CN109050704A - A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability - Google Patents
A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability Download PDFInfo
- Publication number
- CN109050704A CN109050704A CN201810945569.3A CN201810945569A CN109050704A CN 109050704 A CN109050704 A CN 109050704A CN 201810945569 A CN201810945569 A CN 201810945569A CN 109050704 A CN109050704 A CN 109050704A
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- screw rod
- wheel
- spring
- nut
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 148
- 230000009194 climbing Effects 0.000 title claims abstract description 19
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 13
- 230000005291 magnetic effect Effects 0.000 claims abstract description 49
- 230000003287 optical effect Effects 0.000 claims description 22
- 239000004411 aluminium Substances 0.000 claims description 14
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 14
- 229910052782 aluminium Inorganic materials 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000008450 motivation Effects 0.000 claims 1
- 230000007423 decrease Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 239000010963 304 stainless steel Substances 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 description 1
- 229910000746 Structural steel Inorganic materials 0.000 description 1
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability, including Liang Ge in-wheel driving mechanism, non-contact magnetically adsorbing mechanism, screw body and two spring mechanisms.In-wheel driving mechanism is placed in the two sides of screw body and is fixedly connected with screw body, non-contact magnetically adsorbing mechanism is placed in the lower section of in-wheel driving mechanism and is fixedly connected with screw body bottom, it is in-house that spring mechanism is installed in in-wheel driving respectively, and connect with non-contact magnetically adsorbing mechanism.The present invention realizes the adjusting of the obstacle detouring and magnetic adsorbability of non-contact magnetically adsorbed mechanism, overcomes the disadvantage that existing magnetically adsorbed mechanism obstacle climbing ability is limited and magnetic adsorbability is unadjustable；The adjusting of non-contact magnetically adsorbing mechanism magnetic adsorbability occurs after in-wheel driving mechanism is contacted with wall surface, and the adjusting of magnetic adsorbability can not be limited by wall condition, has very strong wall surface adaptive ability.
Description
Technical field
The invention belongs to robotic technology fields.
Background technique
Climbing robot be it is a kind of can carrying operation tool operations specific function is realized on miscellaneous wall surface
Specialized robot can substitute people's operation under the environment such as danger, the limit, in building cleaning, Ship Welding, the detection of core storage tank etc.
Field has broad application prospects.
Adsorbing mechanism and walking mechanism are the key components that climbing robot realizes the safe and efficient operation of wall surface.Often
Suction type mainly has negative-pressure adsorption and magnetic suck, wherein permanent magnetic suck due to, adsorption capacity small with structure is big, without mentioning
The features such as the energy, is widely used by the climbing robot to work under ferromagnetic environment.Common walking manner mainly have leg foot formula,
Crawler type and wheeled, wherein running on wheels mode is flexible, steady due to having the characteristics that movement, is engaged in detection, welding etc. and made
The climbing robot of industry is used.
The generally existing magnetic adsorbability of the existing wheeled climbing robot of permanent magnetic suck is unadjustable, do not have obstacle climbing ability or
The limited problem of obstacle climbing ability.
Chinese Patent Application No. 201620441879.8 describes " a kind of novel wheel-type permanent magnetic suck climbing robot ", relates to
And the absorption and mobile technology of magnetically adsorbed wall climbing robot, it is matched using permanent magnetic wheels and non-contact magnetically adsorbing mechanism
Mode improves robot adaptive capability on wall surface.
Although the patent improves the adaptive capability on wall surface of robot to a certain extent, robot chassis height is determined
Its obstacle climbing ability, obstacle climbing ability are extremely limited；The position of magnetic suck mechanism opposed robots is fixed, and magnetic adsorbability is non-adjustable
Section, in obstacle detouring or curved wall operation, magnetic adsorbability will decay, and increase the operating risk of robot.
Chinese Patent Application No. 201010289541.2 describes a kind of " adjustable climbing robot wheel of magnetic adsorbability
Formula barrier getting over mechanism ", mechanism is adsorbed using non-contact permanent magnetic, and realizes magnetic suck by screw body using differential screw principle
The adjusting of power and the obstacle detouring of mechanism.
Although the patent realizes the adjusting of magnetic adsorbability and the obstacle detouring of mechanism by differential screw principle, screw rod with
It is rigid connection, relative position and driving between magnetic suck mechanism and driving wheel group between magnetic suck mechanism, driving wheel group
The height of wheel group lifting corresponds, and the mechanism is just effective only for the big wall surface of plane or radius of curvature, and for small curvature
The wall surface of radius, when driving wheel group is contacted with wall surface, magnetic suck mechanism can fail because preset position is not reached, thus
Robot is set to there is the risk fallen.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes and a kind of climbs wall machine with wall surface adaptive ability
Device people wheel type barrier-crossing mechanism solves the problems, such as that existing magnetic suck mechanism and wheeled locomotion mechanism exist, which has obstacle detouring
With the function of the adjusting of magnetic adsorbability, and have wall surface adaptive ability, can adapt to different types of wall surface.
The present invention is achieved by the following technical solutions.
A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability of the present invention, including two
In-wheel driving mechanism, non-contact magnetically adsorbing mechanism, screw body and two spring mechanisms, Liang Ge in-wheel driving mechanism are placed in
The two sides of screw body are simultaneously fixedly connected with screw body, and non-contact magnetically adsorbing mechanism is placed under Liang Ge in-wheel driving mechanism
Fang Bingyu screw body bottom is fixedly connected, and it is in-house that two spring mechanisms are installed in two in-wheel drivings respectively, and with it is non-
The connection of magnetic suck mechanism is contacted, by driving screw body to can be realized screw body, in-wheel driving mechanism and non-contact magnetically
Rise and fall of the adsorbing mechanism relative to robot body.
The structure of the Liang Ge in-wheel driving mechanism is identical, includes: driving wheel, cabinet, gear wheel, gear
Axis, pinion gear, mounting flange I and driving motor I, in which: driving wheel is mounted on body side, and gear wheel is set in gear shaft
On, and box house is mounted on together with pinion gear, driving motor I is installed on body side, driving motor by mounting flange I
I passes through driving pinion and drives gear wheel and gear shaft, the final driving realized to driving wheel.
The non-contact magnetically adsorbing mechanism includes: two narrow permanent magnets, two wide permanent magnets, yoke, three every magnetic aluminium
Block, two support plates and two limit aluminium sheets, two narrow permanent magnets are respectively placed in yoke bottom surface both side, two wide permanent magnets point
It is not placed in the middle part of yoke bottom surface, three are respectively placed between aforementioned four permanent magnet every magnetic aluminium block, and are fixedly connected with yoke, and two
A support plate is placed on the outside of two narrow permanent magnet and is fixedly connected with yoke, and two limit aluminium sheets are mounted on yoke rear and front end
Face.
The screw body includes: screw rod, screw rod bracket, two guide rails, I, two slider I, slider I connecting plate, four
Optical axis bracket, two straight optical axis, nut I, nut connecting plate, two linear bearings, two adjusting nuts, two adjusting spiral shells
Column, four I, two, spring guide rails of spring guide I, two, II, two sliding block II, II connecting plate of sliding block, two right-angle connecting plates,
Driving mechanism connecting plate, II, two adsorbing mechanism connecting plate of nut, driving pulley, driven pulley, tensioning pulley, wheeled stand,
Synchronous belt, mounting flange II and driving motor II, in which: screw both end is sleeved in screw rod bracket, and two guide rails I are solid respectively
Mounted in the positive two sides of screw rod bracket, two slider Is are packed in the two sides of slider I connecting plate respectively and are sleeved on guide rail I, four
A optical axis bracket is set in the both ends of two straight optical axis two-by-two, and is packed in the reverse side of slider I connecting plate, and nut I is packed in
In the middle part of nut connecting plate, and it is sleeved on screw rod, nut connecting plate is sleeved on two straight optical axis by two linear bearings,
Two adjusting nuts and two adjusting studs are set on two straight optical axis, four by being threadably engaged in together
Spring guide I is placed in the both ends of two springs I two-by-two, and is set on two straight optical axis, and two guide rails II are distinguished
The two sides of screw rod bracket reverse side are packed in, two sliding blocks II are packed in the two sides of II connecting plate of sliding block respectively and are sleeved on guide rail II
On, driving mechanism connecting plate is fixedly connected by two right-angle connecting plates with II connecting plate of sliding block, and nut II is sleeved on screw rod
And be fixedly connected with driving mechanism connecting plate, two adsorbing mechanism connecting plates are packed in screw rod bracket bottom end, driven pulley suit
In screw mandrel top, driving pulley and tensioning pulley are mounted at the top of screw rod bracket by wheeled stand, and synchronous belt is sleeved on actively
On belt wheel, driven pulley and tensioning pulley, driving motor II is packed at the top of screw rod bracket by mounting flange II.
The structure of two spring mechanisms is identical, includes two spring guides II, fixing seat, two springs
II, two spring bearer plates and two spring pressure bars, two spring guides II are separately mounted in fixing seat, and two springs II divide
It is not placed in two spring guides II, two spring bearer plates are set in one end of two spring pressure bars, and are placed on bullet
II top of spring.
The working principle of the invention is: mechanism decline is initial, forms fixation in screw rod bottom and with in-wheel driving mechanism
The nut II of connection is not engaged with screw rod, in-wheel driving mechanism and the non-contact magnetically adsorbing mechanism for being installed in screw body bottom
It is pressed together by spring mechanism, when screw rod rotation, is connected since nut I is formed with slider I connecting plate and robot frame
It connects, screw rod will drive in-wheel driving mechanism and non-contact magnetically absorption to decline together, non-after in-wheel driving mechanism is contacted with wall surface
Contact magnetic suck mechanism will be detached from in-wheel driving mechanism, and continue to decline with screw rod, and subsequent screw rod bottom thread will screw in spiral shell
Mother II is engaged with, and screw rod will be formed with in-wheel driving mechanism and is rigidly connected at this time, since nut I is identical as II screw pitch of nut,
Screw rod can drive non-contact magnetically adsorbing mechanism opposing nut I, about II nut to adjust, and nut I and II position of nut will not change
Become, thus the decline of implementation mechanism and the adjusting of magnetic adsorbability；Screw rod is reversely rotated, wire rod thread will gradually screw out nut II,
And drive non-contact magnetically adsorbing mechanism to rise, then, non-contact magnetically adsorbing mechanism will with in-wheel driving mechanism contacts and held in the palm
It rises, finally as screw rod rises together, to realize the rising of mechanism；Up and down, the adjusting of magnetic adsorbability of mechanism are equal
It is realized by driving motor II, and in-wheel driving mechanism goes out after contacting with wall surface with the relative motion of non-contact magnetically adsorbing mechanism
Existing, the adjusting of magnetic adsorbability can not be limited by wall condition, and mechanism has very strong wall surface adaptive ability.
The present invention has the advantages that compared with prior art.
The present invention realizes the obstacle detouring and magnetic adsorbability of non-contact magnetically adsorbed mechanism using double helix transmission principle
Adjusting, overcome the disadvantage that existing magnetically adsorbed mechanism obstacle climbing ability is limited and magnetic adsorbability is unadjustable；It is non-contact
The adjusting of magnetic suck mechanism magnetic adsorbability occurs after in-wheel driving mechanism is contacted with wall surface, and the adjusting of magnetic adsorbability can not
It is limited by wall condition, the present invention has very strong wall surface adaptive ability.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of in-wheel driving wheel mechanism and spring mechanism in the present invention.
Fig. 3 is front view of the invention.
Fig. 4 is rearview of the invention.
Fig. 5 is obstacle detouring schematic illustration of the invention.
Fig. 6 is magnetic adsorbability Principles of Regulation schematic diagram of the invention.
Wherein, 1 it is in-wheel driving mechanism, 2 be non-contact magnetically adsorbing mechanism, 3 be screw body, 4 be spring mechanism, 5 is
Driving wheel, 6 be cabinet, 7 be gear wheel, 8 be gear shaft, 9 be pinion gear, 10 be mounting flange I, 11 be that driving motor I, 12 is
Narrow permanent magnet, 13 be wide permanent magnet, 14 be yoke, 15 for every magnetic aluminium block, 16 be support plate, 17 be limit aluminium sheet, 18 be screw rod,
19 it is screw rod bracket, 20 is that guide rail I, 21 is slider I, 22 is slider I connecting plate, 23 is optical axis bracket, 24 is straight optical axis, 25
It is nut connecting plate for nut I, 26,27 be linear bearing, 28 be guide rail II, 29 be sliding block II, 30 is II connecting plate of sliding block, 31
For right-angle connecting plate, 32 be driving mechanism connecting plate, 33 be nut II, 34 be driving pulley, 35 be driven pulley, 36 be tensioning
Belt wheel, 37 be wheeled stand, 38 be synchronous belt, 39 be mounting flange II, 40 be driving motor II, 41 be that spring guide I, 42 is
Spring I, 43 is adsorbing mechanism connecting plate, 44 is fixing seat, 45 be spring guide II, 46 be spring II, 47 is spring bearer plate, 48
For spring pressure bar.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, the present invention include: Liang Ge in-wheel driving mechanism 1, non-contact magnetically adsorbing mechanism 2, screw body 3 with
And two spring mechanisms 4, in which: Liang Ge in-wheel driving mechanism 1 is respectively placed in the two sides of screw body 3, and with screw body 3
It is fixedly connected, non-contact magnetically adsorbing mechanism 2 is placed in the lower section of Liang Ge in-wheel driving mechanism 1, and fixes and connect with screw body 3
It connects, two spring mechanisms 4 are installed in the inside of in-wheel driving mechanism 1 respectively, and connect with non-contact magnetically adsorbing mechanism 2, drive
Dynamic screw body 3 can be realized 2 opposed robots' rack of screw body 3, in-wheel driving mechanism 1 and non-contact magnetically adsorbing mechanism
Rise and fall.
As shown in Figure 1, 2, the structure of Liang Ge in-wheel driving mechanism 1 is identical, includes: driving wheel 5, cabinet 6, canine tooth
Wheel 7, gear shaft 8, pinion gear 9, mounting flange I 10 and driving motor I 11, in which: the driving wheel 5 is mounted on cabinet 6
Side, the gear wheel 7 is sleeved on gear shaft 8, and is mounted on inside cabinet 6, and described 8 one end of gear shaft is sleeved on driving wheel
Inside 5, the pinion gear 9 is mounted on 6 inside of cabinet and engages with gear wheel 7, and the driving motor I 11 passes through mounting flange I
10 are mounted on the side of cabinet 6, and I 11 driving pinion 9 of driving motor simultaneously drives gear wheel 7, and gear shaft 8 is made to drive driving wheel 5
Rotation, the driving of implementation mechanism.
As shown in Figure 1, Figure 3, non-contact magnetically adsorbing mechanism 2 includes: 12, two wide permanent magnets 13, yokes of two narrow permanent magnet
Iron 14, three every 15, two support plates 16 of magnetic aluminium block and two limit aluminium sheets 17, in which: described two narrow permanent magnets 12 divide
It is not placed in the bottom surface both side of yoke 14, described two wide permanent magnets 13 are respectively placed in the middle part of the bottom surface of yoke 14, and described three
It is a to be individually positioned between aforementioned four permanent magnet every magnetic aluminium block 15, and be fixedly connected with yoke 14, separated magnetic effect is played, it is described
Two support plates 16 are placed on the outside of two narrow permanent magnet 12, and are fixedly connected with yoke 14, described two limit aluminium sheets 17
It is packed in the front/rear end of yoke 14 respectively.
Described two narrow permanent magnets 12 and two wide permanent magnet 13 are all made of neodymium iron boron N45SH and are made, and through-thickness
It magnetizes, the installation polarity of two adjacent permanent magnets is on the contrary, the common carbon structural steel that the yoke 14 uses magnetic property good
Q235 is made, and the support plate 16 is made of non-magnetic 304 stainless steel, while guaranteeing bearing strength, can be avoided
Interference is generated to magnetic circuit.
As shown in figure 1, figure 3 and figure 4, screw body 3 includes: screw rod 18, I 20, two, the guide rail cunning of screw rod bracket 19, two
Block I 21,23, two, the optical axis bracket of slider I connecting plate 22, four straight optical axis 24, nut I 25, nut connecting plate 26, two are directly
Spool holds 27, two guide rails, II 28, two sliding blocks II 29, II connecting plate of sliding block, 30, two right-angle connecting plates 31, driving mechanism and connects
Fishplate bar 32, nut II 33, driving pulley 34, driven pulley 35, tensioning pulley 36, wheeled stand 37, synchronous belt 38, mounting flange
II 39, the spring I 42 of spring guide I 41, two of driving motor II 40, four and two adsorbing mechanism connecting plates 43.
18 both ends of screw rod are sleeved in screw rod bracket 19, can be rotated relative to screw rod bracket 19, described two guide rails I 20
It is installed in the positive two sides of screw rod bracket 19 respectively, described two slider Is 21 are installed in the two sides of slider I connecting plate 22 respectively,
And be set on two guide rails I 20, slider I connecting plate 22 can be slided up and down by 21 opposite rail I 20 of slider I.
Four optical axis brackets 23 are set in the both ends of two straight optical axis 24 two-by-two, and are packed in slider I connecting plate
22 reverse side, the nut I 25 is packed in the middle part of nut connecting plate 26, and is sleeved on screw rod 18, described two linear axis
27 both ends for being packed in nut connecting plate 26 are held, and are set on two straight optical axis 24, nut I 25 can be connected with nut
Plate 26 is slided up and down by I connecting plate 22 of opposing slider on straight optical axis 24 of linear bearing 27.
Described two guide rails II 28 are packed in the two sides of 19 reverse side of screw rod bracket respectively, and described two sliding blocks II 29 are solid respectively
Two sides loaded on II connecting plate 30 of sliding block, and be set on two guide rails II 28, the driving mechanism connecting plate 32 passes through
Two right-angle connecting plates 31 are fixedly connected with II connecting plate 30 of sliding block, and the nut II 33 is packed in driving mechanism connecting plate 32
Middle part, described two in-wheel driving mechanisms 1 are packed in the two sides of driving mechanism connecting plate 32, driving mechanism connecting plate 32, nut
II 33 and in-wheel driving mechanism 1 can be slided up and down with II connecting plate 30 of sliding block by II 29 opposite rail II 28 of sliding block.
The screw rod 18, nut I 25, the screw thread on nut II 33 are trapezoidal thread, and screw pitch is 4mm, and nut I 25 begins
It is engaged eventually with screw rod 18 by screw thread, one section of 18 bottom of screw rod is optical axis, and nut II 33 is contacted in in-wheel driving mechanism 1 with wall surface
The screw thread of front distance screw rod 18 has certain distance, does not engage with screw rod 18.
The driven pulley 35 is set in the top of screw rod 18, and the driving pulley 34 and tensioning pulley 36 pass through belt wheel branch
Frame 37 is installed on the top of screw rod bracket 19, and the synchronous belt 38 is sleeved on driving pulley 34, driven pulley 35 and tensioning pulley
On 36, the driving motor II 40 is installed in the top of screw rod bracket 19 by mounting flange II 39, and driving motor II 40 passes through
It drives driving pulley 34 to drive synchronous belt 38, makes driven pulley 35 that screw rod 18 be driven to rotate.
Four spring guides I 41 are sleeved on the both ends of two springs I 42 two-by-two, and are set in two line lights
On axis 24 and it is placed in the top of nut connecting plate 26, the spring I 42 is cylindrically coiled spring, is existed when spring I 42 is installed pre-
Clamp force, so set, the screw thread and nut II 33 that can avoid screw rod 18 be when contacting, between nut I 25 and nut II 33, position is not
Properly, cause screw body 3 stuck, to guarantee that the screw thread of screw rod 18 is smoothly engaged with nut II 33.
Described two adsorbing mechanism connecting plates 43 are installed in the bottom of screw rod bracket 19, and with non-contact magnetically adsorbing mechanism 2
It is fixedly connected.
As shown in Figure 1, Figure 2, Figure 3 shows, the structure of two spring mechanisms 4 is identical, includes: 44, two bullets of fixing seat
Spring guide sleeve II 45, two springs, II 46 two spring bearer plates 47 and two spring pressure bars 48, the fixing seat 44 are packed in wheel
The bottom of cabinet 6 in formula driving mechanism 1, described two spring guides II 45 are separately mounted in fixing seat 44, described two bullets
Spring II 46 is set in two spring guides II 45, and described two spring bearer plates 47 are set in two springs II 46
Top, described two spring pressure bars 48 are respectively placed in inside two springs II 46, and one end is fixedly connected with spring bearer plate 47, one end
It is fixedly connected with the support plate 16 in non-contact magnetically adsorbing mechanism 2.
The spring II 46 is cylindroid helical-coil compression spring, and there are pretightning forces for the installation of spring II 46, in in-wheel driving mechanism 1
Not and in face of contact wall, spring mechanism 4 is compressed in-wheel driving mechanism 1 and non-contact magnetically adsorbing mechanism 2 by pretightning force, makes to take turns
Formula driving mechanism 1 and non-contact magnetically adsorbing mechanism 2 are gone up and down with screw body 3 together, are contacted in in-wheel driving mechanism 1 with wall surface
Afterwards, spring mechanism 4 is used to convert elastic potential energy for the decline of non-contact magnetically adsorbing mechanism 2 work done and store, to reduce
The driving moment of driving motor II 40 needed for 3 uphill process of non-contact magnetically adsorbing mechanism.
It is illustrated in figure 5 obstacle detouring schematic illustration of the invention, slider I connecting plate 22 is fixedly connected with robot frame,
When driving motor II 40 drives screw rod 18 to rotate, pretightning force due to nut connecting plate 26 by spring I 42, nut I 25 will
It is remain stationary with 26 opposing slider of nut connecting plate, I connecting plate 22, screw rod 18, screw rod bracket 19 and non-contact magnetically adsorbing mechanism
2 rise or fall opposing nut I 25, since nut II 33 is not engaged with the screw thread of screw rod 18, in the effect of spring mechanism 4
Under, in-wheel driving mechanism 1 will also be gone up and down together with non-contact magnetically adsorbing mechanism 2, to realize obstacle crossing function.
It is illustrated in figure 6 magnetic adsorbability Principles of Regulation schematic diagram of the invention, when in-wheel driving mechanism 1 is with non-contact magnetic
After random structure 2 declines and contacts with wall surface, driving motor II 40 drives screw rod 18 to continue to rotate, and non-contact magnetically adsorbing mechanism 2 will
Continue to decline with screw rod 18, screw rod bracket 19, and be detached from in-wheel driving mechanism 1, the screw thread of subsequent 18 bottom of screw rod will with it is solid
The nut II 33 being scheduled on driving mechanism connecting plate 32 contacts, if the contact point of screw rod 18 and nut II 33 is not nut II at this time
33 screw thread entrance, screw rod 18 rotates the end face for being against nut II 33, and nut I 25 will be with 26 opposing slider of nut connecting plate
I connecting plate 22 moves up, and spring I 42 will be compressed, until the screw thread of 18 bottom of screw rod is smoothly engaged with nut II 33, this
Afterwards, since the screw pitch of screw rod 18, nut I 25 and nut II 33 is identical, screw rod 18 can opposing nut I 25 and about II 33 nut
Movement is to adjust the distance between non-contact magnetically adsorbing mechanism 2 and wall surface, and nut I 25 and the position of nut II 33 will not occur
Change, to realize the adjusting of magnetic adsorbability, the relative motion of in-wheel driving mechanism 1 and non-contact magnetically adsorbing mechanism 2 occurs
After in-wheel driving mechanism 1 is contacted with wall surface, the adjusting of magnetic adsorbability is not limited by wall condition, therefore mechanism has very by force
Wall surface adaptive ability, the adjusting range of 3 relative wall's distance of non-contact magnetically adsorbing mechanism is 3mm-22mm, is counted through emulation
It calculates, corresponding magnetic adsorbability is 4700N-370N.
Claims (1)
1. a kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability, it is characterized in that including two wheeled drives
Motivation structure, non-contact magnetically adsorbing mechanism, screw body and two spring mechanisms, Liang Ge in-wheel driving mechanism are placed in screw rod machine
The two sides of structure are simultaneously fixedly connected with screw body, non-contact magnetically adsorbing mechanism be placed in the lower section of Liang Ge in-wheel driving mechanism and with
Screw body bottom is fixedly connected, and it is in-house that two spring mechanisms are installed in two in-wheel drivings respectively, and and non-contact magnetically
Adsorbing mechanism connection；
The structure of the Liang Ge in-wheel driving mechanism is identical, including driving wheel, cabinet, gear wheel, gear shaft, small tooth
Wheel, mounting flange I and driving motor I；Driving wheel is mounted on body side, and gear wheel is set on gear shaft, and with small tooth
Wheel is mounted on box house together, and driving motor I is installed on body side by mounting flange I, and driving motor I is small by driving
Gear simultaneously drives gear wheel and gear shaft；
The non-contact magnetically adsorbing mechanism is including two narrow permanent magnets, two wide permanent magnets, yoke, three every magnetic aluminium block, two
A support plate and two limit aluminium sheets, two narrow permanent magnets are respectively placed in yoke bottom surface both side, and two wide permanent magnets are set respectively
In the middle part of yoke bottom surface, three are respectively placed between aforementioned four permanent magnet every magnetic aluminium block, and are fixedly connected with yoke, two branch
Fagging is placed on the outside of two narrow permanent magnet and is fixedly connected with yoke, and two limit aluminium sheets are mounted on yoke rear and front end face；
The screw body includes screw rod, screw rod bracket, two guide rails, I, two slider I, slider I connecting plate, four optical axises
Bracket, two straight optical axis, nut I, nut connecting plate, two linear bearings, two adjusting nuts, two adjustings studs, four
I, two, the spring guide rail of a spring guide I, two, II, two sliding block II, II connecting plate of sliding block, two right-angle connecting plates, driving
Mechanism connecting plate, nut II, two adsorbing mechanism connecting plate, driving pulley, driven pulley, tensioning pulley, wheeled stand, synchronization
Band, mounting flange II and driving motor II, in which: screw both end is sleeved in screw rod bracket, and two guide rails I are packed in respectively
The positive two sides of screw rod bracket, two slider Is are packed in the two sides of slider I connecting plate respectively and are sleeved on guide rail I, four light
Bracing strut is set in the both ends of two straight optical axis two-by-two, and is packed in the reverse side of slider I connecting plate, and nut I is packed in nut
In the middle part of connecting plate, and it is sleeved on screw rod, nut connecting plate is sleeved on two straight optical axis by two linear bearings, and two
Adjusting nut and two adjusting studs are set on two straight optical axis, four springs by being threadably engaged in together
Guide sleeve I is placed in the both ends of two springs I two-by-two, and is set on two straight optical axis, and two guide rails II are fixedly mounted with respectively
In the two sides of screw rod bracket reverse side, two sliding blocks II are packed in the two sides of II connecting plate of sliding block respectively and are sleeved on guide rail II,
Driving mechanism connecting plate is fixedly connected by two right-angle connecting plates with II connecting plate of sliding block, nut II be sleeved on screw rod and with
Driving mechanism connecting plate is fixedly connected, and two adsorbing mechanism connecting plates are packed in screw rod bracket bottom end, and driven pulley is sleeved on silk
Bar top, driving pulley and tensioning pulley are mounted at the top of screw rod bracket by wheeled stand, synchronous belt be sleeved on driving pulley,
On driven pulley and tensioning pulley, driving motor II is packed at the top of screw rod bracket by mounting flange II；
The structure of two spring mechanisms is identical, including two spring guides II, fixing seat, two springs II, two
A spring bearer plate and two spring pressure bars, two spring guides II are separately mounted in fixing seat, and two springs II are put respectively
It sets in two spring guides II, two spring bearer plates are set in one end of two spring pressure bars, and are placed on spring II
Top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945569.3A CN109050704A (en) | 2018-08-20 | 2018-08-20 | A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945569.3A CN109050704A (en) | 2018-08-20 | 2018-08-20 | A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109050704A true CN109050704A (en) | 2018-12-21 |
Family
ID=64686482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810945569.3A Pending CN109050704A (en) | 2018-08-20 | 2018-08-20 | A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109050704A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927807A (en) * | 2019-04-24 | 2019-06-25 | 重庆科技学院 | A kind of intelligent mobile robot of adaptive complexity 3D metal curved surface |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1739925A (en) * | 2005-09-09 | 2006-03-01 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN101947778A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force |
| KR20130105234A (en) * | 2012-03-12 | 2013-09-25 | 주식회사 엠텍 | Robot for running on the wall |
| CN208881952U (en) * | 2018-08-20 | 2019-05-21 | 南昌大学 | A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability |
-
2018
- 2018-08-20 CN CN201810945569.3A patent/CN109050704A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1739925A (en) * | 2005-09-09 | 2006-03-01 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN101947778A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force |
| KR20130105234A (en) * | 2012-03-12 | 2013-09-25 | 주식회사 엠텍 | Robot for running on the wall |
| CN208881952U (en) * | 2018-08-20 | 2019-05-21 | 南昌大学 | A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927807A (en) * | 2019-04-24 | 2019-06-25 | 重庆科技学院 | A kind of intelligent mobile robot of adaptive complexity 3D metal curved surface |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208881952U (en) | A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability | |
| CN107985812B (en) | Sensor-based transport safely of one kind uses transfer device | |
| CN106143667B (en) | A kind of hinge-type metal wall work climbing robot | |
| CN106240664B (en) | A kind of towed metal wall surface work climbing robot | |
| CN109050704A (en) | A kind of wheel type barrier-crossing mechanism of the climbing robot with wall surface adaptive ability | |
| CN101462562B (en) | Single crawler type wall climbing robot based on electrostatic absorption principle | |
| CN215513931U (en) | Wall-climbing robot | |
| CN101947778A (en) | Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force | |
| CN104943763B (en) | A kind of wall-climbing device robot movement mechanism of achievable three-dimensional wall surface transition | |
| CN208880694U (en) | A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot | |
| CN108890612A (en) | A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot | |
| CN108749943B (en) | Magnetic adsorption wall climbing robot | |
| CN219169146U (en) | Magnetic type bidirectional moving pipeline cleaning robot | |
| CN106080823A (en) | A kind of imitative Gekko Swinhonis Zu Shipa steel tower robot | |
| CN102673672A (en) | Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot | |
| CN109457106B (en) | Traction type welding residual stress eliminating device | |
| CN109131619B (en) | Wall climbing robot | |
| CN110080139B (en) | Automatic cleaning device for contour belt of highway | |
| CN110341402A (en) | A kind of the sucked type electromagnet traction mechanism and its docking facilities of cylinder driving | |
| CN206843007U (en) | A kind of pipe fitting Bidirectional up-down transfer machine | |
| CN108674510B (en) | Y-shaped robot | |
| CN211970955U (en) | Carrying manipulator | |
| CN211289302U (en) | Stabilizing mechanism of rack for automatic equipment | |
| CN210220662U (en) | Sintering machine trolley wheel steering device | |
| CN110434896A (en) | Barrier-crossing wall-climbing robot combined type variable magnetic force adsorption module |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |