CN115946789B - Wheeled magnetic adsorption wall climbing robot - Google Patents
Wheeled magnetic adsorption wall climbing robot Download PDFInfo
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- CN115946789B CN115946789B CN202211590660.0A CN202211590660A CN115946789B CN 115946789 B CN115946789 B CN 115946789B CN 202211590660 A CN202211590660 A CN 202211590660A CN 115946789 B CN115946789 B CN 115946789B
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- 230000009194 climbing Effects 0.000 title claims abstract description 34
- 238000001179 sorption measurement Methods 0.000 title abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 112
- 238000006073 displacement reaction Methods 0.000 claims abstract description 34
- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 22
- 230000008859 change Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 206010034719 Personality change Diseases 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The invention discloses a wheeled magnetic adsorption wall climbing robot, which relates to the technical field of intelligent machinery and comprises the following components: a frame; the passive posture conversion device is arranged at the lower side of the rack and has multidimensional displacement and rotation functions; the driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is fixed on the lower side of the frame, the second driving mechanism is arranged on the lower side of the passive posture changing device, the passive posture changing device realizes multi-dimensional displacement and rotation of the second driving mechanism, and the driving device adsorbs the pipe wall and drives the frame to integrally move; the invention effectively avoids the asynchronous phenomenon of each motor when the wheel type magnetic adsorption wall climbing robot walks on the uneven working surface, is beneficial to the wheel type magnetic adsorption wall climbing robot to walk more accurately according to a preset route, and increases the reliability of the wheel type magnetic adsorption wall climbing robot.
Description
Technical Field
The invention relates to the technical field of intelligent machinery, in particular to a wheeled magnetic adsorption wall climbing robot.
Background
With the rapid development of the modern industry, humans have attempted to use robots to address some of the tedious and dangerous tasks. In particular, robots play a particularly important role in certain highly dangerous operations, such as in-pipe detection, cleaning of walls of tall buildings, rescue sites in complex environments, off-board maintenance of space stations, and surface detection of asteroid cells. Wheeled magnetic attraction wall climbing robots are an important branch in the field of mobile robots. Since the 60 s of the last century, researchers in various countries began to conduct a great deal of research on such robots, and many research results have been achieved. The wheeled magnetic adsorption wall climbing robot can be divided into modes of magnetism, negative pressure, bionic materials, hook claws and the like from an adsorption structure. The magnetic adsorption robot has the advantages that the wall surface required to climb has magnetism conductivity, has better load capacity, and overcomes the defects of low working efficiency, high enterprise cost, severe working environment danger and the like existing in the prior manual operation.
When the existing wheel type magnetic adsorption wall climbing robot walks on a non-flat working surface, the serious problems that the rotating speeds of all wheels are asynchronous, the wheels are blocked during walking and the wheels and the wall surface slip are avoided, and the wheel type magnetic adsorption wall climbing robot cannot easily walk on a curved surface flexibly.
In view of the above drawbacks, the present inventors have finally achieved the present invention through long-time studies and practices.
Disclosure of Invention
The invention aims to provide a wheeled magnetic adsorption wall climbing robot, which can improve the working efficiency on one hand, and can solve the problem that the rotation speeds of all wheels are asynchronous when the wheeled magnetic adsorption wall climbing robot walks on an uneven working surface on the other hand, so that the wheeled magnetic adsorption wall climbing robot walks on the working surface according to compliance, slippage is reduced, and the use reliability of the wheeled magnetic adsorption wall climbing robot is improved.
The invention solves the technical problems through the following technical proposal, which comprises the following steps:
A frame;
The passive posture conversion device is arranged at the lower side of the rack and has multidimensional displacement and rotation functions;
The driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is fixed on the lower side of the frame, the second driving mechanism is arranged on the lower side of the passive posture changing device, the passive posture changing device realizes multi-dimensional displacement and rotation of the second driving mechanism, and the driving device adsorbs the pipe wall and drives the frame to integrally move;
the sensing device is arranged on the passive gesture conversion device and is used for sensing the data of multi-dimensional displacement and rotation of the passive gesture conversion device;
and the control boxes are respectively connected with the driving device in a device signal transmission way.
Preferably, the passive posture changing device includes:
the transverse self-adjusting mechanism is arranged on the frame;
the fixing frame is fixed on the lower side of the transverse self-adjusting mechanism;
The longitudinal self-adjusting mechanism is fixed on the fixed frame;
The bearing plate is fixed on the lower side of the longitudinal self-adjusting mechanism;
the upper end of the two-degree-of-freedom rotating device is horizontally rotatably mounted on the bearing plate, the lower end of the two-degree-of-freedom rotating device is provided with a rotating shaft which rotates in the vertical direction, and the second driving mechanism is mounted on the rotating shaft.
Preferably, the transverse self-adjusting mechanism comprises an optical axis, a sliding block and two springs; the optical axis is fixed in the frame, the slider slides and sets up in the optical axis, two the spring all overlaps to locate on the optical axis of slider both sides, the fixed frame is fixed in the slider downside.
Preferably, the longitudinal self-adjusting mechanism and the transverse self-adjusting mechanism have the same structure, the optical axis of the longitudinal self-adjusting mechanism is perpendicularly intersected with the optical axis of the transverse self-adjusting mechanism, and the bearing plate is fixed on a sliding block of the longitudinal self-adjusting mechanism.
Preferably, the sensing device comprises two groups of displacement sensing mechanisms and angle sensing mechanisms; the two groups of displacement sensing mechanisms are used for sensing displacement amounts of the transverse self-adjusting mechanism and the longitudinal self-adjusting mechanism respectively, and the angle sensing mechanism is used for sensing horizontal rotation angles of the two-degree-of-freedom rotating device.
Preferably, the displacement sensing mechanism arranged on the transverse self-adjusting mechanism comprises a rack, a gear and a first angle sensor; the rack is arranged in parallel with the optical axis, the rack is fixed on the rack, the gear is fixed on the corresponding sliding block through the mounting seat, the gear is connected with the rack in a meshed mode, and the first angle sensor is mounted on the mounting seat.
Preferably, the mounting seat and the sliding block in the displacement sensing mechanism of the longitudinal self-adjusting mechanism are both fixed on the bearing plate.
Preferably, the angle sensing mechanism comprises a second angle sensor arranged on the bearing plate through a screw, and the second angle sensor is positioned on the upper side of the two-degree-of-freedom rotating device.
Preferably, the driving mechanism comprises two motors, two groups of speed change gear sets, a fixing frame and two magnetic wheels; the two motors are respectively fixed on two sides of the fixing frame, the two magnetic wheels are respectively rotatably arranged on two sides of the fixing frame, and the motors and the magnetic wheels on the same side are in transmission connection through the speed change gear set.
Compared with the prior art, the invention has the beneficial effects that: when moving on the uneven working surface, the displacement and the rotation angle of the passive posture changing device are sensed according to the sensing device, parameters are sent to the control box, the control box can adjust the rotating speed of motors in all driving units, and adjust the rotating speed of all magnetic wheels, so that the phenomenon that all motors are asynchronous when the wheel type magnetic adsorption wall climbing robot walks on the uneven working surface is effectively avoided, the wheel type magnetic adsorption wall climbing robot can walk more accurately according to a preset route, and the use reliability of the wheel type magnetic adsorption wall climbing robot is improved.
Drawings
FIG. 1 is a schematic structural view of a wheeled magnetically attractive wall climbing robot at a first view angle;
FIG. 2 is a schematic structural view of a wheeled magnetically attractive wall climbing robot at a second view;
FIG. 3 is a schematic structural view of a wheeled magnetically attractable wall climbing robot at a third perspective;
FIG. 4 is a schematic top view of the passive attitude change device of FIG. 1;
FIG. 5 is a schematic view of the lateral self-adjusting mechanism of FIG. 4;
fig. 6 is a schematic view of the longitudinal self-adjusting mechanism of fig. 4.
The figures represent the numbers:
1-a frame; 21-a first drive mechanism; 22-a second drive mechanism; 201-a motor; 202-a speed change gear set; 203-magnetic wheel; 204-a fixing frame; 3-a control box; 41-a lateral self-adjusting mechanism; 401-optical axis; 402-a slider; 403-spring; 42-a longitudinal self-adjusting mechanism; 43-fixing frame; 44-a receiving plate; 45-two-degree-of-freedom rotation device; 5-a sensing device; 51-displacement sensing mechanism; 52-an angle sensing mechanism; 501-a rack; 502-a gear; 503-first angle sensor.
Detailed Description
The above and further technical features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
The embodiment provides a technical scheme: a wheeled magnetic adsorption wall climbing robot, referring to figures 1-3, comprises a frame 1, a passive posture changing device, a driving device, a sensing device 5 and a control box 3.
The rack 1 is formed by erecting a plurality of aluminum profiles, and the upper part of the rack 1 is a flat plane for installing matched equipment;
Referring to fig. 3 to 6, the passive attitude transformation device is provided at the lower side of the frame 1, and has multi-dimensional displacement and rotation functions. The passive attitude change device comprises:
The transverse self-adjusting mechanism 41 is arranged on the frame 1, the number of the transverse self-adjusting mechanisms 41 is preferably two, stability is ensured, and the transverse self-adjusting mechanism 41 comprises an optical axis 401, a sliding block 402 and two springs 403; the two transverse self-adjusting mechanisms 41 are respectively arranged in a 'mu' -shaped frame at the top of the frame 1, the optical axis 401 is fixed at the inner side of the frame 1, the sliding block 402 is arranged on the optical axis 401 in a sliding way, the two springs 403 are sleeved on the optical axis 401 at the two sides of the sliding block 402, the two sides of each spring 403 are respectively fixedly connected with the frame 1 and the sliding block 402, and the sliding block 402 is pushed to the center position of the optical axis 401 under the influence of other external forces due to the action of the springs 403 at the two sides;
The fixed frame 43 is formed by enclosing four aluminum profiles, the fixed frame 43 is fixed on the lower side of the sliding block 402 of the transverse self-adjusting mechanism 41, and the fixed frame 43 and the sliding block 402 are fixed through a connecting plate;
The number of the longitudinal self-adjusting mechanisms 42 is preferably two, the longitudinal self-adjusting mechanisms 42 are fixed to the fixed frame 43, the structure of the longitudinal self-adjusting mechanisms 42 is the same as that of the transverse self-adjusting mechanisms 41, in this embodiment, two sliders 402 are used for the sliders 402 of the longitudinal self-adjusting mechanisms 42, and the optical axis 401 of the longitudinal self-adjusting mechanisms 42 perpendicularly intersects with the optical axis 401 of the transverse self-adjusting mechanisms 41;
The bearing plate 44 is fixed on the lower side of the sliding block 402 of the longitudinal self-adjusting mechanism 42, and the bearing plate 44 moves in two dimensions of the longitudinal direction and the transverse direction under the action of the longitudinal self-adjusting mechanism 42 and the transverse self-adjusting mechanism 41;
The two-degree-of-freedom rotating device 45, the upper end of the two-degree-of-freedom rotating device 45 is horizontally rotatably mounted on the bearing plate 44, and the lower side of the two-degree-of-freedom rotating device 45 is provided with a rotating shaft which rotates in the vertical direction.
Referring to fig. 2-3, the driving device includes a first driving mechanism 21 and a second driving mechanism 22, where the first driving mechanism 21 and the second driving mechanism 22 are both located at the lower side of the frame 1 and are located on the same plane, the first driving mechanism 21 is fixed at the lower side of the frame 1, the second driving mechanism 22 is installed at the lower side of the passive posture conversion device, and a specific position is a rotating shaft of the two-degree-of-freedom rotating device 45, and under the action of the two-degree-of-freedom rotating device 45, the second driving mechanism 22 has a rotation function in a horizontal direction and a vertical direction, and the longitudinal self-adjusting mechanism 42 and the transverse self-adjusting mechanism 41 have a displacement in a transverse direction and a longitudinal direction, so that the multidimensional displacement and rotation of the second driving mechanism 22 can be better adapted to a curved surface, and the driving device adsorbs a pipe wall and drives the frame 1 to move integrally;
The driving mechanism comprises two symmetrical driving units and a fixing frame 204, wherein each driving unit comprises a motor 201, a speed change gear 502 group 202 and a magnetic wheel 203; both sides of mount 204 all are provided with vertical mounting panel, and motor 201 is fixed in the mounting panel of mount 204, and magnet wheel 203 passes through the axis of rotation and rotates the mounting panel of installing in mount 204, and the axis of rotation of same side motor 201 and magnet wheel 203 passes through gear 502 group 202 transmission and is connected, and when motor 201 operates, through the speed reduction drive magnet wheel 203 rotation of gear 502 group 202, and then drive robot walking, when two magnet wheels 203 in the second actuating mechanism 22 have the differential, the degree of freedom above the two degree of freedom rotating device 45 realizes the turn, and when the robot is in non-planar operation, the better laminating non-planar of magnet wheel 203 below the two degree of freedom rotating device 45.
Referring to fig. 5-6, the sensing device 5 is disposed on the passive gesture conversion device, and is used for sensing the data of multi-dimensional displacement and rotation of the passive gesture conversion device, and the sensing device 5 includes two groups of displacement sensing mechanisms 51 and angle sensing mechanisms 52; the two groups of displacement sensing mechanisms 51 sense the displacement amounts of the transverse self-adjusting mechanism 41 and the longitudinal self-adjusting mechanism 42 respectively, the angle sensing mechanism 52 senses the horizontal rotation angle of the two-degree-of-freedom rotating device 45, and the sensed data are sent to the control box 3;
The displacement sensing mechanism 51 arranged on the lateral self-adjusting mechanism 41 comprises a rack 501, a gear 502 and a first angle sensor 503; a cross rod is fixed between the aluminum profiles on two sides of the frame 1, the cross rod is arranged in parallel with the optical axis 401, meanwhile, the rack 501 is fixed on the cross rod, the installation seat is fixed on the outer side of the corresponding sliding block, the gear 502 is rotatably installed in the installation seat, the gear 502 is meshed with the rack 501, the first angle sensor 503 is installed on the installation seat, when the fixed frame 43 is transversely offset, the sliding block 402 slides to the corresponding side along with the sliding, and when the sliding block slides, the gear 502 can rotate by a corresponding angle along with the rotation of the gear 502, the first angle sensor 503 senses the rotation angle of the gear 502 and transmits data to the control box 3;
The displacement sensing mechanism 51 arranged on the longitudinal self-adjusting mechanism 42 has the same structure as the displacement sensing mechanism 51 arranged on the transverse self-adjusting mechanism 41, and the difference is that the mounting seat and the sliding block 402 in the displacement sensing mechanism 51 of the longitudinal self-adjusting mechanism 42 are both fixed on the bearing plate 44, the rack 501 of the longitudinal self-adjusting mechanism 42 is arranged longitudinally, when the bearing plate 44 is longitudinally offset, the sliding block 402 slides to the corresponding side along with the sliding, when the sliding, due to the meshing of the gear 502 and the rack 501, the gear 502 can rotate by the corresponding angle along with rotation, the first angle sensor 503 can sense the rotation angle of the gear 502 and transmit the data to the control box 3, the angle sensing mechanism 52 comprises a second angle sensor arranged on the bearing plate 44 through a screw, the second angle sensor is positioned on the upper side of the two-degree-of-freedom rotating device 45, and the second angle sensor is used for sensing the angle parameter of the two-degree-of-freedom rotating device 45 which relatively rotates by taking the central axis of the bearing plate 44 as the center and providing the angle parameter to the control box 3.
The control box 3 is respectively connected with the sensing device 5 and the driving device in a signal transmission way, and the control box 3 sends instructions to the driving device and receives output signals of the driving device.
When the wheel type magnetic adsorption wall climbing robot moves on a non-flat working surface in use, the passive posture changing device has certain relative displacement relative to the frame 1 in the left-right direction of the wheel type magnetic adsorption wall climbing robot, and the bearing plate 44 drives the two-degree-of-freedom rotating device 45 and has certain relative displacement relative to the upper frame in the front-back movement direction of the wheel type magnetic adsorption wall climbing robot; the sensor device 5 can respectively sense the respective relative displacement amounts of the wheel type magnetic adsorption wall climbing robot in the left-right direction and the front-back movement direction and the horizontal angle change amount of the two-degree-of-freedom rotating device 45, and send sensed data to the control box 3, so that the asynchronous phenomenon of each motor 201 when the wheel type magnetic adsorption wall climbing robot walks on a non-flat working surface is effectively avoided, the wheel type magnetic adsorption wall climbing robot can walk more accurately according to a preset route, and the use reliability of the wheel type magnetic adsorption wall climbing robot is improved.
The foregoing description of the preferred embodiment of the invention is merely illustrative of the invention and is not intended to be limiting. It will be appreciated by persons skilled in the art that many variations, modifications, and even equivalents may be made thereto without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. A wheeled magnetism adsorbs wall climbing robot, its characterized in that: comprising the following steps:
A frame;
The passive posture conversion device is arranged at the lower side of the rack and has multidimensional displacement and rotation functions;
The driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is fixed on the lower side of the frame, the second driving mechanism is arranged on the lower side of the passive posture changing device, the passive posture changing device realizes multi-dimensional displacement and rotation of the second driving mechanism, and the driving device adsorbs the pipe wall and drives the frame to integrally move;
the sensing device is arranged on the passive gesture conversion device and is used for sensing the data of multi-dimensional displacement and rotation of the passive gesture conversion device;
the control box is respectively connected with the driving device in a device signal transmission way;
The passive posture changing device comprises:
the transverse self-adjusting mechanism is arranged on the frame;
the fixing frame is fixed on the lower side of the transverse self-adjusting mechanism;
The longitudinal self-adjusting mechanism is fixed on the fixed frame;
The bearing plate is fixed on the lower side of the longitudinal self-adjusting mechanism;
The upper end of the two-degree-of-freedom rotating device is horizontally rotatably mounted on the bearing plate, the lower end of the two-degree-of-freedom rotating device is provided with a rotating shaft which rotates in the vertical direction, and the second driving mechanism is mounted on the rotating shaft;
The transverse self-adjusting mechanism comprises an optical axis, a sliding block and two springs; the optical axis is fixed on the frame, the sliding block is arranged on the optical axis in a sliding way, the two springs are sleeved on the optical axes on two sides of the sliding block, and the fixed frame is fixed on the lower side of the sliding block;
The sensing device comprises two groups of displacement sensing mechanisms and angle sensing mechanisms; the two groups of displacement sensing mechanisms respectively sense the displacement amounts of the transverse self-adjusting mechanism and the longitudinal self-adjusting mechanism, and the angle sensing mechanism senses the horizontal rotation angle of the two-degree-of-freedom rotating device;
The displacement sensing mechanism arranged on the transverse self-adjusting mechanism comprises a rack, a gear and a first angle sensor; the rack is arranged in parallel with the optical axis, the rack is fixed on the rack, the gear is fixed on the corresponding sliding block through the mounting seat, the gear is connected with the rack in a meshed mode, and the first angle sensor is mounted on the mounting seat.
2. The wheeled magnetic attraction wall climbing robot of claim 1, wherein the longitudinal self-adjusting mechanism is identical in structure to the transverse self-adjusting mechanism, an optical axis of the longitudinal self-adjusting mechanism perpendicularly intersects an optical axis of the transverse self-adjusting mechanism, and the receiving plate is fixed to a slider of the longitudinal self-adjusting mechanism.
3. The wheeled magnetic attraction wall climbing robot of claim 1, wherein the mounting base and the slider are both fixed to the receiving plate in a displacement sensing mechanism of the longitudinal self-adjusting mechanism.
4. The wheeled magnetic attraction wall climbing robot of claim 1, wherein the angle sensing mechanism includes a second angle sensor mounted to the receiving plate by a screw, the second angle sensor being located on an upper side of the two-degree-of-freedom rotation device.
5. The wheeled magnetic attraction wall climbing robot of claim 1, wherein the driving mechanism comprises two motors, two sets of speed change gear sets, a fixing frame and two magnetic wheels; the two motors are respectively fixed on two sides of the fixing frame, the two magnetic wheels are respectively rotatably arranged on two sides of the fixing frame, and the motors and the magnetic wheels on the same side are in transmission connection through the speed change gear set.
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| CN202211590660.0A CN115946789B (en) | 2022-12-12 | 2022-12-12 | Wheeled magnetic adsorption wall climbing robot |
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| CN202211590660.0A CN115946789B (en) | 2022-12-12 | 2022-12-12 | Wheeled magnetic adsorption wall climbing robot |
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| CN115946789A CN115946789A (en) | 2023-04-11 |
| CN115946789B true CN115946789B (en) | 2024-06-18 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109278891A (en) * | 2018-12-06 | 2019-01-29 | 河北工业大学 | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2559328B2 (en) * | 1993-08-11 | 1996-12-04 | 秀嗣 西口 | Travel control device for robot for wall traveling |
| CN110921227B (en) * | 2019-11-08 | 2020-10-16 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN211790426U (en) * | 2020-03-27 | 2020-10-27 | 国网浙江省电力有限公司金华供电公司 | Power transmission line robot with automatically adjusted posture |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109278891A (en) * | 2018-12-06 | 2019-01-29 | 河北工业大学 | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot |
Non-Patent Citations (1)
| Title |
|---|
| 自导向磁吸附爬壁机器人控制***的实现;刘呈则, 朱新坚, 费艳琼, 赵锡芳;测控技术;20041218(12);全文 * |
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