CN105835976B - A kind of magnetic suck driving wheel group device of axis angle automatic adjustment - Google Patents
A kind of magnetic suck driving wheel group device of axis angle automatic adjustment Download PDFInfo
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- CN105835976B CN105835976B CN201610314520.9A CN201610314520A CN105835976B CN 105835976 B CN105835976 B CN 105835976B CN 201610314520 A CN201610314520 A CN 201610314520A CN 105835976 B CN105835976 B CN 105835976B
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 45
- 238000010521 absorption reaction Methods 0.000 claims abstract description 71
- 230000003044 adaptive effect Effects 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims description 80
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 239000002250 absorbent Substances 0.000 claims description 14
- 230000002745 absorbent Effects 0.000 claims description 14
- 230000005307 ferromagnetism Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 5
- 230000005389 magnetism Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 241000233855 Orchidaceae Species 0.000 claims 1
- 230000010354 integration Effects 0.000 abstract description 4
- 238000001179 sorption measurement Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000009194 climbing Effects 0.000 description 4
- 229910000975 Carbon steel Inorganic materials 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000003463 adsorbent Substances 0.000 description 3
- 239000010962 carbon steel Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 206010068052 Mosaicism Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 210000003765 sex chromosome Anatomy 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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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 present invention relates to specialized robot technical fields, more particularly to a kind of magnetic suck driving wheel group device of axis angle automatic adjustment for extraordinary Mobile working machine people, including benchmark installing plate, bearing, left wheel adsorbs drive module, right wheel absorption drive module and curved surface adaptive device, left wheel adsorbs drive module and right wheel absorption drive module symmetrical configuration, the curved surface adaptive device and bearing are installed on benchmark installing plate, curved surface adaptive device is connected by bearing with benchmark installing plate, bearing also adsorbs drive module with left wheel and right wheel absorption drive module is connected.The application has the characteristics that modularization and high integration, is integrated with driving, absorption and curved surface adaptive functions.It as Mechatronic Systems, such as during a component of adsorbed wall-climbing robot, functionally independently, does not couple or relies on other systems component, interface is simple, during using the device, it is only necessary to mechanical interface and motor control interface are accessed, it is convenient, flexible.
Description
Technical field
The present invention relates to specialized robot technical field more particularly to a kind of axis for extraordinary Mobile working machine people
The magnetic suck driving wheel group device of angle automatic adjustment.
Background technology
As the important branch of robotic technology field, magnetically adsorbed wall-climbing robot is a kind of extraordinary Mobile working machine
People is that one kind is designed under dangerous and limiting condition, a kind of automation machine of operations specific is carried out on magnetic conductivity wall surface
Electric installation, it can in all directions be moved in vertical wall surface, inclined wall even container top surface, and the instrument that can carry is completed specific
Task, such as steel plate welding, surface polishing.Magnetic adsorption wall climbing robot is in power equipment manufacture, nuclear industry, petrochemical industry work at present
The examination application to succeed in the modern Production Activities such as industry, shipbuilding industry, the production for completing such as ferromagnetic structure part and container are applied
The work such as work, detection.
It is found through literature survey, the magnetic adsorption type climbing robot of existing report, generally in flat surface carbon steel sheet or near
On straight magnetic conductivity wall surface realize magnetic adsorption type movement operation, in the prevalence of curve surface adaptive it is insufficient the problem of, work as robot
When moving on curvature wall surface, easily occur that the risk even integrally toppled can not be slid by, chassis of colliding with, absorption.
Such as patent document 201210185680.X, a kind of absorption type mobile robot of differential driving is disclosed, it is main
Technical solution is：Using three-wheel topological structure, two trailing wheels are as driving wheel, and front-wheel stablizes for auxiliary and deflecting roller, using forever
Magnetic air gap adsorbent equipment, front and back wheel are connected by rigid-frame, and the steering on magnetic conduction wall surface is realized using trailing wheel differential fashion.
Its main feature is that magnetic energy utilization rate is high, load capacity is stronger, but front and back wheel, using rigid connection, permanent magnetic suck air gap is non-adjustable, no
Adapt to the requirement of non-plane motion.
Compared to the wall surface of flat surface, curvature type wall surface brings two problems, and a cylinder type wall surface is convex so that machine
People chassis can not by by sex chromosome mosaicism, the other is caused by curved wall magnetic suck air gap variation caused by absorption drop
Problem.It is therefore desirable to have suitable electrical category device, overcomes the two problems, to extend existing magnetic adsorption type climbing robot
Job area and environmental suitability, enable adapt to curvature type wall surface job requirements.
The content of the invention
To overcome existing magnetic adsorption wall climbing robot above shortcomings, a kind of magnetic of axis angle automatic adjustment is proposed
Absorption driving wheel group device, can be integrated in adsorbed wall-climbing robot, can adapt to curvature wall in modular fashion
Face, held stationary absorption, and the interference and collision of chassis and wall surface is avoided, realize the reliable flexible movement on curvature wall surface, from
And help to solve problems of the prior art.
To realize above-mentioned technique effect, the technical solution adopted in the present invention is：
A kind of magnetic suck driving wheel group device of axis angle automatic adjustment, it is characterised in that：Including benchmark installing plate,
Bearing, left wheel absorption drive module, right wheel absorption drive module and curved surface adaptive device, the left wheel absorption driving mould
Block and right wheel absorption drive module symmetrical configuration, form a wheel pair；The curved surface is installed on the benchmark installing plate
Adaptive device and the bearing, the curved surface adaptive device are connected by bearing with benchmark installing plate, the bearing also with left vehicle
Wheel absorption drive module is connected with right wheel absorption drive module.
Generally be integrated with the unitary module of driving, left wheel absorption drive module and right wheel absorption drive module by
The driving of curved surface adaptive device is adjusted in synchronism axis angle, to adapt to non-plane motion requirement, keeps passability and stablizes adsorptivity
Energy.Axis specifically refers to the angle of the wheel axis of left and right wheel, wheel straight wall surface uplink into when, two axis are to overlap,
This angle is adjusted when on curved surface, so as to change absorption air gap to adapt to curved surface.
Further, the benchmark installing plate is the datum plate of installation, is provided with as the locating slot of positioning datum and fixed
Position hole.
Further, one end of the bearing is fixed on benchmark installing plate, the other end of the bearing by axis pin with
Left wheel adsorbs drive module and is connected with right wheel absorption drive module.
Further, left wheel absorption drive module and right wheel absorption drive module include servomotor, straight
Angle planetary reducer, end plate, wheel and GAP TYPE absorbent module, the servo motor output shaft are connected on the right angle planetary reduction gear
The input terminal of machine, the right angle planetary reducer are fixed on by positioning spigot and flange on the end plate, the right angle planet
The output shaft of speed reducer is connected through bearing block with the wheel by the expansion sleeve of automatic centering；
The end plate lower part is connected with GAP TYPE absorbent module, and being connected in the middle part of end plate on the axis pin of the bearing can be around it
It rotates, end plate top is connected to the curved surface adaptive device by axis pin.
Further, the GAP TYPE absorbent module be magnetic suck structure, the permanent magnetism including yoke backboard and array arrangement
Body, the permanent magnet are fixed on yoke plate, and the locating slot for preventing magnet play, the permanent magnet cloth are provided on yoke plate
It puts in wheel surrounding, suitable air gap distance is kept by wheel and ferromagnetism wall surface.
Further, the curved surface adaptive device includes curved surface servomotor, synchronous pulley driving mechanism, symmetrical reverse silk
Stem nut mechanism and two sets of slide block mechanisms, one end of the slide block mechanism are connected to end plate；The curved surface servomotor passes through
Synchronous pulley driving mechanism is connected with direction leading screw and nut mechanism, and the both ends of the 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, wherein the end plate connection positioned at left side has left wheel absorption
Drive module, the end plate connection positioned at right side have right wheel absorption drive module.The input of curved surface servomotor is by synchronous pulley
Transmission mechanism is transferred to screw axis, and the reversed axial position of two equivalences is converted to using the symmetrical reverse leading screw and nut mechanism
It moves, drives slide block mechanism, finally remake and use on end plate, so as to drive left wheel absorption drive module and the absorption driving of right wheel
Module unitary rotation.
The symmetrical reverse leading screw and nut mechanism includes left shaft holder, right axle bearing, screw axis, left nut, right nut, a left side
Sliding block connector and right sliding block connector, the left shaft holder and right axle bearing are arranged on the both ends of the screw axis, the silk
Bar axis is the combination screw for having symmetrical reverse characteristic, and the screw axis are from left to right divided into three parts, and left and right part is symmetrical
The left reverse thread and right reverse thread of distribution, the left reverse thread are furnished with left nut, the right reverse thread slide block mechanism
Equipped with right nut, left nut and right nut be connected respectively to a set of slide block mechanism, slide block mechanism include left slider connector and
Right sliding block connector, left slider connector and the interface that right sliding block connector is that leading screw and nut mechanism is connected with slide block structure, silk
The middle part of bar axis is equipped with toothed belt, and toothed belt is connected with synchronous pulley driving mechanism.
The middle part of the screw axis is equipped with toothed synchronous belt wheel, and the toothed synchronous belt wheel is connected to the synchronization
Belt wheel transmission mechanism simultaneously drives its rotation.
Further, the symmetrical reverse leading screw and nut mechanism has mechanical self-latching structure, symmetrical reverse feed screw nut's machine
The helix angle of wire rod thread in structure is less than the angle of friction of flank.It can only be moved, and then driven by screw rotation driving nut
Movable slider straight reciprocating motion, and leading screw rotation cannot be driven by slide block movement.
The present invention operation principle be：
It is fitted by the curved surface being made of synchronous pulley driving mechanism, symmetrical reverse leading screw and nut mechanism and slide block mechanism
Device is answered, automatically adjusts the axis angle of the left and right wheel driving adsorption module of the present apparatus, so as to change the air gap of magnetic suck,
Steady absorption of the holding meanss on ferromagnetism curvature wall surface, and improve the passability on curvature wall surface.
The advantage of the invention is that：
1st, the magnetic suck driving wheel group device of axis angle automatic adjustment, has the characteristics that modularization and high integration,
It is integrated with driving, absorption and curved surface adaptive functions.As Mechatronic Systems（Such as adsorbed wall-climbing robot）A component when,
It is functionally independent, it does not couple or relies on other systems component, interface is simple, during using the device, it is only necessary to access mechanical interface
And motor control interface, it is convenient, flexible.The modularization of the application is mainly reflected in the lower coupling high cohesion between function module, mutually
Phase dependency degree degree is low, and development etc. is safeguarded convenient for the integrated of higher level and easily dismounting.
2nd, the magnetic suck driving wheel group device of axis angle automatic adjustment adapts to the ferromagnetism curvature wall surface of non-straight
Ferromagnetism wall surface, such as cylindrical shape carbon steel wall surface, for that can improve its passability in absorption type Mobile working machine people and reach
To reliable absorption, the movement on curved surface is realized.
3rd, the axis angle of two rear drive sprocket modules of the magnetic suck driving wheel group device of axis angle automatic adjustment
It can symmetrically be adjusted according to curvature of curved surface, realize the good conformity to different curvature wall surface.
4th, left wheel absorption drive module and right wheel absorption drive module are integrated with air gap adsorbent equipment, adsorption capacity
By force, certain variation of air gap can be allowed, adapt to adsorb the local concave-convex and bad situation of surface quality for steel plate of creeping, protect
Hold the steady of mobile platform.
5th, left wheel absorption drive module and right wheel absorption drive module have compact, lightweight and modular spy
There is point reverse symmetry to change angle and mechanical self-latching characteristic, ensure that the accuracy and reliability that curved surface adapts to.
Description of the drawings
Fig. 1 is that the magnetic suck of axis angle automatic adjustment drives wheel group device example.
Fig. 2 adsorbs drive module example for left wheel.
Fig. 3 is GAP TYPE absorbent module.
Fig. 4 is the curved surface adaptive device that left wheel adsorbs drive module.
Fig. 5 is the reversed screw structure example of combination that left wheel adsorbs drive module.
Figure label meaning is as follows：
1 it is benchmark installing plate, 2 be left wheel absorption drive module, 3 be bearing, 4 be axis pin, 5 is curved surface adaptive device, 6
It is right wheel absorption drive module, 21 is driving servomotor, 22 is right angle planetary reducer, 23 is end plate, 24 is wheel, 25
It is in the middle part of end plate, 26 be GAP TYPE absorbent module, 27 be end plate top, 51 be servomotor, 52 be motor mounting plate, 53 is same
Step belt wheel transmission mechanism, 54 be symmetrical reverse leading screw and nut mechanism, 55 be slide block mechanism, 56 be line slideway, 261 be the yoke back of the body
Plate, 262 be the permanent magnet of array arrangement, 540 be left shaft holder, 548 be right axle bearing, 541 be left reverse thread, 545 be right
Reverse thread, 542 are left nuts, 547 are right nuts, 543 are left slider connectors, 546 are right sliding block connectors, 544 are teeth
Shape synchronous pulley.
Specific embodiment
Embodiment 1
A kind of magnetic suck driving wheel group device of axis angle automatic adjustment includes benchmark installing plate 1, bearing 3, left vehicle
Wheel absorption drive module 2, right wheel absorption drive module 6 and curved surface adaptive device 5, the left wheel adsorb 2 He of drive module
Right wheel adsorbs 6 symmetrical configuration of drive module, forms a wheel pair；The curved surface is installed on the benchmark installing plate 1 to fit
Answer device 5 and the bearing 3, the curved surface adaptive device 5 is connected by bearing 3 with benchmark installing plate 1, the bearing 3 also with
Left wheel adsorbs drive module 2 and is connected with right wheel absorption drive module 6.
Generally it is integrated with the unitary module of driving, left wheel absorption drive module 2 and right wheel absorption drive module 6
By the driving of curved surface adaptive device 5, axis angle is adjusted in synchronism, to adapt to non-plane motion requirement, keeps passability and stablize to inhale
Attached performance.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, goes in the plane
Into when, two axis are to overlap, and need to adjust this angle when on curved surface, so as to change absorption air gap to adapt to curved surface.
Magnetic suck driving 24 groups of devices of wheel of axis angle automatic adjustment, have the characteristics that modularization and high integration,
It is integrated with driving, absorption and curved surface adaptive functions.During a component as Mechatronic Systems such as adsorbed wall-climbing robot, work(
Independence can be gone up, do not couple or rely on other systems component, interface is simple, during using the device, it is only necessary to access mechanical interface and
Motor control interface, it is convenient, flexible.The modularization of the application is mainly reflected in the lower coupling high cohesion between function module, mutually
Dependency degree degree is low, and development etc. is safeguarded convenient for the integrated of higher level and easily dismounting.
Embodiment 2
A kind of magnetic suck driving wheel group device of axis angle automatic adjustment includes benchmark installing plate 1, bearing 3, left vehicle
Wheel absorption drive module 2, right wheel absorption drive module 6 and curved surface adaptive device 5, the left wheel adsorb 2 He of drive module
Right wheel adsorbs 6 symmetrical configuration of drive module, forms a wheel pair；The curved surface is installed on the benchmark installing plate 1 to fit
Answer device 5 and the bearing 3, the curved surface adaptive device 5 is connected by bearing 3 with benchmark installing plate 1, the bearing 3 also with
Left wheel adsorbs drive module 2 and is connected with right wheel absorption drive module 6.
Generally it is integrated with the unitary module of driving, left wheel absorption drive module 2 and right wheel absorption drive module 6
By the driving of curved surface adaptive device 5, axis angle is adjusted in synchronism, to adapt to non-plane motion requirement, keeps passability and stablize to inhale
Attached performance.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, goes in the plane
Into when, two axis are to overlap, and need to adjust this angle when on curved surface, so as to change absorption air gap to adapt to curved surface.
The benchmark installing plate 1 is the datum plate of installation, is provided with the locating slot and location hole as positioning datum.It is described
One end of bearing 3 is fixed on benchmark installing plate 1, and the other end of the bearing 3 adsorbs drive module by axis pin 4 and left wheel
2 are connected with right wheel absorption drive module 6.
The left wheel absorption drive module 2 and right wheel absorption drive module 6 include driving servomotor 21, right angle
Planetary reducer 22, end plate 23, wheel 24 and GAP TYPE absorbent module 26, driving 21 output shaft of servomotor are connected on described
The input terminal of right angle planetary reducer 22, the right angle planetary reducer 22 are fixed on the end plate by positioning spigot and flange
On 23, the output shaft of the right angle planetary reducer 22 passes through the expansion sleeve that bearing block and the wheel 24 pass through automatic centering
Connection；
23 lower part of end plate is connected with GAP TYPE absorbent module 26, and end plate middle part 25 is connected to the axis pin 4 of the bearing 3
On can rotate around it, end plate top 27 is connected to the curved surface adaptive device 5 by axis pin 4.The GAP TYPE absorbent module 26
For magnetic suck structure, the permanent magnet 262 including yoke backboard 261 and array arrangement, the permanent magnet is fixed on yoke plate,
Being provided on yoke plate prevents the locating slot of magnet play.The permanent magnet is arranged in 24 surrounding of wheel, passes through wheel 24 and iron
Magnetic wall surface keeps suitable air gap distance.
The curved surface adaptive device 5 includes curved surface servomotor 51, synchronous pulley driving mechanism 53, symmetrical reverse screw spiral shell
Parent agency 54, motor mounting plate 52, line slideway 56 and two sets of slide block mechanisms 55, one end of the slide block mechanism 55 are connected to
End plate 23；The curved surface servomotor 51 is connected by synchronous pulley driving mechanism 53 with direction leading screw and nut mechanism, the side
A set of slide block mechanism 55 is each connected to the both ends of leading screw and nut mechanism, each slide block mechanism 55 with an end plate 23 with connecting respectively
It connects, the slide block mechanism 55 moves back and forth on line slideway 56, wherein the end plate 23 positioned at left side is connected with left wheel absorption
Drive module 2, the end plate 23 positioned at right side are connected with right wheel absorption drive module 6.The input of curved surface servomotor 51 is by same
Step belt wheel transmission mechanism 53 is transferred to screw axis, and it is anti-to be converted to two equivalences using the symmetrical reverse leading screw and nut mechanism 54
To axial displacement, drive slide block mechanism 55, finally remake and use on end plate 23, so as to drive left wheel adsorb drive module 2
6 unitary rotation of drive module is adsorbed with right wheel.
The symmetrical reverse leading screw and nut mechanism 54 includes left shaft holder 540, right axle bearing 548, screw axis, left nut
542nd, right nut 547, left slider connector 543 and right sliding block connector 546, the left shaft holder 540 and right axle bearing 548 are set
Put at the both ends of the screw axis, the screw axis are the combination screws for having symmetrical reverse characteristic, the screw axis from a left side to
The right side is divided into three parts, and left and right part is symmetrical left reverse thread 541 and right reverse thread 545, the left reverse thread
541 be furnished with left nut 542, right 545 slide block mechanism 55 of reverse thread be furnished with and right nut 547, the travelling nut be to
The mating nut of screw plays engagement migration, is structure well known to those skilled in the art, left nut 542 and right nut
547 are connected respectively to the slide block mechanism 55, and slide block mechanism 55 includes left slider connector 543 and right sliding block connector 546, left
Sliding block connector 543 and the interface that right sliding block connector 546 is that leading screw and nut mechanism is connected with slide block structure, the centre of screw axis
Position is equipped with toothed belt, and toothed belt is connected with synchronous pulley driving mechanism 53.
The middle part of the screw axis is equipped with toothed synchronous belt wheel 544, and the toothed synchronous belt wheel 544 is connected to institute
It states synchronous pulley driving mechanism 53 and drives its rotation.
The symmetrical reverse leading screw and nut mechanism 54 has mechanical self-latching structure, in symmetrical reverse leading screw and nut mechanism 54
The helix angle of wire rod thread is less than the angle of friction of flank.It can only be moved by screw rotation driving nut, and then drive sliding block
Straight reciprocating motion, and leading screw rotation cannot be driven by slide block movement.
Pass through what is be made of synchronous pulley driving mechanism 53, symmetrical reverse leading screw and nut mechanism 54 and slide block mechanism 55
Curved surface adaptive device 5, the left and right wheel 24 for automatically adjusting the present apparatus drives the axis angle of adsorption module, so as to change magnetic
Attached air gap, steady absorption of the holding meanss on ferromagnetism curvature wall surface, and improve the passability on curvature wall surface.
Magnetic suck driving 24 groups of devices of wheel of axis angle automatic adjustment, have the characteristics that modularization and high integration,
It is integrated with driving, absorption and curved surface adaptive functions.During a component as Mechatronic Systems such as adsorbed wall-climbing robot, work(
Independence can be gone up, do not couple or rely on other systems component, interface is simple, during using the device, it is only necessary to access mechanical interface and
Motor control interface, it is convenient, flexible.The modularization of the application is mainly reflected in the lower coupling high cohesion between function module, mutually
Dependency degree degree is low, and development etc. is safeguarded convenient for the integrated of higher level and easily dismounting.
Magnetic suck driving 24 groups of devices of wheel of axis angle automatic adjustment adapt to the ferromagnetism curvature wall surface of non-straight
Ferromagnetism wall surface, such as cylindrical shape carbon steel wall surface, for that can improve its passability in absorption type Mobile working machine people and reach
To reliable absorption, the movement on curved surface is realized.After two of magnetic suck driving 24 groups of devices of wheel of axis angle automatic adjustment
The axis angle of driving wheel module can symmetrically be adjusted according to curvature of curved surface, realize the good conformity to different curvature wall surface.
Left wheel adsorbs drive module 2 and right wheel absorption drive module 6 is integrated with air gap adsorbent equipment, and strong adsorption force can allow
Certain variation of air gap adapts to adsorb the local concave-convex and bad situation of surface quality for steel plate of creeping, and keeps mobile flat
Platform it is steady.Left wheel, which adsorbs drive module 2 and right wheel absorption drive module 6, has compact, lightweight and modular
There is feature reverse symmetry to change angle and mechanical self-latching characteristic, ensure that the accuracy and reliability that curved surface adapts to.
Embodiment 3
A kind of magnetic suck driving wheel group device of axis angle automatic adjustment, to be integrated with the unitary module of driving,
Including benchmark installing plate 1, bearing 3, left wheel absorption drive module 2, right wheel absorption drive module 6 and curved surface adaptive device 5.
Wherein, the left and right wheel absorption drive module symmetrical configuration, forms a wheel pair.It is adsorbed and driven with left wheel
Dynamic model block 2, which is given, to be described in detail, and the middle part 25 of end plate 23 is connected on bearing 3, and end plate top 27 is connected to again by axis pin 4
The curved surface adaptive device 5 is driven by it and then left wheel absorption drive module is driven accordingly to rotate, to adapt to curvature wall surface,
It keeps passability and stablizes absorption property.
The benchmark installing plate 1 is the datum plate of one piece of installation, is designed with positioning datum, including locating slot and location hole,
It is installed above to have the curved surface adaptive device 5 and the bearing 3.
The bearing 3, for connecting benchmark installing plate 1 and the left and right wheel absorption drive module 2 and 6, its one end is solid
It is scheduled on benchmark installing plate 1, the other end adsorbs drive module with the left and right wheel by axis pin 4 and is connected.
The left wheel adsorbs drive module, main to include driving servomotor 21, right angle planetary reducer 22, end plate
23rd, wheel 24 and GAP TYPE absorbent module 26.Driving 21 output shaft of servomotor is connected on the defeated of the right angle planetary reducer 22
Enter end, speed reducer is fixed on by positioning spigot and flange on the end plate 23, and output shaft passes through bearing block and the wheel
24 is affixed by the expansion sleeve of automatic centering；The lower part of the end plate is connected with GAP TYPE absorbent module 26, and middle part 25 is connected to
It on the axis pin 4 of foregoing bearing 3, can rotate around it, end plate top 27 is connected to the curved surface adaptive device 5 by axis pin.
The GAP TYPE absorbent module 26 is made of the permanent magnet 262 of yoke backboard 261 and array arrangement, and permanent magnet is solid
It is scheduled on yoke plate, in order to prevent magnet play, locating slot is provided on yoke plate, and be arranged in wheel both sides, pass through vehicle
The absorption property of wheel and the suitable air gap distance of ferromagnetism wall surface holding, such as 6-10mm, realization passability and stabilization is put down
Weighing apparatus.
The curved surface adaptive device 5, by curved surface servomotor 51, motor mounting plate 52, synchronous pulley driving mechanism 53, right
Claim reversed leading screw and nut mechanism 54 and two sets of slide block mechanisms 55 in series, curved surface servomotor 51 is input terminal, sliding block machine
Structure is output terminal.Slide block mechanism 55 is oriented to by line slideway 56, and its one end is connected on the nut of aforementioned nut mechanism 54,
It is driven by it and is moved back and forth on line slideway 56, the other end is connected to foregoing end plate top 27；Servomotor input is by same
Step belt wheel transmission mechanism 53 is transferred to screw axis, and it is anti-to be converted to two equivalences using the symmetrical reverse leading screw and nut mechanism 54
To axial displacement, which under the guiding of line slideway 56, acts on slide block mechanism 55 by the sliding block being connected with nut
On, foregoing end plate 23 is finally driven to rotate, and then foregoing left and right wheel absorption drive module is driven to rotate, to adjust it in iron
Passability and magnetic suck air gap on magnetic curvature wall surface ensure passability and absorption stability.
The symmetrical reverse leading screw and nut mechanism 54, by left shaft holder 540, right axle bearing 548, screw axis, left nut
542nd, the compositions such as right nut 547, left slider connector 543, right sliding block connector 546, screw axis are with symmetrical reverse characteristic
Combination screw, screw axis are from left to right divided into three parts.Left-right parts are reversed for symmetrical left reverse thread 541 and the right side
Screw thread 545, respectively equipped with left nut 542 and right nut 547, when leading screw rotates, left nut and right nut can be with same uniform velocity
Closer or far from realization reverse movement, left nut and right nut are connected respectively to slide block mechanism 55, respectively by two straight lines
Guide rail 56 is oriented to.
Further, the symmetrical reverse leading screw and nut mechanism 54, the leading screw are the combinations for having symmetrical reverse characteristic
Screw, screw axis are from left to right divided into three parts.The middle part of screw axis is equipped with toothed synchronous belt wheel 544, toothed belt
Aforementioned synchronization belt wheel transmission mechanism 53 is connected to, is rotated by its drive.
Further, the symmetrical reverse leading screw and nut mechanism 54 is the mechanism with mechanical self-latching characteristic, i.e. spiral liter
Angle is less than angle of friction, can only be moved by screw rotation driving nut, and then drives sliding block straight reciprocating motion, and cannot be by sliding block
Movement driving leading screw rotation.
Claims (8)
1. a kind of magnetic suck driving wheel group device of axis angle automatic adjustment, it is characterised in that：Including benchmark installing plate
（1）, bearing（3）, left wheel absorption drive module（2）, right wheel absorption drive module（6）With curved surface adaptive device（5）, it is described
Left wheel adsorbs drive module（2）Drive module is adsorbed with right wheel（6）Symmetrical configuration forms a wheel pair；The benchmark
Installing plate（1）On the curved surface adaptive device is installed（5）With the bearing（3）, the curved surface adaptive device（5）Pass through bearing
（3）With benchmark installing plate（1）It is connected, the bearing（3）Also drive module is adsorbed with left wheel（2）Driving mould is adsorbed with right wheel
Block（6）It is connected；
The benchmark installing plate（1）For the datum plate of installation, the locating slot and location hole as positioning datum are provided with；
The curved surface adaptive device（5）Including curved surface servomotor（51）, synchronous pulley driving mechanism（53）, symmetrical reverse screw
Nut body（54）, motor mounting plate（52）, line slideway（56）And two sets of slide block mechanisms（55）, the slide block mechanism（55）
One end be connected to end plate（23）；The curved surface servomotor（51）Pass through synchronous pulley driving mechanism（53）With direction screw spiral shell
Parent agency is connected, and the both ends of the direction leading screw and nut mechanism each connect a set of slide block mechanism（55）, each slide block mechanism
（55）With respectively with an end plate（23）Connection, the slide block mechanism（55）In line slideway（56）Upper reciprocating motion, middle position
End plate in left side（23）It is connected with left wheel absorption drive module（2）, the end plate positioned at right side（23）Right wheel is connected with to inhale
Attached drive module（6）.
2. a kind of magnetic suck driving wheel group device of axis angle automatic adjustment according to claim 1, feature exist
In：The bearing（3）One end be fixed on benchmark installing plate（1）On, the bearing（3）The other end pass through axis pin（4）With a left side
Wheel adsorbs drive module（2）Drive module is adsorbed with right wheel（6）It is connected.
3. a kind of magnetic suck driving wheel group device of axis angle automatic adjustment according to claim 2, feature exist
In：The left wheel adsorbs drive module（2）Drive module is adsorbed with right wheel（6）Include driving servomotor（21）, it is straight
Angle planetary reducer（22）, end plate（23）, wheel（24）With GAP TYPE absorbent module（26）, the driving servomotor（21）It is defeated
Shaft is connected on the right angle planetary reducer（22）Input terminal, the right angle planetary reducer（22）Pass through positioning spigot and method
Orchid is fixed on the end plate（23）On, the right angle planetary reducer（22）Output shaft pass through bearing block and the wheel
（24）It is connected by the expansion sleeve of automatic centering.
4. a kind of magnetic suck driving wheel group device of axis angle automatic adjustment according to claim 3, feature exist
In：The end plate（23）Lower part and GAP TYPE absorbent module（26）Connection, end plate middle part（25）It is connected to the bearing（3）Pin
Axis（4）On can rotate around it, end plate top（27）Pass through axis pin（4）It is connected to the curved surface adaptive device（5）.
5. a kind of magnetic suck driving wheel group device of axis angle automatic adjustment according to claim 4, feature exist
In：The GAP TYPE absorbent module（26）For magnetic suck structure, including yoke backboard（261）With the permanent magnet of array arrangement
（262）, the permanent magnet is fixed on yoke plate, and the locating slot for preventing magnet play is provided on yoke plate；The permanent magnetism
Body is arranged in wheel（24）Surrounding passes through wheel（24）Air gap distance is kept with ferromagnetism wall surface.
6. a kind of magnetic suck driving wheel group device of axis angle automatic adjustment according to claim 1, feature exist
In：The symmetrical reverse leading screw and nut mechanism（54）Including left shaft holder（540）, right axle bearing（548）, screw axis, left nut
（542）, right nut（547）, left slider connector（543）With right sliding block connector（546）, the left shaft holder（540）And the right side
Bearing block（548）The both ends of the screw axis are arranged on, the screw axis are the combination screws for having symmetrical reverse characteristic, described
Screw axis are from left to right divided into three parts, and left and right part is symmetrical left reverse thread（541）With right reverse thread
（545）, the left reverse thread（541）Equipped with left nut（542）, the right reverse thread（545）Slide block mechanism（55）It is furnished with
With right nut（547）, left nut（542）With right nut（547）It is connected respectively to the slide block mechanism（55）, slide block mechanism（55）
Including left slider connector（543）With right sliding block connector（546）, the middle part of screw axis is equipped with toothed belt, tooth form
Belt wheel is connected with synchronous pulley driving mechanism（53）.
7. a kind of magnetic suck driving wheel group device of axis angle automatic adjustment according to claim 6, feature exist
In：The middle part of the screw axis is equipped with toothed synchronous belt wheel（544）, the toothed synchronous belt wheel（544）It is connected to institute
State synchronous pulley driving mechanism（53）And drive its rotation.
8. a kind of magnetic suck driving wheel group device of axis angle automatic adjustment according to claim 7, feature exist
In：The symmetrical reverse leading screw and nut mechanism（54）With mechanical self-latching structure, symmetrical reverse leading screw and nut mechanism（54）In
The helix angle of wire rod thread is less than the angle of friction of flank.
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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 |
| GB201803700D0 (en) * | 2018-03-08 | 2018-04-25 | Jotun As | Device |
| CN108749943B (en) * | 2018-06-25 | 2023-11-17 | 浙江工业大学 | Magnetic adsorption wall climbing robot |
| CN111361654B (en) * | 2018-12-25 | 2024-02-02 | 河北工业大学 | Anti-overturning 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 |
| CN110371210B (en) * | 2019-07-31 | 2021-08-10 | 上海酷酷机器人有限公司 | Magnetic force robot |
| CN112265590B (en) * | 2020-10-27 | 2022-08-16 | 苏州热工研究院有限公司 | Integrated crawling 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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