CN102700646A - Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm - Google Patents
Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm Download PDFInfo
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 230000009194 climbing Effects 0.000 claims abstract description 60
- 210000000245 forearm Anatomy 0.000 claims description 33
- 238000010521 absorption reaction Methods 0.000 claims description 32
- 238000010276 construction Methods 0.000 claims description 28
- 230000001360 synchronised effect Effects 0.000 claims description 25
- 230000009467 reduction Effects 0.000 claims description 19
- 230000005389 magnetism Effects 0.000 claims description 14
- 238000003466 welding Methods 0.000 claims description 12
- 238000005498 polishing Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000009432 framing Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910001651 emery Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of special robots, and particularly relates to a fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arms, which comprises a climbing mechanism and a control mechanism, wherein the control mechanism comprises multi-functional robotic arms and an end working module, the bases of the multi-functional robotic arms are fixedly arranged on the adsorption type climbing mechanism, and the end working module is fixedly arranged at the tail ends of the multi-functional robotic arms. With the adoption of the combination mode of contact magnetic wheel adsorption and non-contact clearance adsorption and the three-wheel structure, the fully-driven magnet-adsorption type multifunctional wall-climbing robot with the small folding robotic arms has the advantages that all wheels are driving wheels, the redundancy control steering mode is adopted, steering on the magnet conductive wall surface is realized by speed difference between two rear wheels and controlled steering of the front wheel, and the movement flexibility is good, steering around the body center with minimum radius of 0 is realized, and a robot can be reliably adsorbed on a magnet conductive wall surface and realize automatic and free movement.
Description
Technical field
The invention belongs to the specialized robot technical field, is a kind of multi-functional climbing robot of full driven magnetic absorption type with little folded size mechanical arm specifically.
Background technology
Magnetic adsorption wall climbing robot is a kind of of specialized robot; Its principal feature is can be at large-sized structural parts such as boats and ships; And the magnetic conduction wall that personnel such as power station turbine blade are difficult to the framing member of field maintemance creeps, and accomplishes a kind of automated machine device of several work mode (like welding, polishing, defects detection, gripping etc.).
Climbing robot should have absorption, move and three kinds of functions of operation.Adsorption function should guarantee that it is adsorbed on framing member magnetic conduction wall reliably, when moving with operation, can not drop; Locomotive function should make it possess and move forward and backward, the left-right rotation function, and moving process is stable, and can adapt to the operation wall of different curvature.
The common suction type of climbing robot has: trapped orbit formula, vacuum suction, magnetic foot formula magnetic attach, the crawler type magnetic attaches, the magnetic wheel type magnetic attaches and the big class of clearance-type magnetic Annex V.The move mode that is complementary with suction type has: guide tracked, sufficient formula, crawler type and wheeled four big classes; Working mechanism is rectangular coordinate system mechanical arm or multi-joint manipulator arm normally.
Trapped orbit formula suction type needs to lay track at operation surface in advance, is unfavorable for flexible operating; The vacuum suction mode is adsorbed on body structure surface by vacuum cup, and the adsorption plant that needs is more, and is not easy to move after the vacuum cup absorption; It is that the adsorption affinity that leans on the magnetic foot to provide is adsorbed on the wall that magnetic foot formula magnetic attaches mode, because its walking characteristics have determined that its adsorption affinity must be adjustable, adopts electromagnet that adsorption affinity is provided, like eight sufficient magnetic adsorption wall climbing robots of HIT's development more.Foot formula climbing robot footwork control more complicated, kinematic dexterity is bad.In addition, adopt electromagnet that adsorption affinity is provided, need consumed power, and the potential safety hazard that exists accident power-off to cause; It is to be adsorbed on the magnetic conduction wall by absorbing force that the magnetic wheel type magnetic attaches mode.The applying date is that January 5, application number in 2004 are " the magnet-wheel adsorbed wall-climbing robot " that 200410016429.6 patent documentation relates to; Its technical scheme is: comprise revolver structure, bearing support, detection architecture, roller, code-disc, location correction structure, right wheel construction, the revolver structure is identical with right wheel construction, and symmetry is fixed on the both sides of bearing support; Detection architecture is fixed on the front of bearing support; Roller and code-disc are fixed on the centre of bearing support, and the location correction structure is connected the bearing support rightmost side, and it can adapt to the curvature of wall; Do the rotation of certain angle around bearing support, in robot motion's process, proofread and correct the pose of robot.The present invention can accomplish the weld seam detection in the hazardous environments such as oil barrel.The characteristics of foregoing invention are that kinematic dexterity is better, but because effective adsorption area of magnet-wheel is little, and the magnetic energy utilization rate is not high, load-carrying capacity is relatively poor.
The crawler type magnetic adsorption wall climbing robot is to be adsorbed on the magnetic conduction wall by the suction piece that is installed in the crawler type travel mechanism.The applying date is that January 26, application number in 2000 are " the crawler-type permanent magnet wall climbing mechanism " that 00200795.9 patent documentation relates to; Its main technical schemes is: this climbing mechanism is by car body; Power pack section and traveling gear three parts are formed, and car body is a box-shaped flexible structure, and power pack section is installed in inside; Power pack section is two electrical motors and speed reduction gearing thereof, and its output shaft drives the drive sprocket of car body both sides respectively.Traveling gear is placed in the car body both sides, by drive sprocket, and guide wheel, permanent magnet and chain tensioning mechanism are formed, and each drive sprocket drives three closed chains, and two gap locations between three chains are looked the evenly layout permanent magnet that bears a heavy burden along the chain total length.Be characterized in that load-carrying capacity is strong, but its kinematic dexterity is relatively poor, particularly when carrying out divertical motion, because area of contact is big between crawler belt and the magnetic conduction wall, cornering resistance is big, and Turning radius is big, and steering flexibility is poor.
The gap adsorbed wall-climbing robot be by be installed on the chassis and the magnetic conduction wall between have a certain interval permanent magnet be adsorbed on the magnetic conduction wall.The applying date is " the wheeled non-contact magnetically adsorption wall climbing robot " that patent documentation that October 8, application number in 2005 are 200510086383.X relates to; Its technical scheme is: comprise wheeled travel mechanism and permanent magnetic adhesion device, wheeled travel mechanism comprises the chassis, be installed in driver train on the chassis, by the drive wheel of drive mechanism.Said drive wheel symmetric arrangement adopts differential type of drive, relies on the differential of drive wheel to be implemented in turning on the magnetic conduction wall; Permanent magnetic adhesion device is installed on the said chassis, is noncontact between said permanent magnetic adhesion device and magnetic conduction wall, and the magnetic energy utilization rate is high, high adsorption capacity.Above-mentioned patent characteristics are that adsorption affinity is big, but because all drive wheels all are that the cylinder that turns to of car body is taken turns relatively, and cornering resistance is big, steering flexibility is poor.
The rectangular coordinate system mechanical arm is made up of the straight-line motion pair; The applying date is that October 30, application number in 2006 are " the multiaxial type mechanical arm " that 200620149190.4 patent documentation relates to, has been characterized in that three straight-line motions are secondary to constitute, but the operation of optional position, implementation space; Simple in structure; Cost is lower, but that itself takies volume is bigger, and terminal equipment can't angle changing.The multi-joint manipulator arm is made up of a plurality of revolute pairs, flexible movements, and it is little to take volume, but does not see to have the report that little folded size mechanical arm is applied in the magnetically adsorbed wall-climbing robot field at present.
In sum; Existing mechanical arm climbing robot volume is bigger; Terminal equipment is angle changing arbitrarily, also has kinematic dexterity better and load-carrying capacity is poor, or load-carrying capacity by force and kinematic dexterity is poor; Fail to solve the contradiction that climbing robot moves and adsorbs preferably, Combination property is bad.
Summary of the invention
The objective of the invention is for overcoming the deficiency of prior art in Combination property aspect kinematic dexterity and the load-carrying capacity two; The contradiction that solves climbing robot absorption and move; And there is the not enough problem of alerting ability to little folded size mechanical arm; Providing a kind of can adsorb on the magnetic conduction wall and move flexibly reliably, can realize the several work mode, the small and exquisite multi-functional climbing robot of full driven magnetic absorption type that has little folded size mechanical arm flexibly.
For realizing above-mentioned purpose, technical scheme of the present invention is following:
A kind of multi-functional climbing robot of full driven magnetic absorption type with little folded size mechanical arm comprises climbing mechanism, operating mechanism, it is characterized in that:
Said operating mechanism comprises multi-functional mechanical arm and terminal operational module, and the base of multi-functional mechanical arm is fixed on the absorption type climbing mechanism, and terminal operational module is fixed on the end of multi-functional mechanical arm.
The multi-functional mechanical arm comprises base, turntable, big arm, forearm, camera and swing type mechanism; Swing type mechanism specifically comprises between base and the turntable, between turntable and the big arm, between big arm and the forearm, between forearm and the rotary module and the swing type mechanism of rotary module self.Swing type mechanism comprises rotary module and relevant connection parts.
Described multi-functional mechanical arm specifically comprises base, turntable, big arm, forearm, rotary module, camera, butt flange and driver module; Base is fixed on the vehicle frame of absorption type climbing mechanism; Described turntable is installed on the base, and motor and the relative base of retarder driving turntable are done and horizontally rotated; Big arm is installed on the turntable, and motor and retarder drive the relative turntable of big arm and do vertical rotation; Described forearm is installed on the big arm, and motor and retarder drive the big relatively arm of forearm and vertically rotate; Described rotary module one end adopts flange to be connected with forearm, and the relative forearm of rotary module vertically rotates, and self axially rotates rotary module, and the rotary module other end is connected with terminal operational module through flange arrangement; Described camera is installed on the flange arrangement between terminal operational module and the rotary module; Big arm appearance profile is to the recessed SPL of a side; When making it folding, the recessed position of this curve and radius of curvature can avoid the space of base and turntable; Above-mentioned mechanical arm comprises 5 degree of freedom, is respectively 1 horizontal rotation degree of freedom, 3 vertical rotational freedoms and 1 axial rotation degree of freedom.
Said climbing mechanism comprises the vehicle frame that adopts the front-wheel module that drives steering integrated magnet-wheel, the trailing wheel module that adopts permanent magnetism gap adsorption plant, connection front and back wheel and is installed in the motor drive controller on the vehicle frame; Climbing mechanism is a tricycle structure, and three-wheel is drive wheel, adopts that front-wheel controlledly turns to, two trailing wheels adopt the Redundant Control steering mode, relies on the differential of two trailing wheels and controlled the turning to of front-wheel to be implemented in turning on the magnetic conduction wall.
The trailing wheel module comprises the chassis, is installed in the retarder of the permanent magnet on the trailing wheel chassis, two trailing wheels that pass the chassis, drive wheel, the DC machine of driving retarder, two trailing wheel symmetric arrangement of trailing wheel module around wheel.
The front-wheel module comprises permanent magnet and wheel for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel adopts along the magnetized annular permanent magnet of thickness direction.
2. further, drive steering integrated magnet-wheel device, comprise car body fixed frame, turntable framework, turn to driver train, wheel drive mechanism and roller; Be provided with a passive inclination rotational structure between said car body fixed frame and the turntable framework, be provided with the independent steering structure between turntable framework and the magnet-wheel; Said inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame; Said turntable framework comprises turntable lower supporting plate, turret supports column, turntable cover plate and the turntable upper backup pad that links to each other successively; The said driver train that turns to comprises steer motor adapter plate and the drive motor that turns to mounted thereto; Turn to drive motor to adopt Disc brushless DC motor; Motor output shaft connects epicyclic reduction gear, drives steering shaft through one-level bevel drive and primary cylinder gear transmission again; Said wheel drive mechanism comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, drives magnet-wheel through synchronous strap drive and rolls; Said roller is a magnet-wheel, and said drive motor and the wheel rolling of turning to drives reducing motor drive configuration independently each other; Inclination rotating shaft one end is installed on the car body fixed frame, and other end turntable lower supporting plate connects, and turntable upper backup pad, turret supports column and turntable lower supporting plate are connected; The turntable cover plate is connected with the turntable upper backup pad, and tapered roller bearing is installed on two stay bearing plates, and steering shaft is bearing on the tapered roller bearing; Steering shaft is connected with 60 tooth straight-tooth gears, and angular transducer input shaft and steering shaft are affixed, and the angular transducer strut bar is connected with the turntable upper backup pad; Angular transducer is connected with the angular transducer strut bar; The steer motor adapter plate is connected with the turntable upper backup pad, turns to reducing motor to be connected with the steer motor adapter plate, and 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft; The 40 tooth spur bevel gear wheels that are meshed with it are mounted on the bevel gear shaft; Bevel gear shaft is by first deep groove ball bearing supporting that is installed in the turntable upper backup pad, and the opposite side of bevel gear shaft connects through flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears; The lower end of steering shaft is connected with turning to substrate; Wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate are connected with turning to substrate, drive reducing motor and are connected with the drive motor adapter plate, and the small synchronous pulley axle is affixed with the output shaft that drives reducing motor; Small synchronous pulley is installed on the small synchronous pulley axle through the flat key connection; Wheel permanent-magnet body and wheel yoke are installed on the axletree through the flat key connection, and axletree is bearing between wheel left side adapter plate and the wheel right side adapter plate through first deep groove ball bearing and second deep groove ball bearing, and big synchronous pulley connects the opposite side that is installed in axletree through flat key; Connect by synchronous band between big synchronous pulley and the small synchronous pulley; Be connected through screw between tensioning running roller and the tensioning running roller strut bar, tensioning running roller strut bar is installed on the adapter plate of wheel left side through screw, drives between reducing motor and the axletree through synchronous strap drive; Turn to driver train also to comprise steering shaft, the steering shaft bottom is equipped with wheel drive mechanism and roller; Said steer axis and wheel axis perpendicular quadrature; Said driving reducing motor is a brush direct current motor.
3. further; Described permanent magnetism gap adsorption plant is installed on the chassis around trailing wheel; Between said permanent magnetism gap adsorption plant and magnetic conduction wall is contactless, through said permanent magnetic adhesion device of distance setting between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall.
4. said terminal operational module comprises welding module, polishing module or gripping module, and three kinds of modules are connected with the end of multi-functional mechanical arm respectively through flange arrangement.
5 is further, and said chassis is a dead-soft steel, constitutes magnetic circuit as yoke with the permanent magnet that is installed on the trailing wheel chassis around wheel.
6 is further, and retarder comprises first order epicyclic reduction gear and second stage turbine and worm retarder, connects two-stage reduction gear behind the DC machine and drive wheel, and second stage turbine and worm retarder is mounted on the trailing wheel chassis through screw.
Big arm, forearm, turntable, base and the butt flange of 7 described multi-functional mechanical arms all adopt box type construction or thin-wall construction; Material all adopts high strength aluminum alloy; Box type construction is exactly the enclosed construction that thin plate splicing forms, and its cross section is the hollow closed shape.
The cross section of above-mentioned close-shaped similar chest, thin-wall construction have been characterised in that thin plate splicing forms, but it differs and is decided to be the osed top box type construction.
The invention has the advantages that:
1, climbing mechanism according to the invention adopts the complex method of contact magnet-wheel absorption (promptly driving steering integrated magnet-wheel) and non-contact gap absorption (promptly comprising permanent magnetism gap adsorption plant); Tricycle structure; All wheels are drive wheel, adopt the Redundant Control steering mode, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to be implemented in turning on the magnetic conduction wall; Kinematic dexterity is good; Can turn to around the car body center, minimum turning radius is 0, and robot can and realize that independent and flexible moves in the reliable absorption of magnetic conduction wall.2, the present invention is equipped with little folded size mechanical arm; Arm has 5 degree of freedom; Be respectively a horizontal rotation degree of freedom, three vertical rotational freedoms and an axial rotation degree of freedom; Arm end can change the outfit welding module, polishing module or three kinds of different working devices of gripping module have been realized several working ways.Adopt the mode of this 5DOF collocation, can make the arm end in the work area optional position, arbitrarily angledly carry out work, the mechanical arm motion less than other degree of freedom is more flexible.Little folded size arm is that index arm is folding compact according to explanation, and folding back size is less, shows the shape of each arm, and especially big arm adopts curve design, when folding, can dodge other structures.
3, the present invention is under the cooperatively interacting of absorption type climbing mechanism, multi-functional mechanical arm and terminal operational module; Can move, reliably adsorb in full position, large-scale steel structure surface independent and flexible; Rely on the multi-functional mechanical arm end different working device that changes the outfit, can weld large-scale steel structure, polish, several work such as monitoring.
4, steering hardware is introduced the Redundant Control mode; Front-wheel is controlled to be turned to; Two trailing wheels adopt the Redundant Control steering mode, rely on the differential of two trailing wheels and controlled the turning to of front-wheel to be implemented in turning on the magnetic conduction wall, and the accuracy control through the front-wheel steering angle has improved climbing robot and turned to precision.
5, climbing mechanism of the present invention is that three-wheel drives the absorption type climbing mechanism entirely, and operating mechanism is the multi-functional mechanical arm; The front-wheel module of said climbing mechanism can realize driving steering integrated function, and the adsorption affinity of trailing wheel module can be adjusted through the gap between chassis and the magnetic conduction wall; Described terminal equipment can change the outfit at the end of multi-functional mechanical arm according to different working conditions, realizes the several work mode.
6, pass through synchronous strap drive between the driving reducing motor of the steering integrated magnet-wheel of driving and the axletree, can obtain bigger installing space, improve drive torque thereby more high-performance driving reducing motor is installed through regulating the transmission width between centers.
7, the steering integrated magnet-wheel of driving is provided with and independently turns to degree of freedom and make steer axis and the wheel axis perpendicular quadrature, can realize the independent steering of wheel, improves the climbing robot kinematic dexterity.
8, drive steering integrated magnet-wheel be provided with passive banking degree of freedom and through inclination confinement block constrained side tilt angle positive and negative 10 spend in, make climbing robot have curved surface adaptive capacity preferably.
9, drive the function of the inclination confinement block of steering integrated magnet-wheel through mechanical position limitation realization constrained side degree of tilt.
10, the steering structure and the wheel rolling of the steering integrated magnet-wheel of driving all are provided with independent driving mechanisms.
Description of drawings
Fig. 1 is overall appearance figure of the present invention.
Fig. 2 is an absorption type climbing mechanism structural representation.
Fig. 3 is a trailing wheel modular construction scheme drawing.
Fig. 4 is a permanent magnetism gap adsorption plant structural representation.
Fig. 5 is for driving steering integrated magnet-wheel structural representation.
Fig. 6 crosses the cutaway view of steering shaft and bevel gear shaft for front-wheel.
Fig. 7 is the magnet-wheel cutaway view.
Fig. 8 is a multi-functional mechanical arm structure scheme drawing.
Fig. 9 is a multi-functional mechanical arm birds-eye view.
Figure 10 is a multi-functional mechanical arm folded state diagram.
Figure 11 is polishing modular construction scheme drawing.
Figure 12 is the welding module structural representation.
Figure 13 is a gripping modular construction scheme drawing.
In the accompanying drawing: climbing mechanism 1, multi-functional mechanical arm 2, terminal operational module 3, trailing wheel module 4, front-wheel module 5, vehicle frame 6, permanent magnet 7; Chassis 8, wheel 9, turbine and worm retarder 10, epicyclic reduction gear 11, DC machine 12 is with 13 synchronously, retarder 14; Turn to sole plate 15,20 tooth spur bevel gear wheels 16, epicyclic reduction gear 17, motor 18, steering shaft 19,60 tooth cylindrical wheels 20,19 tooth cylindrical wheels 21; Bevel gear shaft 22,40 tooth spur bevel gear wheels 23, wheel permanent-magnet body 24, wheel yoke 25, base 26, turntable 27, big arm 28; forearm 29, rotary module 30, camera 31, the first flanges 32, the second flanges 33, the first servomotors 34, first harmonic retarder 35; second servomotor 36, second harmonic retarder 37, the three servomotors 38, third harmonic retarder 39, the four servomotors 40, the four harmonic speed reducers 41, polishing emery wheel 42; support shell 43, actuating device 44, welding gun 45, attaching parts 46, weld seam recognition system 47, gripping body 48, anchor clamps 49.
The specific embodiment
A kind of multi-functional climbing robot of full driven magnetic absorption type with little folded size mechanical arm comprises climbing mechanism, operating mechanism; Said operating mechanism comprises multi-functional mechanical arm and terminal operational module; The base of multi-functional mechanical arm is fixed on the absorption type climbing mechanism, and terminal operational module is fixed on the end of multi-functional mechanical arm.The multi-functional mechanical arm comprises base, turntable, big arm, forearm, camera and swing type mechanism; Swing type mechanism specifically comprises between base and the turntable, between turntable and the big arm, between big arm and the forearm, between forearm and the rotary module and the swing type mechanism of rotary module self.Swing type mechanism comprises rotary module and relevant connection parts.Described multi-functional mechanical arm specifically comprises base, turntable, big arm, forearm, rotary module, camera, butt flange and driver module; Base is fixed on the vehicle frame of absorption type climbing mechanism; Described turntable is installed on the base, and motor and the relative base of retarder driving turntable are done and horizontally rotated; Big arm is installed on the turntable, and motor and retarder drive the relative turntable of big arm and do vertical rotation; Described forearm is installed on the big arm, and motor and retarder drive the big relatively arm of forearm and vertically rotate; Described rotary module one end adopts flange to be connected with forearm, and the relative forearm of rotary module vertically rotates, and self axially rotates rotary module, and the rotary module other end is connected with terminal operational module through flange arrangement; Described camera is installed on the flange arrangement between terminal operational module and the rotary module; Big arm appearance profile is to the recessed SPL of a side; When making it folding, the recessed position of this curve and radius of curvature can avoid the space of base and turntable; Above-mentioned mechanical arm comprises 5 degree of freedom, is respectively 1 horizontal rotation degree of freedom, 3 vertical rotational freedoms and 1 axial rotation degree of freedom.Said climbing mechanism comprises the vehicle frame that adopts the front-wheel module that drives steering integrated magnet-wheel, the trailing wheel module that adopts permanent magnetism gap adsorption plant, connection front and back wheel and is installed in the motor drive controller on the vehicle frame; Climbing mechanism is a tricycle structure, and three-wheel is drive wheel, adopts the controlled mode that turns to of front-wheel turning on the magnetic conduction wall.The trailing wheel module comprises the chassis, is installed in the retarder of the permanent magnet on the trailing wheel chassis, two trailing wheels that pass the chassis, drive wheel, the DC machine of driving retarder, two trailing wheel symmetric arrangement of trailing wheel module around wheel.The front-wheel module comprises permanent magnet and wheel for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel adopts along the magnetized annular permanent magnet of thickness direction.
Drive steering integrated magnet-wheel device, comprise car body fixed frame, turntable framework, turn to driver train, wheel drive mechanism and roller; Be provided with a passive inclination rotational structure between said car body fixed frame and the turntable framework, be provided with the independent steering structure between turntable framework and the magnet-wheel; Said inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame; Said turntable framework comprises turntable lower supporting plate, turret supports column, turntable cover plate and the turntable upper backup pad that links to each other successively; The said driver train that turns to comprises steer motor adapter plate and the drive motor that turns to mounted thereto; Turn to drive motor to adopt Disc brushless DC motor; Motor output shaft connects epicyclic reduction gear, drives steering shaft through one-level bevel drive and primary cylinder gear transmission again; Said wheel drive mechanism comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear, drives magnet-wheel through synchronous strap drive and rolls; Said roller is a magnet-wheel, and said drive motor and the wheel rolling of turning to drives reducing motor drive configuration independently each other; Inclination rotating shaft one end is installed on the car body fixed frame, and other end turntable lower supporting plate connects, and turntable upper backup pad, turret supports column and turntable lower supporting plate are connected; The turntable cover plate is connected with the turntable upper backup pad, and tapered roller bearing is installed on two stay bearing plates, and steering shaft is bearing on the tapered roller bearing; Steering shaft is connected with 60 tooth straight-tooth gears, and angular transducer input shaft and steering shaft are affixed, and the angular transducer strut bar is connected with the turntable upper backup pad; Angular transducer is connected with the angular transducer strut bar; The steer motor adapter plate is connected with the turntable upper backup pad, turns to reducing motor to be connected with the steer motor adapter plate, and 20 tooth spur bevel gear wheels are fixed in and turn on the reducing motor output shaft; The 40 tooth spur bevel gear wheels that are meshed with it are mounted on the bevel gear shaft; Bevel gear shaft is by first deep groove ball bearing supporting that is installed in the turntable upper backup pad, and the opposite side of bevel gear shaft connects through flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears; The lower end of steering shaft is connected with turning to substrate; Wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate are connected with turning to substrate, drive reducing motor and are connected with the drive motor adapter plate, and the small synchronous pulley axle is affixed with the output shaft that drives reducing motor; Small synchronous pulley is installed on the small synchronous pulley axle through the flat key connection; Wheel permanent-magnet body and wheel yoke are installed on the axletree through the flat key connection, and axletree is bearing between wheel left side adapter plate and the wheel right side adapter plate through first deep groove ball bearing and second deep groove ball bearing, and big synchronous pulley connects the opposite side that is installed in axletree through flat key; Connect by synchronous band between big synchronous pulley and the small synchronous pulley; Be connected through screw between tensioning running roller and the tensioning running roller strut bar, tensioning running roller strut bar is installed on the adapter plate of wheel left side through screw, drives between reducing motor and the axletree through synchronous strap drive; Turn to driver train also to comprise steering shaft, the steering shaft bottom is equipped with wheel drive mechanism and roller; Said steer axis and wheel axis perpendicular quadrature; Said driving reducing motor is a brush direct current motor.
Permanent magnetism gap adsorption plant is installed on the chassis around trailing wheel, is contactless between said permanent magnetism gap adsorption plant and magnetic conduction wall, through said permanent magnetic adhesion device of distance setting between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall.Terminal operational module comprises welding module, polishing module or gripping module, and three kinds of modules are connected with the end of multi-functional mechanical arm respectively through flange arrangement.The chassis is a dead-soft steel, constitutes magnetic circuit as yoke with the permanent magnet that is installed on the trailing wheel chassis around wheel.Retarder comprises first order epicyclic reduction gear and second stage turbine and worm retarder, connects two-stage reduction gear behind the DC machine and drives wheel, and second stage turbine and worm retarder is mounted on the trailing wheel chassis through screw.Big arm, forearm, turntable, base and the butt flange of multi-functional mechanical arm all adopt box type construction or thin-wall construction, and material all adopts high strength aluminum alloy, and box type construction is exactly the enclosed construction that thin plate splicing forms, and its cross section is the hollow closed shape.The cross section of above-mentioned close-shaped similar chest, thin-wall construction have been characterised in that thin plate splicing forms, but it differs and is decided to be the osed top box type construction.
The multi-functional climbing robot of differential driven magnetic absorption type with little folded size mechanical arm shown in Figure 1 is made up of three parts; Comprise absorption type climbing mechanism 1, multi-functional mechanical arm 2 and terminal operational module 3; The base of multi-functional mechanical arm 2 is installed on the erecting stage of absorption type climbing mechanism 1; Terminal operational module 3 is installed in the end of multi-functional mechanical arm 2; Terminal operational module 3 has three kinds, is respectively welding module, polishing module and gripping module, and terminal operational module shown in Figure 1 is the gripping module.
As shown in Figure 2, the absorption type climbing mechanism is made up of three parts, comprises adopting the front-wheel module 5 that drives steering integrated magnet-wheel, the trailing wheel module 4 and the vehicle frame that is connected front and back wheel 6 that adopts permanent magnetism gap adsorption plant.
As shown in Figure 3; Dead-soft steeies (like Q235) manufacturing is adopted on trailing wheel chassis 8, except that as the function that supports the back wheel construction, also as yoke be installed in the part that permanent magnet 7 on the trailing wheel chassis 8 constitutes magnetic circuit around wheel; DC machine 12 connects two-stage reduction gear and drives wheel 9; The first order is an epicyclic reduction gear 11, and the second stage is turbine and worm retarder 10, and the turbine and worm retarder is mounted on the trailing wheel chassis 8 through screw.
Permanent magnetism gap adsorption plant is as shown in Figure 4; Nd-Fe-B permanent magnet by 12 thickness directions magnetize is formed; Each trailing wheel is respectively arranged 6 permanent magnets, and the N utmost point and the S utmost point formation magnetic circuit that is staggered is installed on the chassis around trailing wheel; Between said permanent magnetism gap adsorption plant and magnetic conduction wall is noncontact, through said permanent magnetic adhesion device of distance setting between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall.
Fig. 5 is the three-dimensional model diagram of front-wheel, and Fig. 6 is the cutaway view that front-wheel is crossed steering shaft and bevel gear shaft, and Fig. 7 was the cutaway view of front-wheel axletree.Wherein, Dc brushless motor 18 and epicyclic reduction gear 17 are through 20 tooth spur bevel gear wheels 16 and 22 rotations of 40 tooth spur bevel gear wheels, 23 driving band dynamic bevel gear axles; Bevel gear shaft 22 drives steering shaft 19 rotations through 19 tooth cylindrical wheels 21 and 20 transmissions of 60 tooth cylindrical wheels again, steering shaft 19 and turn to sole plate 15 to fix through screw attachment.F-w-d motor and retarder 14 adopt brush direct current motor and epicyclic reduction gear, drive front-wheel through being with 13 transmissions synchronously.Front-wheel is a magnet-wheel, and structure is seen Fig. 7.Magnet-wheel is made up of 1 permanent magnet and 2 yokes.Said permanent magnet adopts along the magnetized annular permanent magnet of thickness direction, and permanent magnet can adopt manufacturings such as high performance permanent magnetic materials such as NdFeB, and yoke adopts dead-soft steel (like Q235 etc.) to make.Wheel permanent-magnet body 24 is formed magnet-wheel with wheel yoke 25.
Consult Fig. 8,9, mechanical arm of the present invention comprises base 26; Turntable 27 is installed on the base 26 through the revolute pair of horizontal direction; Big arm 28 is installed on the turntable 27 through the revolute pair of vertical direction; Forearm 29 is installed on the big arm 28 through the revolute pair of vertical direction; Rotary module 30 links to each other with first flange 32 through being threaded; First flange 32 links to each other with forearm 29 through the revolute pair of vertical direction; One end of second flange 33 is through being threaded and rotary module 30 is connected, and the other end is connected with terminal operational module; Camera 31 is connected through the last plane that is threaded with second flange 33, and lens direction is pointed to terminal operational module; The input end of first servomotor 34, second servomotor 36, the 3rd servomotor 38, the 4th servomotor 40 links to each other with the input end of first harmonic retarder 35, second harmonic retarder 37, third harmonic retarder 39, the 4th harmonic speed reducer 41 respectively; The shell of first harmonic retarder 35 is through being threaded and turntable 27 is connected, and output shaft connects with base 26 through key and is connected; The shell of second harmonic retarder 37 is through being threaded and turntable 27 is connected, and output shaft is connected through the end that key connects with big arm 28; The shell of third harmonic retarder 39 is connected through an end that is threaded with forearm 29, and output shaft is connected through the other end that key connects with big arm 28; The shell of the 4th harmonic speed reducer 41 is connected through the other end of bolted connection and forearm 29, and mouth connects through key and first flange 32 is connected; The material of base 26, turntable 27, big arm 28, forearm 29, first flange 32, second flange 33 is high strength aluminum alloy; Big arm 28, forearm 29 all adopt box type construction, and other framing members all adopt thin-wall construction, to alleviate dead load; Rotary module 30 can be selected the matured product on the market for use.
Adopt said structure; Turntable 27 is base 26 horizontal rotations relatively; Big arm 28 turntable 27 relatively vertically rotates, and forearm 29 can vertically rotate around big arm 28, and rotary module 30 forearm 29 relatively vertically rotates; The mouth of rotary module 30 and input end can rotate to axial, axially rotate thereby drive terminal equipment.More than each kinematic pair make mechanical arm have 5 degree of freedom, be respectively 1 horizontal rotation degree of freedom, 3 vertical rotational freedoms and 1 axial rotation degree of freedom.Make first servomotor 34, second servomotor 36, the 3rd servomotor 38, the 4th servomotor 40, rotary module 30 coordinations through programming control, thereby realize mechanical arm optional position and operation at any angle in swinging radius.
Consult Figure 10; The profile of big arm 28 is to the recessed SPL of a side; And the recess of curve can be avoided the space of base 26, turntable 27, first servomotor 34 and first harmonic retarder 35 when folded state, to reduce the minimum constructive height of mechanical arm at folded state.
Shown in Figure 11 is polishing module in the terminal operational module 3, by polishing emery wheel 42, support shell 43 and actuating device 44 3 parts are formed; Shown in Figure 12 is welding module in the terminal operational module 3, is made up of welding gun 45, attaching parts 46 and weld seam recognition system 47, and an end of attaching parts 46 is welding gun 45 fixedly, and the other end links to each other with the end of multi-functional mechanical arm 2; Figure 13 is the gripping module in the terminal operational module 3, is made up of gripping body 48 and anchor clamps 49, and gripping body 48 can be selected the gripping product of maturation for use, and anchor clamps 49 are connected the mouth of gripping body 48, can be designed to different shapes according to the difference of gripping object.
Rotary module is an independently functional module, and itself has actuating device, can drive its head and the tail two ends and do and relatively rotate.This module can be selected matured product for use, like the PRL module product of SCHUNK company.
Said box type construction is exactly the enclosed construction that thin plate splicing forms, and its cross section is the hollow closed shape, the cross section of similar chest; Thin-wall construction has been characterised in that thin plate splicing forms, but it differs and is decided to be the osed top box type construction.
The climbing mechanism of multi-functional climbing robot of the present invention is that three-wheel drives the absorption type climbing mechanism entirely, and operating mechanism is the multi-functional mechanical arm; The steering integrated magnet-wheel of front-wheel module drive of said climbing mechanism; The adsorption affinity of trailing wheel module can be adjusted through the gap between chassis and the magnetic conduction wall; Each joint freedom degrees of multi-functional mechanical arm is leaned on driven by servomotor, by programming control rotational angle and speed, with location, attitude adjustment and the adjustment of work track that realizes terminal operational module; Terminal operational module has three kinds, is respectively welding module, polishing module and gripping module, and different terminal operational modules changes the outfit under different working conditions.Lean on program to realize coordination between climbing mechanism, multi-functional mechanical arm and the terminal operational module, with the demand of fulfiling assignment.
The present invention not only is confined to above embodiment, and any modification in protection domain of the present invention is all thought to fall in protection scope of the present invention.
Claims (7)
1. the multi-functional climbing robot of full driven magnetic absorption type with little folded size mechanical arm comprises climbing mechanism (1), operating mechanism, it is characterized in that:
Said operating mechanism comprises multi-functional mechanical arm (2) and terminal operational module (3); The base (26) of multi-functional mechanical arm (2) is fixed on the absorption type climbing mechanism (1), and terminal operational module (3) is fixed on the end of multi-functional mechanical arm (2);
Described multi-functional mechanical arm (2) specifically comprises base (26), turntable (27), big arm (28), forearm (29), rotary module (30), camera (31), butt flange and driver module; Base (26) is fixed on the vehicle frame (6) of absorption type climbing mechanism (1); Described turntable (27) is installed on the base (26), and the relative base (26) of motor (18) and retarder (14) driving turntable (27) is done and horizontally rotated; Big arm (28) is installed on the turntable (27), and motor (18) and retarder (14) drive the relative turntable (27) of big arm (28) and do vertical rotation; Described forearm (29) is installed on the big arm (28), and motor (18) and retarder (14) drive forearm (29) big relatively arms (28) and vertically rotate; Described rotary module (30) one ends adopt flange to be connected with forearm (29); Rotary module (30) forearm (29) relatively vertically rotates; Rotary module (30) self axially rotates, and rotary module (30) other end is connected with terminal operational module (3) through flange arrangement; Described camera (31) is installed on the flange arrangement between terminal operational module (3) and the rotary module (30); Big arm (28) appearance profile is to the recessed SPL of a side; When making it folding, the recessed position of this curve and radius of curvature can avoid the space of base (26) and turntable (27); Above-mentioned mechanical arm comprises 5 degree of freedom, is respectively 1 horizontal rotation degree of freedom, 3 vertical rotational freedoms and 1 axial rotation degree of freedom;
Said climbing mechanism (1) comprises the vehicle frame (6) that adopts the front-wheel module (5) that drives steering integrated magnet-wheel, the trailing wheel module (4) that adopts permanent magnetism gap adsorption plant, connection front and back wheel and is installed in motor (18) driving governor on the vehicle frame (6); Climbing mechanism (1) is a tricycle structure, and three-wheel is drive wheel, adopts that front-wheel controlledly turns to, two trailing wheels adopt the Redundant Control steering mode, relies on the differential of two trailing wheels and controlled the turning to of front-wheel to be implemented in turning on the magnetic conduction wall;
Trailing wheel module (4) comprises chassis (8), is installed in the retarder (14) of the permanent magnet (7) on the trailing wheel chassis (8), two trailing wheels that pass chassis (8), drive wheel (9), the DC machine (12) of driving retarder (14), two trailing wheel symmetric arrangement of trailing wheel module (4) around wheel (9);
Front-wheel module (5) comprises permanent magnet (7) and wheel (9) for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel (7) adopts along the magnetized annular permanent magnet of thickness direction.
2. the multi-functional climbing robot of full driven magnetic absorption type with little folded size mechanical arm according to claim 1; It is characterized in that: drive steering integrated magnet-wheel device, comprise car body fixed frame, turntable framework, turn to driver train, wheel drive mechanism and roller; Be provided with a passive inclination rotational structure between said car body fixed frame and the turntable framework, be provided with the independent steering structure between turntable framework and the magnet-wheel; Said inclination rotational structure is included in the inclination rotating shaft of the forward and backward installation of turntable framework, and the self-lubricating plain bearing of installing at the car body fixed frame; Said turntable framework comprises turntable lower supporting plate, turret supports column, turntable cover plate and the turntable upper backup pad that links to each other successively; The said driver train that turns to comprises steer motor adapter plate and the drive motor that turns to mounted thereto; Turn to drive motor to adopt Disc brushless DC motor; Motor output shaft connects epicyclic reduction gear (17) (11), drives steering shaft (19) through one-level bevel drive and primary cylinder gear transmission again; Said wheel drive mechanism comprises that drive motor adapter plate and wheel rolling mounted thereto drive reducing motor, and motor output shaft connects epicyclic reduction gear (17) (11), drives magnet-wheel through synchronous band (13) transmission and rolls; Said roller is a magnet-wheel, and said drive motor and the wheel rolling of turning to drives reducing motor drive configuration independently each other; Inclination rotating shaft one end is installed on the car body fixed frame, and other end turntable lower supporting plate connects, and turntable upper backup pad, turret supports column and turntable lower supporting plate are connected; The turntable cover plate is connected with the turntable upper backup pad; Tapered roller bearing is installed on two stay bearing plates, and steering shaft (19) is bearing on the tapered roller bearing, and steering shaft (19) is connected with 60 tooth straight-tooth gears; Angular transducer input shaft and steering shaft (19) are affixed; The angular transducer strut bar is connected with the turntable upper backup pad, and angular transducer is connected with the angular transducer strut bar, and the steer motor adapter plate is connected with the turntable upper backup pad; Turn to reducing motor to be connected with the steer motor adapter plate; 20 tooth spur bevel gear wheels (16) are fixed in and turn on the reducing motor output shaft, and the 40 tooth spur bevel gear wheels (23) that are meshed with it are mounted on the bevel gear shaft (22), and bevel gear shaft (22) is by first deep groove ball bearing supporting that is installed in the turntable upper backup pad; The opposite side of bevel gear shaft (22) connects through flat key with 19 tooth straight-tooth gears; 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering shaft (19) is connected with turning to substrate, and wheel left side adapter plate, wheel right side adapter plate, drive motor adapter plate are connected with turning to substrate; Driving reducing motor is connected with the drive motor adapter plate; Little synchronous band (13) wheel shaft is affixed with the output shaft that drives reducing motor, and little synchronous band (13) wheel is installed on little synchronous band (13) wheel shaft through the flat key connection, and wheel permanent-magnet body (24) and wheel yoke (25) are installed on the axletree through the flat key connection; Axletree is bearing between wheel left side adapter plate and the wheel right side adapter plate through first deep groove ball bearing and second deep groove ball bearing; The big wheel of band (13) synchronously connects the opposite side that is installed in axletree through flat key, by synchronous band (13) connection, is connected through screw between tensioning running roller and the tensioning running roller strut bar between the big wheel of band (13) synchronously and little synchronous band (13) wheel; Tensioning running roller strut bar is installed on the adapter plate of wheel left side through screw, drives between reducing motor and the axletree through band (13) transmission synchronously; Turn to driver train also to comprise steering shaft (19), steering shaft (19) bottom is equipped with wheel drive mechanism and roller; Said steering shaft (19) line and wheel axis perpendicular quadrature; Said driving reducing motor is a brush direct current motor.
3. the multi-functional climbing robot of full driven magnetic absorption type with little folded size mechanical arm according to claim 1; It is characterized in that: described permanent magnetism gap adsorption plant is installed on the chassis (8) around trailing wheel; Between said permanent magnetism gap adsorption plant and magnetic conduction wall is contactless, through said permanent magnetic adhesion device of distance setting between adjusting chassis (8) and the magnetic conduction wall and the air gap between the magnetic conduction wall.
4. the multi-functional climbing robot of full driven magnetic absorption type with little folded size mechanical arm according to claim 1; It is characterized in that: said terminal operational module (3) comprises welding module, polishing module or gripping module, and three kinds of modules are connected with the end of multi-functional mechanical arm (2) respectively through flange arrangement.
5. the multi-functional climbing robot of full driven magnetic absorption type with little folded size mechanical arm according to claim 1; It is characterized in that: further; Said chassis (8) is a dead-soft steel, constitutes magnetic circuit as the permanent magnet of yoke be installed in trailing wheel chassis (8) around wheel on.
6. the multi-functional climbing robot of full driven magnetic absorption type with little folded size mechanical arm according to claim 1; It is characterized in that: further; Retarder comprises first order epicyclic reduction gear (17) (11) and second stage turbine and worm retarder (10); Connect two-stage reduction gear behind the DC machine (12) and drive wheel, second stage turbine and worm retarder (10) is mounted on the trailing wheel chassis (8) through screw.
7. the multi-functional climbing robot of full driven magnetic absorption type with little folded size mechanical arm according to claim 1; It is characterized in that: the big arm (28) of described multi-functional mechanical arm (2), forearm (29), turntable, base (26) and butt flange all adopt box type construction or thin-wall construction; Material all adopts high strength aluminum alloy; Box type construction is exactly the enclosed construction that thin plate splicing forms, and its cross section is the hollow closed shape.
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| CN201210185012.7A CN102700646B (en) | 2012-06-07 | 2012-06-07 | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm |
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| CN105109571A (en) * | 2015-09-18 | 2015-12-02 | 北京理工大学 | Folding type retractable tree climbing robot |
| TWI586499B (en) * | 2014-12-26 | 2017-06-11 | Kawasaki Heavy Ind Ltd | Production system |
| CN107333529A (en) * | 2017-08-14 | 2017-11-10 | 仲恺农业工程学院 | Blueberry picker and system |
| TWI637830B (en) * | 2014-12-26 | 2018-10-11 | 川崎重工業股份有限公司 | Self-propelled articulated robot |
| CN109036088A (en) * | 2018-09-30 | 2018-12-18 | 浙江德清爱特电子科技有限公司 | Spliced explosive-removal robot simulation teching apparatus |
| CN109525784A (en) * | 2018-12-21 | 2019-03-26 | 上海电气电站设备有限公司 | A kind of photographing module of the interior ultrathin climbing robot detected of generator unit stator thorax |
| CN109571411A (en) * | 2019-01-08 | 2019-04-05 | 贵州大学 | It is a kind of to be convenient for fixed mobile robot platform |
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| CN109525784A (en) * | 2018-12-21 | 2019-03-26 | 上海电气电站设备有限公司 | A kind of photographing module of the interior ultrathin climbing robot detected of generator unit stator thorax |
| CN109525784B (en) * | 2018-12-21 | 2021-02-23 | 上海电气电站设备有限公司 | Camera module of ultra-thin wall-climbing robot for detection in generator stator bore |
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