (21), right angle planetary reducer (22), end plate (23), wheel (24) and GAP TYPE absorbent module (26), described driving servomotor (21) output shaft is connected on the input at described right angle planetary reducer (22), described right angle planetary reducer (22) is fixed on described end plate (23) by positioning spigot and flange, the output shaft at described right angle planetary reducer (22) passes bearing block, connected by the expansion sleeve of automatic centering with described wheel (24).
The magnetic suck that a kind of axis angle the most according to claim 4 is automatically adjusted drives wheel group device, it is characterized in that: described end plate (23) bottom is connected with GAP TYPE absorbent module (26), in the middle part of end plate, (25) are connected on the bearing pin (4) of described bearing (3) to rotate around it, and end plate top (27) are connected to described curved surface adaptive device (5) by bearing pin (4).
The magnetic suck that a kind of axis angle the most according to claim 5 is automatically adjusted drives wheel group device, it is characterized in that: described GAP TYPE absorbent module (26) is magnetic suck structure, permanent magnet (262) including yoke backboard (261) and array arrangement, described permanent magnet is fixed on yoke plate, is provided with the locating slot preventing magnet play on yoke plate；Described permanent magnet is arranged in wheel (24) surrounding, keeps air gap distance by wheel (24) and ferromagnetism wall.
The magnetic suck that a kind of axis angle the most according to claim 1 is automatically adjusted drives wheel group device, it is characterized in that: described curved surface adaptive device (5) includes curved surface servomotor (51), synchronous pulley driving mechanism (53), symmetrical reverse leading screw and nut mechanism (54), motor mounting plate (52), line slideway (56) and two sets slide block mechanism (55), and one end of described slide block mechanism (55) is connected to end plate (23)；Described curved surface servomotor (51) is connected with reverse leading screw and nut mechanism by synchronous pulley driving mechanism (53), the two ends of described direction leading screw and nut mechanism each connect a set of slide block mechanism (55), each slide block mechanism (55) be connected with an end plate (23) respectively, described slide block mechanism (55) is in the upper reciprocating motion of line slideway (56), end plate (23) on the left of being wherein positioned at connects has left wheel absorption to drive module (2), and end plate (23) connection being positioned at right side has the absorption of right wheel to drive module (6).
nullThe magnetic suck that a kind of axis angle the most according to claim 7 is automatically adjusted drives wheel group device，It is characterized in that: described symmetrical reverse leading screw and nut mechanism (54) includes left shaft holder (540)、Right bearing seat (548)、Screw axis、Left nut (542)、Right nut (547)、Left slider connector (543) and right slide block connector (546)，Described left shaft holder (540) and right bearing seat (548) are arranged on the two ends of described screw axis，Described screw axis is the combination screw mandrel with symmetrical reverse characteristic，Described screw axis is from left to right divided into three parts，Left、Right part is divided into symmetrical left reverse thread (541) and right reverse thread (545)，Described left reverse thread (541) is furnished with left nut (542)，Described right reverse thread (545) slide block mechanism (55) is furnished with and right nut (547)，Left nut (542) and right nut (547) are connected respectively to described slide block mechanism (55)，Slide block mechanism (55) includes left slider connector (543) and right slide block connector (546)，The middle part of screw axis is provided with profile of tooth belt wheel，Profile of tooth belt wheel connects synchronous pulley driving mechanism (53).
The magnetic suck that a kind of axis angle the most according to claim 8 is automatically adjusted drives wheel group device, it is characterized in that: the middle part of described screw axis is provided with toothed synchronous belt wheel (544), described toothed synchronous belt wheel (544) is connected to described synchronous pulley driving mechanism (53) and drives it to rotate.
The magnetic suck that a kind of axis angle the most according to claim 9 is automatically adjusted drives wheel group device, it is characterized in that: described symmetrical reverse leading screw and nut mechanism (54) has mechanical self-latching structure, the lead angle of the wire rod thread in symmetrical reverse leading screw and nut mechanism (54) is less than the angle of friction of flank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610314520.9A CN105835976B (en) | 2016-05-13 | 2016-05-13 | A kind of magnetic suck driving wheel group device of axis angle automatic adjustment |
Applications Claiming Priority (1)
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| CN106903469A (en) * | 2017-04-24 | 2017-06-30 | 湘潭大学 | A kind of many break-off types climb wall welding robot |
| CN108749943A (en) * | 2018-06-25 | 2018-11-06 | 浙江工业大学 | Magnetic adsorption wall-climbing robot |
| CN109866840A (en) * | 2019-03-18 | 2019-06-11 | 山东交通学院 | A kind of the sorption wheel group and its height adjusting method of self-adapting changeable suction |
| CN110371210A (en) * | 2019-07-31 | 2019-10-25 | 上海酷酷机器人有限公司 | A kind of magnetic force robot |
| CN111361654A (en) * | 2018-12-25 | 2020-07-03 | 河北工业大学 | Anti-overturning wall-climbing robot |
| CN111867742A (en) * | 2018-03-08 | 2020-10-30 | 佐敦有限公司 | Robot with magnetic wheels for cleaning ship hull |
| CN112265590A (en) * | 2020-10-27 | 2021-01-26 | 苏州热工研究院有限公司 | Integrated crawling robot adaptive to ultrahigh pressure/cavitation water jet and airless spraying module, derusting robot and paint spraying robot |
| CN114802512A (en) * | 2022-04-30 | 2022-07-29 | 中国建筑第八工程局有限公司 | Wall crawling self-adaptive robot for detecting quality of structure with arc-shaped cross section and control method |
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| CN106903469B (en) * | 2017-04-24 | 2019-07-09 | 湘潭大学 | A kind of more break-off types climb wall welding robot |
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| CN110371210A (en) * | 2019-07-31 | 2019-10-25 | 上海酷酷机器人有限公司 | A kind of magnetic force robot |
| CN112265590A (en) * | 2020-10-27 | 2021-01-26 | 苏州热工研究院有限公司 | Integrated crawling robot adaptive to ultrahigh pressure/cavitation water jet and airless spraying module, derusting robot and paint spraying robot |
| CN114802512A (en) * | 2022-04-30 | 2022-07-29 | 中国建筑第八工程局有限公司 | Wall crawling self-adaptive robot for detecting quality of structure with arc-shaped cross section and control method |
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