CN105644645B - Dual drive rotation-swing type permanent magnetic chuck climbing robot - Google Patents
Dual drive rotation-swing type permanent magnetic chuck climbing robot Download PDFInfo
- Publication number
- CN105644645B CN105644645B CN201511007642.5A CN201511007642A CN105644645B CN 105644645 B CN105644645 B CN 105644645B CN 201511007642 A CN201511007642 A CN 201511007642A CN 105644645 B CN105644645 B CN 105644645B
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- China
- Prior art keywords
- hole
- balance arm
- swash plate
- gear
- electric motor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000009194 climbing Effects 0.000 title claims abstract description 16
- 230000009977 dual effect Effects 0.000 title claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000009827 uniform distribution Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 abstract description 7
- 238000010521 absorption reaction Methods 0.000 abstract description 5
- 230000010355 oscillation Effects 0.000 abstract description 3
- 239000002594 sorbent Substances 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007592 spray painting technique Methods 0.000 description 2
- 239000004215 Carbon black (E152) Substances 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229930195733 hydrocarbon Natural products 0.000 description 1
- 150000002430 hydrocarbons Chemical class 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
A kind of dual drive rotation-swing type permanent magnetic chuck climbing robot, it mainly includes support, electric motor I, electric motor I I, three little gears, three switch mechanisms.Switch mechanism includes gear wheel, main shaft, swash plate gear, balance arm, roller, column and permanent magnetic chuck, and main shaft couples with support and swash plate pinion rotation.Electric motor I drives three switch mechanisms to drive the synchronous switch of three pairs of disks to move, and electric motor I I drives three swash plate gear synchronous to rotate.When creeping, two rollers are rolled with main axis, and on the inclined-plane of swash plate gear, force a pair of disk switches to be moved, alternating sorbent realizes that switch is creeped with departing from magnetic wall.During commutation, the corner of three swash plate gears of synchronous change keeps three inclined-planes to be parallel to each other, and forces three pairs of disk planes of oscillation synchronously to change, and realizes commutation.Absorption affinity of the present invention is strong and stablizes, move flexible, structure and control that simply, from heavy and light, support portable human hand and instrument Large-Scale Equipment and workpiece, defect can be repaired.
Description
Technical field
The invention belongs to robot field, more particularly to a discharge plate climbing robot.
Background technology
Climbing robot is a kind of machine that can be climbed in perpendicular walls and complete the automated job beyond people's limit
People, turns into focus and forward position that domestic and international robot field studies for nearly 20 years.Current climbing robot has been used for oil storage tank flaw detection
Inspection, naval vessel spray painting, military investigation, tall-building fire fighting, cleaning and spraying, nuclear equipment check thickness measuring etc..
Chinese patent 200710016408.8 discloses a kind of iron based tank climbing robot；Publication No. CN1739925
Chinese patent disclose a kind of non-contact magnetically adsorbed wall climbing robot；Publication No. CN1428226 Chinese patent is public
A kind of implementation method of crawler-type multiple sucking disc wall climbing and the robot of methods described are driven；Patent No.
CN101181913 Chinese patent discloses a kind of tandem modularized wall-climbing robot；In Publication No. CN101537619
State's patent discloses a kind of modular reconfigurable worm type wall climbing robot；Publication No. CN102343588A Chinese patent is public
A kind of magnetic-disc-adsorptive wall climbing robot is opened；The Chinese patent of Publication No. 02158876 discloses the sufficient wall-climbing device of one kind five
People；Patent No. CN101746429A Chinese patent discloses a kind of Hexapodous biomimetic wet-sucking wall-climbing robot.
Although above-mentioned Pa Bi classes robot differs from one another, it is used for large scale equipment under extreme condition, equipment and big workpiece and lacks
Fall into field repair and remanufacture the problem for always climbing wall class Robot Design, developing and being faced in applying.China awards within 2015
Power patent CN103085073B discloses a kind of rotation rocking beam type magnechuck wall-climbing robot, replaces by three pairs of magnechucks
Absorption is creeped with departing from workpiece wall realization.But the frequent control system of switching on or off electricity difficulty of its magnechuck is big, and it is difficult to ensure that card disk bottom surface is begun
Parallel workpiece wall, causes to adsorb unstable, security is poor eventually.These crucial problems are urgently to be resolved hurrily.
The content of the invention：
Present invention aims at a kind of dual drive rotation-swing type permanent magnetic chuck climbing robot is provided, to realize：Climb wall with
Turn to continuous conversion, simplify control, disk bottom surface parallel workpiece wall all the time.Make it have that absorption is stable, absorption affinity is strong, structure is simple
Single, motion flexibly, control it is simple, from heavy and light, for Large-Scale Equipment under extreme condition and big Surface Flaw field repair and
Remanufacture.
The present invention includes machine seat board, and electric motor I, II, little gear I, II and III, shell, central shaft, three structures are identical
Switch mechanism.Three switch mechanisms are uniform on machine seat board；The support is provided with central through hole, three circumference
Uniform same via and a large through-hole, the vertical support plane of all through holes；The switch mechanism include gear wheel, main shaft,
Swash plate gear, upper balance arm, lower balance arm, two identical rollers, left column, right column, left disk and right disk；Wherein, under main shaft
Portion is parallel to each other and intersected vertically with spindle centerline provided with two through holes, the center line of two through holes；Upper balance arm center line
The through hole being parallel to each other provided with left, center, right three, lower balance arm is identical with upper balance arm, and left column center line is provided with upper and lower two
The individual through hole being parallel to each other, right column is identical with left column, and swash plate gear centre line is provided with axially extending bore, swash plate gear axial direction
One end be provided with inclined-plane, main shaft upper end is coaxially connected with gear wheel, with the circumference uniform distribution through hole rotation of support in the middle part of main shaft
Connection, main shaft middle and lower part and swash plate gear hole, which are rotated, to be coupled, and the middle part of two holes of main shaft bottom respectively with upper and lower balance arm is logical
Hole rotates connection, and the upper left and right end through hole of balance arm is rotated with the upper end through hole of left and right column respectively to be coupled, the left and right end of lower balance arm
Hole is rotated with the bottom hole of left and right column respectively to be coupled, and the lower end of left and right column is fixedly and coaxially connected with left and right disk respectively,
Two rollers are distributed on the balance arm left and right sides, and rotate coaxially and couple with upper balance arm, are kept in structure：Upper and lower balance arm axis
With left and right column axis co-planar, upper and lower balance arm axis is parallel to each other, and left and right column axis is parallel with main-shaft axis, left and right magnetic
Face try to get to the heart of a matter parallel to machine seat board, the inclined-plane of swash plate gear keeps being in rolling contact with two rollers.The shell is parallel with machine seat board
Be connected, shell is provided with the through hole concentric with machine seat board centre bore, and electric motor I is coaxially connected with outer casing through hole, electric motor I axle with it is small
Gear I is coaxially connected, and little gear I is engaged simultaneously with the gear wheel of three switch mechanisms, and the large through-hole of electric motor I I and support is same
Axle is connected, and electric motor I I axles are coaxially connected with little gear II, and little gear II is engaged with a swash plate gear, central shaft upper end and machine
The centre bore of seat is coaxially connected, and central shaft lower end is rotated coaxially with little gear III to be coupled, little gear III and three swash plate gears
Engage simultaneously.
When creeping, electric motor I by little gear I drive three balance arm mechanisms upper balance arm synchronous axial system, two rollers with
It is in rolling contact while upper balance arm is rotated and with the inclined-plane of swash plate gear, forces two disks to turn with swinging, alternating sorbent is with taking off
From magnetic work wall, realize that switch is creeped.During commutation, electric motor I I passes through little gear II and little gear III synchronous changes three
Swash plate gear corner, and keep inclined-plane to be parallel to each other, force three pairs of permanent magnetic chuck planes of oscillation synchronously to change, realize commutation.
The present invention has the following advantages that compared with prior art：
1st, it is simple in construction, motion flexibly, control it is simple, from heavy and light；
2nd, it can carry out quickly climbing wall and commutation simultaneously, without the frequent control system of switching on or off electricity of electromagnetic disc, permanent magnetic disc bottom surface is begun
Whole parallel workpiece wall, adsorptivity is stable, and absorption affinity is strong；
3rd, when the instrument such as support portable human hand or milling cutter, laser gun, bistrique, it can complete under extreme condition to space
Stand, core/power station, mining/metallurgy/handling facilities, adopt the/Large-Scale Equipment such as defeated/reservoir hydrocarbon equipment, large ship/aircraft and big
Surface Flaw field repair and remanufacture, the task such as defect detecting test, derusting, spray painting and military affairs are investigated.
Brief description of the drawings
Fig. 1 is structure main view diagrammatic cross-sectional view of the present invention.
Fig. 2 is structure diagrammatic top view of the present invention.
In figure：1- supports, 2- electric motor Is, 3- electric motor I I, 4- little gear I, 5- little gear II, 6- little gears III, 7-
Balance arm, 9-6 rollers, 9-7 are left under shell, 8- central shafts, 9-1 gear wheels, 9-2 main shafts, 9-3 swash plates gear, the upper balance arms of 9-4,9-5
Column, 9-8 right columns, the left permanent magnetic chucks of 9-9, the right permanent magnetic chucks of 9-10.
Embodiment
In the dual drive rotation-swing type permanent magnetic chuck climbing robot schematic diagram shown in Fig. 1 and Fig. 2, three structure identicals
Switch mechanism is uniform on support 1, and support is provided with a central through hole, the same via of three circumference uniform distributions and one big logical
Hole, the vertical support plane of all through holes；Main shaft 9-2 bottoms in switch mechanism are provided with two through holes, the center of two through holes
Line is parallel to each other and intersected vertically with spindle centerline；What upper balance arm 9-4 center lines were parallel to each other provided with left, center, right three
Through hole, lower balance arm 9-5 is identical with upper balance arm, and left column 9-7 center lines are provided with upper and lower two through holes being parallel to each other, and the right side is vertical
Post 9-8 is identical with left column, and swash plate gear 9-3 center lines are provided with axially extending bore, and swash plate gear axial direction one end is provided with inclined-plane, main
Axle upper end is coaxially connected with gear wheel 9-1, rotates and couples with a circumference uniform distribution through hole of above-mentioned support in the middle part of main shaft, in main shaft
Bottom is rotated with swash plate gear hole to be coupled, and two holes of main shaft bottom are rotated with the middle through-hole of upper and lower balance arm respectively to be coupled,
The upper left and right end through hole of balance arm is rotated with the upper end through hole of left and right column respectively couple, the left and right stomidium of lower balance arm respectively with a left side,
The bottom hole of right column rotates connection, and the lower end of left and right column is fixedly and coaxially connected with left disk 9-9, right disk 9-10 respectively,
Two roller 9-6 are distributed on the balance arm left and right sides, and rotate coaxially and couple with upper balance arm, are kept in structure：Upper and lower balance arm
Axis and left and right column axis co-planar, upper and lower balance arm axis are parallel to each other, and left and right column axis is parallel with main-shaft axis, left,
Right disk bottom surface is parallel to support, and the inclined-plane of swash plate gear keeps being in rolling contact with two rollers.The shell 7 is parallel with support
It is connected, shell is provided with the through hole concentric with above-mentioned support centre bore, electric motor I 2 and above-mentioned outer casing through hole are coaxially connected, electronic
Machine I axles are coaxial connected with little gear I 4, and little gear I is engaged simultaneously with the gear wheel of three switch mechanisms, electric motor I I 3 and machine
The large through-hole of seat is coaxially connected, and electric motor I I axles are coaxial connected with little gear II 5, and little gear II is engaged with a swash plate gear,
The centre bore of the upper end of central shaft 8 and support is coaxially connected, and central shaft lower end is rotated coaxially with little gear III 6 to be coupled, little gear
III is engaged simultaneously with three swash plate gears.
When creeping, electric motor I by little gear I drive three balance arm mechanisms upper balance arm synchronous axial system, two rollers with
Inclined-plane while upper balance arm is rotated again with swash plate gear is in rolling contact, and forces two disk switches to be moved, and alternating sorbent is with departing from
Magnetic work wall, realizes that switch is creeped.During commutation, electric motor I I is oblique by little gear II and little gear III synchronous changes three
Disk gear corner, and keep inclined-plane to be parallel to each other, force three pairs of permanent magnetic chuck planes of oscillation synchronously to change, realize commutation.
Claims (1)
1. a kind of dual drive rotation-swing type permanent magnetic chuck climbing robot, including support, electric motor I, electric motor I I, little gear I, II
And III, shell, central shaft, three structure identical switch mechanisms, it is characterised in that：Three identical switches mechanism exists
Uniform on support, the support owns provided with a central through hole, the same via of three circumference uniform distributions and a large through-hole
The vertical support plane of through hole；The switch mechanism include gear wheel, main shaft, swash plate gear, upper balance arm, lower balance arm, two are identical
Roller, left column, right column, left disk and right disk；Wherein main shaft bottom is provided with two through holes, the center line of two through holes
It is parallel to each other and is intersected vertically with spindle centerline；Upper balance arm center line is provided with the through hole that left, center, right three are parallel to each other,
Lower balance arm is identical with upper balance arm, and left column center line is provided with upper and lower two through holes being parallel to each other, right column and left column phase
Together, swash plate gear centre line is provided with axially extending bore, and one end of swash plate gear axial direction is provided with inclined-plane, and main shaft upper end and gear wheel are same
Axle is connected, and couples with a rotation in the through hole of three identical circumference uniform distributions of support in the middle part of main shaft, main shaft middle and lower part and
Swash plate gear hole rotates connection, and two holes of main shaft bottom are rotated with the middle through-hole of upper and lower balance arm respectively to be coupled, upper balance arm
Left and right end through hole is rotated with the upper end through hole of left and right column respectively to be coupled, the left and right stomidium of lower balance arm respectively with left and right column
Bottom hole rotate connection, the lower end of left and right column is coaxially connected with left and right disk respectively, and two rollers are distributed on balance arm
Left and right, and rotate coaxially and couple with upper balance arm, kept in structure：The axis of upper and lower balance arm and it is total to the axis of left and right column
Face, the axis of upper and lower balance arm is parallel to each other, and left and right column axis is parallel with main-shaft axis, and left and right disk bottom surface is parallel to machine
Seat surface, the inclined-plane of swash plate gear keeps being in rolling contact with two rollers；The shell is parallel with support to be connected, and shell is provided with and machine
The concentric through hole of seat centre bore, electric motor I is coaxially connected with outer casing through hole, and electric motor I axle is coaxially connected with little gear I, small tooth
Wheel I is engaged simultaneously with the gear wheel of three switch mechanisms, and the large through-hole of electric motor I I and machine seat board is coaxially connected, electric motor I I's
Axle is coaxially connected with little gear II, and little gear II is engaged with a swash plate gear, the central through hole of central shaft upper end and machine seat board
Coaxially connected, central shaft lower end is rotated coaxially with little gear III to be coupled, and little gear III is engaged simultaneously with three swash plate gears.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511007642.5A CN105644645B (en) | 2015-12-29 | 2015-12-29 | Dual drive rotation-swing type permanent magnetic chuck climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511007642.5A CN105644645B (en) | 2015-12-29 | 2015-12-29 | Dual drive rotation-swing type permanent magnetic chuck climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105644645A CN105644645A (en) | 2016-06-08 |
| CN105644645B true CN105644645B (en) | 2017-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511007642.5A Expired - Fee Related CN105644645B (en) | 2015-12-29 | 2015-12-29 | Dual drive rotation-swing type permanent magnetic chuck climbing robot |
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| Country | Link |
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| CN (1) | CN105644645B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080823B (en) * | 2016-06-22 | 2018-03-23 | 国网山东省电力公司荣成市供电公司 | A kind of imitative gecko Zu Shipa steel towers robot |
| CN108001557B (en) * | 2017-11-10 | 2020-06-19 | 清华大学 | Bionic wall-climbing robot based on triangular gait of insects |
| CN110466637B (en) * | 2019-08-30 | 2020-06-12 | 燕山大学 | Single-shaft-driven four-foot all-directional climbing robot and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947777A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| CN102745278A (en) * | 2012-08-01 | 2012-10-24 | 浙江大学 | Permanent magnetic adsorption wall-climbing robot with self-locking device |
| CN102897241A (en) * | 2012-11-09 | 2013-01-30 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
| CN203766927U (en) * | 2014-03-14 | 2014-08-13 | 徐州工业职业技术学院 | Rotary mobile type wall-climbing robot |
| CN104648512A (en) * | 2014-12-12 | 2015-05-27 | 燕山大学 | Three-degree-of-freedom climbing parallel robot with swinging traction legs |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3372434B2 (en) * | 1996-11-19 | 2003-02-04 | 三菱重工業株式会社 | Wall adsorption type moving device |
| ITBS20070154A1 (en) * | 2007-10-11 | 2009-04-12 | Tecnomac Srl | MOBILE ROBOT WITH MAGNETIC ANCHORING |
-
2015
- 2015-12-29 CN CN201511007642.5A patent/CN105644645B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947777A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| CN102745278A (en) * | 2012-08-01 | 2012-10-24 | 浙江大学 | Permanent magnetic adsorption wall-climbing robot with self-locking device |
| CN102897241A (en) * | 2012-11-09 | 2013-01-30 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
| CN203766927U (en) * | 2014-03-14 | 2014-08-13 | 徐州工业职业技术学院 | Rotary mobile type wall-climbing robot |
| CN104648512A (en) * | 2014-12-12 | 2015-05-27 | 燕山大学 | Three-degree-of-freedom climbing parallel robot with swinging traction legs |
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| Publication number | Publication date |
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| CN105644645A (en) | 2016-06-08 |
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