CN110015350B - Metal wall surface self-adaptive climbing robot - Google Patents

Abstract

The invention discloses a metal wall surface self-adaptive climbing robot which comprises a frame and a plurality of wheels arranged at the bottom of the frame, wherein at least one wheel is provided with a driving device, at least two wheels in the plurality of wheels at the bottom of the frame are installed in pairs, at least one magnetic adsorption module is arranged between the two wheels installed in pairs, the magnetic adsorption module comprises an upper support, a lower support and a permanent magnet, the upper support is relatively and fixedly installed at the bottom of the frame, the lower support is installed at the bottom of the upper support through a rotary degree of freedom, the permanent magnet is fixedly installed at the lower end of the lower support, the bottom of the permanent magnet is lower than the bottom of the wheels, and the permanent magnet comprises a flat yoke positioned at the top and a plurality of rectangular neodymium iron boron permanent magnet arrays fixed at the bottom of the. The self-adaptability of the robot climbing is greatly improved through the magnetic adsorption module with the axial degree of freedom, and the robot climbing robot is simple in structure, good in walking stability and strong in load bearing capacity.

Description

Metal wall surface self-adaptive climbing robot

Technical Field

The invention belongs to the field of robots, relates to a climbing robot, and particularly relates to a metal wall surface self-adaptive climbing robot based on a permanent magnet adsorption principle.

Background

China plays an important role in the field of port cranes, and the Haoshua is a place for representing that crane blocks in the world of China enterprises firmly occupy. The monitoring and maintenance of cranes, especially large shore cranes, is also becoming more and more important.

The nondestructive detection of metal equipment mainly comprises X-ray nondestructive inspection, electromagnetic ultrasonic, eddy current inspection, magnetic flux leakage inspection, penetration inspection, magnetic powder inspection and the like, and the carried detection equipment is an ultrasonic nondestructive inspection instrument, so that a flaw detection head is not required to be carried by a worker to a crane for detection, the safety evaluation and the service life evaluation of the crane are simplified, the safety of the crane is indirectly improved, and the method has great research significance and application prospect. Because the hoist is bulky, the structure is complicated, and the measurement personnel work load is big, and the security is low, and some parts of hoist are difficult to detect moreover. The ultrasonic flaw detection of the crane is finished by the robot, so that the safety and the production efficiency of workers can be greatly improved.

Therefore, a robot which can move and climb on the surface of a crane structure, can bear image transmission equipment such as a camera and the like to transmit image information back, is provided with a mechanical arm and an ultrasonic flaw detector, and is used for reducing the labor intensity of workers and improving the production efficiency is needed.

Through the search of the prior art documents, the Chinese patent application No. 201710367820.8 discloses a self-adaptive contact magnetic crawler climbing robot. The structure of the self-adaptive crawler belt comprises two crawler belts, a driving motor, a self-adaptive rocker arm and other necessary structures. The robot can realize the self-adaptation of the crawler and the contact surface by utilizing the stretching of the rocker arm, and the reliability is improved. The mechanism is too large and heavy, has insufficient obstacle crossing performance, and cannot meet the requirement of omnibearing climbing on a crane.

The Chinese patent application No. 201810275240.0 discloses a multifunctional fire-fighting robot. The working mechanism comprises a high-pressure spray head with adjustable height, a camera, a high-power electric fan for dispersing dense smoke and a common crawler belt for moving. The mechanism carries a plurality of working components, has compact structure and good fire extinguishing effect, has better moving performance on a plane, but can not meet the climbing requirement of a metal wall surface.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, develop a climbing robot which can have a certain self-adaptive capacity to a metal wall surface and can carry relevant equipment to operate. The invention utilizes the characteristics of the permanent magnet to skillfully release a rotational degree of freedom coaxial with the wheel, so that the permanent magnet can always keep the maximum adsorption force. Compared with the traditional metal climbing robot, the metal climbing robot has certain adaptivity, wider climbing range, flexible and quick steering, simple and convenient control, comprehensive functions and higher reliability.

Meanwhile, the robot is controlled by a single chip microcomputer, the single chip microcomputer controls three independent stepping motor drivers, each stepping motor driver controls one stepping motor, and each stepping motor is connected with the worm and gear reducer and outputs torque. The single chip microcomputer realizes information interaction with ground control personnel through the WiFi module. The image transmission equipment carried by the robot is independent equipment and is provided with an independent signal receiving and transmitting device.

In addition, the invention adopts the mode that the rear wheels are respectively driven independently, thereby not only providing strong driving force, but also eliminating a differential mechanism, simplifying the mechanical structure and improving the reliability. Considering the requirement of coping with the self-adaptation climbing of hoist on irregular metal wall, arranged near this robot's wheel axis neodymium iron boron magnetism adsorption module, accomplished the dolly and can both provide sufficient adsorption affinity under any operating mode, ensured stability and security.

The invention is realized by the following technical scheme:

the utility model provides a metal wall face self-adaptation climbing robot, includes the frame and locates a plurality of wheels of frame bottom, and at least one wheel is equipped with drive arrangement, its characterized in that in a plurality of wheels: at least two wheels are installed in pairs in a plurality of wheels of frame bottom, are equipped with at least one magnetism between two wheels of installing in pairs and adsorb the module, magnetism adsorbs the module and includes upper bracket, lower carriage and permanent magnet, the relative fixed mounting of upper bracket is in the frame bottom, the lower carriage is through the installation of a rotational degree of freedom in the upper bracket bottom, permanent magnet fixed mounting is at the lower extreme of lower carriage.

Preferably, the permanent magnet is including the flat yoke that is located the top and fixed with the polylith rectangle neodymium iron boron permanent magnet array of flat yoke bottom, and magnetism adsorbs the module and adopts halbach principle array to arrange, makes magnetic field intensity reach the strongest under the unchangeable circumstances of permanent magnet volume and kind, has improved the load capacity of vehicle.

Preferably, the rotating shaft center of the permanent magnet is eccentrically arranged relative to the wheel shaft center in the direction close to the bottom of the frame, and the magnetic attraction module is stable in magnetic attraction force and small in change of the attraction force when the robot crosses the edge of the metal wall surface by utilizing the front wheel eccentric distance compensation principle, so that the robot runs stably. The rotating shaft of the permanent magnet support is 3mm higher than the rotating shaft of the wheel, so that when the robot runs through the seamed edge, the permanent magnet is closer to the metal wall surface, larger adsorption force is obtained, and safety is improved.

Preferably, the frame includes upper cover plate, vehicle body bottom plate and the fixed column that links to each other both, vehicle body bottom plate is last to be equipped with a pair of front wheel and a pair of rear wheel, be equipped with front wheel magnetism adsorption module between a pair of front wheel of vehicle body bottom plate, be equipped with two rear wheel magnetism adsorption modules between a pair of rear wheel, whole frame adopts a large amount of fretwork designs, lightens weight under the condition that does not influence rigidity, has also provided the bolt fastening hole site of sufficient quantity.

Preferably, a pair of front wheels pass through front wheel steering module and install on vehicle body floor, front wheel steering module is including turning to support, steering spindle and steering motor, steering motor fixed mounting is on vehicle body floor, and the steering spindle upper end links to each other with steering motor power transmission, and the lower extreme links to each other with steering support middle part is fixed, and two front wheels are installed at the steering support both ends, on the steering support between two front wheels was located to the upper bracket of magnetism absorption module, the steering motor can realize 360 rotations, and when the robot need turn to, the steering motor drive turns to support pivot rotation 90 and keep, and the rear wheel is rotatory to opposite direction separately this moment, realizes the pivot of robot and turns to, and turning radius is zero basically, has greatly improved the flexibility.

Preferably, the pair of rear wheels are driven by the two driving motors, the two rear wheels steer through differential speed, differential steering is adopted, the steering radius is small, the steering structure is simple, and the steering device can steer in situ by matching with the front wheel steering module.

Preferably, the rear wheel is a composite wheel and comprises an outer wheel ring, a bearing wheel ring, a positioning wheel ring, an inner wheel ring, an anti-skid belt and a flange coupler, the outer wheel ring, the bearing wheel ring, the positioning wheel ring and the inner wheel ring are sequentially and fixedly connected, the positioning wheel ring and the bearing wheel ring have the same outer diameter, a positioning hole coaxial with the bearing wheel ring is formed in the center of the positioning wheel ring, the flange end of the flange coupler penetrates through the positioning holes of the inner wheel ring and the positioning wheel ring and then is coaxially and fixedly connected with the bearing wheel ring, the other end of the flange coupler is a wheel shaft and is connected with a driving motor through a worm gear reducer, the outer diameters of the outer wheel ring and the inner wheel ring are larger than the outer diameter of the bearing wheel ring, an annular groove is. The composite wheel adopts a multi-piece design, improves the interchangeability of the wheel through the combination of the inner and outer rims, the bearing rim and the positioning rim, reduces the installation difficulty and the production cost, plays a good positioning role in positioning and fixing the flange coupling and the anti-skid belt, and greatly improves the reliability of the composite wheel.

The composite wheel is characterized in that the anti-slip belt is attached to the groove in the outer circle of the composite wheel, and the composite wheel has the excellent characteristics of shock absorption, buffering, wear resistance and the like, so that the contact state of the robot and the avoidance is improved, and the safety is improved. The friction factor of the permanent magnet to steel is very small, and sufficient friction force cannot be provided; a large number of hollowed-out designs are adopted for the bottom plate of the automobile body, so that the weight is reduced under the condition that the rigidity is not influenced, and enough bolt fixing hole positions are provided. The permanent magnet is formed by sintering powder, has poor impact resistance and is easy to damage. After the anti-slip belt is additionally arranged, the friction force can be improved, the impact on the permanent magnet can be reduced, and the service life is prolonged. And the composite wheel is formed by combining four parts and is not integrally processed. Through actual research, the design can save the cost by more than 80 percent and improve the economy.

Preferably, a power battery for supplying power to the stepping motor and the steering motor is arranged between the upper cover plate and the vehicle body bottom plate, and any one or combination of a drawing transmission module, a mechanical arm and an ultrasonic flaw detector is arranged at the top of the upper cover plate. The working and control device is suspended on the lower surface of the upper cover plate. The upper cover plate is supported right above the vehicle body bottom plate through the hexagonal copper column. The working device comprises a camera, a picture transmission chip and an antenna. The control device comprises a single chip microcomputer, a motor driver and a WiFi module.

Preferably, the speed reducers of the driving device and the steering motor adopt worm and gear speed reducers, and the higher speed reduction ratio of the worm and gear speed reducers is utilized, so that the effects of energy conservation and environmental protection are realized, and the working endurance time of the self-adaptive climbing robot on the metal wall surface is prolonged. Meanwhile, the self-locking characteristic of the speed reducer is utilized, so that the metal wall surface self-adaptive climbing robot has a self-locking function when climbing, even if power is cut off suddenly, the robot can be stably adsorbed on the metal wall surface, and the falling accident caused by the reversal of wheels under the action of gravity can be avoided.

The image transmission equipment and the control equipment are independent from each other and do not interfere with each other, so that the stability and the reliability of the equipment are improved.

Preferably, the stepping motor of the invention adopts an external suspension design and is suspended outside the vehicle body bottom plate backwards. The weight of the stepping motor is utilized to improve the gravity center position of the robot, so that the gravity center is positioned on the rear wheel axle, and the steering capacity and the driving stability of the robot can be effectively enhanced.

The composite wheel is formed by combining six parts, namely an outer wheel ring, a bearing wheel ring, a positioning wheel ring, an inner wheel ring, an anti-skidding belt and a flange coupling. The flange coupler is fixed at the center shaft of the supporting rim through screws, the middle part of the positioning rim is hollow, the circumference of the coupler is positioned, and the flange coupler and the supporting rim are coaxially arranged. The outer wheel ring and the inner wheel ring are arranged on two sides of the bearing wheel ring and the positioning wheel ring through screws. The outer diameter ratio of outer wheel rim and interior wheel rim is 4mm with the location wheel rim bigger than the bearing wheel rim, can form a recess after the aggregate erection is accomplished, and the antiskid area is installed in the recess, has very strong anti-skidding ability and durability. The power component comprises a stepping motor, a worm and gear reducer and a driver of the stepping motor. The stepping motor is connected with the worm and gear speed reducer through a bolt, and the speed reducer is also rigidly fixed on a vehicle body bottom plate through the bolt. An output shaft is arranged in the middle of the speed reducer and can be fixed with a flange coupling of a wheel.

The magnetic adsorption module is a self-adaptive magnetic adsorption device and comprises a permanent magnet bracket and a permanent magnet assembly. The permanent magnet support is divided into an upper support and a lower support. The upper support is fixed with the lower surface of the vehicle body bottom plate, and the lower support is fixed with the permanent magnet. The upper bracket and the lower bracket are connected together through a bearing and have a rotational degree of freedom. The invention adopts 3 sets of permanent magnets, one set is arranged between two front wheels, and two sets are arranged between two rear wheels, and each set of permanent magnet consists of 4 rectangular neodymium iron boron permanent magnets and a flat yoke iron made of 1 iron sheet. The 4 permanent magnets are arranged in parallel to form a larger rectangle, and the magnetic field of the permanent magnets forms a closed loop through the flat yoke iron to increase the magnetic field intensity and obtain larger adsorption force.

The steering mechanism mainly comprises a steering motor and a steering support. The steering motor is a kit formed by combining a stepping motor and a worm gear reducer and is fixed on the upper surface of the vehicle body bottom plate through bolts. The output shaft of the worm gear reducer penetrates through the vehicle body bottom plate and faces downwards, and is connected with the steering support through the double-trimming flange shaft coupler. Two fixed claws are arranged in the middle of the steering support and serve as upper supports of the permanent magnets, and support is provided for the permanent magnets. The claws at the two sides of the steering bracket are provided with front wheels.

Compared with the prior art, the invention has the following advantages:

according to the invention, the magnetic adsorption module releasing the axial degree of freedom is designed by utilizing the magnetic adsorption principle, so that the magnetic adsorption module can automatically find the position with the maximum adsorption force according to the convex or concave state of the metal wall surface, the utilization rate of the magnetic adsorption module is greatly improved, the volume and the weight of the magnetic adsorption module are effectively reduced, and the lightweight of the robot is realized. The 'eccentric distance compensation method' is adopted, so that the safety and the reliability of the robot when the robot runs through the metal edge are greatly improved. According to the invention, after the steering device steers, the middle part of a connecting line between the axle shafts of the two front wheels and the axle shafts of the two rear wheels is intersected, so that the axle shafts of the four wheels are converged at one point, the in-situ 360-degree steering is realized, and the flexibility is far superior to that of similar products. The transmission mechanism is simple and reliable, the two rear wheels operate independently, and the transmission efficiency is high; by adopting the worm gear reducer, mechanical self-locking can be realized even if power failure accidents happen, and the safety is improved. The wheel is formed by combining four wheel sheets, so that the cost is reduced, and the interchangeability is ensured.

Drawings

FIG. 1 is a front view overall schematic diagram of a metal wall surface self-adaptive climbing robot according to the invention;

FIG. 2 is a rear perspective overall view of the metal wall surface self-adaptive climbing robot of the present invention;

FIG. 3 is a top schematic view of the steering motor of the present invention;

FIG. 4 is a bottom schematic view of the steering motor;

FIG. 5 is a schematic view of a front wheel support system;

FIG. 6 is an exploded schematic view of the front wheel;

FIG. 7 is a schematic view of a front wheel magnetic attachment module;

FIG. 8 is a rear wheel powertrain assembly schematic;

FIG. 9 is an exploded schematic view of the rear wheel power system;

FIG. 10 is a schematic view of a composite wheel assembly;

FIG. 11 is an exploded schematic view of a composite wheel;

FIG. 12 is a rear wheel magnetic attachment module assembly schematic;

FIG. 13 is an exploded schematic view of the rear wheel magnetic attachment module;

FIG. 14 is a schematic view of an image rendering module;

figure 15 is a schematic view of the vehicle frame and the control and power module thereon.

FIG. 16 is a schematic diagram of a halbach array magnetic field loop.

Fig. 17 is a schematic diagram of a robot passing over an edge in an embodiment of the present invention.

Fig. 18 is a schematic view of the principle of the eccentricity distance compensation in the embodiment of the present invention.

FIG. 19 is a graph of simulated data of the magnetic attraction module's attraction force at a plane in an embodiment of the invention

FIG. 20 is a schematic diagram of an embodiment of the invention for off-center distance compensation travel over an edge.

FIG. 21 is a schematic view of the assembled relationship of a front wheel steering module and a front wheel magnetic attachment module of the present invention.

Reference numerals: i-an upper cover plate supporting plate, II-a drawing transmission module, III-a robot main body, IV-a front wheel steering module, V-a front wheel magnetic adsorption module, VI-a driving module, VII-a rear wheel magnetic adsorption module, VIII-a power module, a 1-wide-angle camera, a 2-camera support, a 3-M3 long hexagonal copper column, a 4-an upper cover plate, 5-an antenna preformed hole, 6-a stepping motor driver, 7-a singlechip main body, 8-an inner ring, 9-a rear wheel anti-skid belt, 10-a worm gear reducer, 11-M3 nuts, 12-a stepping motor, 13-a positioning ring, 14-a bearing ring, 15-an outer ring, 16-a rectangular neodymium iron boron permanent magnet, 17-a front wheel, 18-a front wheel anti-skid belt, 19-wheel axle, 20-deep groove ball belt edge bearing, 21-power battery, 22-vehicle body bottom plate, 23-stepping motor reducer suite, 24-M3 nut, 25-worm gear reducer, 26-stepping motor, 27-front stepping motor output shaft, 28-reducer bolt mounting hole, 29-M4 nut, 30-double-trimming flange shaft, 31-steering bracket, 32-front wheel permanent magnet lower bracket, 33-M4 enlarged gasket, 34-yoke sheet, 35-M3 bolt, 36-rear wheel reducer transmission shaft, 37-flange plate, 38-high-strength M3 nut, 39-high-strength M3 bolt, 40-rear wheel permanent magnet upper bracket, 41-rear wheel permanent magnet lower bracket, 42-M5 gasket, 43-M5 nut, 44-M5 screws, 45-flat yoke iron, 46-M3 short hexagonal copper columns, 47-rotating shafts, 48-fixed claws, 49-positioning holes, 51-metal wall surfaces, 52-rear wheels, 53-permanent magnets, 54-magnetic induction lines, 55-missing areas, 56-wheel tracks and 57-permanent magnet rotating tracks.

Detailed Description

The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.

As shown in fig. 1 and 2, the robot of the present invention includes: upper cover plate support plate piece I, picture biography module II, main part III of robot, front wheel 17, front wheel turn to module IV, front wheel magnetism adsorbs module V, drive module VI, rear wheel magnetism adsorbs module VII, power module VIII and rear wheel 52.

As shown in fig. 3, the steering motor of the present invention is composed of a step motor 26 and a worm gear reducer 25 associated therewith, wherein the worm gear reducer 25 is an a4632 type worm gear reducer, the step motor 26 is a 32 type step motor, and an output shaft 27 of the worm gear reducer 25 faces downward.

As shown in fig. 2 and 4, the worm gear reducer 25 is mounted on the vehicle body floor 22 through a reducer bolt mounting hole 28.

As shown in fig. 5, the front wheel steering module iv is composed of a double-edged flange shaft 30, a steering bracket 31, an axle 19, an M4 nut 29, and a front wheel 17 with a front wheel anti-skid belt 18 attached to the outer circumference, wherein the front wheel 17 is a plastic front wheel. Two sides of the middle shaft hole of the front wheel 17 are respectively provided with a deep groove ball belt edge bearing 20; the through holes are drilled on the claw planes on the left side and the right side of the steering support 31, deep groove spherical belt edge bearings 20 are installed on the two sides of each through hole, one end of the flange surface of the double-edged flange shaft 30 is fixedly installed in the middle of the steering support 31 through a screw, the other end of the flange surface is provided with a shaft hole, the flange surface is fixedly connected with an output shaft 27 of a steering motor through the shaft hole, when the steering is performed, the stepping motor 26 performs speed reduction through the worm and gear reducer 25, the output shaft 27 of the worm and gear reducer 25 drives the steering support 31 to rotate, and therefore 360-degree steering of the front wheel 17 is achieved.

As shown in fig. 5 and 6, the wheel axle 19 penetrates through the claws at both ends of the steering bracket 31 and then penetrates outward. The two deep groove ball belt edge bearings 20 on the left side are mainly in contact with the side faces of the claws of the steering bracket 31 on the circumferential surface, and the two deep groove ball belt edge bearings 20 on the right side are in surface contact with the front wheel 17. The ends of the axle 19 are secured together by M4 nuts 29. The outer circumference of the front wheel 17 is pasted with a front wheel anti-skid belt 18, the front wheel anti-skid belt 18 is made of silica gel materials, and the front wheel anti-skid belt has good buffering and shock absorption effects and anti-skid characteristics, and greatly improves the stability and safety of the robot during operation.

As shown in fig. 7, the front wheel magnetic adsorption module v mainly comprises a front wheel permanent magnet lower bracket 32, a permanent magnet and a fixing claw 48 arranged on the steering bracket 31 as a front wheel permanent magnet upper bracket, wherein the permanent magnet comprises a yoke sheet 34 and a rectangular neodymium iron boron permanent magnet 16. The rotating shaft 47 is fixed by penetrating through the small hole M4 on the two planes of the middle fixing claw 48 of the steering bracket 31. The front wheel permanent magnet lower support 32 is provided with a through hole, two deep groove ball belt edge bearings 20 are arranged on two sides of the through hole, the outer circumferences of the two bearings are in surface contact with the front wheel permanent magnet lower support 32, the inner circular surface of the two bearings is in surface contact with the rotating shaft 47, the contact surface is stable and reliable, the front wheel permanent magnet lower support 32 can freely rotate around the rotating shaft 47, and conditions are provided for self-adaptive climbing of the wall surface. The yoke sheets 34 connected by penetrating M5 screws and the rectangular NdFeB permanent magnets 16 arranged in a 2x2 matrix are installed at the bottom plane of the front wheel permanent magnet lower bracket 32. Through theoretical derivation and simulation analysis, after the yoke iron sheet 34 is added, the magnetic induction lines of the permanent magnet can be effectively gathered, the magnetic leakage is reduced, and the effect of improving the adsorption force of the permanent magnet is achieved.

As shown in fig. 8, the rear wheel power system of the robot is composed of a power module viii and two rear wheels. The rear wheels are composite wheels, the power modules VIII are symmetrically designed, and a set of power modules VIII are arranged on the left side and the right side behind the vehicle body bottom plate 22 and are independent of each other. When the two rear wheels rotate in the same direction, the robot moves linearly; when the two rear wheels rotate reversely, the robot performs pivot steering movement.

As shown in fig. 8 and 9, the power module viii is composed of a stepping motor 12, a worm gear reducer 10, a rear wheel reducer transmission shaft 36, a flange 37 and a composite wheel. The end face of one end of the output shaft of the stepping motor 12 is fixed with the worm and gear reducer 10 through four bolts. The worm gear reducer 10 is fixed to the underbody 22 by four M6 bolt holes above it. One end of a transmission shaft 36 of the rear wheel speed reducer is fixed in the speed reducer through a key groove, and the other end of the transmission shaft is fixedly connected with a flange 37. The flange 37 is rigidly connected to the composite wheel by bolts.

As shown in fig. 10 and 11, the rear wheel is a composite wheel, the composite wheel has a compact and reliable structure and low cost, and the composite wheel is formed by compounding multiple layers of sheet-type parts, which sequentially include from left to right: high-strength M3 bolts 39, M3 bolts 35, outer wheel rim 15, rear wheel anti-skid band 9, load-bearing wheel rim 14, positioning wheel rim 13, inner wheel rim 8, M3 nut 11, flange 37 and high-strength M3 nut 38. The outer circumferential surface of the large disk of the flange 37 is brought into surface contact with the inner circumferential surface of the positioning hole 49 in the center of the positioning rim 13, thereby ensuring the coaxiality of the rear wheel and the rear wheel speed reducer transmission shaft 36. The thickness of the load-bearing rim 14 is about 2 times that of the positioning rim 13, and the flange 37 is rigidly connected to the load-bearing rim 14 by bolts on the large circumference, so that the load-bearing rim 14 bears most of the load. The outer wheel rim 15, the bearing wheel rim 14, the positioning wheel rim 13 and the inner wheel rim 8 are rigidly connected through the evenly distributed 12M 3 bolts 35, and a groove is formed in the outer circumferential surface of the composite wheel after installation because the outer diameters of the inner wheel rim 15, the outer wheel rim 8 and the inner wheel rim 15 are slightly larger than the outer diameters of the bearing wheel rim 14 and the positioning wheel rim 13, so that the rear wheel anti-skid band 9 is stuck inside the groove, the stability of the rear wheel anti-skid band 9 is greatly improved, and the rear wheel anti-skid band is not easy to fall off. Because the rear wheel anti-skid belt 9 is made of silica gel, the rear wheel anti-skid belt is easy to deform after being stressed, so that the running route of the robot is irregular, the inner wheel ring 15 and the outer wheel ring 8 which extend out are arranged on two sides of the composite wheel, the deformation of the rear wheel anti-skid belt 9 can be greatly reduced, and the stability of the running route of the robot is improved.

As shown in fig. 12 and 13, the rear wheel magnetic adsorption module vii is composed of two sets of magnetic adsorption modules, and is mounted in parallel at the rear of the underbody 22, and the magnetic adsorption modules are mainly composed of a rear wheel permanent magnet upper bracket 40, a rear wheel permanent magnet lower bracket 41, a high-strength M3 bolt 39, a flat yoke 45, a rectangular neodymium iron boron permanent magnet 16, and an M5 screw 44. The rear wheel permanent magnet upper bracket 40 is rigidly connected with the vehicle body bottom plate 22 through four M4 through holes and bolts at the top of the rear wheel permanent magnet upper bracket. Two lug plates are arranged at the lower end of the rear wheel permanent magnet upper support 40, through holes penetrating through the lug plates are formed in the opposite positions of the two lug plates, through holes are formed in the upper end of the rear wheel permanent magnet lower support 41, 2 deep groove ball strip edge bearings 20 are mounted on the two sides of each through hole, the outer circumference of each deep groove ball strip edge bearing 20 is in surface contact with the through holes, high-strength M3 bolts 39 penetrate through the through holes in the lug plates on one side of the rear wheel permanent magnet upper support 40 and penetrate through the through holes in the lug plates on the other side after penetrating through the inner holes of the deep groove ball strip edge bearings 20, and then the rear wheel permanent magnet upper support 40 and the rear wheel permanent magnet lower support 41 are fixed on the rear wheel permanent magnet upper support 40 through high-strength M3 nuts 38, so that the rear wheel permanent magnet upper support 40 and the. The 4M 5 screws 44 pass through the lower planes of the rectangular ndfeb permanent magnet 16, the flat yoke 45 and the rear wheel permanent magnet lower bracket 41 from bottom to top in sequence, and the rectangular ndfeb permanent magnet 16, the flat yoke 45 and the rear wheel permanent magnet lower bracket 41 are rigidly connected through the M5 spacer 42 and the M5 nut 43. Because the round hole of the lower end face of the rectangular neodymium iron boron permanent magnet 16 is a counter bore face, the M5 screw 44 can be immersed into the rectangular neodymium iron boron permanent magnet 16, so that the structure is more compact. The magnetic adsorption module in fig. 13 is a rigid connection unit except that the rear wheel permanent magnet upper bracket 40 is fixed to the underbody 22, and can rotate around the central axis of the high-strength M3 bolt 39.

Fig. 14 shows a graph transmission module ii. The part comprises wide-angle camera 1 and camera support 2, and wide-angle camera 1 passes through camera support 2 and installs on upper cover plate 4 upper surface.

As shown in fig. 1 and 15, the frame is a schematic view, and the frame comprises an upper cover plate supporting plate I, a drawing transmission module II, a robot main body III and a driving module VI. The method specifically comprises the following steps: the antenna comprises an upper cover plate 4, an antenna preformed hole 5, an M3 long hexagonal copper column 3, an M3 short hexagonal copper column 46, a single chip microcomputer main body 7, a power battery 21, a stepping motor driver 6 and a vehicle body bottom plate 22. The M3 long hexagonal copper pillar 3 is rigidly connected with the underbody 22 through the screw thread of the inner hole of the lower end, and 7M 3 long hexagonal copper pillars 3 are arranged around the underbody 22 and used for supporting and fixing the upper cover plate 4 on the underbody 22. 5 pieces of M3 short hexagonal copper post 46 are fixed with upper cover plate 4 through the screw hole of upper end, and singlechip main part 7 has the through-hole all around, and is fixed with 5 pieces of M3 short hexagonal copper post 46 lower extreme, utilizes 5 pieces of M3 short hexagonal copper post 46 to fix singlechip main part 7 on upper cover plate 4 in the air, improves space utilization, reinforcing radiating effect. The 2 stepping motor drivers 6 are fixed to the vehicle body floor 22 through holes and bolts at four corners. The power battery 21 is fixed with the underbody 22 through double-sided foam rubber at the lower end, and the foam rubber has a damping effect and has a certain protection effect on the battery.

Fig. 16 is a schematic diagram of a halbach array (halbach array) magnetic field loop. The top is yoke thin sheet 34, the middle is rectangular neodymium iron boron permanent magnet 16 arranged in 2x2 matrix, wherein the upper of the two rectangular neodymium iron boron permanent magnets 16 on the left is N pole, the lower is S pole, the upper of the two rectangular neodymium iron boron permanent magnets 16 on the right is S pole, and the lower is N pole. According to the halbach theory, the arrangement mode can enable the upper magnetic induction lines 54 to be bundled in the yoke thin sheets 34, the magnetic leakage phenomenon is reduced, and the magnetic field intensity and the adsorption force are greatly improved.

Fig. 17 shows the suction when the robot is running over an edge. It can be seen that under certain conditions, for example, when the metal wall 51 runs in an upside-down climbing left direction, when the front wheel 17 passes over the edge of the metal wall 51, the adsorption area of the permanent magnet 53 has two symmetrical missing areas 55 compared with the normal state, resulting in a decrease in the adsorption force. Simulation and experiments show that the adsorption force is reduced by about 30%, so that the robot is easy to fall off, and the danger is increased. The solution is as in figure 18.

Fig. 18 is a view for explaining the principle of the front wheel eccentricity compensation in fig. 17. As shown in fig. 18, the solid circle is the outer circumference of the front wheel 17, i.e., the wheel track 56, and the radius of the wheel track 56 is 52 mm; the dotted circle is the outer circumference of the permanent magnet 53 when rotating, i.e., the permanent magnet rotation track 57, the radius of the permanent magnet rotation track 57 is 50mm, the distance from the rotation center of the permanent magnet 53 to the metal wall surface 51 is 3mm, and the eccentricity is 3 mm. In this case, when the permanent magnet 53 is at the position a and the air gap between the permanent magnet and the metal wall surface 51 is 5mm in the planar running, the adsorption force 182N can be obtained from the simulation data in fig. 18; when the robot passes the edge, the permanent magnet rotates by 45 degrees to the position B under the action of the adsorption force, the air gap between the permanent magnet 53 and the metal wall surface 51 is 4mm, the adsorption force is 235Nx70% =164.5N according to simulation data shown in FIG. 19 and calculation of 30% adsorption force loss, and the difference between the adsorption force and the adsorption force of 182N during planar driving is not large, so that the robot is stable in driving, and the change of the adsorption force is small. The rear wheel is similar to the front wheel, and the invention of the eccentric distance compensation is also provided.

As shown in fig. 20, when the robot crosses the metal edge, the magnetic adsorption modules of the front and rear wheels can automatically adsorb along the direction of the maximum adsorption force. In the extreme state of fig. 20, the angle β of the rotation of the magnetic adsorption modules of the front and rear wheels toward the inside of the vehicle body is about 45 °, and the adsorption force is always kept to be maximum and smoothly passes through the metal edge. The angle alpha which can be passed by the invention is between 90 degrees and 135 degrees.

When the self-adaptive climbing robot with the metal wall surface 51 works: firstly, the stepping motor in charge of steering automatically aligns to enable the front wheel to be in a longitudinal optional mounting state. When the rear wheels rotate forwards simultaneously, the robot drives forwards; when the rear wheels are simultaneously rotated backward, the robot travels backward. After the front wheels are rotated by 90 degrees and locked, the two rear wheels rotate reversely, and the robot can turn 360 degrees in situ. The high-definition camera 2 equipped in front of the robot can transmit back the picture in real time to perform corresponding monitoring.

The invention relates to a metal wall surface self-adaptive climbing robot based on a magnetic adsorption principle, which utilizes the characteristic that a permanent magnet automatically searches the maximum adsorption inner direction to invent a magnetic adsorption module with certain self-adaptive capacity to different metal wall surfaces 51, so that the moving range of the robot is greatly increased. The special composite wheel has stable and reliable structure, zero turning radius and flexibility. The carried drawing transmission equipment, the mechanical arm and the ultrasonic flaw detector have certain detection functions, and data are transmitted back through the WiFi module for analysis. The robot is also suitable for crack detection of the metal wall surface 51 with the equal plane or the large curved surface of the side surface of the ship body, has strong adaptability, and is suitable for application and popularization on various metal wall surfaces 51.

Claims (8)

1. The utility model provides a metal wall face self-adaptation climbing robot, includes the frame and locates a plurality of wheels of frame bottom, and at least one wheel is equipped with drive arrangement, its characterized in that in a plurality of wheels: at least two wheels of the plurality of wheels at the bottom of the frame are installed in pairs, at least one magnetic adsorption module is arranged between the two wheels installed in pairs, the magnetic adsorption module comprises an upper support, a lower support and a permanent magnet, the upper support is relatively and fixedly installed at the bottom of the frame, the lower support is installed at the bottom of the upper support through one rotational degree of freedom, and the permanent magnet is fixedly installed at the lower end of the lower support;

the permanent magnet comprises a flat yoke iron positioned at the top and a plurality of rectangular neodymium iron boron permanent magnet arrays fixed at the bottom of the flat yoke iron; the rotating shaft center of the permanent magnet is eccentrically arranged relative to the wheel shaft center in the direction close to the frame.

2. The metal wall surface self-adaptive climbing robot as recited in claim 1, wherein: the frame includes upper cover plate, vehicle body bottom plate and the fixed column that links to each other both, vehicle body bottom plate is last to be equipped with a pair of front wheel and a pair of rear wheel, be equipped with front wheel magnetism between a pair of front wheel of vehicle body bottom plate and adsorb the module, be equipped with two rear wheel magnetism between a pair of rear wheel and adsorb the module.

3. The metal wall surface self-adaptive climbing robot as recited in claim 2, wherein: the pair of front wheels is installed on the vehicle body bottom plate through the front wheel steering module, the front wheel steering module comprises a steering support, a steering shaft and a steering motor, the steering motor is fixedly installed on the vehicle body bottom plate, the upper end of the steering shaft is connected with the steering motor, the lower end of the steering shaft is fixedly connected with the middle of the steering support, the two front wheels are installed at two ends of the steering support, and the upper support of the magnetic adsorption module is arranged on the steering support between the two front wheels.

4. The metal wall surface self-adaptive climbing robot as recited in claim 3, wherein: the pair of rear wheels is driven by two driving motors, and the two rear wheels steer through differential speed.

5. The metal wall surface self-adaptive climbing robot as recited in claim 4, wherein: the rear wheel is a composite wheel and comprises an outer wheel ring, a bearing wheel ring, a positioning wheel ring, an inner wheel ring, an anti-skid belt and a flange coupler, wherein the outer wheel ring, the bearing wheel ring, the positioning wheel ring and the inner wheel ring are sequentially and fixedly connected, the positioning wheel ring and the bearing wheel ring have the same outer diameter, a positioning hole coaxial with the bearing wheel ring is formed in the center of the positioning wheel ring, the flange end of the flange coupler penetrates through the positioning holes of the inner wheel ring and the positioning wheel ring and then is coaxially and fixedly connected with the bearing wheel ring, the other end of the flange coupler is a wheel shaft and is connected with a driving motor through a worm gear reducer, the outer diameters of the outer wheel ring and the inner wheel ring are larger than the outer diameter of the bearing wheel ring, an annular.

6. The metal wall surface self-adaptive climbing robot as recited in claim 4, wherein: and a power battery for supplying power to the stepping motor and the steering motor is arranged between the upper cover plate and the vehicle body bottom plate.

7. The metal wall surface self-adaptive climbing robot as recited in claim 2, wherein: the top of the upper cover plate is provided with any one or a combination of a drawing transmission module, a mechanical arm and an ultrasonic flaw detector.

8. The metal wall surface self-adaptive climbing robot of claim 7, wherein: the frame is also provided with a wireless transmission module and a control module for communication.

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