CN106514608A - Wall-climbing robot carrying connecting rod type mechanical arm - Google Patents

Wall-climbing robot carrying connecting rod type mechanical arm Download PDF

Info

Publication number
CN106514608A
CN106514608A CN201611258055.8A CN201611258055A CN106514608A CN 106514608 A CN106514608 A CN 106514608A CN 201611258055 A CN201611258055 A CN 201611258055A CN 106514608 A CN106514608 A CN 106514608A
Authority
CN
China
Prior art keywords
box body
left box
mechanical arm
magnetic conduction
silicon steel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201611258055.8A
Other languages
Chinese (zh)
Other versions
CN106514608B (en
Inventor
王许磊
霍建玲
禹青
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Luoyang Shengrui Intelligent Robot Co Ltd
Original Assignee
Luoyang Shengrui Intelligent Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Luoyang Shengrui Intelligent Robot Co Ltd filed Critical Luoyang Shengrui Intelligent Robot Co Ltd
Priority to CN201611258055.8A priority Critical patent/CN106514608B/en
Publication of CN106514608A publication Critical patent/CN106514608A/en
Application granted granted Critical
Publication of CN106514608B publication Critical patent/CN106514608B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of industrial robots and discloses a wall-climbing robot carrying a connecting rod type mechanical arm. The wall-climbing robot carrying the connecting rod type mechanical arm is composed of a mobile body platform and the multi-freedom-degree connecting rod type mechanical arm. The multi-freedom-degree mechanical arm is mechanically and fixedly connected with the mobile body platform through screws. The mobile body platform comprises two mutually independent body modules and wheel type permanent-magnet attraction units. The shapes and the inter structures of the two mutually independent body modules are both in central symmetry about the connecting plane of the two mutually independent body modules. The two mutually independent body modules are each internally provided with a motor and a transmission structure of a synchronous belt, wherein each motor is matched with the transmission structure of the corresponding synchronous belt. The transmission structures of the synchronous belts transmit power of front output shafts of the two mutually independent body modules to back output shafts, so that the whole mobile body platform forms a four-wheel drive moving mechanism. The wall-climbing robot carrying the connecting rod type mechanical arm can be rapidly disassembled and reassembled, and remote precise control over the wall-climbing robot is achieved. Even in a severe environment, the wall-climbing robot carrying the connecting rod type mechanical arm can still normally work, and the adaptability of the wall-climbing robot carrying the connecting rod type mechanical arm is improved.

Description

A kind of climbing robot for carrying link-type mechanical arm
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of wall-climbing device for carrying link-type mechanical arm People, which can be applied to the fields such as industrial robot.Link-type mechanical arm and moving body in the present invention is based on modularity Design philosophy, moving body and the dismounting of link-type mechanical arm, transports, recombinates convenient and swift, has in terms of small space transport Great advantage.
Background technology
Climbing robot portability power tool, assists or replaces the mankind that various limit operations are completed on wall.Which is wide The general work in nuclear industry, petroleum chemical enterprise, shipbuilding industry, building trade or other dangerous industries, is increasingly subject to The attention of people.With the increasingly increase of the continuous progressive and labor cost of human scienceses' technology, robot replaces artificial Perform simple repetition, the dangerous high, task of high labor intensive and be increasingly becoming a kind of trend.Climbing robot with its high efficiency, The features such as low cost, steady quality, is accelerating process of industrialization, is that the lasting health growth of Chinese national economy makes huge Contribution.As task difficulty complication and working environment are hazardous, a kind of multi-functional climbing robot is needed badly, which not only can Realize that operator also ensure that the multi-functional climbing robot of operation quality in the case of away from working environment, moreover it is possible to be easy to By the operating area of noncontinuity, fast quick-detach is capable of achieving with assembling.
Jing patent retrievals, find Application No.：CN201510896123.2, the applying date is：2015.12.07 China is specially Profit is related to a kind of flexible steel wall Work robot.Which is by robot body, Three Degree Of Freedom Work machine arm and derusting device Composition, it is seen that, the device is by following deficiency：（1）Liftable derusting device in the device is only lifted certainly with one By spending, rust cleaning area is less, and working performance is relatively low；（2）The device does not possess visual performance and distance measurement function.Range finding mould is not carried Block, rust cleaning and the height of spray painting, must reckon by experience and adjust, not enough accurately.Visual performance is not carried, it is impossible to detect robot Job status, it is impossible to real-time monitoring is carried out to robot surrounding condition, remote operation is not easy to；(3) magnet-wheel absorbing unit, magnetic conduction Not enough, easily there is skidding, probably smoothly creep all on magnetic conductivity wall in yoke and magnetic conductivity wall directly contact, frictional force It is difficult to realize.
The content of the invention
For above-mentioned deficiency, the present invention provides a kind of modularized wall-climbing robot for carrying link-type mechanical arm, its movement Car body is based on modular design method, and moving body is removable to be divided into that structure is identical, symmetrical two car body modules, is capable of achieving Robot is in the fast quick-detach by narrow and small restricted clearances such as the operating areas of noncontinuity and restructuring.Absorbing unit using with biography System suction type compares that adsorption efficiency is higher, the sandwich permanent magnetic suck that weight is lighter.Its move mode is wheeled four-wheel four-drive Motion mode, provides stable driving force for climbing robot.The link-type mechanical arm which carries is four-degree-of-freedom series connection machinery Arm.Simple and compact for structure, work space is big, the features such as load big, can meet several work requirement.
For achieving the above object, the present invention is adopted the following technical scheme that
A kind of climbing robot for carrying link-type mechanical arm, by moving body platform and multivariant link-type mechanical arm 2 Composition, the multi-degree-of-freemechanical mechanical arm 2 are fixedly connected with moving body Platform Machinery formula by some groups of screws；The locomotive Body platform is detachable moving body 1, including two separate car body modules and four groups of structure identical wheel-type permanent-magnets Absorbing unit 101,107,110,116；The profile of two separate car body modules is connected flat with the two with internal structure It is arranged symmetrically centered on face, two separate car body inside modules are provided with the transmission knot that motor coordinates Timing Belt Structure, the drive mechanism of Timing Belt are sent to rear output shaft by moving the power of the front output shaft of two separate car body modules On, the motion that whole car body mobile platform is two motor four-wheel four-drives is constituted, it is unilateral for two driving wheels before and after single motor Synchronized rotating mechanism.
A kind of climbing robot for carrying link-type mechanical arm, two separate car body modules are symmetrical structure Car body module, is made up of left body module and right body module, and wherein left body module is driven by the left box body in left railway carriage body Galvanic electricity machine 102 is by left box body motor driver, left box body decelerator 105 and left box body front output shaft, left box body Front output shaft is connected and composed with left box body rear output shaft 119 by left box body Timing Belt 104, left box body synchronous pulley；
The left box body is by left box body upper cover plate, left box body balustrade deching, left box body bottom cover plate, left railway carriage body Side cover plate, left box body cover board of front end, left box body rear end tails cover plate, left front end cap 122, left back end cap 121, composition, it is left Left box body outer handle 103, left box body rear end tails handle 120, left box body front end handle are provided with box body, it is left Left box body motor is provided with railway carriage body with decelerator support member 106, left box body decelerator hold-down support 108, a left side Box body motor driver supports fixed support, locating piece the moon 124, locating piece sun 126 to constitute；
The left body module is respectively arranged with anti-with the dynamic and static double containment in external environment contact site with right body inside modules Dirt water-tight device, the anti-dust water-proof device of the dynamic and static double containment of left body module therein, by left box body and left box body The upper surface of cover plate contact opens up the rectangular seal groove of arrangement rubber o-ring, with left front end cap and left back end cap junction with The ring packing groove of arrangement rubber o-ring is opened up centered on output shaft, composition realizes the rotary dynamic and static double density sealed knot of car body Structure.
A kind of climbing robot for carrying link-type mechanical arm, the locating piece sun are one piece and are threadably secured and are arranged on In the middle part of right body module chassis, the connector with projection, locating piece the moon is one piece and is threadably secured installed in left body module The some groups of screwed holes being vertically distributed are distributed with the middle part of chassis, on connector with groove, and locating piece yin, yang.
A kind of climbing robot for carrying link-type mechanical arm, the wheel-type permanent-magnet absorbing unit 101,107,110,116 For sandwich structure, by annular permanent magnet 303, outside magnetic conduction heel piece, inner side magnetic conduction heel piece, positioning sleeve 308, magnet-wheel outer rubber 304 are constituted, and annular permanent magnet 303 is embedded in outside magnetic conduction heel piece 302 and inner side magnetic conduction heel piece 309 by positioning sleeve 308, screw Between constitute sandwich structure, and 303 external cylindrical surface overlying of annular permanent magnet is equipped with the magnet-wheel outer rubber of increase magnet-wheel frictional force 304。
A kind of climbing robot for carrying link-type mechanical arm, the annular permanent magnet 303 are annular neodymium-iron-boron permanent Axial charging mode structure, the outside silicon steel magnetic conduction heel piece 302 are column " mountain " character form structure, and heart position is fixed with wherein It is provided with for coordinating outside silicon steel magnetic conduction heel piece side for magnetic wheel driven automatic scan and the round outside but spuare inside quill shaft for assembling, and its medial surface Four, face screwed hole realizes four annular array screwed holes of magnet-wheel assembling；Inner side silicon steel magnetic conduction heel piece 309 is column " king " word Shape structure, wherein heart position be fixed with for magnet-wheel assembling with drive a round outside but spuare inside quill shaft, wherein inner side silicon steel lead 309 medial surface of magnetic vibrating feeder yoke has the different annular array hole of two groups of radiuses, and that larger group annular array hole 305 of radius is used for real The demolition and maintenance of existing annular neodymium-iron-boron permanent and replacing, less that group annular array hole 306 of radius is used for by screw Realize fixation and the positioning of outside silicon steel magnetic conduction heel piece 302 and inner side silicon steel magnetic conduction heel piece 309；
The positioning sleeve 308 is setting element made by non-permeable material, and its one end is enclosed within outside outside silicon steel magnetic conduction heel piece 302 In circle square shaft it is cylindrical on, the other end be enclosed within 309 round outside but spuare inside axle of inner side silicon steel magnetic conduction heel piece it is cylindrical on, for realizing both Radial positioning, and ensure both axiality；
The annular neodymium-iron-boron permanent 303 is embedded between outside silicon steel magnetic conduction heel piece 302 and inner side silicon steel magnetic conduction heel piece 309 Groove in, inner and outer silicon steel magnetic conduction heel piece wraps 303 side of annular neodymium-iron-boron permanent and the face of cylinder；Outside silicon steel 302 warp beam end screw 301 of magnetic conduction heel piece is fixed together with magnetic wheel driven automatic scan axle 307, outside yoke 302 and inner side silicon steel conductive magnetic yoke Ferrum 309 is fixed by the screwed hole Jing screws of respective side and is tightened；Magnet-wheel outer rubber 304 is coated on outside silicon steel magnetic conduction heel piece 302 and 309 outer surface of inner side silicon steel magnetic conduction heel piece on, cause the demagnetization of permanent magnet high temperature for avoiding generation from being coated on permanent magnet Situation occur.
A kind of climbing robot for carrying link-type mechanical arm, the link-type mechanical arm is by base slew gear, large arm Pitching unit, forearm pitching unit, wrist pitching unit, image collecting device, diastimeter are constituted, and the link-type mechanical arm is Four-degree-of-freedom connect mechanical arm, its four-degree-of-freedom be respectively mechanical arm around base left and right gyration and mechanical arm it is big Arm, forearm, the elevating movement of wrist, and the pivot center of large arm, forearm and wrist are arranged parallel to；The link-type machine The left rotation and right rotation of tool arm is the kind of drive that motor coordinates harmonic speed reducer, and large arm, forearm, wrist are that electric cylinder is driving source Electronic control mode.
A kind of climbing robot for carrying link-type mechanical arm, described image harvester include major-minor two sets of image acquisition Module and range finder module, the master image harvester are to be fixed on mechanical arm bottom to car body surrounding environment operating mode real-time monitored Seat, and can about 360 ° of level each 90 ° of rotations monopod video cameras, the auxiliary image collector is set to realization and end performed Device job status carries out the video camera for being fixed on mechanical arm wrist end of real-time monitoring, and the range finder module is to be fixed in machine The laser range finder of tool arm wrist end, for the accurate adjustment to mechanical arm operation height.
There is following superiority due to adopting technical scheme as above, the present invention：
（1）Moving body and link-type mechanical arm are based on modular design method, are capable of achieving to moving body and mechanical arm Fast quick-detach and restructuring.Moving body also may be split into that two structures are identical, symmetrical standalone module.Especially by narrow There is very big advantage during little limited operating area.
（2）The climbing robot carrying image collecting device and laser range finder, are capable of achieving to the long-range of climbing robot Precise control.
（3）The climbing robot has preferable sealing property, robot moving body sound double containment and mechanical arm Integral sealing cabling design so that robot interior and external environment condition realize it is completely isolated, even if in adverse circumstances（Such as rain My god）Normal operation is remained to, the adaptability of robot is greatly improved.
(4) wire harness apparatus with uniqueness of robot, the cable and material conveying pipe fixation clamp of climbing robot Hold on bunch equipment, it is possible to follow climbing robot moving body movement and the axis of rotation around its own, it is to avoid Climbing robot occurs the situation for winding cable in moving process, realizes robot flexibly creeping in wall.
(5) its link-type mechanical arm is four-degree-of-freedom series connection mechanical arm, the parallel cloth of cradle head of large arm forearm wrist Put, simple and compact for structure, work space is larger.
Description of the drawings
Fig. 1 is the overall appearance axonometric drawing of the present invention；
Fig. 2 is moving body cut-away view of the present invention；
Fig. 3 is one side vehicle body view of the invention；
Fig. 4 is that locating piece of the present invention is cloudy；
Fig. 5 is locating piece sun of the present invention；
Fig. 6 is link-type mechanical arm overall appearance axonometric drawing of the present invention；
Fig. 7 is link-type mechanical arm upward view of the present invention；
Fig. 8 is wheeled magnetic absorbing unit overall appearance axonometric drawing of the invention；
Fig. 9 is silicon steel magnetic conduction heel piece side view on the outside of wheeled magnetic absorbing unit of the invention；
Figure 10 is silicon steel magnetic conduction heel piece side view on the inside of wheeled magnetic absorbing unit of the invention；
Figure 11 is wheeled magnetic absorbing unit profile of the invention.
In figure：1 climbing robot moving body, 2 link-type mechanical arms, magnet-wheel absorbing unit, 102 right railway carriages behind 101 right sides Body motor, 103 right box body outer handles, 104 right box body Timing Belts, 105 right box body decelerators, 106 right railway carriages Body motor and decelerator fixed support, 107 right front magnet-wheel absorbing units, 108 right box body decelerator fixed supports, 109 left cars It is casing decelerator fixed support, 110 left front magnet-wheel absorbing units, 111 left box body motors and decelerator fixed support, 112 left It is box body decelerator, 113 left box body Timing Belts, 114 left box body outer handles, 115 left box body motors, 116 left Magnet-wheel absorbing unit, 117 left side box body rear output shafts, 118 left side box body rear end tails handles, 119 right side box bodies afterwards Rear output shaft, 120 right side box body rear end tails handles, 121 right side box body preamble belt wheels, 122 right side box body positioning Synchronous pulley, 124 left side box body locating piece sun, 201 master image harvesters, 202 forearms after block the moon, 123 right side box bodies Motor is fixed with decelerator, 203 forearm electrical pushing cylinders, 204 wrist motors and decelerator, 205 wrist electrical pushing cylinders, 206 Support, 207 laser range finders and the auxiliary image collecting device of good fortune, 208 end effectors, 209 wrist frames, 210 forearm frames, Lid, 214 bed frames, 215 base revolution driving motors on 211 large arm frames, 212 large arm electrical pushing cylinders, 213 harmonic speed reducers Cover, the synchronous small pulley of 216 wire harness apparatus, 217 bases revolution, 218 bases revolution Timing Belt, 219 base harmonic speed reducers, 220 Large arm pitching motor and decelerator, the 221 bases synchronous big belt wheel of revolution.301 magnetic wheel driven automatic scan axle shaft end screws, 302 magnetic coupons First outside silicon steel magnetic conduction heel piece, 303 annular neodymium-iron-boron permanents, 304 magnet-wheel outer rubbers, 305 inner side silicon steel magnetic conduction heel pieces with Outside silicon steel magnetic conduction heel piece fixing screws, 306 inner side silicon steel magnetic conduction heel piece removal holes, 307 magnetic wheel driven automatic scan axles, 308 positioning sleeves, 309 inner side silicon steel magnetic conduction heel pieces.
Specific embodiment
As shown in Figure 1 to 11, a kind of modularized wall-climbing robot for carrying link-type mechanical arm, its moving body are based on Modular design method, moving body is removable to be divided into that structure is identical, symmetrical two car body modules, is capable of achieving robot and exists By the fast quick-detach of the narrow and small restricted clearance such as the operating area of noncontinuity and restructuring.Absorbing unit using with traditional absorption side Formula compares that adsorption efficiency is higher, the sandwich permanent magnetic suck that weight is lighter.Its move mode is the motion mode of wheeled four-wheel four-drive, Stable driving force is provided for climbing robot.The link-type mechanical arm which carries is four-degree-of-freedom series connection mechanical arm.Structure letter Single compact, work space is big, the features such as load big, can meet several work requirement.
A kind of modularized wall-climbing robot of the carrying link-type mechanical arm for proposing, link-type mechanical arm and climbing robot Moving body is based on modularized design, is capable of achieving the sharp separation to mechanical arm and moving body and restructuring.Its moving body Removable to be divided into two symmetrical, structure identical standalone modules, two intermodule frame for movements are mutually isolated with electrical wiring, and It is respectively provided with independent water resistance.Modularized design causes have great advantage when robot is by restricted clearance.It is easy to lead to The features such as crossing narrow and small restricted clearance, be readily transported, assemble quick has greatly expanded the range of application of robot.Its link-type machine Tool arm adopts the Electronic control mode with electrical pushing cylinder as driving source, it is to avoid zero brought with the conventional ADS driving mode such as pneumatic of surging Part is more, wayward, it is difficult in maintenance the shortcomings of.Link-type mechanical arm is four-degree-of-freedom series connection mechanical arm, simple and compact for structure, Work space is larger, flexible movements, is easy to control.The climbing robot is not only equipped with image collecting device and further provided with laser Diastimeter, in the case where operator is away from operating area, remains to realize the long-range precise control to robot, can also be to end Executor's handling situations carry out real-time monitoring with observation.The climbing robot magnetic absorbing unit is wheeled using the permanent magnetism of sandwich structure Suction type, it is high with magnetic strength line use ratio compared with existing magnetic suck mode, it is simple and compact for structure, simple and fast is assembled, easily The features such as dismounting is with safeguarding.
A kind of climbing robot of the carrying link-type mechanical arm for proposing, which is mainly by moving body and link-type mechanical arm Composition.The moving body mainly includes that two separate car body modules and four groups of structure identical wheel-type permanent-magnet absorption are single Unit.The car body module is broadly divided into left body module and right body module, and the two structure is essentially identical, and overall dimensions with it is interior Portion's structure is arranged symmetrically centered on the two connection plane, and wherein left body module is mainly by left box body, left box body Motor, left box body motor driver, left box body decelerator, left box body front output shaft, left box body Timing Belt, a left side Box body synchronous pulley, left box body rear output shaft are constituted.
The left box body is mainly by left box body upper cover plate, left box body balustrade deching, left box body bottom cover plate, a left side Box body inside cover plate, left box body cover board of front end, left box body rear end tails cover plate, left box body outer handle, left railway carriage Body rear end tails handle, left box body front end handle, left box body motor and left box body decelerator support member, left railway carriage Body decelerator hold-down support, left box body motor driver support fixed support, left front end cap, left back end cap, locating piece cloudy with Locating piece sun is constituted.The left box body balustrade deching, left box body bottom cover plate, left box body cover board of front end, left box body Rear end tails cover plate, left box body outer handle, left box body rear end tails handle and left box body front end handle are respectively arranged In left box body surrounding, an integrally closed structure is formed.The left box body upper cover plate and left box body inside cover plate Jing Screw is fixedly mounted on left box body upper surface and inner side end.Left box body upper cover plate lower right position has been vertically arranged four Individual waterproof anti-explosion plug hole of different sizes, for realize car body integral sealed cabling design and it is mechanical be electrically isolated Function.The left box body motor and left box body decelerator support member Jing screws are fixed on inside left box body, are formed A kind of cage structure, motor and decelerator are positioned over inside cage, support motor that can not only be stable and deceleration Device can also improve car body tension and comprcssive strength.Left box body motor driver supports fixed support Jing screws to be fixed on left railway carriage Body inside chassis side protruding parts, left box body motor driver Jing screws are fixedly installed in left box body motor driver On support fixed support.Left box body decelerator hold-down support upper end is fixed on the mounting flange of left box body decelerator, bottom Jing screws are fixed on left box body motor and left box body decelerator support member, for realizing left box body decelerator Fixed and positioning.The left front end cap is located at the outer fix that left box body front output shaft is contacted with left box body side cover plate, Left back end cap is located at the outer fix that left box body rear output shaft is contacted with left box body side cover plate, left front end cap and left back end Lid contacts position using dynamic and static double containment with output shaft, so as to realize inside left box body and left box body external environment condition Keep apart.The left box body opens up rectangle with side end face in its upper surface contacted with left box body upper cover plate and side cover plate Sealed groove, by output shaft centered on opens up ring packing groove with left back end cap junction with left front end cap at which, when its with Rubber o-ring reality when left box body upper cover plate, side cover plate, left front end cap and left back end cap connect by arranging in sealed groove The overall static seal of existing car body.Left box body front output shaft with left front cover plate contact position and left box body export rear axle with Left back cover plate contacts and offer ring packing groove at position, for placing rubber o-ring, realizes that car body is rotary dynamic close Envelope.It is finally reached the purpose of whole car body totally enclosed type sealing.
The left box body rear end tails handle has been vertically arranged one group with left box body front end handle side position and has led to Hole, right box body rear end tails handle have similarly been vertically arranged one group of through hole with right box body front end handle side position, After two box body modules of left and right are stitched together, the through hole pair on left and right box body front end handle and rear end tails handle Just align, bolt realizes the rapid and convenient splicing of left and right box body through the through hole with nut screw connection.In left box body bottom cover Plate contact with left box body inside cover plate position chassis in the middle part of, it is cloudy that Jing screws are mounted with locating piece, in right box body Bottom cover plate contact with right box body inside cover plate position chassis in the middle part of, Jing screws be mounted with locating piece sun.Positioning Block sun is a band bulge-structure, and it is a band sunk structure that locating piece is cloudy, on locating piece sun and locating piece the moon is distributed with three groups The screwed hole being vertically distributed, when locating piece male bosses point and locating piece the moon female are combined together, left and right box body pair Just fit together, then locating piece sun is tightened with locating piece the moon by Jing screws.Through handle side through hole bolts and nuts with And the quick splicing of left and right box body is realized in the dual fixation of locating piece male and female.
After the left box body motor is together with left box body decelerator fixing assembling, left railway carriage is arranged vertically at Body motor and left box body decelerator support member are built inside the cage structure of composition.Left box body decelerator hold-down support For "convex" shaped shape, the fixation flange aperture of the left box body decelerators of its upper end Jing is fixed on left box body decelerator, its bottom End is fixed on left box body bottom plate, realizes fixation and the positioning of left box body motor and decelerator.Before left box body Output shaft is fixedly mounted on bearing spider after left box body decelerator, and left railway carriage daughter output rear axle is defeated with left box body Go out that front axle is parallel to be fixed on bearing spider, left box body front output shaft and the equal one end fixed installation of left box body rear output shaft are left Box body synchronous pulley, one end fixed installation wheel-type permanent-magnet absorbing unit, is tensioned left railway carriage between two left box body synchronous pulleys Body Timing Belt, so as to the power that exports left box body motor and torque are delivered on left box body output rear axle, so as to reality The synchronized rotation of existing one side two magnet-wheel of car body, realizes the four-wheel four-drive form of whole car body.
The wheel-type permanent-magnet absorbing unit is mainly by annular permanent magnet, outside magnetic conduction heel piece, inner side magnetic conduction heel piece, positioning Set, magnet-wheel outer rubber are constituted.The annular permanent magnet is by strong magnetic material（Such as neodymium iron boron）The circulus being prepared from, And axial charging mode is taken, the annular permanent magnet is used to provide the strong magnetic environment for producing absorption affinity.Outside magnetic conduction heel piece be Column " mountain " character form structure, wherein heart position be fixed with the round outside but spuare inside quill shaft for magnetic wheel driven automatic scan with assembling, and outside Magnetic conduction heel piece medial surface has four annular array screwed holes, for coordinating outside magnetic conduction heel piece side four screwed hole to realize magnet-wheel Assembling.Inner side magnetic conduction heel piece is column " king " character form structure, and heart position is equally fixed with a round outside but spuare inside quill shaft wherein, For magnet-wheel assembling and driving.Inner side magnetic conduction heel piece medial surface has a different annular array hole of two groups of radiuses, larger that of radius One group of annular array hole is used to realize the dismounting of annular permanent magnet and safeguard that less that group annular array hole of radius to be used for Fixation and positioning, outside magnetic conduction heel piece and the inner side magnetic conduction heel piece of outside magnetic conduction heel piece and inner side magnetic conduction heel piece are realized by screw By high-permeability material（Such as silicon steel, iron-nickel alloy）It is prepared from, plays a part of to dredge and gather magnetic induction line.The positioning sleeve For one by made by non-permeable material setting element, one part be enclosed within the outside round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, Hold out against outside magnetic conduction heel piece, another part be enclosed within the inner side round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, for ensureing outside magnetic conduction The axiality of yoke and inner side magnetic conduction heel piece.The annular permanent magnet is embedded between outside magnetic conduction heel piece and inner side magnetic conduction heel piece Groove in, inner and outer magnetic conduction heel piece wraps annular permanent magnet body side surface and the face of cylinder.Outside magnetic conduction heel piece warp beam end spiral shell Nail is fixed together with magnetic wheel driven automatic scan axle, and outside yoke and inner side magnetic conduction heel piece are fixed by the screwed hole Jing screws of respective side Tighten.Magnet-wheel outer rubber is coated on outside magnetic conduction heel piece and inner side magnetic conduction heel piece outer surface, it is to avoid generation is coated on permanent magnetism Cause the situation of permanent magnet high temperature demagnetization, magnet-wheel outer rubber to be used for increasing magnet-wheel frictional force on body, prevent magnet-wheel from rotating Occur skidding in journey, realize that climbing robot is flexibly moved on magnetic conduction wall.The sandwich permanent magnetic suck cell operation When, magnetic induction line is flowed out from annular permanent magnet N poles, after the gathering of outside magnetic conduction heel piece, through magnetic conductivity wall, flows through inner side Magnetic conduction heel piece, finally flows back to annular permanent magnet S poles, defines closure magnetic strength line loop, improves magnetic strength line use ratio, increase Absorption affinity of the climbing robot on magnetic conduction wall.Prevent magnet-wheel from occurring skidding in rotation process, realize wall-climbing device People is flexibly moved on magnetic conduction wall.
The link-type mechanical arm be four-degree-of-freedom connect mechanical arm, its four-degree-of-freedom be respectively base gyration and Large arm, forearm, the elevating movement of wrist, the pivot center of large arm, forearm and wrist are arranged parallel to.The link-type machine Tool arm is mainly by base slew gear, large arm pitching unit, forearm pitching unit, wrist pitching unit, image collecting device, survey Distance meter is constituted.
The base slew gear mainly by base pedestal, base motor, base Timing Belt, base synchronous pulley, On base harmonic speed reducer, harmonic speed reducer, lid and wire harness apparatus are constituted.The flange Jing screws of base motor are fixed on Base pedestal upper surface lower right position, the base synchronous pulley Jing keys inside base pedestal are fixedly mounted on base driving On motor output shaft, base harmonic speed reducer is fixedly mounted on pedestal upper surface middle front part, base harmonic speed reducer input shaft with The base synchronous pulley of base interior links together.Tensioning base Timing Belt between two base synchronous pulleys, so as to realize by The power and torque of the output shaft of base motor is delivered on base harmonic speed reducer output shaft, and on harmonic speed reducer, lid is fixed On base harmonic speed reducer output flange, cover on harmonic speed reducer and connect with connecting rod mechanical arm, it is achieved thereby that entirely Gyration of the mechanical arm around base；Wire harness apparatus are mainly made up of upper press cover and lower cover, and wire harness apparatus are fixedly mounted on bottom The top of seat motor, upper press cover one end are fixed together by rotating shaft with lower cover one end, form similar hinge property Open-and-close mechanism, by wing nut, the other end of upper and lower gland realizes that cable and material conveying pipe are compressed by upper lower cover.
Big arm unit is mainly made up of large arm frame, large arm motor, large arm decelerator, large arm electrical pushing cylinder.Large arm machine Frame is stitched together by two pieces of floor Jing copper sheathing rotating shafts, and large arm frame head end is fixedly mounted on harmonic speed reducer caping end can Elevating movement is done around the fixing end.Large arm motor and large arm decelerator are arranged on large arm electrical pushing cylinder, and three is used as large arm The source that drives of elevating movement is mounted in the position directly below of large arm frame, and large arm electrical pushing cylinder ear is fixedly mounted on harmonic speed reducer Upper lid lateral location, large arm electrical pushing cylinder push rod are fixedly mounted on large arm frame end, so as to realize large arm around base harmonic reduction The elevating movement of device.
The elevating movement of forearm is based on lever principle, and which mainly includes that forearm frame, forearm motor, forearm slow down Device, forearm electrical pushing cylinder.Forearm motor and forearm decelerator are arranged on forearm electrical pushing cylinder, and three is used as forearm elevating movement Driving source be mounted between two floor of large arm frame, forearm electrical pushing cylinder ear Jing copper sheathing rotating shafts are fixedly mounted on large arm frame two Floor stem, the push rod of forearm electrical pushing cylinder are fixed on the head end of forearm frame, and large arm frame end is fixed on forearm head end and slightly leans on Position afterwards, and with the point as fulcrum.So as to realize the elevating movement of forearm.
Wrist elevating movement is equally based on lever principle, and which is mainly slowed down by wrist frame, wrist motor, wrist Device, wrist electrical pushing cylinder.In the lever motion arrangement form of driving source and fulcrum in forearm elevating movement driving source with The arrangement form of point is identical.Wrist frame is equally made up of two pieces of floors, and wrist motor and wrist decelerator are arranged on handss On wrist electrical pushing cylinder, driving source of the three as forearm elevating movement, between two floor of forearm frame, wrist electrical pushing cylinder ear Piece Jing copper sheathing rotating shafts are fixed on two floor header bits of forearm frame and put, and wrist electrical pushing cylinder ear Jing copper sheathing rotating shafts are fixedly mounted on little Two floor stem of arm frame, wrist electrical pushing cylinder push rod are fixed on the head end of forearm frame, and it is first that forearm frame end is fixed on wrist End slightly position rearward, and with the point as fulcrum.So as to realize the elevating movement of wrist.
Described image collecting device includes main and auxiliary two sets of image acquisition cameras.The master image acquisition camera be containing There is the high-definition network camera of controllable head, the video camera is fixed on the lower-left Angle Position of base pedestal.Realize to movement The comprehensive real-time monitored of car body and mechanical arm periphery situation.Auxiliary video camera is a high-definition network camera, itself and laser ranging Instrument is fixed in an airtight waterproof capsule together, and the capsule is arranged on the surface of wrist frame, and auxiliary video camera can be real It is now very clear to the handling situations of end effector..The laser range finder is fixed on close directly over wrist frame Close in capsule, the laser beam irradiation that laser range finder sends can be carried out to mechanical arm operation height on work platformses in real time Measurement, it is ensured that mechanical arm operation in place.Image collecting device and laser range finder it is separate installed in machinery On arm, image collecting device and laser range finder are capable of achieving the remotely control to climbing robot, even if operator are away from climbing Wall robot, equally can ensure that robot in place and suitable working depth carries out operation, expand significantly The range of application of robot.
A kind of climbing robot of the carrying link-type mechanical arm for proposing, which is mainly by moving body 1 and link-type machinery Arm 2 is constituted.The moving body 1 mainly includes that two separate car body modules and four groups of structure identical wheel-type permanent-magnets are inhaled Coupon unit 101,107,110,116.The car body module is broadly divided into left body module and right body module, and the two structure is basic It is identical, and overall dimensions are arranged symmetrically centered on the two is connected plane with internal structure, wherein left body module is main By left box body, left box body motor 102, left box body motor driver, left box body decelerator 105, left box body Front output shaft, left box body Timing Belt 104, left box body synchronous pulley, left box body rear output shaft 119 are constituted.
The left box body is mainly by left box body upper cover plate, left box body balustrade deching, left box body bottom cover plate, a left side Box body inside cover plate, left box body cover board of front end, left box body rear end tails cover plate, left box body outer handle 103, left car Box back afterbody handle 120, left box body front end handle, left box body motor and decelerator support member 106, left railway carriage Body decelerator hold-down support 108, left box body motor driver support fixed support, left front end cap 122, left back end cap 121, fixed Positive 126 composition of position block the moon 124, locating piece.The left box body balustrade deching, left box body bottom cover plate, left box body front end Cover plate, left box body rear end tails cover plate, left box body outer handle 103, left box body rear end tails handle 120, left railway carriage Body front end handle is arranged in left box body surrounding, the semi-enclosed structure of one entirety of formation.The left box body upper cover plate It is fixedly mounted on left box body upper surface and inner side end with left box body inside cover plate Jing screws.Left box body upper cover plate is right Lower Angle Position is vertically arranged four waterproof anti-explosion plug holes of different sizes, for realizing that car body integral sealed cabling is designed With machinery and the function being electrically isolated.The left box body motor is fixed on a left side with 106 Jing screws of decelerator support member Inside box body, a kind of cage structure is formed, left box body motor and decelerator 106 is positioned over inside cage, not only Support motor and decelerator that can be stable can also improve car body tension and comprcssive strength.Left box body motor driver is supported Fixed support Jing screws are fixed on left box body inside chassis side protruding parts, and left box body motor driver Jing screws are fixed It is installed on left box body motor driver to support on fixed support.Left 108 upper end of box body decelerator hold-down support is fixed on a left side On the mounting flange of box body decelerator 105, bottom Jing screws are fixed on left box body motor and decelerator support member 106 On, for realizing the fixation of left box body decelerator with positioning.The left front end cap 122 is located at left box body front output shaft with a left side The outer fix that box body side cover plate contacts, left back end cap 121 are located at left box body rear output shaft 119 and left box body side cover The outer fix that plate contacts, left front end cap 122 and left back end cap 121 contact position using dynamic and static double containment with output shaft, So as to realize keeping apart with left box body external environment condition inside left box body.The left box body is covered on itself and left box body The upper surface of plate and side cover plate contact opens up rectangular seal groove with side end face, is connected with left front end cap with left back end cap at which Ring packing groove is opened up centered on sentencing output shaft, when itself and left box body upper cover plate, side cover plate, left front end cap and left back end The overall static seal of car body is realized during lid connection by the rubber o-ring arranged in sealed groove.In left box body front output shaft Export rear axle and contact with left back cover plate and ring packing is offered at position with contact position and left box body of left front cover plate Groove, for placing rubber o-ring, realizes the rotary dynamic sealing of car body.It is finally reached the mesh of whole car body totally enclosed type sealing 's.
The left box body rear end tails handle 120 has been vertically arranged one group with left box body front end handle side position Through hole, right box body rear end tails handle 118 have similarly been vertically arranged one group with right box body front end handle side position Through hole, after two box body modules of left and right are stitched together, on left and right box body front end handle and rear end tails handle Through hole aligns alignment, and bolt realizes the rapid and convenient splicing of left and right box body through the through hole with nut screw connection.In left box body Bottom cover plate contact with left box body inside cover plate position chassis in the middle part of, Jing screws are mounted with locating piece the moon 124, Right box body bottom cover plate contact with right box body inside cover plate position chassis in the middle part of, Jing screws are mounted with locating piece Sun 126.Locating piece sun 126 is a band bulge-structure, and locating piece cloudy 124 is a band sunk structure, in locating piece sun 126 and positioning Three groups of screwed holes being vertically distributed are distributed with block the moon 124, when locating piece 126 bossings of sun are recessed with locating piece cloudy 124 It is fit partially within together, left and right box body is aligned and fitted together, then locating piece sun 126 is twisted with locating piece the moon 124 by Jing screws Tightly.The quick splicing of left and right box body is realized in the dual fixation of bolts and nuts and locating piece through handle side through hole.
After the left box body motor 102 is together with left 105 fixing assembling of box body decelerator, it is arranged vertically at Left box body motor is built inside the cage structure of composition with decelerator support member 106.Left box body decelerator is fixed and is propped up Seat 108 is "convex" shaped shape, and the fixation flange aperture of the left box body decelerators of its upper end Jing 105 is fixed on left box body decelerator On 105, its bottom is fixed on left box body bottom plate, realizes fixation and the positioning of left box body motor and decelerator. Left box body front output shaft is fixedly mounted on bearing spider after left box body decelerator, and left railway carriage daughter exports rear axle 119 front axle is parallel is fixed on bearing spider with the output of left box body, left box body front output shaft and left box body rear output shaft 119 equal one end fixedly mount left box body synchronous pulley 123 and 125, one end fixed installation wheel-type permanent-magnet absorbing unit 101 and 107, left box body Timing Belt 104 is tensioned between two left box body synchronous pulleys 123 and 125, so as to left box body is driven electricity The power and torque of the output of machine 102 is delivered on left box body output rear axle 119, so as to realize that the synchronized of two magnet-wheel of unilateral car body turns It is dynamic, realize the four-wheel four-drive form of whole car body.
The wheel-type permanent-magnet absorbing unit is mainly by annular neodymium-iron-boron permanent 303, outside silicon steel magnetic conduction heel piece 302, interior Side silicon steel magnetic conduction heel piece 309, positioning sleeve 308, magnet-wheel outer rubber 304 are constituted.The annular neodymium-iron-boron permanent 303 takes axle To the mode of magnetizing, for providing the strong magnetic environment for producing absorption affinity.Outside silicon steel magnetic conduction heel piece 302 is column " mountain " font knot Structure, wherein heart position be fixed with for magnetic wheel driven automatic scan with assembling round outside but spuare inside quill shaft, and its medial surface have four it is annular Array screwed hole, for coordinating outside silicon steel magnetic conduction heel piece side four screwed hole to realize the assembling of magnet-wheel.Inner side silicon steel magnetic conduction Yoke 309 is column " king " character form structure, and heart position is equally fixed with a round outside but spuare inside quill shaft wherein, assembles for magnet-wheel With driving.Silicon steel magnetic conduction heel piece 309 medial surface in inner side has the different annular array hole of two groups of radiuses, that larger group ring of radius Shape array hole 305 is used for demolition and maintenance and replacing, less that group annular array of radius for realizing annular neodymium-iron-boron permanent Hole 306 is used to be realized the fixation of outside silicon steel magnetic conduction heel piece 302 and inner side silicon steel magnetic conduction heel piece 309 and be positioned by screw.Institute State positioning sleeve 308 for one by made by non-permeable material setting element, during assembling its one end be enclosed within outside silicon steel magnetic conduction heel piece 302 round outside but spuare inside axles it is cylindrical on, the other end be enclosed within 309 round outside but spuare inside axle of inner side silicon steel magnetic conduction heel piece it is cylindrical on, realize two The radial positioning of person, it is ensured that both axialities.Annular neodymium-iron-boron permanent 303 is embedded in outside silicon steel magnetic conduction heel piece 302 In the groove between inner side silicon steel magnetic conduction heel piece 309, inner and outer silicon steel magnetic conduction heel piece wraps annular Nd-Fe-B permanent magnetic 303 side of body and the face of cylinder.Silicon steel magnetic conduction heel piece 302 warp beam end screw 301 in outside is fixed together with magnetic wheel driven automatic scan axle 307, Outside yoke 302 and inner side silicon steel magnetic conduction heel piece 309 are fixed by the screwed hole Jing screws of respective side and are tightened.Rubber on the outside of magnet-wheel Glue 304 is coated on 309 outer surface of outside silicon steel magnetic conduction heel piece 302 and inner side silicon steel magnetic conduction heel piece, it is to avoid generation is coated on forever Cause the situation of permanent magnet high temperature demagnetization, magnet-wheel outer rubber 304 to be used for increasing magnet-wheel frictional force on magnet, prevent magnet-wheel from turning There is skidding during dynamic, realize that climbing robot is flexibly moved on magnetic conduction wall.The sandwich permanent magnetic suck unit During work, magnetic induction line is flowed out from annular neodymium-iron-boron permanent 303N poles, after the gathering of outside silicon steel magnetic conduction heel piece 302, is worn Magnetic conductivity wall is crossed, inner side silicon steel magnetic conduction heel piece 309 is flowed through, is finally flowed back to annular neodymium-iron-boron permanent 303S poles, define and close Magnetic strength line loop is closed, magnetic strength line use ratio is improve, is increased absorption affinity of the climbing robot on magnetic conduction wall.Prevent magnet-wheel Occur skidding in rotation process, realize that climbing robot is flexibly moved on magnetic conduction wall.
The link-type mechanical arm 2 is four-degree-of-freedom series connection mechanical arm, and its four-degree-of-freedom respectively mechanical arm is around base Gyration and large arm, forearm, the elevating movement of wrist.The pivot center of large arm, forearm and wrist is arranged parallel to. Link-type mechanical arm 2 is mainly adopted by base slew gear, large arm pitching unit, forearm pitching unit, wrist pitching unit, image Acquisition means, diastimeter are constituted.
The base slew gear is mainly by base pedestal 214, base motor, the revolution of base Timing Belt 218, base Lid 213 and beam on the synchronous big belt wheel 221 of synchronous small pulley 217, base revolution, base harmonic speed reducer 219, harmonic speed reducer Line apparatus 216 are constituted.The flange Jing screws of base motor are fixed on 214 upper surface lower right position of base pedestal, are located at The synchronous 217 Jing keys of small pulley of base revolution inside base pedestal 214 are fixedly mounted in base driving motor output shaft, base Harmonic speed reducer 219 is fixedly mounted on 214 upper surface middle front part of pedestal frame, 219 input shaft of base harmonic speed reducer and pedestal The internal synchronous big belt wheel 221 of base revolution links together.Tensioning base between two base revolution synchronous pulleys 217 and 221 Timing Belt 218, exports so as to the power and torque of realizing the output shaft of base motor are delivered to base harmonic speed reducer 219 On axle, on harmonic speed reducer, lid 213 is fixedly mounted on 219 output flange of base harmonic speed reducer, lid 213 on harmonic speed reducer Connect with connecting rod mechanical arm 2, it is achieved thereby that gyration of the whole mechanical arm around base；Wire harness apparatus 216 are main by upper pressure Lid and lower cover are constituted, and wire harness apparatus 216 are fixedly mounted on the top of base motor cover 215, upper press cover one end with push Lid one end is fixed together by rotating shaft, forms the open-and-close mechanism of similar hinge property, and the other end of upper and lower gland leans on butterfly Nut realizes that cable and material conveying pipe are compressed by upper lower cover.
Big arm unit is mainly made up of large arm frame 211, large arm motor and decelerator, large arm electrical pushing cylinder 212.Large arm Frame 211 is spliced by two pieces of floor Jing copper sheathing rotating shafts, and 211 head end of large arm frame is fixedly mounted on harmonic speed reducer and covers Simultaneously elevating movement can be done around the fixing end in 213 tops.Large arm motor is arranged on large arm electrical pushing cylinder 212 with decelerator, and three Person is mounted in the position directly below of large arm frame 211 as the source that drives of large arm elevating movement, and 213 ear of large arm electrical pushing cylinder is fixed Installed in 213 lateral location of lid on harmonic speed reducer, 212 push rod of large arm electrical pushing cylinder is fixedly mounted on 211 end of large arm frame, from And realize elevating movement of the large arm around base harmonic speed reducer.
The elevating movement of forearm is based on lever principle, and which mainly includes forearm frame 210, forearm motor and decelerator 202nd, forearm electrical pushing cylinder 203.Forearm motor is arranged on forearm electrical pushing cylinder 203 with decelerator 202, and three bows as forearm The driving source for facing upward motion is mounted between 211 liang of floors of large arm frame, 203 ear Jing copper sheathings rotating shaft of forearm electrical pushing cylinder fixed installation In 211 liang of floor stems of large arm frame, 203 push rod of forearm electrical pushing cylinder is fixed on the head end of forearm frame 210, large arm frame 211 End is fixed on 210 head end of forearm frame slightly position rearward, and with the point as fulcrum.So as to realize the elevating movement of forearm.
Wrist elevating movement is equally based on lever principle, and which is mainly by wrist frame 209, wrist motor and decelerator 204th, wrist electrical pushing cylinder 205.The arrangement form of driving source and fulcrum driving source in forearm elevating movement in the lever motion It is identical with the arrangement form of fulcrum.Wrist frame 209 is equally made up of two pieces of floors, wrist motor and 204 side of decelerator It is mounted on wrist electrical pushing cylinder 205, driving source of the three as forearm elevating movement, between 210 liang of floors of forearm frame, The 205 ear Jing copper sheathing rotating shafts of wrist electrical pushing cylinder are fixed on 210 liang of floor header bits of forearm frame and put, and wrist electrical pushing cylinder 205 is pushed away Bar is fixed on the head end of forearm frame 210, and 210 end of forearm frame is fixed on 209 head end of wrist frame slightly position rearward, and with The point is fulcrum.So as to realize the elevating movement of wrist.
Described image collecting device includes main and auxiliary two sets of image acquisition cameras.The master image acquisition camera 201 is High-definition network camera containing controllable head, the video camera are fixed on the lower-left Angle Position of base pedestal 214.It is right to realize The comprehensive real-time monitored of moving body and mechanical arm periphery situation.Auxiliary video camera is a high-definition network camera, itself and laser Diastimeter is fixed on 207 in an airtight waterproof capsule together, and the capsule 207 is arranged on the surface of wrist frame 209, Auxiliary video camera is capable of achieving very clear to 208 handling situations of end effector.The laser range finder is fixed on wrist machine In closed capsule 207 directly over frame, the laser beam irradiation that laser range finder sends can be made to mechanical arm on work platformses Industry is highly measured in real time, it is ensured that mechanical arm operation in place.Image collecting device and laser range finder are mutually only On the robotic arm, image collecting device and laser range finder are capable of achieving the remotely control to climbing robot for vertical installation, even if Operator equally can ensure that robot in place and suitable working depth carry out work away from climbing robot Industry, has expanded the range of application of robot significantly.

Claims (8)

1. it is a kind of carry link-type mechanical arm climbing robot, it is characterised in that：By moving body platform and multivariant Link-type mechanical arm 2 is constituted, and the multi-degree-of-freemechanical mechanical arm 2 is fixed with moving body Platform Machinery formula by some groups of screws and connected Connect；The moving body platform is detachable moving body 1, including two separate car body modules and four groups of structure phases Same wheel-type permanent-magnet absorbing unit 101,107,110,116；The profile of two separate car body modules is equal with internal structure It is arranged symmetrically centered on the two connection plane, two separate car body inside modules are provided with motor and coordinate synchronous The drive mechanism of band, the drive mechanism of Timing Belt are transmitted by moving the power of the front output shaft of two separate car body modules To rear output shaft, the motion that whole car body mobile platform is two motor four-wheel four-drives is constituted, it is unilateral for before single motor The synchronized rotating mechanism of two driving wheels afterwards.
2. as claimed in claim 1 a kind of climbing robot for carrying link-type mechanical arm, it is characterised in that：Two separate Car body module for symmetrical structure car body module, be made up of left body module and right body module, wherein left body module By the left box body motor 102 in left railway carriage body by left box body motor driver, left box body decelerator 105 and a left side Box body front output shaft, left box body front output shaft pass through left box body Timing Belt 104, left box body synchronous pulley and left railway carriage Body rear output shaft 119 is connected and composed；
The left box body is by left box body upper cover plate, left box body balustrade deching, left box body bottom cover plate, left railway carriage body Side cover plate, left box body cover board of front end, left box body rear end tails cover plate, left front end cap 122, left back end cap 121, composition, it is left Left box body outer handle 103, left box body rear end tails handle 120, left box body front end handle are provided with box body, it is left Left box body motor is provided with railway carriage body with decelerator support member 106, left box body decelerator hold-down support 108, a left side Box body motor driver supports fixed support, locating piece the moon 124, locating piece sun 126 to constitute；
The left body module is respectively arranged with anti-with the dynamic and static double containment in external environment contact site with right body inside modules Dirt water-tight device, the anti-dust water-proof device of the dynamic and static double containment of left body module therein, by left box body and left box body The upper surface of cover plate contact opens up the rectangular seal groove of arrangement rubber o-ring, with left front end cap and left back end cap junction with The ring packing groove of arrangement rubber o-ring is opened up centered on output shaft, composition realizes the rotary dynamic and static double density sealed knot of car body Structure.
3. as claimed in claim 2 a kind of climbing robot for carrying link-type mechanical arm, it is characterised in that：The locating piece sun Be one piece be threadably secured in the middle part of right body module chassis, the connector with projection, locating piece the moon is one piece and passes through It is screwed in the middle part of left body module chassis, on connector with groove, and locating piece yin, yang, is distributed with some groups The screwed hole being vertically distributed.
4. as claimed in claim 2 a kind of climbing robot for carrying link-type mechanical arm, it is characterised in that：The wheel-type permanent-magnet Absorbing unit 101,107,110,116 be sandwich structure, by annular permanent magnet 303, outside magnetic conduction heel piece, inner side magnetic conduction heel piece, Positioning sleeve 308, magnet-wheel outer rubber 304 are constituted, and annular permanent magnet 303 is embedded in outside conductive magnetic yoke by positioning sleeve 308, screw Sandwich structure is constituted between ferrum 302 and inner side magnetic conduction heel piece 309, and 303 external cylindrical surface overlying of annular permanent magnet is equipped with increase magnetic The magnet-wheel outer rubber 304 of wheel frictional force.
5. as claimed in claim 4 a kind of climbing robot for carrying link-type mechanical arm, it is characterised in that：The annular permanent magnet Body 303 is annular neodymium-iron-boron permanent axial charging mode structure, and the outside silicon steel magnetic conduction heel piece 302 is column " mountain " font Structure, wherein heart position be fixed with the round outside but spuare inside quill shaft for magnetic wheel driven automatic scan with assembling, and its medial surface is provided with use In four annular array screwed holes for coordinating outside silicon steel magnetic conduction heel piece side four screwed hole to realize magnet-wheel assembling；Inner side silicon steel Magnetic conduction heel piece 309 is column " king " character form structure, is fixed with wherein position cylindrical interior with for driving for magnet-wheel assembling Square quill shaft, wherein silicon steel magnetic conduction heel piece 309 medial surface in inner side has a different annular array hole of two groups of radiuses, larger that of radius One group of annular array hole 305 is used to realize the demolition and maintenance of annular neodymium-iron-boron permanent and replacing, less that group ring of radius Shape array hole 306 be used for by screw realize the fixation of outside silicon steel magnetic conduction heel piece 302 and inner side silicon steel magnetic conduction heel piece 309 with calmly Position；
The positioning sleeve 308 is setting element made by non-permeable material, and its one end is enclosed within outside outside silicon steel magnetic conduction heel piece 302 In circle square shaft it is cylindrical on, the other end be enclosed within 309 round outside but spuare inside axle of inner side silicon steel magnetic conduction heel piece it is cylindrical on, for realizing both Radial positioning, and ensure both axiality；
The annular neodymium-iron-boron permanent 303 is embedded between outside silicon steel magnetic conduction heel piece 302 and inner side silicon steel magnetic conduction heel piece 309 Groove in, inner and outer silicon steel magnetic conduction heel piece wraps 303 side of annular neodymium-iron-boron permanent and the face of cylinder；Outside silicon steel 302 warp beam end screw 301 of magnetic conduction heel piece is fixed together with magnetic wheel driven automatic scan axle 307, outside yoke 302 and inner side silicon steel conductive magnetic yoke Ferrum 309 is fixed by the screwed hole Jing screws of respective side and is tightened；Magnet-wheel outer rubber 304 is coated on outside silicon steel magnetic conduction heel piece 302 and 309 outer surface of inner side silicon steel magnetic conduction heel piece on, cause the demagnetization of permanent magnet high temperature for avoiding generation from being coated on permanent magnet Situation occur.
6. a kind of climbing robot for carrying link-type mechanical arm as claimed in claim 1, is characterized in that：The link-type machinery Arm is by base slew gear, large arm pitching unit, forearm pitching unit, wrist pitching unit, image collecting device, diastimeter structure Into the link-type mechanical arm is four-degree-of-freedom series connection mechanical arm, and its four-degree-of-freedom respectively mechanical arm is around the left and right of base time Transhipment is dynamic, and the large arm of mechanical arm, forearm, the elevating movement of wrist, and the pivot center of large arm, forearm and wrist is mutual It is arranged in parallel；The left rotation and right rotation of the link-type mechanical arm be motor coordinate harmonic speed reducer the kind of drive, large arm, forearm, Wrist is the Electronic control mode that electric cylinder is driving source.
7. the climbing robot of link-type mechanical arm is carried as claimed in claim 1, it is characterised in that：Described image harvester Comprising major-minor two sets of image capture modules and range finder module, the master image harvester is real-time to car body surrounding environment operating mode Observation is fixed on mechanical arm base, and can about 360 ° of level each 90 ° of rotations monopod video cameras, the auxiliary image acquisition Device is the video camera for being fixed on mechanical arm wrist end for realizing carrying out end effector job status real-time monitoring, described Range finder module is to be fixed on the laser range finder in mechanical arm wrist end, for the accurate adjustment to mechanical arm operation height.
8. the manufacture method that the climbing robot of link-type mechanical arm is carried as described in a kind of claim 1：It is characterized in that：Its Step is as follows：
1）, assembling moving body 1 and link-type mechanical arm 2, moving body 1 is by two separate car body modules and four groups of knots Structure identical wheel-type permanent-magnet absorbing unit 101,107,110,116 is constituted, and car body module is divided into left body module and right body mould Block, is arranged symmetrically centered on the two connection plane；
2）, assembling left body module and right body module, left body module is mainly by left box body, left box body motor 102nd, left box body motor driver, left box body decelerator 105, left box body front output shaft, left box body Timing Belt 104, Left box body synchronous pulley, left box body rear output shaft 119 are constituted；Left box body is external by left box body upper cover plate, left railway carriage Side cover plate, left box body bottom cover plate, left box body inside cover plate, left box body cover board of front end, left box body rear end tails lid Plate, left box body outer handle 103, left box body rear end tails handle 120, left box body front end handle, left box body drive Motor supports fixed with decelerator support member 106, left box body decelerator hold-down support 108, left box body motor driver Frame, left front end cap 122, left back end cap 121,126 assembling of locating piece the moon 124, locating piece sun are constituted, wherein left box body outboard cover Plate, left box body bottom cover plate, left box body cover board of front end, left box body rear end tails cover plate, left box body outer handle 103rd, left box body rear end tails handle 120, left box body front end handle are arranged in left box body surrounding, and formation one is whole The semi-enclosed structure of body；
Left box body upper cover plate and left box body inside cover plate Jing screws are fixedly mounted on left box body upper surface and inner side end On；Left box body upper cover plate lower right position is vertically arranged four waterproof anti-explosion plug holes of different sizes, for realizing car Body integral sealed cabling is designed and machinery and the function being electrically isolated, and the left box body motor is supported with decelerator 106 Jing screws of part are fixed on inside left box body, form a kind of cage structure, by left box body motor and decelerator 106 It is positioned over inside cage, support motor that can not only be stable and decelerator can also improve car body tension and comprcssive strength, it is left Box body motor driver supports fixed support Jing screws to be fixed on left box body inside chassis side protruding parts, left box body Motor driver Jing screws are fixedly installed in left box body motor driver and support on fixed support, and left box body decelerator is fixed 108 upper end of bearing is fixed on the mounting flange of left box body decelerator 105, and bottom Jing screws are fixed on left box body and drive electricity On machine and decelerator support member 106, for realizing the fixation of left box body decelerator and positioning, the left front end cap 122 is located at The outer fix that left box body front output shaft is contacted with left box body side cover plate, left back end cap 121 are defeated after left box body The outer fix that shaft 119 is contacted with left box body side cover plate, left front end cap 122 and left back end cap 121 connect with output shaft Contact portion position adopts dynamic and static double containment, so as to realize keeping apart with left box body external environment condition inside left box body, the left car Upper surface that casing is contacted with left box body upper cover plate and side cover plate at which opens up rectangular seal groove with side end face, its with Left front end cap opens up ring packing groove centered on output shaft with left back end cap junction, when its with left box body upper cover plate, By the rubber o-ring arranged in sealed groove, side cover plate, left front end cap and left back end cap realize that the entirety of car body is quiet when connecting Sealing, contacts with left back cover plate with the left front cover plate position and left box body output rear axle that contacts in left box body front output shaft Ring packing groove is offered at position, for placing rubber o-ring, the rotary dynamic sealing of car body is realized, is finally reached whole The purpose of individual car body totally enclosed type sealing；
The left box body rear end tails handle 120 has been vertically arranged one group with left box body front end handle side position and has led to Hole, right box body rear end tails handle 118 have similarly been vertically arranged one group with right box body front end handle side position and have led to Hole, it is after two box body modules of left and right are stitched together, logical on left and right box body front end handle and rear end tails handle Hole aligns alignment, and bolt realizes the rapid and convenient splicing of left and right box body, at left box body bottom through the through hole with nut screw connection Portion's cover plate contact with left box body inside cover plate position chassis in the middle part of, Jing screws are mounted with locating piece the moon 124, on the right side Box body bottom cover plate contact with right box body inside cover plate position chassis in the middle part of, Jing screws be mounted with locating piece sun 126, locating piece sun 126 is a band bulge-structure, and locating piece cloudy 124 is a band sunk structure, in locating piece sun 126 and locating piece Three groups of screwed holes being vertically distributed are distributed with cloudy 124, when locating piece 126 bossings of sun and locating piece 124 depressed parts of the moon Distribution is combined, and left and right box body is aligned and fitted together, then locating piece sun 126 is tightened by Jing screws with locating piece the moon 124, The quick splicing of left and right box body is realized in the dual fixation of bolts and nuts and locating piece through handle side through hole；
After the left box body motor 102 is together with left 105 fixing assembling of box body decelerator, left car is arranged vertically at Casing motor is built inside the cage structure of composition with decelerator support member 106, left box body decelerator hold-down support 108 For "convex" shaped shape, the fixation flange aperture of the left box body decelerators of its upper end Jing 105 is fixed on left box body decelerator 105 On, its bottom is fixed on left box body bottom plate, realizes fixation and positioning, the left car of left box body motor and decelerator Casing front output shaft is fixedly mounted on bearing spider after the left box body decelerator, left railway carriage daughter output rear axle 119 with Front axle is parallel is fixed on bearing spider for the output of left box body, and left box body front output shaft and left box body rear output shaft 119 are equal One end fixedly mounts left box body synchronous pulley 123 and 125, and one end fixedly mounts wheel-type permanent-magnet absorbing unit 101 and 107, and two Left box body Timing Belt 104 is tensioned between individual left box body synchronous pulley 123 and 125, so as to will be left box body motor 102 defeated The force and torque for spending is delivered on left box body output rear axle 119, so as to realize the synchronized rotation of two magnet-wheel of unilateral car body, is realized The four-wheel four-drive form of whole car body；
Right body module assembled is with left body module assembled；
3）, wheel-type permanent-magnet absorbing unit is installed, wheel-type permanent-magnet absorbing unit led by annular neodymium-iron-boron permanent 303, outside silicon steel Magnetic vibrating feeder yoke 302, inner side silicon steel magnetic conduction heel piece 309, positioning sleeve 308, magnet-wheel outer rubber 304 are constituted, and the annular neodymium iron boron is forever Magnet 303 takes axial charging mode, for providing the strong magnetic environment for producing absorption affinity；Outside silicon steel magnetic conduction heel piece 302 is post Shape " mountain " character form structure, wherein heart position be fixed with the round outside but spuare inside quill shaft for magnetic wheel driven automatic scan with assembling, and on the inside of which There are four annular array screwed holes in face, for coordinating outside silicon steel magnetic conduction heel piece side four screwed hole to realize the assembling of magnet-wheel；
Inner side silicon steel magnetic conduction heel piece 309 is column " king " character form structure, wherein heart position be equally fixed with one it is round outside but spuare inside in Empty axle, for magnet-wheel assembling and driving；Silicon steel magnetic conduction heel piece 309 medial surface in inner side has the different annular array hole of two groups of radiuses, That larger group annular array hole 305 of radius is used to realize the demolition and maintenance of annular neodymium-iron-boron permanent and change, radius compared with That little group annular array hole 306 is used for by silicon steel magnetic conduction heel piece 302 and inner side silicon steel magnetic conduction heel piece on the outside of screw realization 309 fixation and positioning；
The positioning sleeve 308 be one by made by non-permeable material setting element, during assembling its one end be enclosed within outside silicon steel lead 302 round outside but spuare inside axle of magnetic vibrating feeder yoke it is cylindrical on, the other end be enclosed within 309 round outside but spuare inside axle of inner side silicon steel magnetic conduction heel piece it is cylindrical on, Realize both radial positionings, it is ensured that both axialities, annular neodymium-iron-boron permanent 303 is embedded in outside silicon steel conductive magnetic yoke In groove between ferrum 302 and inner side silicon steel magnetic conduction heel piece 309, inner and outer silicon steel magnetic conduction heel piece wraps annular neodymium iron boron 303 side of permanent magnet and the face of cylinder；
Silicon steel magnetic conduction heel piece 302 warp beam end screw 301 in outside is fixed together with magnetic wheel driven automatic scan axle 307, outside yoke 302 and interior Side silicon steel magnetic conduction heel piece 309 is fixed by the screwed hole Jing screws of respective side and is tightened；Magnet-wheel outer rubber 304 is coated on outside On 309 outer surface of silicon steel magnetic conduction heel piece 302 and inner side silicon steel magnetic conduction heel piece, it is to avoid generation is coated on permanent magnet and causes permanent magnet The situation of high temperature demagnetization, magnet-wheel outer rubber 304 are used for increasing magnet-wheel frictional force, prevent magnet-wheel from occurring skidding in rotation process Phenomenon, realizes that climbing robot is flexibly moved on magnetic conduction wall；
During the sandwich permanent magnetic suck cell operation, magnetic induction line is flowed out from annular neodymium-iron-boron permanent 303N poles, through outside silicon After the gathering of steel magnetic conduction heel piece 302, through magnetic conductivity wall, inner side silicon steel magnetic conduction heel piece 309 is flowed through, annular neodymium ferrum is finally flowed back to Boron permanent magnet 303S poles, define closure magnetic strength line loop, improve magnetic strength line use ratio, increase climbing robot in magnetic conduction Absorption affinity on wall, prevents magnet-wheel from occurring skidding in rotation process, realizes climbing robot spirit on magnetic conduction wall Movement living；
4）, assembling link-type mechanical arm, link-type mechanical arm 2 is that four-degree-of-freedom is connected mechanical arm, and its four-degree-of-freedom is respectively machine Tool arm around base gyration and large arm, forearm, wrist elevating movement；The pivot center of large arm, forearm and wrist It is arranged parallel to；Link-type mechanical arm 2 is mainly bowed by base slew gear, large arm pitching unit, forearm pitching unit, wrist Face upward unit, image collecting device, diastimeter to constitute；
The base slew gear is by base pedestal 214, base motor, the synchronous small band of base Timing Belt 218, base revolution Lid 213 and wire harness apparatus on the synchronous big belt wheel 221 of wheel 217, base revolution, base harmonic speed reducer 219, harmonic speed reducer 216 assemblings are constituted, and the flange Jing screws of base motor are fixed on 214 upper surface lower right position of base pedestal, the bottom of positioned at The synchronous 217 Jing keys of small pulley of base revolution inside seat pedestal 214 are fixedly mounted in base driving motor output shaft, and base is humorous Ripple decelerator 219 is fixedly mounted on 214 upper surface middle front part of pedestal frame, in 219 input shaft of base harmonic speed reducer and pedestal The synchronous big belt wheel 221 of base revolution in portion links together；Between two base revolution synchronous pulleys 217 and 221, tensioning base is same Step band 218, so as to realize that power and torque by the output shaft of base motor are delivered to 219 output shaft of base harmonic speed reducer On, on harmonic speed reducer, lid 213 is fixedly mounted on 219 output flange of base harmonic speed reducer, on harmonic speed reducer lid 213 with Connecting rod mechanical arm 2 connects, it is achieved thereby that gyration of the whole mechanical arm around base；Wire harness apparatus 216 are main by upper press cover Constitute with lower cover, wire harness apparatus 216 are fixedly mounted on the top of base motor cover 215, upper press cover one end and lower cover One end is fixed together by rotating shaft, forms the open-and-close mechanism of similar hinge property, and the other end of upper and lower gland leans on butterfly spiral shell It is female to realize that cable and material conveying pipe are compressed by upper lower cover；
Big arm unit is made up of large arm frame 211, large arm motor and decelerator, the assembling of large arm electrical pushing cylinder 212, large arm frame 211 are spliced by two pieces of floor Jing copper sheathing rotating shafts, and 211 head end of large arm frame is fixedly mounted on lid 213 on harmonic speed reducer and pushes up Elevating movement simultaneously can be done around the fixing end in end, and large arm motor is arranged on large arm electrical pushing cylinder 212 with decelerator, three's conduct The source that drives of large arm elevating movement is mounted in the position directly below of large arm frame 211, and 213 ear of large arm electrical pushing cylinder is fixedly mounted on 213 lateral location of lid on harmonic speed reducer, 212 push rod of large arm electrical pushing cylinder are fixedly mounted on 211 end of large arm frame, so as to realize Elevating movement of the large arm around base harmonic speed reducer；
Structure of the elevating movement of forearm based on lever, including forearm frame 210, forearm motor and decelerator 202, forearm Electrical pushing cylinder 203, forearm motor are arranged on forearm electrical pushing cylinder 203 with decelerator 202, and three is used as forearm elevating movement Source is driven to be mounted between 211 liang of floors of large arm frame, the 203 ear Jing copper sheathing rotating shafts of forearm electrical pushing cylinder are fixedly mounted on large arm machine 211 liang of floor stems of frame, 203 push rod of forearm electrical pushing cylinder are fixed on the head end of forearm frame 210, and 211 end of large arm frame is fixed In 210 head end of forearm frame slightly position rearward, and with the point as fulcrum, so as to realize the elevating movement of forearm；
Wrist elevating movement is equally based on the structure of lever, by wrist frame 209, wrist motor and decelerator 204, wrist Electrical pushing cylinder 205, the arrangement form of driving source and fulcrum driving source and fulcrum in forearm elevating movement in the lever motion Arrangement form is identical, and wrist frame 209 is equally made up of two pieces of floors, and wrist motor is mounted in wrist with 204 side of decelerator On electrical pushing cylinder 205, driving source of the three as forearm elevating movement, between 210 liang of floors of forearm frame, wrist electricity is pushed away 205 ear Jing copper sheathing rotating shafts of cylinder are fixed on 210 liang of floor header bits of forearm frame and put, and the push rod of wrist electrical pushing cylinder 205 is fixed on The head end of forearm frame 210,210 end of forearm frame are fixed on 209 head end of wrist frame slightly position rearward, and with the point as Point, so as to realize the elevating movement of wrist；
5）, image capture device assembling, image capture device adopt main and auxiliary two sets of image acquisition cameras, the master image Acquisition camera 201 is the high-definition network camera containing controllable head, and the video camera is fixed on a left side for base pedestal 214 Lower Angle Position, realizes that, to moving body and the comprehensive real-time monitored of mechanical arm periphery situation, auxiliary video camera is a high-definition network Video camera, which is fixed on 207 in an airtight waterproof capsule together with laser range finder, and the capsule 207 is arranged on wrist The surface of frame 209, auxiliary video camera are capable of achieving very clear to 208 handling situations of end effector；The laser range finder It is fixed in the closed capsule 207 directly over wrist frame, the laser beam irradiation that laser range finder sends is in work platformses On, mechanical arm operation height can be measured in real time, it is ensured that mechanical arm operation in place；Image collecting device and On the robotic arm, image collecting device and laser range finder are capable of achieving to climbing robot the separate installation of laser range finder Remotely control, even if operator are away from climbing robot, equally can ensure that robot in place and properly Working depth carry out operation.
CN201611258055.8A 2016-12-30 2016-12-30 Wall-climbing robot carrying connecting rod type mechanical arm Active CN106514608B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611258055.8A CN106514608B (en) 2016-12-30 2016-12-30 Wall-climbing robot carrying connecting rod type mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611258055.8A CN106514608B (en) 2016-12-30 2016-12-30 Wall-climbing robot carrying connecting rod type mechanical arm

Publications (2)

Publication Number Publication Date
CN106514608A true CN106514608A (en) 2017-03-22
CN106514608B CN106514608B (en) 2020-04-24

Family

ID=58336002

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611258055.8A Active CN106514608B (en) 2016-12-30 2016-12-30 Wall-climbing robot carrying connecting rod type mechanical arm

Country Status (1)

Country Link
CN (1) CN106514608B (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106800053A (en) * 2017-03-24 2017-06-06 洛阳圣瑞智能机器人有限公司 It is a kind of to climb wall paint-spray robot with elastic burst-proof tyre
CN106807569A (en) * 2017-03-24 2017-06-09 洛阳圣瑞智能机器人有限公司 Wall paint-spray robot is climbed in a kind of stable type
CN106826803A (en) * 2017-03-24 2017-06-13 洛阳圣瑞智能机器人有限公司 A kind of multiple degrees of freedom link-type light-duty mechanical arm
CN106936085A (en) * 2017-04-25 2017-07-07 成都中机盈科科技有限公司 For the intelligent robot that power equipment is patrolled and examined
CN107009060A (en) * 2017-05-24 2017-08-04 钦州学院 Wall machine is climbed in the maintenance of Three Degree Of Freedom ship weld seam
CN107264664A (en) * 2017-08-01 2017-10-20 河北工业大学 The integrated magnetically adsorbed device of one kind driving
CN107856059A (en) * 2017-11-29 2018-03-30 苏州弘瀚自动化科技有限公司 A kind of movable locating and detecting device
CN108725628A (en) * 2018-08-29 2018-11-02 汕头大学 A kind of wheel undercarriage mechanism of express delivery robot combined module type
CN109927013A (en) * 2018-12-29 2019-06-25 同方威视技术股份有限公司 Investigate device, automatic investigation equipment and methods of investigation
CN110525904A (en) * 2019-09-18 2019-12-03 优力智能科技(青岛)有限公司 A kind of quick-detachable circular arc synchronous belt transport trolley
CN111505009A (en) * 2020-04-21 2020-08-07 国网河南省电力公司电力科学研究院 Power transformer internal fault detection system based on wall-climbing robot
CN112207837A (en) * 2019-07-12 2021-01-12 厦门佰欧环境智能科技有限公司 Rust removal robot
WO2021159565A1 (en) * 2020-02-10 2021-08-19 山东国兴智能科技股份有限公司 High-load explosion-proof driving device
CN114474002A (en) * 2022-02-22 2022-05-13 浙江大学 Biped crawler-type detection robot

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7967870B2 (en) * 2007-07-19 2011-06-28 Da-Yeh University Device for retrieving data from a radio frequency identification tag
CN102165880A (en) * 2011-01-19 2011-08-31 南京农业大学 Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method
CN103144094A (en) * 2013-03-25 2013-06-12 河南理工大学 Gripping robot for irregular object
CN104228998A (en) * 2014-07-04 2014-12-24 北京航空航天大学 Throwable scout robot
CN105690401A (en) * 2015-12-07 2016-06-22 山东科技大学 Flexible steel-made wall-climbing robot
CN205769681U (en) * 2016-05-24 2016-12-07 邵萌 A kind of crawler-type wall climbing robot
CN206510019U (en) * 2016-12-30 2017-09-22 洛阳圣瑞智能机器人有限公司 A kind of climbing robot for carrying link-type mechanical arm

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7967870B2 (en) * 2007-07-19 2011-06-28 Da-Yeh University Device for retrieving data from a radio frequency identification tag
CN102165880A (en) * 2011-01-19 2011-08-31 南京农业大学 Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method
CN103144094A (en) * 2013-03-25 2013-06-12 河南理工大学 Gripping robot for irregular object
CN104228998A (en) * 2014-07-04 2014-12-24 北京航空航天大学 Throwable scout robot
CN105690401A (en) * 2015-12-07 2016-06-22 山东科技大学 Flexible steel-made wall-climbing robot
CN205769681U (en) * 2016-05-24 2016-12-07 邵萌 A kind of crawler-type wall climbing robot
CN206510019U (en) * 2016-12-30 2017-09-22 洛阳圣瑞智能机器人有限公司 A kind of climbing robot for carrying link-type mechanical arm

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106807569B (en) * 2017-03-24 2023-03-17 洛阳圣瑞智能机器人有限公司 Stable wall-climbing paint spraying robot
CN106807569A (en) * 2017-03-24 2017-06-09 洛阳圣瑞智能机器人有限公司 Wall paint-spray robot is climbed in a kind of stable type
CN106826803A (en) * 2017-03-24 2017-06-13 洛阳圣瑞智能机器人有限公司 A kind of multiple degrees of freedom link-type light-duty mechanical arm
CN106800053A (en) * 2017-03-24 2017-06-06 洛阳圣瑞智能机器人有限公司 It is a kind of to climb wall paint-spray robot with elastic burst-proof tyre
CN106800053B (en) * 2017-03-24 2023-03-17 洛阳圣瑞智能机器人有限公司 Wall-climbing paint spraying robot with elastic explosion-proof wheels
CN106936085A (en) * 2017-04-25 2017-07-07 成都中机盈科科技有限公司 For the intelligent robot that power equipment is patrolled and examined
CN107009060A (en) * 2017-05-24 2017-08-04 钦州学院 Wall machine is climbed in the maintenance of Three Degree Of Freedom ship weld seam
CN107264664A (en) * 2017-08-01 2017-10-20 河北工业大学 The integrated magnetically adsorbed device of one kind driving
CN107856059A (en) * 2017-11-29 2018-03-30 苏州弘瀚自动化科技有限公司 A kind of movable locating and detecting device
CN108725628A (en) * 2018-08-29 2018-11-02 汕头大学 A kind of wheel undercarriage mechanism of express delivery robot combined module type
CN108725628B (en) * 2018-08-29 2023-07-18 汕头大学 Combined modular wheel type chassis mechanism for express robot
CN109927013A (en) * 2018-12-29 2019-06-25 同方威视技术股份有限公司 Investigate device, automatic investigation equipment and methods of investigation
CN112207837A (en) * 2019-07-12 2021-01-12 厦门佰欧环境智能科技有限公司 Rust removal robot
CN110525904A (en) * 2019-09-18 2019-12-03 优力智能科技(青岛)有限公司 A kind of quick-detachable circular arc synchronous belt transport trolley
WO2021159565A1 (en) * 2020-02-10 2021-08-19 山东国兴智能科技股份有限公司 High-load explosion-proof driving device
CN111505009A (en) * 2020-04-21 2020-08-07 国网河南省电力公司电力科学研究院 Power transformer internal fault detection system based on wall-climbing robot
CN114474002A (en) * 2022-02-22 2022-05-13 浙江大学 Biped crawler-type detection robot
CN114474002B (en) * 2022-02-22 2024-06-18 浙江大学 Biped crawler-type detection robot

Also Published As

Publication number Publication date
CN106514608B (en) 2020-04-24

Similar Documents

Publication Publication Date Title
CN106514608A (en) Wall-climbing robot carrying connecting rod type mechanical arm
CN106514610A (en) Wall-climbing robot with sliding rail-type mechanical arm
Debenest et al. Expliner-Robot for inspection of transmission lines
CN206510019U (en) A kind of climbing robot for carrying link-type mechanical arm
CN100383007C (en) Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing
CN102673671B (en) Composite magnetic adsorption visual detection climbing robot
CN103395064B (en) A kind of Rack pipe detection robot based on supersonic guide-wave technology
CN102219033B (en) Wall surface mobile robot based on gecko motion organism structural form bionics
CN101746423B (en) Search and rescue robot used in pit
CN100482521C (en) Water-cooling wall-climbing robot for power plant boiler
CN107600214A (en) It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall
CN207120219U (en) A kind of climbing robot for carrying slide rail type mechanical arm
CN103398297B (en) A kind of Rack pipe detection robot
CN109640047A (en) It is a kind of applied to the ultrathin climbing robot detected in generator unit stator thorax
CN106625567A (en) Mobile robot for dangerous chemical solution extraction
CN107839779A (en) A kind of TOFD flaw detections climbing robot
CN102689295A (en) Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm
CN109533052A (en) A kind of throwing type wheel shoe composite machine people
CN215903513U (en) Robot operating system
CN208945568U (en) Optical elements of large caliber automatic assembly system
CN202805181U (en) Full-driving magnetic adsorption type multifunctional wall-climbing robot with MDOF (multi-degree of freedom) mechanical arm
CN105690404A (en) Manipulator device at tail end of double-foot robot for power transmission line
CN206704338U (en) A kind of walking chassis device of Pa Bi magnetic sucks robot
CN211649493U (en) CCTV pipeline inspection robot body structure
CN107054491A (en) A kind of walking chassis device of Pa Bi magnetic sucks robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant