CN106184451B - A kind of rectangular coordinate system metal wall work climbing robot - Google Patents
A kind of rectangular coordinate system metal wall work climbing robot Download PDFInfo
- Publication number
- CN106184451B CN106184451B CN201610652970.9A CN201610652970A CN106184451B CN 106184451 B CN106184451 B CN 106184451B CN 201610652970 A CN201610652970 A CN 201610652970A CN 106184451 B CN106184451 B CN 106184451B
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- robot
- framework
- rotating shaft
- supporting plate
- electric motors
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rectangular coordinate system metal wall work climbing robot, the robot includes：Framework, fixed sliding block, line slideway, pinion and rack, linear electric motors, support frame, support column, supporting plate, ball-and-socket hinge device, electromagnet, rotating shaft, belt, belt wheel, motor, decelerator, rotating shaft fixed plate.Because robot four direction is mounted on guiding rail mechanism, robot can realize the walking of two frees degree, linear electric motors are installed on line slideway, linear electric motors are flexible can to drive supporting plate to move up and down so that robot support foot alternates with swinging foot, be advantageous to obstacle detouring, there is the absorption of two row's electromagnet during robot ambulation, there can be multiple rows of electromagnet adsorbable when pinpointing work so that robot adsorption reliability, work safety, adsorption structure are compact.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of rectangular coordinate system metal wall work wall-climbing device
People.
Background technology
In shipping industry, in order to extend the service life of ship, ensure the safe navigation of ship, ship must periodically enter
Depressed place places under repair, and metal climbing robot is widely used in the derusting of dockage repair procedures, spray painting etc..Equally, in core work
In industry, metal climbing robot is widely used in checking nuclear waste storage tank, thickness measuring and seam inspection etc.；In petrochemical industry
In, metal climbing robot, which is mainly used in, to be checked, derusted or is painted to the surfaces externally and internally of holding vessel；In addition, climb wall
Robot is also widely used for building trade, fire department, power industry etc..
Based on sucked type electromagnet absorption principle, powerful electromagnetic attraction is produced in the energized state, adsorbs robot
In metal wall, power-off, magnetic disappears, and robot can move freely.The electromagnet structure is reasonable, compact, sucked type electromagnetism
Iron coil is placed among soft magnetic materials shell and with epoxy encapsulation, has that small volume, suction be big, firm, reliable, hermetically sealed, ring
The features such as border strong adaptability, the serial electromagnet can carry out remote operation, act simple and sensitive, and function-stable is reliable.It is existing to climb
Mainly using permanent magnet ratcheting mechanism, its load-carrying is small for wall robot, is not suitable for big in ship, nuclear industry and petrochemical industry
The work of type metal wall.
The content of the invention
Small for existing climbing robot load capacity, the limitation of obstacle climbing ability difference, present invention aims at provide one
Kind metal wall work climbing robot.This climbing robot produces attraction using sucked type electromagnet and is adsorbed in ship table
Face, the walking function of robot is realized using pinion and rack, the obstacle crossing function of robot is realized using linear electric motors, used
Ball-and-socket hinge device realizes that electromagnet contacts with the steady of metal wall, can carry larger weight, and delivery large-scale manipulator works, this
It greatly exceed the load-carrying of existing climbing robot.
To achieve the above object, technical scheme is as follows：
A kind of rectangular coordinate system metal wall work climbing robot, including framework, fixed sliding block, line slideway, support
Frame, rack, gear, linear electric motors, support column, supporting plate, ball pivot, electromagnet, belt wheel, belt, decelerator, motor, screw, turn
Axle, bearing, rotating shaft fixed plate, are provided with 16 fixed sliding blocks on the four edges frame of the framework, and each two fixes sliding block and is
One group, it is engaged with straight line guide rail so that line slideway can slide along fixed sliding block, and each edge frame of framework has two
The parallel installation of bar line slideway；Two rotating shafts, rotating shaft are installed between two line slideways of each edge frame of the framework
Upper end is provided with belt wheel, and rotating shaft lower end is provided with gear by bearing；In two line slideways of each edge frame of the framework
Between be also equipped with rotating shaft fixed plate, rotating shaft fixed plate is fixed on framework using six foot stools, for the lower end of fixed rotating shaft,
Improve the stressing conditions of rotating shaft；The line slideway bottom is provided with support frame, and support frame is U-shaped, and its horizontal direction side leads to
To cross screw and rack is installed, engaged with gear, support frame bottom is provided with eight support columns, and supporting plate is provided with support column,
Supporting plate can be moved up and down along support column, and two linear electric motors, linear electric motors movable end are provided with the cavity of support frame
It is fixedly connected with supporting plate, linear electric motors, which rotate, drives supporting plate to move up and down, and the foot structure of climbing robot is multiple balls
Hinge is sequentially fixed in supporting plate, and ball pivot bottom is provided with electromagnet, and ball pivot carries out the rotation of small range with motor magnet, with suitable
Answer curve wall；The framework front is provided with multiple belt wheels, arranged apart inside and outside two root skin bands, is installed on framework front, skin
Band turns to the circle for surrounding closing by belt wheel, and two motors connect two belt wheels of Internal and external cycle by decelerator respectively, respectively
The pinion rotation of horizontal and vertical two direction of motion is driven, passes through band among the two neighboring gear of each edge frame of framework
The cornerite of wheel increase belt.
Compared with prior art, the present invention have substantive distinguishing features prominent as follows and it is notable the advantages of：
1. the control of robot is simple, it is only necessary to the rotating of controlled motor, can realize two frees degree of robot
Walking.
2. the structure of robot is simple, robot is rectangular, symmetrical, the only fixed sliding block in each direction, straight
The parts such as line guide rail, linear electric motors, supporting plate, electromagnet, it is simple in construction.
3. robot has superior obstacle climbing ability, the supporting plate of robot is similar to sole, and foot and branch are swung in walking
Alternateing for support foot, is advantageous to obstacle detouring.
4. robot foot section uses ball pivot, electromagnet position can be adjusted, makes the electromagnet curved surface small with radian well
Fitting, make robot adsorption reliability walking stable.
5. machine man-hour adsorption reliability, when being worked under walking states, there is the suction of two row's supporting plate electromagnet in robot
Attached, when being worked under fixed point state, robot can have multiple rows of supporting plate electromagnet to adsorb, and considerably increase absorption affinity, make machine
People's absorption property is more preferable, and work is more stable.
6. the present invention is based on load capacity is big, operating efficiency is high, absorption property is good, control is simple, driving is flexible, in gold
Category wall work etc. has broad application prospects.
Brief description of the drawings
Fig. 1 is the bulk junction composition of climbing robot.
Fig. 2 is climbing robot underneath side elevation view（Hide rotating shaft fixed plate）.
Fig. 3 is climbing robot leg foot mechanism schematic diagram.
Fig. 4 is climbing robot pinion and rack.
Fig. 5 is climbing robot belt transmission schematic diagram.
Embodiment
The specific embodiment of the present invention is further described below in conjunction with the accompanying drawings.
As shown in Figures 1 to 5, a kind of rectangular coordinate system metal wall work climbing robot, including framework 1, fixed cunning
Block 2, line slideway 3, support frame 4, rack 5, gear 6, linear electric motors 7, support column 8, supporting plate 9, ball pivot 10, electromagnet 11,
Belt wheel 12, belt 13, decelerator 14, motor 15, screw 16, rotating shaft 17, bearing 18, rotating shaft fixed plate 19, in the framework 1
16 fixed sliding blocks 2 are installed, it is one group that each two, which fixes sliding block 2, is engaged, makes with straight line guide rail 3 on four edges frame
Obtaining line slideway 3 can slide along fixed sliding block 2, and each edge frame of framework 1 has two 3 parallel installations of line slideway；Institute
To state and two rotating shafts 17 are installed between two line slideways 3 of each edge frame of framework 1, the upper end of rotating shaft 17 is provided with belt wheel 12,
The lower end of rotating shaft 17 is provided with gear 6 by bearing 18；Also pacify between two line slideways 3 of each edge frame of the framework 1
Equipped with rotating shaft fixed plate 19, rotating shaft fixed plate 19 is fixed on framework 1 using six foot stools, for the lower end of fixed rotating shaft 17,
Improve the stressing conditions of rotating shaft 17；The bottom of line slideway 3 is provided with support frame 4, and support frame 4 is U-shaped, its horizontal direction one
Side F is provided with rack 5 by screw 16, is engaged with gear 6, and the bottom of support frame 4 is provided with eight support columns 8, pacifies on support column 8
Equipped with supporting plate 9, supporting plate 9 can be moved up and down along support column 8, and two linear electric motors are provided with the cavity of support frame 4
7, the movable end of linear electric motors 7 is fixedly connected with supporting plate 9, and linear electric motors 7, which rotate, drives supporting plate 9 to move up and down, wall-climbing device
The foot structure of people is that multiple ball pivots 10 are sequentially fixed in supporting plate 9, and the bottom of ball pivot 10 is provided with electromagnet 11, the band of ball pivot 10
Motor magnet 11 carries out the rotation of small range, with accommodation curve wall；The front of framework 1 is provided with multiple belt wheels 12, two
It is arranged apart inside and outside belt 13, the front of framework 1 is installed on, belt 13 turns to the circle for surrounding closing, two electricity by belt wheel 12
Machine 15 connects two belt wheels 12 of Internal and external cycle by decelerator 14 respectively, drives the tooth of horizontal and vertical two direction of motion respectively
Wheel 6 rotates, and increases the cornerite of belt 13 by belt wheel 12 among the two neighboring gear 6 of each edge frame of framework 1.
The walking principle of the climbing robot is：
As shown in Fig. 2 when needing to walk on vertical direction：Electromagnet on first supporting plate 9-1 and the 3rd supporting plate 9-3
It is powered, robot is adsorbed in wall, and the first motor 15-1 is rotated forward, and drives first gear 6-1, second gear 6-2, the 3rd gear 6-
3rd, the 4th gear 6-4 is rotated forward, and pinion rotation drives second straight line guide rail 3-2, the 4th line slideway 3-4 to rise, and works as second straight line
When guide rail 3-2, the 4th line slideway 3-4 rise to extreme position, the first motor 15-1 stops operating, the 3rd linear electric motors 7-3,
4th linear electric motors 7-4, the 7th linear electric motors 7-7, the 8th linear electric motors 7-8 stretch out, drive the second supporting plate 9-2, the 4th
Fagging 9-4 stretches out, and electromagnet is powered on the second supporting plate 9-2, the 4th supporting plate 9-4, first straight line motor 7-1, second straight line
Motor 7-2, the 5th linear electric motors 7-5, the 6th linear electric motors 7-6 retract, and drive the first supporting plate 9-1, the 3rd supporting plate 9-3 contracting
Return, the first motor 15-1 reversions, robot rises, while first straight line guide rail 3-1, the 3rd line slideway 3-3 rise, and first is straight
After line guide rail 3-1, the 3rd line slideway 3-3 rise to extreme position, appeal process is repeated in, robot is on vertical wall
Walking.Horizontal direction walking principle is consistent with vertical direction walking principle, no longer illustrates here.
The climbing robot operation principle is：
When pinpointing work, after robot ambulation to workspace, all linear electric motors 7 stretch out, and drive all plates of supporting plate 9 to stretch
Go out, then all electromagnet 11 are powered, and robot is firmly adsorbed on wall, and the manipulator that robot carries is started working.
During mobile working, the manipulator that robot carries works when swinging foot and being alternateed with support foot.
Claims (1)
- The climbing robot 1. a kind of rectangular coordinate system metal wall works, it is characterised in that including framework（1）, fixed sliding block （2）, line slideway（3）, support frame（4）, rack（5）, gear（6）, linear electric motors（7）, support column（8）, supporting plate（9）, ball Hinge（10）, electromagnet（11）, belt wheel（12）, belt（13）, decelerator（14）, the first motor（15）, screw（16）, rotating shaft （17）, bearing（18）, rotating shaft fixed plate（19）, in the framework（1）Four edges frame on 16 fixed sliding blocks are installed（2）, Each two fixes sliding block（2）For one group, with straight line guide rail（3）It is engaged so that line slideway（3）Can be along fixed sliding block （2）Slide, framework（1）Each edge frame have two line slideways（3）Parallel installation；In the framework（1）Each edge frame Two line slideways（3）Between two rotating shafts are installed（17）, rotating shaft（17）Upper end is provided with belt wheel（12）, rotating shaft（17）Under End passes through bearing（18）Gear is installed（6）；In the framework（1）Each edge frame two line slideways（3）Between also pacify Equipped with rotating shaft fixed plate（19）, rotating shaft fixed plate（19）Framework is fixed on using six foot stools（1）On, for fixed rotating shaft（17） Lower end, improve rotating shaft（17）Stressing conditions；The line slideway（3）Bottom is provided with support frame（4）, support frame（4）For U Type, its horizontal direction side pass through screw（16）Rack is installed（5）, with gear（6）Engagement, support frame（4）Bottom is provided with Eight support columns（8）, support column（8）On supporting plate is installed（9）, supporting plate（9）Can be along support column（8）Move up and down, Support frame（4）Cavity in two linear electric motors are installed（7）, linear electric motors（7）Movable end and supporting plate（9）It is fixedly connected, Linear electric motors（7）Rotate and drive supporting plate（9）Move up and down, the foot structure of climbing robot is multiple ball pivots（10）It is solid successively It is scheduled on supporting plate（9）On, ball pivot（10）Bottom is provided with electromagnet（11）, ball pivot（10）Band motor magnet（11）Carry out small range Rotation, with accommodation curve wall；The framework（1）Front is provided with multiple belt wheels（12）, two root skin bands（13）It is inside and outside separated Arrangement, is installed on framework（1）Front, belt（13）Pass through belt wheel（12）Turn to the circle for surrounding closing, two the first motors （15）Pass through decelerator respectively（14）Connect two belt wheels of Internal and external cycle（12）, horizontal and vertical two direction of motion is driven respectively Gear（6）Rotate, in framework（1）Each edge frame two neighboring gear（6）Centre passes through belt wheel（12）Increase belt （13）Cornerite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610652970.9A CN106184451B (en) | 2016-08-11 | 2016-08-11 | A kind of rectangular coordinate system metal wall work climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610652970.9A CN106184451B (en) | 2016-08-11 | 2016-08-11 | A kind of rectangular coordinate system metal wall work climbing robot |
Publications (2)
| Publication Number | Publication Date |
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| CN106184451A CN106184451A (en) | 2016-12-07 |
| CN106184451B true CN106184451B (en) | 2018-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610652970.9A Expired - Fee Related CN106184451B (en) | 2016-08-11 | 2016-08-11 | A kind of rectangular coordinate system metal wall work climbing robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598697B (en) * | 2017-10-25 | 2023-11-03 | 台州奔田机电制造有限公司 | Prevent kickboard preinstallation equipment |
| CN109606494A (en) * | 2018-12-05 | 2019-04-12 | 山东大学 | The adaptive wheel hub of working curved surface and underwater cleaning robot |
| CN113455952B (en) * | 2021-07-19 | 2022-07-01 | 西京学院 | Obstacle-crossing movable adsorption device applied to vertical plane |
| CN115384226A (en) * | 2022-09-29 | 2022-11-25 | 江苏镌极特种设备有限公司 | Self-adaptive magnetic type traveling wheel set |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9033087B2 (en) * | 2007-10-11 | 2015-05-19 | Tecnomac S.R.L. | Magnetic coupling mobile robot |
| CN105235764B (en) * | 2015-10-30 | 2017-05-17 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
| CN105216898B (en) * | 2015-11-04 | 2017-07-11 | 湘潭大学 | Walking Pneumatic wall-climbing robot |
| CN205345106U (en) * | 2015-11-04 | 2016-06-29 | 湘潭大学 | Pneumatic wall climbing robot of walking |
| CN105835978A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Crawler-type magnetic-adsorption wall climbing robot |
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| CN106184451A (en) | 2016-12-07 |
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